Sectional material lifting appliance and lifting method

Abstract

The invention relates to a sectional material lifting appliance and a lifting method. The multiple suction mechanisms are arranged on the base in the first direction, at least one bearing part can be controlled to move in the first direction, the positions of the suction mechanisms can be adjusted more flexibly according to the to-be-sucked sectional materials, and the flexibility and reliability of the device are improved. The suction unit can be rotationally connected to the bearing piece around the first axis, and adjustability of the suction angle is further improved. The rotating mechanism is arranged to drive the base to rotate around the second axis, and the suction unit can suck the to-be-sucked sectional materials from different positions and angles. Moreover, the first detection piece is connected to the rotating mechanism, so that the first detection piece can obtain the image information from different positions and angles, and the controller can determine the suction area of the profile to be sucked more accurately. And meanwhile, the controller is arranged to be electrically connected with the suction mechanism, the rotating mechanism and the first detection piece, so that the automation degree of the profile lifting appliance can be improved, and the lifting efficiency of the profile lifting appliance can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of lifting and hoisting, and in particular to a profile lifting device and a lifting method. Background Art

[0002] Profiles are objects with certain geometric shapes made of iron or steel and materials with certain strength and toughness through rolling, extrusion, casting and other processes. Profile hoists refer to devices used in lifting machinery to lift profiles. In the operation of lifting profiles, the most commonly used devices are hooks, slings, lifting rings and lifting suction cups. At present, most hoists still need to use manual assistance methods for lifting different profiles. However, in the process of lifting and placing parts with manual assistance, there are problems of low lifting efficiency and low safety. Summary of the invention

[0003] Based on this, it is necessary to provide a profile hoist and a hoisting method to improve the hoisting efficiency and the safety of the hoisting.

[0004] According to one aspect of the present application, an embodiment of the present application provides a profile hanger, comprising:

[0005] A base is longitudinally extended along a first direction;

[0006] A plurality of suction mechanisms are arranged on the base along a first direction; the suction mechanisms include a carrier and a suction unit arranged on the carrier, the carrier of at least one suction mechanism is configured to be controllably movably connected to the base along the first direction, and the suction unit is configured to be controllably rotatably connected to the carrier around a first axis; the extension direction of the first axis is parallel to the first direction;

[0007] A rotating mechanism connected to the base; the rotating mechanism is configured to drive the base to rotate around a second axis; the second axis is perpendicular to the first axis;

[0008] A first detection member connected to the rotating mechanism; the first detection member is configured to obtain image information of the profile to be sucked; and

[0009] The controller is electrically connected to the suction mechanism, the rotating mechanism and the first detection member respectively; the controller is used to determine the suction area of ​​the profile to be sucked according to the image information obtained by the first detection member, and control the action of the suction mechanism and the action of the rotating mechanism based on the suction area.

[0010] In one embodiment, the rotating mechanism is further configured to be controllably movable along a second direction, the second direction being parallel to an extension direction of the second axis;

[0011] The suction mechanism also includes a second detection member, which is arranged on one side of the suction unit and is electrically connected to the controller; the second detection member is configured to sense the profile to be sucked; the controller is used to control the movement of the rotating mechanism along the second direction according to the sensing information of the second detection member.

[0012] In one embodiment, the suction unit is configured to be elastically connected to the carrier along a preset direction; the preset direction and the first direction intersect each other;

[0013] In the initial state, there is a preset elastic force between the suction unit and the carrier.

[0014] In one embodiment, the suction mechanism further includes an elastic member, and the elastic member is located on a moving path of the suction unit along a preset direction.

[0015] In one embodiment, the suction mechanism further includes a guide member; one end of the guide member is connected to the suction unit, and the other end of the guide member is movably connected to the supporting member along a preset direction, and the elastic member is sleeved on the guide member.

[0016] In one embodiment, the suction unit is configured to be elastically connected to the carrier along a preset direction, and the preset direction and the first direction intersect each other;

[0017] The suction mechanism further includes a third detection member, which is arranged on a side of the suction unit away from the profile to be sucked and is located on the movement path of the suction unit; the third detection member is electrically connected to the controller;

[0018] The third detection member is configured to detect whether the suction unit is contacted; the controller is used to determine whether to control the rotating mechanism to stop moving toward the profile to be sucked according to the detection information of the third detection member.

[0019] In one embodiment, the suction mechanism further includes a flip member and a first driving member;

[0020] The flipping member is rotatably connected to the bearing member around a first axis, and a suction unit is provided on the flipping member; the first driving member is connected to the flipping member, and the first driving member is used to drive the flipping member to rotate around the first axis.

[0021] In one embodiment, the suction mechanism further includes a matching member and a fourth detection member;

[0022] The matching piece is sleeved on the flip piece, and the outer peripheral surface of the matching piece has a cut surface, and the cut surface has a first edge and a second edge that are oppositely arranged along the circumference of the matching piece;

[0023] The fourth detection member is disposed on the carrier and is arranged corresponding to the outer peripheral surface of the matching member; the fourth detection member is configured to generate a detection signal according to the outer peripheral edge of the matching member, and the detection signal of the fourth detection member includes a first detection signal and a second detection signal, the first detection signal is a detection signal generated by the fourth detection member according to the first edge, and the second detection signal is a detection signal generated by the fourth detection member according to the second edge;

[0024] The controller is also electrically connected to the fourth detection member and the first driving member respectively. The controller is configured to control the action of the first driving member to control the rotation angle of the flip member according to the first detection signal and the second detection signal.

[0025] In one embodiment, the outer peripheral surface of the fitting has a main surface except for the cut surface, and the main surface is configured as an arc surface; wherein the cut surface extends linearly from the first edge to the second edge; or

[0026] The cut surface extends from the first edge to the second edge in a concave shape, and the cut surface is concavely arranged toward the second axis.

[0027] In one of the embodiments, the material of the profile to be sucked is configured as a magnetic material, and the suction unit is configured to be controllably magnetically connected to the profile to be sucked.

[0028] In one embodiment, the suction unit has a plurality of suction parts, each of which is configured to be independently controllably magnetically connected to the profile to be sucked.

[0029] In one embodiment, a carrier that is controllably movably connected to a base along a first direction is defined as a target carrier;

[0030] The profile hanger also includes a driving mechanism, which is arranged on the base and connected to the target bearing member, and is used to drive the target bearing member to move relative to the base along a first direction.

[0031] In one embodiment, the driving mechanism includes a second driving member and a transmission assembly; the second driving member is connected to the target bearing member;

[0032] The transmission assembly includes a gear and a rack. The gear is sleeved on the output shaft of the second driving member. The rack is arranged on the base along the first direction. The gear and the rack are meshed. The second driving member drives the gear to drive the target bearing member to move along the first direction.

[0033] In one of the embodiments, the rotating mechanism further includes a rotating member and a third driving member;

[0034] The rotating member is connected to the base, the third driving member is connected to the rotating member, and the third driving member is used for driving the rotating member to rotate around the second axis.

[0035] According to another aspect of the present application, an embodiment of the present application provides a lifting method, which is applied to a profile lifting device as in any of the previous embodiments; the lifting method comprises:

[0036] Determine the suction area of ​​the profile to be sucked according to the image information obtained by the first detection member;

[0037] The action of the suction mechanism and the action of the rotating mechanism are controlled based on the suction area to adsorb and lift the profile to be sucked.

[0038] In one embodiment, determining the suction area of ​​the profile to be sucked according to the image information obtained by the first detection member includes:

[0039] Based on the image information, determine the position, size and surface of the profile to be sucked;

[0040] Based on the number of suction mechanisms, the posture, size and surface of the profile to be sucked, determine the suction area required to maintain the profile to be sucked in a static equilibrium state when hoisting the profile to be sucked.

[0041] In one embodiment, controlling the action of the suction mechanism and the action of the rotation mechanism based on the suction area includes:

[0042] Determining a rotation angle of the suction unit relative to the carrier, a target position of the carrier relative to the base, and a rotation position of the base based on the suction area, an initial suction angle of the suction unit, an initial position of the carrier relative to the base, and an initial position of the rotating mechanism;

[0043] Based on the rotation angle of the suction unit relative to the carrier, the target position of the carrier relative to the base, and the rotation position of the base, the action of the suction mechanism and the action of the rotation mechanism are controlled.

[0044] In one embodiment, the action of the suction mechanism and the action of the rotation mechanism are controlled based on the suction area to adsorb and lift the profile to be sucked, and then the method includes:

[0045] According to the sensing information of the second detection member, the movement of the rotating mechanism along the second direction is controlled; wherein the second detection member is arranged at one side of the suction unit, and the second direction and the extension direction of the second axis are parallel to each other.

[0046] In one embodiment, the hoisting method further comprises:

[0047] Determine whether the suction unit contacts the third detection member according to the detection information of the third detection member; wherein the third detection member is arranged on a side of the suction unit away from the profile to be sucked and is located on a movement path of the suction unit, and the suction unit is configured to be able to move relative to the carrier along a preset direction, and the preset direction intersects with the first direction;

[0048] When the suction unit contacts the third detection member, the rotating mechanism is controlled to stop moving toward the profile to be sucked.

[0049] In one embodiment, the suction area is defined by a plane-shaped area on the surface to be sucked of the profile to be sucked.

[0050] In the above-mentioned profile hanger and hoisting method, the profile hanger at least includes a base, a plurality of suction mechanisms, a rotating mechanism, a first detection member and a controller. The plurality of suction mechanisms are arranged on the base along the first direction, and at least one bearing member can be controlled to move along the first direction. The position of the suction mechanism can be adjusted more flexibly according to the size and shape of the profile to be sucked, thereby improving the flexibility and reliability of the device. The suction unit can be connected to the bearing member by rotation around the first axis, further increasing the adjustability of the suction angle, reducing the occurrence of suction instability, falling and the like during the suction process, and improving safety. By setting a rotating mechanism to drive the base to rotate around the second axis, the suction unit can be made to suck the profile to be sucked from different positions and angles. In addition, by connecting the first detection member to the rotating mechanism, the first detection member can obtain image information from different positions and angles, so that the controller can more accurately determine the suction area of ​​the profile to be sucked. At the same time, by setting the controller to electrically connect the suction mechanism, the rotating mechanism and the first detection member respectively, compared with manual assisted hoisting, the automation degree of the profile hanger can be improved, which is conducive to improving the hoisting efficiency of the profile hanger. Therefore, the profile hanger and the lifting method provided in the embodiments of the present application can not only improve the safety of lifting, but also improve the degree of automation of the device, thereby helping to improve the lifting efficiency.

