A flexible cable loading equipment based on cable parallel technology

Abstract

The present invention relates to the field of intelligent loading and unloading technology, and particularly to a flexible cable loading vehicle equipment based on a cable parallel technology, which includes a tower, a cable parallel force control cabinet, a winch, a pulley mechanism, a flexible cable, an upper frame of an actuator, a lower frame of an actuator, a grasping mechanism, a vision detection sensor, a laser detection sensor, and a control computer. Through the combination of the tower and the flexible cable, the present invention can flexibly arrange the working space, realize the flexible movement of goods within a large range, and autonomously detect the precise position of the goods and the position of target coordinate points such as trucks through the detection sensors, so as to realize the automatic planning and adjustment of the loading and unloading path for automated loading and unloading. At the same time, it supports the replacement and addition of the grasping mechanism, and is widely applicable to the loading and unloading operations of goods on various open trucks.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent loading and unloading, and particularly to a flexible cable loading device based on a cable parallel technology. Background Art

[0002] Currently, for the loading and unloading of goods on large trucks, it still mainly relies on manual labor and extremely limited partial auxiliary equipment. However, relying mainly on manual labor for loading has a series of problems such as low work efficiency, high labor costs, few workers, and low worker safety. And currently, most of the partial auxiliary equipment adopts devices that rely on robotic arms for loading. Most of the time, it can only achieve small-range handling, loading and unloading, and stacking point-to-point. Moreover, the robotic arm-based loading equipment is difficult to automatically identify the side guard boards of the large truck body, and the handling range is limited by the length of the robotic arm, thus it cannot achieve full intelligence and automation.

[0003] Chinese Patent Publication No. CN103964224B discloses a loading robot, including a main body frame for fixing various mechanisms and other components; a robotic arm for rotating and grasping goods; a vertical movement mechanism connected to the upper end of the robotic arm for driving the robotic arm to move up and down; a horizontal movement mechanism installed at the upper end of the main body frame and connected to the vertical movement mechanism through a slider for driving the robotic arm to move horizontally; a power group including a rotation motor for controlling the rotation of the robotic arm, a vertical movement motor for controlling the movement of the vertical movement mechanism, and a horizontal motor for controlling the movement of the horizontal movement mechanism; an induction control device including a goods position sensor, a blanking sensor, and a vehicle position sensor, respectively installed at different positions of the main body frame for controlling the operation of the robotic arm. Thus, it can be seen that the loading robot adopting a mechanical structure of the type of gantry crane and using a ramp conveyor belt to transport the goods on the loading platform to the grasping range of the robotic arm still has the following problems: 1) It still requires manual labor to transport the goods to the loading platform and assist the ramp conveyor belt to transport the goods, and it is still not fully automated; 2) The robotic arm cannot adapt to goods with different shapes, different masses, and different bearing points for loading and unloading, and it is still not fully intelligent; 3) The gantry crane type structure occupies a large area, and it has a low applicability for new special vehicles exceeding the preset span of the gantry crane. The gantry crane form is only applicable to loading, unloading, and stacking of standardized container-type fixed-shaped and fixed-bearing-point cargo boxes. If the vehicle specifications and cargo specifications change, the corresponding specifications of the loading robot also need to be adjusted accordingly, resulting in high equipment erection complexity, large floor area, and a limited handling range due to excessive costs. Summary of the Invention

[0004] Therefore, the present invention provides a flexible cable loading device based on a cable parallel technology to overcome the problems in the prior art that the loading device has a large floor area, cannot flexibly arrange the working space, and cannot autonomously detect the position of the goods to automatically achieve large-range loading and unloading of the goods.

[0005] To achieve the above object, the present invention provides a flexible cable loading equipment based on cable parallel technology, including a support mechanism group, flexible cables, an actuator group, a detection sensor group, and a control computer. Among them,

[0006] The support mechanism group includes a tower, a cable parallel force control cabinet, a hoist unit, and a pulley mechanism. Among them,

[0007] The tower is used to support the flexible cables and provide a preset activity range for the actuator group. The number of towers is preferably four, including the first tower, the second tower, the third tower, and the fourth tower.

[0008] The cable parallel force control cabinets are respectively arranged on one side of the bottom of the towers. The number of them is equal to the number of towers, and they are used to distribute the corresponding lengths and tensions of the flexible cables according to the instructions output by the control computer, so that the actuator group displaces along the movement path planned by the control computer and performs the corresponding grasping work.

[0009] The hoist unit includes several hoists. The number of hoists arranged on the tower base is two respectively, and the hoists are used to output a preset torque to the flexible cables.

[0010] The pulley mechanism includes a bottom member and a top member. The bottom members are respectively arranged on each tower, and the number of bottom members arranged on each tower is two. The bottom members are used to change the tension degree of the flexible cables. The top members are respectively arranged on the top of each tower, used to change the extending direction of the flexible cables and make the flexible cables rotate horizontally with the actuator, preventing excessive wear of the flexible cables caused by the inconsistency between the extending direction and the force direction.

[0011] The flexible cables connect the support mechanism group and the actuator group, used to conduct the power of the support mechanism group to the actuator group, realize the displacement of the actuator group in the preset space and bear the weight.

[0012] The actuator group includes an upper frame, a lower frame, and a grasping mechanism. The upper frame and the lower frame are connected by a slewing bearing. The upper frame is connected to the inner ring of the slewing bearing, and the lower frame is connected to the outer ring of the slewing bearing. The upper frame is used to connect the flexible cables, and the lower frame is used to connect the grasping mechanism. The actuator group is used to grasp and release the goods at a preset position with a preset rotation angle and preset execution coordinates according to the corresponding instructions output by the control computer.

[0013] The detection sensor group includes a first group and a second group. The first group and the second group are respectively provided with a vision detection sensor and a laser detection sensor. The first group is arranged on the first fixed rod, and the second group is arranged on the second fixed rod. The vision detection sensor is used to detect the rotation states of the positions of the goods, the unloading position, the palletizing position, and the current position of the execution structure group respectively, and output the detection results to the control computer. The laser detection sensor is used to detect the coordinates of the positions of the goods, the unloading position, the palletizing position, and the current position of the execution structure group respectively, and output the detection results to the control computer;

[0014] The control computer is respectively connected to the cable parallel force control cabinet, the execution mechanism group, and the detection sensor group, and is used to plan the displacement path and the grasping time of the execution mechanism group according to the detection results of the detection sensor group, and perform corresponding control on the cable parallel force control cabinet according to the displacement path of the execution mechanism group.

