Soft package pasting, grabbing and lifting device

Abstract

The utility model relates to a soft package pasting, grabbing and lifting device. The soft package pasting, grabbing and lifting device comprises a rack. The pasting device is arranged on the rack, and the pasting device is used for pasting a binding belt of a soft bag to be grabbed; and the grabbing device is arranged on the rack, and the grabbing device is used for grabbing the binding belt of the to-be-grabbed soft package pasted by the pasting device. Before the soft bag to be grabbed needs to be grabbed and lifted, the binding belt of the soft bag to be grabbed can be firstly pasted by the pasting device, so that the binding belt can be independent from the soft bag to be grabbed, the binding belt can be conveniently grabbed by the grabbing device subsequently, the grabbing efficiency of the soft bag to be grabbed is improved, and the grabbing efficiency of the soft bag to be grabbed is improved. Therefore, after the bridle of the soft package to be grabbed is grabbed, the soft package to be grabbed can be transported, dumped and the like, and the transporting and dumping efficiency of the soft package to be grabbed is improved.

Description

Technical Field

[0001] The present application relates to the technical field of soft package grabbing, and in particular to a soft package pasting, grabbing and lifting device. Background Art

[0002] Since open bulk material transportation and dumping cause great pollution and high losses, in order to improve the environment, bulk material transportation and dumping are gradually transformed into closed types (such as tank bulk trucks, containers and ton bags).

[0003] In the related art, the transportation and dumping of ton bags are basically carried out by manual hooking and unhooking. This is because the straps of the ton bags are at different positions on the upper surface of the ton bags each time. Therefore, the current efficiency of ton bag transportation and dumping is low. Summary of the invention

[0004] Based on this, it is necessary to provide a soft bag sticking grabbing and lifting device to address the problem of low efficiency in ton bag transportation and dumping.

[0005] On the one hand, a soft bag pasting grabbing and lifting device is provided, comprising:

[0006] frame;

[0007] A pasting device, arranged on the frame, used for pasting the strap of the soft package to be grabbed;

[0008] And a grabbing device is arranged on the frame, and the grabbing device is used to grab the strap of the soft package to be grabbed after being pasted by the pasting device.

[0009] In one embodiment, the pasting device includes a pressing plate and a pasting piece, wherein the pasting piece is disposed on one side of the pressing plate and is used to pasting the strap of the soft package to be grasped.

[0010] In one embodiment, the adhesive member includes Velcro, which is disposed on one side of the pressure plate and is used to adhere the strap of the soft bag to be grabbed.

[0011] In one embodiment, the pasting device further comprises a flexible connector, one end of which is connected to the frame, and the other end of which is connected to the pressing plate.

[0012] In one embodiment, the flexible connecting member comprises a flexible rope, one end of the flexible rope is connected to the frame, and the other end of the flexible rope is connected to the pressing plate.

[0013] In one of the embodiments, the soft bag pasting, grabbing and lifting device also includes a first lifting device, which is arranged on the frame and connected to the pasting device, and is used to drive the pasting device to perform a lifting movement to approach or move away from the soft bag to be grabbed.

[0014] In one embodiment, the grasping device includes a first claw, a second claw, a claw driving member, a first connecting rod, a second connecting rod and a connecting shaft; one end of the first claw is hinged to the first connecting rod, one end of the second claw is hinged to the second connecting rod, and the connecting shaft is hinged to the other end of the first connecting rod and the other end of the second connecting rod at the same time; the claw driving member is arranged on the frame and connected to the connecting shaft, and is used to drive the connecting shaft to reciprocate in the radial direction so that the first claw and the second claw are moved closer to or away from each other;

[0015] The first connecting rod has a first locking surface, and the second connecting rod has a second locking surface. When the claw driving member drives the first claw and the second claw to move closer to each other, the first locking surface and the second locking surface can fit together to lock; when the claw driving member drives the first claw and the second claw to move away from each other, the first locking surface and the second locking surface can separate from each other to unlock.

[0016] In one embodiment, the grabbing device further includes a first gear and a second gear meshing with each other, and both axial ends of the first gear and the second gear are rotatably connected to the frame; the first gear is connected to the first claw, and the second gear is connected to the second claw.

[0017] In one of the embodiments, the soft package pasting, grabbing and lifting device also includes a detection device, which is installed on at least one of the frame, the pasting device or the grabbing device, and is used to detect the position of the strap of the soft package to be grabbed and the current length direction of the strap. The grabbing device is used to grab the strap of the soft package to be grabbed after being pasted by the pasting device according to the position of the strap of the soft package to be grabbed and the current length direction of the strap.

[0018] In one of the embodiments, the soft bag pasting grabbing and lifting device also includes a rotating device, which is connected to the frame, and is used to drive the frame to rotate around the axis. The detection device can detect the position of the belt of the soft bag to be grabbed and the current length direction of the belt during the rotation.

