Pier wrapping gripper capable of automatically unhooking
By designing a retractable pier hanging rod and support structure, combined with the push cylinder and pin limits, the complex positioning, belt hanging and decoupling problems of pier belt are solved, and efficient and quick suspension and decoupling of pier belt operation are achieved.
Patent Information
- Application Number
- CN202422412894.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2025-07-22
- Estimated Expiration
- 2034-09-30
AI Technical Summary
In the prior art, the positioning, hanging and decoupling of the pier wrap belt are complicated and cumbersome, and take a long time, making it difficult to improve work efficiency.
A self-dehooked pier hand grip is designed, adopting a retractable pier hanging rod and support structure, combined with the limit design of the push cylinder and pin shaft to achieve accurate positioning, strap hanging and dehooking operations of the pier belt.
By reasonably designing the coordination between the pier support port and the hanging rod, the quick and precise suspension and decoupling of the pier belt is achieved, and the operation efficiency is improved.
Smart Images
Figure CN223130713U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of automatic conveying machinery, in particular to a bag palletizing gripper with automatic hook detachment. Background Art
[0002] A bag palletizing robot is an automatic device specifically designed for materials in large bag packages (usually called bag palletizing bags or flexible intermediate bulk containers). Through an integrated robotic arm, gripping device, and vision recognition or sensor technology, this robotic system can efficiently, accurately, and safely handle, stack, or load the bag palletizing bags filled with materials, effectively improving the loading efficiency and reducing the human resource cost, playing an important role in modern industrial production, logistics transportation, and packaging industries. The bag palletizing gripper is a component of the bag palletizing robot and is used to grip and transport the bag palletizing bags.
[0003] Currently, for the existing bag palletizing bags with bag palletizing belts designed at the top, first, the specific position of the bag palletizing belt needs to be located. Then, the driving system of the bag palletizing gripper is used to control the clamping mechanism. After accurately controlling the gripper to move to the corresponding position, the clamping mechanism is controlled to clamp the corresponding bag palletizing belt. Then, it is moved to the gripper and the bag palletizing belt is hung on the gripper. Finally, the clamping mechanism is decoupled from the bag palletizing belt to complete the cooperative connection between the gripper and the bag palletizing belt, facilitating the subsequent bag palletizing transfer operation. The entire gripping process requires multiple positionings. For example, the positioning of the position of each bag palletizing belt, the initial position positioning of the bag palletizing gripper, the calculation and positioning of the gripping position of the bag palletizing gripper, etc., all require precise measurement and positioning. For each bag palletizing belt on the bag palletizing bag, repositioning is required, and different bag palletizing bags also require repositioning. This positioning operation process is complex and cumbersome, and the working hours consumed are relatively long. How to use the cooperation between the driving system and the clamping mechanism to hang the bag palletizing belt on the gripper and then decouple the bag palletizing belt from the clamping mechanism after hanging, and effectively improve the working efficiency of this operation has become an urgent problem to be optimized in the bag palletizing operation. Summary of the Utility Model
[0004] The technical problem to be solved by the utility model is: In order to overcome the deficiencies of the prior art, the utility model provides a bag palletizing gripper with automatic hook detachment, which can conveniently and quickly hang the bag palletizing belt from the bag palletizing opening to the bag palletizing rod of the bag palletizing gripper, and the bag palletizing opening and the bag palletizing belt can conveniently and quickly complete the decoupling operation. The positioning, belt hanging, and decoupling processes are convenient and fast, and the working efficiency is high.
[0005] The technical solution adopted by the utility model to solve its technical problems is: an automatically unhooking pier bag gripper, which is arranged on a pier bag robot, and the pier bag robot has a pier bag gripper that can be lifted and lowered in the height direction, each pier bag gripper has a plurality of grip side components, and a group of pier bag unhooking components is correspondingly arranged below each grip side component; the grip side components include a retractable pier bag hanging rod; the pier bag unhooking component includes a pier bag support mouth, and the pier bag belt is covered on the pier bag support mouth before operation, the pier bag support mouth is provided with a support through hole, and the top of the pier bag support mouth is provided with an unhooking groove along the radial direction of the support through hole, the unhooking groove passes through the support through hole and the top space of the pier bag support mouth, and the unhooking groove is adapted to the outer diameter of the pier bag hanging rod, and when the pier bag hanging rod is lowered to the position of the pier bag support mouth along with the pier bag gripper, the pier bag hanging rod moves axially with respect to the pier bag support mouth.
