Manipulator assembly of bag folding and falling machine

Abstract

The utility model provides a manipulator assembly of a bag folding and falling machine, and belongs to the technical field of machinery. The mechanical arm assembly solves the problems that an existing mechanical arm assembly of the bag folding and falling machine is complex in structure, low in working efficiency and not reliable and stable enough in working. The mechanical arm assembly of the bag stacking and falling machine comprises a machine base, an upper pulling plate and a driving mechanism are arranged on the upper side of the machine base, a mechanical claw is arranged on the lower side of the upper pulling plate and comprises a frame body, two connecting arms are arranged at the upper end of the frame body, a claw body is hinged to the lower end of the frame body, and a lower pulling plate which is horizontally and transversely arranged is fixedly connected to the upper sides of the two connecting arms; pull rods are fixedly connected to the two sides of the upper pull plate and penetrate through the connecting arms, pull ropes are arranged between the pull rods and the claw bodies, the pull rods can drive the claw bodies to swing relative to the frame body through the pull ropes, limiting blocks are arranged on the connecting arms, and the pull rods penetrate through the limiting blocks. The manipulator assembly of the bag folding and falling machine has the advantages of being compact in structure, high in working efficiency and stable and reliable in working.

Description

Technical Field

[0001] The utility model belongs to the technical field of machinery and relates to a manipulator component, in particular to a manipulator component of a bag stacking and dropping machine. Background Art

[0002] A large number of granular and powdery goods, including cement, fertilizers, grain, feed, chemical raw materials, etc., are packed in woven bags, which is the most commonly used packaging method. The handling, transfer, loading and unloading of bagged goods are all done manually by stacking bags one by one, and using certain mechanical equipment for lifting, transfer, loading and unloading. This not only consumes a lot of manpower and material resources, has high work intensity and low work efficiency, but also easily causes damage to the material packaging and loss of materials.

[0003] For this purpose, people have invented automatic bag stacking robots, such as an automatic feed bag stacking robot disclosed in a Chinese patent (application number: 201920967154.6), which includes a robot arm, a fixed plate is connected to the robot arm, and two horizontally arranged rotating shafts are rotatably connected to the lower surface of the fixed plate, and each rotating shaft is respectively connected to an L-shaped fork material rack linked to the rotating shaft, and each rotating shaft is respectively connected to an eccentric rotating shaft driving device. The rotating shaft is driven by its own eccentric rotating shaft driving device to force the two L-shaped fork material racks to swing inwards towards each other to obtain the feed bag, and the rotating shaft is driven by its own eccentric rotating shaft driving device to force the two L-shaped fork material racks to swing outwards to release the feed bag, and a lifting and pressing mechanism is also provided on the lower surface of the fixed plate between the two L-shaped fork material racks. However, the automatic bag stacking robot realizes the grabbing and conveying of material bags by setting up multiple driving devices, so its structure is complex, the working efficiency is low, and the work is not reliable and stable enough. Summary of the invention

[0004] The utility model aims to solve the above problems in the prior art and proposes a manipulator assembly of a bag stacking and dropping machine which has compact structure, high working efficiency and stable and reliable working.

[0005] The purpose of the utility model can be achieved through the following technical solutions: a manipulator assembly of a bag stacking and dropping machine comprises a machine base, a horizontally and laterally arranged upper pull-up plate and a driving mechanism for driving the upper pull-up plate to reciprocate and rise and fall, characterized in that a mechanical claw is arranged on the lower side of the upper pull-up plate, the mechanical claw comprises a gantry-shaped frame, the upper end of the frame is provided with two vertically arranged connecting arms, the lower end of the frame is hinged with a swingable claw body, the upper sides of the two connecting arms are fixedly connected with a horizontally and laterally arranged lower pull-down plate, both sides of the upper pull-up plate are fixedly connected with a vertically arranged pull rod, the pull rod passes through the lower pull-down plate, a pull rope is arranged between the pull rod and the claw body, the pull rod can drive the claw body to swing relative to the frame through the pull rope, a limit block is arranged on the connecting arm, the pull rod passes through the limit block, the lower end of the pull rod is fixedly connected with a blocking member, the blocking member is located at the lower side of the limit block of the pull rod and the blocking member can abut against the limit block.