[0019] The above-mentioned soft bag sticking, grabbing and lifting device can first use the sticking device to stick the strap of the soft bag to be grabbed before the soft bag to be grabbed needs to be grabbed and lifted. In this way, the strap can be separated from the soft bag to be grabbed, making it convenient for the subsequent grabbing device to grab the strap, thereby improving the grabbing efficiency of the soft bag to be grabbed. After grabbing the strap of the soft bag to be grabbed, the transportation, dumping and other operations of the soft bag to be grabbed can be realized, thereby improving the transportation and dumping efficiency of the soft bag to be grabbed. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of a soft package to be grasped in one embodiment of the present application.

[0021] Figure 2It is a schematic diagram of the structure of a soft-pack pasting, grabbing and lifting device in one or more embodiments of the present application.

[0022] Figure 3 It is a schematic diagram of the structure of the adhesive member in one or more embodiments of the present application.

[0023] Figure 4 for Figure 2 The schematic diagram of the structure of the grabbing device in the soft bag pasting grabbing and lifting device is shown.

[0024] Figure 5 The present invention is a flowchart of a soft package pasting, grabbing and lifting method in one embodiment of the present application.

[0025] Reference numerals:

[0026] Soft package pasting, grasping and lifting device 100, frame 10, pasting device 20, pressure plate 21, avoidance groove 211, pasting piece 22, sub-adhesive piece 221, flexible connecting piece 23, grasping device 30, first claw 31, second claw 32, claw driving member 33, first connecting rod 34, first locking surface 341, second connecting rod 35, second locking surface 351, connecting shaft 36, first gear 37, second gear 38, first lifting device 40, detection device 50, rotating device 60, rotating motor 61, rotating reducer 62, distance measuring device 70, soft package 200 to be grasped, strap 210, bag body 220. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0028] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0029] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0030] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0031] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0032] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0033] See also Figure 1 and Figure 2 , Figure 1 is a schematic diagram of the structure of a soft package to be grabbed in an embodiment of the present application, Figure 2 The soft package pasting, grabbing and lifting device 100 provided in one embodiment of the present application includes a frame 10, a pasting device 20 and a grabbing device 30.

[0034] The rack 10 refers to a structure for installing various components, mechanisms, and devices. In the embodiment of the present application, the rack 10 is mainly used to install the pasting device 20 and the gripping device 30. The structure of the rack 10 can be an integral body or can be formed by a combination of multiple brackets, panels, etc.

[0035] The pasting device 20 is arranged on the frame 10, and is used to paste the strap 210 of the soft package 200 to be grasped. The grabbing device 30 is arranged on the frame 10, and is used to grab the strap 210 of the soft package 200 to be grasped after being pasted by the pasting device 20.

[0036] The pasting device 20 is connected to the strap 210 of the soft bag 200 to be grasped by pasting. The pasting form of the pasting device 20 is not limited to gluing, and can also be pasted by the cooperation of the hook surface and the fleece surface.

[0037] The grabbing device 30 is a device capable of performing a grabbing action. The specific structural form of the grabbing device 40 can be a gripper, a clamping claw, etc.

[0038] The soft bag 200 to be grabbed may be the ton bag mentioned in the above background technology, or may be other logistics packaging bags, material bags, etc.

[0039] It should also be pointed out that the soft bag used in the embodiment of the present application has a bag body 220 that can accommodate objects, and also includes a strap 210 connected to the bag body 220. The strap 210 can also be called a carrying strap, a carrying rope, a sling, etc.

[0040] The soft-package sticking, grabbing and lifting device 100 of the embodiment of the present application can first use the sticking device 20 to stick the strap 210 of the soft-package 200 to be grabbed before the soft-package 200 to be grabbed and lifted. In this way, the strap 210 can be separated from the soft-package 200 to be grabbed, which makes it convenient for the subsequent grabbing device 30 to grab the strap 210, thereby improving the grabbing efficiency of the soft-package 200 to be grabbed. After grabbing the strap 210 of the soft-package 200 to be grabbed, the transportation, dumping and other operations of the soft-package 200 to be grabbed can be realized, thereby improving the transportation and dumping efficiency of the soft-package 200 to be grabbed.

[0041] Combination Figure 3 Specifically, in the embodiment of the present application, the pasting device 20 includes a pressing plate 21 and a pasting member 22. The pasting member 22 is arranged on one side of the pressing plate 21 and is used to pasted the strap 210 of the soft package 200 to be grasped.

[0042] The adhesive member 22 can be arranged on the side of the pressing plate 21 facing the soft package 200 to be grasped, specifically, it can be the bottom side of the pressing plate 21. The bottom side of the pressing plate 21 referred to here can be the side of the bottom along the vertical direction during the use of the adhesive device 20.

[0043] The adhesive member 22 may completely cover one side of the pressing plate 21 , or may not completely cover one side of the pressing plate 21 .

