Bagged material three-grabbing separate control type integrated shipping device

Abstract

The utility model relates to a bagged material three-grabbing separate control type integrated dispatching device which comprises a dispatching walking track, a climbing grabbing device, a robot sliding assembly, a horizontal belt conveying device and a drag chain assembly, and the climbing grabbing device, the robot sliding assembly, the horizontal belt conveying device and the drag chain assembly are integrally installed on the dispatching walking track. The dispatching walking track is a double-track, the horizontal belt conveying device is installed between the dispatching walking double-track, the climbing grabbing device and the robot sliding assembly are connected through a pin shaft and move synchronously, and a horizontal belt of the horizontal belt conveying device is installed on the inner side of the dispatching walking track. The drag chain assembly is installed on the side edge of the dispatching walking track. According to the bagged material three-claw separate control type integrated shipping device, full-process automatic loading is achieved, the structure is simple and compact, the requirement for the site area is not high, safety and reliability are achieved, the production cost is saved to a great extent, and the loading efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of bagged material loading equipment, in particular to the field of full-automatic loading, and specifically refers to a three-grasp and separately controlled integrated shipping device for bagged materials. Background Art

[0002] In the existing process of loading bagged materials, there are mainly three ways of loading: manual loading, semi-automatic loading and fully automatic loading. Among them, manual loading generally uses a belt conveyor to transport bagged materials into the carriage, and stacking is done manually. There are many safety hazards in the loading process, such as high labor intensity, easy fatigue, slow loading speed, and easy errors. These problems may not only cause damage to goods or personal injury, but also affect the normal operation of the enterprise. Semi-automatic loading usually uses a stacking robot to stack materials on a pallet, and then uses a forklift to place the pallet and the goods in the carriage together. This requires high operating skills of the forklift operator, and the loading speed is slow, which poses certain safety risks. Although the existing fully automatic loading machine has achieved automated operation, it has a complex structure and high price, which makes it difficult for many small and medium-sized enterprises to afford. At the same time, the loading effect is not ideal due to differences in equipment performance and design, and the requirements for site area are high, which is not suitable for some places with limited space. Utility Model Content

[0003] The purpose of the utility model is to overcome the shortcomings of the above-mentioned prior art and provide a three-grasp and controlled integrated shipping device for bagged materials which has simple structure, strong stability, high loading efficiency and low site area requirements.

[0004] In order to achieve the above purpose, the three-grasp and controlled integrated shipping device for bagged materials of the utility model is as follows:

[0005] The three-grabbing and separately controlled integrated shipping device for bagged materials has the following main features: the device includes a shipping track, a climbing grabbing device, a robot sliding assembly, a horizontal belt conveyor device and a drag chain assembly; the climbing grabbing device, the robot sliding assembly, the horizontal belt conveyor device and the drag chain assembly are integrated and installed on the shipping track; the shipping track is a double track; the horizontal belt conveyor device is installed between the double shipping tracks; the climbing grabbing device and the robot sliding assembly are connected by a pin shaft and move synchronously; the horizontal belt of the horizontal belt conveyor device is installed on the inner side of the shipping track; the horizontal belt forms a conveying slope and forms a closed conveying loop; the drag chain assembly is installed on the side of the shipping track.

[0006] Preferably, the dispatching running track includes a front guide plate, an anti-collision device, an origin limit device, a rack and a heavy-load guide rail. The front guide plate is installed on both sides of the dispatching running track, the anti-collision device is installed on both sides of the dispatching running track, the origin limit device is installed at both ends of the dispatching running track, the rack is driven by the motor gear, and the heavy-load guide rail is in rolling contact with the roller box.