[0051] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the embodiments below. The accompanying drawings are only for the purpose of illustrating the embodiments and are not to be considered as limiting the present application. Moreover, the same reference numerals are used throughout the drawings to represent the same components. In the drawings:

[0053] Figure 1 It is a schematic diagram of the three-dimensional structure of the profile hanger in some embodiments of the present application;

[0054] Figure 2 It is a schematic diagram of a partially exploded structure of a profile hanger in some embodiments of the present application;

[0055] Figure 3 A schematic structural diagram of a profile hanger from one perspective in some embodiments of the present application;

[0056] Figure 4 It is a structural schematic diagram of a profile hanger in some embodiments of the present application in a hoisting state;

[0057] Figure 5 It is a structural schematic diagram of a profile hanger in some embodiments of the present application in another hoisting state;

[0058] Figure 6 It is a structural schematic diagram of the profile hanger in some embodiments of the present application in another hoisting state;

[0059] Figure 7 for Figure 1 The schematic diagram of the partial enlarged structure of the profile hanger at G is shown;

[0060] Figure 8 for Figure 1 The schematic diagram of the partial enlarged structure of the H portion of the profile hanger is shown;

[0061] Fig. 9 for Figure 1 A partial enlarged structural schematic diagram of a section hanger at position I is shown;

[0062] Fig.10 A flow chart of a method for hoisting a profile hanger in some embodiments of the present application;

[0063] Fig.11 A flow chart of a method for hoisting a profile hanger in some other embodiments of the present application;

[0064] Fig.12 This is a flow chart of a method for hoisting a profile hanger in another embodiment of the present application;

[0065] Fig.13 A flow chart of a method for hoisting a profile hanger in some further embodiments of the present application;

[0066] Fig.14 The present application also provides a flow chart of a method for lifting a profile hanger in some embodiments.

[0067] The reference numerals in the specific implementation manner are as follows:

[0068] Profile hanger 100;

[0069] Base 110;

[0070] Suction mechanism 120, carrier 121, suction unit 122, suction portion 122a, second detection member A2, elastic member 123, guide member 124, third detection member A3, flip member 125, first driving member Q1, matching member 126, cut surface M, first edge b1, second edge b2, main body surface T, fourth detection member A4;

[0071] Rotating mechanism 130, rotating member 131, third driving member Q3;

[0072] First detection part A1;

[0073] Driving mechanism 150, second driving member Q2, transmission assembly 151, gear 151a, rack 151b;

[0074] Profile 200 to be sucked;

[0075] A first direction F1, a second direction F2, and a third direction F3;

[0076] Steps S100, S110, S120, S200, S210, S300, S400, S500. DETAILED DESCRIPTION

[0077] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0078] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0079] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0080] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0081] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0082] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0083] Figure 1 A schematic diagram of the three-dimensional structure of a profile hanger in some embodiments of the present application is shown; Figure 2 A schematic diagram of a partially exploded structure of a profile hanger in some embodiments of the present application is shown; Figure 3 A schematic structural diagram showing a perspective of a profile hanger in some embodiments of the present application; Figure 4 A schematic structural diagram of a profile hanger in some embodiments of the present application in a hoisting state is shown; for ease of explanation, only the content related to the embodiments of the present application is shown.

[0084] Please refer to Figures 1 to 4 The embodiment of the present application provides a profile hanger 100, including a base 110, a plurality of suction mechanisms 120, a rotating mechanism 130, a first detection member A1 and a controller (not shown in the figure).

[0085] The base 110 may be a component that provides a basic support for the plurality of suction mechanisms 120 , the rotation mechanism 130 , the first detection member A1 , and the controller, etc. The base 110 is longitudinally extended along the first direction F1 .

[0086] The suction mechanism 120 is a mechanism for sucking the profile 200 to be sucked. Specifically, a plurality of suction mechanisms 120 are arranged on the base 110 along the first direction F1. The suction mechanism 120 includes a carrier 121 and a suction unit 122 arranged on the carrier 121. The carrier 121 of at least one suction mechanism is configured to be controllably movably connected to the base 110 along the first direction F1, and the suction unit 122 is configured to be controllably rotatably connected to the carrier 121 around a first axis. It should be noted that the extension direction of the first axis is parallel to the first direction F1.

[0087] The "profile 200 to be sucked" refers to a profile that can be sucked by the suction unit 122. The profile 200 to be sucked can be metal, plastic, or wood. Figure 4 As an example, the profile 200 to be sucked is a bulb flat steel. Figure 5 For example, Figure 5 FIG. 2 is a schematic diagram of a profile lifting device in another lifting state in some embodiments of the present application, illustrating a situation where the profile 200 to be sucked is an unequal angle steel. Figure 6 For example, Figure 6 This is a schematic diagram of the structure of the profile hanger in some embodiments of the present application in another lifting state, illustrating the situation where the profile 200 to be sucked is an equilateral angle steel. In other embodiments, the profile 200 to be sucked can also be of other shapes, sizes, etc., which are not specifically limited here.

[0088] A plurality of suction mechanisms 120 are arranged on the base 110 along the first direction F1. It is understandable that the number of suction mechanisms 120 may be two, three, four, or even more. The number may be set according to actual conditions and is not specifically limited herein. The supporting member 121 of at least one suction mechanism 120 may be controllably movable and connected to the base 110 along the first direction F1. This means that when a plurality of suction mechanisms 120 are arranged on the base 110 along the first direction F1, the supporting member 121 of one suction mechanism 120 may be controllably movable and connected to the base 110 along the first direction F1, or the supporting members 121 of two suction mechanisms 120 may be controllably movable and connected to the base 110 along the first direction F1, or the supporting members 121 of another number of suction mechanisms 120 may be controllably movable and connected to the base 110 along the first direction F1, and is not specifically limited herein. For example, with Figure 1 and Figure 2For example, three suction mechanisms 120 are provided, and the suction mechanism 120 located in the middle of the base 110 is stationary, and the suction mechanisms 120 located on both sides can move along the first direction, so that the carrier 121 on the suction mechanism 120 can move and adjust more quickly.

[0089] In addition, the number of suction mechanisms 120 can be arranged differently according to the length, shape, etc. of the profile 200 to be sucked, and can be arranged symmetrically on the base 110 along the first direction F1, or can be arranged asymmetrically on the base 110 along the first direction F1, and can be arranged according to actual conditions, and no specific restrictions are made here. It should be noted that for different profiles 200 to be sucked, the suction mechanisms 120 can be arranged symmetrically or asymmetrically on the base 110 along the first direction F1, which can be determined according to the determination of the suction area illustrated later.

[0090] In some other embodiments, a plurality of suction units 122 may be disposed on a carrier 121 in a suction mechanism 120 , which is not specifically limited herein.

[0091] When the length of the profile 200 to be sucked is short, only one sucking mechanism 120 is sufficient. When the length of the profile 200 to be sucked is long, two or more sucking mechanisms 120 can be used, and the multiple sucking mechanisms 120 cooperate with each other to adjust the distance so as to better suck the sucking area of ​​the profile 200 to be sucked. In this way, as few sucking mechanisms 120 as possible can be used to lift the profile 200 to be sucked with as large a length range as possible, further increasing the compatibility of the profile hanger 100, and at the same time, reducing the weight of the profile hanger 100.

[0092] “The suction unit 122 is configured to be controllably rotatably connected to the carrier 121 around a first axis” means that the suction unit 122 can be controlled to rotate around the first axis relative to the carrier 121, and the angle of the suction unit 122 can be more accurately adjusted by rotating around the first axis to better fit the profile 200 to be sucked, thereby improving the stability and accuracy of suction. Figure 3 As shown, each suction unit 122 has a different tilting and rotating angle.

[0093] The rotating mechanism 130 is a mechanism for rotating the base 110. Specifically, the rotating mechanism 130 is connected to the base 110. The rotating mechanism 130 is configured to drive the base 110 to rotate around a second axis, wherein the second axis is perpendicular to the first axis.

[0094] The rotation mechanism 130 drives the base 110 to rotate around the second axis to an angle of up to 180 degrees, so as to better adapt to the placement position, placement angle, etc. of different profiles 200 to be sucked.

[0095] The first detection member A1 is connected to the rotating mechanism 130. The first detection member A1 is configured to obtain image information of the profile 200 to be sucked. While the rotating mechanism 130 drives the base 110 to rotate around the second axis, it can also drive the first detection member A1 to rotate around the second axis, thereby changing the position and angle of the first detection member A1, so that the first detection member A1 can obtain image information of the profile 200 to be sucked from multiple angles, thereby collecting key image data such as the shape, size, specific placement angle and spatial position of the profile 200 to be sucked.

[0096] The first detection component A1 can be a 3D camera, a laser scanner, a structured light sensor, etc. It can be configured according to actual conditions as long as it can obtain image information of the profile 200 to be absorbed. No specific limitation is made here.

[0097] The controller is electrically connected to the suction mechanism 120, the rotation mechanism 130 and the first detection member A1 respectively. The controller is used to determine the suction area of ​​the profile 200 to be sucked according to the image information obtained by the first detection member A1, and control the action of the suction mechanism 120 and the rotation mechanism 130 based on the suction area.

[0098] First, the controller can analyze and process the image information obtained by the first detection member A1, and use image recognition algorithms, image processing technology, etc. to determine the suction area of ​​the profile 200 to be sucked. Then, the controller can send a control instruction to the suction mechanism 120 to more accurately control the movement of the carrier 121 and the rotation of the suction unit 122 according to the relevant information of the determined suction area, and can also send instructions to the rotation mechanism 130 to control the base 110 to rotate around the second axis. Through such all-round coordinated control, the entire profile hanger 100 can more accurately and efficiently complete the suction of the profile 200 to be sucked, so that the profile hanger 100 can hoist the profile.

[0099] It should be noted that the image recognition algorithm and image processing technology can be any existing recognition algorithm and processing technology, and can be set according to actual conditions, and no specific limitation is made here.

[0100] For different lengths of the profile 200 to be sucked, the first detection piece A1 can first detect and determine the position of the end surface of the profile 200 to be sucked, and then transmit the image information to the controller. The controller can calculate the position where the suction unit 122 should be based on the information about the length of the profile 200 to be sucked and the length of the suction unit 122 obtained by the first detection piece A1.

[0101] Exemplarily, the profile hanger 100 is connected to the lifting equipment through a connecting mechanism. First, the lifting equipment can drive the profile hanger 100 to move vertically to the top of the profile 200 to be sucked, and the first detection member A1 can detect and identify the profile 200 to be sucked according to the placement angle, the angle of the surface to be sucked, the shape and size of the profile to be sucked, etc. The image information of the profile 200 to be sucked obtained by the first detection member A1 is transmitted to the controller, and the controller can calculate the image data of the profile 200 to be sucked through the built-in image recognition algorithm. The controller controls the rotating mechanism 130 to drive the base 110 to rotate around the second axis according to the image data obtained by calculation, and the rotation angle of the base 110 can be adapted to the placement position of the profile 200 to be sucked; then, the controller controls the suction mechanism 120 to move along the first direction F1 to the top of the suction area of ​​the profile 200 to be sucked, and the controller controls the suction unit 122 to rotate around the first axis relative to the carrier 121. It should be noted that the controller can simultaneously control the suction mechanism 120 to move along the first direction F1 to the top of the suction area of ​​the profile 200 to be sucked and control the suction unit 122 to rotate around the first axis relative to the carrier 121; it can also control the suction mechanism 120 to move along the first direction F1 to the top of the suction area of ​​the profile 200 to be sucked, and then control the suction unit 122 to rotate around the first axis relative to the carrier 121; it can also control the suction unit 122 to rotate around the first axis relative to the carrier 121, and then control the suction mechanism 120 to move along the first direction F1 to the top of the suction area of ​​the profile 200 to be sucked. It can be set according to actual conditions and is not specifically limited here. Finally, the controller controls the rotating mechanism 130 to move along the second direction to suck the profile 200 to be sucked.

