A robotic arm for stacking small ton bags in conjunction with a bag-holding machine

Abstract

This invention discloses a robotic arm for stacking small ton bags in conjunction with a bag-holding machine, belonging to the technical field of stacking robots. It includes a multi-joint robotic arm, a transfer and gripping mechanism, and a mobile bag-holding machine. The transfer and gripping mechanism includes a top connecting device, two anti-puncture grippers, and a lowering side-pushing device. The anti-puncture grippers include a mounting plate, two side plates, a support shaft, and a drive frame. Multiple grippers and protective components are equidistantly arranged on the lower side of the drive frame. The initial position of the protective components is located at the front end of the corresponding gripper. An avoidance and reset component is provided between each pair of adjacent grippers. This invention prevents the grippers from puncturing the bag body due to wrinkles or protrusions on the side edges of the small bag when gripping it, reducing material leakage, material loss, and the frequency of production line downtime for cleaning, thus improving production continuity. Furthermore, during lowering, it can be placed against a wall, improving the space utilization rate of ton bags and the stability of stacking.

Description

Technical Field

[0001] This invention belongs to the technical field of stacking robots, and more specifically relates to a robotic arm for stacking small ton bags in conjunction with a bag-holding machine. Background Technology

[0002] The small-bag ton bag stacking robot is a specialized industrial robot designed for automated packaging lines of industrial bulk materials. Its core function is to automatically grab single bags of materials (such as refractory powder, chemical raw materials, building material granules, grains and feed) weighing 25-50kg from the conveyor line, accurately transfer them, and stack them layer by layer into ton bags (FIBCs). This equipment typically adopts a multi-joint robotic arm structure, combined with a programmable control system, which can achieve flexible movement with multiple degrees of freedom. In actual production lines, it needs to be deeply integrated with mobile automatic bag opening machines and scissor lift platforms. The bag opening machine pre-opens and tightens the mouth of the ton bag, and the robot stacks them layer by layer. After the ton bag is full, it automatically unhooks and transports it to the next process.

[0003] During the entire process of the robotic arm grabbing small bags of materials from the conveyor rollers and transferring them to ton bags, a frequent bag-breaking failure is the tip of the gripper angled and piercing the bottom edge of the small bag. The main causes are as follows: During the conveying process, the small bags are easily affected by factors such as the mutual compression between the front and rear bags and uneven filling of the material itself, which can easily cause local wrinkles to form at the bottom of the bag. The woven bag structure is loose in the wrinkled area, and the stress is highly concentrated. In addition, the small bags are generally made of PP woven bag material, which has a relatively high surface friction coefficient. When the robotic arm gripper rotates downwards to position itself and prepares to lift the bag, the tip of the gripper comes into contact with the raised part of the wrinkle at the bottom of the bag. Due to the large friction force, it cannot slide smoothly along the bottom of the bag and thus interferes with the raised part of the wrinkle at the bottom of the bag. Ultimately, this causes the tip of the gripper to angledly pierce the bottom edge of the small bag, resulting in bag damage and material leakage.

[0004] The existing improvement methods mainly involve adding a leveling and squeezing mechanism before gripping the small bag to pre-shape the bag and reduce wrinkles. At the same time, the front end of the gripper is changed to a wedge-shaped structure to facilitate smooth insertion into the bag from the bottom edge. However, due to the limitations of the conveyor roller structure, the gripper must pass through the gap between the rollers to support the bag. Moreover, since the small bag is made of flexible and easily deformable PP woven material, even after the initial leveling, some small bags will still have local wrinkles during subsequent transportation. This cannot completely eliminate the risk of the front end tilting and piercing the small bag when the gripper rotates downward, and there is still a certain risk of bag breakage. Summary of the Invention

