CN116374621A

CN116374621A - Bagged material conveying control method, conveying system and control device

Info

Publication number: CN116374621A
Application number: CN202310543320.0A
Authority: CN
Inventors: 汪长青; 闫玉强; 王腾龙; 郭柯; 邵勇粮; 陈诚
Original assignee: Hangzhou Mingdu Intelligent Technology Co ltd
Current assignee: Hangzhou Mingdu Intelligent Technology Co ltd
Priority date: 2023-05-11
Filing date: 2023-05-11
Publication date: 2023-07-04

Abstract

The application discloses a bagged material carrying control method, a carrying system and a control device, wherein a matched grabbing operation mode is selected and sent to a cargo grabbing platform according to acquired material bag cargo package information and material bag position information to be transported in the batch, and a sucking disc mechanism is controlled to continuously keep a sucking state of a material bag when the cargo grabbing platform is in a first operation mode; when the goods grabbing platform is in the second operation mode, the sucker mechanism is controlled to close below the material bags of the supporting arms, then release the material bags, lift the material bags to the upper portion of the stacking position by the supporting arms, and match different operation modes according to different material bags by controlling the goods grabbing platform, so that the problem that the material bags can be put in and stacked in an optimal posture and are disordered in posture due to throwing in the transfer process caused by different bag body materials can be avoided.

Description

Bagged material conveying control method, conveying system and control device

Technical Field

The application relates to the technical field of intelligent storage, in particular to a bagged material carrying control method, a carrying system and a control device.

Background

In a warehouse for storing bagged materials, a suction cup device for sucking and carrying a material bag using a suction cup, and a material bag gripping device using a manipulator have been widely used for palletizing, loading, and the like of woven bag materials. However, the existing handling device often uses a sucker device or a grabbing device to lift and handle goods, and the material bag sucking device is greatly affected by factors such as the material of the packaging bag, and sometimes when sucking different material bags, the phenomenon that some bags cannot be sucked for a long time to fall off the bags and the like occurs. If only the mechanical arm is used for grabbing the material bag, the material bag can not be grabbed when certain compact stacking type materials are dealt with.

Disclosure of Invention

The invention provides a bagged material handling control method for a cargo grabbing and transferring device, which aims at the defects in the prior art, and the cargo grabbing and transferring device comprises a moving mechanism capable of moving between stacked cargos to be transferred and a throwing position and a cargo grabbing platform arranged below the moving mechanism, wherein the cargo grabbing platform comprises a sucker mechanism capable of lifting relative to the moving mechanism and two supporting arms arranged on two sides of the sucker mechanism, and a bin space for accommodating a transferred material bag is arranged between the two supporting arms, and the method comprises the following steps:

S1, acquiring cargo package information and material bag position information of a material bag to be transported, which are sent by a server, and inquiring a grabbing operation mode of a corresponding cargo grabbing platform in a control configuration library according to the cargo package information;

s2, if the grabbing operation mode is a first operation mode, controlling the moving mechanism to move and lift to the position above a target material bag according to the material bag position information, controlling the sucking disc mechanism to draw the target material bag downwards, controlling the supporting arm to be closed below the material bag after the sucking disc mechanism extracts goods and retracts to a bin body space, keeping the sucking disc mechanism to continuously adsorb the material bag to a first target position in the transferring process, and controlling the sucking disc mechanism to descend to a second target position after the supporting arm is opened so as to reduce the suction force to throw the material bag;

s3, if the grabbing operation mode is a second operation mode, controlling the moving mechanism to move and lift to the position above a target material bag according to the position information of the material bag, controlling the sucking disc mechanism to draw the target material bag downwards, controlling the supporting arms to close below the material bag after the sucking disc mechanism extracts goods and retracts to a bin body space, controlling the sucking disc mechanism to reduce suction force and release the material bag to the two supporting arms, and controlling the two supporting arms to open and throw the material bag after the supporting arms lift the material bag to move to a first target position along with the moving mechanism;

S4, after the material bags are put in, the supporting arms which are controlled to be opened are contracted into the storage spaces at the two sides, and then the cargo grabbing platform is driven to move to the position above the material bags to be carried next.

Preferably, the goods package information comprises the material property of the bag body and the weight of the material bag.

Preferably, the step S1 includes:

s11, acquiring bag material properties, material bag weight and material bag position information of a material bag to be transported, which are sent by a server, and acquiring corresponding bag body stretching values and bag body adsorption values in a cargo database according to the bag material properties, wherein the bag body stretching values are configured as distances that the upper surface of the material bag can be stretched downwards after being sucked by a sucker, and the bag body adsorption values are configured as required pulling forces for the upper surface of the material bag to be separated after being sucked by the sucker;

s12, if the adsorption value of the bag body is lower than a first adsorption preset value or the stretching value of the bag body is higher than a first stretching preset value, sending out task alarm information;

s13, if the adsorption value of the bag body is higher than a second adsorption preset value and the stretching value of the bag body is lower than a first stretching preset value, and the weight of the material bag is in a weight allowed range corresponding to the first adsorption preset value, controlling the grabbing platform to enter a first operation mode, wherein the second adsorption preset value is larger than the first adsorption preset value;

S14, if the adsorption value of the bag body is higher than the first adsorption preset value but smaller than the second adsorption preset value, and the stretching value of the bag body is lower than the first stretching preset value, the weight of the material bag is located in a weight allowed range corresponding to the first adsorption preset value, and the grabbing platform is controlled to enter a second operation mode.

Preferably, the step S2 includes:

if the grabbing operation mode is the first operation mode, after the moving mechanism is controlled to move and lift to the position above the target material bag according to the material bag position information, the sucker mechanism is controlled to downwards search and suck the target material bag, and after the goods extracted by the sucker mechanism are retracted to the bin body space, the supporting arm is controlled to be closed below the material bag;

judging whether the tensile value of the bag body is larger than a second tensile preset value or not, if so, controlling the sucker mechanism to descend by a buffer set value to enable the lower portion of the material bag to be in contact with the supporting arm, keeping the sucker mechanism to continuously adsorb the material bag to a first target position in the transferring process, and after the supporting arm is opened, controlling the sucker mechanism to descend to the second target position, and then reducing suction force to throw the material bag, wherein the second tensile preset value is smaller than the first tensile preset value;

If the stretching value of the bag body is not greater than the second stretching preset value, the sucking disc mechanism is kept to continuously adsorb the material bag to the first target position in the transferring process, and the sucking force is reduced to throw the material bag after the sucking disc mechanism is controlled to descend to the second target position after the supporting arm is opened.

