Sectional material hoist and hoisting method

Abstract

This application relates to a profile lifting device and lifting method. Multiple suction mechanisms are arranged on a base along a first direction, and at least one support member can be controllably moved along the first direction. This allows for more flexible adjustment of the suction mechanism's position according to the profile to be lifted, improving the device's flexibility and reliability. The suction unit is rotatably connected to the support member around a first axis, further increasing the adjustability of the suction angle. By setting a rotating mechanism to drive the base to rotate around a second axis, the suction unit can lift the profile from different positions and angles. Furthermore, connecting a first detection member to the rotating mechanism allows the first detection member to acquire image information from different positions and angles, enabling the controller to more accurately determine the suction area of ​​the profile. Simultaneously, by setting a controller to electrically connect the suction mechanism, rotating mechanism, and first detection member, the automation level of the profile lifting device can be improved, which is beneficial for increasing the lifting efficiency of the profile lifting device.

Description

TECHNICAL FIELD

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

[0002] A profile is an object with a certain geometric shape made of iron or steel and a material with certain strength and toughness through processes such as rolling, extrusion, and casting. A profile lifting appliance is a device for lifting a profile in a hoisting machine. In the operation of lifting a profile, the most commonly used devices are hooks, lifting belts, lifting rings, and hoisting suction cups. At present, for the lifting of different profiles, the lifting appliance still needs to use the manual assistance method. However, in the process of taking and placing the profile by manual assistance, there are problems of low lifting efficiency and low safety. SUMMARY

[0003] Therefore, it is necessary to provide a profile lifting appliance and a lifting method to improve the lifting efficiency and safety.

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

[0005] a base, which is arranged to extend longitudinally along a first direction;

[0006] a plurality of suction mechanisms, which are arranged on the base along the first direction; each suction mechanism comprises 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; the suction unit is configured to be controllably rotatably connected to the carrier about a first axis; the extension direction of the first axis is parallel to the first direction;

[0007] a rotating mechanism, which is connected to the base; the rotating mechanism is configured to drive the base to rotate about a second axis; the second axis is perpendicular to the first axis;

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

[0009] a controller, which is electrically connected to the suction mechanism, the rotating mechanism, and the first detection member respectively; the controller is configured to determine a 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 is parallel to the extension direction of the second axis.

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

[0012] In one of the embodiments, the suction unit is elastically connected to the carrier along a preset direction; the preset direction and the first direction intersect with each other.

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

[0014] In one of the embodiments, the suction mechanism further comprises an elastic member, which is arranged on the movement path of the suction unit along the preset direction.

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

[0016] In one of the embodiments, the suction unit is elastically connected to the carrier along a preset direction; the preset direction and the first direction intersect with each other.

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

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

[0019] In one of the embodiments, the suction mechanism further comprises a turnover member and a first driving member.

[0020] The turnover member is rotatably connected to the carrier about a first axis, and the suction unit is arranged on the turnover member; the first driving member is connected to the turnover member, and the first driving member is configured to drive the turnover member to rotate about the first axis.

[0021] In one of the embodiments, the suction mechanism further comprises a cooperation member and a fourth detection member.

[0022] The cooperation member is sleeved on the turnover member, and the outer peripheral surface of the cooperation member has a cutting surface, which has a first edge and a second edge arranged opposite to each other along the circumferential direction of the cooperation member.

[0023] The fourth detection element is disposed on the support member and is disposed corresponding to the outer peripheral surface of the mating member; the fourth detection element is configured to generate a detection signal based on the outer peripheral edge of the mating member, and the detection signal of the fourth detection element includes a first detection signal and a second detection signal, the first detection signal being the detection signal generated by the fourth detection element based on the first edge, and the second detection signal being the detection signal generated by the fourth detection element based on the second edge;

[0024] The controller is also electrically connected to the fourth detection element and the first driving element respectively. The controller is configured to control the action of the first driving element to control the rotation angle of the flipping element based on the first detection signal and the second detection signal.

[0025] In one embodiment, the outer peripheral surface of the mating member has a main surface other than the tangent surface, and the main surface is constructed as an arc surface; wherein, the tangent surface extends in a straight line from the first edge to the second edge; or

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

[0027] In one embodiment, the material of the profile to be picked up is configured to be magnetic, and the picking unit is configured to be magnetically connected to the profile to be picked up in a controllable manner.

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

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

[0030] The profile lifting device also includes a drive mechanism, which is located on the base and connected to the target carrier. The drive mechanism is used to drive the target carrier to move relative to the base in a first direction.

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

[0032] The transmission assembly includes a gear and a rack. The gear is sleeved on the output shaft of the second drive member, and the rack is disposed on the base along the first direction. The gear and rack mesh, and the second drive member drives the gear to move the target carrier along the first direction.

[0033] In one embodiment, the rotating mechanism further includes a rotating element and a third driving element;

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

[0035] According to another aspect of this application, embodiments of this application provide a hoisting method applied to the profile hoisting fixture as described in any of the preceding embodiments; the hoisting method includes:

[0036] Based on the image information obtained from the first inspection piece, the sampling area of ​​the profile to be sampled is determined;

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

[0038] In one embodiment, determining the absorption area of ​​the profile to be absorbed based on the image information acquired by the first detection element includes:

[0039] Based on image information, determine the pose, size, and surface to be picked up of the profile to be picked up;

[0040] Based on the number of suction mechanisms, the position, size, and suction surface of the profile to be suctioned, determine the suction area required to maintain the profile in static equilibrium during hoisting.

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

[0042] 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.