[0007] Preferably, the climbing and grabbing device includes a climbing bracket, a winding roller, a rear guide plate, a climbing buffer belt and a grabbing belt, one of the winding rollers is installed at the front end of the climbing bracket, and the other is installed on the same horizontal line at a distance behind it, so that the conveying horizontal belt passes by the upper surface of the front winding roller and comes out from the lower surface of the rear winding roller, forming a conveying slope that can lift the bagged material, the rear guide plate is installed on the formed conveying slope, the climbing buffer belt is connected to the back of the formed conveying slope and is connected to three sections of independently controlled grabbing belts, the grabbing belt is installed on the climbing bracket, the upper surface of the grabbing belt is lower than the upper surface of the highest point of the climbing buffer belt, and the bagged material enters the grabbing belt through the height difference.

[0008] Preferably, the grabbing belts include a first grabbing belt, a second grabbing belt and a third grabbing belt, all of which are belt driven and independently controlled in sections, and an adjustable bag-blocking baffle is provided at the end of the third grabbing belt.

[0009] Preferably, a narrow belt is arranged in the middle of the roller of the grabbing belt section, and the driving roller is driven by a motor to rotate the supporting roller through the narrow belt.

[0010] Preferably, the robot sliding assembly includes a robot base, a drive motor, a robot and a three-grip gripper. The robot base is in rolling contact with the heavy-load guide rail through a roller box, and is connected to the climbing grabbing device with a pin shaft, so that the robot sliding assembly and the climbing grabbing device move synchronously; the drive motor is installed on the robot base, and provides power for the synchronous movement of the robot sliding assembly and the climbing grabbing device through a rack and pinion transmission; the robot is installed on the robot base, and the three-grip gripper is installed at the end of the robot arm, and the bagged materials are pressed and grasped and released by a cylinder. The three-grip gripper can be controlled to grasp and release independently, and cooperates with three sections of independently controlled grabbing belts to select any one gripper or to grasp and release bags at the same time.

[0011] Preferably, the horizontal belt conveyor device includes an electric drum, a tensioning roller, a side guard roller, a belt roller and a horizontal belt. The electric drum and the tensioning roller are respectively installed at the front and rear ends of the dispatching running track. The electric drum provides power for the entire bagged material conveying. A tensioning device is arranged at the tensioning roller. The side guard rollers are symmetrically installed on both sides of the horizontal belt. The belt rollers are evenly installed on the dispatching running track to form a horizontal belt support plane; the horizontal belt is installed on the inner side of the dispatching running track. The horizontal belt passes around the outer circumference of the electric drum and is supported by a number of belt rollers. The folding rollers installed on the climbing grabbing device tension the upper and lower sides of the horizontal belt to form a conveying inclined surface, and then a closed conveying loop is formed from the outer circumference of the tensioning roller to the electric drum.

[0012] Preferably, the conveying slope is formed at any position on the horizontal belt conveying surface.

[0013] Preferably, the drag chain assembly includes a plurality of drag chain brackets, which are installed on the side of the dispatching running track, and a plurality of drag chain slot plates are installed on the upper part of the drag chain brackets. The tail of the drag chain is fixed on the drag chain slot plate, and the head of the drag chain is connected to the robot sliding assembly.

[0014] The utility model adopts the three-grasp and separately controlled integrated shipping device for bagged materials, which realizes full-automatic loading, has a simple and compact structure, does not require a high site area, and is safer and more reliable, thus saving production costs to a great extent and improving loading efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a front view of the three-grasp and separately controlled integrated shipping device for bagged materials of the utility model.

[0016] Figure 2 It is a top view of the three-grasp and separately controlled integrated shipping device for bagged materials of the utility model.

[0017] Figure 3 It is a cross-sectional schematic diagram of the three-grasp and separately controlled integrated shipping device for bagged materials of the utility model.