Preferably, the goods package information further includes a bag size, two goods grabbing platforms that can be relatively far away from and close to are installed in parallel below the moving mechanism, the goods grabbing platforms further include two storage structures that are correspondingly arranged above the two side support arms, storage spaces that can accommodate the corresponding side support arms are provided in the storage structures, and the step S4 includes:

acquiring the minimum distance between the two cargo grabbing platforms in the open state of the support arms for avoiding collision, and calculating the minimum number of interval packets between two material bags to be grabbed in the stack when the support arms of the two cargo grabbing platforms are in the open state according to the size of the bag body;

and acquiring the position information of the next group of material bags to be grabbed of the two goods grabbing platforms, if the number of the material bags between the next group of two material bags to be grabbed is smaller than the minimum interval number, controlling the opened supporting arms to shrink into the storage spaces on two sides after the material bags of the next group are put in, and then moving the goods grabbing platforms to the position above the material bags of the next group of material bags to be carried.

Preferably, the step S4 includes:

after the sucking disc mechanism extracts cargoes to the space of the bin body, the cargo grabbing platforms are controlled to move towards the direction away from the other cargo grabbing platform until the distance between the two cargo grabbing platforms is larger than the minimum distance, and the supporting arms on the two sides are controlled to move out of the corresponding storage space and fold below the material bag.

The invention also discloses a control device for controlling the operation of the goods grabbing and transferring device, the goods grabbing and transferring device comprises a moving mechanism capable of moving between the stacked goods to be transferred and the throwing position, and a goods grabbing platform arranged below the moving mechanism, the goods grabbing platform comprises a sucker mechanism capable of lifting relative to the moving mechanism and two supporting arms arranged on two sides of the sucker mechanism, a bin space for accommodating transferring material bags is arranged between the two supporting arms, and the control device comprises: the information acquisition module is used for acquiring the goods packaging information and the material bag position information of the material bag to be transported, which are sent by the server, and inquiring the grabbing operation mode of the corresponding goods grabbing platform in the control configuration library according to the goods packaging information; the first operation module is used for controlling the moving mechanism to move and lift to the upper part of the target material bag according to the material bag position information when the grabbing operation mode is the first operation mode, controlling the sucking disc mechanism to downwards search and suck the target material bag, controlling the supporting arm to be closed below the material bag after the sucking disc mechanism extracts goods and retracts to the bin body space, keeping the sucking disc mechanism to continuously adsorb the material bag to the first target position in the transferring process, and controlling the sucking disc mechanism to descend to the second target position after the supporting arm is opened so as to reduce the suction force to throw the material bag; the second operation module is used for controlling the moving mechanism to move and lift to the upper part of the target material bag according to the position information of the material bag when the grabbing operation mode is the second operation mode, controlling the sucking disc mechanism to downwards search and suck the target material bag, controlling the supporting arms to close below the material bag after the sucking disc mechanism extracts goods and retracts to the bin body space, controlling the sucking disc mechanism to reduce the suction force and release the material bag to the two supporting arms, and controlling the two supporting arms to open and throw the material bag after the supporting arms lift the material bag to move to the first target position along with the moving mechanism; and the transfer module is used for driving the goods grabbing platform to move to the position above the material bag to be transported below after the support arms which are controlled to be opened after the material bag is put in are contracted into the storage spaces at the two sides.

Preferably, the information acquisition module includes: the bag body information query module is used for acquiring bag body material properties, material bag weight and material bag position information of the material bag to be transported, which are sent by the server, and acquiring corresponding bag body stretching values and bag body adsorption values in the goods database according to the bag body material properties, wherein the bag body stretching values are configured as distances that the upper surface of the material bag can be stretched downwards after being sucked by the sucker, and the bag body adsorption values are configured as required pulling forces for separating the upper surface of the material bag after being sucked by the sucker; the alarm module is used for sending task alarm information when the adsorption value of the bag body is lower than a first adsorption preset value or the stretching value of the bag body is higher than a first stretching preset value; the first judging module is used for controlling the grabbing platform to enter a first operation mode when the bag body adsorption value is higher than a second adsorption preset value and the bag body stretching value is lower than a first stretching preset value, wherein the material bag weight is located in a corresponding weight allowing interval of the first adsorption preset value, and the second adsorption preset value is larger than the first adsorption preset value; the second judging module is used for controlling the grabbing platform to enter a second operation mode when the adsorption value of the bag body is higher than the first adsorption preset value but smaller than the second adsorption preset value and the stretching value of the bag body is lower than the first stretching preset value, and the weight of the material bag is located in a corresponding weight allowed range of the first adsorption preset value.

The invention also discloses a bagged material handling system, which comprises a moving mechanism capable of moving between a stacked material to be transported and a throwing position, a material grabbing platform arranged below the moving mechanism, and a controller, wherein the material grabbing platform comprises a sucker mechanism capable of lifting relative to the moving mechanism and two supporting arms arranged on two sides of the sucker mechanism, a bin space for accommodating a transported material bag is arranged between the two supporting arms, the controller is respectively and electrically connected with the moving mechanism, the sucker mechanism and the supporting arms, and the controller comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the processor executes the computer program to realize the steps of the method according to any one of claims 1-6.

According to the bagged material carrying control method, the carrying system and the control device, the matched grabbing operation mode is selected and sent to the cargo grabbing platform according to the acquired cargo package information and the acquired position information of the material bags to be transported in the batch, and after the cargo grabbing platform is in the first operation mode, the sucking disc mechanism is controlled to extract cargoes and retract to the bin body space and close the supporting arm, the sucking disc mechanism is controlled to continuously keep the sucking state of the material bags, so that the material bags can be put in and stacked in the optimal posture. When the goods grabbing platform is in the second operation mode, the sucker mechanism is controlled to close below the material bag of the supporting arm, then release the material bag, and lift the material bag to the position above the stacking position by the supporting arm, so that the situation that the follow-up delivery posture is irregular because part of the material bag of the goods grabbing platform falls onto the supporting arm in a chaotic posture due to shaking or vibration in the transferring process is avoided, and the follow-up delivery posture exceeds an error is avoided. The cargo grabbing platform is controlled to match different working modes according to different material bags, so that the problem of disordered postures of part of material bags due to throwing in the transfer process caused by different bag materials can be avoided on the basis of ensuring the putting postures to be as accurate as possible.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained from these drawings without inventive effort to a person skilled in the art.

