Bag grabbing device

Abstract

The utility model provides a package grabbing device, which relates to the technical field of loading and transporting and comprises a supporting platform, at least one translation component, at least one fixing plate, at least one driving device and at least one gripper structure. A channel is formed in the middle of the supporting platform. The two ends of a first sliding rail assembly in the translation assembly are slidably installed on the two sides of the channel. The fixing plate is fixed to a sliding block on the first sliding rail assembly. The second sliding rail assembly extends in the vertical direction and is fixed to the fixing plate. The driving device drives the sliding blocks and the sliding rails on the first sliding rail assembly and the second sliding rail assembly to slide. A mounting plate in the gripper structure is rotationally arranged at the lower end of a second sliding rail; the two mounting frames are movably arranged below the mounting plate in the horizontal direction, and the horizontal driving device drives the two mounting frames to be close to or away from each other; the grabbing rod set is rotationally arranged at the lower end of the mounting frame. The distance between the grabbing rod sets can be adjusted, the distance between the grabbing hand structures can be changed at any time to adapt to the specifications and sizes of materials, and the loading efficiency is high.

Description

Technical Field

[0001] This utility model relates to the technical field of loading and unloading equipment, and more particularly to a bag-grabbing device. Background Technology

[0002] In fertilizer, chemical, grain, food, and cement production enterprises, bagged goods need to be loaded into transport vehicles and stacked using appropriate methods to ensure stability during transport. Currently, the common method is to manually stack goods inside the vehicles, which requires a large workforce and is labor-intensive and inefficient.

[0003] Existing technologies employ automated loading structures, but these are often simplistic and lack the flexibility to accommodate materials of varying sizes. They typically use only one type of structure, allowing for the automated loading of only one type of material at a time. However, in actual production, the same product may be produced in different sizes of bags, such as 20kg / bag, 40kg / bag, 50kg / bag, and 100kg / bag, to meet diverse customer needs. Suppliers also often purchase multiple sizes of products in bulk to broaden their sales channels. This means that when materials are loaded and shipped to the same wholesaler, different sizes of materials may be loaded simultaneously. In this case, the existing loading structures are too simplistic and cannot accommodate the simultaneous loading of materials of different sizes, resulting in low loading efficiency. Utility Model Content

[0004] In view of this, embodiments of the present invention provide a bag-grabbing device, which aims to solve the problem that existing automated loading structures cannot be adjusted in size to adapt to materials of different specifications, resulting in low loading efficiency.

[0005] An embodiment of this utility model provides a bag-grabbing device, comprising:

[0006] A support platform, wherein a channel is provided in the middle of the support platform and materials are piled on both sides of the channel;

[0007] At least one translation component includes a first slide rail assembly and a translation drive component. The two ends of the first slide rail assembly are slidably mounted on both sides of the channel. The first slide rail assembly includes two first slide rails and at least two first sliders. The two first slide rails are arranged in parallel and spaced apart. The two first sliders are slidably disposed on the two first slide rails respectively. The translation drive component is connected to the two first slide rails and is used to drive the first slide rail assembly to slide along the length direction of the channel.

[0008] At least one fixed plate, the two ends of which are respectively fixed to the two first sliders, and the fixed plate has a sliding hole in the middle.

[0009] At least one second slide rail assembly extends vertically and is disposed within the slide hole, including a second slide rail and a second slider, the second slider being fixed to the fixed plate, and the second slide rail being slidably disposed on the second slider;

[0010] At least one driving device, including a horizontal driving component and a vertical driving component, are respectively used to drive the first slider to slide between the first slide rail and the second slider to slide between the second slide rail; and...

[0011] At least one gripper structure, each of the gripper structures comprising:

[0012] The mounting plate is rotatably mounted on the lower end of the second slide rail via a rotating mechanism;

[0013] Two mounting brackets are movably disposed below the mounting plate in a horizontal direction, and the two mounting brackets have a travel distance that allows them to move closer to or further away from each other;

[0014] A horizontal drive device is installed between the mounting plate and the mounting bracket to drive the two mounting brackets to move closer to or further apart from each other;

[0015] Two gripping rod assemblies, each with a mounting part near its rear end, are rotatably mounted on the lower ends of two mounting brackets, such that the front ends of the two gripping rod assemblies are in a closed state where they are close to each other and coplanar horizontally, and in an open state where they are far apart and vertically parallel.