[0006] The packaging bag that needs to be clamped is stacked in the middle of the binding belt. When the manipulator assembly is working, the driving mechanism drives the upper pull plate to rise and drives the pull rod and the pull rope, so that the pull rope pulls the claw body to rotate relative to the frame body, so that the two claws of the frame body respectively hook the two ends of the binding belt, and the driving mechanism continues to rise. When the blocking member abuts against the limit block, the pull rod drives the lower pull plate to rise and drives the frame body to rise, thereby lifting the binding belt and the packaging bag. A horizontal driving mechanism that can drive the manipulator assembly to move horizontally and horizontally, and a longitudinal driving mechanism that can drive the manipulator assembly to move horizontally and longitudinally are provided between the frame and the base of the bag stacking and dropping machine. , a rotating mechanism capable of driving the robot arm assembly to rotate, moves the machine base to the unloading position through the transverse driving mechanism and the longitudinal driving mechanism, and then drives the upper pull plate to move downward through the driving mechanism, so that the frame drives the packaging bag to the set position, and the driving mechanism continues to drive the upper pull plate downward. At this time, the blocking member disengages from the limit block. At this time, the claw body rotates in the opposite direction relative to the frame, so that the two ends of the binding belt are separated from the claw body, completing the unloading, and by setting a driving mechanism to drive the upper pull plate to rise, the binding belt and the packaging bag are hooked and lifted. It has the advantages of simple and compact structure, high working efficiency, stable and reliable operation and easy control.

[0007] In the above-mentioned robot assembly of the bag stacking and dropping machine, the driving mechanism is a cylinder whose cylinder body is vertically fixed on the machine base, the piston rod of the cylinder is fixedly connected to the middle part of the upper pull plate, and the two pull rods are symmetrically arranged on both sides of the cylinder. The driving mechanism adopts a cylinder, which has the advantages of reliable and stable operation and simple structure. As another way, the driving mechanism can adopt a cylinder, a motor and a screw nut assembly.

[0008] In the above-mentioned robot assembly of the bag stacking and dropping machine, the blocking member is a nut threadedly connected to the pull rod, and the upper end surface of the nut can abut against the lower end surface of the limit block. The position of the nut can be adjusted by rotating the nut, thereby adjusting the swing angle of the claw body, which has the advantages of simple structure and convenient adjustment.

[0009] In the above-mentioned robot assembly of the bag stacking and dropping machine, the blocking member is an annular boss arranged around the lower end of the pull rod, and the annular boss and the pull rod are an integral structure.

[0010] In the above-mentioned robot assembly of the bag stacking and dropping machine, the upper end of the pull rod is fixedly connected to the upper pull plate through a nut. The upper end of the pull rod is fixedly connected to the upper pull plate through a nut, which has the advantages of simple structure and convenient assembly.

[0011] In the above-mentioned robot assembly of the bag stacking and dropping machine, both sides of the connecting arm are fixedly connected with vertically arranged guide rails, the machine base is fixedly connected with a plurality of roller racks, the roller racks are axially fixedly connected with rollers, the rollers correspond to the guide rails one by one, the outer wall of the roller is ringed with an annular groove, and the guide rails are embedded in the corresponding annular grooves. By providing the above-mentioned rollers and guide rails, the lifting and lowering of the connecting arm has a better guiding effect, and the working stability is improved.

[0012] In the above-mentioned robot assembly of the bag stacking and dropping machine, a mounting bracket is fixedly connected to the connecting arm, and an elastic buffer is fixedly connected to the mounting bracket. The buffer is located on the upper side of the roller frame and can abut against the roller frame. By providing the above-mentioned buffer, when the connecting arm descends to abut against the roller frame through the buffer, the buffer has a buffering effect. The buffer is a hydraulic buffer, and the detailed structure refers to the hydraulic buffer (application number: 201520334610.5), a hydraulic buffer (application number: 2016208664823). As another way, the buffer adopts an elastic rubber column arranged between the mounting bracket and the roller frame.

[0013] In the above-mentioned robot assembly of the bag stacking and dropping machine, the lower end of the claw body is hinged with a claw tip, and a reset spring is arranged between the claw body and the claw tip. The reset spring enables the claw tip to swing when a large external force is applied, thereby achieving a protective effect.

