Flexible package deflection grabbing and lifting device

Abstract

The utility model relates to a flexible package deflection grabbing and lifting device. The soft package deflection grabbing and lifting device comprises a detection device used for detecting the root position of a binding belt of a soft package to be grabbed; the grabbing device comprises a deflection mechanism and a grabbing mechanism, the grabbing mechanism is connected with the deflection mechanism, and the deflection mechanism can drive the grabbing mechanism to perform deflection motion between a deflection position and a lifting position; the deflection angle of the grabbing mechanism relative to the vertical center line of the grabbing device at the lifting position is smaller than the deflection angle of the grabbing mechanism relative to the vertical center line of the grabbing device at the deflection position; the detection device is in communication connection with the grabbing device, and the grabbing mechanism is used for grabbing the root of a binding belt of the to-be-grabbed soft package at the deflection position according to the position, detected by the detection device, of the root of the binding belt of the to-be-grabbed soft package; and the deflection mechanism is used for driving the grabbing mechanism to move to the lifting position after the grabbing mechanism grabs the root of the binding belt of the soft package to be grabbed. In this way, the strap of the to-be-grabbed soft package is easy to grab, and the loading and unloading efficiency of the to-be-grabbed soft package is improved.

Description

Technical Field

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

[0002] There are many cases of transport packaging through soft bags on the market. Among them, ton bags are a kind of flexible transport packaging container, which are generally used for the transport packaging of powdered, granular and blocky items such as food, grains, medicines, chemicals and minerals.

[0003] During transportation, ton bags need to be lifted, usually by hooking the straps above the ton bags. In the transportation of a small number of ton bags, the hooks can be hung on the straps manually. However, in the loading and unloading of large quantities of ton bags, the manual method is not only inefficient and costly, but also difficult to ensure safety.

[0004] However, since the position of the tie straps above the ton bag is rather random, it is difficult to hook the tie straps, and efficiency cannot be improved. Utility Model Content

[0005] Based on this, it is necessary to provide a soft bag eccentric grabbing and lifting device to address the problem that the position of the straps above the ton bag is relatively random, it is difficult to hook the straps, and the efficiency cannot be improved.

[0006] A soft bag deflection grabbing and lifting device, comprising:

[0007] A detection device, used to detect the root position of the strap of the soft bag to be grabbed; and

[0008] The grabbing device comprises a deflection mechanism and a grabbing mechanism, wherein the grabbing mechanism is connected to the deflection mechanism, and the deflection mechanism can drive the grabbing mechanism to perform a deflection movement between a deflection position and a lifting position;

[0009] Wherein, the swing angle of the gripping mechanism in the lifting position relative to the vertical center line of the gripping device is smaller than the swing angle of the gripping mechanism in the swing position relative to the vertical center line of the gripping device;

[0010] The detection device is communicatively connected with the grasping device, and the grasping mechanism is used to grasp the root of the strap of the soft package to be grasped at the yaw position according to the root position of the strap of the soft package to be grasped detected by the detection device; the yaw mechanism is used to drive the grasping mechanism to move to the lifting position after the grasping mechanism grasps the root of the strap of the soft package to be grasped.

[0011] In one embodiment, the gripping devices include two, the two gripping devices are symmetrically arranged, and the lifting positions of the gripping mechanisms of the two gripping devices overlap.

[0012] In one of the embodiments, the soft bag swing grabbing and lifting device also includes a mounting structure, the swing mechanism includes a swing telescopic rod and a swing driving component, one end of the swing driving component is connected to one end of the swing telescopic rod, the other end of the swing driving component and one end of the grabbing mechanism are both rotatably connected to the mounting structure and spaced apart from each other, the other end of the swing telescopic rod is rotatably connected to the grabbing mechanism, and the swing driving component is used to drive the swing telescopic rod to perform telescopic movement so that the grabbing mechanism performs swing movement.

[0013] In one embodiment, the gripping mechanism includes a yaw link and a gripping mechanism, one end of the yaw link is rotatably connected to the mounting structure, the other end of the yaw link is rotatably connected to the gripping mechanism, and the other end of the yaw telescopic rod is connected to the yaw link.

[0014] In one embodiment, the detection device is arranged on the gripping mechanism.

[0015] In one of the embodiments, an identification mark is provided at the root of the strap of the soft package to be grasped, and the detection device is used to detect the identification mark to determine the position of the root of the strap of the soft package to be grasped.

[0016] In one of the embodiments, the soft bag eccentric grabbing and lifting device also includes a rotating mechanism, and the grabbing device is arranged on the rotating mechanism. The rotating mechanism is used to drive the grabbing device to rotate around the axis so that the detection device can detect the root position of the belt of the soft bag to be grabbed during the rotation of the grabbing device.

[0017] In one of the embodiments, the soft bag sway grabbing and lifting device further includes a distance measuring device, which is used to detect the distance value between the distance measuring device and the soft bag to be grabbed;

[0018] The distance measuring device is communicatively connected with the detection device, and the detection device is used to detect the root position of the strap of the soft bag to be grasped when the distance value between the distance measuring device and the soft bag to be grasped reaches a first preset distance value.

[0019] In one of the embodiments, the soft bag deflection grabbing and lifting device further includes a lifting device, and the lifting device is connected to the grabbing device;

[0020] The lifting device is communicatively connected with the grasping device and the distance measuring device, and is used to drive the grasping device to rise to a preset height after the grasping mechanism grasps the root of the strap of the soft package to be grasped; the distance measuring device is also used to detect the distance value between the grasping device and the strap of the soft package to be grasped during the rising process of the grasping device; the yaw mechanism is also used to drive the grasping mechanism to move to the lifting position when the distance measuring device detects that the distance value between the grasping device and the strap of the soft package to be grasped does not change or changes within a preset distance value range.

[0021] In one embodiment, the distance measuring device is arranged on the gripping mechanism.

[0022] The above-mentioned soft bag eccentric grasping and lifting device can detect the root position of the belt of the soft bag to be grasped by the detection device before the grasping device grasps the lifting belt, so that the grasping mechanism in the grasping device can successfully grasp the root of the belt of the soft bag to be grasped at the eccentric position, and then drive the grasping mechanism to move to the lifting position for lifting through the eccentric mechanism, thereby making it easy to grasp the belt of the soft bag to be grasped, and improving the loading and unloading efficiency of the soft bag to be grasped.