[0043] The actions of the suction mechanism and the rotation mechanism are controlled 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.

[0044] In one embodiment, the actions of the suction mechanism and the rotation mechanism are controlled based on the suction area to adsorb and lift the profile to be suctioned, followed by:

[0045] Based on the sensing information from the second detection element, the rotation mechanism is controlled to move along the second direction; wherein the second detection element is located on one side of the suction unit, and the second direction is parallel to the extension direction of the second axis.

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

[0047] Based on the detection information of the third detection component, it is determined whether the suction unit contacts the third detection component; wherein, the third detection component is located on the side of the suction unit away from the profile to be suctioned and is located on the movement path of the suction unit, and the suction unit is configured to be able to move relative to the carrier in a preset direction, the preset direction intersecting with the first direction.

[0048] When the suction unit comes into contact with the third detection component, the control rotation mechanism stops moving toward the profile to be suctioned.

[0049] In one embodiment, the absorption area is determined by a planar area on the absorption surface of the profile to be absorbed.

[0050] In the aforementioned profile lifting device and lifting method, the profile lifting device includes at least a base, multiple suction mechanisms, a rotating mechanism, a first detection element, and a controller. Multiple suction mechanisms are arranged on the base along a first direction, and at least one support element can be controllably moved along the first direction. This allows for more flexible adjustment of the suction mechanism's position based on the size and shape of the profile to be lifted, improving the device's flexibility and reliability. The suction unit can rotate around a first axis and is connected to the support element, further increasing the adjustability of the suction angle and reducing the occurrence of instability or falling during suction, thus improving safety. By setting a rotating mechanism to drive the base to rotate around a second axis, the suction unit can lift the profile from different positions and angles. Furthermore, connecting the first detection element to the rotating mechanism allows the first detection element to acquire image information from different positions and angles, enabling the controller to more accurately determine the suction area of ​​the profile. Simultaneously, by setting a controller to electrically connect the suction mechanism, rotating mechanism, and first detection element, compared to manual lifting, the automation level of the profile lifting device can be improved, which is beneficial for increasing the lifting efficiency of the profile lifting device. Therefore, the profile lifting tool and lifting method provided in this application embodiment can not only improve the safety of lifting, but also improve the automation level of the device, thereby helping to improve the lifting efficiency.

[0051] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0052] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the embodiments described below. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0053] Figure 1 This is a three-dimensional structural diagram of the profile lifting device in some embodiments of this application;

[0054] Figure 2 This is a partially exploded structural diagram of the profile lifting device in some embodiments of this application;

[0055] Figure 3 This is a schematic diagram of the profile lifting device from one perspective in some embodiments of this application;

[0056] Figure 4 This is a schematic diagram of the profile lifting device in a lifting state in some embodiments of this application;

[0057] Figure 5 This is a schematic diagram of the profile lifting device in another lifting state in some embodiments of this application;

[0058] Figure 6 This is a schematic diagram of the profile lifting device in another lifting state in some embodiments of this application;

[0059] Figure 7 for Figure 1 The diagram shows a partially enlarged structural schematic of point G on the profile lifting device;

[0060] Figure 8 for Figure 1 A partially enlarged structural schematic diagram of section H of the profile lifting device is shown;

[0061] Figure 9 for Figure 1 A partially enlarged structural schematic diagram of section I of the profile lifting device is shown;

[0062] Figure 10 This is a flowchart illustrating the lifting method of the profile lifting device in some embodiments of this application;

[0063] Figure 11 This is a flowchart illustrating the lifting method of the profile lifting device in some other embodiments of this application;

[0064] Figure 12 The following is a flowchart of a method for hoisting profile lifting devices according to another embodiment of this application;

[0065] Figure 13 This is a flowchart illustrating the lifting method of the profile lifting device in some embodiments of this application;

[0066] Figure 14 This application also includes flowcharts of the lifting methods for profile lifting devices in some embodiments.

[0067] The reference numerals in the detailed embodiments are as follows:

[0068] Profile lifting tool 100;

[0069] Base 110;

[0070] The suction mechanism 120, the bearing member 121, the suction unit 122, the suction part 122a, the second detection member A2, the elastic member 123, the guide member 124, the third detection member A3, the flipping member 125, the first driving member Q1, the mating member 126, the cut surface M, the first edge b1, the second edge b2, the main body surface T, and the fourth detection member A4.

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

[0072] First inspection piece A1;

[0073] Drive mechanism 150, second drive component Q2, transmission assembly 151, gear 151a, rack 151b;

[0074] 200 profiles to be absorbed;

[0075] First direction F1, second direction F2, third direction F3;

[0076] Steps S100, S110, S120, S200, S210, S300, S400, S500. Detailed Implementation

[0077] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0078] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0079] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0080] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0081] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0082] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, 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 possible implementation.

[0083] Figure 1 A three-dimensional structural schematic diagram of the profile lifting device in some embodiments of this application is shown; Figure 2 This application shows a partially exploded structural diagram of the profile lifting device in some embodiments; Figure 3 This paper shows a structural schematic diagram of the profile lifting device from one perspective in some embodiments of this application; Figure 4 The diagram shows a structural schematic of a profile lifting device in a lifting state in some embodiments of this application; for ease of explanation, only the content related to the embodiments of this application is shown.

[0084] Please refer to Figures 1 to 4 This application provides a profile lifting device 100, including a base 110, multiple suction mechanisms 120, a rotating mechanism 130, a first detection element A1, and a controller (not shown in the figure).

[0085] The base 110 may be a component that provides a basic support for multiple suction mechanisms 120, rotation mechanisms 130, the first detection element A1, and controllers. The base 110 extends longitudinally along a first direction F1.