For a more complete understanding of the present application and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings. Wherein like reference numerals refer to like parts throughout the following description.

FIG. 1 is a flow chart of a method for controlling the handling of bagged materials according to an embodiment of the present invention.

Fig. 2 is a schematic structural view of a cargo handling device according to an embodiment of the invention.

Fig. 3 is a specific flowchart of step S1 in an embodiment of the invention.

Fig. 4 is a specific flowchart of step S2 in an embodiment of the invention.

Fig. 5 is a specific flowchart of step S4 in an embodiment of the invention.

Fig. 6-12 are schematic views showing specific structures of parts of the cargo handling device according to the embodiment of the invention

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

In this embodiment, a method for controlling handling of bagged materials is disclosed for a cargo gripping and transferring device, as shown in fig. 2, the cargo gripping and transferring device 100 includes a moving mechanism 40 capable of moving between a stacked cargo to be transferred and a conveyor belt or a to-be-palletized unloading area, and a cargo gripping platform installed below the moving mechanism, where the cargo gripping platform includes a sucker mechanism 30 capable of lifting relative to the moving mechanism, and two support arms 20 disposed on two sides of the sucker mechanism, and a bin space 50 for accommodating a transferred material bag is provided between the two support arms. As shown in FIG. 1, the bagged material handling control method may include the following.

Step S1, acquiring cargo package information and material bag position information of a material bag to be transported, which are sent by a server, and inquiring a grabbing operation mode of a corresponding cargo grabbing platform in a control configuration library according to the cargo package information. Wherein, the goods package information includes bag body material attribute and material bag weight.

In this embodiment, as shown in fig. 3, step S1 may include the following.

Step S11, acquiring the bag body material property, the material bag weight and the material bag position information of the material bag to be transported, which are sent by the server, and acquiring a corresponding bag body stretching value and a corresponding bag body adsorption value in a goods database according to the bag body material property, wherein the bag body stretching value is configured as the downward stretching distance of the bag body after the upper surface of the material bag is sucked by the sucker, and the bag body adsorption value is configured as the separation of the upper surface of the material bag from the required pulling force after the upper surface of the material bag is sucked by the sucker.

Specifically, the bag body stretching value and the bag body adsorption value are obtained by taking the material bags filled with materials of the same type or the same weight as a measurement standard. The sucker mechanism is used for testing various types and sizes of material bags with different bag body adsorption values and bag body stretching values for multiple times, and critical strip values such as a first stretching preset value, a second stretching preset value, a first adsorption preset value, a second adsorption preset value and the like used in the following steps can be obtained to serve as judging conditions for control actions.

And S12, if the adsorption value of the bag body is lower than the first adsorption preset value or the stretching value of the bag body is higher than the first stretching preset value, sending out task alarm information. When the adsorption value of the bag body is lower than the first adsorption preset value, the sucking disc mechanism cannot smoothly adsorb and extract the material bag, so that goods cannot be transferred and the task fails. When the stretching value of the bag body is higher than the first stretching preset value, even if the sucker mechanism can absorb the material bag and smoothly pull up the material bag, the bag body of the material bag is too long in stretching deformation under the sucker mechanism, so that the support arms on two sides collide with the material bag after being folded, and the lower part of the material bag cannot be supported, so that the task fails.

Step S13, if the adsorption value of the bag body is higher than a second adsorption preset value and the stretching value of the bag body is lower than a first stretching preset value, and the weight of the material bag is in a weight allowed range corresponding to the first adsorption preset value, controlling the grabbing platform to enter a first operation mode, wherein the second adsorption preset value is larger than the first adsorption preset value.

Step S14, if the adsorption value of the bag body is higher than the first adsorption preset value but smaller than the second adsorption preset value, and the stretching value of the bag body is lower than the first stretching preset value, the weight of the material bag is located in the corresponding weight allowable range of the first adsorption preset value, and the grabbing platform is controlled to enter a second operation mode. Specifically, when the adsorption value of the bag body is smaller than the second adsorption preset value, although the adsorption value is still higher than the first adsorption preset value, namely, the sucker mechanism can adsorb and extract the material bag, the adsorption of the material bag is not firm enough, and the bag body and the sucker are separated and fall off due to shaking or collision caused by the moving mechanism in the middle transferring process, so that the grabbing platform needs to be controlled to enter a second operation mode, namely, the sucker mechanism firstly places the adsorbed material bag on the supporting arm after the two supporting arms are folded, and the bag body posture damage caused by the fact that the material bag is separated from the sucker mechanism to the supporting arm in the follow-up swing process is prevented.

And S2, if the grabbing operation mode is a first operation mode, controlling the moving mechanism to move and lift to the upper side of the target material bag according to the material bag position information, controlling the sucking disc mechanism to downwards search and suck the target material bag, controlling the supporting arm to be closed below the material bag after the sucking disc mechanism extracts goods and retracts to the bin body space, keeping the sucking disc mechanism to continuously adsorb the material bag to the first target position in the transferring process, and controlling the sucking disc mechanism to descend to the second target position after the supporting arm is opened so as to reduce the suction force to throw the material bag.

In this embodiment, as shown in fig. 4, step S2 may specifically include the following steps.

And S21, if the grabbing operation mode is the first operation mode, controlling the moving mechanism to move and lift to the position above the target material bag according to the material bag position information, controlling the sucking disc mechanism to downwards search and suck the target material bag, and controlling the supporting arm to close below the material bag after the sucking disc mechanism extracts goods and retracts to the bin body space.