[0005] This invention addresses the problem of overly simplistic solutions in existing technologies by providing a significantly different solution. Belonging to the technical field of stacking robots, this invention primarily provides a robotic arm for stacking small ton bags in conjunction with a bag-holding machine. This addresses the technical problem mentioned in the background section where, during the gripping process of the robotic arm, the gripper at the front end sometimes tilts and pierces the bottom edge of the bag due to folds and protrusions at the bottom edge of the small bag.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows: A robotic arm for stacking small ton bags in conjunction with a bag-opening machine includes a multi-joint robotic arm, a transfer and clamping mechanism, and a mobile bag-opening machine. The transfer and clamping mechanism is located at the output end of the multi-joint robotic arm. The multi-joint robotic arm transfers small bags into the ton bags opened by the mobile bag-opening machine via the transfer and clamping mechanism. The transfer and clamping mechanism includes a top connecting device, two anti-puncture clamps, and a lowering side-pushing device. The two anti-puncture clamps are located below the top connecting device. Each anti-puncture clamp includes a mounting plate, and two anti-puncture clamps are bolted to the lower side of the mounting plate. The side panels have a common support shaft, on which a drive frame is rotatably connected. Multiple grippers with limit ports are equidistantly arranged on the lower side of the drive frame. The multiple grippers are movably connected to a rotating shaft, which passes through the limit ports and moves within them. The rotating shaft is engaged with multiple protective components, each corresponding to a gripper. The initial position of the protective component is located at the front end of the corresponding gripper, and the protective component can press the pleats and protrusions at the edge of the small bag upward. An avoidance and reset component is provided between each pair of adjacent grippers.

[0007] Preferably, the protective component includes an anisotropic rotating block, which has three protrusions that are equidistantly distributed around it. Each protrusion has a sliding frame slidably connected to its inner cavity. Each sliding frame has a roller at its upper end and a first return spring between the lower side of each sliding frame and the inner cavity of the protrusion.

[0008] Preferably, a limit frame is provided at the upper end of the inner cavity of each of the protrusions.

[0009] Preferably, the avoidance and reset assembly includes a receiving seat, which is connected to the side wall of an adjacent gripper by bolts. The receiving seat is provided with two sliding ports, and a second reset spring is provided in each sliding port. The front ends of the two second reset springs are provided with a moving block, which slides in the sliding port. The moving block is connected to a collar by bolts. A bearing is provided in the gap between the collar and the rotating shaft. Both ends of the rotating shaft are connected to limit rings by bolts.

[0010] Preferably, a drive assembly is provided between the two grippers located in the middle position. The drive assembly includes a sliding seat, which is slidably connected to the limiting ports on the two grippers. The sliding seat is bolted to a first motor. The output end of the first motor is provided with a first gear and a second gear meshing with the first gear, and the second gear is sleeved on the rotating shaft.

[0011] Preferably, the lowering and pushing device includes two symmetrically distributed first cylinders and a mounting frame. The mounting frame is located between the two first cylinders, and the two first cylinders are respectively located on the lower side of the corresponding mounting plate. Each first cylinder has a push plate at its output end. Each push plate has a guide shaft in a groove on its lower side. Each guide shaft is slidably connected to a connecting seat. Each connecting seat is rotatably connected to a connecting shaft. A deflection frame is provided on both connecting shafts. Corrugated plates are bolted to the two folded edges of the deflection frame. The lower end of the mounting frame is connected to the middle of the deflection frame via a shaft.

[0012] Preferably, each of the mounting plates has a mounting block bolted to its underside, and a second cylinder is mounted on the mounting block, with the output end of the second cylinder connected to the corresponding drive frame.

[0013] Preferably, the top connection mechanism includes a top docking seat, the lower side of which is bolted to a plurality of support seats, the support seats being provided with support rods, and the support rods being connected to the mounting plate by locking members.

[0014] Preferably, two scale plates are provided on the lower side of the top docking seat. Each scale plate is connected to a connecting plate by bolts. Each connecting plate is provided with a pointer. The pointer slides along the scale line on the corresponding scale plate, and the connecting plate and the corresponding mounting plate are connected by bolts.

[0015] Preferably, the mobile bag-holding machine includes a machine chassis, a hydraulic lifting mechanism, a tension hook structure, and a support seat. The support seat is located on the machine chassis and is used to support the ton bag. The hydraulic lifting mechanism adjusts the height of the tension hook structure, which is used to hook the pull ropes at the four top corners of the ton bag.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) The present invention, through the multi-joint robotic arm, transfer and clamping mechanism, mobile bag support machine, drive component, top docking seat, anti-puncture clamp, irregular rotating block, protrusion, moving frame, roller, first reset spring and limit frame, realizes that in the material bag gripping stage, the gripper can contact the pleated protrusion on the bottom edge of the bag before the gripper contacts the bag body. The roller's rolling action flattens or presses the pleated protrusion into the bag body, leaving sufficient space for the running trajectory of the gripper front end, avoiding hard interference between the gripper front end and the pleated protrusion on the bottom of the bag, solving the problem of bag breakage and material leakage caused by the gripper front end tilting and piercing the protrusion of the bag body in the original technology, significantly reducing material loss and production line shutdown cleaning frequency, and improving production continuity; Meanwhile, with the cooperation of the rotating shaft and the limiting port, the protective component can float along the limiting port. During the process of the gripper tightening and closing towards both sides of the small bag, it can be pushed backward by the side of the bag body, effectively avoiding the problem of uneven bag bottom caused by the protective component continuously supporting the bag bottom. This ensures that the gripper fully fits and lifts the bag bottom, eliminating the safety hazard of the small bag accidentally falling off during the initial transfer. Furthermore, the cooperation of the first return spring, the moving frame and the rollers allows the rollers to make "flexible contact" with the small bag, further protecting the small bag and preventing wear and damage to the material bag.