[0102] In the embodiments of the present application, Figure 1 and Figure 2As shown, three suction mechanisms 120 are arranged on the base 110 along the first direction F1, and the bearing members 121 of two suction mechanisms 120 can be controlled to move along the first direction F1 and connected to the base 110, and the bearing member 121 of another suction mechanism 120 is fixedly connected to the base 110 and is located between the two movable suction mechanisms 120. In this way, the controller can calculate the distance that the two movable bearing members 121 need to move according to the image information obtained by the first detection member A1 through the built-in image recognition algorithm of the controller, and the fixedly connected bearing member 121 does not need to move, and the built-in algorithm of the controller does not need to be used, which can make the built-in image recognition algorithm of the controller more simplified. At the same time, the two supporting members 121 are respectively located on both sides of the supporting member 121 fixedly connected to the base 110, which can make the movement along the first direction F1 more convenient. The two supporting members 121 may not be disturbed during the movement, so as to reach the suction area above the profile to be sucked more accurately. The moving stroke of the two supporting members 121 can also be reduced, so that the supporting members 121 can reach the suction area above more quickly, thereby improving the lifting efficiency.

[0103] In this way, by arranging a plurality of suction mechanisms 120 on the base 110 along the first direction F1, and at least one carrier 121 can be controlled to move along the first direction F1, the position of the suction mechanism 120 can be adjusted more flexibly according to the size and shape of the profile to be sucked, thereby improving the flexibility and reliability of the device. The suction unit 122 can be connected to the carrier 121 by rotating around the first axis, further increasing the adjustability of the suction angle, reducing the phenomenon of unstable suction, falling, etc. during the suction process, and improving safety. By setting a rotating mechanism 130 to drive the base 110 to rotate around the second axis, the suction unit 122 can suck the profile 200 to be sucked from different positions and angles. In addition, by connecting the first detection member A1 to the rotating mechanism 130, the first detection member A1 can obtain image information from different positions and angles, so that the controller can more accurately determine the suction area of ​​the profile 200 to be sucked. At the same time, by providing a controller to electrically connect the suction mechanism 120, the rotation mechanism 130 and the first detection member A1 respectively, compared with manual assisted lifting, the automation level of the lifting device can be improved, which is beneficial to improving the lifting efficiency of the profile lifting device.

[0104] Figure 7 Shows Figure 1 A partial enlarged structural schematic diagram of the G portion of the profile hanger is shown; for ease of explanation, only the content related to the embodiment of the present application is shown.

[0105] In some embodiments, please refer to Figures 1 to 4 , and combined with reference Figure 7The rotating mechanism 130 is also configured to be controllably movable along a second direction F2, and the second direction F2 is parallel to an extension direction of the second axis.

[0106] The suction mechanism 120 further includes a second detection member A2. Specifically, the second detection member A2 is disposed at one side of the suction unit 122 and is electrically connected to the controller 140. The second detection member A2 is configured to sense the profile 200 to be sucked. The controller 140 is used to control the movement of the rotating mechanism 130 along the second direction F2 according to the sensing information of the second detection member A2.

[0107] The rotating mechanism 130 can be controlled to move along the second direction F2, so that the profile hanger 100 can move in the second direction F2, so that the suction unit 122 on the profile hanger 100 approaches the profile to be sucked along the second direction F2, and after the suction unit 122 sucks the profile, the rotating mechanism 130 can drive the profile to move along the second direction F2, thereby moving away from the original profile placement area.

[0108] The second detection member A2 is arranged on one side of the suction unit 122 and is electrically connected to the controller 140, so that the sensing information of the second detection member A2 can be transmitted to the controller, so that the controller controls the movement of the rotating mechanism 130 along the second direction F2. When the second detection member A2 does not sense the profile 200 to be sucked, the controller does not receive the sensing information. At this time, the controller can control the rotating mechanism 130 to move more quickly along the second direction F2, so as to reach the top of the suction area more quickly, thereby improving the lifting efficiency. As the rotating mechanism 130 moves along the second direction F2, after the second detection member A2 senses the profile 200 to be sucked, the second detection member A2 can generate sensing information, and then transmit the generated sensing information to the controller. The controller controls the movement of the rotating mechanism 130 along the second direction F2 to slow down further according to the sensing information of the second detection member A2, so that the suction unit 122 can reach the suction area of ​​the profile to be sucked more accurately.

[0109] The second detection element A2 may be an inductive proximity sensor, a photoelectric proximity sensor, a distance sensor, etc. It may be configured according to actual conditions and is not specifically limited here.

[0110] When the profile 200 to be sucked is made of metal, the second detection member A2 may be an inductive proximity sensor. Specifically, when the suction unit 122 moves along the second direction F2 to approach the profile 200 to be sucked, the inductance of the inductive proximity sensor may change to generate a sensing signal, which is then transmitted to the controller, so that the controller controls the rotation mechanism 130 to slow down the movement of the profile 200 to be sucked along the second direction F2.

[0111] When the second detection member A2 is a photoelectric proximity sensor, the photoelectric proximity sensor can pre-set a sensing area. As the rotating mechanism 130 approaches the profile 200 to be sucked along the second direction F2, the profile 200 to be sucked enters the sensing area pre-set by the photoelectric proximity sensor. The profile 200 to be sucked can block light, thereby triggering the photoelectric proximity sensor to generate a sensing signal, and then transmitting the generated sensing signal to the controller, so that the controller controls the rotating mechanism 130 to slow down its movement along the second direction F2 to approach the profile 200 to be sucked.

[0112] When the second detection member A2 is a distance sensor, the distance sensor can pre-set a sensing distance. As the rotating mechanism 130 approaches the profile 200 to be sucked along the second direction F2, the distance between the profile 200 to be sucked and the distance sensor reaches the sensing distance pre-set by the distance sensor, which can make the distance sensor generate a sensing signal, and then transmit the generated sensing signal to the controller, so that the controller controls the rotating mechanism 130 to slow down its movement along the second direction F2 to approach the profile 200 to be sucked.

[0113] It should be noted that when the profile hanger 100 lifts the profile, the second detection member A2 can also generate a sensing signal in real time and transmit the sensing signal to the controller. If the second detection member A2 does not generate a sensing signal, the controller can determine that the profile has fallen, and then control the entire profile hanger 100 to stop moving. At this time, the operator can check the specific condition of the profile hanger 100 for the subsequent normal operation of the hanger. At the same time, after the profile falls, the controller can control the hanger to stop moving, which can improve the safety of the operator during the inspection process.

[0114] By configuring the rotating mechanism 130 to be controllably movable along the second direction F2, and arranging a second detection member A2 on one side of the suction unit 122, and configuring the second detection member A2 to sense the profile 200 to be sucked, the second detection member A2 can sense the relative position of the suction profile 200 and the suction unit 122 in real time, and the controller can control the movement of the rotating mechanism 130 in the second direction F2 according to the sensing information of the second detection member A2, so that the suction unit 122 can more accurately fit the suction area of ​​the suction profile 200. At the same time, by sensing the profile with the help of the second detection member A2 and the controller controlling the rotating mechanism to move along the second direction according to the sensing information, when sucking the profile 200 to be sucked, the suction unit 122 can reach the suction area more quickly, thereby improving the hoisting efficiency and the degree of automation.

[0115] In some embodiments, please refer to Figures 1 to 4 The suction unit 122 is configured to be elastically connected to the carrier 121 along a preset direction. The preset direction and the first direction F1 intersect each other.

[0116] Specifically, “the suction unit 122 is configured to be elastically connected to the carrier 121 along a preset direction”, and it can be understood that the suction unit 122 is not rigidly and fixedly connected to the carrier 121, but the connection between the suction unit 122 and the carrier 121 can produce elastic deformation in a preset direction. There may be an elastically connected component between the suction unit 122 and the carrier 121, such as a spring, elastic rubber, etc., so that the suction unit 122 can move relative to the carrier 121 along a preset direction.

[0117] “The preset direction and the first direction F1 intersect each other” can be used to indicate that the elastic deformation direction of the suction unit 122 relative to the bearing member 121 is not parallel to the first direction F1, but intersects at a certain angle. For example, the preset direction may be perpendicular to the first direction F1 or at other angles, and the specific angle may be determined according to the actual working requirements of the profile hanger 100.

[0118] In the initial state, there is a preset elastic force between the suction unit 122 and the carrier 121. That is to say, before the operation of sucking the profile 200 to be sucked is performed, there is a preset elastic force between the suction unit 122 and the carrier 121. The preset elastic force can be determined by the initial deformation state of the elastically connected component. For example, if the elastically connected component is a spring, when the spring is installed between the suction unit 122 and the carrier 121, it can be pre-compressed or pre-stretched to a certain extent, thereby generating an elastic force. This elastic force can generate an initial force on the suction unit 122, so that the suction unit 122 can remain in a relatively stable initial position when it is not disturbed by other external forces.

[0119] It should be noted that the size of the preset elastic force can be adjusted according to actual needs and is not specifically limited here. For example, by changing the elastic coefficient or initial deformation of the elastically connected component, it can better adapt to the profiles 200 to be sucked of different weights and materials, so that the suction unit 122 can generate a more appropriate contact pressure when contacting the profile 200 to be sucked.

[0120] Exemplarily, when the rotating mechanism 130 moves along the second direction F2, the suction unit 122 can be driven to move toward the profile 200 to be sucked. When the suction unit 122 contacts the profile 200 to be sucked, the suction unit 122 can continue to move toward the profile 200 to be sucked, so that the suction unit 122 can respond to the abutment of the profile 200 to be sucked, overcome the preset elastic force, and then make the suction unit 122 move along the preset direction relative to the carrier 121.

[0121] By configuring the suction unit 122 to be elastically connected to the carrier 121 along a preset direction, and in the initial state, there is a preset elastic force between the suction unit 122 and the carrier 121, the preset elastic force can ensure that the suction unit 122 is in a relatively stable state at the initial position. When there is no suction operation or during the reset process after the suction operation is completed, the preset elastic force can also make the suction unit 122 relatively maintain the initial position or return to the initial position, so as to prepare for the next suction operation.

[0122] Figure 8 Shows Figure 1 A partial enlarged structural schematic diagram of the H portion of the profile hanger is shown; for ease of explanation, only the content related to the embodiment of the present application is shown.