[0015] The upper frame is a cuboid structure. The upper frame is provided with a reduction motor and a gear. The output shaft of the reduction motor is engaged with the gear, and the gear is engaged with the outer ring gear of the slewing bearing. The reduction motor is used to drive the gear to rotate and thus control the rotation of the outer ring of the slewing bearing. The rotation of the outer ring of the slewing bearing is used to control the rotation angle of the lower frame. The upper frame also includes support columns and cable rings. The support columns are respectively arranged inside three adjacent sides of the cuboid structure, and the number of support columns on each side is three. The support columns are used to provide support for the reduction motor in a preset space. The cable rings are respectively arranged at the four corners of the top surface and the bottom surface of the cuboid structure and are used to connect the cables extending from the top member. The cable ring includes a top surface ring and a bottom surface ring. Among them, the top surface ring includes a first top surface ring, a second top surface ring, a third top surface ring, and a fourth top surface ring, and the bottom surface ring includes a first bottom surface ring, a second bottom surface ring, a third bottom surface ring, and a fourth bottom surface ring.

[0016] The lower frame is a long rectangular box with a T-shaped structure. The long rectangular box is used to fix the grasping mechanism under the lower frame. Among them, the connection method between the long rectangular box and the grasping mechanism is preferably the connection method of bolt-fixed splints.

[0017] The winch includes a motor, a drum, a lead screw and optical bar mechanism, and a tension sensor. The motor is used to output torque to the drum. The drum is provided with spiral grooves, and the spiral grooves are used to define the winding position of the cable. The lead screw and optical bar mechanism is used to convert the circular motion of the cable into linear motion and maintain the relative synchronization of the cable. The tension sensor is used to detect the tension of the cable in real time and output the tension value to the cable parallel force control cabinet.

[0018] The bottom member includes a base, a connecting column, a compression spring, a first bottom pulley, a second bottom pulley, a third bottom pulley, and a bottom fixator. The base is arranged inside the tower to fix the first bottom pulley, the second bottom pulley, and the connecting column. One end of the connecting column is provided with a sleeve, and a limiting convex ring extends from the sleeve end. The limiting convex ring is used to prevent the connecting column from completely extending out of the sleeve. The sleeve is arranged in the middle of the base and is used to enable the connecting column to provide offset limitation in a preset direction while passing through the base. The compression spring is arranged on the connecting column and is used to provide a mechanical thrust with a preset pressure to the flexible cable, so as to ensure that the flexible cable is in a taut state. The first bottom pulley and the second bottom pulley are respectively arranged at both ends of the base to change the movement direction of the flexible cable. The third bottom pulley is arranged at the end of the connecting column away from the base, and its positional relationship with the first bottom pulley and the second bottom pulley forms an isosceles triangle and is distributed at the three corners of the isosceles triangle. The position of the apex angle of the isosceles triangle is the position of the third bottom pulley. The bottom fixator is arranged at the end of the connecting column away from the base to fix the third bottom pulley.

[0019] The top member includes a first top member, a second top member, a third top member, and a fourth top member. The first top member is arranged at the top of the first tower, the second top member is arranged at the top of the second tower, the third top member is arranged at the top of the third tower, and the fourth top member is arranged at the top of the fourth tower. The first top member, the second top member, the third top member, and the fourth top member respectively include a first pulley unit group and a second pulley unit group. The first pulley unit group and the second pulley unit group of any top member are respectively arranged in parallel on both sides of the top of its tower. Among them,

[0020] Each first pulley unit group of any top member is provided with a first pulley unit and a second pulley unit. The first pulley unit includes a first top pulley and a first fixator. The first top pulley is installed in the first fixator to change the direction of the flexible cable extending from the bottom of the tower to the top of the tower. The first fixator is fixedly connected to one side of the top of the tower to form a gap with a preset spacing in the outer contour of the tower for the flexible cable. The second pulley unit includes a second top pulley, a first top longitudinal converter, a third top pulley, a fourth top pulley, and a first top transverse converter. The second top pulley is installed in the first top longitudinal converter to change the direction of the flexible cable extending from the first top pulley to the first top longitudinal converter. The first top longitudinal converter is fixedly connected to the other end of the top of the tower that is transversely opposite to the first fixator to form a gap with a preset spacing between the flexible cable and the top of the tower. The third top pulley and the fourth top pulley are arranged in the first top transverse converter at a preset spacing, and the outer sides of the third top pulley and the fourth top pulley are tangent to prevent the flexible cable from slipping out of the groove due to uneven tension. The first top transverse converter is arranged above the first top longitudinal converter and is connected by a bearing to enable the first top transverse converter to automatically adjust its steering according to the force direction of the flexible cable. The first top transverse converter and the first top longitudinal converter are provided with the same concentric holes at the connected position, and the concentric holes are used for the flexible cable to pass through from the upper middle of the first top longitudinal converter to the first top transverse converter and be connected to the third top pulley;

[0021] The second pulley unit group of any top member is provided with a third pulley unit and a fourth pulley unit. The third pulley unit includes a fifth top pulley and a second fixator. The fifth top pulley is installed in the second fixator to change the direction of the flexible cable extending from the bottom of the tower to the top of the tower. The second fixator is fixedly connected to the side of the tower top opposite to the second pulley unit group to form a gap with a preset spacing in the outer contour of the tower by the flexible cable. The fourth pulley unit includes a sixth top pulley, a second top longitudinal converter, a seventh top pulley, an eighth top pulley and a second top transverse converter. The sixth top pulley is installed in the second top longitudinal converter to change the direction of the flexible cable extending from the fourth top pulley to the second top longitudinal converter. The second top longitudinal converter is fixedly connected to the other end of the tower top transversely opposite to the second fixator to form a gap with a preset spacing between the flexible cable and the tower top. The seventh top pulley and the eighth top pulley are arranged in the second top transverse converter at a preset spacing. The outer sides of the seventh top pulley and the eighth top pulley are tangent to prevent the flexible cable from slipping out of the pulley due to uneven tension. The second top transverse converter is arranged above the second top longitudinal converter and connected by a bearing to enable the second top transverse converter to automatically adjust its steering according to the force direction of the flexible cable. The second top transverse converter and the second top longitudinal converter are provided with the same concentric holes at the connection position, and the concentric holes are used for the flexible cable to pass through from the upper middle part of the second top longitudinal converter to the second top transverse converter and be connected to the seventh top pulley.

[0022] The pulley mechanism is also provided with limit posts, which are respectively arranged on the bottom fixators, the first fixator, the first top longitudinal converter, the first top transverse converter, the second fixator, the second top longitudinal converter and the second top transverse converter outside the third bottom pulley, the first top pulley, the second top pulley, the third top pulley, the fifth top pulley, the sixth top pulley and the seventh top pulley in any pulley mechanism to prevent the flexible cable from slipping out of the pulley due to uneven tension.