[0086] The suction mechanism 120 is used to suction the profile 200 to be suctioned. Specifically, multiple suction mechanisms 120 are arranged on the base 110 along a first direction F1. Each suction mechanism 120 includes a support member 121 and a suction unit 122 disposed on the support member 121. The support member 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 support member 121 about a first axis. It should be noted that the extension direction of the first axis is parallel to the first direction F1.

[0087] "Profile to be picked up 200" refers to a profile that can be picked up by the picking unit 122. The profile to be picked up 200 can be metal, plastic, or wood, etc. For example, using... Figure 4 For example, this illustrates the case where the profile 200 to be absorbed is a bulb flat steel. Another example is... Figure 5 For example, Figure 5 This is a structural schematic diagram of the profile lifting device in another lifting state in some embodiments of this application, illustrating the case where the profile 200 to be lifted is an unequal angle steel. As another example, with... Figure 6 For example, Figure 6 This is a structural schematic diagram of the profile lifting device in another lifting state in some embodiments of this application, illustrating the case where the profile 200 to be lifted is an equilateral angle steel. In other embodiments, the profile 200 to be lifted may also be of other shapes, sizes, etc., and no specific limitations are made here.

[0088] Multiple suction mechanisms 120 are arranged on the base 110 along the first direction F1. It is understood that there can be two, three, four, or even more suction mechanisms 120, depending on the actual situation; no specific limitation is made here. At least one suction mechanism 120's support member 121 can be controllably moved along the first direction F1 and connected to the base 110. This means that when multiple suction mechanisms 120 are arranged on the base 110 along the first direction F1, it can be one suction mechanism 120's support member 121 being controllably moved along the first direction F1 and connected to the base 110, or two suction mechanisms 120's support members 121 being moved along the first direction F1 and connected to the base 110, or other numbers of suction mechanisms 120's support members 121 being moved along the first direction F1 and connected to the base 110; no specific limitation is made here. For example, using... Figure 1 and Figure 2For example, there are three suction mechanisms 120. The suction mechanism 120 located in the middle of the base 110 is stationary, while 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] Furthermore, the number of suction mechanisms 120 can be arranged differently depending on the length and shape of the profile 200 to be suctioned. They can be arranged symmetrically or asymmetrically along the first direction F1 on the base 110. The arrangement can be determined according to the actual situation, and no specific restrictions are imposed here. It should be noted that, for different profiles 200 to be suctioned, the suction mechanisms 120 can be arranged symmetrically or asymmetrically along the first direction F1 on the base 110, which can be determined based on the suction area shown later.

[0090] In some other embodiments, multiple suction units 122 may be provided on the carrier 121 in a suction mechanism 120, without specific limitations.

[0091] When the length of the profile 200 to be picked up is short, only one picking mechanism 120 is needed. When the length of the profile 200 to be picked up is long, two or more picking mechanisms 120 can be used. The multiple picking mechanisms 120 can work together and adjust their distance to better pick up the picking area of ​​the profile 200. In this way, the profile 200 to be picked up with the largest possible length range can be lifted with the fewest possible picking mechanisms 120, further increasing the compatibility of the profile lifting device 100, while also reducing the weight of the profile lifting device 100.

[0092] "The suction unit 122 is configured to be controllably rotatably connected to the carrier 121 about a first axis" means that the suction unit 122 can be controlled to rotate about a first axis relative to the carrier 121. This rotation about the first axis allows for more precise adjustment of the angle of the suction unit 122, resulting in better fit to the profile 200 to be suctioned, thus improving the stability and accuracy of the suction. Figure 3 As shown, each suction unit 122 has a different tilt rotation 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 about a second axis, wherein the second axis is perpendicular to the first axis.

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

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

[0096] The first inspection component A1 can be a 3D camera, a laser scanner, or a structured light sensor, etc. It can be set according to the actual situation, as long as it can acquire image information of the profile 200 to be inspected, and no specific restrictions are made here.

[0097] The controller is electrically connected to the suction mechanism 120, the rotation mechanism 130, and the first detection element A1. The controller is used to determine the suction area of ​​the profile 200 to be suctioned based on the image information acquired by the first detection element A1, and to control the operation of the suction mechanism 120 and the rotation mechanism 130 based on the suction area.

[0098] First, the controller analyzes and processes the image information acquired by the first detection element A1, using image recognition algorithms and image processing techniques to determine the suction area of ​​the profile 200 to be suctioned. Then, based on the relevant information of the determined suction area, the controller sends control commands to the suction mechanism 120 to more accurately control the movement of the carrier 121 and the rotation of the suction unit 122. At the same time, it can also send commands to the rotation mechanism 130 to control the base 110 to rotate around the second axis. Through this comprehensive coordinated control, the entire profile lifting device 100 can more accurately and efficiently complete the suction of the profile 200 to be suctioned, thereby enabling the profile lifting device 100 to 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 the actual situation. No specific restrictions are imposed here.

[0100] For different lengths of the profile 200 to be picked up, the first detection element A1 can first detect and determine the position of the end face of the profile 200 to be picked up, and then transmit the image information to the controller. The controller can calculate the position where the picking unit 122 should be based on the information of the length of the profile 200 to be picked up and the length of the picking unit 122 obtained by the first detection element A1.