[0123] In some embodiments, please refer to Figures 1 to 4 , and combined with reference Figure 8 The suction mechanism 120 also includes an elastic member 123 .

[0124] Specifically, the elastic member 123 is located on a moving path of the suction unit 122 along a preset direction, which means that when the suction unit 122 moves along the preset direction relative to the carrier 121 , it can interact with the elastic member 123 .

[0125] It should be noted that the elastic member 123 may be a spring, elastic rubber, or other elastic components, and may be configured according to actual conditions, and is not specifically limited here. Figure 8 As shown, the elastic member 123 is a spring.

[0126] When the rotating mechanism 130 moves along the second direction F2, when the suction unit 122 contacts the profile 200 to be sucked, the suction unit 122 can continue to move toward the profile 200 to be sucked, so that the suction unit 122 can respond to the abutment of the profile 200 to be sucked and generate an interactive force with the profile 200 to be sucked. This force can act on the elastic member 123, causing the elastic member 123 to deform, and convert this force into the elastic potential energy of the elastic member 123 itself or other forms of energy for storage. At this time, the elastic member 123 located on the moving path of the suction unit 122 can play a buffering role. The elastic member 123 can absorb and disperse the force brought by the suction unit 122 moving relative to the carrier 121 along the preset direction through its own elastic deformation, reduce the occurrence of damage to the suction unit 122 due to sudden force impact or cause the connection between the suction unit 122 and the carrier 121 to be unstable, and can make the suction unit 122 move more smoothly and controllably in the preset direction.

[0127] In this way, by providing the elastic member 123, during the process of sucking the profile 200 to be sucked, the elastic member 123 can effectively reduce the force generated when the suction unit 122 contacts the profile 200 to be sucked, thereby reducing the risk of damage to components in the profile hanger 100. At the same time, the provision of the elastic member 123 can also make the connection between the suction unit 122 and the carrier 121 more stable, thereby making the movement of the suction unit 122 in a preset direction more stable and controllable, thereby improving the reliability of the profile hanger 100.

[0128] In some embodiments, please refer to Figures 1 to 4 as well as Figure 8 The suction mechanism 120 also includes a guide member 124 .

[0129] The guide member 124 is a component for guiding the elastic member 123. Specifically, one end of the guide member 124 is connected to the suction unit 122, and the other end is movably connected to the carrier 121 along a preset direction, and the elastic member 123 is sleeved on the guide member 124.

[0130] One end of the guide member 124 is connected to the suction unit 122, so that the guide member 124 can move synchronously with the action of the suction unit 122. The other end of the guide member 124 is movably connected to the carrier 121 along a preset direction, which indicates that the guide member 124 can move along a preset direction relative to the carrier 121. In addition, when the suction unit 122 moves along a preset direction relative to the carrier 121, a more reliable and controllable movement can be achieved through the guide member 124.

[0131] The elastic member 123 is sleeved on the guide member 124, so that the elastic member 123 and the guide member 124 can be more closely matched. The elastic member 123 is sleeved on the guide member 124, and the two ends of the elastic member 123 can be connected to the guide member 124, so that the elastic member 123 is sleeved on the guide member 124; or the two ends of the elastic member 123 are not connected to the guide member 124, and the elastic member 123 is sleeved on the guide member 124. It can be set according to actual conditions, and no specific limitation is made here.

[0132] For example, Figure 8As shown, one end of the guide member 124 is connected to the suction unit 122, and the other end is movably connected to the bearing member 121 along a preset direction. An elastic member 123 is sleeved on a portion of the guide member 124 close to the suction unit 122, and an elastic member 123 is also sleeved on another portion of the guide member 124 away from the suction unit 122. In this way, the elastic member 123 can play a more flexible role in buffering, further increase the buffering effect, and improve the reliability of the profile hanger 100. Of course, the elastic member 123 can also be sleeved on a portion of the guide member 124 close to the suction unit 122, and the elastic member 123 can not be set on another portion of the guide member 124 away from the suction unit 122; or, the elastic member 123 can not be set on a portion of the guide member 124 close to the suction unit 122, and the elastic member 123 can be sleeved on another portion of the guide member 124 away from the suction unit 122. It can be set according to actual conditions, and no specific limitation is made here.

[0133] In addition, a mounting member and a latch may be provided on the end of the guide member 124 that is movably connected to the carrier member 121 along a preset direction, the mounting member is sleeved on the end of the guide member 124 that is movably connected to the carrier member 121 along a preset direction, and the latch may penetrate the guide member 124 along the first direction F1 and cooperate with the mounting member. In this way, the guide member 124 can be better limited.

[0134] When the suction unit 122 abuts against the profile 200 to be sucked, the suction unit 122 moves in a preset direction, which can cause the elastic member 123 to deform. At this time, the elastic member 123 is sleeved on the guide member 124 and can be better supported by the guide member 124. The guide member 124 provides a relatively fixed spatial position for the elastic member 123, so that the elastic deformation of the elastic member 123 can be more regular and orderly, rather than random and irregular elastic deformation, which helps the elastic member 123 to achieve buffering and resetting functions.

[0135] In this way, by providing the guide member 124, one end of the guide member 124 is connected to the suction unit 122, and the other end is movably connected to the carrier 121 along a preset direction, and the elastic member 123 is sleeved on the guide member 124, when the suction unit 122 moves along the preset direction, the guide member 124 can provide a more accurate guide for the movement path of the suction unit 122, and can also cooperate with the elastic member 123 to adjust the movement of the suction unit 122. In addition, when the suction unit 122 moves and causes the elastic member 123 to produce elastic deformation, the movement of the suction unit 122 in the preset direction is more stable and controllable through the buffering effect of the elastic member 123 and the guiding effect of the guide member 124. The guide member 124 also provides a more stable support for the elastic member 123, so that the elastic member 123 can be more uniformly and stably elastically deformed, thereby more effectively absorbing and dispersing the force caused by the suction unit 122 abutting against the profile 200 to be sucked. Compared with the elastic member 123 existing alone, the elastic member 123 is sleeved on the guide member 124, which can further enhance the buffering effect, thereby better protecting the suction unit 122 and the entire suction mechanism 120, and reducing the occurrence of damage to the suction unit 122 and the entire suction mechanism 120 due to the impact of sudden force. In addition, when the external force disappears, when the elastic restoring force of the elastic member 123 causes the suction unit 122 to reset, the guide member 124 can also make the suction unit 122 return to the initial position along a more accurate path, so that the suction unit 122 can cooperate with the carrier 121 in a more appropriate state, so that the suction mechanism 120 can work normally, and the profile 200 to be sucked can be sucked more effectively.

[0136] In some embodiments, please refer to Figures 1 to 4 as well as Figure 8 The suction unit 122 is configured to be elastically connected to the carrier 121 along a preset direction. The preset direction and the first direction intersect each other.

[0137] “The suction unit 122 is configured to be elastically connected to the supporting member 121 along a preset direction” means that the connection between the suction unit 122 and the supporting member 121 has a certain elasticity, and the suction unit 122 and the supporting member 121 can undergo relative displacement in the preset direction according to the external force.

[0138] The suction mechanism 120 further includes a third detection member A3 . Specifically, the third detection member A3 is disposed on a side of the suction unit 122 away from the profile 200 to be sucked, and is located on the movement path of the suction unit 122 .

[0139] It can be understood that the third detection member A3 is located on the side of the suction unit 122 away from the profile 200 to be sucked. When the suction unit 122 and the profile 200 to be sucked abut against each other and move relative to the supporting member 121, the third detection member A3 can contact the side of the suction unit 122 away from the profile 200 to be sucked.

[0140] The third detection member A3 is electrically connected to the controller. The third detection member A3 is configured to detect whether it contacts the suction unit 122. The controller is used to determine whether to control the rotating mechanism 130 to stop moving toward the profile 200 to be sucked according to the detection information of the third detection member A3.

[0141] When the third detection member A3 contacts the side of the suction unit 122 away from the profile 200 to be sucked, the third detection member A3 can generate detection information. Accordingly, the detection information generated by the third detection member A3 can be transmitted to the controller, and then the controller can control the rotating mechanism 130 to stop moving toward the profile 200 to be sucked according to the detection information of the third detection member A3.

[0142] It should be noted that the third detection member A3 can be a travel switch, a pressure sensor, a photoelectric sensor, etc. It can be configured according to actual conditions and is not specifically limited here.

[0143] When the third detection member A3 is a travel switch, as the suction unit 122 moves toward the profile 200 to be sucked, when the suction unit 122 contacts the profile 200 to be sucked, the suction unit 122 moves along a preset direction relative to the carrier 121; then, the side of the suction unit 122 away from the profile 200 to be sucked can contact the travel switch, and the mechanical structure inside the travel switch will be activated, so that the electrical contacts that were originally in a normally open or normally closed state change state, thereby generating an electrical signal and transmitting it to the controller. Based on the electrical signal generated by the travel switch, the controller controls the rotating mechanism 130 to stop moving toward the profile 200 to be sucked.

[0144] When the third detection member A3 is a pressure sensor, the pressure sensor can be preset with a pressure value. As the suction unit 122 moves toward the profile 200 to be sucked, when the suction unit 122 contacts the profile 200 to be sucked, the suction unit 122 will move relative to the support member 121 along a preset direction; then, the side of the suction unit 122 away from the profile 200 to be sucked can contact the pressure sensor. When the pressure generated by the contact between the side of the suction unit 122 away from the profile 200 to be sucked and the pressure sensor reaches a preset pressure value, the pressure sensor can generate an electrical signal and transmit it to the controller. Based on the electrical signal generated by the pressure sensor, the controller controls the rotating mechanism 130 to stop moving toward the profile 200 to be sucked.

[0145] When the third detection member A3 is a photoelectric sensor, a detection position can be pre-set for the photoelectric sensor. As the suction unit 122 moves toward the profile 200 to be sucked, when the suction unit 122 contacts the profile 200 to be sucked, the suction unit 122 moves relative to the carrier 121 along a preset direction; then, when the suction unit 122 moves away from the side of the profile 200 to be sucked to the detection position that blocks the light emitted by the photoelectric sensor, the photoelectric sensor cannot receive the light, thereby detecting that the suction unit 122 has reached the preset position, and generates a corresponding electrical signal to send to the controller. Based on the electrical signal generated by the photoelectric sensor, the controller controls the rotating mechanism 130 to stop moving toward the profile 200 to be sucked.