[0014] In the above-mentioned robot assembly of the bag stacking and bag dropping machine, a horizontally arranged limit plate is fixedly connected to the frame, the limit plate is located on the lower side of the machine base and the limit plate can abut against the lower end face of the machine base. As another method, the upper pull plate is driven up by a driving mechanism and drives the pull rod and the pull rope, so that the pull rope pulls the claw body to rotate relative to the frame, so that the two claw bodies of the frame respectively hook the two ends of the binding belt, the driving mechanism continues to rise and drives the frame to rise synchronously, when the limit plate abuts against the lower end face of the machine base, the frame cannot continue to move up due to the limit of the limit plate and the machine base, at this time the pull rod drives the claw body to continue to swing through the pull rope, so that the claw body hooks the binding belt tightly to prevent it from loosening, so that the robot and the machine base form a rigid connection, which improves the stability of the structure, thereby improving the working reliability of the robot assembly.

[0015] In the above-mentioned robot assembly of the bag stacking and dropping machine, a plurality of pulleys are axially fixedly connected to the frame, the pull rope passes through the pulleys and the lower end of the pull rope is fixedly connected to the middle of the claw body. The pull rope passes through the pulleys and is connected to the claw body to avoid the pull rope from being entangled, so that the robot assembly can work smoothly.

[0016] In the above-mentioned robot assembly of the bag stacking and dropping machine, rollers are axially fixedly connected to the left and right sides of the machine base. The above-mentioned rollers are provided to facilitate the translation of the machine base.

[0017] In the above-mentioned manipulator assembly of the bag stacking and dropping machine, a hydraulic support rod is provided between one side of the frame and the claw body, the cylinder of the hydraulic support rod is hinged on the frame, and the rod of the hydraulic support rod is hinged on the claw body. The above-mentioned hydraulic support rod is provided between the frame and the claw body, and when the manipulator assembly is released, under the gravity of the claw body and the thrust of the hydraulic support rod on the claw body, the claw body can smoothly return to the outside and rotate, thereby improving the smoothness of the claw body opening.

[0018] Compared with the prior art, the robot assembly of the bag stacking and bag dropping machine has the following advantages:

[0019] 1. The oil cylinder is set to drive the lifting of the upper pull plate to hook the binding belt and lift the binding belt and packaging bag. It has the advantages of simple and compact structure, high working efficiency and stable and reliable operation;

[0020] 2. Several roller racks are fixedly connected to the machine base, and rollers are axially fixedly connected to the roller racks. The rollers correspond to the guide rails one by one. The outer wall of the roller is provided with an annular groove, and the guide rail is embedded in the corresponding annular groove, so that the lifting and lowering of the connecting arm has a better guiding effect and improves the working stability;

[0021] 3. A mounting bracket is fixedly connected to the connecting arm, and an elastic buffer is fixedly connected to the mounting bracket. The buffer is located on the upper side of the roller frame and can abut against the roller frame. When the connecting arm is lowered to abut against the roller frame through the buffer, the buffer plays a buffering effect;

[0022] 4. The hydraulic support rod mentioned above is arranged between the frame and the claw body. When the manipulator assembly is released, the claw body can smoothly return to the outside and rotate under the action of the gravity of the claw body and the thrust of the hydraulic support rod on the claw body, thereby improving the smoothness of the claw body opening. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a three-dimensional schematic diagram of the robot assembly of the bag stacking and bag dropping machine.

[0024] Figure 2 It is a schematic diagram of the main view of the manipulator assembly of the bag stacking and dropping machine.

[0025] Figure 3 It is a top view schematic diagram of the manipulator assembly of the bag stacking and dropping machine.

[0026] Figure 4 yes Figure 3 AA cross-sectional view of .

[0027] Figure 5 yes Figure 3 BB cross-sectional view.

[0028] Figure 6 This is a cross-sectional schematic diagram of another embodiment of the robot assembly.

[0029] In the figure, 1, machine base; 2, upper pull plate; 3, driving mechanism; 3a, oil cylinder; 4, mechanical claw; 4a, frame; 4b, connecting arm; 4c, claw body; 4d, lower pull plate; 4e, pull rod; 4e1, blocking member; 4f, pull rope; 4g, limit block; 4h, nut; 4i, claw tip; 4j, reset spring; 4k, limit plate; 5, guide rail; 6, roller frame; 7, roller; 7a, annular groove; 8, mounting bracket; 9, buffer; 10, pulley; 11, roller two; 12, hydraulic support rod. DETAILED DESCRIPTION

[0030] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solution of the present invention, but the present invention is not limited to these embodiments.