[0017] (2) By setting a rotating shaft, gripper, receiving seat, sliding mouth, second return spring, moving block, collar and bearing, the present invention realizes that during the material bag transfer process, the protective part after being moved backward avoids the elastic force of the second return spring, and the protrusion of its heterogeneous rotating block can always keep in close contact with the side edges of the bag. On the basis of the original gripper bottom lifting, an additional flexible clamping and positioning function is formed on both sides, which effectively restricts the lateral displacement and sliding of the bag during the transfer process, significantly improves the clamping stability under high-speed transfer and robotic arm acceleration and deceleration conditions, and further reduces the risk of the bag falling. Once the small bag is lowered and the grippers open and reset, the second reset spring can automatically push the protective component back to the initial position at the front end of the grippers along the limit port. This eliminates the need for an additional independent reset drive mechanism, simplifying the overall structure while ensuring the consistency and efficiency of the protective component's actions during continuous production.

[0018] (3) The present invention, through the anti-pinch clamp, top docking seat, multi-joint robotic arm, first cylinder, push plate, guide shaft, connecting seat, connecting shaft, deflection frame, corrugated plate and mounting frame, realizes that when the small bag is placed into the ton bag, the push plate and deflection frame mechanism driven by the symmetrically arranged first cylinder can apply a horizontal component force to the upper edge of the small bag while the gripper opens, guiding the small bag to move towards the inner wall of the ton bag during the falling process, so as to achieve the purpose of placing the small bag against the wall. This solves the problem in the original technology that the edge area of ​​the ton bag cannot be fully utilized because the gripper needs to reserve operating space when it opens. It maximizes the effective loading volume of the ton bag, reduces the overall number of ton bags used, and reduces packaging and transportation costs. At the same time, the small bags placed against the wall are arranged more neatly and orderly, which provides convenience for the subsequent stacking operation of the ton bag, improves the stacking stability, and reduces the probability of stacking accidents.

[0019] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the mobile bag-holding machine of the present invention; Figure 3 This is a schematic diagram of the transfer and clamping mechanism of the present invention; Figure 4 This is a plan view of the transfer and clamping mechanism of the present invention; Figure 5 This is an exploded view of the transfer and clamping mechanism of the present invention; Figure 6 This is an exploded view of the top connecting device of the present invention; Figure 7 This is a schematic diagram of the scale plate and connecting plate structure of the present invention; Figure 8 This is a schematic diagram showing the distribution of the two anti-piercing clamps of the present invention; Figure 9 This is a schematic diagram of the anti-piercing clamp structure of the present invention; Figure 10 This is an exploded view of the anti-piercing clamp of the present invention; Figure 11 This is a schematic diagram of the connection between the gripper and the rotating shaft of the present invention; Figure 12 This is a schematic diagram of the gripper structure of the present invention; Figure 13 This is a schematic diagram of the protective component structure of the present invention; Figure 14 This is an exploded view of the protective component of the present invention; Figure 15This is an exploded view of the driving component of the present invention; Figure 16 This is a schematic diagram of the avoidance and reset component structure of the present invention; Figure 17 This is an exploded view of the reversal and resetting component of the present invention; Figure 18 This is a schematic diagram of the lowering and pushing device of the present invention; Figure 19 This is an exploded view of the lowering and pushing device of the present invention; Figure 20 This is a simplified diagram showing the change in the state of the protective component during gripping and during transfer according to the present invention. Figure 21 This is a simplified diagram of the horizontal force component of the force applied by the side-pushing device to the small package during the lowering process of the present invention.