[0101] For example, the profile lifting device 100 is connected to the lifting equipment via a connecting mechanism. First, the lifting equipment can move the profile lifting device 100 vertically above the profile 200 to be picked up. The first detection element A1 can detect and identify the profile 200 based on its placement angle, the angle of the surface to be picked up, its shape, and its size. The image information of the profile 200 to be picked up acquired by the first detection element A1 is transmitted to the controller. The controller can calculate the image data of the profile 200 to be picked up using a built-in image recognition algorithm. Based on the calculated image data, the controller controls the rotating mechanism 130 to drive the base 110 to rotate around the second axis. The rotation angle of the base 110 can be adapted to the placement position of the profile 200 to be picked up. Next, the controller controls the picking mechanism 120 to move along the first direction F1 to above the picking area of ​​the profile 200 to be picked up. The controller controls the picking unit 122 to rotate relative to the carrier 121 around the first axis. It should be noted that the controller can simultaneously control the suction mechanism 120 to move along the first direction F1 to above the suction area of ​​the profile 200 to be suctioned and control the suction unit 122 to rotate relative to the carrier 121 around the first axis; alternatively, it can first control the suction mechanism 120 to move along the first direction F1 to above the suction area of ​​the profile 200 to be suctioned, and then control the suction unit 122 to rotate relative to the carrier 121 around the first axis; or it can first control the suction unit 122 to rotate relative to the carrier 121 around the first axis, and then control the suction mechanism 120 to move along the first direction F1 to above the suction area of ​​the profile 200 to be suctioned. The settings can be configured according to actual conditions, and no specific limitations are imposed here. Finally, the controller controls the rotating mechanism 130 to move along the second direction to suction the profile 200 to be suctioned.

[0102] In the embodiments of this application, such as Figure 1 and Figure 2As shown, three suction mechanisms 120 are arranged on the base 110 along the first direction F1. The carriers 121 of two suction mechanisms 120 are controllably movable along the first direction F1 and connected to the base 110. The carrier 121 of the third suction mechanism 120 is fixedly connected to the base 110 and located between the two movable suction mechanisms 120. In this way, the controller can calculate the distance that the two movable carriers 121 need to move based on the image information obtained by the first detection element A1 and through the controller's built-in image recognition algorithm. The fixed carrier 121 does not need to move, so the controller's built-in algorithm does not need to be used, which simplifies the controller's built-in image recognition algorithm. Meanwhile, the two carriers 121 are located on both sides of the carrier 121 fixedly connected to the base 110, which makes it easier to move along the first direction F1. During the movement, the two carriers 121 can be moved without interference, so as to reach the suction area of ​​the profile to be sucked more accurately. It can also reduce the travel of the two carriers 121, so that the carriers 121 can reach the suction area more quickly, thereby improving the hoisting efficiency.

[0103] In this way, by arranging multiple suction mechanisms 120 along the first direction F1 on the base 110, and ensuring that at least one support member 121 can move controllably 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 suctioned, thereby improving the flexibility and reliability of the device. The suction unit 122 can be rotatably connected to the support member 121 around the first axis, further increasing the adjustability of the suction angle and reducing the occurrence of unstable suction or falling during the suction process, thus improving safety. By setting a rotating mechanism 130 to drive the base 110 to rotate around the second axis, the suction unit 122 can suction the profile 200 to be suctioned from different positions and angles. Furthermore, by connecting the first detection member A1 to the rotating mechanism 130, the first detection member A1 can acquire image information from different positions and angles, so that the controller can more accurately determine the suction area of ​​the profile 200 to be suctioned. Meanwhile, by setting up controllers to electrically connect the suction mechanism 120, the rotating mechanism 130 and the first detection piece A1 respectively, the automation level of the lifting equipment can be improved compared with manual assistance in lifting, which is conducive to improving the lifting efficiency of the profile lifting equipment.

[0104] Figure 7 It shows Figure 1 The diagram shows a partially enlarged structural schematic of point G of the profile lifting device; for ease of explanation, only the content related to the embodiments of this application is shown.

[0105] In some embodiments, please refer to Figures 1 to 4 and in conjunction with references Figure 7The rotating mechanism 130 is also configured to move controllably along a second direction F2, which is parallel to the extension direction of the second axis.

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

[0107] The rotating mechanism 130 can be controlled to move along the second direction F2, so that the profile lifting device 100 can move along the second direction F2, so that the suction unit 122 on the profile lifting device 100 approaches the profile to be picked up along the second direction F2, and after the suction unit 122 picks up 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 element A2 is positioned on one side of the suction unit 122 and electrically connected to the controller 140. This allows the sensing information from the second detection element A2 to be transmitted to the controller, which then controls the rotation mechanism 130 to move along the second direction F2. When the second detection element A2 does not sense the profile 200 to be suctioned, the controller does not receive sensing information. In this case, the controller can control the rotation mechanism 130 to move faster along the second direction F2, thus reaching the suction area more quickly and improving lifting efficiency. As the rotation mechanism 130 moves along the second direction F2, the second detection element A2 senses the profile 200 to be suctioned and generates sensing information, which is then transmitted to the controller. Based on this sensing information, the controller controls the rotation mechanism 130 to move slower along the second direction F2, allowing the suction unit 122 to more accurately reach the suction area of ​​the profile to be suctioned.

[0109] The second detection component A2 can be an inductive proximity sensor, a photoelectric proximity sensor, or a distance sensor, etc. It can be set according to the actual situation, and no specific restrictions are made here.

[0110] When the profile 200 to be picked up is made of metal, the second detection element A2 can be an inductive proximity sensor. Specifically, when the picking unit 122 moves along the second direction F2 toward the profile 200 to be picked up, it can cause a change in the inductance of the inductive proximity sensor to generate a sensing signal. The generated sensing signal is then transmitted to the controller, thereby causing the controller to slow down the movement of the rotating mechanism 130 toward the profile 200 to be picked up along the second direction F2.