[0044] Since the adhesive piece 22 is arranged on the pressure plate 21, the pressure plate 21 has a certain hardness, and the soft package 200 to be grasped is soft. Therefore, when the adhesive piece 22 is used to stick the strap 210 of the soft package 200 to be grasped, the adhesive piece 22 can be supported by the pressure plate 21 with hardness, and a certain pressure can be applied to the soft package 200 to be grasped, so as to prevent the adhesive piece 22 from being deformed when being attached to the soft package 200 and failing to successfully stick the strap 210, thereby improving the success rate of the adhesive piece 22 sticking the strap 210.

[0045] Specifically, the pressing plate 21 may be in a disc shape, for example, similar to a circular disc shape. Of course, the pressing plate 21 may also be in other shapes. In addition, the pressing plate 21 may be made of metal, plastic, or the like.

[0046] Specifically, the adhesive member 22 may be provided on the pressing plate 21 in the form of bonding, bolting, screw connection, etc.

[0047] In order to easily change the setting position of the adhesive member 22 on the pressing plate 21 and facilitate the replacement of the adhesive member 22, the adhesive member 22 can be detachably connected to the pressing plate 21. In addition, the pressing plate 21 can also be provided with multiple installation positions, and the adhesive member 22 can be installed at any installation position.

[0048] In some embodiments, the adhesive member 22 includes Velcro, which is disposed on one side of the pressing plate 21 and is used to adhere the strap 210 of the soft package 200 to be grasped.

[0049] Velcro refers to a structure with a hook surface or a fleece surface on one side. In the embodiment of the present application, the Velcro provided on the pressing plate 21 has a hook surface on the side facing away from the pressing plate 21, and a matching Velcro is provided on the strap 210 of the soft bag 200 to be grasped, and the Velcro has a fleece surface, so that when the Velcro on the pressing plate 21 is used to stick the Velcro on the strap 210 of the soft bag 200 to be grasped, the hook surface and the fleece surface are connected to each other.

[0050] The method of setting Velcro to stick the strap 210 of the soft bag 200 to be grasped has a strong sticking force and is more secure.

[0051] In some embodiments, the adhesive member 22 includes a plurality of sub-adhesive members 221 , and all the sub-adhesive members 221 are spaced apart from each other along a direction parallel to the pressing plate 21 .

[0052] The manner of setting multiple sub-adhesive pieces 221 at intervals can, on the one hand, expand the adhesion range of the adhesive piece 22, and on the other hand, appropriately reduce the adhesion force, so that after the subsequent grasping device 30 grasps the strap 210 of the soft package 200 to be grasped, the strap 210 can be more easily separated from the adhesive piece 22, so as to facilitate the subsequent transportation and dumping of the soft package 200 to be grasped.

[0053] Specifically, each sub-adhesive member 221 is a Velcro. In other embodiments, each sub-adhesive member 221 may be attached in different forms, which is not specifically limited.

[0054] In addition, in other embodiments, the adhesive member 22 may also completely cover one side of the pressing plate 21. Specifically, the adhesive member 22 may be provided as a whole on one side of the pressing plate 21, or may be a plurality of sub-adhesive members 221 provided closely to each other on one side of the pressing plate 21. For example, the entire surface of one side of the pressing plate 21 is Velcro.

[0055] In this way, the adhesive member 221 can be more reliably attached to the strap 210 of the soft package 200 to be grasped.

[0056] Please refer again Figure 2 In some embodiments, the pasting device 20 further includes a flexible connector 23 , one end of the flexible connector 23 is connected to the frame 10 , and the other end of the flexible connector 23 is connected to the pressing plate 21 .

[0057] The flexible connector 23 is a connection component with a soft property. Since the flexible connector 23 is connected between the frame 10 and the pressing plate 21, the pressing plate 21 will move relative to the frame 10 through the flexible connector 23 after being subjected to uneven force.

[0058] In this way, when the pressing plate 21 is pressed against the surface of the soft package 200 to be grasped, if the surface of the soft package 200 to be grasped is skewed, the pressing plate 21 can adapt to the skewness by moving relative to the frame 10 through the flexible connecting piece 23, so that the adhesive piece 22 thereon can also adapt to the skewness of the surface of the soft package 200 to be grasped, thereby improving the reliability of the adhesive piece 22 sticking to the strap 210 of the soft package 200 to be grasped.

[0059] Specifically, the flexible connecting member 23 includes a flexible rope, one end of which is connected to the frame 10 , and the other end of which is connected to the pressing plate 21 .

[0060] The flexible rope has a simple structure, does not occupy too much space, is highly flexible, exerts less restraint on the pressing plate 21 , and makes it easier for the pressing plate 21 to move relative to the frame 10 .

[0061] In other embodiments, the flexible connector 23 may also be a flexible tube, a flexible net, etc.

[0062] In the embodiment of the present application, the flexible connector 23 includes a plurality of flexible connectors 23, which are spaced apart from each other, and one end of each flexible connector 23 is connected to the frame 10, and the other end is connected to the pressing plate 21. Specifically, the flexible connector 23 includes four, and the four flexible connectors 23 are distributed in a rectangular shape.