[0031] like Figures 1 to 5As shown, the manipulator assembly of the bag stacking and dropping machine includes a machine base 1, a horizontally arranged upper pull plate 2 and a driving mechanism 3 for driving the upper pull plate 2 to move up and down, and rollers 11 are axially fixed on both sides of the machine base 1 to facilitate the translation of the machine base 1. The driving mechanism 3 is a cylinder 3a whose cylinder body is vertically fixed to the machine base 1, and the piston rod of the cylinder 3a is fixed to the middle part of the upper pull plate 2, which has the advantages of reliable and stable operation and simple structure. As another way, the driving mechanism 3 can adopt a cylinder, a motor and a screw nut assembly.

[0032] A mechanical claw 4 is provided on the lower side of the upper pull plate 2. The mechanical claw 4 includes a gantry-shaped frame 4a. Two vertically arranged connecting arms 4b are provided on the upper end of the frame 4a. A swingable claw body 4c is hinged to the lower end of the frame 4a. A claw tip 4i is hinged to the lower end of the claw body 4c. A reset spring 4j is provided between the claw body 4c and the claw tip 4i. A horizontally arranged lower pull plate 4d is fixedly connected to the upper side of the two connecting arms 4b. A vertically arranged pull rod 4e is fixedly connected to both sides of the upper pull plate 2. The two pull rods 4e are symmetrically arranged on both sides of the oil cylinder 3a. The upper end of the pull rod 4e is fixedly connected to the upper pull plate 2 through a nut 4h. It has the advantages of simple structure and convenient assembly. The pull rod 4e passes through the lower pull plate 4d, and a pull rope 4f is provided between the pull rod 4e and the claw body 4c. A plurality of pulleys 10 are axially fixedly connected to the frame body 4a. The pull rope 4f passes around the pulley 10 and the lower end of the pull rope 4f is fixedly connected to the middle part of the claw body 4c. The pull rod 4e can drive the claw body 4c to swing relative to the frame body 4a through the pull rope 4f. A limit block 4g is provided on the connecting arm 4b. The pull rod 4e passes through the limit block 4g, and a blocking member 4e1 is provided at the lower end of the pull rod 4e. The blocking member 4e1 is located on the lower side of the limit block 4g of the pull rod 4e and the blocking member 4e1 can abut against the limit block 4g.

[0033] The blocking member 4e1 is a nut threadedly connected to the pull rod 4e, and the upper end surface of the nut can abut against the lower end surface of the limit block 4g. The position of the nut can be adjusted by rotating the nut, thereby adjusting the swing angle of the claw body, which has the advantages of simple structure and convenient adjustment.

[0034] As another way, Figure 6 As shown, the blocking member 4e1 is an annular boss arranged around the lower end of the pull rod 4e, and the annular boss and the pull rod are an integral structure.

[0035] A hydraulic strut 12 is provided between one side of the frame 4a and the claw body 4c, the cylinder of the hydraulic strut 12 is hinged on the frame 4a, and the rod of the hydraulic strut 12 is hinged on the claw body 4c. The hydraulic strut 12 is provided between the frame 4a and the claw body 4c. When the manipulator assembly is released, the claw body 4c can smoothly return to the outside and rotate under the gravity of the claw body 4c and the thrust of the hydraulic strut 12 on the claw body 4c, thereby improving the smoothness of the opening of the claw body 4c.

[0036] Both sides of the connecting arm 4b are fixedly connected with vertically arranged guide rails 5, and the machine base 1 is fixedly connected with a plurality of roller frames 6, and the roller frames 6 are axially fixedly connected with rollers 7, and the rollers 7 correspond to the guide rails 5 one by one, and the outer wall of the roller 7 is ring-shaped with an annular groove 7a, and the guide rail 5 is embedded in the corresponding annular groove 7a, so that the lifting and lowering of the connecting arm 4b has a better guiding effect, and the working stability is improved. The connecting arm 4b is fixedly connected with a mounting bracket 8, and the mounting bracket 8 is fixedly connected with an elastic buffer 9, and the buffer 9 is located on the upper side of the roller frame 6 and the buffer 9 can be against the roller frame 6.