[0023] The control computer includes a central processing unit, which is used to plan the loading and unloading path of the actuator group according to the coordinates of the opening direction of the truck loading and unloading hopper, the position of the goods, the unloading position, the stacking position and the current position of the actuator group detected by the detection sensor group. The central processing unit outputs corresponding instructions to the flexible cable parallel force control cabinet according to the loading and unloading path, so that the actuator group displaces according to the loading and unloading path, and judges the grasping time of the grasping mechanism and the rotation angle of the grasping mechanism according to the loading and unloading path and the current position information of the actuator group, and outputs the corresponding instructions of the grasping time and the rotation angle to the reduction motor of the grasping mechanism.

[0024] The control computer also includes a display screen and an operating console. The display screen is used to display the loading and unloading path planned by the central processing unit, and synchronize the position and rotation state of the current grasping mechanism to the loading and unloading path in real time, so as to facilitate maintenance personnel to observe the loading and unloading path and the rotation state of the grasping mechanism in real time. The operating console is used to adjust the preset values and the loading and unloading path in the control computer, and is used for manual operation of the actuator group.

[0025] The diameter and material of the flexible cable are adjusted correspondingly according to the weight of the goods. The number of flexible cables is eight, and the number of upper frame flexible cable loops is also the same as the number of flexible cables. Among them, the flexible cables include the first flexible cable, the second flexible cable, the third flexible cable, the fourth flexible cable, the fifth flexible cable, the sixth flexible cable, the seventh flexible cable and the eighth flexible cable.

[0026] The first flexible cable is arranged in the first pulley unit group of the first tower and is used to connect the second bottom ring.

[0027] The second flexible cable is arranged in the second pulley unit group of the first tower and is used to connect the fourth top ring.

[0028] The third flexible cable is arranged in the first pulley unit group of the second tower and is used to connect the first bottom ring.

[0029] The fourth flexible cable is arranged in the second pulley unit group of the second tower and is used to connect the third top ring.

[0030] The fifth flexible cable is arranged in the second pulley unit group of the third tower and is used to connect the fourth bottom ring.

[0031] The sixth flexible cable is arranged in the first pulley unit group of the third tower and is used to connect the second top ring.

[0032] The seventh flexible cable is arranged in the second pulley unit group of the fourth tower and is used to connect the third bottom ring.

[0033] The eighth flexible cable is arranged in the first pulley unit group of the fourth tower and is used to connect the first top ring.

[0034] Compared with the prior art, the beneficial effects of the present invention are as follows. First, four towers can form a relatively large working space for this product, and its working space can be easily expanded with low expansion cost, and its height can be adjusted correspondingly according to actual needs.

[0035] Second, through the trackless loading and unloading design, the applicable scenarios of this product can be made very extensive. Only four flat tower foundation bases are required, and it can be adaptively built on squares, slopes, and inside factories without being affected by the terrain. It can even carry out the handling of goods in different open-top workshops inside the factory. At the same time, by adding the corresponding components of various grasping mechanisms, this product can adapt to the loading and unloading of goods of various vehicle types, and expand the operation range of directly loading and unloading goods, further expanding the adaptability of the loading equipment to different vehicles.

[0036] Third, by designing a simple, reliable, replaceable, and addable grasping mechanism at the end, this product can provide better adaptability for the loading and unloading of various types of goods, including boxes, woven bags, steel, etc. At the same time, according to different needs, the relevant components of the grasping mechanism can be replaced to achieve a multi-purpose design, reduce economic costs, and improve economic benefits.

[0037] Fourth, with the assistance of the provided detection sensor group, it can automatically identify the vehicle type, automatically select the type of grasping mechanism, automatically plan the loading path, automatically select the loading method, automatically determine the current working state, and can also be interconnected with its packaging system. It will automatically stop after applying for the quantity of goods or completing the specified loading quantity. After the fully loaded vehicle drives away and the empty vehicle drives in, it will automatically start the loading operation, realizing the automation of loading, saving labor costs, reducing the safety issues of workers' operations, and achieving a key link in the full-chain automation of intelligent factories for production - processing - transportation. Moreover, for special-shaped and irregular goods, the whole process can also be manually operated, making the intelligent loading operation applicable to various special needs and scenarios, improving work efficiency and economic benefits at the same time.

[0038] Fifth, through the automatic recognition of the provided detection sensor group, the recording of license plate numbers, loading categories, loading quantities, and loading times is fully automated, making each loading process well-regulated, accountable, and evidence-based, effectively avoiding a series of economic losses caused by the lack and omission in the recording of relevant account books in the existing technology.

[0039] Sixth, through the provided control computer, during the loading and unloading operation, it can promptly detect abnormal situations, record the abnormal situation data, retain the abnormal situation images, and output an abnormal situation alarm to the security section or the central control room or the safety monitoring system, so as to detect, stop, and solve problems early, effectively avoiding the occurrence of production safety accidents and preventing the further expansion of the situation after a production safety accident occurs in the first place, facilitating the maintenance personnel to promptly discover, identify, and handle abnormal situations.

[0040] Seventhly, through the corresponding retraction and extension between the tower and the flexible cable, the mechanical structure of the loading operation equipment can be simplified. At the same time, each component is standardized and modularized, which is convenient for later maintenance and replacement. Meanwhile, the operation standardization of the maintenance work is promoted, thereby reducing the failure rate of the loading and unloading equipment during the later operation, effectively extending the service life of the loading and unloading equipment, and improving the production economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0042] Figure 1 is a schematic structural diagram of a flexible cable loading equipment based on the rope parallel technology according to an embodiment of the present invention;

[0043] Figure 2 is a top view structural diagram of a flexible cable loading equipment based on the rope parallel technology according to an embodiment of the present invention;

[0044] Figure 3 is a side view structural diagram of a flexible cable loading equipment based on the rope parallel technology according to an embodiment of the present invention;

[0045] Figure 4 is a schematic structural diagram of an actuator group of a flexible cable loading equipment based on the rope parallel technology according to an embodiment of the present invention;

[0046] Figure 5 is a side view structural diagram of an upper frame of a flexible cable loading equipment based on the rope parallel technology according to an embodiment of the present invention;

[0047] Figure 6 is a schematic structural diagram of a winch of a flexible cable loading equipment based on the rope parallel technology according to an embodiment of the present invention;

[0048] Figure 7 is a schematic structural diagram of a bottom member of a flexible cable loading equipment based on the rope parallel technology according to an embodiment of the present invention;

[0049] Figure 8 is a schematic structural diagram of a top member of a flexible cable loading equipment based on the rope parallel technology according to an embodiment of the present invention;