[0006] In the above scheme, an axially retractable pier bag hanging rod is designed on the pier bag grab that can be lifted up and down, and the structure of the pier bag support opening is reasonably designed. By utilizing the cooperation between the support opening and the unhooking groove, the pier bag hanging rod can be extended into the support opening, and then upwardly detached from the pier bag support opening from the unhooking groove. During the detachment process, the pier bag belt is simultaneously supported upward from the pier bag support opening and taken away from it, so that the pier bag belt is effectively suspended on the pier bag hanging rod and the unhooking operation is completed with the pier bag support opening.
[0007] Furthermore, each group of pier bag unhooking components includes a pier bag support frame and a pier bag support plate fixed on the pier bag support frame; the pier bag support opening is arranged on the pier bag support plate, and the pier bag support frame and the pier bag support plate are used to effectively support and position the pier bag support opening, which is convenient for the subsequent positioning operation of the pier bag hanging rod.
[0008] Furthermore, in order to facilitate the adjustment of the position of the pier bag support opening according to the telescopic position of the pier bag hand grip and the pier bag hanging rod, a pushing cylinder is fixed on the pier bag support plate, and the pier bag support opening is fixed on the output end of the pushing cylinder. The design of the pushing cylinder can facilitate the pier bag support opening to be pushed out so that the pier bag belt can be stretched and hung to the outer periphery of the pier bag support opening.
[0009] Furthermore, support blocks are fixed on the corresponding two sides of the push cylinder on the support plate of the pier bag, and a through hole is provided on each side of the support block, and a pin is provided in the through hole on each side for sliding cooperation, and the axial direction of the pin is parallel to the telescopic direction of the output end of the push cylinder, and a matching hole is provided at the axial end of the pin corresponding to the pier bag support opening, and the corresponding side end of the pin is fixed to the matching hole of the pier bag support opening, and the pin is slidably matched with the through hole of the support block. By using the design of the pins on both sides, the displacement of the pier bag support opening can be further limited in the axial direction, and the pin ends can be positioned at the matching holes, and the sliding cooperation between the through hole of the support block and the pin can be used to maintain the accuracy of movement.
[0010] Further, in the design of the pier bag support opening, in order to more effectively open the pier bag belt, the outer peripheral surface of the pier bag support opening is symmetrically provided with protruding outer support ribs along the axial direction. At the same time, the outer edges of the pier bag support opening corresponding to both end faces of the support through hole are convex with outer edge clamping strips, and the outer edge clamping strips at both ends are also convex relative to the outer peripheral surface of the pier bag support opening. A position for the pier bag belt to be clamped is formed between the outer edge clamping strips at both ends, which can effectively reduce the risk of the pier bag belt slipping off at the moving pier bag support opening after being opened and placed.
[0011] Furthermore, the bottom of the pier bag support opening has a flat bottom plate, the flat bottom plate is arranged parallel to the pier bag support plate, the outer support ribs are arranged parallel to the flat bottom plate, and the outer diameter of the outer support ribs along the axial direction of the support through hole is tapered from the direction close to the pushing cylinder to the direction away from the pushing direction. Through the tapered outer support ribs, the diameter of the outer support ribs at one end of the pier bag support opening is narrower, which is convenient for sleeving the pier bag belt from this side.
[0012] Furthermore, the mating hole of the pier bag support opening is arranged on the flat bottom plate, and the flat bottom plate also has a cylinder connection hole for positioning and mating connection with the output end of the pushing cylinder. The flat bottom plate is used to provide a space for the arrangement of the mating hole and the cylinder connection hole.