[0023] Furthermore, since the root position of the strap deviates from the vertical center line of the soft bag to be grasped, when the grasping mechanism grasps the root of the strap in the swung position, the grasping mechanism as a whole also deviates from the vertical center line of the grasping device. If the soft bag to be grasped is lifted directly in the swung position, the grasping device will be lifted at an angle, that is, the vertical center line of the soft bag to be grasped will deviate from the vertical center line of the grasping device, thereby increasing the risk of instability during the lifting process of the grasping device. Therefore, the present application sets the swing angle of the grasping mechanism in the lifting position relative to the vertical center line of the grasping device to be smaller than the swing angle of the grasping mechanism in the swing position relative to the vertical center line of the grasping device, so that after the grasping mechanism grasps the root of the strap in the swing position, it can move to the lifting position, and make the grasping mechanism closer to the vertical center line of the grasping device, that is, make the vertical center line of the soft package to be grasped closer to the vertical center line of the grasping device, and then in the lifting process at the lifting position, the grasping device can be straightened and lifted, thereby improving the lifting stability and further improving the loading and unloading reliability of the soft package to be grasped.

[0024] In addition, compared with the traditional method of directly grabbing the middle part of the strap, that is, grabbing the middle strap, the embodiment of the present application adopts a method of first detecting the position of the root of the strap through a detection device, and then directly using the grabbing mechanism to grab the root of the strap. On the one hand, compared with the randomness of the position of the middle strap, the root of the strap is directly connected to the edge fixing point above the soft bag to be grabbed, so its position is clearer and easier for the detection device to detect, which reduces the difficulty of detection and thus reduces the difficulty of grabbing; on the other hand, the position of the middle strap is not only random, but also may have the problem of uncertain front and back directions, that is, there is a problem of strap twisting, which is not conducive to detection. Since the root of the strap is fixed to the edge of the soft bag to be grabbed, it will not twist easily. Therefore, it is more conducive to detection by the detection device, making the detection more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the structure of a soft package to be grasped in one embodiment of the present application.

[0026] Figure 2 It is a front view of a soft bag eccentric grabbing and lifting device in one or more embodiments of the present application.

[0027] Figure 3 for Figure 2 The front view of the grabbing mechanism in the soft bag sway grabbing and lifting device is shown in the claw-closed state.

[0028] Figure 4 for Figure 2 The side view of the grabbing mechanism in the soft bag swing grabbing and lifting device when it is in the lifting position.

[0029] Figure 5 for Figure 2 The side view of the grabbing mechanism in the swing-away grabbing and lifting device for soft bags is shown when it is in the swing-away position.

[0030] Figure 6 It is a side view of the soft bag swaying grasping and lifting device in one or more other embodiments of the present application when both grasping mechanisms are in the swaying position.

[0031] Figure 7 for Figure 6 The side view of one of the grabbing mechanisms of the soft bag swing grabbing and lifting device is shown in the lifting position.

[0032] Figure 8 It is a schematic flow chart of a method for swinging, grabbing and lifting a soft package in one embodiment of the present application.

[0033] Reference numerals:

[0034] Soft bag skew grabbing and lifting device 100, detection device 10, grabbing device 20, skew mechanism 21, skew telescopic rod 211, skew driving component 212, grabbing mechanism 22, skew connecting rod 221, gripping mechanism 222, claw 2221, claw driving component 2222, connecting seat 2223, mounting structure 30, rotating mechanism 40, distance measuring device 50, soft bag 200 to be grabbed, strap 210, strap root 2101, middle strap 2102, bag body 220. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] It should be noted that if an element is referred to as being "fixed to" or "disposed on, or provided at" 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.

[0041] As mentioned in the background technology, in order to overcome the problems of low efficiency, high cost and difficulty in ensuring safety in manual loading and unloading of ton bags, measures for automatic loading and unloading of ton bags are adopted in the relevant technology.

[0042] Specifically, the tie straps above the ton bag usually include a middle tie strap and branch tie straps connected from both ends of the middle tie strap to the upper edge of the ton bag. Since the center of gravity of the ton bag is on the vertical center line of the ton bag, when the ton bag needs to be automatically loaded and unloaded, the automatic loading and unloading equipment can be moved above the ton bag and the middle tie strap located on the vertical center line of the ton bag can be hooked to prevent the ton bag from being skewed during loading and unloading.

[0043] However, since the position of the straps above the ton bags is relatively random during the transportation of ton bags, even if the automatic loading and unloading equipment is accurately moved above the ton bags, there is still a problem of difficulty in hooking the middle straps of the ton bags, resulting in low loading and unloading efficiency of the ton bags.

[0044] In order to solve the problem of low efficiency in loading and unloading of ton bags, a soft bag swaying grabbing and lifting device is designed in the embodiment of the present application, including a detection device and a grabbing device. The detection device is used to detect the root position of the strap of the soft bag to be grabbed; the grabbing device includes a swaying mechanism and a grabbing mechanism, the grabbing mechanism is connected to the swaying mechanism, and the swaying mechanism can drive the grabbing mechanism to sway between the swaying position and the lifting position; the swaying angle of the grabbing mechanism in the lifting position relative to the vertical center line of the grabbing mechanism is smaller than the swaying angle of the grabbing mechanism in the swaying position relative to the vertical center line of the grabbing mechanism; the detection device is connected to the grabbing device in communication, and the grabbing mechanism is used to grab the root of the strap of the soft bag to be grabbed at the swaying position according to the root position of the strap of the soft bag to be grabbed detected by the detection device; the swaying mechanism is used to drive the grabbing mechanism to move to the lifting position after the grabbing mechanism grabs the root of the strap of the soft bag to be grabbed.

[0045] In this way, before the grasping device grasps the lifting strap, the detection device can detect the root position of the strap of the soft package to be grasped, so that the grasping mechanism in the grasping device can successfully grasp the root of the strap of the soft package to be grasped at the swing position, and then drive the grasping mechanism to move to the lifting position for lifting through the swing mechanism, thereby making it easy to grasp the strap of the soft package to be grasped, and improving the loading and unloading efficiency of the soft package to be grasped.

[0046] Furthermore, since the root position of the strap deviates from the vertical center line of the soft bag to be grasped, when the grasping mechanism grasps the root of the strap in the swung position, the grasping mechanism as a whole also deviates from the vertical center line of the grasping device. If the soft bag to be grasped is lifted directly in the swung position, the grasping device will be lifted at an angle, that is, the vertical center line of the soft bag to be grasped will deviate from the vertical center line of the grasping device, thereby increasing the risk of instability during the lifting process of the grasping device. Therefore, the present application sets the swing angle of the grasping mechanism in the lifting position relative to the vertical center line of the grasping device to be smaller than the swing angle of the grasping mechanism in the swing position relative to the vertical center line of the grasping device, so that after the grasping mechanism grasps the root of the strap in the swing position, it can move to the lifting position, and make the grasping mechanism closer to the vertical center line of the grasping device, that is, make the vertical center line of the soft package to be grasped closer to the vertical center line of the grasping device, so that during the lifting process in the lifting position, the grasping device can be straightened and lifted, thereby improving the lifting stability and further improving the loading and unloading reliability of the soft package to be grasped.