[0021] In the diagram: 1. Multi-joint robotic arm; 2. Transfer and gripping mechanism; 3. Mobile bag-holding machine; 31. Machine chassis; 32. Hydraulic lifting mechanism; 33. Tensioning hook structure; 34. Bearing seat; 4. Top connecting device; 41. Top docking seat; 42. Support seat; 43. Support rod; 44. Scale plate; 45. Connecting plate; 46. Pointer; 5. Anti-piercing clamp; 51. Mounting plate; 52. Side plate; 53. Support shaft; 54. Drive frame; 55. Gripper; 551. Limiting port; 56. Rotating shaft; 561. Limiting ring; 58. Second cylinder; 6. Lowering side push device; 61. First cylinder; 611, push plate; 612, guide shaft; 62, connecting seat; 63, connecting shaft; 64, deflection frame; 65, corrugated plate; 66, mounting frame; 7, protective component; 71, non-circular rotating block; 711, protrusion; 72, moving frame; 73, roller; 74, first return spring; 75, limit frame; 8, avoidance return assembly; 81, receiving seat; 811, sliding mouth; 82, second return spring; 83, moving block; 84, collar; 85, bearing; 9, drive assembly; 91, sliding seat; 92, first motor; 93, first gear; 94, second gear. Detailed Implementation

[0022] To facilitate understanding of the present invention, a more comprehensive description of the present invention will be given below with reference to the accompanying drawings, which illustrate several embodiments of the present invention. However, the present invention can be implemented in different forms and is not limited to the embodiments described in the text. Rather, these embodiments are provided to make the disclosure of the present invention more thorough and complete.

[0023] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly associated with those skilled in the art to which this invention pertains. The terminology used herein in the specification of this invention is for the purpose of describing particular embodiments and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0025] For the implementation examples, please refer to the appendix. Figure 1-21 As shown, a small bag stacking robot for use with a bag-opening machine includes a multi-joint robotic arm 1, a transfer and clamping mechanism 2, and a mobile bag-opening machine 3. The transfer and clamping mechanism 2 is located at the output end of the multi-joint robotic arm 1. The multi-joint robotic arm 1 transfers small bags into the ton bags opened by the mobile bag-opening machine 3 through the transfer and clamping mechanism 2. The transfer and clamping mechanism 2 includes a top connecting device 4, two anti-puncture clamps 5, and a lowering side pushing device 6. The two anti-puncture clamps 5 are located below the top connecting device 4. Each anti-puncture clamp 5 includes a mounting plate 51. The lower side of the mounting plate 51 is connected to two side plates 52 by bolts. A support shaft 53 is provided on the plate 52. A drive frame 54 is rotatably connected to the support shaft 53. Multiple grippers 55 with limit ports 551 are equidistantly arranged on the lower side of the drive frame 54. The multiple grippers 55 are movably connected to a rotating shaft 56, which passes through the limit port 551 and moves within the limit port 551. Multiple protective parts 7 are engaged with the rotating shaft 56. Each protective part 7 corresponds to one of the grippers 55. The initial position of the protective part 7 is located at the front end of the corresponding gripper 55. The protective part 7 can press the pleats and protrusions at the edge of the small bag upward. An avoidance and reset component 8 is provided between each pair of adjacent grippers 55.