[0016] Two rotating devices are respectively connected to the two gripping rod groups and are used to drive the gripping rod groups to rotate;

[0017] The fixed plate, the second slide rail assembly, the driving device, and the gripper structure are each configured as a gripping group, and each first slide rail assembly is provided with at least one gripping group.

[0018] Furthermore, there are two first slide rail assemblies, which are spaced apart along the length of the channel, and the center distance between the two first slide rail assemblies is adapted to a multiple of the material length / width.

[0019] Furthermore, the mounting bracket includes a horizontal plate and a vertical plate connected vertically, the horizontal plate is installed above the vertical plate, and the two mounting brackets are arranged opposite to each other so that an installation space is formed between the two mounting brackets;

[0020] The rotating device is installed within the installation space, and the rotating device includes:

[0021] A telescopic actuator includes a fixed end and a movable end that are slidably connected, the fixed end being hinged to the lower end surface of the horizontal plate;

[0022] The first connecting rod is hinged at its upper end to the lower end surface of the horizontal plate and at its middle end to the movable end.

[0023] The second link is hinged at both ends to the lower end of the first link and the rear end of the gripper assembly, respectively.

[0024] Furthermore, the horizontal drive device includes:

[0025] The third slide rail assembly includes a third slide rail and at least two third sliders. The third slide rail is fixed below the mounting plate. One end of each of the two third sliders is slidably disposed on the third slide rail, and the other end of each of the two third sliders is fixedly connected to the two mounting brackets respectively.

[0026] A twin screw is spaced apart on one side of the third slide rail and rotatably connected to the mounting plate. Two threaded blocks are threadedly connected to the twin screw, and the two threaded blocks are respectively fixedly connected to the two third sliders.

[0027] A drive motor is fixed on the mounting plate, and the output shaft of the drive motor is coaxially connected to one end of the twin screw.

[0028] Furthermore, the gripping rod assembly includes a hinge plate and a plurality of gripping rods, the plurality of gripping rods being spaced apart along the length direction of the hinge plate, and the gripping rods extending toward one side of the hinge plate, the mounting portion being disposed on the hinge plate.

[0029] Furthermore, the second slide rail assembly also includes a fixing rod, the second slide rail is fixed to the side wall of the fixing rod, the lower end of the fixing rod is provided with a mounting groove, and the rotating mechanism is installed in the mounting groove.

[0030] Furthermore, the rotating mechanism includes a motor and a reducer, the motor is installed in the mounting slot, the reducer is connected to the mounting plate, and the output shaft of the motor is connected to the reducer.

[0031] Further, the horizontal drive component includes:

[0032] The first rack is disposed on the outside of the first slide rail;

[0033] The first gear meshes with the first rack;

[0034] A first motor is fixed on the fixed plate, and the main shaft of the first motor extends downward and is coaxially connected to the first gear.

[0035] Furthermore, the vertical drive component includes:

[0036] The second rack is located on the outside of the second slide rail;

[0037] The second gear meshes with the second rack;

[0038] The second motor is fixed on the fixed plate, and the main shaft end of the second motor is coaxially connected to the second gear.

[0039] Furthermore, the translation drive component includes:

[0040] At least one drive shaft is rotatably mounted on one side wall of one of the first slide rails;

[0041] At least two connecting plates are fixed to the lower ends of the two first slide rails respectively, and a through groove is provided on one side of each connecting plate;

[0042] At least two fourth slide rail groups are respectively provided on both sides of the channel. Each fourth slide rail group includes a fourth slide rail and a fourth slider that are slidably connected. The fourth slider is fixed below the connecting plate.

[0043] At least two third racks are respectively and spaced apart on one side of the two fourth slide rails;

[0044] At least two third gears are fixed at both ends of the transmission shaft and located in the through groove, and the third gears mesh with the corresponding third racks;

[0045] A third motor is fixed on the connecting plate, and the output end of the third motor is connected to the transmission shaft to drive the transmission shaft to rotate.