[0111] When the second detection element A2 is a photoelectric proximity sensor, the photoelectric proximity sensor can be preset with a sensing area. As the rotating mechanism 130 approaches the profile 200 to be picked up along the second direction F2, the profile 200 to be picked up enters the preset sensing area of ​​the photoelectric proximity sensor. The profile 200 to be picked up can block the light, thereby triggering the photoelectric proximity sensor to generate a sensing signal, which is then transmitted to the controller, thereby causing the controller to control the rotating mechanism 130 to slow down its movement along the second direction F2 towards the profile 200 to be picked up.

[0112] When the second detection element A2 is a distance sensor, the distance sensor can be preset with a sensing distance. As the rotating mechanism 130 approaches the profile 200 to be picked up along the second direction F2, the distance between the profile 200 to be picked up and the distance sensor reaches the preset sensing distance of the distance sensor, which can generate a sensing signal. The generated sensing signal is then transmitted to the controller, thereby causing the controller to control the rotating mechanism 130 to slow down its movement along the second direction F2 towards the profile 200 to be picked up.

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

[0114] By configuring the rotating mechanism 130 to move controllably along the second direction F2, and providing a second detection element A2 on one side of the suction unit 122, the second detection element A2 is configured to sense the profile 200 to be suctioned. The second detection element A2 can sense the relative position between the profile 200 and the suction unit 122 in real time. Based on the sensing information from the second detection element A2, the controller can control the movement of the rotating mechanism 130 in the second direction F2, enabling the suction unit 122 to more accurately fit the suction area of ​​the profile 200. Simultaneously, by using the second detection element A2 to sense the profile and the controller to control the rotating mechanism to move along the second direction based on the sensing information, the suction unit 122 can reach the suction area more quickly when suctioning the profile 200, improving lifting efficiency and 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 support member 121 along a preset direction." This means that the suction unit 122 is not rigidly and fixedly connected to the support member 121, but rather the connection between the suction unit 122 and the support member 121 allows for elastic deformation in the preset direction. An elastically connected component, such as a spring or elastic rubber, can exist between the suction unit 122 and the support member 121, allowing the suction unit 122 to move relative to the support member 121 along the preset direction.

[0117] The phrase "the preset direction and the first direction F1 intersect each other" means that the elastic deformation direction of the absorbing 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 can be determined according to the actual working requirements of the profile lifting device 100.

[0118] In the initial state, there is a preset elastic force between the suction unit 122 and the carrier 121. That is, before the operation of suctioning the profile 200 to be suctioned 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 components. 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 elastic force. This elastic force can generate an initial force on the suction unit 122, so that the suction unit 122 can maintain a relatively stable initial position when it is not disturbed by other external forces.

[0119] It should be noted that the preset elastic force can be adjusted according to actual needs, and no specific restrictions are imposed here. For example, by changing the elastic coefficient or the initial deformation of the elastically connected components, it is possible to better adapt to different weights and materials of the profile 200 to be picked up, so that the picking unit 122 can generate a more suitable contact pressure when it contacts the profile 200 to be picked up.

[0120] For example, when the rotating mechanism 130 moves along the second direction F2, it can drive the suction unit 122 to move toward the profile 200 to be suctioned. When the suction unit 122 comes into contact with the profile 200 to be suctioned, the suction unit 122 can continue to move toward the profile 200 to be suctioned, so that the suction unit 122 can respond to the contact of the profile 200 to be suctioned, overcome the preset elastic force, and thus make the suction unit 122 move relative to the carrier 121 in a preset direction.

[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, which ensures that the suction unit 122 is in a relatively stable state in the initial position. Even when no suction operation is performed or during the reset process after a suction operation, the preset elastic force can also keep the suction unit 122 in or return it to its initial position, preparing it for the next suction operation.

[0122] Figure 8 It shows Figure 1 The diagram shows a partially enlarged structural schematic of the profile lifting device at point H; for ease of explanation, only the content related to the embodiments of this application is shown.

[0123] In some embodiments, please refer to Figures 1 to 4 and in conjunction with references Figure 8 The suction mechanism 120 also includes an elastic element 123.

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

[0125] It should be noted that the elastic element 123 can be a spring, elastic rubber, or other components with elastic properties. The specific design can be tailored to the actual situation and is not limited here. For example... Figure 8 As shown, the case where the elastic element 123 is a spring is illustrated.

[0126] When the rotating mechanism 130 moves along the second direction F2, and the suction unit 122 comes into contact with the profile 200 to be suctioned, the suction unit 122 can continuously move toward the profile 200 to be suctioned, thereby enabling the suction unit 122 to respond to the contact of the profile 200 to be suctioned and generate an interaction force with the profile 200 to be suctioned. This force can act on the elastic member 123, causing the elastic member 123 to deform and convert this force into its own elastic potential energy 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 about by the movement of the suction unit 122 relative to the bearing member 121 in the preset direction through its own elastic deformation, reducing the occurrence of damage to the suction unit 122 due to sudden force impact or instability in the connection between the suction unit 122 and the bearing member 121, and making the movement of the suction unit 122 in the preset direction more stable and controllable.

[0127] In this way, by setting the elastic element 123, during the process of picking up the profile 200 to be picked up, the elastic element 123 can effectively reduce the force generated at the moment of contact between the picking unit 122 and the profile 200 to be picked up, reducing the risk of damage to the components in the profile lifting device 100. At the same time, the setting of the elastic element 123 can also make the connection between the picking unit 122 and the bearing member 121 more stable, thereby making the movement of the picking unit 122 in the preset direction more smooth and controllable, improving the reliability of the profile lifting device 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 component 124.