[0026] The specific operation is as follows: when the conveyor roller (existing structure, so not shown in the figure) transports the small bag to the vicinity of the multi-joint robotic arm 1, the multi-joint robotic arm 1 drives the transfer and clamping mechanism 2 to move directly above the small bag, and then drives the transfer and clamping mechanism 2 to move vertically downwards towards the small bag. At the same time, the second cylinder 58 provides force to the drive frame 54, so that the drive frame 54 rotates around the support shaft 53 as the fulcrum, and drives the gripper 55 to approach the lower edge of the small bag for clamping. If the gripper 55 is about to contact the side edge of the small bag and is in a pleated state, the first motor 92 drives the first gear 93 to rotate, and the second gear 94, which is meshed with the first gear 93, rotates. Then the second gear 94 drives the rotating shaft 56 to rotate, and the multiple protective parts 7 on the rotating shaft 56 rotate synchronously. Since the protective parts 7 correspond one-to-one with the gripper 55 and the protective parts 7 are located at the front end of each gripper 55, the non-polar rotating block 71 in the protective part 7 drives the roller 73 to contact the pleated protrusion 711 of the small bag first, providing upward pressure to the pleated part, flattening or concave the pleated protrusion, providing enough space for the trajectory of the front end of the gripper 55 to move, and after the roller 73 slides over the pleat, the rotating shaft 56 stops rotating. Meanwhile, due to the size of the small bag itself, as the gripper 55 approaches the sides of the small bag, the side of the small bag will push the protective part 7 on the rotating shaft 56 to move along the direction of the limiting port 551 to effectively avoid the protective part 7 being always at the front end of the gripper 55, which would cause the bottom of the small bag to be partially supported by the roller 73 of the protective part 7, making the bottom of the small bag uneven and increasing the risk of accidental drop during transportation. During the movement of the protective component 7 along the limiting port 551 (i.e., during the tightening and closing of the grippers 55 on both sides of the small bag), the rotating shaft 56, through the bearing 85, collar 84, and moving block 83, synchronously compresses the second spring inside the receiving seat 81. Under the deformation force of the second return spring 82, the protrusion 711 on the irregular rotating block 71 contacts the side edge of the small bag, thus clamping it, improving stability during the transfer process, and preventing the small bag from accidentally falling off the grippers 55 (e.g., ...). Figure 20 (as shown) After closing, the small bag is positioned above the gripper 55. The multi-joint robotic arm 1 moves the small bag above the ton bag of the mobile bag-opening machine 3 via the gripper 55. Then, the second cylinder 58 unfolds the gripper 55 via the drive frame 54, allowing the small bag to be lowered into the ton bag. If the small bag is to be placed against the inner wall of the ton bag (since the gripper 55 needs to open during placement, a certain space must be reserved between the gripper 55 and the inner wall of the ton bag to allow the gripper 55 to open), the gripper 55 unfolds just before contacting the inner wall of the ton bag. Simultaneously, the output end of one first cylinder 61 pushes the corresponding push plate 611 downward, and the output end of another first cylinder 61 pulls the corresponding push plate upward. The connecting seats 62 on the two push plates move along the guide shaft 612 toward the mounting frame 66 in the middle. Subsequently, the deflection frame 64 deflects around the shaft at the lower end of the mounting frame 66, causing the corresponding corrugated plate 65 to exert a force on the upper edge of the small bag. The horizontal component of this force (e.g., Figure 21 As shown in the figure, this allows the small bags to move closer to the inner wall of the ton bag during the descent, achieving the purpose of placing them against the wall and maximizing space utilization.

[0027] Please refer to the appendix carefully. Figure 11-17As shown, the protective component 7 includes an anisotropic rotating block 71, on which three protrusions 711 are provided, and the three protrusions 711 are equidistantly distributed around each other. A movable frame 72 is slidably connected to the inner cavity of each protrusion 711. A roller 73 is provided at the upper end of each movable frame 72 to reduce friction with the small bag. A first return spring 74 is provided between the lower side of each movable frame 72 and the inner cavity of the protrusion 711. Through the cooperation of the first return spring 74, the movable frame 72 and the roller 73, the roller 73 makes "flexible contact" with the small bag, further protecting the small bag and preventing wear and damage to the material bag. A limit frame 75 is provided at the upper end of the inner cavity of each protrusion 711 to limit the movement range of the movable frame 72. The avoidance and reset assembly 8 includes a receiving seat 81, which is connected to the side wall of an adjacent gripper 55 by bolts. The receiving seat 81 has two sliding openings 811, each containing a second reset spring 82. A moving block 83 is located at the front end of both second reset springs 82, and slides within the sliding opening 811. A collar 84 is bolted to the moving block 83. A bearing 85 is installed in the gap between the collar 84 and the rotating shaft 56. Limit rings 561 are bolted to both ends of the rotating shaft 56. The assembly consists of the second reset springs 82, the moving block 83, the receiving seat 81, and the collar 84. 4 and bearing 85 provide force for the protrusion 711 to clamp the side edge of the small bag. A drive assembly 9 is provided between the two grippers 55 located in the middle position. The drive assembly 9 includes a sliding seat 91, which is slidably connected to the limiting port 551 on the two grippers 55. The sliding seat 91 is bolted to a first motor 92. The output end of the first motor 92 is provided with a first gear 93 and a second gear 94 meshing with the first gear 93. The second gear 94 is sleeved on the rotating shaft 56. The drive assembly 9 can move along the limiting port 551 simultaneously with the rotating shaft 56 and can provide driving force for the rotation of the rotating shaft 56.

