Ton bag grabbing device and automatic ton bag carrying equipment
By designing a ton bag grab device including a base, jaw assembly and magnetic adsorption assembly, the problem of automated handling in traditional ton bag transportation is solved, and efficient and safe ton bag automation transportation is achieved.
Patent Information
- Application Number
- CN202420309707.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-20
- Publication Date
- 2025-02-11
- Estimated Expiration
- 2034-02-20
Smart Images
Figure CN222454250U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the field of automated transport mechanical equipment, in particular to a ton bag grabbing device and ton bag automatic transporting equipment. Background Art
[0002] Ton bags, as the name implies, are packaging bags in tons, usually flexible, such as cotton cloth, canvas or plastic woven bags, and are widely used in the transportation and packaging of powdered, granular and broken pieces of food, agricultural raw materials, medicine, or chemical, mineral products and other industries. Ton bags usually have a bag body and a bag belt. The bag body is used to carry materials, and the bag belt is used for lifting and transportation. In large warehouses, ton bags are stacked.
[0003] Although ton bags are light and have a large carrying capacity, they often require operator assistance for lifting and transportation. The straps or ropes will be irregularly folded and gathered on the upper surface of the ton bag. The straps themselves are soft, so the lifting operator cannot accurately hook the straps. Another operator is required to pull up the straps in advance so that the hook can dock with them. Obviously, this traditional structure of ton bags and ton bag lifting and transportation equipment cannot achieve automated handling of ton bags, and cannot improve the transportation efficiency of ton bags in large warehouses or docks. Utility Model Content
[0004] Based on this, it is necessary to provide a ton bag grabbing device and ton bag automatic handling equipment to address at least one of the problems mentioned above.
[0005] In a first aspect, the present application provides a ton bag grabbing device for lifting a ton bag provided with a bag strap, comprising a base, a clamping claw assembly and an adsorption assembly, wherein the clamping claw assembly is arranged on the base;
[0006] The adsorption assembly includes a suction part and a buckle, wherein the suction part is arranged on the base or the clamping claw assembly and can attract the buckle, and the buckle is tied to the bag belt;
[0007] The jaw assembly may be used to grab or hook the stretched strap.
[0008] In certain implementations of the first aspect, the attraction portion is a magnetic attraction portion, and the buckle is made of ferromagnetic material.
[0009] In combination with the first aspect and the above-mentioned implementations, in some implementations of the first aspect, the buckle is an 8-shaped plate, and two openings are provided on the buckle.
[0010] In combination with the first aspect and the above-mentioned implementations, in some implementations of the first aspect, the clamping jaw assembly includes a pair of clamping arms, a pair of traction arms, a cross beam and a first telescopic drive unit, one end of the clamping arm is hinged to the base, the first end of the traction arm is hinged to the arm body of the clamping arm, and the second end is hinged to one end of the cross beam, and the first telescopic drive unit is connected to the cross beam or the base.
[0011] In combination with the first aspect and the above-mentioned implementations, in some implementations of the first aspect, the suction portion includes an extension rod and a suction block, and the suction block is connected to the crossbeam through the extension rod.
[0012] In combination with the first aspect and the above-mentioned implementations, in some implementations of the first aspect, the clamping claw assembly includes a hook and a first telescopic driving unit arranged at the bottom end of the base, and the first telescopic driving unit drives the hook to rotate at the bottom end of the base to hook or detach from the strap.
[0013] In combination with the first aspect and the above-mentioned implementation methods, in some implementation methods of the first aspect, it also includes an openable and closable anti-sway clamping assembly, the anti-sway clamping assembly includes a second telescopic drive unit and a pair of anti-sway rods arranged near the suspended ton bag, the second telescopic drive unit is arranged on the base, and the anti-sway rods can be opened and closed under the drive of the second telescopic drive unit.
[0014] In combination with the first aspect and the above-mentioned implementation methods, in some implementation methods of the first aspect, it also includes a visual sensor and a controller, wherein the visual sensor is arranged on the base and is used to collect image information of the ton bag, and the controller is communicatively connected with the visual sensor and the first telescopic drive unit.
[0015] In combination with the first aspect and the above-mentioned implementations, in some implementations of the first aspect, a fill light component is further included, and the fill light component is disposed on the base and serves as a light source.
[0016] In a second aspect, the present application further provides an automatic ton-bag handling device, comprising an overhead crane and a ton-bag grabbing device as described in any one of the first aspects of the present application, wherein the base is connected to the overhead crane.