[0063] In some embodiments, the soft bag pasting grasping and lifting device 100 also includes a first lifting device 40, which is arranged on the frame 10 and connected to the pasting device 20, and is used to drive the pasting device 20 to perform a lifting movement to approach or move away from the soft bag 200 to be grasped.

[0064] Since the first lifting device 40 is arranged on the frame 10, it can independently drive the pasting device 20 to perform lifting movement. Therefore, before the grasping device 30 grasps the strap 210 of the soft package 200 to be grasped, the pasting device 20 can be driven to descend by the first lifting device 40 to make it closer to the soft package 200 to be grasped, thereby improving the reliability of the pasting device 20 pasting the strap 210 of the soft package 200 to be grasped; and, after the strap 210 of the soft package 200 to be grasped is pasted, the pasting device 20 can be driven to rise by the first lifting device 40, so that the strap 210 of the soft package 200 to be grasped follows the pasting device 20 to detach from the surface of the bag body 220 of the soft package 200 to be grasped, and the strap 210 of the soft package 200 to be grasped is arranged closer to the grasping device 30, so as to facilitate the grasping device 30 to grasp the strap 210 of the soft package 200 to be grasped later.

[0065] Specifically, the first lifting device 40 can be connected to the pressing plate 21. More specifically, the first lifting device 40 is connected to the pressing plate 21 through the flexible connector 23. That is, one end of the flexible connector 23 is indirectly connected to the frame 10 through the first lifting device 40, and the other end is connected to the pressing plate 21.

[0066] In addition, the number of the first lifting device 40 may also include multiple first lifting devices 40, which are arranged at intervals from each other, and each first lifting device 40 is connected to the pasting device 20. In this way, the stability of the lifting movement of the pasting device 20 can be improved.

[0067] In the implementation manner of the present application, the first lifting device 40 can be a lifting cylinder, a lifting oil cylinder or a lifting electric cylinder, etc.

[0068] See also Figure 2 and Figure 4 In some embodiments, the grasping device 30 has at least two claws, which grasp or release the strap 210 of the soft package 200 to be grasped through relative movement of the at least two claws.

[0069] Specifically, the gripping device 30 includes a first claw portion 31 and a second claw portion 32 , and the first claw portion 31 and the second claw portion 32 can move closer to or farther from each other.

[0070] The first claw 31 and the second claw 32 can both be in the form of a grab hook, and the first claw 31 and the second claw 32 can be plugged into each other at their ends when they are close to each other to improve the reliability of the claws. For example, the end of one of the first claw 31 and the second claw 32 is provided with a plugging slot, and the end of the other can be plugged into the plugging slot.

[0071] In some embodiments, the first claw 31 and the second claw 32 are distributed on opposite sides of the pressing plate 21, and when the first claw 31 and the second claw 32 can be brought close to each other, the ends of the first claw 31 and the second claw 32 can be extended to the side of the pressing plate 21 with the adhesive 22, thereby grabbing the strap 210 of the soft package 200 to be grabbed after being attached by the attaching device 20. Since the strap 210 of the soft package 200 to be grabbed after being attached by the adhesive 22 of the attaching device 20 can be separated, when the ends of the first claw 31 and the second claw 32 are extended to the side of the pressing plate 21 with the adhesive 22 for grabbing, the grabbing can be more accurate.

[0072] In addition, since the pressing plate 21 is located between the first claw portion 31 and the second claw portion 32, in order to increase the layout area of ​​the adhesive member 22 on the pressing plate 21 while reducing the interference of the pressing plate 21 with the movement of the first claw portion 31 and the second claw portion 32, in the embodiment of the present application, the edge of the pressing plate 21 is also provided with a position-avoiding groove 211, and the first claw portion 31 or the second claw portion 32 can be at least partially placed in the position-avoiding groove 211 when the movement approaches each other. Specifically, the position-avoiding groove 211 includes two oppositely arranged ones, and the two position-avoiding grooves 211 are respectively arranged corresponding to the first claw portion 31 and the second claw portion 32.

[0073] Furthermore, the grasping device 30 also includes a claw driving member 33, a first connecting rod 34, a second connecting rod 35 and a connecting shaft 36. One end of the first claw 31 is hinged to the first connecting rod 34, one end of the second claw 32 is hinged to the second connecting rod 35, and the connecting shaft 36 is hinged to the other end of the first connecting rod 34 and the other end of the second connecting rod 35. The claw driving member 33 is arranged on the frame 10 and is connected to the connecting shaft 36, and is used to drive the connecting shaft 36 to reciprocate radially so that the first claw 31 and the second claw 32 are moved closer to or away from each other.

[0074] In this way, by driving the connecting shaft 36 to reciprocate radially through the claw driving member 33, the first connecting rod 34 and the second connecting rod 35 connected to the connecting shaft 36 can be rotated, thereby driving the first claw 31 and the second claw 32 connected to the first connecting rod 34 and the second connecting rod 35 to rotate, so that the first claw 31 and the second claw 32 move closer to or away from each other, thereby achieving the grasping and releasing of the strap 210 of the soft bag 200 to be grasped.