Step S22, judging whether the tensile value of the bag body is larger than a second tensile preset value, if so, controlling the sucker mechanism to descend by a buffer set value to enable the lower portion of the material bag to be in contact with the supporting arm, keeping the sucker mechanism to continuously adsorb the material bag to a first target position in the transferring process, controlling the sucker mechanism to descend to the second target position after the supporting arm is opened, and then reducing suction force to throw the material bag, wherein the second tensile preset value is smaller than the first tensile preset value.

And S23, if the bag body stretching value is not greater than the second stretching preset value, keeping the sucker mechanism to continuously adsorb the material bags to the first target position in the transferring process, and controlling the sucker mechanism to descend to the second target position after the supporting arm is opened so as to reduce the suction force to throw the material bags.

And S3, if the grabbing operation mode is a second operation mode, controlling the moving mechanism to move and lift to the upper side of the target material bag according to the material bag position information, controlling the sucking disc mechanism to downwards search and suck the target material bag, controlling the supporting arms to close below the material bag after the sucking disc mechanism extracts goods and retracts to the bin body space, controlling the sucking disc mechanism to reduce suction force and release the material bag to the two supporting arms, and controlling the two supporting arms to open and throw the lower material bag after the supporting arms lift the material bag to move to the first target position along with the moving mechanism.

And S4, after the material bags are put in, the opened supporting arms are controlled to be contracted into the storage spaces at the two sides, and then the cargo grabbing platform is driven to move to the position above the material bags of the next material bags to be carried.

In an embodiment, the package information further includes a size of a bag, where two cargo gripping platforms capable of moving away from and approaching to each other are installed in parallel under the moving mechanism, and the cargo gripping platforms further include two storage structures correspondingly disposed above the two side support arms, and the storage structures have storage spaces 60 capable of accommodating the corresponding side support arms, as shown in fig. 5, and this step S4 may specifically include the following.

Step S41, obtaining the minimum distance between the two goods grabbing platforms for avoiding collision in the support arm opening state, and calculating the minimum interval package number between two material bags to be grabbed in the stack when the support arms of the two goods grabbing platforms are in the support arm opening state according to the size of the bag body.

Step S42, obtaining position information of a next group of material bags to be grabbed of the two goods grabbing platforms, if the number of the material bags between the next group of two material bags to be grabbed is smaller than the minimum number of interval bags, controlling the opened supporting arms to shrink into the storage spaces at two sides after the material bags of the group are put in, and then moving the goods grabbing platforms to the position above the material bags of the next group of material bags to be carried.

In another embodiment, this step S4 may further include the following.

And S43, after the sucking disc mechanism extracts cargoes to the bin body space, controlling one cargo grabbing platform to move away from the other cargo grabbing platform until the distance between the two cargo grabbing platforms is larger than the minimum distance, and controlling the supporting arms on the two sides to move out of the corresponding storage space and fold below the material bags.

Through setting up the support arm accommodation space, with in folding retraction accommodation space of support arm, can effectively reduce the interval of two goods snatchs the platform to can let two goods snatch the platform and absorb two material bags that are closer in the stack each other. Meanwhile, when the two material bags to be sucked are far apart, the support arm can be retracted into the storage space without being controlled to rotate, so that the energy consumption of the equipment and the abrasion of corresponding structures are reduced.

According to the bagged material carrying control method disclosed by the embodiment, the matched grabbing operation mode is selected and sent to the cargo grabbing platform according to the acquired cargo packaging information of the material bags to be transported in the batch and the position information of the material bags, and after the cargo grabbing platform is in the first operation mode, the sucking disc mechanism is controlled to extract cargoes to retract to the bin body space and close the supporting arm, the sucking disc mechanism is controlled to continuously keep the sucking state of the material bags, so that the material bags can be put in and stacked in the optimal posture. When the goods grabbing platform is in the second operation mode, the sucker mechanism is controlled to close below the material bag of the supporting arm, then release the material bag, and lift the material bag to the position above the stacking position by the supporting arm, so that the situation that the follow-up delivery posture is irregular because part of the material bag of the goods grabbing platform falls onto the supporting arm in a chaotic posture due to shaking or vibration in the transferring process is avoided, and the follow-up delivery posture exceeds an error is avoided. The cargo grabbing platform is controlled to match different working modes according to different material bags, so that the problem of disordered postures of part of material bags due to throwing in the transfer process caused by different bag materials can be avoided on the basis of ensuring the putting postures to be as accurate as possible.

In this embodiment, as shown in fig. 6-12, a handling device 100 for grasping and transporting goods, which is suitable for the method for controlling the handling of bagged materials disclosed in the above embodiments, comprises a frame 10, a moving mechanism 40, a suction cup mechanism 30 and a support arm 20. Wherein the frame 10 serves as a support member of the cargo gripping and handling apparatus 100 for supporting the moving mechanism 40, the suction cup mechanism 30 and the support arm 20. The support arm 20 is arranged on one side of the sucker mechanism 30 and is mounted on the moving mechanism 40, the support arm 20 comprises a moving arm support 21 and a driving piece 22, and the moving arm support 21 is connected with the moving mechanism 40 in a swinging manner; the driving piece 22 is connected with the movable arm support 21, drives the movable arm support 21 to swing relative to the material bag to be conveyed, and supports the bottom of the material bag to be conveyed, which is adsorbed by the sucker mechanism 30. Specifically, the sucking disc mechanism 30 adsorbs the upper surface of the material bag to be carried under the negative pressure in the carrying process of the material bag to be carried, the movable arm support 21 swings towards the lower surface of the material bag to be carried under the drive of the driving piece 22, and the sucking disc mechanism 30 and the movable arm support 21 act on the material bag to be carried simultaneously, so that the bottom of the material bag to be carried is supported, the material bag to be carried is prevented from being in a suspended state, the material bag to be carried is prevented from falling from top to bottom, and the safety of the material bag to be carried in the using process of the goods grabbing and carrying equipment 100 is ensured.