[0047] In addition, compared with the traditional method of directly grabbing the middle part of the strap, that is, grabbing the middle strap, the embodiment of the present application adopts a method of first detecting the position of the root of the strap through a detection device, and then directly using the grabbing mechanism to grab the root of the strap. On the one hand, compared with the randomness of the position of the middle strap, the root of the strap is directly connected to the edge fixing point above the soft bag to be grabbed, so its position is clearer and easier for the detection device to detect, which reduces the difficulty of detection and thus reduces the difficulty of grabbing; on the other hand, the position of the middle strap is not only random, but also may have the problem of uncertain front and back directions, that is, there is a problem of strap twisting, which is not conducive to detection. Since the root of the strap is fixed to the edge of the soft bag to be grabbed, it will not twist easily. Therefore, it is more conducive to detection by the detection device, making the detection more accurate.

[0048] The soft-bag eccentric grabbing and lifting device in the embodiment of the present application can be used for grabbing and lifting soft bags. Specifically, the soft bags are not limited to ton bags, logistics packaging bags, material bags, etc.

[0049] It should also be pointed out that the soft bag used in the embodiment of the present application has a bag body that can accommodate objects, and also includes a strap connected to the bag body. The strap can also be called a carrying strap, a carrying rope, a sling, etc.

[0050] See also Figure 1~Figure 5 , Figure 1 is a schematic diagram of the structure of a soft package in an embodiment of the present application, Figure 2 This is a front view of a soft bag swaying grabbing and lifting device in one or more embodiments of the present application. Figure 3 for Figure 2 The front view of the grabbing mechanism in the soft bag sway grabbing and lifting device is in the claw-closed state, Figure 4 for Figure 2 The side view of the grabbing mechanism in the soft bag sway grabbing and lifting device when it is in the lifting position, Figure 5 for Figure 2 The side view of the grabbing mechanism in the soft bag sway grabbing and lifting device shown is in the swaying position. The soft bag sway grabbing and lifting device 100 provided in an embodiment of the present application includes a detection device 10 and a grabbing device 20.

[0051] The detection device 10 is used to detect the root position of the strap of the soft package 200 to be grasped. The grasping device 20 includes a sway mechanism 21 and a grasping mechanism 22. The grasping mechanism 22 is connected to the sway mechanism 21. The sway mechanism 21 can drive the grasping mechanism 22 to sway between the sway position and the lifting position. The sway angle of the grasping mechanism 22 at the lifting position relative to the vertical center line OO of the grasping device 20 is smaller than the sway angle of the grasping mechanism 22 at the sway position relative to the vertical center line OO of the grasping device 20. The detection device 10 is connected to the grasping device 20 for communication. The grasping mechanism 22 is used to grasp the root 2101 of the strap of the soft package 200 to be grasped at the sway position according to the root position of the strap of the soft package 200 to be grasped detected by the detection device 10. The sway mechanism 21 is used to drive the grasping mechanism 22 to move to the lifting position after the grasping mechanism 22 grasps the root 2101 of the strap of the soft package 200 to be grasped.

[0052] The yaw mechanism 21 refers to a mechanism that can make an object rotate and yaw around a rotation axis by a certain angle. The gripping mechanism 22 refers to a mechanism that can grip an object. The gripping mechanism 22 may include at least two claws 2221, and the object is gripped or released by relative movement of at least two claws 2221.

[0053] The swing angle of the gripping mechanism 22 in the lifting position relative to the vertical center line OO of the gripping device 20 is α1, and the swing angle of the gripping mechanism 22 in the swing position relative to the vertical center line OO of the gripping device 20 is α2, α1<α2.

[0054] It should be pointed out that the grabbing device 20 of the present application can be moved to the top of the central area of ​​the soft package 200 to be grabbed before performing the grabbing and lifting operation, so that the vertical center line OO of the grabbing device 20 can be as close as possible to the vertical center line of the soft package 200 to be grabbed.

[0055] 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.

[0056] 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.

[0057] The soft-package eccentric grasping and lifting device 100 of the embodiment of the present application can detect the root position of the belt of the soft package 200 to be grasped by the detection device 10 before the grasping device 20 grasps the lifting belt 210, so that the grasping mechanism 22 in the grasping device 20 can successfully grasp the belt root 2101 of the soft package 200 to be grasped at the eccentric position, and then drive the grasping mechanism 22 to move to the lifting position for lifting through the eccentric mechanism 21, thereby making it easy to grasp the belt 210 of the soft package 200 to be grasped, thereby improving the loading and unloading efficiency of the soft package 200 to be grasped.

[0058] Furthermore, since the root position of the strap deviates from the vertical center line of the soft package 200 to be grasped, when the grasping mechanism 22 grasps the root 2101 of the strap in the swiveling position, the grasping mechanism 22 as a whole also deviates from the vertical center line OO of the grasping device 20. If the soft package 200 to be grasped is lifted directly in the swiveling position, the grasping device 20 will be lifted at an angle, that is, the vertical center line of the soft package 200 to be grasped will deviate from the vertical center line OO of the grasping device 20, thereby increasing the risk of instability during the lifting process of the grasping device 20. Therefore, the present application sets the swing angle of the grasping mechanism 22 in the lifting position relative to the vertical center line OO of the grasping device 20 to be smaller than the swing angle of the grasping mechanism 22 in the swing position relative to the vertical center line OO of the grasping device 20, so that after the grasping mechanism 22 grasps the root 2101 of the strap in the swing position, it can move to the lifting position, and make the grasping mechanism 22 closer to the vertical center line OO of the grasping device 20, that is, make the vertical center line of the soft package 200 to be grasped closer to the vertical center line OO of the grasping device 20, so that during the lifting process at the lifting position, the grasping device 20 can be straightened and lifted, thereby improving the lifting stability and further improving the loading and unloading reliability of the soft package 200 to be grasped.