[0050] Figure 9 is a schematic structural diagram of the connection structure between the flexible cable and the upper frame of a flexible cable loading equipment based on the rope parallel technology according to an embodiment of the present invention;

[0051] In the attached drawings: the first tower 1, the second tower 2, the third tower 3, the fourth tower 4, the first pulley unit group 101 of the first tower, the second pulley unit group 102 of the first tower, the first pulley unit group 201 of the second tower, the second pulley unit group 202 of the second tower, the second pulley unit group 302 of the third tower, the first pulley unit group 301 of the third tower, the second pulley unit group 402 of the fourth tower, the first pulley unit group 401 of the fourth tower, the first flexible cable 111, the second flexible cable 112, the third flexible cable 113, the fourth flexible cable 114, the fifth flexible cable 115, the sixth flexible cable 116, the seventh flexible cable 117, the eighth flexible cable 118, the first fixed rod 5, the first group 6, the second fixed rod 7, the second group 8, the upper frame 9, the first top ring 901, the second top ring 902, the third top ring 903, the fourth top ring 904, the reduction motor 911, the outer ring gear 912 of the slewing bearing, the gear 913, the support column 914, the lower frame 10, the first bottom ring 1001, the second bottom ring 1002, the third bottom ring 1003, the fourth bottom ring 1004, the flexible cable parallel force control cabinet 11 of the first tower, the flexible cable parallel force control cabinet 12 of the second tower, the flexible cable parallel force control cabinet 13 of the third tower, the flexible cable parallel force control cabinet 14 of the fourth tower, the hoisting unit 15 of the first tower, the hoisting unit 16 of the second tower, the hoisting unit 17 of the third tower, the hoisting unit 18 of the fourth tower, the bottom member 19 of the first tower, the bottom member 20 of the second tower, the bottom member 21 of the third tower, the bottom member 22 of the fourth tower, the grasping mechanism 23, the flexible cable 24, the hoist 25, the motor 2501, the drum 2502, the lead screw and optical bar mechanism 2503, the tension sensor 2504, the bottom member 26, the base 2601, the connecting column 2602, the compression spring 2603, the first bottom pulley 2604, the second bottom pulley 2605, the third bottom pulley 2606, the bottom fixer 2607, the sleeve 2608, the limit convex ring 2609, the limit post 27, the first pulley unit group 28 of any top member, the first fixer 2801, the first top pulley 2802, the second top pulley 2803, the first top longitudinal converter 2804, the third top pulley 2805, the fourth top pulley 2806, the first top transverse converter 2807, the second pulley unit group 29 of any top member, the second fixer 2901, the fifth top pulley 2902, the sixth top pulley 2903, the second top longitudinal converter 2904, the seventh top pulley 2905, the eighth top pulley 2906, the second top transverse converter 2907. Detailed implementation manners

[0052] In order to make the objectives and advantages of the present invention clearer and more understandable, the present invention will be further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0053] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and do not limit the protection scope of the present invention.

[0054] It should be noted that in the description of the present invention, the terms indicating directions or positional relationships such as "upper", "lower", "left", "right", "inner", "outer", "middle", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0055] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and defined, the terms "installation", "connection", "connection", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, or it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0056] Please refer to Figure 1 As shown, it is a schematic structural diagram of a flexible cable loading device based on the cable parallel technology in an embodiment of the present invention. This embodiment includes a support mechanism group, a flexible cable 24, an actuator group, a detection sensor group, and a control computer. Among them,

[0057] The support mechanism group includes a tower, a flexible cable parallel force control cabinet, a winch group, and a pulley mechanism. Among them,

[0058] The tower is used to support the flexible cable 24 and provide a preset activity range for the actuator group. The number of towers is preferably four, including the first tower 1, the second tower 2, the third tower 3, and the fourth tower 4.

[0059] The flexible cable parallel force control cabinets are respectively arranged on one side of the bottom of the tower. The number of them is equal to the number of towers, and it is used to distribute the corresponding length and tension of the flexible cable 24 according to the instructions output by the control computer, so that the actuator group performs displacement according to the movement path planned by the control computer and performs the corresponding grasping work.

[0060] The winch group includes several winches 25. The number of winches 25 arranged on the tower base is two respectively. The winch 25 is used to output a preset torque to the flexible cable 24.

[0061] The pulley mechanism includes a bottom member 26 and a top member. The bottom member 26 is respectively arranged on each tower. The number of bottom members 26 arranged on each tower is two. The bottom member 26 is used to change the tension degree of the flexible cable 24. The top member is respectively arranged on the top of each tower, used to change the extending direction of the flexible cable 24 and make the flexible cable 24 rotate horizontally with the actuator, preventing excessive wear of the flexible cable 24 caused by the inconsistency between the extending direction and the force-bearing direction.

[0062] The flexible cable 24 connects the bracket mechanism group and the actuator group, used to conduct the power of the bracket mechanism group to the actuator group, realize the displacement of the actuator group within the preset space and bear the weight.

[0063] Please refer to Figure 4 As shown in the figure, it is a schematic structural diagram of the actuator group of the flexible cable loading equipment based on the cable parallel technology in the embodiment of the present invention. The actuator group includes an upper frame 9, a lower frame 10 and a grasping mechanism 23. The upper frame 9 and the lower frame 10 are connected by a slewing bearing. The upper frame 9 is connected to the inner ring of the slewing bearing, and the lower frame 10 is connected to the outer ring of the slewing bearing. The upper frame 9 is used to connect the flexible cable 24, and the lower frame 10 is used to connect the grasping mechanism 23. The actuator group is used to grasp and release the goods at the preset position with a preset rotation angle and preset execution coordinates according to the corresponding instructions output by the control computer.

[0064] The detection sensor group includes a first group 6 and a second group 8. The first group and the second group are respectively provided with a visual detection sensor and a laser detection sensor. The first group 6 is arranged on the first fixed rod 5, and the second group 8 is arranged on the second fixed rod 7. The visual detection sensor is used to detect the positions of the goods, the unloading position, the palletizing position and the rotation state of the current position of the execution structure group respectively, and output the detection results to the control computer. The laser detection sensor is used to detect the coordinates of the positions of the goods, the unloading position, the palletizing position and the current position of the execution structure group respectively, and output the detection results to the control computer.

[0065] The control computer is respectively connected to the flexible cable parallel force control cabinet, the actuator group and the detection sensor group, used to plan the displacement path and grasping time of the actuator group according to the detection results of the detection sensor group, and perform corresponding control on the flexible cable parallel force control cabinet according to the displacement path of the actuator group.