[0018] Reference numerals:

[0019] 1 Departure track

[0020] 11 Front guide plate

[0021] 12 Polyurethane anti-collision device

[0022] 13 origin limit device

[0023] 14 rack

[0024] 15 Heavy-duty guide rails

[0025] 2 Climbing grab device

[0026] 21 Climbing bracket

[0027] 22 Folding roller

[0028] 23 rear guide plate

[0029] 24 climbing cache belt

[0030] 25 First Grab Belt

[0031] 26 Second grab belt

[0032] 27Third grab belt

[0033] 3 Robot sliding assembly

[0034] 31 Robot base

[0035] 32 drive motor

[0036] 33 Robot

[0037] 34 Three-claw gripper

[0038] 4 Horizontal belt conveyor

[0039] 41 Electric drum

[0040] 42 tension roller

[0041] 43 side guard roller

[0042] 44 belt roller

[0043] 45 Horizontal belt

[0044] 5 Drag chain components

[0045] 51 Drag chain bracket

[0046] 52 drag chain slot plate

[0047] 53 drag chain DETAILED DESCRIPTION

[0048] In order to more clearly describe the technical content of the present invention, further description is given below in conjunction with specific embodiments.

[0049] The utility model discloses a three-grabbing and separately controlled integrated shipping device for bagged materials, which comprises a shipping running track, a climbing grabbing device, a robot sliding assembly, a horizontal belt conveyor device and a drag chain assembly. The climbing grabbing device, the robot sliding assembly, the horizontal belt conveyor device and the drag chain assembly are integrated and installed on the shipping running track. The shipping running track is a double track. The horizontal belt conveyor device is installed between the shipping running double tracks. The climbing grabbing device and the robot sliding assembly are connected by a pin shaft and move synchronously. The horizontal belt of the horizontal belt conveyor device is installed on the inner side of the shipping running track. The horizontal belt forms a conveying slope and forms a closed conveying loop. The drag chain assembly is installed on the side of the shipping running track.

[0050] As a preferred embodiment of the utility model, the dispatching running track includes a front guide plate, an anti-collision device, an origin limit device, a rack and a heavy-load guide rail. The front guide plate is installed on both sides of the dispatching running track, the anti-collision device is installed on both sides of the dispatching running track, the origin limit device is installed at both ends of the dispatching running track, the rack is driven by the motor gear, and the heavy-load guide rail is in rolling contact with the roller box.

[0051] As a preferred embodiment of the utility model, the climbing and grabbing device includes a climbing bracket, a winding roller, a rear guide plate, a climbing buffer belt and a grabbing belt, one of the winding rollers is installed at the front end of the climbing bracket, and the other is installed on the same horizontal line at a distance behind it, so that the conveying horizontal belt passes by the upper surface of the front winding roller and comes out from the lower surface of the rear winding roller to form a conveying slope that can lift the bagged material, the rear guide plate is installed on the formed conveying slope, the climbing buffer belt is connected to the back of the formed conveying slope and is connected to three sections of independently controlled grabbing belts, the grabbing belt is installed on the climbing bracket, the upper surface of the grabbing belt is lower than the upper surface of the highest point of the climbing buffer belt, and the bagged material enters the grabbing belt through the height difference.

[0052] As a preferred embodiment of the utility model, the grabbing belts include a first grabbing belt, a second grabbing belt and a third grabbing belt, all of which are belt driven and independently controlled in sections, and an adjustable bag-blocking baffle is provided at the end of the third grabbing belt.

[0053] As a preferred embodiment of the utility model, a narrow belt is arranged in the middle of the roller of the grabbing belt section, the active roller is driven by a motor, and the supporting roller is driven to rotate through the narrow belt.

[0054] As a preferred embodiment of the utility model, the robot sliding assembly includes a robot base, a drive motor, a robot and a three-grip gripper. The robot base is in rolling contact with the heavy-load guide rail through a roller box, and is connected to the climbing grabbing device with a pin shaft, so that the robot sliding assembly and the climbing grabbing device move synchronously; the drive motor is installed on the robot base, and provides power for the synchronous movement of the robot sliding assembly and the climbing grabbing device through a gear rack transmission; the robot is installed on the robot base, and the three-grip gripper is installed at the end of the robot arm, and the bagged materials are pressed and grasped and released by the cylinder. The three-grip gripper can be controlled to grasp and release independently, and cooperates with three sections of independently controlled grabbing belts to select any one gripper or to grasp and release the bags at the same time.