[0046] The beneficial effects of the technical solution provided by the embodiments of this utility model are as follows: In the bag gripping device of this utility model, firstly, the bag gripping device of this application sets a horizontal driving device in the gripper structure to drive the two mounting frames to move closer or further apart, thereby making the distance between the gripping rod groups installed on the two mounting frames adjustable, so as to adapt to the size of the material at any time, and enabling the gripper structure to grip materials of different sizes.

[0047] Secondly, by installing the gripper structure at the lower end of the second slide rail assembly, and fixing the slider on the second slide rail assembly to the slider of the first slide rail assembly via a fixing plate, while the first slide rail assembly is slidably installed on both sides of the channel, the gripper structure can move in the height, width, and length directions of the channel. This allows the gripper structure to grab packages and load them sequentially along the length, width, and height of the vehicle, and the size of the gripper structure can be adjusted as needed to accommodate different material specifications, resulting in high loading efficiency. Attached Figure Description

[0048] Figure 1This is a front view schematic diagram of an embodiment of the packet-grabbing device provided by the present invention;

[0049] Figure 2 yes Figure 1 A diagram showing the view from the right.

[0050] Figure 3 yes Figure 1 A top-down view;

[0051] Figure 4 yes Figure 1 Enlarged diagram of part A in the diagram;

[0052] Figure 5 yes Figure 2 Enlarged diagram of part B in the diagram;

[0053] Figure 6 yes Figure 2 Enlarged diagram of part C in the diagram;

[0054] Figure 7 yes Figure 6 A top view of the lower part of the mounting plate;

[0055] Figure 8 yes Figure 6 A simplified structural diagram of the rotating device in the diagram;

[0056] Figure 9 yes Figure 6 A top view of the grab bar assembly;

[0057] Figure 10 yes Figure 9 A left-side view diagram.

[0058] In the diagram: 1. Support platform; 2. First slide rail assembly; 21. First slide rail; 22. First slider; 3. Translation drive assembly; 31. Drive shaft; 32. Connecting plate; 321. Through slot; 33. Fourth slide rail assembly; 331. Fourth slide rail; 332. Fourth slider; 34. Third rack; 35. Third gear; 36. Third motor; 4. Fixing plate; 5. Second slide rail assembly; 51. Second slide rail; 52. Second slider; 53. Fixing rod; 531. Mounting slot; 6. Horizontal drive assembly; 61. First rack; 62. First gear; 63. First motor; 7. Vertical drive assembly; 71. Second rack; 72. Second gear; 73. Second motor; 8. Grip structure; 81. Mounting plate; 82. Rotating mechanism; 821. Motor; 822. Reducer; 83. Mounting bracket; 831. Horizontal plate; 832. Vertical plate; 84. Horizontal drive device; 841. Third slide rail assembly; 8411. Third slide rail; 8412. Third slider; 842. Twin screw; 843. Threaded block; 844. Drive motor; 85. Grip bar assembly; 851. Mounting part; 852. Hinge plate; 853. Grip bar; 86. Rotating device; 861. Telescopic actuator; 862. First connecting rod; 863. Second connecting rod. Detailed Implementation

[0059] To make the objectives, technical solutions and advantages of this utility model clearer, the embodiments of this utility model will be further described below with reference to the accompanying drawings.

[0060] Please refer to Figures 1-6 As shown, an embodiment of the present invention provides a bag-grabbing device, including a support platform 1, at least one translation component, at least one fixing plate 4, at least one second slide rail component 5, at least one driving device, and at least one gripper structure 8.

[0061] The support platform 1 has a passage in the middle, and materials are piled on both sides of the passage. The support platform 1 can be a wall structure, or a frame or seat structure. The passage in the middle refers only to the area where the support platform is divided into left and right parts, which is used for the movement of the gripper structure.

[0062] The translation component includes a first slide rail assembly 2 and a translation drive assembly 3. The two ends of the first slide rail assembly 2 are slidably mounted on both sides of the channel. The first slide rail assembly 2 includes two first slide rails 21 and at least two first sliders 22. The two first slide rails 21 are arranged in parallel and spaced apart, and the two first sliders 22 are respectively slidably disposed on the two first slide rails 21. The translation drive assembly 3 is connected to the two first slide rails 21 and is used to drive the first slide rail assembly 2 to slide along the length direction of the channel.