[0146] By setting the third detection member A3, the position of the suction unit 122 can be monitored in real time. Once the suction unit 122 moves to the position in contact with the third detection member A3, the controller can timely control the rotating mechanism 130 to stop moving toward the profile 200 to be sucked according to the detection information of the third detection member A3, which can reduce the occurrence of excessive displacement of the suction unit 122. At the same time, the controller determines whether to stop the movement of the rotating mechanism according to the detection information of the third detection member A3, so that the process of sucking the profile can be carried out more reliably. After the third detection member A3 detects that it has contacted the suction unit 122, the controller controls the rotating mechanism 130 to stop moving toward the profile 200 to be sucked along the second direction F2 according to the detection information of the third detection member A3, which can make the suction unit 122 suck the profile 200 to be sucked more stably, thereby improving the stability of the suction process. In addition, the setting of the controller and the third detection member A3 can also improve the automation level of the entire profile hanger 100, thereby improving the lifting efficiency.

[0147] In some embodiments, please refer to Figures 1 to 4 The suction mechanism 120 further includes a flip member 125 and a first driving member Q1.

[0148] The flip member 125 is a component that enables the suction unit 122 to rotate relative to the carrier 121 around the first axis. Specifically, the flip member 125 is rotatably connected to the carrier 121 around the first axis, and the suction unit 122 is provided on the flip member 125. The first driving member Q1 is connected to the flip member 125, and the first driving member Q1 is used to drive the flip member 125 to rotate around the first axis.

[0149] The flip member 125 is rotatably connected to the carrier 121 around the first axis, and a suction unit 122 is provided on the flip member 125, which means that the flip member 125 can rotate relative to the carrier 121 with the first axis as the center, so that the flip member 125 drives the suction unit 122 to rotate, and the position and posture of the suction unit 122 can change with the rotation of the flip member. For the profiles 200 to be sucked of different shapes, sizes, positions and placement angles, the flip member 125 can drive the suction unit 122 to rotate to a more suitable angle and position, so as to be able to more effectively contact the surface of the profile 200 to be sucked and achieve a more reliable suction operation.

[0150] The first driving member Q1 is connected to the flip member 125 so that the first driving member Q1 can transmit its own power to the flip member 125. The first driving member Q1 is used to drive the flip member 125 to rotate around the first axis, that is, the first driving member Q1 can provide the flip member 125 with the power required for the rotational movement around the first axis. Through the driving action of the first driving member Q1, the flip member 125 can rotate more flexibly within a certain angle range, thereby driving the suction unit 122 to adjust to a more suitable angle and position to meet the different suction requirements of different profiles 200 to be sucked.

[0151] It should be noted that the first driving member Q1 can be a servo motor, and the angles of the multiple suction units 122 can be relatively consistent through the synchronous control mode of the servo motor, so that the multiple suction units 122 can achieve synchronous suction of the same profile 200 to be sucked, thereby increasing the reliability of the suction operation. Of course, the first driving member Q1 can also be other types of motors, which can be set according to actual conditions, and no specific limitation is made here.

[0152] In addition, the controller can electrically connect the flip member 125 and the carrier 121, and independently control the flip member 125 and the carrier 121. Thus, the profile hanger 100 can simultaneously lift and stack multiple profiles, and the multiple profiles can be of the same specification or different profile specifications. The profile hanger 100 can lift at the same position or at different positions. And the placement angle and stacking angle of the profile can be arbitrary, and can be the same or different.

[0153] By setting the first driving member Q1 and the flipping member 125, the first driving member Q1 drives the flipping member 125 to rotate, so that the suction unit 122 can more flexibly change the suction angle of the suction unit 122 according to the characteristics of the profile 200 to be sucked of different shapes, sizes, and placement angles, so that the suction unit 122 can more closely fit the surface of the profile 200 to be sucked, thereby achieving a more reliable and more effective suction operation. At the same time, the flipping member 125 drives the rotation of the suction unit 122, so that the suction unit 122 can dynamically adjust the suction angle according to the specific shape, swing angle, etc. of the profile 200 to be sucked, further improving the versatility of the profile hanger 100. When the suction unit 122 can be adjusted to a position that is compatible with the shape, placement angle, etc. of the profile 200 to be sucked more quickly and accurately, not only can the success rate of suction be improved, but also the occurrence of the profile falling during the lifting process due to poor fit or loose suction can be reduced, thereby improving the lifting efficiency of the entire profile hanger.

[0154] Fig. 9 Shows Figure 1 A partial enlarged structural schematic diagram of location I of the profile hanger is shown; for ease of explanation, only the contents related to the embodiment of the present application are shown.

[0155] In some embodiments, please refer to Figures 1 to 6 , and combined with reference Fig. 9 The suction mechanism 120 also includes a matching piece 126 and a fourth detection piece A4.

[0156] The matching piece 126 refers to a component that can cooperate with the fourth detection piece A4. Specifically, the matching piece 126 is sleeved on the flip piece 125, and the outer peripheral surface of the matching piece 126 has a section M, and the section M has a first edge b1 and a second edge b2 that are oppositely arranged along the circumference of the matching piece 126. The matching piece 126 is sleeved on the flip piece 125, so that the matching piece 126 can rotate as the flip piece 125 rotates around the first axis.

[0157] The fourth detection member A4 is disposed on the carrier 121 and is disposed corresponding to the outer peripheral surface of the matching member 126. The fourth detection member A4 is configured to generate a detection signal according to the outer peripheral edge of the matching member 126. The detection signal of the fourth detection member A4 includes a first detection signal and a second detection signal. The first detection signal is a detection signal generated by the fourth detection member A4 according to the first edge b1, and the second detection signal is a detection signal generated by the fourth detection member A4 according to the second edge b2.

[0158] The fourth detection component A4 is arranged on the carrier 121 and corresponds to the outer peripheral surface of the matching component 126. It can be understood that the fourth detection component A4 is installed on the carrier 121, and the position of the fourth detection component A4 corresponds to the outer peripheral surface of the matching component 126, so that the fourth detection component A4 can detect the outer periphery of the matching component 126.

[0159] The fourth detection member A4 can be used to generate a detection signal according to the outer periphery of the matching member 126. The detection signal of the fourth detection member A4 includes a first detection signal and a second detection signal. It can be understood that different detection signals will be generated when the fourth detection member A4 detects different situations of the outer periphery of the matching member 126. Specifically, "the first detection signal is the detection signal generated by the fourth detection member A4 according to the first edge b1, and the second detection signal is the detection signal generated by the fourth detection member A4 according to the second edge b2", that is, when the fourth detection member A4 detects the first edge b1 of the matching member 126, the first detection signal will be generated; when the fourth detection member A4 detects the second edge b2 of the matching member 126, the second detection signal will be generated.

[0160] It should be noted that the fourth detection element A4 can be a photoelectric sensor, or an inductive proximity sensor, etc., and can be configured according to actual conditions, and is not specifically limited here.

[0161] In the case where the fourth detection member A4 is a photoelectric sensor, the photoelectric sensor can be arranged on the carrier 121 and corresponds to the outer peripheral surface of the matching member 126. When the matching member 126 rotates with the flip member 125, the first edge b1 and the second edge b2 of the cut surface M of the outer peripheral surface of the matching member 126 will pass through the detection area of ​​the photoelectric sensor in sequence. For example, the photoelectric sensor can emit a beam of light. When the first edge b1 or the second edge b2 blocks the light, the receiving end of the photoelectric sensor cannot receive the light, thereby generating a corresponding electrical signal. If the first edge b1 blocks the light, the signal generated is the first detection signal, and if the second edge b2 blocks the light, the signal generated is the second detection signal.

[0162] When the material of the fitting 126 is metal and the fourth detection member A4 can be an inductive proximity sensor, the inductive proximity sensor can be arranged on the carrier 121 and correspond to the outer peripheral surface of the fitting 126. The inductive proximity sensor can preset a detection value. When the fitting 126 rotates with the flip member 125, the first edge b1 and the second edge b2 of the cut surface M of the outer peripheral surface of the fitting 126 approach the inductive proximity sensor, and the distance between the first edge b1 or the second edge b2 of the fitting 126 reaches the preset detection value, which can cause the magnetic field in the inductive proximity sensor to change. The inductive proximity sensor will detect the corresponding change and generate an electrical signal. And distinguish the signal generated when the first edge b1 approaches as the first detection signal, and the signal generated when the second edge b2 approaches as the second detection signal.

[0163] The controller is also electrically connected to the fourth detection member A4 and the first driving member Q1 , and is configured to control the action of the first driving member Q1 to control the rotation angle of the flip member 125 according to the first detection signal and the second detection signal.

[0164] The controller is electrically connected to the fourth detection component A4 and the first driving component Q1 respectively, so that the controller and the fourth detection component A4, the first driving component Q1 are electrically connected in a circuit connection or a communication connection or other electrical connection manner, so that the controller can obtain the detection signal generated by the fourth detection component A4, and control the action of the first driving component Q1 according to the detection signal, and further control the rotation angle of the flip component 125.

[0165] "The controller is configured to control the action of the first driving member Q1 to control the rotation angle of the flip member 125 based on the first detection signal and the second detection signal." It can be understood that when the hanger is initially installed, the controller controls the flip member 125 to rotate in a predetermined direction. When the fourth detection member A4 detects and generates a first detection signal, the first detection signal can be regarded as an initial signal, and the flip angle of the flip member 125 can be regarded as an initial angle. According to actual needs, the controller controls the first driving member Q1 to drive the flip member 125 to rotate or adjust the direction, etc., so as to more accurately control the rotation angle of the flip member 125, so that the suction unit 122 can contact and suck the profile 200 to be sucked at a more suitable angle and position. In the case of a power outage on the profile hanger 100, the controller will lose the position of the flip member 125. After the profile hanger 100 is powered on, the controller controls the flip member 125 to rotate in a predetermined direction. When the fourth detection member A4 detects and generates a first detection signal, the first detection signal can be considered as an initial signal, and the flip angle of the flip member 125 can be considered as an initial angle. At this time, the controller can continue to more accurately control the rotation angle of the flip member 125. During the process of the flip member 125 flipping in one direction, if the fourth detection member A4 detects and generates a second detection signal, it means that the flip angle of the flip member 125 is close to the limit position and cannot continue to flip in this direction. The controller can control the first driving member Q1 to stop driving the flip member 125 to rotate. At this time, the operator can check whether the angle given by the first detection member A1 is correct or check whether there is any abnormality in the position of the profile 200 to be sucked.

[0166] By setting the matching piece 126 and the fourth detection piece A4, the section M of the outer peripheral surface of the matching piece 126 has a first edge b1 and a second edge b2, and the fourth detection piece A4 can generate different detection signals (first detection signal and second detection signal) according to the outer peripheral edge of the matching piece 126. The controller can more accurately control the action of the first driving piece Q1 according to these detection signals, and then more accurately control the rotation angle of the flip piece 125. In this way, the suction unit 122 can be adjusted to an angle that is more compatible with the surface of the profile 200 to be sucked, so that the suction unit 122 can better fit the surface of the suction profile 200, and achieve a more efficient and more stable suction operation. The controller can further adjust the rotation angle of the flip piece 125 according to the detection signal feedback from the fourth detection piece A4, so that the rotation of the suction unit 122 can be more flexible, thereby improving the reliability and automation of the profile hanger 100.