[0059] In addition, compared with the traditional method of directly grabbing the middle part of the strap 210, that is, grabbing the middle strap 2102, the embodiment of the present application adopts the method of first detecting the position of the root of the strap through the detection device 10, and then directly using the grabbing mechanism 22 to grab the root 2101 of the strap. On the one hand, compared with the randomness of the position of the middle strap 2102, the root 2101 of the strap is directly connected to the edge fixing point above the soft bag 200 to be grabbed. Therefore, its position is clearer and the detection device 10 is easier to detect, which reduces the difficulty of detection and further reduces the difficulty of grabbing. On the other hand, the position of the middle strap 2102 is not only random, but also may have the problem of uncertain front and back directions, that is, there is a problem of twisting of the strap 210, which is not conducive to detection. Since the root 2101 of the strap is fixed to the edge of the soft bag 200 to be grabbed, it will not twist easily. Therefore, it is more conducive to detection by the detection device 10, making the detection more accurate.

[0060] Specifically in the embodiment of the present application, the swing angle of the gripping mechanism 22 relative to the vertical center line OO of the gripping device 20 in the lifting position is 0 degrees.

[0061] When the swing angle of the grasping mechanism 22 relative to the vertical center line OO of the grasping device 20 in the lifting position is 0 degrees, the vertical center line of the grasping mechanism 22 can coincide with the vertical center line OO of the grasping device 20. At this time, the soft package 200 to be grasped is lifted, and the grasping device 20 can be more stable.

[0062] Optionally, the swing angle of the grasping mechanism 22 relative to the vertical center line OO of the grasping device 20 in the swing position can be 30 degrees, 60 degrees, etc., which can be specifically determined according to the diameter of the soft package 200 to be grasped, the root position of the strap, etc.

[0063] See also Figure 3 In some embodiments, the gripping mechanism 22 has a gripping through hole for the strap 210 to be gripped of the soft bag 200 to be passed through. The gripping through hole is a middle through hole formed after the gripping mechanism 22 is closed, and the strap 210 can be passed through the gripping through hole.

[0064] In this way, after the grasping mechanism 22 grasps the root 2101 of the strap of the soft bag 200 to be grasped in the swiveling position, the strap 210 can be inserted into the grasping hole, and when the grasping mechanism 22 moves to the lifting position, since the strap 210 is not restrained by the grasping mechanism 22, it can move in the grasping hole, so that the grasping position of the grasping mechanism 22 moves from the root 2101 of the strap to the middle strap 2102, and then when lifting at the lifting position, the soft bag 200 to be grasped can be lifted smoothly.

[0065] Of course, in other embodiments, after the grasping mechanism 22 grasps the root 2101 of the strap, the root 2101 of the strap can be fixed to the grasping mechanism 22. Then, when the grasping mechanism 22 moves to the lifting position, the grasping device 20 can pull the soft bag 200 to be grasped down or to a certain position and then lift it smoothly.

[0066] In some embodiments, the soft-bag yaw grabbing and lifting device 100 further includes a mounting structure 30 , and the grabbing device 20 is mounted on the mounting structure 30 .

[0067] The mounting structure 30 may be a beam structure, a plate structure, a seat structure, or a combination of multiple structures, and is not specifically limited.

[0068] By providing the mounting structure 30 , the overall installation of the grabbing device 20 can be facilitated, and an installation foundation is provided for the grabbing device 20 .

[0069] In some cases, the soft bag yaw grabbing and lifting device 100 can also be connected to external equipment through the mounting structure 30, for example, connected to a lifting device, a lifting device, etc. through the mounting structure 30.

[0070] In some embodiments, the soft bag skew grabbing and lifting device 100 also includes a lifting device, which is connected to the grabbing device 20. The lifting device is also communicatively connected to the grabbing device 20, and is used to grab the root 2101 of the strap of the soft bag 200 to be grabbed by the grabbing mechanism 22, and after the skew mechanism 21 drives the grabbing mechanism 22 to move to the lifting position, it drives the grabbing device 20 to rise.

[0071] In this way, the lifting device can be used to lift the soft package 200 to be grabbed. In addition, the present application directly uses the grabbing device 20 to grab the soft package 200 to be grabbed and then lift it, making the grabbing and lifting process simpler.

[0072] See also Figure 2~Figure 5 In some embodiments, the yaw mechanism 21 includes a yaw telescopic rod 211 and a yaw driving member 212, one end of the yaw driving member 212 is connected to one end of the yaw telescopic rod 211, the other end of the yaw driving member 212 and one end of the grasping mechanism 22 are both rotatably connected to the mounting structure 30 and are spaced apart from each other, the other end of the yaw telescopic rod 211 is rotatably connected to the grasping mechanism 22, and the yaw driving member 212 is used to drive the yaw telescopic rod 211 to perform telescopic movement so that the grasping mechanism 22 performs yaw movement.

[0073] The other end of the yaw telescopic rod 211 referred to here is rotatably connected to the gripping mechanism 22 , and the position where the other end of the yaw telescopic rod 211 is connected to the gripping mechanism 22 should be different from the position where the gripping mechanism 22 is connected to the mounting structure 30 .

[0074] Thus, when the yaw drive 212 drives the yaw telescopic rod 211 to perform telescopic motion, the gripping mechanism 22 can yaw around the end connected to the mounting structure 30, and the yaw telescopic rod 211 and the gripping mechanism 22, as well as the yaw drive 212 and the mounting structure 30, also rotate accordingly. Therefore, under the action of the yaw telescopic rod 211 and the yaw drive 212, the gripping mechanism 22 can perform a smooth yaw motion.

[0075] Optionally, the yaw drive member 212 may be an electric cylinder, an oil cylinder, or a pneumatic cylinder, etc., without limitation.

[0076] In other embodiments, a yaw drive motor may be directly provided and connected to the rotating shaft of the gripping mechanism 22 to drive the gripping mechanism 22 to yaw.

[0077] Furthermore, the gripping mechanism 22 includes a yaw link 221 and a gripping mechanism 222 , one end of the yaw link 221 is rotationally connected to the mounting structure 30 , the other end of the yaw link 221 is rotationally connected to the gripping mechanism 222 , and the other end of the yaw telescopic rod 211 is connected to the yaw link 221 .

[0078] By connecting the yaw telescopic rod 211 to the yaw link 221, and making the two ends of the yaw link 221 rotatably connected to the mounting structure 30 and the gripping mechanism 222 respectively, during the yaw movement, only the yaw link 221 rotates significantly, while the gripping mechanism 222 can maintain a vertical posture to accurately grasp the root 2101 of the strap of the soft bag 200 to be grasped.

[0079] In some embodiments, the gripping mechanism 222 includes at least two claws 2221 and at least two claw driving members 2222 , and each claw driving member 2222 is connected to a corresponding claw 2221 to drive all the claws 2221 to move closer to each other or away from each other.

[0080] Specifically, when all the claws 2221 are close to each other, the belt 210 of the soft bag 200 to be grasped can be grasped, and when all the claws 2221 are away from each other, the belt 210 of the soft bag 200 to be grasped can be loosened.