[0013] Further, the hand-grip side assembly includes a hand-grip bottom plate, hand-grip side plates and a hand-grip front baffle. The hand-grip side plates are respectively fixed on both sides of the hand-grip bottom plate, and the hand-grip front baffle is fixed at the end of the hand-grip side plates close to the pier bag support opening. The lower edge of the hand-grip front baffle has mating notches respectively designed to be in imitation of the pin shaft and the output end of the pushing cylinder, and there is no interference between the pin shaft and the output end of the pushing cylinder and the hand-grip front baffle when they move with the telescopic movement of the pier bag support opening; the pier bag hanging rod is telescopically arranged on the hand-grip bottom plate. The hand-grip bottom plate is used to fix and install the side plates, baffles and the pier bag hanging rod of the hand-grip side assembly. The hand-grip front baffle can descend and be limited to the side of the pier bag support opening during the up-and-down lifting of the hand-grip side assembly, which is convenient for limiting the pier bag belt during the unhooking operation so that it can be effectively suspended on the pier bag hanging rod.
[0014] Furthermore, a telescopic cylinder is fixed on the hand-grip bottom plate, and the pier bag hanging rod is fixed to the output end of the telescopic cylinder and driven by the telescopic cylinder to perform telescopic actions. By using the telescopic cylinder, the telescopic operation of the pier bag hanging rod in the horizontal direction is realized.
[0015] Preferably, a hand-grip rear baffle is fixed on the hand-grip bottom plate, the hand-grip rear baffle is parallel to the hand-grip front baffle, a positioning hole is opened on the hand-grip rear baffle, the aperture of the positioning hole is adapted to the outer diameter of the pier bag hanging rod, and the telescopic cylinder is arranged at a position on the hand-grip bottom plate behind the hand-grip rear baffle. By using the cooperation between the hand-grip rear baffle and the pier bag hanging rod, the telescopic displacement direction of the pier bag hanging rod is limited and effective support is provided.
[0016] The beneficial effects of the present utility model are as follows. An automatic hook - detaching pier bag gripper provided by the present utility model has a reasonable structural design. By means of the movement cooperation of the gripper side component and the pier bag hook - detaching component in the height direction and the horizontal direction, positioning, strap - hanging and hook - detaching operations are realized. The positioning is accurate, the operation process is convenient and fast, which is beneficial to improving the operation efficiency of pier bag operations. BRIEF DESCRIPTION OF THE DRAWINGS
[0017] The present utility model will be further described below in conjunction with the drawings and embodiments.
[0018] Figure 1 is a perspective view of the optimal embodiment of the present utility model.
[0019] Figure 2 is Figure 1 an enlarged schematic view of part A in
[0020] Figure 3 is a top view of the optimal embodiment of the present utility model.
[0021] Figure 4 is Figure 3 an enlarged schematic view of part B in
[0022] Figure 5 is a perspective view of the pier bag mouth support in the optimal embodiment of the present utility model.
[0023] In the figures: 1, gripper body; 2, fixed - side gripper; 3, movable - side gripper; 4, gripper side component; 5, pier bag hanging rod; 6, notch; 7, pier bag mouth support; 8, pin shaft; 9, pushing cylinder; 10, support block; 11, pier bag support plate; 12, pier bag support frame; 13, pier bag; 14, pier bag strap; 15, gripper bottom plate; 16, gripper side plate; 17, gripper front baffle; 18, telescopic cylinder; 19, gripper rear baffle; 20, outer support rib; 21, outer clamping strip; 22, hook - detaching groove; 23, support through - hole; 24, flat bottom; 25, cylinder connection hole; 26, mating hole. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0024] The present utility model will now be described in further detail with reference to the drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present utility model in a schematic way. Therefore, they only show the components related to the present utility model. Directions and references (such as up, down, left, right, etc.) can only be used to assist in the description of the features in the drawings. Therefore, the following detailed description is not taken in a limiting sense, and the scope of the claimed subject matter is only defined by the appended claims and their equivalent forms.