[0167] In some embodiments, please refer to Figures 1 to 6 as well as Figure 7 The outer peripheral surface of the fitting 126 has a main surface T except the section surface M.

[0168] Specifically, the main surface T is configured as an arc surface, wherein the section M extends linearly from the first edge b1 to the second edge b2; or, the section M extends concavely from the first edge b1 to the second edge b2, and the section M is concavely disposed toward the second axis.

[0169] The main surface T is constructed as an arc surface, so that the matching piece 126 can better cooperate with the flip piece 125 when it is sleeved on the flip piece 125, and when the matching piece 126 itself rotates with the flip piece 125, the arc surface can provide a relatively smooth transition, thereby reducing interference or instability factors that may be caused by sudden changes in shape.

[0170] “The section M extends in a straight line from the first edge b1 to the second edge b2”, it can be understood that the section M is a relatively simple plane shape in a straight line from the first edge b1 to the second edge b2. When such a straight section M interacts with the fourth detection member A4 (for example, the fourth detection member A4 generates a first detection signal and a second detection signal according to the first edge b1 and the second edge b2 of the section M), the detection logic of the fourth detection member A4 may be relatively direct, because the boundary of the straight line is clear, and the fourth detection member A4 can more clearly detect the first edge b1 and the second edge b2 of the section M, thereby more accurately generating corresponding detection signals, which is convenient for the subsequent controller to control the rotation angle of the flip member 125 according to these detection signals.

[0171] "The section M extends from the first edge b1 to the second edge b2 in a concave shape, and the section M is concave toward the second axis." It can be understood that the concave section M is a non-linear shape with a certain curvature change, and is concave toward the second axis. Due to the concave shape of the section M, the fourth detection element A4 will be different from the linear section M when detecting the first edge b1 to the second edge b2 of the section M, and a more accurate fourth detection element A4 may be required to detect the first edge b1 and the second edge b2, thereby generating more accurate first detection signals and second detection signals.

[0172] By configuring the main surface T of the outer peripheral surface of the matching piece 126 as an arc surface, when the matching piece 126 is sleeved on the flip piece 125, the matching piece 126 can better match the shape of the flip piece 125, and the main surface T of the matching piece 126 with an arc surface can more smoothly rotate with the rotation of the flip piece 125. The section M is extended from the first edge b1 to the second edge b2 in a straight line; or the section M is extended from the first edge b1 to the second edge b2 in a concave shape and the section M is concavely arranged toward the second axis, so that the fourth detection member A4 can more accurately determine the edge of the section M (the first edge b1 and the second edge b2), thereby more accurately generating the corresponding detection signal (the first detection signal and the second detection signal). And based on the detection signal generated by the fourth detection member A4, the controller can more effectively control the action of the first driving member Q1, and thereby more accurately control the rotation angle of the flip member 125, so that the suction unit 122 can be more accurately adjusted to an angle that is more compatible with the surface of the profile 200 to be sucked, which is beneficial to improving the flexibility of the profile hanger 100.

[0173] In some embodiments, please refer to Figures 1 to 6 The material of the profile 200 to be absorbed is configured as a magnetic material.

[0174] Specifically, the suction unit 122 is configured to be controllably magnetically connected to the profile to be sucked.

[0175] The material of the profile 200 to be sucked is configured as a magnetic material, that is, the profile 200 to be sucked has magnetism. The material of the profile 200 to be sucked can be a magnetic material such as iron, cobalt, nickel and alloy. The specific material of the profile 200 to be sucked can be set according to actual conditions and is not limited here.

[0176] "The suction unit 122 is configured to be able to controllably magnetically connect to the profile 200 to be sucked." It is understandable that the connection between the suction unit 122 and the profile 200 to be sucked is a magnetic connection, and this magnetic connection can be controlled. Specifically, the controllable magnetic connection can be achieved by providing an electromagnetic device or the like. For example, when the suction unit 122 sucks the profile 200 to be sucked, an instruction can be sent through the controller to cause the suction unit 122 to generate an appropriate magnetic field, thereby attracting the magnetic material of the profile 200 to be sucked, thereby achieving a more stable suction effect. When the lifting task is completed and the profile is put down, the suction unit 122 can be controlled by the controller to stop generating the magnetic field or change the direction of the magnetic field, etc., to release the magnetic connection with the profile, so that the profile can be more smoothly separated from the suction unit 122.

[0177] When the rotating mechanism 130 stops moving toward the profile 200 to be sucked, the suction unit 122 can start magnetizing through the electromagnetic device, so as to absorb the profile 200 to be sucked. After the suction is completed, the lifting equipment drives the profile hanger 100 to rise. During the rising process, the profile hanger 100 can move along the second direction F2, along the third direction F3, or in other directions.

[0178] By configuring the material of the profile 200 to be sucked as a magnetic material, and the suction unit 122 being able to be controllably magnetically connected to the profile 200 to be sucked, a more reliable suction force can be provided for the profile 200 to be sucked, so that during the lifting process, the profile can be more firmly adsorbed on the suction unit 122, reducing the occurrence of profile shaking, falling off, etc. caused by insufficient suction force, and further improving the safety and stability of the lifting operation.

[0179] Of course, the material of the profile 200 to be sucked may not be a magnetic material, and the material of the profile 200 to be sucked may also be plastic or wood, etc., which is not specifically limited here. In some other embodiments, the suction unit 122 and the profile 200 to be sucked may also be connected by vacuum adsorption or the like, which is not specifically limited here.

[0180] In some embodiments, please refer to Figures 1 to 7 The suction unit 122 has a plurality of suction parts 122a.

[0181] The suction portion 122a is a portion that directly sucks the profile 200 to be sucked. Specifically, each suction portion 122a is configured to be independently and controllably magnetically connected to the profile 200 to be sucked.

[0182] The suction unit 122 has a plurality of suction parts 122 a. It is understandable that the suction unit 122 is not a single, integral structure to achieve suction of the profile 200 to be sucked, but uses a plurality of relatively independent suction parts 122 a to perform suction.

[0183] Each suction part 122a is configured to be independently controllably magnetically connected to the profile 200 to be sucked, which means that each suction part 122a can independently control the magnetic connection between the suction part 122a and the profile 200 to be sucked under the action of the controller. Specifically, the controller can control whether each suction part 122a generates a magnetic field, the intensity of the magnetic field, and the opening and closing time of the magnetic field. Multiple independently controllable suction parts 122a can more flexibly adjust the magnetic connection method according to the specific conditions of each part of the profile 200 to be sucked.

[0184] In addition, the structure of each suction portion 122a can be set differently according to the angle placement position of the suction surface of the different profiles 200 to be sucked, etc. In the same profile hanger 100, the structure of the suction portion 122a of the suction unit 122 of the same suction mechanism 120 can be the same or different, and can be set according to actual conditions, and no specific restrictions are made here. The suction units 122 of multiple suction mechanisms 120 can also be set with different numbers of suction portions 122a according to the length, size, and suction surface of the profile 200 to be sucked; or, the same number of suction portions 122a can be set.

[0185] By setting a plurality of suction parts 122a, each suction part 122a is configured to be independently and controllably magnetically connected to the profile 200 to be sucked. When it comes to the profile 200 to be sucked with a complex shape and an irregular surface, the plurality of independently controllable suction parts 122a can more flexibly adjust the magnetic connection mode according to the specific conditions of each part of the profile 200 to be sucked. Each suction part 122a can independently control the magnetic field strength, opening or closing operations according to the characteristics of the corresponding part of the profile 200 to be sucked, so that the suction unit 122 can fit the surface of the profile 200 to be sucked more closely, thereby improving the versatility of the profile hanger 100 for different profiles 200 to be sucked. The profile hanger 100 in the embodiment of the present application is no longer limited to processing only profiles 200 to be sucked with relatively regular shapes, but can cope with a variety of profiles 200 to be sucked with large differences in shape, further broadening the scope of application of the profile hanger 100 in different production scenarios, so that it can better meet the diverse production needs. At the same time, each suction part 122a is configured to be independently controllable for magnetic connection, so that the generation and strength of the magnetic field at each part of the profile 200 to be sucked can be more accurately controlled according to actual needs. Compared with the integral suction unit 122, the situation of wasting energy in some parts that do not require a strong magnetic field due to unified control of the magnetic field is reduced.

[0186] In some embodiments, please refer to Figures 1 to 6 The support member 121 that is controllably movably connected to the base 110 along the first direction F1 is defined as a target support member. The profile hanger 100 further includes a driving mechanism 150 .

[0187] Specifically, the driving mechanism 150 is disposed on the base 110 and connected to the target bearing component. The driving mechanism 150 is used to drive the target bearing component to move relative to the base 110 along the first direction F1.

[0188] The driving mechanism 150 can transmit the generated power to the target carrier, so that the target carrier can move relative to the base 110 along the first direction F1 under the drive of the driving mechanism 150, so as to better enable the suction mechanism 120 and the profile 200 to be sucked to perform more accurate alignment and suction operations, or to more conveniently place the profile in a more suitable position after the lifting is completed.

[0189] By driving the target bearing member to move relative to the base 110 along the first direction F1 through the driving mechanism 150, the position of the suction mechanism 120 can be adjusted more flexibly, so that the suction mechanism 120 can be more accurately aligned with the target suction position of the profile 200 to be sucked, and can better adapt to the profile 200 to be sucked in different placement positions. At the same time, after completing the suction operation of the profile, when the profile is hoisted to the designated position for placement, the driving mechanism 150 can drive the target bearing member to move along the first direction F1, which helps to place the profile more accurately at the desired position. Compared with the situation of manually adjusting the position, the entire hoisting efficiency is further improved, so that the profile hoisting operation can be carried out more smoothly.

[0190] In some embodiments, please continue to refer to Figures 1 to 3 The driving mechanism 150 includes a second driving member Q2 and a transmission assembly 151.

[0191] Specifically, the second driving member Q2 is connected to the target bearing member. The transmission assembly 151 includes a gear 151a and a rack 151b, the gear 151a is sleeved on the output shaft of the second driving member Q2, the rack 151b is arranged on the base along the first direction F1, the gear 151a and the rack 151b are meshed, and the second driving member Q2 drives the gear 151a to drive the target bearing member to move along the first direction F1.

[0192] By connecting the second driving member Q2 to the target bearing member, the power generated by the second driving member Q2 can directly act on the target bearing member, thereby causing the target bearing member to move along the first direction F1.

[0193] The second driving member Q2 may be a servo motor, which can more accurately control the position of the carrier 121, so that the suction unit 122 can more accurately reach the suction area. The second driving member Q2 may also be other motors, which can be set according to actual conditions and are not specifically limited here.