[0055] As a preferred embodiment of the utility model, the horizontal belt conveyor device includes an electric drum, a tensioning roller, a side guard roller, a belt roller and a horizontal belt. The electric drum and the tensioning roller are respectively installed at the front and rear ends of the dispatching running track. The electric drum provides power for the entire bagged material conveying. A tensioning device is arranged at the tensioning roller. The side guard rollers are symmetrically installed on both sides of the horizontal belt. The belt rollers are evenly installed on the dispatching running track to form a horizontal belt support plane; the horizontal belt is installed on the inner side of the dispatching running track, and the horizontal belt passes around the outer circumference of the electric drum and is supported by a number of belt rollers. The folding rollers installed on the climbing grabbing device tension the upper and lower sides of the horizontal belt to form a conveying inclined surface, and then a closed conveying loop is formed from the outer circumference of the tensioning roller to the electric drum.

[0056] As a preferred embodiment of the present utility model, the conveying slope is formed at any position on the horizontal belt conveying surface.

[0057] As a preferred embodiment of the utility model, the drag chain assembly includes a plurality of drag chain brackets, the plurality of drag chain brackets are installed on the side of the dispatching running track, a plurality of drag chain slot plates are installed on the upper part of the drag chain brackets, the tail of the drag chain is fixed on the drag chain slot plate, and the head of the drag chain is connected to the robot sliding assembly.

[0058] In a specific implementation manner of the utility model, it includes a launching running track 1, a climbing grabbing device 2, a robot sliding component 3, a horizontal belt conveyor device 4, and a drag chain component 5.

[0059] Among them, the dispatching walking track 1 serves as the basic support and moving path; the climbing grabbing device 2 is connected to the robot sliding component 3 through the distribution shaft and moves synchronously, and realizes precise linear motion through the gear transmission of the rack 14 and the drive motor 32. The heavy-load guide rail 15 and the roller box ensure efficient and smooth operation, which can realize the climbing of bagged materials to pack the trucks for dispatch and transition transportation; the horizontal belt conveyor 4 carries and quickly transports the bagged materials to the grabbing position; the drag chain component 5 integrates power, control cables and air circuits to ensure smooth operation of the device.

[0060] The shipping running track provides the running track for the climbing grabbing device and the robot sliding assembly, the conveying plane for the horizontal belt conveyor and the installation position for the drag chain assembly. The shipping running track structure is welded with high-strength steel and high-quality steel plates. It can be designed to any length according to the requirements of the loading site and can be installed as a whole on a concrete pier or a steel structure base.

[0061] The shipping running track is a double track, and the horizontal belt conveyor device is installed between the shipping running double tracks. The bagged materials are transported between the tracks, which can save the horizontal belt length to the greatest extent and shorten the length of the entire device.

[0062] The origin limit devices installed at both ends of the dispatching running track use photoelectric detection of the detector on the climbing grasping device to feedback the signal to the PLC control inverter design program output to control the robot drive motor to stop urgently.

[0063] The bagged materials are transported by the horizontal belt conveyor. Under the action of the climbing grabbing device structure, the materials are transported to the independently controllable grabbing belt, and then the robot on the robot sliding assembly cooperates with the separately controlled three-grab gripper to grab and load the materials. The horizontal belt of the device is folded in front of the climbing buffer belt. The two folding rollers arranged on the same horizontal line are tensioned to form a conveying slope, so that the bagged materials can be smoothly transferred; the conveying slope will be formed at any position on the horizontal belt conveyor surface due to the movement of the climbing grabbing device under the control of the loading program; the upper surface of the grabbing belt is slightly lower than the highest point of the climbing buffer belt to avoid bag jams.