[0025] As shown in Figure 1 and Figure 3The shown pier bag gripper with automatic decoupling is the optimal embodiment of the present utility model. The pier bag gripper is arranged on a pier bag robot. The pier bag robot can operate the pier bag gripper to move up and down in the height direction.
[0026] As Figure 1 and Figure 3 shown, the gripper body 1 of the pier bag robot generally includes two grippers, namely a moving side gripper 3 and a fixed side gripper 2. The moving side gripper 3 and the fixed side gripper 2 are generally the same in main structure. By correspondingly designing a power mechanism on the gripper body 1, such as a cylinder, an oil cylinder, etc., to control the displacement of the moving side gripper 3 relative to the fixed side gripper 2.
[0027] Specifically, the main structures of the moving side gripper 3 and the fixed side gripper 2 are the pier bag grippers. The pier bag grippers usually have four gripper side components 4 arranged in a uniform radial pattern from the center to the periphery. A set of pier bag decoupling components are correspondingly arranged below each gripper side component 4, corresponding to the four corners of the pier bag 13.
[0028] Specifically, as Figure 2 and Figure 4 shown, the pier bag decoupling component includes a pier bag mouth support 7. Before operation, the pier bag belt 14 is sleeved on the pier bag mouth support 7. The pier bag mouth support 7 is provided with a support through hole 23. The top of the pier bag mouth support 7 is provided with a decoupling groove 22 along the radial direction of the support through hole 23. The decoupling groove 22 penetrates through the support through hole 23 and the top space of the pier bag mouth support 7, and the decoupling groove 22 is adapted to the outer diameter of the pier bag hanging rod 5. The groove depth direction of the decoupling groove 22 is arranged along the radial direction of the pier bag mouth support 7. The two ends of the groove body of the decoupling groove 22 extend to the axial end faces at both ends of the pier bag mouth support 7. When the pier bag hanging rod 5 descends to the position of the pier bag mouth support 7 along with the pier bag gripper, the pier bag hanging rod 5 makes an axial telescopic movement relative to the pier bag mouth support 7.
[0029] In the assembly of the pier bag decoupling component, in order to adapt to the overall height of the pier bag 13, each set of pier bag decoupling components is also provided with a pier bag support frame 12 that is set according to the height of the pier bag 13. A pier bag support plate 11 is fixed on the pier bag support frame 12. A pushing cylinder 9 is fixed on the pier bag support plate 11, and the pier bag mouth 7 is fixed to the output end of the pushing cylinder 9. Support blocks 10 are respectively fixed on both sides of the pushing cylinder 9 on the pier bag support plate 11. Through holes are formed through each side of the support block 10, and a pin shaft 8 is slidably fitted in each through hole. The axial direction of the pin shaft 8 is parallel to the telescopic direction of the output end of the pushing cylinder 9. A mating hole 26 is formed at the axial end of the pier bag mouth 7 corresponding to the pin shaft 8, and the corresponding side end of the pin shaft 8 is relatively positioned and fixed with the mating hole 26 of the pier bag mouth 7. The pin shaft 8 is slidably fitted with the through hole of the support block 10. By designing the pin shafts 8 on both sides, the displacement of the pier bag mouth 7 in the axial direction can be further limited, maintaining the accuracy of the movement. During the pier bag operation, the pier bag support frame 12 and the pier bag support plate 11 effectively support the pier bag mouth 7. The pushing cylinder 9 can be actuated to drive the pier bag mouth 7 to move along the axial direction of the pin shaft 8, so as to adjust the position of the pier bag mouth 7, which is convenient for pushing the pier bag mouth 7 outwards at the initial stage of the action, thus facilitating the operator to manually hang the pier bag 13 outside the pier bag mouth 7, and also facilitating the adjustment of the position of the pier bag mouth 7, which is convenient for subsequent cooperation with the pier bag hanging rod 5.