[0081] Since multiple claw driving members 2222 are connected one-to-one with multiple claws 2221, the claws 2221 can be subjected to force and move independently of each other, thereby improving the gripping reliability of the gripping mechanism 222. The gripping force of the gripping mechanism 222 is stronger, and it is easier for the gripping device 20 to directly use the gripping mechanism 222 to grip the soft package 200 to be gripped for lifting.

[0082] Furthermore, the gripping mechanism 222 also includes a connecting seat 2223, each claw driving member 2222 has a claw telescopic end, one end of all the claws 2221 is rotatably connected to the connecting seat 2223, the claw telescopic end of each claw driving member 2222 is rotatably connected to a corresponding claw 2221, and the other end opposite to the claw telescopic end is rotatably connected to the connecting seat 2223.

[0083] The method of driving the claw 2221 to move by the claw telescopic end of the claw driving member 2222 is reliable and stable, and the claw driving member 2222 also occupies a small space.

[0084] Optionally, the claw driving member 2222 may be an electric cylinder, an oil cylinder, or a pneumatic cylinder, etc., without limitation.

[0085] In other embodiments, a driving member may be used to drive the plurality of claws 2221 to move simultaneously, so that the plurality of claws 2221 move closer to each other or move away from each other.

[0086] In the embodiment of the present application, the detection device 10 is disposed on the gripping mechanism 22 .

[0087] Since the gripping mechanism 22 can be swung to a swung position, it is closer to the root 2101 of the strap to be grasped soft bag 200. Therefore, setting the detection device 10 on the gripping mechanism 22 can improve the detection accuracy of the detection device 10 and simplify the detection method of the detection device 10.

[0088] Furthermore, the root 2101 of the strap of the soft package 200 to be grasped is provided with an identification mark, and the detection device 10 is used to detect the identification mark to determine the root position of the strap of the soft package 200 to be grasped.

[0089] The identification mark is a mark that can be detected and identified by the detection device 10, which is the root 2101 of the strap of the soft bag 200 to be grabbed. The mark can be a sound mark, a color mark, an image mark, a picture mark, a text mark, etc.

[0090] By providing an identification mark at the root portion 2101 of the strap of the soft package 200 to be grasped, the root portion 2101 of the strap can be distinguished from other parts of the strap 210, thereby reducing the detection difficulty of the detection device 10 and improving the detection accuracy.

[0091] Preferably, the identification mark is a color mark. And the detection device 10 is provided to include a photoelectric detection switch, which can perform identification detection by emitting a light beam to the color mark and then reflecting the light.

[0092] In the related art, visual systems are often used for identification and detection, but they are easily disturbed by external light and environmental smoke, resulting in low detection accuracy and high cost. However, the present application uses a photoelectric detection switch to detect color identification, which can eliminate the influence of external light interference, improve detection accuracy, and the setting of the soft bag 200 to be grabbed is also relatively simple.

[0093] In order to enable the detection device 10 to quickly detect the root position of the strap of the soft bag to be grasped above the soft bag 200 to be grasped, in an embodiment of the present application, the soft bag eccentric grasping and lifting device 100 also includes a rotating mechanism 40, and the grasping device 20 is arranged on the rotating mechanism 40. The rotating mechanism 40 is used to drive the grasping device 20 to rotate around the axis, so that the detection device 10 can detect the root position of the strap of the soft bag to be grasped 200 during the rotation of the grasping device 20.

[0094] In practical applications, the soft bag sway grabbing and lifting device 100 can move to the top of the central area of ​​the soft bag 200 to be grabbed before performing the grabbing and lifting operation, and then control the swivel mechanism 40 to drive the grabbing device 20 to rotate around the axis, so that the detection device 10 rotates with the grabbing device 20 to detect the root position of the strap of the soft bag 200 to be grabbed. After the root position of the strap of the soft bag 200 to be grabbed is detected, the swivel mechanism 40 stops rotating and controls the grabbing mechanism 22 to grab the root 2101 of the strap of the soft bag 200 to be grabbed at the sway position.

[0095] It can be understood that the rotating mechanism 40 can also be connected to the detection device 10 for communication. The detection device 10 is used to detect the root position of the strap of the soft bag 200 to be grasped when the rotating mechanism 40 drives the grasping device 20 to rotate around the axis.

[0096] Specifically, the swivel mechanism 40 can be connected to the gripping device 20 through the mounting structure 30. In this way, the connection relationship between the swivel mechanism 40 and the components of the gripping device 20 can be simplified.

[0097] In some embodiments, the rotating mechanism 40 includes a rotating motor and a rotating reducer, the output end of the rotating motor is connected to the rotating reducer, and the output end of the rotating reducer is connected to the mounting structure 30 to drive the mounting structure 30 to rotate around the axis.

[0098] By providing a rotary motor connected to the mounting structure 30 via a rotary reducer, the stability of the mounting structure 30 rotating around the axis is improved, and the rotation control accuracy is also high.

[0099] Specifically, the grabbing device 20 is disposed on one side of the mounting structure 30 , and the rotating mechanism 40 is disposed on the other side opposite to the mounting structure 30 .

[0100] See also Figure 6 and Figure 7 In some embodiments, the gripping device 20 includes two gripping devices 20, which are symmetrically arranged, and the lifting positions of the gripping mechanisms 22 of the two gripping devices 20 coincide.

[0101] When the two grasping devices 20 are symmetrically arranged, any one of the two grasping devices 20 can be used to grasp the root 2101 of the strap of the soft package 200 to be grasped, thereby improving the grasping efficiency. In addition, since the lifting positions of the grasping mechanisms 22 of the grasping devices 20 overlap, by setting the grasping of the root 2101 of the strap of the soft package 200 to be grasped, only one of the grasping devices 20 is controlled to grasp, thereby avoiding the situation where the two grasping devices 20 grasp the root 2101 of the strap at the same time and collide with each other at the lifting position. The grasping mechanisms 22 of the two grasping devices 20 can overlap in their lifting positions, thereby reducing the risk of deflection and lifting of each grasping device 20 in the process of lifting the soft package 200 to be grasped, thereby improving the loading and unloading reliability of the soft package 200 to be grasped.

[0102] Furthermore, when the detection device 10 is arranged on the grasping mechanism 22, and the soft bag skew grasping and lifting device 100 includes a rotating mechanism 40, since two grasping devices 20 are arranged, a detection device 10 can be arranged on each of the two grasping devices 20. When the rotating mechanism 40 drives the two grasping devices 20 to rotate at the same time, the position of the root of the strap can be detected by the detection device 10 on any grasping device 20 within a range of 180 degrees, thereby improving the detection efficiency.