[0063] The two ends of the fixing plate 4 are respectively fixed to the two first sliders 22, and the fixing plate 4 has a sliding hole in the middle. The second slide rail assembly 5 extends vertically and is disposed in the sliding hole, including a second slide rail 51 and a second slider 52. The second slider 52 is fixed to the fixing plate 4, and the second slide rail 51 is slidably disposed on the second slider 52. This structure allows the second slide rail assembly 5 to move between the two first slide rails 21, resulting in smoother movement.

[0064] The driving device includes a horizontal driving component 6 and a vertical driving component 7, which are used to drive the first slider 22 to slide between the first slide rail 21 and the second slider 52 to slide between the second slide rail 51, respectively.

[0065] Each gripper structure 8 includes a mounting plate 81, two mounting brackets 83, a horizontal drive device 84, two gripping rod assemblies 85, and two rotating devices 86. The mounting plate 81 is rotatably mounted on the lower end of the second slide rail 51 via a rotating mechanism 82; the two mounting brackets 83 are movably disposed horizontally below the mounting plate 81, and the two mounting brackets 83 have a travel distance that allows them to move closer or further apart; the horizontal drive device 84 is installed between the mounting plate 81 and the mounting brackets 83, and is used to drive the two mounting brackets 83 to move closer or further apart; the gripping rod assemblies 85 have mounting portions 851 near their rear ends, and the two mounting portions 851 are rotatably disposed on the lower ends of the two mounting brackets 83, so that the front ends of the two gripping rod assemblies 85 have a closed state where they are close together and horizontally coplanar, and an open state where they are far apart and vertically parallel. (Refer to...) Figure 8 As shown, the solid line represents the single-sided state of the gripping rod assembly 85 when it is closed, and the dashed line represents the single-sided state of the gripping rod assembly 85 when it is open. Two rotating devices 86 are respectively connected to the two gripping rod assemblies 85 and are used to drive the gripping rod assemblies 85 to rotate.

[0066] The fixing plate 4, the second slide rail assembly 5, the driving device and the gripper structure 8 are configured as a gripping group in a one-to-one correspondence, and each first slide rail assembly 2 is provided with at least one gripping group.

[0067] First, the grabbing device of this application sets a horizontal drive device 84 in the grabbing structure 8 to drive the two mounting frames 83 to move closer or further apart, thereby making the distance between the grabbing rod assemblies 85 mounted on the two mounting frames 83 adjustable, so as to adapt to the size of the material at any time, and enable the grabbing structure 8 to grab materials of different sizes.

[0068] Secondly, by installing the gripper structure 8 at the lower end of the second slide rail assembly 5, and fixing the slider on the second slide rail assembly 5 to the slider of the first slide rail assembly 2 via the fixing plate 4, while the first slide rail assembly 2 is slidably installed on both sides of the channel, the gripper structure 8 can move in the height, width, and length directions of the channel. This allows the gripper structure 8 to grab bags and then load and stack them sequentially along the length, width, and height of the vehicle. Furthermore, the size of the gripper structure 8 can be adjusted at any time according to loading requirements to accommodate materials of different specifications, resulting in high loading efficiency.

[0069] It is worth noting that the first slide rail assembly 2, the second slide rail assembly 5 and the third slide rail assembly 841 involved in this application are all common linear drive assemblies, and all include slide rails and sliders that are slidably connected. This technology is prior art and will not be described in detail here.

[0070] Specifically, in this embodiment, there are two first slide rail assemblies 2, which are spaced apart along the length of the channel, and the center distance between the two first slide rail assemblies 2 is adapted to the multiple of the material length / width.