[0030] On the basis of the pier bag support plate 11, in order to facilitate the suspension and expansion of the pier bag belt 14, a further structural design is carried out on the pier bag mouth 7 in this embodiment. As Figure 5 shown, in the design of the pier bag mouth 7, in order to more effectively expand the pier bag belt 14, the mating hole 26 of the pier bag mouth 7 is arranged on the bottom plate 24 of the flat plate. The bottom plate 24 of the flat plate also has a cylinder connection hole 25 for the positioning and mating connection of the output end of the pushing cylinder 9. The bottom plate 24 of the flat plate provides a space for the arrangement of the mating hole 26 and the cylinder connection hole 25. Outer support ridges 20 are symmetrically arranged on the outer peripheral surface of the pier bag mouth 7 along the axial direction. The bottom of the pier bag mouth 7 has a bottom plate 24 of the flat plate. The bottom plate 24 of the flat plate is arranged parallel to the pier bag support plate 11, and the outer support ridges 20 are arranged parallel to the bottom plate 24 of the flat plate. The outer diameter of the outer support ridges 20 is arranged in a tapered shape along the axial direction of the support through hole 23, from the direction close to the pushing cylinder 9 to the direction away from the pushing direction. Through the tapered outer support ridges 20, the diameter of the outer support ridges 20 at one end of the pier bag mouth 7 is relatively narrow, which is convenient for sleeving the pier bag belt 14 from this side.
[0031] Meanwhile, at the two end faces on both sides of the through hole 23 corresponding to the pier bag support opening 7, there are outward protrusions with outer edge clamping strips 21. The outer edge clamping strips 21 at both ends also protrude relative to the outer peripheral surface of the pier bag support opening 7. A position for the pier bag belt 14 to be clamped is formed between the outer edge clamping strips 21 at both ends. When the pier bag belt 14 is placed in the clamping position after being stretched open, at both ends of the pier bag support opening 7, the outer edge clamping strips 21 form an effective blocking and limiting function, reducing the risk of the pier bag belt 14 slipping off from both ends of the pier bag support opening 7.
[0032] As Figure 2 and Figure 4 shown, the hand - grasping side assembly 4 includes a hand - grasping bottom plate 15, hand - grasping side plates 16, a hand - grasping front baffle 17, and a pier bag hanging rod 5 that can be telescoped in the horizontal direction. The hand - grasping bottom plate 15 is used to fix and install the side plates, baffles, and the pier bag hanging rod 5 of the hand - grasping side assembly 4. The hand - grasping side plates 16 are respectively fixed on both sides of the hand - grasping bottom plate 15. The hand - grasping front baffle 17 is fixed at the end of the hand - grasping side plates 16 close to the pier bag support opening 7. The lower edge of the hand - grasping front baffle 17 has a mating notch 6 that is designed to be in imitation of the pin shaft 8 and the output end of the pushing air cylinder 9 respectively. When the pin shaft 8 and the output end of the pushing air cylinder 9 move along with the telescopic movement of the pier bag support opening 7, there is no interference with the hand - grasping front baffle 17. A telescopic air cylinder 18 is fixed on the hand - grasping bottom plate 15. The pier bag hanging rod 5 is fixed to the output end of the telescopic air cylinder 18 and is driven by the telescopic air cylinder 18 to perform telescopic actions. A hand - grasping rear baffle 19 is fixed on the hand - grasping bottom plate 15. The hand - grasping rear baffle 19 is parallel to the hand - grasping front baffle 17. A positioning hole is opened on the hand - grasping rear baffle 19. The diameter of the positioning hole is adapted to the outer diameter of the pier bag hanging rod 5. The telescopic air cylinder 18 is arranged at a position on the hand - grasping bottom plate 15 behind the hand - grasping rear baffle 19. In actual assembly, the distance between the hand - grasping front baffle 17 and the hand - grasping rear baffle 19 needs to be designed according to the axial length of the pier bag support opening 7 so that when it is directly above the pier bag support opening 7, it is exactly on both sides of the space above the pier bag support opening 7. When the hand - grasping front baffle 17 and the hand - grasping rear baffle 19 move up and down with the hand - grasping side assembly 4, they can be effectively limited on both sides of the pier bag support opening 7, which is convenient for limiting the pier bag belt 14 during the unhooking operation, enabling it to be effectively suspended on the pier bag hanging rod 5 and preventing the pier bag belt 14 from falling off from the side. At the same time, the design of the hand - grasping rear baffle 19 can provide directional limitation for the displacement of the pier bag hanging rod 5, enabling it to perform the unhooking operation more accurately and reliably.