[0103] Specifically in the embodiment of the present application, the same end of the gripping mechanisms 22 of the two gripping devices 20 is rotatably connected, and both are rotatably connected to the mounting structure 30. Specifically, the same end of the yaw link 221 of the gripping mechanisms 22 of the two gripping devices 20 is rotatably connected.

[0104] See also Figure 4 and Figure 5 In the embodiment of the present application, in addition to the above-mentioned detection device 10, the soft bag sway grabbing and lifting device 100 also includes a distance measuring device 50, which is used to detect the distance value between it and the soft bag to be grabbed 200. The distance measuring device 50 is communicatively connected with the detection device 10, and the detection device 10 is used to detect the root position of the belt of the soft bag to be grabbed 200 when the distance value between the distance measuring device 50 and the soft bag to be grabbed 200 reaches a first preset distance value.

[0105] By providing the distance measuring device 50, the distance between the grasping device 20 and the soft package 200 to be grasped can be within a suitable range, so that the detection device 10 can successfully detect the root position of the strap of the soft package 200 to be grasped, thereby improving the accuracy of the detection. In addition, when the distance between the grasping device 20 and the soft package 200 to be grasped is within a suitable range, the grasping device 20 can also move above the soft package 200 to be grasped without interference, and accurately grasp the strap 210 of the soft package 200 to be grasped.

[0106] Specifically, the distance measuring device 50 may include a laser distance measuring sensor, an infrared distance measuring sensor, an ultrasonic distance measuring sensor, or the like.

[0107] Furthermore, the distance measuring device 50 is also communicatively connected with the lifting device, and the lifting device is used to drive the grasping device 20 to descend according to the detection of the root position of the strap of the soft package 200 to be grasped by the detection device 10, until the distance measuring device 50 detects that the distance value between it and the soft package 200 to be grasped reaches a second preset distance value, and then stops descending. The grasping mechanism 22 is used to grasp the root 2101 of the strap of the soft package 200 to be grasped in the swung position after the lifting device stops descending.

[0108] In some embodiments, the lifting device is also used to drive the grasping device 20 to rise to a preset height after the grasping mechanism 22 grasps the root 2101 of the strap of the soft package 200 to be grasped. The distance measuring device 50 is also used to detect the distance value between the grasping device 20 and the strap 210 of the soft package 200 to be grasped during the rising process of the grasping device 20. The yaw mechanism 21 is used to drive the grasping mechanism 22 to move to the lifting position when the distance measuring device 50 detects that the distance value between it and the strap 210 of the soft package 200 to be grasped does not change or changes within a preset distance value range.

[0109] It can be understood that after the grasping mechanism 22 successfully grasps the root 2101 of the strap of the soft package 200 to be grasped, if the grasping device 20 rises, the strap 210 or the root 2101 of the strap will rise with the grasping device 20, instead of remaining in the original position of the soft package 200 to be grasped. Therefore, when using the distance measuring device 50 to measure the distance of the strap 210 of the soft package 200 to be grasped, if the distance value does not change or changes within the preset distance value range, it means that the grasping mechanism 22 has successfully grasped the root 2101 of the soft package 200 to be grasped. If the distance value gradually increases, it means that the grasping mechanism 22 has not successfully grasped the root 2101 of the soft package 200 to be grasped.

[0110] Therefore, the method of the present application for confirming whether the grasping mechanism 22 has successfully grasped the strap root 2101 of the soft bag 200 to be grasped by the distance measuring device 50 is simple, and no other detection device is needed for detection, thereby simplifying the overall structure.

[0111] In other embodiments, other detection devices may also be provided to detect whether the grasping mechanism 22 has successfully grasped the strap root 2101 of the soft package 200 to be grasped, and the specifics are not limited.

[0112] In some embodiments, the distance measuring device 50 can be directly disposed on the gripping device 20 to improve the accuracy of distance measurement. Specifically, the distance measuring device 50 is disposed on the gripping mechanism 22.

[0113] That is to say, the detection device 10 and the distance measuring device 50 can be simultaneously arranged on the gripping mechanism 22, for example, simultaneously arranged on the gripping mechanism 222 of the gripping mechanism 22. It should be pointed out that in order to prevent the movement of the claw 2221 of the gripping mechanism 222 from interfering with the detection of the detection device 10 and the distance measuring device 50, the detection device 10 and the distance measuring device 50 can be arranged on a connecting seat 2223 that is rotatably connected to the two claws 2221. Specifically, the detection device 10 and the distance measuring device 50 are respectively arranged on opposite sides of the connecting seat 2223, so that the detections on both sides do not interfere with each other.

[0114] See also Figure 8 Based on the same inventive concept, the present application also provides a soft bag eccentric grasping and lifting method, which is applied to the soft bag eccentric grasping and lifting device 100 in any of the above embodiments, comprising the steps of:

[0115] S100: Control the detection device 10 to detect the root position of the belt of the soft bag 200 to be grasped;

[0116] S200: According to the position of the root of the belt of the soft package 200 to be grasped detected by the detection device 10, the grasping mechanism 22 is controlled to grasp the root 2101 of the belt of the soft package 200 to be grasped at the swaying position;

[0117] S300: Confirm that the grasping mechanism 22 grasps the root 2101 of the strap of the soft package 200 to be grasped, and control the deflection mechanism 21 to drive the grasping mechanism 22 to move to the lifting position.

[0118] The soft package eccentric grasping and lifting method of the embodiment of the present application can detect the root position of the belt of the soft package 200 to be grasped by the detection device 10 before the grasping device 20 grasps the lifting belt 210, so that the grasping mechanism 22 in the grasping device 20 can successfully grasp the belt root 2101 of the soft package 200 to be grasped at the eccentric position, and then drive the grasping mechanism 22 to move to the lifting position for lifting through the eccentric mechanism 21, thereby making it easy to grasp the belt 210 of the soft package 200 to be grasped, thereby improving the loading and unloading efficiency of the soft package 200 to be grasped.