[0129] The guide member 124 is a component used to guide 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 member 121 along a preset direction. The elastic member 123 is sleeved on the guide member 124.

[0130] Connecting one end of the guide member 124 to the suction unit 122 allows the guide member 124 to move synchronously with the suction unit 122. The other end of the guide member 124 is movably connected to the support member 121 along a preset direction, indicating that the guide member 124 can move relative to the support member 121 along the preset direction. Furthermore, when the suction unit 122 moves relative to the support member 121 along the preset direction, the guide member 124 enables more reliable and controllable movement.

[0131] By fitting the elastic element 123 onto the guide element 124, a tighter fit between the elastic element 123 and the guide element 124 can be achieved. The elastic element 123 can be fitted onto the guide element 124 in two ways: either both ends of the elastic element 123 are connected to the guide element 124, or both ends of the elastic element 123 are not connected to the guide element 124, but it is still fitted onto the guide element 124. The specific configuration can be adjusted according to the actual situation, and no specific restrictions are imposed here.

[0132] For example, such as 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 support member 121 along a preset direction. An elastic element 123 is fitted onto a portion of the guide member 124 near the suction unit 122, and another elastic element 123 is fitted onto the other portion of the guide member 124 away from the suction unit 122. This allows the elastic element 123 to more flexibly perform its buffering function, further increasing the buffering effect and improving the reliability of the profile lifting device 100. Alternatively, the elastic element 123 can be fitted onto a portion of the guide member 124 near the suction unit 122, while the other portion of the guide member 124 away from the suction unit 122 may not have an elastic element 123; or, the elastic element 123 may not be fitted onto a portion of the guide member 124 near the suction unit 122, while the other portion of the guide member 124 away from the suction unit 122 may have an elastic element 123. The configuration can be adjusted according to actual conditions, and no specific restrictions are imposed here.

[0133] Furthermore, the guide member 124, which is movably connected to the end of the carrier member 121 along a preset direction, may be provided with a mounting member and a pin. The mounting member is sleeved on the end of the guide member 124, which is movably connected to the carrier member 121 along the preset direction. The pin may pass through 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 suctioned, the suction unit 122 moves in a preset direction, causing the elastic element 123 to deform. At this time, the elastic element 123, sleeved on the guide member 124, can be better supported by the guide member 124. The guide member 124 provides a relatively fixed spatial position for the elastic element 123, so that the elastic deformation of the elastic element 123 can be more regular and orderly, rather than random and irregular elastic deformation, which helps the elastic element 123 to achieve buffering and reset functions.

[0135] In this way, by setting 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 support member 121 along a preset direction. 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 suction unit 122's movement path, and can also adjust the movement of the suction unit 122 in conjunction with the elastic member 123. Furthermore, when the suction unit 122 moves and causes the elastic member 123 to undergo elastic deformation, the buffering effect of the elastic member 123 and the guiding effect of the guide member 124 make the movement of the suction unit 122 in the preset direction more stable and controllable. The guide member 124 also provides more stable support for the elastic member 123, allowing the elastic member 123 to undergo more uniform and stable elastic deformation, thereby more effectively absorbing and dispersing the force generated by the suction unit 122 contacting the profile 200 to be suctioned. Compared to the elastic element 123 existing alone, fitting the elastic element 123 onto the guide element 124 further enhances the buffering effect, thereby better protecting the suction unit 122 and the entire suction mechanism 120, reducing the possibility of damage to the suction unit 122 and the entire suction mechanism 120 due to sudden impact forces. Furthermore, when the external force disappears, as the elastic restoring force of the elastic element 123 causes the suction unit 122 to reset, the guide element 124 also allows the suction unit 122 to return to its initial position along a more accurate path. This allows the suction unit 122 to cooperate more appropriately with the support element 121, enabling the suction mechanism 120 to function normally and thus more effectively suction the profile 200 to be suctioned.

[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 intersects with the first direction.

[0137] "The suction unit 122 is configured to be elastically connected to the carrier 121 along a preset direction" means that the connection between the suction unit 122 and the carrier 121 has a certain elasticity, and the suction unit 122 and the carrier 121 can be relatively displaced in the preset direction according to the external force.

[0138] The suction mechanism 120 also includes a third detection element A3. Specifically, the third detection element A3 is disposed on the side of the suction unit 122 opposite to the profile 200 to be suctioned, and is located on the movement path of the suction unit 122.

[0139] It is understandable that the third detection element A3 is located on the side of the suction unit 122 away from the profile 200 to be suctioned. When the suction unit 122 and the profile 200 to be suctioned come into contact with each other and move relative to the carrier 121, the third detection element A3 can contact the side of the suction unit 122 away from the profile 200 to be suctioned.

[0140] The third detection element A3 is electrically connected to the controller. The third detection element A3 is configured to detect whether it is in contact with 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 suctioned based on the detection information of the third detection element A3.

[0141] When the third detection element A3 comes into contact with the side of the suction unit 122 away from the profile 200 to be suctioned, the third detection element A3 can generate detection information. Accordingly, the detection information generated by the third detection element 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 suctioned based on the detection information of the third detection element A3.

[0142] It should be noted that the third detection component A3 can be a limit switch, a pressure sensor, or a photoelectric sensor, etc., and can be set according to the actual situation. No specific restrictions are made here.