In this embodiment, the two support arms 20 are provided, the two support arms 20 are oppositely disposed at two sides of the suction cup mechanism 30, the suction cup mechanism 30 is located between the two support arms 20, and the distance between the two support arms 20 is greater than the length of the material bag to be carried, so that the two support arms 20 fold towards the material bag to be carried, thereby facilitating the two support arms 20 to support the bottom of the material bag to be carried, preventing the material bag to be carried from falling from top to bottom, and ensuring the safety of the material bag to be carried in the use process of the cargo grabbing and carrying device 100. One support arm 20 is disposed on the left side of the chuck mechanism 30, the other support arm 20 is disposed on the right side of the chuck mechanism 30, or one support arm 20 is disposed on the front side of the chuck mechanism 30, and the other support arm 20 is disposed on the rear side of the chuck mechanism 30, which is not specifically limited herein. A connecting piece 211 is arranged between the driving piece 22 and the movable arm support 21, the connecting piece 211 is sleeved on the movable arm support 21, the connecting piece 211 is connected to the output end of the driving piece 22, and the output end of the driving piece 22 drives the connecting piece 211 to swing. At this time, the connecting piece 211 is sleeved on the movable arm support 21, the connecting piece 211 is connected to the output end of the driving piece 22, the output end of the driving piece 22 drives the connecting piece 211 to swing, a certain degree of freedom is provided between the connecting piece 211 and the driving piece 22 in the process that the driving piece 22 drives the connecting piece 211 to swing upwards or downwards, hard mechanical contact between the connecting piece 211 and the driving piece 22 is avoided, the probability of damage of the connecting piece 211 is reduced, and the movable arm support 21 swings along with the swinging of the connecting piece 211 so as to adjust the position of the movable arm support 21 relative to the swinging frame 4121.

In this embodiment, the connecting piece 211 is provided with a key slot 211a, the movable arm support 21 is connected with a flat key 212, and the flat key 212 is clamped in the key slot 211a, so that the movable arm support 21 is fixedly connected with the connecting piece 211. At this time, the flat key 212 is engaged with the key groove 211a, and the connection between the connector 211 and the mobile arm support 21 is through the cooperation of the flat key 212 and the key groove 211a, so that the connector 211 is fixed on the mobile arm support 21, wherein the front end of the key groove 211a is in a communicating state with the rear end of the key groove 211a, so that the flat key 212 is engaged with the key groove 211a or the flat key 212 is separated from the key groove 211a.

The moving arm support 21 includes a first swinging portion 213 and a first clamping portion 214, the first swinging portion 213 being swingably connected to the moving mechanism 40; the first clamping portion 214 swings along with the swing of the first swing portion 213, and is used for clamping the material bag to be conveyed, so that the position of the first swing portion 213 relative to the moving mechanism 40 is adjusted, and therefore the position of the first clamping portion 214 relative to the moving mechanism 40 is adjusted, and the first clamping portion 214 faces the material bag to be conveyed, and is used for supporting the bottom of the material bag to be conveyed.

An included angle is formed between the first swinging part 213 and the first clamping part 214, the first clamping part 214 is swingably connected to the first swinging part 213, and an elastic member 2141 is connected between the first clamping part 214 and the first swinging part 213. At this time, an included angle is formed between the first swinging portion 213 and the first clamping portion 214, the included angle is greater than 90 ° and less than 180 °, the first clamping portion 214 is swingably connected to the first swinging portion 213, and an elastic member 2141 is connected between the first clamping portion 214 and the first swinging portion 213, so that the first clamping portion 214 returns under the elastic action of the elastic member 2141, and optionally, the elastic member 2141 may be a spring.

The first clamping portion 214 includes a first bending portion 2142 and a second bending portion 2143, an included angle is formed between the first bending portion 2142 and the second bending portion 2143, and one end of the first bending portion 2142 is hinged to the first swinging portion 213 and swings relative to the first swinging portion 213. At this time, an included angle is formed between the first bending portion 2142 and the second bending portion 2143, where the included angle is greater than 90 ° and less than 180 °, and one end of the first bending portion 2142 is hinged to the first swinging portion 213 and swings relative to the first swinging portion 213, so that the first clamping portion 214 is folded toward the first swinging portion 213, thereby reducing the longitudinal space of the moving arm frame 21.

The moving mechanism 40 is provided with a bracket 41; the bracket 41 is provided with an accommodating groove 41a; the support arm 20 is provided at one side of the bracket 41; the movable arm support 21 is swingably connected to the bracket 41; the driving member 22 is connected to the movable arm support 21, and drives the movable arm support 21 to swing relative to the bracket 41, so that the movable arm support 21 is accommodated in the accommodating groove 41a. At this time, the movable arm support 21 swings under the driving action of the driving member 22 and swings into the accommodating groove 41a, so that the movable arm support 21 is accommodated in the accommodating groove 41a, thereby reducing the longitudinal space of the movable arm support 21 relative to the bracket 41, avoiding the larger occupied space of the supporting arm 20, and optionally, the driving member 22 may be a cylinder. Wherein the stand 41 includes a stand body 411 and a receiving rack 412, the receiving rack 412 is disposed at one side of the stand body 411 and is mounted to the stand body 411; the accommodating frame 412 is provided with an accommodating groove 41a.

The bracket body 411 is used as a supporting body of the bracket 41 and is used for supporting the accommodating frame 412, the accommodating frame 412 is arranged at the lower side of the bracket body 411, the accommodating frame 412 and the bracket body 411 are mounted through bolts, the accommodating frame 412 is provided with an accommodating groove 41a, the accommodating groove 41a is used for accommodating the movable arm support 21, so that the movable arm support 21 is accommodated in the accommodating groove 41a, and the longitudinal space of the movable arm support 21 relative to the bracket 41 is reduced. Alternatively, a guide wheel is connected to one side wall of the accommodating frame 412, and the guide wheel is rotatably installed to the accommodating frame 412 and guides the moving arm frame 21 to enter the accommodating groove 41a. The accommodating frame 412 is connected with a swinging frame 4121, and the swinging frame 4121 is arranged at one side of the accommodating frame 412 and forms an accommodating groove 41a with the accommodating frame 412 in a surrounding manner; the movable arm support 21 is swingably connected to the swing frame 4121. At this time, the swing frame 4121 is disposed in the middle of the accommodating frame 412 and forms an accommodating groove 41a surrounding the accommodating frame 412, the accommodating groove 41a is used for accommodating the moving arm frame 21, and the moving arm frame 21 is swingably connected to the swing frame 4121 and swings along the axial direction of the connection between the moving arm frame 21 and the swing frame 4121, so as to adjust the position of the moving arm frame 21 relative to the swing frame 4121.