[0071] By arranging two first slide rail assemblies 2 at intervals along the length of the channel, at least two gripper structures 8 are correspondingly provided in the length direction. Correspondingly, two bags of material can be gripped simultaneously each time they are gripped in the length direction of the carriage, improving loading efficiency. Simultaneously, by setting the center distance between the two first slide rail assemblies 2 to approximately a multiple of the material length, it can be ensured that the two gripper structures 8 grip and release materials simultaneously in the length direction, arranging them according to the length intervals of the materials. For example, if the center distance between the two first slide rail assemblies 2 is equal to the material length, then the two materials are loaded simultaneously in adjacent rows when the two gripper structures 8 are used for loading; if the center distance between the two first slide rail assemblies 2 is equal to twice the material length, then the two materials are loaded with one row between them. The two gripper structures 8 first stack the first and third rows, then move one row before stacking the second and fourth rows, and so on.

[0072] It is worth noting that this application is not limited to providing only two first slide rail assemblies 2; three, four, five, etc., can also be provided. Here, two are merely a preferred embodiment. Moreover, the length and width of the material are only relative directions, not absolute directions, and can be adjusted according to the actual palletizing requirements. Furthermore, the gripper assembly is equipped with a rotating device, which can adjust the direction of the palletized material at any time as needed.

[0073] Specifically, the mounting bracket 83 includes a horizontal plate 831 and a vertical plate 832 connected vertically. The horizontal plate 831 is installed above the vertical plate 832, and the two mounting brackets 83 are arranged opposite to each other so that an installation space is formed between the two mounting brackets 81; the rotating device 86 is installed in the installation space.

[0074] By installing the rotating device 86 within the installation space formed by the two mounting brackets 83, the structure can be made more compact, and the entire gripper structure is the size of the material bag specification.

[0075] Reference Figure 6 and Figure 8 As shown, the rotating device 86 includes a telescopic actuator 861, a first connecting rod 862, and a second connecting rod 863. The telescopic actuator 861 includes a fixed end and a movable end that are slidably connected. The fixed end is hinged to the lower end surface of the horizontal plate 831. The upper end of the first connecting rod 862 is hinged to the lower end surface of the horizontal plate 831, and the middle part is hinged to the movable end. The two ends of the second connecting rod 863 are respectively hinged to the lower end of the first connecting rod 862 and the rear end of the gripping rod assembly 85.

[0076] Here, the rotating device 86, the gripping rod assembly 85, and the mounting frame 83 together form a six-bar linkage. The telescopic actuator 861 can be a cylinder or an electric push rod. The telescopic actuator 861 drives the first link 862 and the second link 863 to rotate, thereby driving the end gripping rod assembly 85 to rotate between a horizontal and a vertical state. This allows the two gripping rod assemblies 85 to switch between a closed and an open state, thus gripping and releasing the material bag. This six-bar linkage has a simple structure, good force distribution, and a large opening range.

[0077] The rotating device 86 is only a preferred embodiment. Other structures, such as motor drive, can also be used to drive the gripper group 85 to rotate, but these will not be elaborated on here.

[0078] Preferably, refer to Figure 6 and Figure 7As shown, the horizontal drive device 84 includes a third slide rail assembly 841, a twin screw 842, and a drive motor 844. The third slide rail assembly 841 includes a third slide rail 8411 and at least two third sliders 8412. The third slide rail 8411 is fixed below the mounting plate 81. One end of each of the two third sliders 8412 is slidably mounted on the third slide rail 8411, and the other ends of each third slider 8412 are respectively fixedly connected to two mounting brackets 83. The twin screw 842 is spaced apart on one side of the third slide rail 8411 and rotatably connected to the mounting plate 81. Two threaded blocks 843 are threadedly connected to the twin screw 842, and the two threaded blocks 843 are respectively fixedly connected to the two third sliders 8412. The drive motor 844 is fixed on the mounting plate 81, and the output shaft of the drive motor 844 is coaxially connected to one end of the twin screw 842.

[0079] The twin screw 842 has two threads with opposite directions of rotation at both ends. The twin screw 842 is driven to rotate by the drive motor 844, so that the two threaded blocks 843 at both ends move in opposite directions in a straight line. This causes the mounting brackets 83 fixed on the two threaded blocks 843 to move away from or closer to each other, thereby adjusting the distance between the two gripping rod assemblies 85 to adapt to materials of different specifications.