[0033] Operation process:
[0034] In the initial position, the hand-grasp side assembly 4 rises and is located above the entire pier bag 13. The operator manually puts the corresponding outer sleeve of the pier bag 13 on the corresponding side of the pier bag support opening 7. Before and after this operation, the push cylinder 9 can be used to adjust the position of the pier bag support opening 7 in the horizontal direction along the axial extension of the pin shaft 8. When the position of the pier bag support opening 7 is adjusted to the required position, that is, the pier bag belt 14 is suspended on the pier bag support opening 7 and is stretched open by the pier bag support opening 7, and the pier bag support opening 7 is located directly below the space formed by the hand-grasp front baffle 17 and the hand-grasp rear baffle 19, the hand-grasp side assembly 4 starts to move. At this time, the hand-grasp side assembly 4 descends under the control of the pier bag robot until the hand-grasp front baffle 17 and the hand-grasp rear baffle 19 fall to both sides of the pier bag support opening 7, and at the same time, the notch 6 at the lower edge of the hand-grasp front baffle 17 cooperates with the pin shaft 8 and the output end of the push cylinder 9 respectively. Then the telescopic cylinder 18 is actuated to drive the bag hanging rod 5 to move toward the bag support opening 7 until it penetrates into the support opening 23 of the bag support opening 7. Then, the bag robot drives the gripper side assembly to rise until the bag hanging rod 5 is disengaged from the unhooking groove 22. At this time, the bag hanging rod 5 carries the bag belt 14 upward synchronously, that is, the bag belt 14 is transferred and hung on the bag hanging rod 5, completing the unhooking of the bag belt 14 from the bag support opening 7. Finally, according to the needs, the push cylinder 9 can be used to drive the bag support opening 7 to retract, provide avoidance space for the overall lifting of the bag bag 13, and complete the operation of transferring the bag belt 14 to the hand grip of the bag robot.
[0035] The automatic unhooking pier bag hand grip of this structure realizes positioning, hanging and unhooking operations by using the movement coordination of the hand grip side parts and the pier bag unhooking components in the height direction and the horizontal direction, and the positioning is accurate. In the height direction, the lifting function of the pier bag robot hand grip itself is used, and in the horizontal direction, it is only necessary to adjust the pier bag support opening 7 axially and the pier bag hanging rod 5 to the same axis position for movement, and the positioning operation is convenient, fast, accurate and reliable.
[0036] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without departing from the technical concept of the utility model through the above description. The technical scope of the utility model is not limited to the content of the specification, and its technical scope must be determined according to the scope of the claims.
Claims
1. An automatic decoupling pier bag gripper is provided on a pier bag robot. The pier bag robot is equipped with a pier bag gripper that performs lifting and lowering operations in the height direction. It is characterized in that: Each grab on the pier bag has several grab side components (4), and a set of pier bag decoupling components is correspondingly arranged below each grab side component (4). The grab side component (4) includes a telescopic pier bag hanging rod (5). The pier bag decoupling component includes a pier bag support opening (7). Before operation, the pier bag belt (14) is sleeved on the pier bag support opening (7). The pier bag support opening (7) is provided with a support through hole (23). At the top of the pier bag support opening (7), a decoupling groove (22) is opened in the radial direction of the support through hole (23). The decoupling groove (22) penetrates through the support through hole (23) and the space at the top of the pier bag support opening (7), and the decoupling groove (22) is adapted to the outer diameter of the pier bag hanging rod (5). When the pier bag hanging rod (5) descends with the pier bag grab to the position of the pier bag support opening (7), the pier bag hanging rod (5) makes an axial telescopic movement relative to the pier bag support opening (7).