Wherein, wait to carry the material bag in the handling, sucking disc mechanism 30 adsorbs the upper surface of waiting to carry the material bag under the negative pressure, and the cantilever crane 21 swings towards the lower surface of waiting to carry the material bag under the drive of driving piece 22 to sucking disc mechanism 30 and cantilever crane 21 act on waiting to carry the material bag simultaneously, so that the bottom of waiting to carry the material bag is supported, has avoided waiting to carry the material bag and has in unsettled state, prevents to wait to carry the material bag from dropping down from the top, has guaranteed the security of waiting to carry the material bag in the use of goods snatch handling equipment 100.

In this embodiment, the moving mechanism 40 is mounted on the frame 10, the moving assembly includes an X-axis moving module 42, a rotating module 43 and a Z-axis lifting module 44, the X-axis moving module 42 is mounted on the frame 10, the rotating module 43 is mounted on the X-axis moving seat 421, the Z-axis lifting module 44 is mounted on the rotating module 43, and the Z-axis lifting module 44 is connected to the suction cup mechanism 30 and is driven by the rotating module 43 and the X-axis moving module 42 to rotate in the circumferential direction and move in the X-axis direction. At this time, the goods are located the downside of sucking disc mechanism 30, sucking end orientation goods of sucking disc mechanism 30, and adsorb the surface of goods, and go up and down along Z axle direction, circumference direction rotation and X axle direction removal under the drive of Z axle lifting module 44, rotatory module 43 and X axle removal module 42, so sucking end along Z axle direction, circumference direction and X axle direction direct action of sucking disc mechanism 30 the surface of goods, improved the location intensity of goods for sucking disc mechanism 30, avoided the goods to be restricted in the handling in-process position, guaranteed the stability of goods in the handling, improved the transport efficiency of goods snatch handling equipment 100. The X-axis moving module 42 is mounted on the frame 10, the X-axis moving module 42 is provided with an X-axis moving seat 421, and the X-axis moving seat 421 moves along the X-axis direction; at this time, the X-axis moving module 42 is disposed at the upper side of the frame 10, the X-axis moving module 42 is connected with the frame 10 through bolts, the X-axis moving module 42 is disposed along the horizontal direction, the X-axis moving module 42 is provided with an X-axis moving seat 421, and the X-axis moving seat 421 moves along the X-axis direction; the X-axis movement may be a left-right movement.

In this embodiment, a guide rail 4211 and a slider 4212 are disposed between the X-axis moving seat 421 and the frame 10, the guide rail 4211 is fixed to the frame 10, the X-axis moving seat 421 is fixed to the slider 4212, the slider 4212 is movably mounted to the guide rail 4211, at this time, the guide rail 4211 is fixed to the upper side of the frame 10, the lower end of the X-axis moving seat 421 is fixed to the upper end of the slider 4212, the slider 4212 is movably mounted to the guide rail 4211 and is disposed along the length direction of the guide rail 4211, and the length direction of the guide rail 4211 is the X-axis direction, so as to adjust the position of the slider 4212 relative to the guide rail 4211, thereby adjusting the position of the X-axis moving seat 421 relative to the frame 10.

The plurality of guide rails 4211 are provided, and the plurality of guide rails 4211 are arranged at intervals in the width direction of the frame 10, and at this time, two guide rails 4211 are provided at intervals in the width direction of the frame 10, and the movement effect of the X-axis movement seat 421 with respect to the frame 10 is increased by arranging the two guide rails 4211, thereby improving the movement smoothness of the X-axis movement seat 421 with respect to the frame 10, wherein each guide rail 4211 is provided with two sliding blocks 4212. The X-axis moving module 42 is provided with an electric push rod 422, a fixed end of the electric push rod 422 is mounted on the frame 10, and an output end of the electric push rod 422 is connected to the X-axis moving seat 421 and drives the X-axis moving seat 421 to move along the X-axis direction.

The rotating module 43 is disposed at one side of the X-axis moving module 42, and is mounted on the X-axis moving seat 421, and is driven by the X-axis moving seat 421 to move along the X-axis direction; at this time, the rotating module 43 and the X-axis moving seat 421 are fixed by bolts, and the rotating module 43 moves along with the left-right movement of the X-axis moving seat 421 along the X-axis direction, so as to adjust the position of the rotating module 43 relative to the frame 10.

Wherein, the X-axis moving seat 421 is provided with a U-shaped groove 421a, a notch of the U-shaped groove 421a is located at a right end boundary of the X-axis moving seat 421, and the rotating module 43 is accommodated in the U-shaped groove 421a, so as to improve the space utilization of the rotating module 43. The rotating module 43 comprises a motor 431 and a hollow rotating platform 432, the motor 431 is electrically connected to the hollow rotating platform 432, the fixed end of the hollow rotating platform 432 is connected to the X-axis moving seat 421, and the rotating end of the hollow rotating platform 432 is connected to the Z-axis lifting module 44 and drives the Z-axis lifting module 44 to rotate along the circumferential direction. The motor 431 is disposed on the upper side of the hollow rotary platform 432, the motor 431 and the hollow rotary platform 432 are disposed up and down, the motor 431 is electrically connected to the hollow rotary platform 432, the fixed end of the hollow rotary platform 432 is fixed to the X-axis moving seat 421 by bolts, and the rotating end of the hollow rotary platform 432 is connected to the Z-axis lifting module 44 and drives the Z-axis lifting module 44 to rotate along the circumferential direction, so that the Z-axis lifting module 44 can move in the X-axis direction and the circumferential direction simultaneously.

The Z-axis lifting module 44 is arranged on one side of the rotating module 43, and the Z-axis lifting module 44 is arranged on the rotating module 43 and driven by the rotating module 43 and the X-axis moving module 42 to rotate along the circumferential direction and move along the X-axis direction; at this time, the Z-axis lifting module 44 is mounted on the rotating module 43, and the Z-axis lifting module 44 rotates along with the rotation of the rotating module 43 in the circumferential direction, so that the Z-axis lifting module 44 can move in the X-axis direction and the circumferential direction at the same time, thereby facilitating the adjustment of the position of the Z-axis lifting module 44 relative to the frame 10.