[0075] Therefore, the first claw 31 and the second claw 32 in the grasping device 30 of the embodiment of the present application can move together or apart synchronously, which not only improves the reliability of grasping and releasing the strap 210 of the soft package 200 to be grasped, but also saves the time of grasping and releasing, and improves the efficiency of grasping and releasing.

[0076] In some embodiments, the claw driving member 33 may include two claw driving members 33, which are respectively connected to the two ends of the connecting shaft 36 along the axial direction to simultaneously drive the connecting shaft 36 to reciprocate in the radial direction. In this way, the forces on both sides of the connecting shaft 36 can be balanced, which is more conducive to the reliable grasping and releasing of the strap 210 of the soft bag 200 to be grasped by the first claw 31 and the second claw 32.

[0077] In some embodiments, the claw driving member 33 may be a claw driving air cylinder, a claw driving oil cylinder, or a claw driving electric cylinder.

[0078] When the first claw 31 and the second claw 32 move close to each other to grasp the strap 210 of the soft bag 200 to be grasped, the entire soft bag 200 to be grasped can be lifted by the grasped strap 210. At this time, the first claw 31 and the second claw 32 are affected by the gravity of the soft bag 200 to be grasped, and have a tendency to move away from each other. On the one hand, due to the action of the claw driving member 33, a certain movement of the first claw 31 and the second claw 32 will be restricted, but it will still be affected when the external force is large, especially when the claw driving member 33 is a cylinder.

[0079] In order to prevent the first claw 31 and the second claw 32 from moving away from each other when lifting the soft bag 200 to be grasped, thereby preventing the soft bag 200 to be grasped from falling during the lifting process, in an embodiment of the present application, the first connecting rod 34 has a first locking surface 341, and the second connecting rod 35 has a second locking surface 351. When the claw driving member 33 drives the first claw 31 and the second claw 32 to move closer to each other, the first locking surface 341 and the second locking surface 351 can fit together to lock; when the claw driving member 33 drives the first claw 31 and the second claw 32 away from each other, the first locking surface 341 and the second locking surface 351 can separate from each other to unlock.

[0080] Due to the provision of the first locking surface 341 and the second locking surface 351, when the claw driving member 33 drives the first claw 31 and the second claw 32 to move closer to each other and the first locking surface 341 and the second locking surface 351 fit each other, the first claw 31 and the second claw 32 can be restricted by the locking of the first locking surface 341 and the second locking surface 351 and not move in the direction away from each other, thereby enabling the soft package 200 to be grasped to be reliably lifted by the grasping device 30.

[0081] In some embodiments, the grasping device 30 also includes a first gear 37 and a second gear 38 that are meshed with each other. Both axial ends of the first gear 37 and the second gear 38 are rotatably connected to the frame 10. The first gear 37 is connected to the first claw 31, and the second gear 38 is connected to the second claw 32.

[0082] Specifically, both axial ends of the first gear 37 and the second gear 38 can be rotatably connected to the frame 10 through a pin shaft. The pin shaft can be connected to the first gear 37 and the second gear 38 through a key.

[0083] By setting the first gear 37 and the second gear 38 to mesh with each other, and connecting the first gear 37 to the first claw 31 and the second gear 38 to the second claw 32, the first claw 31 and the second claw 32 can be connected together not only by relying on the connecting shaft 36, but also by transmission connection through the meshing first gear 37 and the second gear 38, thereby improving the smoothness and reliability of the synchronous movement of the first claw 31 and the second claw 32.

[0084] It should be pointed out here that the rotation axes of the first gear 37 and the second gear 38 may both be parallel to the axis of the connecting shaft 36 .

[0085] In addition, the modules and pitch circle diameters of the first gear 37 and the second gear 38 may also be set to be the same.

[0086] In the embodiment of the present application, the first connecting rod 34, the second connecting rod 35 and the connecting shaft 36 can be arranged above the first gear 37 and the second gear 38 at intervals in the vertical direction, so that the first connecting rod 34, the second connecting rod 35 and the connecting shaft 36 that move and the first gear 37 and the second gear 38 can be prevented from causing position interference. In addition, the claw driving member 33 can also be axially arranged on one side of the first gear 37 and the second gear 38. When the claw driving member 33 includes the above two, the first gear 37 and the second gear 38 can be axially arranged between the two claw driving members 33. Such an arrangement can make the structure of the grasping device 30 compact and reduce space occupation.

[0087] In some embodiments, the soft package pasting, grasping and lifting device 100 also includes a detection device 50, which is installed on at least one of the frame 10, the pasting device 20 or the grasping device 30. The detection device 50 is used to detect the position of the strap 210 of the soft package 200 to be grasped and the current length direction of the strap 210. The grasping device 30 is used to grasp the strap 210 of the soft package 200 to be grasped after being pasted by the pasting device 20 according to the position of the strap 210 of the soft package 200 to be grasped and the current length direction of the strap 210.