[0028] Please refer to the appendix carefully. Figure 18 and 19As shown, the lowering side-pushing device 6 includes two symmetrically distributed first cylinders 61 and a mounting frame 66. The mounting frame 66 is located between the two first cylinders 61. The two first cylinders 61 are respectively located under the corresponding mounting plates 51. Each first cylinder 61 has a push plate 611 at its output end. Each push plate 611 has a guide shaft 612 in a groove on its lower side. Each guide shaft 612 is slidably connected to a connecting seat 62, so that the connecting seat 62 can slide in the horizontal direction under the push plate 611. Each connecting seat 62 is rotatably connected to a connecting shaft 63. A deflection frame 64 is provided on both connecting shafts 63. Corrugated plates 65 are bolted to the two folded edges of the deflection frame 64. The lower end of the mounting frame 66 is connected to the middle of the deflection frame 64 through a shaft. By using the lowering side-pushing device 6, the small bag is guided to move towards the inner wall of the ton bag during the falling process, so as to achieve the purpose of placing the small bag against the wall.

[0029] Please refer to the appendix carefully. Figure 6-10 As shown, each mounting plate 51 has a mounting block bolted to its lower side. A second cylinder 58 is mounted on each mounting block, and the output end of the second cylinder 58 is connected to the corresponding drive frame 54. The second cylinder 58 provides the driving force for the rotation of the drive frame 54. The top connecting mechanism includes a top docking seat 41, and multiple support seats 42 are bolted to the lower side of the top docking seat 41. Support rods 43 are mounted on each support seat 42, and the support rods 43 are locked to the mounting plate by locking components. The top docking seat 41 is connected with two scale plates 44 on its lower side. Each scale plate 44 is connected to a connecting plate 45 by bolts. Each connecting plate 45 is provided with a pointer 46, which slides along the scale line on the corresponding scale plate 44. The connecting plate 45 and the corresponding mounting plate 51 are connected by bolts. Through the scale plates 44, pointers 46 and connecting plates 45, it is convenient to calibrate the distance between the two anti-piercing clamps 5 during maintenance, and the bolt connection is easy to adjust.

[0030] Please refer to the appendix carefully. Figure 2 As shown, the mobile bag-holding machine 3 includes a machine base 31, a hydraulic lifting mechanism 32, a tension hook structure 33, and a support seat 34. The support seat 34 is located on the machine base 31 and is used to support the ton bag. The hydraulic lifting mechanism 32 adjusts the height of the tension hook structure 33, which is used to hook the pull ropes at the four top corners of the ton bag.

[0031] The present invention has been described by way of example in conjunction with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvement made by adopting the inventive concept and technical solution of the present invention, or the direct application of the inventive concept and technical solution of the present invention to other occasions without modification, shall be within the protection scope of the present invention.

Claims

1. A robotic arm for stacking small ton bags in conjunction with a bag-holding machine, comprising a multi-joint robotic arm (1), a transfer and clamping mechanism (2), and a mobile bag-holding machine (3), wherein the transfer and clamping mechanism (2) is located at the output end of the multi-joint robotic arm (1), and the multi-joint robotic arm (1) transfers small bags into the ton bags opened by the mobile bag-holding machine (3) through the transfer and clamping mechanism (2), characterized in that... The transfer clamping mechanism (2) includes a top connecting device (4), two anti-piercing clamps (5), and a lowering side pushing device (6). The two anti-piercing clamps (5) are located below the top connecting device (4). Each anti-piercing clamp (5) includes a mounting plate (51). The lower side of the mounting plate (51) is connected to two side plates (52) by bolts. A support shaft (53) is provided on both side plates (52). A drive frame (54) is rotatably connected to the support shaft (53). Multiple belts are equidistantly arranged on the lower side of the drive frame (54). There are grippers (55) with a limiting port (551). Multiple grippers (55) are movably connected to a rotating shaft (56). The rotating shaft (56) passes through the limiting port (551) and moves within the limiting port (551). Multiple protective parts (7) are engaged with the rotating shaft (56). Each protective part (7) corresponds to one of the grippers (55). The initial position of the protective part (7) is located at the front end of the corresponding gripper (55). The protective part (7) can press the pleated protrusions at the edge of the bag upward. An avoidance and reset component (8) is provided between each pair of adjacent grippers (55).