A flange 441 is disposed between the hollow rotary platform 432 and the Z-axis lifting module 44, one end of the flange 441 is connected to the hollow rotary platform 432, the other end of the flange 441 is connected to the Z-axis lifting module 44, and the flange 441 rotates along with the rotation of the hollow rotary platform 432 and drives the Z-axis lifting module 44 to rotate. The Z-axis lifting module 44 includes an electric cylinder 442 and a Z-axis lifting seat 443, the Z-axis lifting seat 443 is connected to the suction cup mechanism 30, a fixed end of the electric cylinder 442 is connected to the flange 441, and an output end of the electric cylinder 442 is connected to the Z-axis lifting seat 443 and drives the Z-axis lifting seat 443 to lift along the Z-axis direction, and the suction cup mechanism 30 lifts along with the Z-axis lifting seat 443 lifting along the Z-axis direction. The Z-axis lifting module 44 includes a guide shaft 444 and a linear bearing 445, the linear bearing 445 is connected to the flange 441, the guide shaft 444 is connected to the Z-axis lifting seat 443, the guide shaft 444 is inserted into the linear bearing 445 so as to be lifted, and the guide shaft 444 is lifted along with the lifting of the Z-axis lifting seat 443.

In the present embodiment, the plurality of guide shafts 444 are provided, and the plurality of guide shafts 444 are enclosed to form a square shape, and the lifting effect of the Z-axis lifting base 443 is increased by arranging the plurality of guide shafts 444. The Z-axis lifting module 44 is provided with a connecting block 446, the two guide shafts 444 are respectively connected to two ends of the connecting block 446, and the connecting block 446 is lifted along with the lifting of the two guide shafts 444 along the vertical direction, so that the deformation of the guide shafts 444 caused by long-time use is avoided, and the service life of the guide shafts 444 is prolonged.

In another embodiment, a control device is disclosed for controlling the operation of a cargo handling and transporting device, the cargo handling and transporting device includes a moving mechanism capable of moving between a stacked cargo to be transported and a delivery position, and a cargo handling platform mounted below the moving mechanism, the cargo handling platform includes a sucker mechanism capable of lifting relative to the moving mechanism and two support arms disposed on two sides of the sucker mechanism, and a bin space for accommodating a transport material bag is provided between the two support arms, wherein the control device may include: the system comprises an information acquisition module, a first operation module, a second operation module and a transfer module. The information acquisition module is used for acquiring the goods packaging information and the material bag position information of the material bags to be transported, which are sent by the server, and inquiring the grabbing operation mode of the corresponding goods grabbing platform in the control configuration library according to the goods packaging information. The first operation module is used for controlling the moving mechanism to move and lift to the upper side of the target material bag according to the material bag position information when the grabbing operation mode is the first operation mode, controlling the sucking disc mechanism to downwards search and suck the target material bag, controlling the supporting arm to be closed below the material bag after the sucking disc mechanism extracts goods and retracts to the bin body space, keeping the sucking disc mechanism to continuously adsorb the material bag to the first target position in the transferring process, and controlling the sucking disc mechanism to descend to the second target position after the supporting arm is opened so as to reduce the suction force to throw the material bag. And the second operation module is used for controlling the moving mechanism to move and lift to the upper part of the target material bag according to the material bag position information when the grabbing operation mode is the second operation mode, controlling the sucking disc mechanism to draw the target material bag downwards, controlling the supporting arms to close below the material bag after the sucking disc mechanism extracts goods and retracts to the bin body space, controlling the sucking disc mechanism to reduce the suction force and release the material bag to the two supporting arms, and controlling the two supporting arms to open and throw the lower material bag after the supporting arms lift the material bag to move to the first target position along with the moving mechanism. And the transfer module is used for driving the goods grabbing platform to move to the position above the material bag to be transported below after the support arms which are controlled to be opened after the material bag is put in are contracted into the storage spaces at the two sides.

In this embodiment, the cargo package information includes a bag body material property and a material bag weight. Specifically, the information acquisition module may include: the system comprises a bag body information query module, an alarm module, a first judging module and a second judging module, wherein the bag body information query module is used for acquiring bag body material properties, material bag weight and material bag position information of a material bag to be transported, which are sent by a server, and acquiring corresponding bag body stretching values and bag body adsorption values in a goods database according to the bag body material properties, wherein the bag body stretching values are configured to be the downward stretching distance of the upper surface of the material bag after the upper surface of the material bag is sucked by a sucker, and the bag body adsorption values are configured to be the separation of the upper surface of the material bag from required pulling force after the upper surface of the material bag is sucked by the sucker. And the alarm module is used for sending out task alarm information when the adsorption value of the bag body is lower than the first adsorption preset value or the stretching value of the bag body is higher than the first stretching preset value. The first judging module is used for controlling the grabbing platform to enter a first operation mode when the bag body adsorption value is higher than a second adsorption preset value and the bag body stretching value is lower than a first stretching preset value, and the material bag weight is located in a corresponding weight allowing interval of the first adsorption preset value, wherein the second adsorption preset value is larger than the first adsorption preset value. The second judging module is used for controlling the grabbing platform to enter a second operation mode when the adsorption value of the bag body is higher than the first adsorption preset value but smaller than the second adsorption preset value and the stretching value of the bag body is lower than the first stretching preset value, and the weight of the material bag is located in a corresponding weight allowed range of the first adsorption preset value.

It should be noted that, in the present description, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different manner from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. The load control system for a lacing wire cart disclosed in the embodiment corresponds to the load control method for a lacing wire cart disclosed in the embodiment, so that the description is relatively simple, and the relevant matters are described in the method section.

In other embodiments, a bagged material handling system is disclosed, including a moving mechanism capable of moving between a stacked load to be transferred and a delivery position, a load grabbing platform installed below the moving mechanism, and a controller, wherein the load grabbing platform includes a sucker mechanism capable of lifting relative to the moving mechanism and two support arms arranged on two sides of the sucker mechanism, a bin space for accommodating a transferred material bag is arranged between the two support arms, the controller is electrically connected with the moving mechanism, the sucker mechanism and the support arms respectively, the controller includes a memory, a processor, and a computer program stored in the memory and capable of running on the processor, and the processor implements the steps of the bagged material handling control method described in the above embodiments when executing the computer program.