[0066] Please refer to Figure 5As shown, it is a schematic side view structure of the upper frame 9 of the flexible cable loading equipment based on the cable parallel technology in the embodiment of the present invention. The upper frame 9 is a cuboid structure. The upper frame 9 is provided with a reduction motor and a gear. The output shaft of the reduction motor is engaged with the gear, and the gear is engaged with the outer ring gear of the slewing bearing. The reduction motor is used to drive the gear to rotate and thus control the rotation of the outer ring of the slewing bearing. The rotation of the outer ring of the slewing bearing is used to control the rotation angle of the lower frame 10. The upper frame 9 further includes support columns and flexible cable rings. The support columns are respectively arranged inside three adjacent sides of the cuboid structure, and the number of support columns on each side is three. The support columns are used to provide support for the reduction motor in a preset space. The flexible cable rings are respectively arranged at the four corners of the top surface and the bottom surface of the cuboid structure and are used to connect the flexible cables 24 extending from the top member. The flexible cable ring includes a top surface ring and a bottom surface ring. Among them, the top surface ring includes a first top surface ring, a second top surface ring, a third top surface ring, and a fourth top surface ring, and the bottom surface ring includes a first bottom surface ring, a second bottom surface ring, a third bottom surface ring, and a fourth bottom surface ring.

[0067] The lower frame 10 is a T-shaped long box body. The long box body is used to fix the grasping mechanism 23 under the lower frame 10. Among them, the connection method between the long box body and the grasping mechanism 23 is preferably a connection method of bolt-fixed clamping plates.

[0068] In this embodiment, the grasping mechanism 23 can be a vacuum suction cup assembly, or a hook assembly, or an electromagnet assembly. Among them, the vacuum suction cup assembly can be five single vacuum suction cups, or four single vacuum suction cups. The hook assembly can be three single hooks, or two single hooks. The electromagnet assembly can be two single electromagnet suction cups, or one single electromagnet suction cup, as long as it can meet the grasping requirements of the grasping mechanism 23 in this embodiment, which will not be elaborated here.

[0069] Please refer to Figure 6 As shown, it is a schematic structure diagram of the winch of the flexible cable loading equipment based on the cable parallel technology in the embodiment of the present invention. The winch 25 includes a motor 2501, a drum 2502, a lead screw and optical bar mechanism 2503, and a tension sensor 2504. The motor 2501 is used to output torque to the drum 2502. The drum 2502 is provided with spiral grooves, and the spiral grooves are used to define the winding position of the flexible cable 24. The lead screw and optical bar mechanism 2503 is used to convert the circular motion of the flexible cable 24 into a linear motion and maintain the relative synchronization of the flexible cable 24. The tension sensor 2504 is used to detect the tension of the flexible cable 24 in real time and output the tension value to the cable parallel force control cabinet.

[0070] Please refer to Figure 7As shown in the figure, it is a schematic structural diagram of the bottom component of the flexible cable loading equipment based on the cable parallel technology according to the embodiment of the present invention. The bottom component 26 includes a base 2601, a connecting column 2602, a compression spring 2603, a first bottom pulley 2604, a second bottom pulley 2605, a third bottom pulley 2606, and a bottom fixture 2607. The base 2601 is arranged inside the tower to fix the first bottom pulley 2604, the second bottom pulley 2605, and the connecting column 2602. One end of the connecting column 2602 is provided with a sleeve 2608, and a limiting convex ring 2609 extends from the end of the sleeve 2608. The limiting convex ring 2609 is used to prevent the connecting column 2602 from completely protruding from the sleeve 2608. The sleeve 2608 is arranged in the middle of the base 2601 and is used to provide offset limiting in a preset direction for the connecting column 2602 while allowing the connecting column 2602 to pass through the base 2601. The compression spring 2603 is arranged on the connecting column 2602 and is used to provide a mechanical thrust with a preset pressure to the flexible cable 24, so as to ensure that the flexible cable 24 is in a taut state. The first bottom pulley 2604 and the second bottom pulley 2605 are respectively arranged at both ends of the base 2601 to change the movement direction of the flexible cable 24. The third bottom pulley 2606 is arranged at the end of the connecting column 2602 far from the base 2601, and its positional relationship with the first bottom pulley 2604 and the second bottom pulley 2605 forms an isosceles triangle, and they are distributed at the three corners of the isosceles triangle. The position of the apex angle of the isosceles triangle is the position of the third bottom pulley 2606. The bottom fixture 2607 is arranged at the end of the connecting column 2602 far from the base 2601 to fix the third bottom pulley 2606.

[0071] Please refer to Figure 8 As shown in the figure, it is a schematic structural diagram of the top component of the flexible cable loading equipment based on the cable parallel technology according to the embodiment of the present invention. The top component includes a first top component, a second top component, a third top component, and a fourth top component. The first top component is arranged on the top of the first tower 1, the second top component is arranged on the top of the second tower 2, the third top component is arranged on the top of the third tower 3, and the fourth top component is arranged on the top of the fourth tower 4. The first top component, the second top component, the third top component, and the fourth top component respectively include a first pulley unit group and a second pulley unit group. The first pulley unit group 28 and the second pulley unit group of any top component are respectively arranged in parallel on both sides of the top of its tower. Among them,

[0072] The first pulley unit group 28 of any top member is provided with a first pulley unit and a second pulley unit. The first pulley unit includes a first top pulley 2802 and a first fixator 2801. The first top pulley 2802 is installed in the first fixator 2801 to change the direction of the flexible cable 24 extending from the bottom of the tower to the top of the tower. The first fixator 2801 is fixedly connected to one side of the top of the tower to form a gap with a preset spacing in the outer contour of the tower for the flexible cable 24. The second pulley unit includes a second top pulley 2803, a first top longitudinal converter 2804, a third top pulley 2805, a fourth top pulley 2806, and a first top transverse converter 2807. The second top pulley 2803 is installed in the first top longitudinal converter 2804 to change the direction of the flexible cable 24 extending from the first top pulley 2802 to the first top longitudinal converter 2804. The first top longitudinal converter 2804 is fixedly connected to the other end of the top of the tower that is transversely opposite to the first fixator 2801 to form a gap with a preset spacing between the flexible cable 24 and the top of the tower. The third top pulley 2805 and the fourth top pulley 2806 are arranged in the first top transverse converter 2807 at a preset spacing, and the outer sides of the third top pulley 2805 and the fourth top pulley 2806 are tangent to prevent the flexible cable 24 from slipping out of the groove due to uneven tension. The first top transverse converter 2807 is arranged above the first top longitudinal converter 2804 and is connected by a bearing to enable the first top transverse converter 2807 to automatically adjust its turning direction according to the force direction of the flexible cable 24. The first top transverse converter 2807 and the first top longitudinal converter 2804 are provided with the same concentric holes at the connection position, and the concentric holes are used to enable the flexible cable 24 to pass through from the upper middle part of the first top longitudinal converter 2804 to the first top transverse converter 2807 and be connected to the third top pulley 2805;