[0017] The technical solution provided in the embodiments of the present invention brings the following beneficial technical effects:
[0018] The ton bag grabbing device and ton bag automatic handling equipment provided by the utility model use an adsorption component arranged near the clamping claw component to first suck up the buckle on the bag belt of the ton bag through the suction part on the adsorption component, and then clamp the bag belt through the clamping claw component, and finally complete the lifting and transportation of the ton bag. There is no need to manually pull the bag belt, and the ton bag can be automatically loaded on the handling equipment with a high success rate and good safety, and the automatic transportation of ton bags in large warehouses can be realized.
[0019] Additional aspects and advantages of the present application will be given in subsequent parts and will be understood in detail from the subsequent description or learned through the specific implementation of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 This is a schematic diagram of the three-dimensional structure of a ton bag grabbing device in one embodiment of the utility model;
[0021] Figure 2 This is a schematic diagram of the three-dimensional structure of a buckle in one embodiment of the utility model;
[0022] Figure 3 This is a schematic diagram of the three-dimensional structure of the clamping jaw assembly in one embodiment of the utility model;
[0023] Figure 4 It is a structural schematic diagram of a ton bag grabbing device with an openable and closable anti-sway clamping assembly in another embodiment of the utility model;
[0024] Figure 5 It is a structural schematic diagram of a ton bag grabbing device with a closed anti-sway clamping assembly in another embodiment of the utility model;
[0025] Figure 6 It is a structural schematic diagram of an anti-sway clamping assembly in another embodiment of the utility model.
[0026] Description of reference numerals:
[0027] 100-base, 200-gripper assembly, 300-adsorption assembly, 400-ton bag, 500-visual sensor, 600-fill light assembly, 700-anti-sway clamping assembly;
[0028] 210-clamping arm, 220-traction arm, 230-crossbeam, 240-first telescopic driving part, 250-hook;
[0029] 310-attraction part, 320-buckle, 311-extension rod, 312-suction block, 313-spring;
[0030] 410-Bag strap;
[0031] 710 - second telescopic driving unit, 720 - anti-sway bar. DETAILED DESCRIPTION
[0032] In order to facilitate the understanding of the utility model, the utility model will be described more comprehensively with reference to the relevant drawings below. Possible embodiments of the utility model are given in the drawings. However, the utility model can be implemented in many different forms and is not limited to the embodiments described herein by the drawings. The embodiments described with reference to the drawings are exemplary and are used to make the understanding of the disclosure of the utility model more thorough and comprehensive, and cannot be interpreted as a limitation on the utility model. In addition, if the detailed description of the known technology is non-essential technology for the features of the utility model shown, these technical details may be omitted.
[0033] Those skilled in the relevant art will understand that, unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the general understanding of ordinary technicians in the field to which the utility model belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.
[0034] It will be understood by those skilled in the art that, unless otherwise stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that the term "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.
[0035] In the prior art (re-describe the background technology and the technical problem to be solved, which may not be consistent with the background technology)
[0036] The technical solution of the present invention and how the technical solution solves the above-mentioned technical problems are described in detail below with specific embodiments.
[0037] The embodiment of the first aspect of the present application provides a ton bag grabbing device for lifting a ton bag 400 provided with a bag strap 410, such as Figure 1As shown, it includes a base 100, a clamping jaw assembly 200 and an adsorption assembly 300, and the clamping jaw assembly 200 is arranged on the base 100. The base 100 is used to install the clamping jaw assembly 200 and the adsorption assembly 300, and is used to connect with the transportation equipment. The clamping jaw assembly 200 is mainly used to grab the goods, which mainly refers to the ton bag 400 in this application, especially to lift the bag belt 410 on the ton bag 400, and the adsorption assembly 300 is used to attract the bag belt 410 from the ton bag 400 to facilitate the lifting of the clamping jaw assembly 200.
[0038] The adsorption assembly 300 includes a suction part 310 and a buckle 320. The suction part 310 is arranged on the base 100 or the clamping claw assembly 200, and can attract the buckle 320, and the buckle 320 is tied to the bag belt 410. There are usually many buckles 320, and each buckle 320 of the ton bag 400 is provided with one. The suction part 310 is close to the buckle 320, and can attract the buckle 320, so as to lift the bag belt 410. The clamping claw assembly 200 can be used to grab or hook the stretched bag belt 410. When the suction part 310 sucks the buckle 320, the bag belt 410 of the ton bag 400 is also pulled and stretched, so that the clamping claw assembly 200 can extend between the bag belts 410, hang or hook the bag belt 410, the base 100 rises, and the clamping claw assembly 200 lifts the ton bag 400 and transports it. The suction portion 310 of the adsorption component 300 may also directly adopt a vacuum suction cup, and there is no need to separately set the buckle 320 on the strap 410; however, it is necessary to ensure that the vacuum suction cup has sufficient adsorption force on the strap 410, for example, taking strengthening measures such as covering the strap 410 to facilitate adsorption.