[0194] The gear 151a is sleeved on the output shaft of the second driving member Q2. It can be understood that the gear 151a is connected to the output shaft of the second driving member Q2. When the second driving member Q2 works and outputs rotational power, the gear 151a can rotate together with the output shaft of the second driving member Q2. The rack 151b is arranged on the base 110 along the first direction F1. It can be said that the rack 151b is installed on the base 110, so that the gear 151a and the rack 151b can cooperate with each other to realize the conversion of the rotational power output by the second driving member Q2 into the linear motion of the target bearing member along the first direction F1, thereby driving the suction unit 122 to move linearly along the first direction F1.

[0195] When the second driving member Q2 starts to work, the second driving member Q2 can output rotational power to drive the gear 151a mounted on the output shaft of the second driving member Q2 to rotate. Since the gear 151a and the rack 151b are meshed with each other, the rotating gear 151a can roll along the rack 151b, thereby driving the target bearing member to move linearly along the first direction F1, that is, driving the suction unit 122 to move linearly along the first direction F1, so as to better perform operations such as suction and hoisting of the profile. At the same time, compared with some other transmission methods, the transmission of the gear 151a and the rack 151b can make the target bearing member move linearly more smoothly along the first direction F1, reducing the risk of the profile shaking, falling off, etc. that may be caused by the unstable movement of the target bearing member.

[0196] In some embodiments, please refer to Figure 1 , Figure 2 as well as Figure 4 The rotating mechanism 130 further includes a rotating member 131 and a third driving member Q3.

[0197] The rotating member 131 is a component that enables the base 110 to rotate around the second axis. Specifically, the rotating member 131 is connected to the base 110, and the third driving member Q3 is connected to the rotating member 131, and the third driving member Q3 is used to drive the rotating member 131 to rotate around the second axis.

[0198] The third driving member Q3 is connected to the rotating member 131 so that the third driving member Q3 can transmit the power generated by itself to the rotating member 131, and can provide the rotating member 131 with the power required to rotate around the second axis. When the third driving member Q3 is started and outputs power, the rotating member 131 will rotate around the second axis with the fixed point connected to the base 110 as the center under the drive of the third driving member Q3, thereby driving the base 110 to rotate, so as to achieve the functional requirements of suction and hoisting of the profile 200 to be sucked at different angles and different positions.

[0199] It should be noted that the third driving member Q3 may be a servo motor, which drives the rotating member 131 to rotate around the second axis, and can more accurately control the rotation angle of the rotating member 131, thereby facilitating the suction of the profile to be sucked.

[0200] The first detection member A1 transmits the acquired image information of the profile 200 to be sucked to the controller, and the controller can calculate the angle that the rotating member 131 needs to rotate according to the built-in algorithm, thereby controlling the rotating member 131 to rotate.

[0201] By driving the rotating member 131 to rotate around the second axis through the third driving member Q3, the base 110 can be driven to rotate, so as to more flexibly adjust the suction angle of the suction unit to the profile 200 to be sucked, reduce the operation difficulties and time waste caused by inappropriate angles and inappropriate positions, and improve the lifting efficiency.

[0202] Fig.10 A flow chart of a method for lifting a profile hanger in some embodiments of the present application is shown; for ease of explanation, only content related to the embodiments of the present application is shown.

[0203] Based on the same invention concept, please refer to Fig.10 The embodiment of the present application provides a lifting method, which is applied to the profile lifting device in any of the above embodiments. The lifting method comprises the following steps:

[0204] Step S100, determining a suction area of ​​the profile 200 to be sucked according to the image information obtained by the first detection element A1;

[0205] Step S200 : controlling the action of the suction mechanism 120 and the action of the rotation mechanism 130 based on the suction area to adsorb and hoist the profile 200 to be sucked.

[0206] In step S100, after the first detection member A1 obtains the image information of the profile 200 to be sucked, the image information is transmitted to the controller, and the controller analyzes and calculates the image data through a built-in algorithm. The controller can determine a more suitable area for the suction operation based on the processing result of the image information. The suction area can be determined according to the shape, size, surface flatness, etc. of the profile 200 to be sucked. For example, for some irregularly shaped profiles 200 to be sucked, an area that is relatively flat and close to the center of gravity may be selected as the suction area so that the profile can remain relatively stable during the adsorption and lifting process.

[0207] It should be noted that the built-in algorithm refers to an algorithm pre-stored in the controller or in related components such as a processor connected to the controller. Based on the built-in algorithm, the suction area can be determined according to the image information. The built-in algorithm can be a query mapping table, or it can be a specific operation on the image information, or it can be other implementations. Exemplarily, taking the method of querying the mapping table as an example, the suction area can be pre-determined according to the shape and size of different profiles 200 to be sucked, and a mapping relationship between the profile 200 to be sucked and the suction area is formed, so that when the image information of the profile 200 to be sucked is obtained, the suction area can be determined by looking up the mapping relationship. Exemplarily again, a relationship formula that can achieve mechanical balance can be constructed for different types of profiles 200 to be sucked, and the suction area can be determined based on the relationship formula and the shape, size, and surface flatness of the profile 200 to be sucked. As long as the suction area of ​​the profile 200 to be sucked can be determined, no specific restrictions are made here.

[0208] In step S200, after the suction area is determined, the controller can control the movement of the suction mechanism 120 and the rotation mechanism 130 according to the position, shape and other characteristics of the suction area, so that the suction mechanism 120 and the rotation mechanism 130 can be more accurately aligned and attached to the determined suction area, thereby achieving effective adsorption and lifting.

[0209] By controlling the actions of the suction mechanism 120 and the rotating mechanism 130, the suction unit 122 can be more accurately adsorbed on the suction area of ​​the profile 200 to be adsorbed, and then the suction unit 122 adsorbing the profile is lifted by the profile hanger 100, thereby completing the adsorption and lifting operations of the profile 200 to be adsorbed.

[0210] Fig.11 A flow chart of a method for lifting a profile hanger in other embodiments of the present application is shown; for ease of explanation, only the content related to the embodiments of the present application is shown.

[0211] In some embodiments, please refer to Fig.11 , according to the image information obtained by the first detection element A1, determining the suction area of ​​the profile 200 to be sucked includes the following steps:

[0212] Step S110, determining the position, size and surface of the profile 200 to be sucked based on the image information;

[0213] Step S120 , based on the number of suction mechanisms 120 , the posture, size and surface of the profile 200 to be sucked, determine the suction area required to maintain the profile 200 to be sucked in a static equilibrium state when hoisting the profile 200 to be sucked.

[0214] In step S110, after the first detection member A1 obtains the image information of the profile 200 to be sucked, the controller can determine the posture, size and surface to be sucked of the profile 200 to be sucked by analyzing and processing the image information. The posture includes the position and posture of the profile 200 to be sucked in space, for example, whether the profile 200 to be sucked is placed horizontally, vertically or tilted, and the specific angle and position relationship of the profile 200 to be sucked relative to the profile hanger 100. Profiles 200 to be sucked in different postures may need to be sucked in different parts to make the profile hanger 100 more balanced and stable during hoisting. The size of the profile 200 to be sucked may include geometric size parameters such as the length, width, and thickness of the profile 200 to be sucked. The surface to be sucked of the profile 200 to be sucked refers to the surface on the profile 200 to be sucked that is more suitable for suction operation, which may depend on factors such as the material of the profile, surface condition (such as flatness, roughness, etc.). For example, for some profiles 200 to be sucked that are smooth and flat, the entire surface can be used as the surface to be sucked, but for profiles 200 to be sucked that have special textures or uneven surfaces, a relatively flat area may be required to be suitable as the surface to be sucked.

[0215] In step S120, after determining the posture, size and surface to be sucked of the profile 200 to be sucked, as well as the number of suction mechanisms 120, the suction area required to maintain the profile 200 to be sucked in a static equilibrium state when hoisting can be determined based on the number of suction mechanisms 120, the posture, size and surface to be sucked of the profile 200 to be sucked, and analysis can be performed based on the specific situation.

[0216] For example, when there are three suction mechanisms and the profile 200 to be sucked is tilted and large in size, a larger flat area near the center of gravity of the profile 200 to be sucked can be selected as the main suction area, and then an auxiliary suction area can be selected at a more suitable position relatively far away from the center of gravity on both sides of the profile 200 to be sucked. Through the combined action of the adsorption forces of these three suction areas, the profile 200 to be sucked can maintain a static balance state during the lifting process.

[0217] Fig.12 A flow chart of a method for lifting a profile hanger in other embodiments of the present application is shown; for ease of explanation, only the content related to the embodiments of the present application is shown.

[0218] In some embodiments, please refer to Fig.12 , based on the suction area, controlling the action of the suction mechanism 120 and the action of the rotation mechanism 130 includes the following steps:

[0219] Step S210, based on the suction area, the initial suction angle of the suction unit 122, the initial position of the carrier 121 relative to the base 110 and the initial position of the rotating mechanism 130, determine the rotation angle of the suction unit 122 relative to the carrier 121, the target position of the carrier 121 relative to the base 110 and the rotation position of the base 110.

[0220] In step S210, the suction area is an area on the profile 200 to be sucked that is determined by the controller to be more suitable for the suction operation. Different suction areas can be located at different parts of the profile 200 to be sucked, and the characteristics of the suction area such as the shape, position and angle can also be different. For example, the suction area may be at different positions such as the side, top surface or bottom surface of the profile 200 to be sucked, and there may be a certain angle of inclination. In order to enable the suction unit 122 to be more accurately attached to the suction area, thereby achieving effective adsorption, the rotation angle of the suction unit 122 relative to the carrier 121 can be determined according to the specific conditions of the suction area. If the suction area is on the side of the profile 200 to be sucked and has a certain inclination, the suction unit 122 can be rotated around the first axis relative to the carrier 121 at a certain angle accordingly, so that the suction unit 122 can be more closely attached to the suction area.

[0221] The initial suction angle of the suction unit 122 is the angle of the suction unit 122 relative to the support 121 before the lifting operation of the profile 200 to be sucked is performed. Determining the initial suction angle enables the controller to more accurately calculate the additional angle that the suction unit 122 can rotate to fit the suction area, thereby determining the final rotation angle of the suction unit 122 relative to the support 121. For example, if the initial suction angle is horizontal, and the suction area is inclined at 30 degrees on the side of the profile 200 to be sucked, then the suction unit 122 can rotate 30 degrees relative to the support 121.

[0222] The initial position of the support 121 relative to the base 110 is the position state before the current lifting operation begins. After the suction area is determined, in order to enable the suction mechanism 120 to more accurately move to the upper part corresponding to the suction area for suction operation, the target position of the support 121 relative to the base can be determined according to the position of the suction area in space and the initial position of the support 121.

[0223] By determining the target position of the carrier 121 relative to the base 110 and the rotational position of the base 110, the suction mechanism 120 can more smoothly reach the suction area for effective suction, thereby reducing the occurrence of suction failure or poor suction effect due to improper position.

[0224] Fig.13A flow chart of a method for lifting a profile hanger in some further embodiments of the present application is shown; for ease of explanation, only the contents related to the embodiments of the present application are shown.