[0119] Furthermore, since the root position of the strap deviates from the vertical center line of the soft package 200 to be grasped, when the grasping mechanism 22 grasps the root 2101 of the strap in the swiveling position, the grasping mechanism 22 as a whole also deviates from the vertical center line OO of the grasping device 20. If the soft package 200 to be grasped is lifted directly in the swiveling position, the grasping device 20 will be lifted at an angle, that is, the vertical center line of the soft package 200 to be grasped will deviate from the vertical center line OO of the grasping device 20, thereby increasing the risk of instability during the lifting process of the grasping device 20. Therefore, the present application sets the swing angle of the grasping mechanism 22 in the lifting position relative to the vertical center line OO of the grasping device 20 to be smaller than the swing angle of the grasping mechanism 22 in the swing position relative to the vertical center line OO of the grasping device 20, so that after the grasping mechanism 22 grasps the root 2101 of the strap in the swing position, it can move to the lifting position, and make the grasping mechanism 22 closer to the vertical center line OO of the grasping device 20, that is, make the vertical center line of the soft package 200 to be grasped closer to the vertical center line OO of the grasping device 20, and then in the lifting process at the lifting position, the grasping device 20 can be straightened and lifted, thereby improving the lifting stability and further improving the loading and unloading reliability of the soft package 200 to be grasped.

[0120] In addition, compared with the traditional method of directly grabbing the middle part of the strap 210, that is, grabbing the middle strap 2102, the embodiment of the present application adopts the method of first detecting the position of the root of the strap through the detection device 10, and then directly using the grabbing mechanism 22 to grab the root 2101 of the strap. On the one hand, compared with the randomness of the position of the middle strap 2102, the root 2101 of the strap is directly connected to the edge fixing point above the soft bag 200 to be grabbed. Therefore, its position is clearer and the detection device 10 is easier to detect, which reduces the difficulty of detection and further reduces the difficulty of grabbing. On the other hand, the position of the middle strap 2102 is not only random, but also may have the problem of uncertain front and back directions, that is, there is a problem of twisting of the strap 210, which is not conducive to detection. Since the root 2101 of the strap is fixed to the edge of the soft bag 200 to be grabbed, it will not twist easily. Therefore, it is more conducive to detection by the detection device 10, making the detection more accurate.

[0121] In some embodiments, step S100 specifically includes:

[0122] The control detection device 10 detects the identification mark to determine the root position of the belt of the soft package 200 to be grasped; wherein the identification mark is set at the root 2101 of the belt of the soft package 200 to be grasped.

[0123] By providing an identification mark at the root 2101 of the strap of the soft package 200 to be grasped, the root 2101 of the strap can be distinguished from other parts of the strap, thereby reducing the detection difficulty of the detection device 10 and improving the detection accuracy.

[0124] In some embodiments, step S100 specifically includes:

[0125] S110: Control the rotating mechanism 40 to drive the grasping device 20 to rotate around the axis, so that the detection device 10 detects the root position of the strap of the soft package 200 to be grasped during the rotation of the grasping device 20;

[0126] S120: When the detection device 10 detects the root position of the strap of the soft package 200 to be grasped, the rotating mechanism 40 is controlled to stop rotating.

[0127] In this way, when the rotary mechanism 40 drives the grasping device 20 to rotate around the axis, the detection device 10 can quickly detect the root position of the strap of the soft package 200 to be grasped, thereby improving the detection speed.

[0128] In some embodiments, before step S100, the method further includes:

[0129] S50: controlling the distance measuring device 50 to detect the distance between it and the soft package 200 to be grasped;

[0130] Step S100 specifically includes:

[0131] When the distance measuring device 50 detects that the distance between the grasping device 20 and the soft package 200 to be grasped reaches the first preset distance value, the detection device 10 is controlled to detect the root position of the strap of the soft package 200 to be grasped.

[0132] It should be pointed out here that when the distance measuring device 50 detects that the distance value between it and the soft package 200 to be grasped does not reach the first preset distance value, the lifting device is controlled to drive the grasping device 20 to descend until the distance measuring device 50 detects that the distance value between it and the soft package 200 to be grasped reaches the first preset distance value.

[0133] When the distance value between the distance measuring device 50 and the soft package 200 to be grasped reaches the first preset distance value, the detection device 10 is controlled to detect the root position of the strap of the soft package 200 to be grasped, so that the distance between the grasping device 20 and the soft package 200 to be grasped is within a suitable range, so that the detection device 10 can successfully detect the root position of the strap of the soft package 200 to be grasped, thereby improving the accuracy of the detection. In addition, when the distance between the grasping device 20 and the soft package 200 to be grasped is within a suitable range, the grasping device 20 can also move above the soft package 200 to be grasped without interference, and accurately grasp the strap 210 of the soft package 200 to be grasped.

[0134] In some embodiments, before step S100, the method further includes:

[0135] S20: In response to the instruction to grab the soft package to be grabbed, the deflection mechanism 21 is controlled to drive the grabbing mechanism 22 to move to the deflection position.

[0136] Since the gripping mechanism 22 grips the root 2101 of the strap of the soft package 200 to be gripped in the swung position, the swung position is closer to the root 2101 of the strap of the soft package 200 to be gripped than the lifted position. When the detection device 10 is arranged on the gripping mechanism 22, the detection device 10 will also be closer to the root 2101 of the strap of the soft package 200 to be gripped, which enables more convenient detection and higher detection accuracy.

[0137] In some embodiments, step S200 specifically includes:

[0138] According to the detection device 10 detecting the root position of the strap of the soft package 200 to be grasped, the lifting device is controlled to drive the grasping device 20 to descend until the distance measuring device 50 detects that the distance value between it and the soft package 200 to be grasped reaches a second preset distance value, then stops descending, and controls the grasping mechanism 22 to grasp the root 2101 of the strap of the soft package 200 to be grasped in the swung position.

[0139] In this way, the grasping device 20 is brought closer to the strap 210 of the soft package 200 to be grasped, so as to improve the success rate of grasping.

[0140] In some embodiments, step S300 specifically includes:

[0141] After the grasping mechanism 22 grasps the root 2101 of the strap of the soft package 200 to be grasped, the lifting device is controlled to drive the grasping device 20 to rise to a preset height, and the distance measuring device 50 is controlled to detect the distance value between it and the strap 210 of the soft package 200 to be grasped; if the distance measuring device 50 detects that the distance value between it and the strap 210 of the soft package 200 to be grasped does not change or changes within the preset distance value range, the yaw mechanism 21 is controlled to drive the grasping mechanism 22 to move to the lifting position.

[0142] It can be understood that after the grasping mechanism 22 successfully grasps the root 2101 of the strap of the soft package 200 to be grasped, if the grasping device 20 rises, the strap 210 or the root 2101 of the strap will rise with the grasping device 20, instead of remaining in the original position of the soft package 200 to be grasped. Therefore, when using the distance measuring device 50 to measure the distance of the strap 210 of the soft package 200 to be grasped, if the distance value does not change or changes within the preset distance value range, it means that the grasping mechanism 22 has successfully grasped the root 2101 of the soft package 200 to be grasped. If the distance value gradually increases, it means that the grasping mechanism 22 has not successfully grasped the root 2101 of the soft package 200 to be grasped.