[0088] It can be understood that when the grasping device 30 grasps the strap 210 along a direction parallel to the current length direction of the strap 210, the grasping success rate of the grasping device 30 will be reduced. Therefore, in the above embodiment, since the position of the strap 210 of the soft package 200 to be grasped and the current length direction of the strap 210 can be detected by the detection device 50 first, the grasping device 30 can avoid the direction that is not conducive to grasping the strap 210 as much as possible, thereby improving the accuracy of the grasping device 30 grasping the strap 210.

[0089] It should be noted that the detection device 50 can be connected to the pasting device 20 and the grasping device 30 by communication, and the communication connection can be realized through the controller, so as to realize the information exchange between each other. For example, when the detection device 50 detects the position of the strap of the soft package 200 to be grasped and the current length direction of the strap, a detection success signal can be generated, and the detection success signal can be sent to the pasting device 20. The pasting device 20 can paste the strap 210 of the soft package 200 to be grasped in response to the detection success signal. After the pasting device 20 pastes the strap 210 of the soft package 200 to be grasped, a pasting success signal can be generated and sent to the detection device 50, and the grasping device 30 can respond to the pasting success signal and perform a corresponding grasping action.

[0090] Furthermore, the soft bag pasting grasping and lifting device 100 also includes a rotating device 60, which is connected to the frame 10. The rotating device 60 is used to drive the frame 10 to rotate around the axis. The detection device 50 can detect the position of the belt 210 of the soft bag 200 to be grasped and the current length direction of the belt 210 during the rotation process.

[0091] The rotation center of the rotating device 60 can be parallel to the vertical direction. In addition, the rotation center of the rotating device 60 can also coincide with the center line of the frame 10, the center line of the pasting device 20, and the center line of the grabbing device 30, so that not only can the grabbing device 30 be controlled to grasp the strap 210 without deviation, but also the detection device 50 can detect the strap position and the current length direction of the strap more quickly during the rotation process.

[0092] The rotating device 60 is provided to drive the frame 10 to rotate around the axis, so that the detection device 50 provided thereon can detect the position of the strap 210 of the soft package 200 to be grasped and the current length direction of the strap 210 during the rotation process, and can quickly perform all-round detection of the position of the strap 210 and the current length direction of the strap 210, thereby improving the detection efficiency of the detection device 50. In addition, since the grasping device 30 also rotates with the rotating device 60 like the detection device 50, the grasping device 30 can quickly respond to the position of the strap 210 and the current length direction of the strap 210 detected by the detection device 50 to grasp the strap 210, thereby improving the efficiency and reliability of grasping.

[0093] Specifically, the rotary device 60 includes a rotary motor 61 and a rotary reducer 62, the output end of the rotary motor 61 is connected to the rotary reducer 62, and the output end of the rotary reducer 62 is connected to the frame 10. By setting the output end of the rotary reducer 62 and the frame 10, the stability of the rotary motion can be improved, and the rotation angle control can be more accurate.

[0094] Furthermore, the detection device 50 includes a visual detection device, such as a camera or a video camera, to detect the position of the strap and the current length direction of the strap.

[0095] The visual inspection device has a clearer inspection method and improves the accuracy of inspection.

[0096] However, the detection method of the visual detection device is greatly affected by the external environment. For example, if it encounters strong light or the light is too dark, the detection stability of the visual detection device will be reduced.

[0097] In other embodiments, the detection device 50 includes an electronic sensor. The electronic sensor detection method is not easily disturbed by the external environment and is more convenient to set up.

[0098] Specifically, the electronic sensor may be a photoelectric detection switch or the like.

[0099] See also Figure 2 In some embodiments, the soft-pack pasting grasping and lifting device 100 further includes a distance measuring device 70 , which is installed on the frame 10 and is used to detect the distance value between it and the soft pack 200 to be grasped.

[0100] By setting the distance measuring device 70 to detect the distance value between it and the soft package 200 to be grasped, the pasting device 20 on the frame 10 can more reliably paste the strap 210 of the soft package 200 to be grasped within a certain distance range, and the frame 10 can also maintain a reliable distance from the soft package 200 to be grasped, thereby reducing the risk of damage to the frame 10, the pasting device 20 and the grasping device 30. In addition, when the soft package pasting, grasping and lifting device 100 includes the detection device 50, the detection device 50 can also detect the strap position and the current length direction of the strap of the soft package 200 to be grasped within a certain distance range, so that the detection is more accurate.

[0101] In some embodiments, the soft-pack pasting grabbing and lifting device 100 further includes a second lifting device, which is connected to the frame 10 and is used to drive the frame 10 to perform lifting movements.

[0102] By providing a second lifting device connected to the frame 10, the entire frame 10 and the pasting device 20, the grasping device 30, etc. connected thereto can be made to move up and down following the frame 10. In this way, before grasping the soft package 200 to be grasped, the frame 10 can be lowered as a whole by the second lifting device to approach the soft package 200 to be grasped, and after the grasping device 30 grasps the strap 210 of the soft package 200 to be grasped, the frame 10 can be raised as a whole by the second lifting device to lift the soft package 200 to be grasped to realize the subsequent operations of transportation and dumping of the soft package 200 to be grasped.