2. The automatic decoupling pier bag gripper according to claim 1, characterized in that: Each set of pier bag decoupling components includes a pier bag support frame (12) and a pier bag support plate (11) fixed on the pier bag support frame (12); the pier bag support opening (7) is arranged on the pier bag support plate (11).
3. The automatic - decoupling pier bag gripper according to claim 2, characterized in that: A push cylinder (9) is fixed on the pier bag support plate (11), and the pier bag support opening (7) is fixed on the output end of the push cylinder (9).
4. The automatic hook - off pier bag gripper according to claim 3, wherein: Support blocks (10) are respectively fixed on both sides of the push cylinder (9) on the pier bag support plate (11). Through holes are penetrated through each support block (10) on each side. A pin shaft (8) is slidably fitted in the through hole on each side. The axial direction of the pin shaft (8) is parallel to the telescopic direction of the output end of the push cylinder (9). A mating hole (26) is opened at the axial end of the pier bag support opening (7) corresponding to the pin shaft (8). The corresponding side end of the pin shaft (8) is fixed to the mating hole (26) of the pier bag support opening (7), and the pin shaft (8) is slidably fitted with the through hole of the support block (10).
5. The automatic decoupling pier bag gripper according to claim 4, characterized in that: On the outer peripheral surface of the pier bag support opening (7), convex outer support ridges (20) are symmetrically arranged along the axial direction. At both end faces of the pier bag support opening (7) corresponding to the support through hole (23), outer edge clamping strips (21) are outwardly convex.
6. The handgrip for the pier bag with automatic decoupling according to claim 5, characterized in that: The bottom of the pier bag support opening (7) has a flat bottom (24). The flat bottom (24) is arranged parallel to the pier bag support plate (11). The outer support ridges (20) are arranged parallel to the flat bottom (24). The outer diameter of the outer support ridges (20) is tapered along the axial direction of the support through hole (23) from the direction close to the push cylinder (9) to the direction away from the push direction.
7. The automatic decoupling pier bag gripper according to claim 6, characterized in that: The mating hole (26) of the pier bag support opening (7) is arranged on the flat bottom (24). The flat bottom (24) also has a cylinder connection hole (25) for positioning and mating connection of the output end of the push cylinder (9).
8. The automatic decoupling pier bag gripper according to claim 7, characterized in that: The described hand-grabbing side component (4) includes a hand-grabbing bottom plate (15), hand-grabbing side plates (16), and a hand-grabbing front baffle (17). The hand-grabbing side plates (16) are respectively fixed on both sides of the hand-grabbing bottom plate (15). The hand-grabbing front baffle (17) is fixed at the end of the hand-grabbing side plates (16) close to the pier bag support opening (7). The lower edge of the hand-grabbing front baffle (17) has a mating notch (6) designed to be shaped like the pin shaft (8) and the output end of the push cylinder (9) respectively. When the pin shaft (8) and the output end of the push cylinder (9) move with the expansion and contraction of the pier bag support opening (7), there is no interference with the hand-grabbing front baffle (17). The described pier bag hanging rod (5) is telescopically arranged on the hand-grabbing bottom plate (15).
9. The automatic - decoupling pier - bag gripper according to claim 8, characterized in that: A telescopic cylinder (18) is fixed on the hand-grabbing bottom plate (15). The pier bag hanging rod (5) is fixed to the output end of the telescopic cylinder (18) and is driven by the telescopic cylinder (18) to perform telescopic actions.
10. The automatic decoupling pier bag gripper according to claim 9, characterized in that: A hand-grabbing rear baffle (19) is fixed on the hand-grabbing bottom plate (15). The hand-grabbing rear baffle (19) is parallel to the hand-grabbing front baffle (17). A positioning hole is opened on the hand-grabbing rear baffle (19). The diameter of the positioning hole is adapted to the outer diameter of the pier bag hanging rod (5). The telescopic cylinder (18) is arranged at a position on the hand-grabbing bottom plate (15) behind the hand-grabbing rear baffle (19).