[0073] The second pulley unit group 29 of any top member is provided with a third pulley unit and a fourth pulley unit. The third pulley unit includes a fifth top pulley 2902 and a second fixator 2901. The fifth top pulley 2902 is installed in the second fixator 2901 to change the direction of the flexible cable 24 extending from the bottom of the tower to the top of the tower. The second fixator 2901 is fixedly connected to the side of the tower top opposite to the second pulley unit group 29 to form a gap with a preset spacing in the outer contour of the tower for the flexible cable 24. The fourth pulley unit includes a sixth top pulley 2903, a second top longitudinal converter 2904, a seventh top pulley 2905, an eighth top pulley 2906, and a second top transverse converter 2907. The sixth top pulley 2903 is installed in the second top longitudinal converter 2904 to change the direction of the flexible cable 24 extending from the fourth top pulley 2806 to the second top longitudinal converter 2904. The second top longitudinal converter 2904 is fixedly connected to the other end of the tower top that is horizontally opposite to the second fixator 2901 to form a gap with a preset spacing between the flexible cable 24 and the tower top. The seventh top pulley 2905 and the eighth top pulley 2906 are arranged in the second top transverse converter 2907 at a preset spacing. The outer sides of the seventh top pulley 2905 and the eighth top pulley 2906 are tangent to prevent the flexible cable 24 from slipping out of the groove due to uneven tension. The second top transverse converter 2907 is arranged above the second top longitudinal converter 2904 and connected by a bearing to enable the second top transverse converter 2907 to automatically adjust its steering according to the force direction of the flexible cable 24. The second top transverse converter 2907 and the second top longitudinal converter 2904 are provided with the same concentric holes at the connection position, and the concentric holes are used to enable the flexible cable 24 to pass through from the upper middle part of the second top longitudinal converter 2904 to the second top transverse converter 2907 and be connected to the seventh top pulley 2905.

[0074] The pulley mechanism is also provided with a limit post 27. The limit post 27 is respectively arranged above the bottom fixators 2607, the first fixator 2801, the first top longitudinal converter 2804, the first top transverse converter 2807, the second fixator 2901, the second top longitudinal converter 2904, and the second top transverse converter 2907 on the outer sides of the third bottom pulley 2606, the first top pulley 2802, the second top pulley 2803, the third top pulley 2805, the fifth top pulley 2902, the sixth top pulley 2903, and the seventh top pulley 2905 in all pulley mechanisms to prevent the flexible cable 24 from slipping out of the groove due to uneven tension.

[0075] The control computer includes a central processing unit, which is used to plan the loading and unloading path of the actuator group according to the coordinates of the opening direction of the truck loading and unloading hopper, the position of the goods, the unloading position, the stacking position, and the current position of the actuator group detected by the detection sensor group. The central processing unit outputs corresponding instructions to the flexible cable parallel force control cabinet according to the loading and unloading path, so that the actuator group displaces according to the loading and unloading path, and judges the grasping time of the grasping mechanism 23 and the rotation angle of the grasping mechanism 23 according to the loading and unloading path and the current position information of the actuator group, and outputs the corresponding instructions of the grasping time and the rotation angle to the reduction motor of the actuator group.

[0076] The control computer further includes a display screen and an operating console. The display screen is used to display the loading and unloading path planned by the central processing unit, and synchronize the position and rotation state of the current grasping mechanism 23 to the loading and unloading path in real time, so as to facilitate maintenance personnel to observe the loading and unloading path and the rotation state of the grasping mechanism 23 in real time. The operating console is used to adjust the preset values and the loading and unloading path in the control computer, and is used to perform manual operations on the actuator group.

[0077] Please refer to Figure 9 As shown, it is a schematic diagram of the connection structure between the flexible cable and the upper frame of the flexible cable loading equipment based on the cable parallel technology in the embodiment of the present invention. The diameter and material of the flexible cable are adjusted correspondingly according to the weight of the goods. The number of flexible cables is eight, and the number of flexible cable rings on the upper frame is also the same as the number of flexible cables. Among them, the flexible cables include a first flexible cable 111, a second flexible cable 112, a third flexible cable 113, a fourth flexible cable 114, a fifth flexible cable 115, a sixth flexible cable 116, a seventh flexible cable 117, and an eighth flexible cable 118.

[0078] The first flexible cable 111 is arranged in the first pulley unit group 101 of the first tower 1 and is used to connect the second bottom ring 1002.

[0079] The second flexible cable 112 is arranged in the second pulley unit group 102 of the first tower 1 and is used to connect the fourth top ring 904.

[0080] The third flexible cable 113 is arranged in the first pulley unit group 201 of the second tower 2 and is used to connect the first bottom ring 1001.

[0081] The fourth flexible cable 114 is arranged in the second pulley unit group 202 of the second tower 2 and is used to connect the third top ring 903.

[0082] The fifth flexible cable 115 is arranged in the second pulley unit group 302 of the third tower 3 and is used to connect the fourth bottom ring 1004.

[0083] The sixth flexible cable 116 is arranged in the first pulley unit group 301 of the third tower 3 and is used to connect the second top ring 902.

[0084] The seventh flexible cable 117 is arranged on the second pulley unit group 402 of the fourth tower 4 for connecting the third bottom ring 1003.

[0085] The eighth flexible cable 118 is arranged on the first pulley unit group 401 of the fourth tower 4 for connecting the first top ring 901.

[0086] In this embodiment, the visual detection sensor includes a machine vision processing unit, a depth camera unit and a storage unit, and the laser detection sensor includes a lidar scanning unit and a processing unit.

[0087] In this embodiment, since the position of the woven bag - type goods stacked on the pallet is generally three bags vertically in a row and two bags horizontally in a row on the first layer, and two bags horizontally first and then three bags vertically on the second layer, and so on, with alternating stacking, therefore, the position where the grabbing mechanism 23 is set on the lower frame 10 needs to rotate 180° after each layer is transported before transporting the next layer.