[0039] The ton bag grabbing device provided by the utility model uses an adsorption component 300 arranged near the clamping claw component 200. First, the buckle 320 on the bag belt 410 of the ton bag 400 is sucked up by the suction part 310 on the adsorption component 300, and then the bag belt 410 is clamped by the clamping claw component 200. Finally, the lifting and transportation of the ton bag 400 is completed. There is no need for manual pulling of the bag belt 410, and the ton bag 400 can be automatically loaded on the handling equipment. The success rate is high and the safety is good, and the automatic transportation of the ton bag 400 in the large warehouse can be realized.
[0040] Optionally, in some specific implementations of the first aspect of the present application, the attraction portion 310 is a magnetic attraction portion 310, and the buckle 320 is made of ferromagnetic material. In a more specific implementation, the magnetic attraction portion 310 is a permanent magnet block, and the buckle 320 is made of ordinary low-carbon steel material. This buckle 320 is easy to produce and easy to be attracted by the permanent magnet block. When the jaw assembly 200 runs above the ton bag 400, even if the bag belt 410 loaded with the buckle 320 is pressed into the surface of the ton bag 400, the jaw assembly 200 cannot directly hook it, and the magnetic attraction portion 310 on the adsorption assembly 300 located near the jaw assembly 200 can also be attracted to the buckle 320, thereby pulling up the buckle 320, thereby pulling up the bag belt 410. Optionally, the magnetic attraction portion 310 can also be an electromagnet.
[0041] Optionally, in combination with the embodiment of the first aspect and the above implementation, in other implementations of the embodiment of the first aspect, such as Figure 2 As shown, the buckle 320 is an 8-shaped plate, and two openings are provided on the buckle 320. The 8-shaped or sun-shaped buckle 320 can be conveniently loaded on the bag belt 410. The specific shape of the plate is used. First, it is light, and second, it has a sufficient attraction area, which can be stably attracted to the attraction part 310, thereby driving the bag belt 410. The openings on the buckle 320 can be set on the same side of the plate, or can be set at a position symmetrical to the center of the plate.
[0042] Optionally, in combination with the embodiment of the first aspect of the present application and the above implementation, in other embodiments, such as Figure 3 As shown, the clamping jaw assembly 200 includes a pair of clamping arms 210, a pair of traction arms 220, a beam 230 and a first telescopic drive unit 240. One end of the clamping arm 210 is hinged to the base 100, the first end of the traction arm 220 is hinged to the arm body of the clamping arm 210, and the second end is hinged to one end of the beam 230. The first telescopic drive unit 240 is connected to the base 100 or the beam 230. Through the above-mentioned parts and structures, the clamping jaw assembly 200 is a symmetrical structure that can be opened and closed. When the clamping jaw assembly 200 needs to clamp the bag 410, the clamping jaw assembly 200 opens its pair of clamping arms 210, and the first telescopic drive unit 240 drives the beam 230 to rise relative to the base 100, and the beam 230 drives the traction arm 220 to rise. Under the action of the lever, the traction arm 220 drives the clamping arm 210 to rotate around the hinge point of the base 100, so that the clamping arms 210 move in opposite directions and open. When the clamping openings formed by the clamping arms 210 on both sides enter the bag 410 that is attracted and pulled and stretched, the first telescopic drive unit 240 moves in the opposite direction, that is, descends, and the clamping arms 210 close to hook the bag 410, thereby realizing the lifting and loading of the ton bag 400.
[0043] Optionally, in combination with the first aspect and the above implementations, in some implementations of the first aspect, the suction portion 310 is disposed on the side of the beam 230 facing away from the first telescopic drive portion 240. That is, the suction portion 310 is facing the ton bag 400, so as to facilitate docking with the buckle 320 on the ton bag 400.