[0143] When the third detection element A3 is a limit switch, as the suction unit 122 moves towards the profile 200 to be suctioned, upon contact with the profile 200, the suction unit 122 moves relative to the carrier 121 in a preset direction. Then, the side of the suction unit 122 away from the profile 200 can contact the limit switch, causing the internal mechanical structure of the limit switch to activate, changing the state of the electrical contacts that were originally in a normally open or normally closed state. This generates an electrical signal, which is transmitted to the controller. Based on the electrical signal generated by the limit switch, the controller controls the rotating mechanism 130 to stop moving towards the profile 200 to be suctioned.

[0144] When the third detection element A3 is a pressure sensor, the pressure sensor can be preset with a pressure value. As the suction unit 122 moves towards the profile 200 to be suctioned, when the suction unit 122 contacts the profile 200, the suction unit 122 will move relative to the carrier 121 in a preset direction. Then, the side of the suction unit 122 away from the profile 200 to be suctioned 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 suctioned and the pressure sensor reaches the 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 towards the profile 200 to be suctioned.

[0145] When the third detection element A3 is a photoelectric sensor, a detection position can be preset for the photoelectric sensor. As the suction unit 122 moves towards the profile 200 to be suctioned, when the suction unit 122 contacts the profile 200, the suction unit 122 will move relative to the carrier 121 in a preset direction. Then, when the suction unit 122 moves to a detection position that blocks the light emitted by the photoelectric sensor on the side away from the profile 200, the photoelectric sensor can no longer receive light, thus detecting that the suction unit 122 has reached the preset position and generating a corresponding electrical signal sent to the controller. Based on the electrical signal generated by the photoelectric sensor, the controller controls the rotating mechanism 130 to stop moving towards the profile 200 to be suctioned.

[0146] By setting the third detection element A3, the position of the suction unit 122 can be monitored in real time. Once the suction unit 122 moves to a position where it contacts the third detection element A3, the controller can promptly control the rotating mechanism 130 to stop moving towards the profile 200 to be suctioned based on the detection information from the third detection element A3, thus reducing the occurrence of excessive displacement of the suction unit 122. Simultaneously, the controller determines whether to stop the movement of the rotating mechanism based on the detection information from the third detection element A3, making the profile suction process more reliable. After the third detection element A3 detects contact with the suction unit 122, the controller, based on the detection information from the third detection element A3, controls the rotating mechanism 130 to stop moving towards the profile 200 to be suctioned along the second direction F2, allowing the suction unit 122 to suction the profile 200 more stably and improving the stability of the suction process. Furthermore, the setting of the controller and the third detection element A3 can also improve the automation level of the entire profile lifting device 100, thereby increasing lifting efficiency.

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

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

[0149] The flipping member 125 is rotatably connected to the carrier member 121 around a first axis. The flipping member 125 is equipped with a suction unit 122, meaning that the flipping member 125 can rotate relative to the carrier member 121 around the first axis. This allows the flipping member 125 to drive the suction unit 122 to rotate, and the position and orientation of the suction unit 122 can change with the rotation of the flipping member. For profiles 200 of different shapes, sizes, positions, and placement angles, the flipping member 125 can drive the suction unit 122 to rotate to a more suitable angle and position, so as to more effectively contact the surface of the profile 200 and achieve a more reliable suction operation.

[0150] The first driving component Q1 is connected to the flipping component 125, enabling the first driving component Q1 to transmit its power to the flipping component 125. The first driving component Q1 drives the flipping component 125 to rotate around the first axis, that is, the first driving component Q1 provides the power required for the flipping component 125 to rotate around the first axis. Through the driving action of the first driving component Q1, the flipping component 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 suctioned.

[0151] It should be noted that the first driving component Q1 can be a servo motor. Through the synchronous control mode of the servo motor, the angles of multiple suction units 122 can be made relatively consistent, thereby enabling multiple suction units 122 to synchronously suction the same profile 200 to be suctioned, increasing the reliability of the suction operation. Of course, the first driving component Q1 can also be other types of motors, which can be set according to the actual situation; no specific restrictions are made here.

[0152] Furthermore, the controller can be electrically connected to the flipping component 125 and the carrier component 121, and can control the flipping component 125 and the carrier component 121 independently. This allows the profile lifting device 100 to simultaneously lift and stack multiple profiles, which can be of the same specification or different specifications. The profile lifting device 100 can lift from the same position or from different positions. Moreover, the placement angle and stacking angle of the profiles can be arbitrary, and can be the same or different.

[0153] By setting a first driving component Q1 and a flipping component 125, the first driving component Q1 drives the flipping component 125 to rotate, enabling the suction unit 122 to more flexibly change its suction angle according to the characteristics of the profile 200 to be suctioned, such as different shapes, sizes, and placement angles. This allows the suction unit 122 to fit more closely to the surface of the profile 200, thus achieving a more reliable and efficient suction operation. Simultaneously, the rotation of the suction unit 122 driven by the flipping component 125 allows the suction unit 122 to dynamically adjust its suction angle according to the specific shape and swing angle of the profile 200, further improving the versatility of the profile lifting device 100. When the suction unit 122 can be adjusted more quickly and accurately to a position suitable for the shape and placement angle of the profile 200, not only can the success rate of suction be improved, but the occurrence of profiles falling during lifting due to improper fit or instability can also be reduced, thereby improving the overall lifting efficiency of the profile lifting device.

[0154] Figure 9 It shows Figure 1 The diagram shows a partially enlarged structural schematic of section I of the profile lifting fixture; for ease of explanation, only the content related to the embodiments of this application is shown.