[0064] The bagged material is fed through the downward belt, and the front guide plate 11 initially corrects its position and direction to ensure that the material is transported along the horizontal belt 45. At the same time, the climbing grabbing device 2 and the robot sliding assembly 3 are moved to the specified position under program control. The material is then transported to the climbing buffer belt 24 through the inclined surface formed by the tension of the two folding rollers 22, and then transported by the climbing buffer belt 24 to the three independently controlled grabbing belts. The robot 33 is equipped with a three-grip gripper 34 that can be controlled separately for grabbing and loading. After completion, the climbing grabbing device 2 and the robot sliding assembly 3 move to the next station to continue loading until the entire vehicle is loaded.

[0065] The dispatching running track is equipped with a front guide plate, an anti-collision device, an origin limiter, a rack and a heavy-duty guide rail; the front guide plate makes a preliminary correction to the position and direction of the bagged material so that the material runs in the specified direction; the anti-collision device is installed on both sides of the dispatching running track to prevent the robot from walking too much and leaving the track; the origin limiter uses photoelectric detection to prevent the robot from leaving the set track; the transmission relationship between the rack and the motor gear realizes the precise linear motion of the robot sliding assembly, and the rolling contact between the heavy-duty guide rail and the roller box ensures the efficiency and stability of this motion process. In order to prevent the climbing grasping device 2 and the robot sliding assembly 3 from walking too much and leaving the dispatching running track 1, a polyurethane anti-collision device 12 and an origin limiter 13 are installed at both ends of the dispatching running track 1.

[0066] The climbing grabbing device includes a climbing bracket, a winding roller, a rear guide plate, a climbing buffer belt, a first grabbing belt, a second grabbing belt, and a third grabbing belt; the climbing bracket is welded from high-strength steel and high-quality steel plate, and is the installation base of the entire climbing grabbing device; one of the winding rollers 22 is installed at the front end of the climbing bracket 21, and the other is installed on the same horizontal line at a distance behind it, so that the horizontal belt 45 bypasses the upper surface of the front winding roller 22 and exits from the lower surface of the rear winding roller 22, forming a gentle slope to lift the bagged materials, and then transport the materials to the climbing buffer belt 24, which has strong reliability; the rear guide plate 23 corrects the bagged materials that pass through the horizontal belt 45 and climb the slope again, so that the materials enter the grabbing belt in the specified direction and position; while the climbing buffer belt 24 climbs the slope and transports the bagged materials to the grabbing belt, it also Materials can be buffered to avoid frequent starts and stops and bag jams caused by the three-claw gripper 34 not grabbing in time during the grabbing and transportation process of the robot 33; when the horizontal belt 45 is conveying, the climbing grabbing device 2 can move freely on the dispatching running track 1; the grabbing belt is installed on the climbing bracket 21, and its upper surface is slightly lower than the upper surface of the highest point of the climbing buffer belt 24. Due to the height difference, the bagged materials will enter the grabbing belt smoothly; the grabbing belt is composed of three sections: the first grabbing belt 25, the second grabbing belt 26 and the third grabbing belt 27, all of which are belt driven and can be independently controlled in sections. A narrow belt is arranged in the middle of the grabbing section roller. The narrow belt can avoid the grabbing teeth of the three-claw gripper 34, and the active roller is driven by a motor, and the roller is driven to rotate through the narrow belt to realize material packaging; an adjustable bag-blocking baffle is provided at the end of the third grabbing belt 27 to ensure that the bagged materials can be accurately placed in place.

[0067] The robot sliding assembly mainly includes a robot base, a drive motor, a robot, and a three-grip gripper; the robot base is in rolling contact with the heavy-load guide rail through a roller box, and is connected to the climbing grabbing device with a pin shaft, so that the robot sliding assembly and the climbing grabbing device move synchronously; the drive motor is installed on the robot base, and provides power for the synchronous movement of the robot sliding assembly and the climbing grabbing device through a gear rack transmission; the robot is installed on the robot base to realize the transfer of bagged materials; the three-grip gripper is installed at the end of the robot arm, and the bagged materials are pressed and grasped and released through a cylinder. The three-grip gripper can be controlled to grasp and release independently, and with three sections of independently controlled grabbing belts, any gripper can be selected or bags can be grasped and released at the same time, which is flexible, reliable and highly adaptable.