[0044] Optionally, in some specific implementations, such as Figure 3 As shown, the suction part 310 includes an extension rod 311 and a suction block 312, and the suction block 312 is connected to the cross beam 230 through the extension rod 311. The extension rod 311 is provided on the suction part 310, and the suction block 312 is extended as far as possible to the buckle 320 through the extension rod 311, so as to facilitate the suction of the buckle 320. Optionally, in some embodiments, such as Figure 3 As shown, the suction block 312 can also be set as a part that can move within a certain range instead of being fixed. For example, a spring 313 is set between the extension rod 311 and the suction block 312, and the suction block 312 can move up and down and deflect at an angle on a longitudinal beam. The spring 313 runs through the longitudinal beam, one end of which abuts against the end of the extension rod 311, and the other end abuts against the suction block 312. In this way, the shock resistance of the suction block 312 can be improved, the service life of the suction block 312 can be increased, and the contact adaptive ability of the buckle 320 can be improved. The suction block 312 can adopt a mounting frame with a metal dumbbell structure, and a permanent magnet is set on the mounting frame.
[0045] Optionally, in combination with the foregoing embodiment and the foregoing implementation of the first aspect, in other implementations of another embodiment of the first aspect, such as Figure 3 As shown, the clamping arm 210 includes a first clamping arm and a second clamping arm, and the first clamping arm and the second clamping arm can be cross-jointed at the top. The bottom ends of the first clamping arm and the second clamping arm are hinged on the base 100, and the top ends are free ends, which are also where the two clamping arms 210 are closed. In order to prevent the strap 410 clamped into the clamping opening from coming out from the closed position, the first clamping arm and the second clamping arm are cross-jointed at the top ends, and enter each other's part, so that the gap at the joint is a broken line or a curve, which can effectively prevent the flat strap 410 from coming out from the gap.
[0046] Optionally, in combination with the aforementioned embodiments of the present application, in some specific implementations of the present application, as shown in the figure, the clamp assembly can also be in another form, for example, the clamp assembly includes a hook 250 and a first telescopic drive unit 240 arranged at the bottom end of the base 100, and the first telescopic drive unit 240 drives the hook 250 to rotate at the bottom end of the base 100 to hook or detach from the bag. The hook 250 can be specifically an L-shaped bending structure, with a hook for hooking the bag at one end and the other end connected to the first telescopic drive unit 240. The first telescopic drive unit 240 is also arranged on the base 100. When the first telescopic drive unit 240 contracts, the hook on the hook 250 is driven to be horizontally placed, and the hook 250 can be detached from the bag, or ready to be hung in the stretched bag, the first telescopic drive unit 240 is stretched, and the hook on the hook 250 is placed vertically, so that the bag can be hooked.
[0047] Optionally, in combination with the above-mentioned embodiments and implementations of the first aspect of the present application, in some other implementations of the first aspect, the ton bag grabbing device further includes a visual sensor 500 and a controller, the visual sensor 500 is arranged on the base 100, and is used to collect image information of the ton bag 400, and the controller is connected to the visual sensor 500 and the first telescopic drive unit 240 in communication. The visual sensor 500 and the controller are electronic automation equipment, and by setting these two devices, the ton bag grabbing device can be operated more automatically. The visual sensor 500 can obtain the appearance information of the surface of each ton bag 400 on the warehouse floor or on the ton bag 400 pile, and transmit the collected appearance information to the controller, and the controller determines whether it reaches the top of the ton bag 400 to be grabbed, and also determines the specific position of the pre-installed buckle 320 on the ton bag 400, so as to more quickly and accurately control the operation of the ton bag grabbing device and dock with the buckle 320 through the suction part 310, and pull the bag belt 410.
[0048] The controller includes a processor and a memory. The processor and the memory are electrically connected, such as through a bus. The processor can be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of the utility model. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, etc. The bus may include a path to transmit information between the above components.
[0049] Optionally, in combination with the embodiment of the first aspect and the above-mentioned implementation, in some other implementations of the embodiments of the present application, the ton bag grabbing device further includes a fill light component 600, which is disposed on the base 100 and serves as a light source. The fill light component 600 is a light source fixedly disposed on the base 100, and provides light to the bottom of the grabbing component and the adsorption component 300, illuminating the objects below, so that the visual sensor 500 can obtain sufficiently clear appearance information.