The processor may be a central processing unit, but also other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, which is the control center of the load control device apparatus for a tie truck, connecting the various parts of the overall load control system for a tie truck using various interfaces and lines.

The memory may be used to store the computer program and/or module, and the processor may implement the various functions of the load control device apparatus for a tie wagon by running or executing the computer program and/or module stored in the memory and invoking data stored in the memory. The load control device for a lacing wire cart may be stored in a computer readable storage medium if implemented as a software functional unit and sold or used as a stand alone product. Based on such understanding, the present invention may implement all or part of the above-described embodiment of the method, or may be implemented by a computer program for instructing related hardware, where the computer program may be stored in a computer readable storage medium, and the computer program may implement the steps of each of the above-described embodiments of the loading control method for a tie wagon when executed by a processor. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

In summary, the foregoing description is only of the preferred embodiments of the present invention, and all equivalent changes and modifications made in accordance with the claims should be construed to fall within the scope of the invention.

Claims

1. The utility model provides a material handling control method in bags for goods snatchs transfer device, goods snatch transfer device includes the mobile mechanism that can be in waiting to transport stack goods and put in the position and install the goods snatch the platform in the mobile mechanism below, the goods snatch the platform and include the sucking disc mechanism that can go up and down relative to the mobile mechanism and arrange two support arms in sucking disc mechanism both sides, have the storehouse body space that is used for holding transport material bag between two support arms, its characterized in that includes the following step:

2. The method of claim 1, wherein the cargo packaging information includes bag material properties and bag weight.

3. The method of controlling the handling of bagged materials according to claim 2, wherein said step S1 comprises:

4. A bagged material handling control method as claimed in claim 3 in which step S2 comprises:

5. The method according to claim 4, wherein the cargo package information further includes a size of a bag body, two cargo gripping platforms capable of being relatively far away from and close to each other are installed below the moving mechanism in parallel, the cargo gripping platforms further include two storage structures correspondingly disposed above the two side support arms, the storage structures having storage spaces capable of accommodating the corresponding side support arms therein, and the step S4 includes:

6. The method of controlling the handling of bagged materials according to claim 5, wherein said step S4 comprises:

7. The utility model provides a controlling means for control cargo handling transfer device's operation, cargo handling transfer device includes the mobile mechanism that can be in waiting to transport stack goods and put in the position and installs in the cargo handling platform of mobile mechanism below, but cargo handling platform includes sucking disc mechanism and two support arms of arranging in sucking disc mechanism both sides that relative movement mechanism goes up and down, have the storehouse body space that is used for holding transport material bag between two support arms, its characterized in that includes:

the information acquisition module is used for acquiring the goods packaging information and the material bag position information of the material bag to be transported, which are sent by the server, and inquiring the grabbing operation mode of the corresponding goods grabbing platform in the control configuration library according to the goods packaging information;

The first operation module is used for controlling the moving mechanism to move and lift to the upper part of the target material bag according to the material bag position information when the grabbing operation mode is the first operation mode, controlling the sucking disc mechanism to downwards search and suck the target material bag, controlling the supporting arm to be closed below the material bag after the sucking disc mechanism extracts goods and retracts to the bin body space, keeping the sucking disc mechanism to continuously adsorb the material bag to the first target position in the transferring process, and controlling the sucking disc mechanism to descend to the second target position after the supporting arm is opened so as to reduce the suction force to throw the material bag;

the second operation module is used for controlling the moving mechanism to move and lift to the upper part of the target material bag according to the position information of the material bag when the grabbing operation mode is the second operation mode, controlling the sucking disc mechanism to downwards search and suck the target material bag, controlling the supporting arms to close below the material bag after the sucking disc mechanism extracts goods and retracts to the bin body space, controlling the sucking disc mechanism to reduce the suction force and release the material bag to the two supporting arms, and controlling the two supporting arms to open and throw the material bag after the supporting arms lift the material bag to move to the first target position along with the moving mechanism;

and the transfer module is used for driving the goods grabbing platform to move to the position above the material bag to be transported below after the support arms which are controlled to be opened after the material bag is put in are contracted into the storage spaces at the two sides.

8. The control device according to claim 7, characterized in that: the goods package information comprises bag body material properties and material bag weight.

9. The control device according to claim 8, wherein the information acquisition module includes:

the bag body information query module is used for acquiring bag body material properties, material bag weight and material bag position information of the material bag to be transported, which are sent by the server, and acquiring corresponding bag body stretching values and bag body adsorption values in the goods database according to the bag body material properties, wherein the bag body stretching values are configured as distances that the upper surface of the material bag can be stretched downwards after being sucked by the sucker, and the bag body adsorption values are configured as required pulling forces for separating the upper surface of the material bag after being sucked by the sucker;

the alarm module is used for sending task alarm information when the adsorption value of the bag body is lower than a first adsorption preset value or the stretching value of the bag body is higher than a first stretching preset value;

the first judging module is used for controlling the grabbing platform to enter a first operation mode when the bag body adsorption value is higher than a second adsorption preset value and the bag body stretching value is lower than a first stretching preset value, wherein the material bag weight is located in a corresponding weight allowing interval of the first adsorption preset value, and the second adsorption preset value is larger than the first adsorption preset value;

The second judging module is used for controlling the grabbing platform to enter a second operation mode when the adsorption value of the bag body is higher than the first adsorption preset value but smaller than the second adsorption preset value and the stretching value of the bag body is lower than the first stretching preset value, and the weight of the material bag is located in a corresponding weight allowed range of the first adsorption preset value.

10. A bagged materials handling system, characterized in that: the device comprises a moving mechanism capable of moving between stacked cargoes to be transported and a throwing position, a cargo grabbing platform arranged below the moving mechanism, and a controller, wherein the cargo grabbing platform comprises a sucker mechanism capable of lifting relative to the moving mechanism and two supporting arms arranged on two sides of the sucker mechanism, a bin space for accommodating transport material bags is arranged between the two supporting arms, the controller is respectively and electrically connected with the moving mechanism, the sucker mechanism and the supporting arms, the controller comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, and the processor realizes the steps of the method according to any one of claims 1-6 when executing the computer program.