[0037] A transverse driving mechanism capable of driving the manipulator assembly to move horizontally and laterally, a longitudinal driving mechanism capable of driving the manipulator assembly to move horizontally and longitudinally, and a rotating mechanism capable of driving the manipulator assembly to rotate are arranged between the frame and the base 1 of the bag stacking and dropping machine. The transverse driving mechanism and the longitudinal driving mechanism use a motor and a synchronous belt assembly to drive the base to move horizontally, or use a motor to drive the base to move horizontally through a screw rod and nut transmission, or use a cylinder to drive the base to move horizontally, and the rotating mechanism uses a motor to drive the base to rotate. The packaging bag to be clamped is stacked in the middle of the binding belt. When the manipulator assembly is working, the oil cylinder 3a drives the upper pull plate 2 to rise and drives the pull rod 4e and the pull rope 4f, so that the pull rope 4f pulls the claw body 4c to rotate relative to the frame 4a, so that the two claw bodies 4c of the frame 4a respectively hook the two ends of the binding belt, and the oil cylinder 3a continues to rise. When the blocking member 4e1 abuts against the limit block 4g, the pull rod 4e drives the lower pull plate 4d to rise and drives the frame 4a to rise, thereby lifting the binding belt and the packaging bag, and the machine base 1 is moved to the required position through the horizontal driving mechanism and the longitudinal driving mechanism, and then the upper pull plate 2 is driven downward by the oil cylinder 3a, so that the frame 4a drives the packaging bag to the set position. When the buffer member 9 abuts against the roller frame 6, the buffer member 9 has a buffering effect, and the oil cylinder 3a continues to drive the upper pull plate 2 to move downward. At this time, the blocking member 4e 1 is separated from the limit block 4g, at which time the pull rope 4f loosens the claw body 4c, and under the weight of the claw body 4c and the thrust of the hydraulic support rod 12, the claw body 4c rotates in the opposite direction relative to the frame body 4a, so that the two ends of the binding belt are separated from the claw body 4c, and the unloading is completed. When the claw tip 4i is subjected to a large external force through the reset spring 4j, the claw tip 4i can swing, which can play a protective effect.

[0038] By setting an oil cylinder 3a to drive the lifting of the upper pull plate 2, the binding belt is hooked and the binding belt and the packaging bag are lifted. It has the advantages of simple and compact structure, high working efficiency and stable and reliable operation.

[0039] The buffer 9 is a hydraulic buffer, and the detailed structure is referred to the hydraulic buffer (application number: 201520334610.5), a hydraulic buffer (application number: 2016208664823). As another way, the buffer 9 adopts an elastic rubber column arranged between the mounting bracket 8 and the roller frame 6.

[0040] As another way, a horizontally arranged limit plate 4k is fixedly connected to the frame 4a, and the limit plate 4k is located at the lower side of the machine base 1 and can abut against the lower end surface of the machine base 1. The upper pull plate 2 is driven to rise by the oil cylinder 3a and drives the pull rod 4e and the pull rope 4f, so that the pull rope 4f pulls the claw body 4c to rotate relative to the frame 4a, so that the two claw bodies 4c of the frame 4a respectively hook the two ends of the binding belt, and the oil cylinder 3a continues to rise and drives the frame 4a to rise synchronously. When the limit plate 4k abuts against the lower end surface of the machine base 1, the frame 4a cannot continue to move up due to the limit of the limit plate 4k and the machine base 1, and the manipulator forms a rigid connection with the machine base 1. At this time, the oil cylinder 3a drives the upper pull plate 2 to continue to rise and pulls the pull rope 4f through the pull rod 4e to drive the claw body 4c to continue to swing. When the blocking member 4e1 abuts against the limit block 4g, the claw body 4c hooks the binding belt to prevent it from loosening. The manipulator is rigidly connected to the machine base 1, which improves the stability of the structure and thus improves the working reliability of the manipulator assembly.