2. The robotic arm for stacking small ton bags in conjunction with a bag-supporting machine according to claim 1, characterized in that, The protective component (7) includes an anisotropic rotating block (71), which has three protrusions (711) arranged on it. The three protrusions (711) are equidistantly distributed around each other. Each protrusion (711) has a sliding frame (72) slidably connected to its inner cavity. Each sliding frame (72) has a roller (73) at its upper end. Each sliding frame (72) has a first return spring (74) between its lower side and the inner cavity of the protrusion (711).

3. The small bag stacking robot arm according to claim 2, characterized in that, Each of the protrusions (711) has a limit frame (75) at the upper end of its inner cavity.

4. The small bag stacking robot arm according to claim 1, characterized in that, The avoidance and reset assembly (8) includes a receiving seat (81), which is connected to the side wall of the adjacent gripper (55) by bolts. The receiving seat (81) is provided with two sliding ports (811), and each sliding port (811) is provided with a second reset spring (82). The front ends of the two second reset springs (82) are provided with a moving block (83). The moving block (83) slides in the sliding port (811). The moving block (83) is connected to a collar (84) by bolts. A bearing (85) is provided in the gap between the collar (84) and the rotating shaft (56). Both ends of the rotating shaft (56) are connected to limit rings (561) by bolts.

5. A robotic arm for stacking small ton bags in conjunction with a bag-supporting machine as described in claim 4, characterized in that, A drive assembly (9) is provided between the two grippers (55) located in the middle position. The drive assembly (9) includes a sliding seat (91), which is slidably connected to the limiting port (551) on the two grippers (55). The sliding seat (91) is connected to a first motor (92) by bolts. The output end of the first motor (92) is provided with a first gear (93) and a second gear (94) meshing with the first gear (93). The second gear (94) is sleeved on the rotating shaft (56).

6. A robotic arm for stacking small-bag ton bags in conjunction with a bag-supporting machine as described in claim 1, characterized in that, The lowering and pushing device (6) includes two symmetrically distributed first cylinders (61) and a mounting frame (66). The mounting frame (66) is located between the two first cylinders (61). The two first cylinders (61) are located on the lower side of the corresponding mounting plate (51). Each first cylinder (61) has a push plate (611) at its output end. Each push plate (611) has a guide shaft (612) in the groove on its lower side. Each guide shaft (612) is slidably connected to a connecting seat (62). Each connecting seat (62) is rotatably connected to a connecting shaft (63). A deflection frame (64) is provided on both connecting shafts (63). Corrugated plates (65) are bolted to the two folded edges of the deflection frame (64). The lower end of the mounting frame (66) is connected to the middle of the deflection frame (64) through a shaft.

7. A robotic arm for stacking small-bag ton bags in conjunction with a bag-supporting machine as described in claim 6, characterized in that, Each mounting plate (51) has a mounting block bolted to its underside. The mounting block is equipped with a second cylinder (58), and the output end of the second cylinder (58) is connected to the corresponding drive frame (54).

8. A robotic arm for stacking small-bag ton bags in conjunction with a bag-supporting machine according to claim 1, characterized in that, The top connection mechanism includes a top docking seat (41), and a plurality of support seats (42) are bolted to the lower side of the top docking seat (41). A support rod (43) is provided on the support seat (42), and the support rod (43) is connected to the mounting plate (51) by a locking member.

9. A robotic arm for stacking small-bag ton bags in conjunction with a bag-supporting machine as described in claim 8, characterized in that, Two scale plates (44) are provided on the lower side of the top docking seat (41). Each scale plate (44) is connected to a connecting plate (45) by bolts. Each connecting plate (45) is provided with a pointer (46). The pointer (46) slides along the scale line on the corresponding scale plate (44). The connecting plate (45) and the corresponding mounting plate (51) are connected by bolts.

10. A robotic arm for stacking small-bag ton bags in conjunction with a bag-supporting machine according to claim 1, characterized in that, The mobile bag-holding machine (3) includes a chassis (31), a hydraulic lifting mechanism (32), a tension hook structure (33), and a support seat (34). The support seat (34) is located on the chassis (31) and is used to support the ton bag. The hydraulic lifting mechanism (32) adjusts the height of the tension hook structure (33). The tension hook structure (33) is used to hook the pull ropes at the four top corners of the ton bag.

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