[0088] In this embodiment, the usage method of the flexible - cable loading equipment based on the cable - parallel technology is as follows: The truck needs to be parked in advance within the range surrounded by the four towers. The maintenance personnel input vehicle and goods - to - be - loaded information. The detection sensor group judges the position of the truck bed, the volume of the truck bed, the position of the goods, the unloading position, the stacking position, the volume of the goods and the current position of the actuator group. The control computer calculates the loading and unloading path, the grabbing time, the rotation angle and the goods stacking rule, and outputs corresponding control instructions to the flexible - cable parallel force control cabinet, the winch 25 and the actuator group. The control instructions include coordinate information, time information and output power information. The control computer makes real - time corrections to the flexible - cable parallel force control cabinet, the winch group and the actuator group according to the comparison result between the real - time information obtained by the detection sensor group and the preset information, and controls the gripper or other actuators through the control strategy of the flexible cable 24 to quickly and orderly transport the goods onto the truck.

[0089] So far, the technical solution of the present invention has been described in conjunction with the preferred embodiments shown in the drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0090] The above - mentioned are only the preferred embodiments of the present invention and are not used to limit the present invention; for those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A flexible cable loading device based on cable parallel technology, characterized in that It includes a support mechanism group, flexible cables, an actuator group, a detection sensor group, and a control computer. Among them, the support mechanism group includes a tower, a flexible cable parallel force control cabinet, a winch group, and a pulley mechanism. Among them, the tower is used to support the flexible cable and provide a preset activity range for the actuator group. The number of towers is four, including the first tower, the second tower, the third tower, and the fourth tower. The flexible cable parallel force control cabinets are respectively arranged on one side of the bottom of the towers, and the number of them is equal to the number of towers. It is used to distribute the length and tension of the corresponding flexible cables according to the instructions output by the control computer, so that the actuator group performs displacement along the movement path planned by the control computer and executes the corresponding grasping work. The winch group includes several winches, and the number of winches arranged on the base of each tower is two. The winches are used to output a moment with a preset intensity to the flexible cables. The pulley mechanism includes a bottom member and a top member. The bottom members are respectively arranged on each tower, and the number of bottom members arranged on each tower is two. The bottom members are used to change the tension degree of the flexible cables. The top members are respectively arranged on the top of each tower, used to change the extending direction of the flexible cables and make the flexible cables rotate horizontally with the actuator, and at the same time prevent excessive wear of the flexible cables caused by the inconsistency between the extending direction and the force direction; the flexible cables connect the support mechanism group and the actuator group, used to conduct the power of the support mechanism group to the actuator group, so that the actuator group performs displacement and bears weight in the preset space; the actuator group includes an upper frame, a lower frame, and a grasping mechanism. The upper frame and the lower frame are connected by a slewing bearing. The upper frame is connected to the inner ring of the slewing bearing, and the lower frame is connected to the outer ring of the slewing bearing. The upper frame is used to connect the flexible cables, and the lower frame is used to connect the grasping mechanism. The actuator group is used to grasp and release the goods at a preset position with a preset rotation angle and preset execution coordinates according to the corresponding instructions output by the control computer; the detection sensor group includes a first group and a second group. The first group and the second group are respectively provided with a vision detection sensor and a laser detection sensor. The first group is arranged on the first fixed rod, and the second group is arranged on the second fixed rod. The vision detection sensor is used to detect the position of the goods, the unloading position, the palletizing position, and the rotation state of the current position of the execution structure group respectively, and output the detection results to the control computer. The laser detection sensor is used to detect the coordinates of the position of the goods, the unloading position, the palletizing position, and the current position of the execution structure group respectively, and output the detection results to the control computer; the control computer is respectively connected to the flexible cable parallel force control cabinet, the actuator group, and the detection sensor group, used to plan the displacement path and grasping time of the actuator group according to the detection results of the detection sensor group, and perform corresponding control on the flexible cable parallel force control cabinet according to the displacement path of the actuator group.

2. The flexible cable loading equipment based on the cable parallel technology according to claim 1, characterized in that The upper frame is of a cuboid structure. A reduction motor and a gear are provided on the upper frame. The output shaft of the reduction motor meshes with the gear, and the gear meshes with the outer ring gear of the slewing bearing. The reduction motor is used to drive the gear to rotate so as to control the rotation of the outer ring of the slewing bearing. The rotation of the outer ring of the slewing bearing is used to control the rotation angle of the lower frame. The upper frame further includes support columns and cable rings. The support columns are respectively arranged inside three adjacent sides of the cuboid structure, and the number of support columns on each side is three. The support columns are used to provide support for the reduction motor in a preset space. The cable rings are respectively arranged at the four corners of the top surface and the bottom surface of the cuboid structure and are used to connect the cables extending from the top member. The cable ring includes a top surface ring and a bottom surface ring. Among them, the top surface ring includes a first top surface ring, a second top surface ring, a third top surface ring and a fourth top surface ring, and the bottom surface ring includes a first bottom surface ring, a second bottom surface ring, a third bottom surface ring and a fourth bottom surface ring.

3. The flexible cable loading equipment based on the cable parallel technology according to claim 2, characterized in that, The lower frame is a long box body of a T-shaped structure. The long box body is used to fix the grasping mechanism under the lower frame. Among them, the connection method between the long box body and the grasping mechanism is a connection method of bolt-fixed splints.

4. The flexible rope loading equipment based on the rope parallel technology according to claim 3, characterized in that, The winch includes a motor, a drum, a lead screw and optical bar mechanism, and a tension sensor. The motor is used to output torque to the drum. The drum is provided with spiral grooves, and the spiral grooves are used to define the winding position of the cable. The lead screw and optical bar mechanism is used to convert the circular motion of the cable into a linear motion and maintain the relative synchronization of the cable. The tension sensor is used to detect the tension of the cable in real time and output the tension value to the cable parallel force control cabinet.

5. The flexible cable loading equipment based on the cable parallel technology according to claim 4, characterized in that, The bottom member includes a base, a connecting column, a compression spring, a first bottom pulley, a second bottom pulley, a third bottom pulley and a bottom fixture. The base is arranged inside the tower and is used to fix the first bottom pulley, the second bottom pulley and the connecting column. One end of the connecting column is provided with a sleeve, and a limit convex ring extends out at the sleeve end. The limit convex ring is used to prevent the connecting column from completely extending out of the sleeve. The sleeve is arranged in the middle of the base and is used to enable the connecting column to provide offset limit in a preset direction while passing through the base. The compression spring is arranged on the connecting column and is used to provide a mechanical thrust with a preset pressure for the cable. The first bottom pulley and the second bottom pulley are respectively arranged at both ends of the base and are used to change the movement direction of the cable. The third bottom pulley is arranged at the end of the connecting column away from the base, and its positional relationship with the first bottom pulley and the second bottom pulley forms an isosceles triangle and is distributed at the three corners of the isosceles triangle. The position of the top angle of the isosceles triangle is the position of the third bottom pulley. The bottom fixture is arranged at the end of the connecting column away from the base and is used to fix the third bottom pulley.