[0068] The horizontal belt conveyor device includes an electric drum, a tensioning roller, a side guard roller, a belt roller and a horizontal belt; the electric drum and the tensioning roller are respectively installed at the front and rear ends of the dispatching running track, the electric drum provides power for the entire bagged material conveying, and a tensioning device is arranged at the tensioning roller, which can provide appropriate tensioning force for the horizontal belt to ensure its stable operation and prevent slipping or loosening, and its structure is simple and compact; the electric drum driving structure is compact and occupies a small space, and is suitable for working under various harsh environmental conditions; the side guard rollers 43 are symmetrically installed on both sides of the horizontal belt 45 to prevent the horizontal belt 45 from running off; the belt rollers are evenly installed on the dispatching running track to form a horizontal belt support plane; the horizontal belt is installed on the inner side of the dispatching running track, which can save the length of the horizontal belt to the greatest extent; the horizontal belt 45 bypasses the outer circumference of the electric drum 41 and relies on a number of belt rollers 44 to support it, passes through the conveying inclined surface formed by the folding roller 22 installed on the climbing grabbing device 2 to tension the horizontal belt 45, and then returns to the electric drum 41 on the outer circumference of the tensioning roller 42 to form a closed conveying loop. The conveying slope can be formed at any position on the horizontal belt conveying surface due to the movement of the climbing grabbing device 2 under the control of the loading program.

[0069] The drag chain bracket 51 is installed on the side of the dispatching running track 1, and a plurality of drag chain slot plates 52 are installed on the upper end thereof for fixing the drag chain 53. The tail of the drag chain is fixed on the drag chain slot plate 52, and the head is connected to the robot sliding assembly 3 for installing power cables, control cables and air circuits.

[0070] When the photoelectric switch assembly detects that the number of bagged material packages on the three-section grabbing belt meets the loading procedure, the corresponding belt drive motor will stop the narrow belt movement, and then the robot 33 will cooperate with the three-grip gripper 34 to complete the bagged material grabbing and loading.

[0071] The specific implementation scheme of this embodiment can refer to the relevant description in the above embodiment, which will not be repeated here.

[0072] It can be understood that the same or similar parts of the above embodiments can be referenced to each other, and the contents not described in detail in some embodiments can refer to the same or similar contents in other embodiments.

[0073] It should be noted that, in the description of the present invention, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present invention, unless otherwise specified, the meaning of "plurality" refers to at least two.

[0074] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0075] The utility model adopts the three-grasp and separately controlled integrated shipping device for bagged materials, which realizes full-automatic loading, has a simple and compact structure, does not require a high site area, and is safer and more reliable, thus saving production costs to a great extent and improving loading efficiency.

[0076] In this specification, the utility model has been described with reference to its specific embodiments. However, it is obvious that various modifications and changes can be made without departing from the spirit and scope of the utility model. Therefore, the description and drawings should be regarded as illustrative rather than restrictive.

Claims

1. A three-grab and controlled integrated shipping device for bagged materials, characterized in that: The device includes a dispatching running track, a climbing grabbing device, a robot sliding assembly, a horizontal belt conveyor device and a drag chain assembly. The climbing grabbing device, the robot sliding assembly, the horizontal belt conveyor device and the drag chain assembly are integrated and installed on the dispatching running track. The dispatching running track is a double track. The horizontal belt conveyor device is installed between the double dispatching running tracks. The climbing grabbing device and the robot sliding assembly are connected by a pin shaft and move synchronously. The horizontal belt of the horizontal belt conveyor device is installed on the inner side of the dispatching running track. The horizontal belt forms a conveying slope and forms a closed conveying loop; the drag chain assembly is installed on the side of the dispatching running track.

2. The three-grasp and controlled integrated shipping device for bagged materials according to claim 1 is characterized in that: The dispatching running track includes a front guide plate, an anti-collision device, an origin limit device, a rack and a heavy-load guide rail. The front guide plate is installed on both sides of the dispatching running track, the anti-collision device is installed on both sides of the dispatching running track, the origin limit device is installed at both ends of the dispatching running track, the rack is driven by the motor gear, and the heavy-load guide rail is in rolling contact with the roller box.