[0080] Furthermore, referring to Figure 9 and Figure 10 As shown, the gripping rod assembly 85 includes a hinge plate 852 and a plurality of gripping rods 853. The plurality of gripping rods 853 are spaced apart along the length direction of the hinge plate 852, and the gripping rods 853 extend to one side of the hinge plate 852. The mounting part 851 is provided on the hinge plate 852.

[0081] Multiple gripping rods 853 are detachably connected along the length of the hinge plate 852. The multiple gripping rods 853 support the material and facilitate the grabbing of material from the roller conveyor by the spaced-apart gripping rods 853.

[0082] Preferably, the gripping rod 853 and the hinge plate 852 are detachably connected, allowing for easy adjustment of the number of gripping rods 853 according to the material size. By controlling the number of gripping rods 853, the length dimension of the gripping rod assembly 85 can be adjusted to accommodate changes in material length. Changes in material width can be accommodated by controlling the distance between the two gripping rod assemblies 85.

[0083] Here, the materials at both ends of the support platform 1 are transported by conveyor belts. The conveyor belt at the front end, closest to the side of the carriage, is a roller conveyor. The spacing between the rollers on the roller conveyor is matched with the spacing between the grab bars 853.

[0084] In this embodiment, the second slide rail assembly 5 further includes a fixing rod 53, the second slide rail 51 is fixed on the side wall of the fixing rod 53, the lower end of the fixing rod 53 is provided with a mounting groove 531, and the rotating mechanism 82 is installed in the mounting groove 531.

[0085] The rotating mechanism 82 includes a motor 821 and a reducer 822. The motor 821 is installed in the mounting slot 531, and the reducer 822 is connected to the mounting plate 81. The output shaft of the servo motor 821 is connected to the reducer 822.

[0086] The motor 821 and reducer 822 are located below the fixed rod 53, directly driving the gripper structure 8 to rotate. The structure is simple and has high rotation efficiency. It can rotate while the second slide rail assembly 5 moves up and down, and the two movements do not interfere with each other, thus improving efficiency.

[0087] Specifically, refer to Figure 5 As shown, the horizontal drive assembly 6 includes a first rack 61, a first gear 62, and a first motor 63. The first rack 61 is disposed on the outside of the first slide rail 21; the first gear 62 meshes with the first rack 61; the first motor 63 is fixed on the fixed plate 4, and the main shaft of the first motor 63 extends downward and is coaxially connected to the first gear 62.

[0088] The first motor 63 drives the first gear 62 to rotate, thereby causing the fixed plate 4 to move along the first rack 61, which in turn causes the slider on the first slide rail assembly 2 to slide on the corresponding slide rail, that is, the second slide rail assembly 5 moves along the extension direction of the first slide rail assembly 2.

[0089] Here, when multiple horizontal drive components 6 are set, multiple first racks 61 can use the same rack. By controlling multiple first gears 62 to move on the first rack 61 by multiple first motors 63 respectively, the spacing between multiple grabbing groups can be adjusted separately.

[0090] Similarly, refer to Figure 4 As shown, the vertical drive assembly 7 includes a second rack 71, a second gear 72, and a second motor 73. The second rack 71 is disposed on the outside of the second slide rail 51; the second gear 72 meshes with the second rack 71; the second motor 73 is fixed on the fixing plate 4, and the main shaft end of the second motor 73 is coaxially connected to the second gear 72.

[0091] When multiple vertical drive components 7 are set, multiple second racks 71 can use the same rack. By controlling multiple second gears 72 to move on the second racks 71 by multiple second motors 73 respectively, the spacing between multiple first slide rail components 2 can be adjusted separately.

[0092] Specifically, refer to Figure 5 As shown, the translation drive assembly 3 includes at least one drive shaft 31, at least two connecting plates 32, at least two fourth slide rail groups 33, at least two third racks 34, at least two third gears 35, and a third motor 36. A drive shaft 31 is rotatably mounted on one side wall of one of the first slide rails 21; two connecting plates 32 are respectively fixed to the lower ends of the two first slide rails 21, and one side end of the connecting plate 32 is provided with a through groove 321; two fourth slide rail groups 33 are respectively disposed on both sides of the channel, and the fourth slide rail group 33 includes a fourth slide rail 331 and a fourth slider 332 that are slidably connected, and the fourth slider 332 is fixed below the connecting plate 32; two third racks 34 are respectively and correspondingly spaced on one side of the two fourth slide rails 331; two third gears 35 are fixed at both ends of the drive shaft 31 and located in the through groove 321, and the third gears 35 mesh with the corresponding third racks 34; a third motor 36 is fixed on the connecting plate 32, and the output end of the third motor 36 is connected to the drive shaft 31 to drive the drive shaft 31 to rotate.