[0050] Optionally, in combination with the embodiment of the first aspect and the above implementation, in some further implementations of the embodiments of the present application, Figure 4 and Figure 5 As shown, the bag grabbing device further includes an openable and closable anti-sway clamping assembly 700, which includes a second telescopic driving unit 710 and a pair of anti-sway bars 720 arranged near the lifted bag, the second telescopic driving unit 710 is arranged on a base, and the anti-sway bars 720 can be opened and closed under the drive of the second telescopic driving unit 710. Figure 4 As shown, the anti-sway clamping assembly 700 in the ton bag grabbing device is in an open state, wherein the anti-sway rod 720 is relatively large in size and can cover at least part of the ton bag, especially the upper part of the ton bag. At this time, the second telescopic driving part 710 is transmission-connected with the anti-sway rod 720. The specific mechanical connection structure is known to those skilled in the art. For details, see Figure 6 The second telescopic driving part 710 drives the gear with a lever action, driving the meshing gear set to rotate within a certain range to realize the opening and closing of the anti-sway bar 720. Each anti-sway bar 720 can be composed of two synchronously running bending beams, or other structures that can clamp and support the ton bag. Figure 5As shown, the anti-sway clamping assembly 700 is in working condition, and the hoisted ton bag is clamped by the anti-sway bar 720 to prevent the ton bag from swinging back and forth in the air, especially when the overhead crane accelerates or brakes, which can effectively improve the stability of the ton bag and also facilitate to improve the accuracy and efficiency of ton bag loading.
[0051] Based on the same technical concept, the embodiment of the second aspect of the present application also provides a ton bag automatic handling device, which includes an overhead crane and a ton bag grabbing device as described in any one of the first aspects of the present application, and the base is connected to the overhead crane. It also generally includes a master controller to control the operation of the overhead crane and other auxiliary equipment, and is connected to the controller or related electronic components on the ton bag grabbing device to control the action of the ton bag grabbing device.
[0052] It will be understood by those skilled in the art that the terms "first" and "second" discussed in this application are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.
[0053] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0054] In the description of this specification, specific features, structures, materials or characteristics may be combined in an appropriate manner in any one or more embodiments or examples.
[0055] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.
Claims
1. A ton bag grabbing device, used for lifting ton bags with straps, characterized in that: It comprises a base, a clamping jaw assembly and an adsorption assembly, wherein the clamping jaw assembly is arranged on the base; The adsorption assembly includes a suction part and a buckle, wherein the suction part is arranged on the base or the clamping claw assembly and can attract the buckle, and the buckle is tied to the bag belt; The jaw assembly may be used to grab or hook the stretched strap.
2. The ton bag grabbing device according to claim 1 is characterized in that: The attraction portion is a magnetic attraction portion, and the buckle is made of ferromagnetic material.
3. The ton bag grabbing device according to claim 1 is characterized in that: The belt buckle is an 8-shaped plate, and two openings are arranged on the belt buckle.
4. The ton bag grabbing device according to claim 1 is characterized in that: The clamping jaw assembly includes a pair of clamping arms, a pair of traction arms, a cross beam and a first telescopic drive unit. One end of the clamping arm is hinged to the base, the first end of the traction arm is hinged to the arm body of the clamping arm, and the second end is hinged to one end of the cross beam. The first telescopic drive unit is connected to the cross beam.
5. The ton bag grabbing device according to claim 4 is characterized in that: The suction part comprises an extension rod and a suction block, and the suction block is connected to the crossbeam or the base through the extension rod.
6. The ton bag grabbing device according to claim 1 is characterized in that: The clamping claw assembly includes a hook and a first telescopic driving part arranged at the bottom end of the base, and the first telescopic driving part drives the hook to rotate at the bottom end of the base to hook or detach from the strap.
7. The ton bag grabbing device according to claim 1 is characterized in that: It also includes an openable and closable anti-sway clamping assembly, which includes a second telescopic driving unit and a pair of anti-sway rods arranged near the suspended ton bag, the second telescopic driving unit is arranged on the base, and the anti-sway rods can be opened and closed under the drive of the second telescopic driving unit.
8. The ton bag grabbing device according to claim 6, characterized in that: It also includes a visual sensor and a controller. The visual sensor is arranged on the base and is used to collect image information of the ton bag. The controller is communicatively connected with the visual sensor and the first telescopic drive unit.
9. The ton bag grabbing device according to claim 8, characterized in that: It also includes a fill light component, which is arranged on the base and serves as a light source.
10. A ton bag automatic handling equipment, characterized in that: It comprises an overhead crane and a ton bag grabbing device as claimed in any one of claims 1 to 9, wherein the base is connected to the overhead crane.