[0103] See also Figure 5 Based on the same inventive concept, the present application also provides a soft-package pasting grabbing and lifting method, which is applied to the soft-package pasting grabbing and lifting device 100 in any of the above embodiments. The soft-package pasting grabbing and lifting method comprises the steps of:

[0104] S100: Controlling the sticking device 20 to stick the strap 210 to the soft package 200 to be grasped;

[0105] S200 : Controlling the grasping device 30 to grasp the strap 210 of the soft package 200 to be grasped after being adhered by the adhering device 20 .

[0106] According to the soft package pasting, grabbing and lifting method of the embodiment of the present application, before the soft package 200 to be grabbed needs to be grabbed and lifted, the pasting device 20 can be used to first paste the strap 210 of the soft package 200 to be grabbed. In this way, the strap 210 can be separated from the soft package 200 to be grabbed, and it is convenient for the subsequent grabbing device 30 to grab the strap 210, thereby improving the grabbing efficiency of the soft package 200 to be grabbed. After grabbing the strap 210 of the soft package 200 to be grabbed, the transportation, dumping and other operations of the soft package 200 to be grabbed can be realized, thereby improving the transportation and dumping efficiency of the soft package 200 to be grabbed.

[0107] In some embodiments, before step S100, the method further includes:

[0108] S40: Control the detection device 50 to detect the position of the belt 210 of the soft package 200 to be grasped and the current length direction of the belt 210;

[0109] Step S100 specifically includes:

[0110] According to the position of the strap 210 of the soft package 200 to be grasped and the current length direction of the strap 210 , the sticking device 20 is controlled to stick the strap 210 of the soft package 200 to be grasped.

[0111] In this way, since the position of the strap 210 of the soft package 200 to be grasped and the current length direction of the strap 210 can be first detected by the detection device 50, the grasping device 30 can avoid the direction that is not conducive to grasping the strap 210 as much as possible, thereby improving the accuracy of the grasping device 30 grasping the strap 210. In addition, in the embodiment of the present application, step S40 is performed before step S100, so the situation that the strap 210 is not easy to be detected by the detection device 50 after being attached by the attachment device 20 can be reduced.

[0112] Furthermore, step S40 specifically includes:

[0113] The rotating device 60 is controlled to drive the frame 10 to rotate around the axis, and the detecting device 50 is controlled to detect the position of the belt 210 of the soft package 200 to be grasped and the current length direction of the belt 210 during the rotation process.

[0114] By setting up a rotating device 60 to drive the frame 10 to rotate around the axis, the detection device 50 set thereon can detect the position of the strap 210 of the soft package 200 to be grasped and the current length direction of the strap 210 during the rotation process. The position of the strap 210 and the current length direction of the strap 210 can be quickly detected in all directions, thereby improving the detection efficiency of the detection device 50.

[0115] Step S100 specifically includes:

[0116] When the detection device 50 detects the position of the strap 210 of the soft package 200 to be grasped and the current length direction of the strap 210 during the rotation process, the rotating device 60 is controlled to stop rotating, and the pasting device 20 is controlled to paste the strap 210 of the soft package 200 to be grasped.

[0117] In some embodiments, before step S100, the method further includes:

[0118] S10: Control the distance measuring device 70 to detect the distance between it and the soft bag 200 to be grasped;

[0119] S20: When the distance measuring device 70 detects that the distance between it and the soft package 200 to be grasped reaches a preset distance value, the first lifting device 40 is controlled to drive the pasting device 20 to descend to a preset first height to approach the soft package 200 to be grasped;

[0120] After step S100 and before step S200, the following steps are also included:

[0121] S150: Control the first lifting device 40 to drive the pasting device 20 to rise to a preset second height to be away from the soft package 200 to be grasped.

[0122] Before the pasting device 20 sticks the strap 210 of the soft package 200 to be grasped, the first lifting device 40 is controlled to drive the pasting device 20 to descend, so that it is closer to the soft package 200 to be grasped, thereby improving the reliability of the pasting device 20 sticking the strap 210 of the soft package 200 to be grasped; and after the pasting device 20 sticks the strap 210 of the soft package 200 to be grasped, the first lifting device 40 is controlled to drive the pasting device 20 to rise, so that the strap 210 of the soft package 200 to be grasped follows the pasting device 20 to detach from the surface of the bag body 220 of the soft package 200 to be grasped, so that the grasping device 30 can grasp the strap 210 of the soft package 200 to be grasped later.

[0123] In some embodiments, step S10 specifically includes:

[0124] In response to the instruction to grab the soft package 200 to be grabbed, the second lifting device is controlled to drive the frame 10 to descend, and the distance measuring device 70 is controlled to detect the distance value between it and the soft package 200 to be grabbed;

[0125] Step S20 specifically includes:

[0126] When the distance measuring device 70 detects that the distance between the soft packages 200 to be grasped reaches a preset distance value, the second lifting device is controlled to stop running, and the first lifting device 40 is controlled to drive the pasting device 20 to descend to a preset first height to approach the soft packages 200 to be grasped.