[0093] The transmission shaft 31 is driven to rotate by the third motor 36, which in turn drives the two third gears 35 to rotate synchronously, thereby causing the first slide rail 21 on the connecting plate 32 to move along the direction of the third rack 34.

[0094] Here, when multiple translation components are provided, multiple first slide rail components 2 are spaced apart along the length direction of the channel. At this time, multiple corresponding translation drive components 3 are also provided. Then, the corresponding third racks 34 located on the same side can be the same or multiple racks connected end to end.

[0095] In this document, the directional terms such as front, back, top, and bottom are defined based on the location of the components in the accompanying drawings and their relative positions to each other, solely for the purpose of clarity and convenience in expressing the technical solution. It should be understood that the use of these directional terms should not limit the scope of protection claimed in this application.

[0096] Where there is no conflict, the above embodiments and features described herein can be combined with each other.

[0097] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A bag gripping device, characterized by The utility model relates to a kind of material handling system, including: Support platform (1), the middle of the support platform (1) is equipped with passageway, and material is stacked on the both sides of the passageway; At least one translation component, including first slide rail component (2) and translation drive component (3), both ends of the first slide rail component (2) are slidably installed on the both sides of the passageway, and the first slide rail component (2) includes two first slide rails (21) and at least two first sliding blocks (22), two first slide rails (21) are arranged in parallel and are spaced apart, and two first sliding blocks (22) are slidably arranged on two first slide rails (21) respectively;The translation drive component (3) is connected with two first slide rails (21), for driving the first slide rail component (2) to slide along the length direction of the passageway; At least one fixed plate (4), both ends of the fixed plate (4) are fixed on two first sliding blocks (22) respectively, and the middle of the fixed plate (4) is equipped with sliding hole; At least one second slide rail component (5) is arranged in the sliding hole in the vertical direction, including second slide rail (51) and second sliding block (52), the second sliding block (52) is fixed on the fixed plate (4), and the second slide rail (51) is slidably arranged on the second sliding block (52); At least one drive device, including horizontal drive component (6) and vertical drive component (7), is used for driving the sliding between first sliding block (22) and first slide rail (21), second sliding block (52) and second slide rail (51) respectively; And, At least one gripper structure (8), each gripper structure (8) includes: Mounting plate (81) is rotatably installed on the lower end of the second slide rail (51) by rotating mechanism (82); Two mounting racks (83) are movably arranged below the mounting plate (81) in horizontal direction, and two mounting racks (83) have active stroke of approaching each other or moving away from each other; Horizontal drive device (84) is installed between the mounting plate (81) and the mounting rack (83), for driving two mounting racks (83) to approach each other or move away from each other; Two grab bar groups (85) are provided with mounting portion (851) on the close rear end, two mounting portions (851) are rotatably arranged on the lower end of two mounting racks (83) respectively, so that the front end of two grab bar groups (85) has closed state of approaching to horizontal coplanar and open state of moving away from each other to vertical parallel; Two rotating devices (86) are connected with two grab bar groups (85) respectively, for driving the rotation of grab bar group (85); Wherein, the fixed plate (4), the second slide rail component (5), the drive device and the gripper structure (8) are one by one corresponding to set as a grab package, and at least one grab package is provided on each first slide rail component (2).

2. The bag gripping device of claim 1, wherein The first slide rail component (2) is provided with two, and is arranged in the length direction of the passageway and is spaced apart, and the center distance between two first slide rail components (2) is adapted to the multiple of length / width of material.