[0143] Therefore, the method of the present application for confirming whether the grasping mechanism 22 has successfully grasped the strap root 2101 of the soft package 200 to be grasped by the distance measuring device 50 is simple and does not require the use of other detection devices for detection.

[0144] In order to more clearly understand the soft bag sway grabbing and lifting method of the embodiment of the present application, a specific embodiment is described below:

[0145] 1) When there is a demand for grabbing a ton bag, the deflection mechanism 21 drives the grabbing mechanism 22 to move to the deflection position;

[0146] 2) The lifting device descends for the first time, causing the grabbing device 20 to descend until the distance measuring device 50 detects that the distance between the grabbing device 20 and the ton bag reaches a first preset distance value, and then stops descending;

[0147] 3) The rotary mechanism 40 drives the grabbing device 20 to rotate around the axis, so that the detection device 10 detects the root position of the strap of the ton bag during the rotation of the grabbing device 20;

[0148] 4) When the detection device 10 detects the root position of the strap of the ton bag, the rotating mechanism 40 stops rotating;

[0149] 5) The lifting device descends again by a certain distance, so that the grabbing device 20 descends again, until the distance measuring device 50 detects that the distance between the grabbing device 20 and the ton bag reaches the second preset distance value, and then stops descending; it should be pointed out that the further descent here is to enable the grabbing mechanism 22 to grab the ton bag, and the previous descent before the detection by the detection device 10 is to make the detection device 10 close to the root of the strap of the ton bag, so as to detect the root position of the strap of the ton bag during the rotation of the grabbing device 20;

[0150] 6) The grabbing mechanism 22 grabs the root of the strap of the ton bag;

[0151] 7) The lifting device rises to a preset height. If the distance measuring device 50 detects that the distance between it and the strap of the ton bag remains unchanged or changes within a small range, it means that the grabbing mechanism 22 has successfully grabbed the strap of the ton bag. If the distance measuring device 50 detects that the distance between it and the strap of the ton bag is increasing, it means that the grabbing mechanism 22 has not successfully grabbed the strap of the ton bag and needs to return to step 2) or 5) to grab again.

[0152] 7) The deflection mechanism 21 drives the grabbing mechanism 22 to move to the lifting position;

[0153] 8) The lifting device rises to make the grabbing device 20 rise, and at this time, the ton bag is lifted.

[0154] 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.

[0155] 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 sway grabbing and lifting device, characterized in that: include: A detection device, used to detect the root position of the strap of the soft bag to be grabbed; as well as A gripping device, comprising a deflection mechanism and a gripping mechanism, wherein the gripping mechanism is connected to the deflection mechanism, and the deflection mechanism can drive the gripping mechanism to perform a deflection movement between a deflection position and a lifting position; Wherein, the swing angle of the gripping mechanism in the lifting position relative to the vertical center line of the gripping device is smaller than the swing angle of the gripping mechanism in the swing position relative to the vertical center line of the gripping device; The detection device is communicatively connected with the grasping device, and the grasping mechanism is used to grasp the root of the strap of the soft package to be grasped at the yaw position according to the root position of the strap of the soft package to be grasped detected by the detection device; the yaw mechanism is used to drive the grasping mechanism to move to the lifting position after the grasping mechanism grasps the root of the strap of the soft package to be grasped.

2. The soft bag sway grabbing and lifting device according to claim 1 is characterized in that: The gripping devices include two, the two gripping devices are symmetrically arranged, and the lifting positions of the gripping mechanisms of the two gripping devices overlap.

3. The soft bag sway grabbing and lifting device according to claim 1 is characterized in that: The soft bag sway grabbing and lifting device also includes a mounting structure, the sway mechanism includes a sway telescopic rod and a sway driving component, one end of the sway driving component is connected to one end of the sway telescopic rod, the other end of the sway driving component and one end of the grabbing mechanism are both rotatably connected to the mounting structure and spaced apart from each other, the other end of the sway telescopic rod is rotatably connected to the grabbing mechanism, and the sway driving component is used to drive the sway telescopic rod to perform telescopic movement so that the grabbing mechanism performs sway movement.

4. The soft bag sway grabbing and lifting device according to claim 3 is characterized in that: The grabbing mechanism comprises a yaw connecting rod and a gripping mechanism, one end of the yaw connecting rod is rotationally connected to the mounting structure, the other end of the yaw connecting rod is rotationally connected to the gripping mechanism, and the other end of the yaw telescopic rod is connected to the yaw connecting rod.

5. The soft bag eccentric grabbing and lifting device according to any one of claims 1 to 4, characterized in that: The detection device is arranged on the grasping mechanism.

6. The soft bag sway grabbing and lifting device according to claim 5, characterized in that: The root of the strap of the soft package to be grasped is provided with an identification mark, and the detection device is used to detect the identification mark to determine the root position of the strap of the soft package to be grasped.

7. The soft bag sway grabbing and lifting device according to claim 5, characterized in that: The soft bag eccentric grasping and lifting device also includes a rotating mechanism, the grasping device is arranged on the rotating mechanism, and the rotating mechanism is used to drive the grasping device to rotate around the axis so that the detection device can detect the root position of the belt of the soft bag to be grasped during the rotation of the grasping device.

8. The soft bag eccentric grabbing and lifting device according to any one of claims 1 to 4, characterized in that: The soft bag sway grabbing and lifting device also includes a distance measuring device, which is used to detect the distance value between the distance measuring device and the soft bag to be grabbed; The distance measuring device is communicatively connected to the detection device, and the detection device is used to detect the root position of the strap of the soft bag to be grasped when the distance value between the distance measuring device and the soft bag to be grasped reaches a first preset distance value.

9. The soft bag sway grabbing and lifting device according to claim 8, characterized in that: The soft bag deflection grabbing and lifting device also includes a lifting device, and the lifting device is connected to the grabbing device; The lifting device is communicatively connected with the grasping device and the distance measuring device, and is used to drive the grasping device to rise to a preset height after the grasping mechanism grasps the root of the strap of the soft package to be grasped; the distance measuring device is also used to detect the distance value between the grasping device and the strap of the soft package to be grasped during the rising process of the grasping device; the yaw mechanism is also used to drive the grasping mechanism to move to the lifting position when the distance measuring device detects that the distance value between the grasping device and the strap of the soft package to be grasped does not change or changes within a preset distance value range.

10. The soft bag sway grabbing and lifting device according to claim 8, characterized in that: The distance measuring device is arranged on the grasping mechanism.

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