6. The flexible cable loading equipment based on the cable parallel technology according to claim 5, characterized in that, The top member includes a first top member, a second top member, a third top member, and a fourth top member. The first top member is disposed at the top of the first tower, the second top member is disposed at the top of the second tower, the third top member is disposed at the top of the third tower, and the fourth top member is disposed at the top of the fourth tower. The first top member, the second top member, the third top member, and the fourth top member respectively include a first pulley unit group and a second pulley unit group. The first pulley unit group and the second pulley unit group of each top member are respectively arranged in parallel on both sides of the top of its corresponding tower.

7. The flexible cable loading equipment based on the cable parallel technology according to claim 6, characterized in that In the first pulley unit group and the second pulley unit group of any one of the top members, the first pulley unit group is provided with a first pulley unit and a second pulley unit. The first pulley unit includes a first top pulley and a first fixator. The first top pulley is installed in the first fixator to change the direction of the flexible cable extending from the bottom of the tower to the top of the tower. The first fixator is fixedly connected to one side of the top of the tower to form a gap with a preset spacing in the outer contour of the tower for the flexible cable. The second pulley unit includes a second top pulley, a first top longitudinal converter, a third top pulley, a fourth top pulley, and a first top transverse converter. The second top pulley is installed in the first top longitudinal converter to change the direction of the flexible cable extending from the first top pulley to the first top longitudinal converter. The first top longitudinal converter is fixedly connected to the other end of the top of the tower that is transversely opposite to the first fixator to form a gap with a preset spacing between the flexible cable and the top of the tower. The third top pulley and the fourth top pulley are arranged in the first top transverse converter at a preset spacing, and the outer sides of the third top pulley and the fourth top pulley are tangent to prevent the flexible cable from slipping out of the groove due to uneven tension. The first top transverse converter is disposed above the first top longitudinal converter and is connected by a bearing to enable the first top transverse converter to automatically adjust its steering according to the force direction of the flexible cable. Concentric holes are opened at the connection position of the first top transverse converter and the first top longitudinal converter, and the concentric holes are used for the flexible cable to pass through from the upper middle of the first top longitudinal converter to the first top transverse converter and be connected to the third top pulley; Each of the second pulley unit groups is provided with a third pulley unit and a fourth pulley unit. The third pulley unit includes a fifth top pulley and a second fixator. The fifth top pulley is installed in the second fixator to change the direction of the flexible cable extending from the bottom of the tower to the top of the tower. The second fixator is fixedly connected to the side of the tower top opposite to the second pulley unit group to form a gap with a preset spacing in the outer contour of the tower for the flexible cable. The fourth pulley unit includes a sixth top pulley, a second top longitudinal converter, a seventh top pulley, an eighth top pulley, and a second top transverse converter. The sixth top pulley is installed in the second top longitudinal converter to change the direction of the flexible cable extending from the fifth top pulley to the second top longitudinal converter. The second top longitudinal converter is fixedly connected to the other end of the tower top that is horizontally opposite to the second fixator to form a gap with a preset spacing between the flexible cable and the tower top. The seventh top pulley and the eighth top pulley are arranged in the second top transverse converter at a preset spacing, and the outer sides of the seventh top pulley and the eighth top pulley are tangent to prevent the flexible cable from slipping out of the groove due to uneven tension. The second top transverse converter is arranged above the second top longitudinal converter and connected by a bearing to enable the second top transverse converter to automatically adjust its steering according to the force direction of the flexible cable. Concentric holes are provided at the connection position of the second top transverse converter and the second top longitudinal converter, and the concentric holes are used for the flexible cable to pass through from the upper middle part of the second top longitudinal converter to the second top transverse converter and be connected to the seventh top pulley.

8. The flexible cable loading equipment based on the cable parallel technology according to claim 7, characterized in that, The pulley mechanism is further provided with limit posts. The limit posts are respectively arranged above the bottom fixator, the first fixator, the first top longitudinal converter, the first top transverse converter, the second fixator, the second top longitudinal converter, and the second top transverse converter on the outer sides of the third bottom pulley, the first top pulley, the second top pulley, the third top pulley, the fifth top pulley, the sixth top pulley, and the seventh top pulley in all pulley mechanisms to prevent the flexible cable from slipping out of the groove due to uneven tension.

9. The flexible cable loading equipment based on the cable parallel technology according to claim 8, characterized in that, The control computer includes a central processing unit, which is used to plan the loading and unloading path of the actuator group according to the coordinates of the opening direction of the truck loading and unloading hopper, the position of the goods, the unloading position, the stacking position, and the current position of the actuator group detected by the detection sensor group. The central processing unit outputs corresponding instructions to the flexible cable parallel force control cabinet according to the loading and unloading path, so that the actuator group displaces according to the loading and unloading path, and judges the grasping time of the grasping mechanism and the rotation angle of the grasping mechanism according to the loading and unloading path and the current position information of the actuator group, and outputs the corresponding instructions of the grasping time and the rotation angle to the reduction motor of the grasping mechanism. The control computer also includes a display screen and an operating console. The display screen is used to display the loading and unloading path planned by the central processing unit, and synchronize the current position and rotation state of the grasping mechanism to the loading and unloading path in real time, so as to facilitate maintenance personnel to observe the loading and unloading path and the rotation state of the grasping mechanism in real time. The operating console is used to adjust the preset values and the loading and unloading path in the control computer, and is used to perform manual operations on the actuator group.

10. The flexible cable loading equipment based on the cable parallel technology according to claim 9, characterized in that, The diameter and material of the flexible cable are adjusted correspondingly according to the weight of the goods. The number of flexible cables is eight, and the number of the upper frame flexible cable rings is also the same as the number of flexible cables. Among them, the flexible cables include the first flexible cable, the second flexible cable, the third flexible cable, the fourth flexible cable, the fifth flexible cable, the sixth flexible cable, the seventh flexible cable, and the eighth flexible cable. The first flexible cable is arranged in the first pulley unit group of the first tower to connect the second bottom ring. The second flexible cable is arranged in the second pulley unit group of the first tower to connect the fourth top ring. The third flexible cable is arranged in the first pulley unit group of the second tower to connect the first bottom ring. The fourth flexible cable is arranged in the second pulley unit group of the second tower to connect the third top ring. The fifth flexible cable is arranged in the second pulley unit group of the third tower to connect the fourth bottom ring. The sixth flexible cable is arranged in the first pulley unit group of the third tower to connect the second top ring. The seventh flexible cable is arranged in the second pulley unit group of the fourth tower to connect the third bottom ring. The eighth flexible cable is arranged in the first pulley unit group of the fourth tower to connect the first top ring.

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