3. The bag gripping device of claim 1, wherein The mounting frame (83) comprises vertically connected horizontal plates (831) and vertical plates (832), the horizontal plates (831) are mounted above the vertical plates (832), and two mounting frames (83) are oppositely arranged to form a mounting space between the two mounting frames (83); The rotating device (86) is mounted in the mounting space, and the rotating device (86) comprises: The telescopic drive (861) comprises a fixed end and a movable end which are slidingly connected, the fixed end is hinged to the lower end surface of the horizontal plate (831); The first connecting rod (862) is hinged to the lower end surface of the horizontal plate (831) at the upper end, and is hinged to the movable end at the middle part; The second connecting rod (863) is hinged to the lower end of the first connecting rod (862) and the rear end of the grab lever group (85) at both ends.

4. The bag gripping device of claim 1, wherein The horizontal drive device (84) comprises: The third slide rail assembly (841) comprises a third slide rail (8411) and at least two third slide blocks (8412), the third slide rail (8411) is fixed below the mounting plate (81), one end of the two third slide blocks (8412) is slidingly arranged on the third slide rail (8411), and the other end of the two third slide blocks (8412) is fixedly connected with the two mounting frames (83) respectively; The double screw (842) is arranged on one side of the third slide rail (8411) and is rotationally connected with the mounting plate (81), the double screw (842) is threadedly connected with two threaded blocks (843), and the two threaded blocks (843) are fixedly connected with the two third slide blocks (8412) respectively; The driving motor (844) is fixed on the mounting plate (81), and the output shaft of the driving motor (844) is coaxially connected with one end of the double screw (842).

5. The bag gripping device of claim 1, wherein The grab lever group (85) comprises a hinged plate (852) and a plurality of grab levers (853), the plurality of grab levers (853) are arranged at intervals along the length direction of the hinged plate (852), the grab levers (853) extend to one side of the hinged plate (852), and the mounting portion (851) is arranged on the hinged plate (852).

6. The bag gripping device of claim 1, wherein The second slide rail assembly (5) further comprises a fixed rod (53), the second slide rail (51) is fixed on the side wall of the fixed rod (53), the lower end of the fixed rod (53) is provided with a mounting groove (531), and the rotating mechanism (82) is mounted in the mounting groove (531).

7. The bag gripping device of claim 6, wherein The rotating mechanism (82) comprises a motor (821) and a speed reducer (822), the motor (821) is mounted in the mounting groove (531), the speed reducer (822) is connected with the mounting plate (81), and the output shaft of the motor (821) is connected with the speed reducer (822).

8. The bag gripping device of claim 1, wherein The horizontal drive assembly (6) comprises: a first rack (61) arranged outside the first slide rail (21); A first gear (62) engaged with the first rack (61); A first motor (63) is fixed on the fixed plate (4), and a main shaft of the first motor (63) extends downward and is coaxially connected with the first gear (62).

9. The bag gripping device of claim 1, wherein The vertical driving assembly (7) comprises a second rack (71) arranged outside the second slide rail (51); A second gear (72) is engaged with the second rack (71); A second motor (73) is fixed on the fixed plate (4), and an end of a main shaft of the second motor (73) is coaxially connected with the second gear (72).

10. The bag gripping device of claim 1 or 2, wherein The translation driving assembly (3) comprises: At least one transmission shaft (31) is rotatably arranged on a side wall of one of the first slide rails (21); At least two connecting plates (32) are fixed at lower ends of two ends of the first slide rails (21), respectively, and one side end of each connecting plate (32) is provided with a through slot (321); At least two fourth slide rail groups (33) are arranged on two sides of the channel, respectively, and each fourth slide rail group (33) comprises a fourth slide rail (331) and a fourth sliding block (332) which are slidably connected, and the fourth sliding block (332) is fixed below the connecting plate (32); At least two third racks (34) are arranged on one side of the fourth slide rail (331) in a one-to-one correspondence manner, respectively; At least two third gears (35) are fixed at two ends of the transmission shaft (31) and located in the through slot (321), and each third gear (35) is engaged with a corresponding third rack (34); A third motor (36) is fixed on the connecting plate (32), and an output end of the third motor (36) is connected with the transmission shaft (31) to drive the transmission shaft (31) to rotate.

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