[0225] In some embodiments, please refer to Fig.13 , based on the suction area, the action of the suction mechanism 120 and the action of the rotating mechanism 130 are controlled to adsorb and hoist the profile to be sucked, and then the following steps are included:

[0226] Step S300: Control the movement of the rotating mechanism 130 along the second direction F2 according to the sensing information of the second detection member A2. The second detection member A2 is disposed at one side of the suction unit 122, and the second direction F2 is parallel to the extension direction of the second axis.

[0227] In step S200 , the controller controls the movement of the rotating mechanism 130 along the second direction F2 according to the sensing information of the second detection member A2 , so that the entire profile hanger 100 reaches above the suction area of ​​the profile 200 to be sucked.

[0228] Exemplarily, the surface to be sucked of the profile 200 to be sucked can be preset. According to the specifications of different profiles 200 to be sucked, the controller calculates the rotation angle of the suction unit 122 relative to the support member 121, the target position of the support member 121 relative to the base 110, and the target position of the rotating mechanism 130 through the image information obtained by the first detection member A1. Then, the first driving member Q1 drives the flipping member 125 to rotate, thereby driving the suction unit 122 to rotate and flipping the suction unit 122 to the calculated angle. At the same time, the controller controls the support member 121 and the rotating mechanism 130 to reach the target position. Finally, the lifting equipment drives the profile hanger 100 to descend along the second direction F2. The second detection member A2 detects that the suction unit 122 contacts the profile 200 to be sucked, and the controller controls the profile hanger 100 to slow down the descending speed along the second direction F2.

[0229] Fig.14 A flow chart of a method for lifting a profile hanger in some other embodiments of the present application is shown; for ease of explanation, only the content related to the embodiments of the present application is shown.

[0230] In some embodiments, please refer to Fig.14 The hoisting method further comprises the following steps:

[0231] Step S400: Determine whether the suction unit 122 contacts the third detection member A3 according to the detection information of the third detection member A3. The third detection member A3 is disposed on the side of the suction unit 122 away from the profile 200 to be sucked, and is located on the movement path of the suction unit 122. The suction unit 122 is configured to be able to move relative to the carrier 121 along a preset direction, and the preset direction intersects with the first direction.

[0232] Step S500 : When the suction unit 122 contacts the third detection member A3 , the rotating mechanism 130 is controlled to stop moving toward the profile 200 to be sucked.

[0233] In step S400, the controller determines whether the suction unit 122 contacts the third detection member A3 according to the detection information of the third detection member A3. If the suction unit 122 does not contact the third detection member A3, the third detection member A3 may not generate detection information, and the rotating mechanism continues to move toward the profile 200 to be sucked.

[0234] In step S500, when the suction unit 122 contacts the third detection member A3, the third detection member A3 can generate detection information, which is transmitted to the controller, and the controller controls the rotating mechanism 130 to stop moving toward the profile 200 to be sucked. Then, the elastic member 123 returns to the initial state under the action of its own elastic force and deadweight, and the third detection member A3 does not detect contact with the suction unit 122. If the second detection member A2 always detects contact with the profile 200 to be sucked, the lifting process is normal. Then, the profile hanger 100 moves to the designated position with the profile, and the lifting equipment brings the profile hanger 100 down along the second direction F2 or moves along the third direction F3 or other directions, and decelerates the profile hanger 100 at a more appropriate height, and the profile hanger 100 continues to descend. When the profile is placed at the target position, the elastic member 123 will be deformed, and then the side of the suction unit 122 away from the profile will touch the third detection member A3, and the profile hanger 100 stops moving, and it can be determined that the profile is placed at the target position. Finally, the suction unit 122 begins to demagnetize by means of an electromagnetic device, etc. After the demagnetization is completed, the lifting device carries the profile lifting device 100 up along the second direction to continue to perform the next lifting task.

[0235] In some embodiments, the suction area is determined by an area on the surface to be sucked of the profile 200 to be sucked that is configured as a plane.

[0236] Specifically, the suction area is determined by the area on the surface to be sucked of the profile 200 to be sucked that is constructed as a plane. The profile 200 to be sucked with holes in the suction area can be more accurately positioned in the adsorption area, reducing the suction unit 122 sucking the porous area, which may cause the suction unit 122 to generate insufficient suction force, affecting the lifting safety, and is conducive to improving the safety of the lifting process.

[0237] It should be understood that the various steps in the flowcharts illustrated above are displayed in sequence according to the indications of the arrows, but these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless there is a clear description in this article, there is no strict order restriction on the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps may include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0238] It should be noted that the technical solutions described above can be implemented as independent embodiments in the actual implementation process, or they can be combined with each other and implemented as combined embodiments. In addition, when the above-mentioned embodiments of the present application are described, different embodiments are described in a corresponding order based on the idea of ​​convenient description, such as the order of data flow, rather than limiting the execution order between different embodiments. Accordingly, in the actual implementation process, if it is necessary to implement multiple embodiments provided by the present application, it is not necessary to follow the execution order provided when the embodiments are described in the present application, but the execution order between different embodiments can be arranged according to the needs.

[0239] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0240] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A profile hanger, characterized in that: include: A base is longitudinally extended along a first direction; A plurality of suction mechanisms are arranged on the base along the first direction; the suction mechanisms include a carrier and a suction unit arranged on the carrier, the carrier of at least one suction mechanism is configured to be controllably movably connected to the base along the first direction, and the suction unit is configured to be controllably rotatably connected to the carrier around a first axis; the extension direction of the first axis is parallel to the first direction; A rotating mechanism connected to the base; the rotating mechanism is configured to drive the base to rotate around a second axis; the second axis is perpendicular to the first axis; A first detection member connected to the rotating mechanism; The first detection member is configured to obtain image information of the profile to be sucked; and A controller is electrically connected to the suction mechanism, the rotating mechanism and the first detection member respectively; the controller is used to determine the suction area of ​​the profile to be sucked according to the image information obtained by the first detection member, and control the action of the suction mechanism and the action of the rotating mechanism based on the suction area.

2. The profile hanger according to claim 1, characterized in that: The rotating mechanism is further configured to be controllably movable along a second direction, wherein the second direction and the extending direction of the second axis are parallel to each other; The suction mechanism also includes a second detection member, which is arranged on one side of the suction unit and is electrically connected to the controller; the second detection member is configured to sense the profile to be sucked; and the controller is used to control the movement of the rotating mechanism along the second direction according to the sensing information of the second detection member.

3. The profile hanger according to claim 1, characterized in that: The suction unit is configured to be elastically connected to the carrier along a preset direction; the preset direction and the first direction intersect each other; In an initial state, there is a preset elastic force between the suction unit and the carrier; The suction mechanism further includes an elastic member and a guide member, wherein the elastic member is located on the moving path of the suction unit along the preset direction; one end of the guide member is connected to the suction unit, and the other end is movably connected to the bearing member along the preset direction, and the elastic member is sleeved on the guide member; The suction mechanism further includes a third detection member, which is disposed on a side of the suction unit away from the profile to be sucked and is located on a movement path of the suction unit; the third detection member is electrically connected to the controller; and the third detection member is configured to detect whether the suction unit is in contact; The controller is used to determine whether to control the rotating mechanism to stop moving toward the profile to be sucked according to the detection information of the third detection member.

4. The profile hanger according to any one of claims 1 to 3, characterized in that: The suction mechanism also includes a turning member, a first driving member, a matching member and a fourth detecting member; The flip member is rotatably connected to the carrier around the first axis, and the suction unit is provided on the flip member; the first driving member is connected to the flip member, and the first driving member is used to drive the flip member to rotate around the first axis; The matching piece is sleeved on the flip piece, and the outer peripheral surface of the matching piece has a cut surface, and the cut surface has a first edge and a second edge that are oppositely arranged along the circumference of the matching piece; The fourth detection member is disposed on the carrier and is arranged corresponding to the outer peripheral surface of the matching member; the fourth detection member is configured to generate a detection signal according to the outer peripheral edge of the matching member, and the detection signal of the fourth detection member includes a first detection signal and a second detection signal, the first detection signal is a detection signal generated by the fourth detection member according to the first edge, and the second detection signal is a detection signal generated by the fourth detection member according to the second edge; The controller is also electrically connected to the fourth detection member and the first driving member, respectively. The controller is configured to control the action of the first driving member to control the rotation angle of the flip member according to the first detection signal and the second detection signal.

5. The profile hanger according to any one of claims 1 to 3, characterized in that: The material of the profile to be sucked is configured as a magnetic material, and the suction unit is configured to be controllably magnetically connected to the profile to be sucked; The suction unit has a plurality of suction parts, and each of the suction parts is configured to be independently and controllably magnetically connected to the profile to be sucked.

6. The profile hanger according to any one of claims 1 to 3, characterized in that: defining a support member that is controllably movably connected to the base along the first direction as a target support member; The profile hanger further comprises a driving mechanism, wherein the driving mechanism comprises a second driving member and a transmission assembly; the second driving member is connected to the target bearing member; The transmission assembly includes a gear and a rack, the gear is sleeved on the output shaft of the second driving member, the rack is arranged on the base along the first direction, the gear and the rack are meshed, and the second driving member drives the gear to drive the target carrier to move along the first direction.

7. A hoisting method, characterized in that: The profile lifting device according to any one of claims 1 to 6; the lifting method comprises the following steps: Determine the position, size and surface of the profile to be sucked according to the image information obtained by the first detection member; Determine the suction area required to maintain the profile to be sucked in a static equilibrium state when hoisting the profile to be sucked based on the number of the suction mechanisms, the posture, size and surface of the profile to be sucked; The action of the suction mechanism and the action of the rotating mechanism are controlled based on the suction area to adsorb and hoist the profile to be sucked.

8. The hoisting method according to claim 7, characterized in that: The controlling the action of the suction mechanism and the action of the rotation mechanism based on the suction area includes: Based on the suction area, the initial suction angle of the suction unit, the initial position of the carrier relative to the base and the initial position of the rotating mechanism, the rotation angle of the suction unit relative to the carrier, the target position of the carrier relative to the base and the rotation position of the base are determined.

9. The hoisting method according to claim 7 or 8, characterized in that: The method of controlling the action of the suction mechanism and the action of the rotating mechanism based on the suction area to adsorb and hoist the profile to be sucked includes: According to the sensing information of the second detection member, the movement of the rotating mechanism along the second direction is controlled; wherein the second detection member is arranged at one side of the suction unit, and the second direction and the extension direction of the second axis are parallel to each other.

10. The hoisting method according to claim 7 or 8, characterized in that: The hoisting method further comprises: Determine whether the suction unit contacts the third detection member according to the detection information of the third detection member; wherein the third detection member is arranged on a side of the suction unit away from the profile to be sucked and is located on a movement path of the suction unit, and the suction unit is configured to be able to move relative to the carrier along a preset direction, and the preset direction intersects with the first direction; When the suction unit contacts the third detection member, the rotating mechanism is controlled to stop moving toward the profile to be sucked.

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