3. The three-grasp and controlled integrated shipping device for bagged materials according to claim 1 is characterized in that: The climbing and grabbing device includes a climbing bracket, a winding roller, a rear guide plate, a climbing buffer belt and a grabbing belt. One of the winding rollers is installed at the front end of the climbing bracket, and the other is installed on the same horizontal line at a distance behind it, so that the conveying horizontal belt passes by the upper surface of the front winding roller and comes out from the lower surface of the rear winding roller to form a conveying slope that can lift the bagged materials. The rear guide plate is installed on the formed conveying slope. The climbing buffer belt is connected to the back of the formed conveying slope and is connected to three sections of independently controlled grabbing belts. The grabbing belt is installed on the climbing bracket. The upper surface of the grabbing belt is lower than the upper surface of the highest point of the climbing buffer belt. The bagged materials enter the grabbing belt through the height difference.

4. The three-grasp and controlled integrated shipping device for bagged materials according to claim 3 is characterized in that: The grabbing belts include a first grabbing belt, a second grabbing belt and a third grabbing belt, all of which are driven by belts and are independently controlled in sections. An adjustable bag-blocking baffle is arranged at the end of the third grabbing belt.

5. The three-grasp and controlled integrated shipping device for bagged materials according to claim 3 is characterized in that: A narrow belt is arranged in the middle of the roller of the grabbing belt section. The active roller is driven by a motor, and the supporting roller is driven to rotate through the narrow belt.

6. The three-grasp and controlled integrated shipping device for bagged materials according to claim 1 is characterized in that: The robot sliding assembly includes a robot base, a drive motor, a robot and a three-grip gripper. The robot base is in rolling contact with the heavy-load guide rail through a roller box, and is connected to the climbing grabbing device with a pin shaft, so that the robot sliding assembly and the climbing grabbing device move synchronously; the drive motor is installed on the robot base, and provides power for the synchronous movement of the robot sliding assembly and the climbing grabbing device through gear rack transmission; the robot is installed on the robot base, and the three-grip gripper is installed at the end of the robot arm, and the bagged materials are pressed and grasped and released by the cylinder. The three-grip gripper can be controlled to grasp and release independently, and cooperates with three sections of independently controlled grasping belts to select any gripper or to grasp and release bags at the same time.

7. The three-grasp and controlled integrated shipping device for bagged materials according to claim 1 is characterized in that: The horizontal belt conveyor device includes an electric drum, a tensioning roller, a side guard roller, a belt roller and a horizontal belt. The electric drum and the tensioning roller are respectively installed at the front and rear ends of the dispatching running track. The electric drum provides power for the entire bagged material conveying. A tensioning device is arranged at the tensioning roller. The side guard rollers are symmetrically installed on both sides of the horizontal belt. The belt rollers are evenly installed on the dispatching running track to form a horizontal belt support plane; the horizontal belt is installed on the inner side of the dispatching running track. The horizontal belt passes around the outer circumference of the electric drum and is supported by a number of belt rollers. The folding rollers installed on the climbing grabbing device tension the upper and lower sides of the horizontal belt to form a conveying inclined surface, and then a closed conveying loop is formed from the outer circumference of the tensioning roller to the electric drum.

8. The three-grasp and controlled integrated shipping device for bagged materials according to claim 7 is characterized in that: The conveying slope is formed at any position on the horizontal belt conveying surface.

9. The three-grasp and controlled integrated shipping device for bagged materials according to claim 1 is characterized in that: The drag chain assembly includes a plurality of drag chain brackets, which are installed on the side of the dispatching running track. A plurality of drag chain slot plates are installed on the upper part of the drag chain bracket. The tail of the drag chain is fixed on the drag chain slot plate, and the head of the drag chain is connected to the robot sliding assembly.

Images