[0127] In order to more clearly understand the soft package pasting, grabbing and lifting method of the embodiment of the present application, a specific embodiment is described below:

[0128] 1) The frame 10 is lowered as a whole to a set height above the ton bag by the second lifting device, and the distance measuring device 70 responds at this time;

[0129] 2) Control the rotary device 60 to rotate around the axis so that the pressing plate 21 rotates together;

[0130] 3) After the detection device 50 on the pressing plate 21 detects the position of the ton bag's strap and the current length direction of the strap, it controls the first lifting cylinder to push out, and the pressing plate 21 connected to the flexible rope is pressed on top of the ton bag, and the Velcro hook surface at the bottom of the pressing plate 21 is pressed and bonded to the Velcro fleece surface on the strap;

[0131] 4) Control the first lifting cylinder to retract, the ton bag strap is lifted, and a large height difference is formed between the strap and the upper surface of the ton bag;

[0132] 5) The claw driving cylinder retracts, driving the first connecting rod 34 and the second connecting rod 35 through the connecting shaft 36, thereby pulling the first claw 31 and the second claw 32 to hook together. At this time, the first locking surface 341 and the second locking surface 351 fit together to lock;

[0133] 6) Control the second lifting device to raise the frame 10 as a whole, separate the Velcro fleece surface and the hook surface, straighten the ton bag strap and bear the force, and the first claw 31 and the second claw 32 lift the ton bag.

[0134] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0135] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A soft bag pasting grabbing and lifting device, characterized in that: include: frame; A pasting device, disposed on the frame, and used for pasting a strap of a soft package to be grabbed; as well as A grabbing device is arranged on the frame, and is used to grab the strap of the soft package to be grabbed after being pasted by the pasting device.

2. The soft package pasting grabbing and lifting device according to claim 1 is characterized in that: The pasting device comprises a pressing plate and a pasting piece, wherein the pasting piece is arranged on one side of the pressing plate and is used for pasting the strap of the soft package to be grasped.

3. The soft package pasting grabbing and lifting device according to claim 2 is characterized in that: The adhesive piece includes a Velcro, which is arranged on one side of the pressing plate and is used to stick the strap of the soft bag to be grabbed.

4. The soft package pasting grabbing and lifting device according to claim 2 is characterized in that: The pasting device also includes a flexible connector, one end of which is connected to the frame, and the other end of which is connected to the pressing plate.

5. The soft package pasting grabbing and lifting device according to claim 4 is characterized in that: The flexible connecting member comprises a flexible rope, one end of which is connected to the frame, and the other end of which is connected to the pressing plate.

6. The soft package pasting grabbing and lifting device according to claim 1 is characterized in that: The soft bag pasting, grabbing and lifting device also includes a first lifting device, which is arranged on the frame and connected to the pasting device, and is used to drive the pasting device to perform a lifting movement to approach or move away from the soft bag to be grabbed.

7. The soft package pasting, grabbing and lifting device according to any one of claims 1 to 6, characterized in that: The grasping device comprises a first claw, a second claw, a claw driving member, a first connecting rod, a second connecting rod and a connecting shaft; one end of the first claw is hinged to the first connecting rod, one end of the second claw is hinged to the second connecting rod, and the connecting shaft is hinged to the other end of the first connecting rod and the other end of the second connecting rod at the same time; the claw driving member is arranged on the frame and connected to the connecting shaft, and is used to drive the connecting shaft to reciprocate in the radial direction so that the first claw and the second claw are moved closer to or away from each other; The first connecting rod has a first locking surface, and the second connecting rod has a second locking surface. When the claw driving member drives the first claw and the second claw to move closer to each other, the first locking surface and the second locking surface can fit together to lock; when the claw driving member drives the first claw and the second claw to move away from each other, the first locking surface and the second locking surface can separate from each other to unlock.

8. The soft package pasting grabbing and lifting device according to claim 7, characterized in that: The grabbing device also includes a first gear and a second gear meshing with each other, and both axial ends of the first gear and the second gear are rotatably connected to the frame; the first gear is connected to the first claw, and the second gear is connected to the second claw.

9. The soft package pasting, grabbing and lifting device according to any one of claims 1 to 6, characterized in that: The soft bag pasting, grasping and lifting device also includes a detection device, which is installed on at least one of the frame, the pasting device or the grasping device, and the detection device is used to detect the position of the strap of the soft bag to be grasped and the current length direction of the strap. The grasping device is used to grasp the strap of the soft bag to be grasped after being pasted by the pasting device according to the position of the strap of the soft bag to be grasped and the current length direction of the strap.

10. The soft package pasting grabbing and lifting device according to claim 9, characterized in that: The soft bag pasting, grabbing and lifting device also includes a rotating device, which is connected to the frame and is used to drive the frame to rotate around an axis. The detection device can detect the position of the belt of the soft bag to be grabbed and the current length direction of the belt during the rotation process.

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