[0041] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

[0042] Although this article uses more terms such as base 1, upper pull plate 2, driving mechanism 3, oil cylinder 3a, mechanical claw 4, frame 4a, connecting arm 4b, claw body 4c, lower pull plate 4d, pull rod 4e, blocking member 4e1, pull rope 4f, limit block 4g, nut 4h, claw tip 4i, reset spring 4j, limit plate 4k, guide rail 5, roller frame 6, roller 7, annular groove 7a, mounting bracket 8, buffer 9, pulley 10, roller 2 11, hydraulic support rod 12, etc., it does not exclude the possibility of using other terms. The use of these terms is only for more convenient description and explanation of the essence of the utility model; interpreting them as any additional restrictions is contrary to the spirit of the utility model.

Claims

1. A robot assembly of a bag stacking and dropping machine, comprising a machine base (1), wherein the upper side of the machine base (1) is provided with a horizontally arranged upper pull plate (2) and a driving mechanism (3) for driving the upper pull plate (2) to move up and down, wherein the robot assembly comprises: A mechanical claw (4) is provided on the lower side of the upper pull plate (2), and the mechanical claw (4) includes a gantry-shaped frame (4a), and two vertically arranged connecting arms (4b) are provided on the upper end of the frame (4a), and a swingable claw body (4c) is hingedly connected to the lower end of the frame (4a), and a horizontally arranged lower pull plate (4d) is fixedly connected to the upper side of the two connecting arms (4b), and vertically arranged pull rods (4e) are fixedly connected to both sides of the upper pull plate (2), and the pull rods (4e) pass through the lower pull plate (4d). A pull rope (4f) is provided between the pull rod (4e) and the claw body (4c), and the pull rod (4e) can drive the claw body (4c) to swing relative to the frame body (4a) through the pull rope (4f); a limit block (4g) is provided on the connecting arm (4b), and the pull rod (4e) passes through the limit block (4g); a blocking member (4e1) is provided at the lower end of the pull rod (4e), and the blocking member (4e1) is located on the lower side of the limit block (4g) of the pull rod (4e) and the blocking member (4e1) can abut against the limit block (4g).

2. The robot assembly of the bag stacking and dropping machine according to claim 1 is characterized in that: The driving mechanism (3) is an oil cylinder (3a) whose cylinder body is vertically fixed on the machine base (1); the piston rod of the oil cylinder (3a) is fixedly connected to the middle part of the upper pull plate (2); and the two pull rods (4e) are symmetrically arranged on both sides of the oil cylinder (3a).

3. The robot assembly of the bag stacking and dropping machine according to claim 1 or 2, characterized in that: Both sides of the connecting arm (4b) are fixedly connected with vertically arranged guide rails (5), the machine base (1) is fixedly connected with a plurality of roller frames (6), the roller frames (6) are axially fixedly connected with rollers (7), the rollers (7) correspond to the guide rails (5) one by one, the outer wall of the roller (7) is provided with an annular groove (7a), and the guide rail (5) is embedded in the corresponding annular groove (7a).

4. The robot assembly of the bag stacking and dropping machine according to claim 3 is characterized in that: The connecting arm (4b) is fixedly connected to a mounting bracket (8), and the mounting bracket (8) is fixedly connected to an elastic buffer (9), and the buffer (9) is located on the upper side of the roller frame (6) and the buffer (9) can abut against the roller frame (6).

5. The robot assembly of the bag stacking and dropping machine according to claim 1 or 2, characterized in that: The lower end of the claw body (4c) is hinged with a claw tip (4i), and a return spring (4j) is provided between the claw body (4c) and the claw tip (4i).

6. The robot assembly of the bag stacking and dropping machine according to claim 1 or 2, characterized in that: A horizontally arranged limit plate (4k) is fixedly connected to the frame (4a); the limit plate (4k) is located on the lower side of the machine base (1) and the limit plate (4k) can abut against the lower end surface of the machine base (1).

7. The robot assembly of the bag stacking and dropping machine according to claim 1 or 2, characterized in that: A plurality of pulleys (10) are axially fixedly connected to the frame (4a), the pull rope (4f) passes around the pulley (10), and the lower end of the pull rope (4f) is fixedly connected to the middle part of the claw body (4c).

8. The robot assembly of the bag stacking and dropping machine according to claim 1 or 2, characterized in that: A hydraulic support rod (12) is provided between one side of the frame (4a) and the claw body (4c); the cylinder body of the hydraulic support rod (12) is hinged on the frame (4a); and the rod body of the hydraulic support rod (12) is hinged on the claw body (4c).

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