[0155] In some embodiments, please refer to Figures 1 to 6 and in conjunction with references Figure 9 The suction mechanism 120 also includes a mating part 126 and a fourth inspection part A4.

[0156] The mating part 126 refers to a component that can mate with the fourth detection element A4. Specifically, the mating part 126 is fitted onto the flipping part 125. The outer peripheral surface of the mating part 126 has a tangent M, and the tangent M has a first edge b1 and a second edge b2 that are arranged opposite each other along the circumference of the mating part 126. By fitting the mating part 126 onto the flipping part 125, the mating part 126 can rotate as the flipping part 125 rotates about a first axis.

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

[0158] The fourth detection element A4 is disposed on the support member 121 and is positioned corresponding to the outer peripheral surface of the mating member 126. It can be understood that the fourth detection element A4 is mounted on the support member 121 and its position corresponds to the outer peripheral surface of the mating member 126, thereby enabling the fourth detection element A4 to detect the outer peripheral edge of the mating member 126.

[0159] The fourth detection element A4 can be used to generate a detection signal based on the outer periphery of the mating part 126. The detection signal of the fourth detection element A4 includes a first detection signal and a second detection signal. It can be understood that when the fourth detection element A4 detects different conditions of the outer periphery of the mating part 126, it will generate different detection signals. Specifically, "the first detection signal is the detection signal generated by the fourth detection element A4 based on the first edge b1, and the second detection signal is the detection signal generated by the fourth detection element A4 based on the second edge b2." That is to say, when the fourth detection element A4 detects the first edge b1 of the mating part 126, it will generate the first detection signal; when the fourth detection element A4 detects the second edge b2 of the mating part 126, it will generate the second detection signal.

[0160] It should be noted that the fourth detection component A4 can be a photoelectric sensor or an inductive proximity sensor, etc., and can be set according to the actual situation. No specific restrictions are made here.

[0161] When the fourth detection element A4 is a photoelectric sensor, the photoelectric sensor can be mounted on the support member 121 and correspond to the outer peripheral surface of the mating member 126. When the mating member 126 rotates with the flipping member 125, the first edge b1 and the second edge b2 of the cross surface M of the outer peripheral surface of the mating member 126 will sequentially pass through the detection area of ​​the photoelectric sensor. 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. The signal generated by the first edge b1 blocking the light is the first detection signal, and the signal generated by the second edge b2 blocking the light is the second detection signal.

[0162] When the material of the mating part 126 is metal and the fourth detection element A4 can be an inductive proximity sensor, the inductive proximity sensor can be mounted on the support 121 and correspond to the outer peripheral surface of the mating part 126. The inductive proximity sensor can be preset with a detection value. When the mating part 126 rotates with the flipping member 125, the first edge b1 and the second edge b2 of the cross-section M of the outer peripheral surface of the mating part 126 approach the inductive proximity sensor. When the distance between the first edge b1 and the second edge b2 of the mating part 126 reaches the preset detection value, it can cause a change in the magnetic field within the inductive proximity sensor. The inductive proximity sensor will detect the corresponding change and generate an electrical signal. Furthermore, the signal generated when the first edge b1 approaches is designated as the first detection signal, and the signal generated when the second edge b2 approaches is designated as the second detection signal.

[0163] The controller is also electrically connected to the fourth detection element A4 and the first drive element Q1 respectively. The controller is configured to control the action of the first drive element Q1 to control the rotation angle of the flipping element 125 according to the first detection signal and the second detection signal.

[0164] The controller is electrically connected to the fourth detection element A4 and the first driving element Q1 respectively. The controller is electrically connected to the fourth detection element A4 and the first driving element Q1 through circuit connection or communication connection, so that the controller can obtain the detection signal generated by the fourth detection element A4 and control the action of the first driving element Q1 according to the detection signal, thereby controlling the rotation angle of the flipping element 125.

[0165] "The controller is configured to control the action of the first drive member Q1 to control the rotation angle of the flipping member 125 based on the first detection signal and the second detection signal." It can be understood that when the lifting device is initially installed, the controller controls the flipping member 125 to rotate in a predetermined direction. When the fourth detection member A4 detects and generates the first detection signal, the first detection signal can be considered as the initial signal, and the flipping angle of the flipping member 125 can be considered as the initial angle. According to actual needs, the controller controls the first drive member Q1 to drive the flipping member 125 to rotate or adjust its direction, etc., so as to more accurately control the rotation angle of the flipping member 125, so that the suction unit 122 can contact and suction the profile 200 to be suctioned at a more suitable angle and position. In the event of a power outage in the profile lifting device 100, the controller will lose track of the position of the flipping component 125. Upon powering back on the profile lifting device 100, the controller controls the flipping component 125 to rotate in a predetermined direction. When the fourth detection element A4 generates a first detection signal, this first detection signal can be considered the initial signal, and the flipping angle of the flipping component 125 can be considered the initial angle. At this point, the controller can continue to control the rotation angle of the flipping component 125 more accurately. If, during the flipping process of the flipping component 125 in one direction, the fourth detection element A4 generates a second detection signal, it indicates that the flipping angle of the flipping component 125 has approached its limit and cannot continue to flip in that direction. The controller can then control the first drive element Q1 to stop driving the rotation of the flipping component 125. At this time, the operator can check whether the angle given by the first detection element A1 is correct or check whether the position of the profile 200 to be picked up is abnormal.

[0166] By setting the mating part 126 and the fourth detection part A4, the cross-section M of the outer peripheral surface of the mating part 126 has a first edge b1 and a second edge b2. The fourth detection part A4 can generate different detection signals (first detection signal and second detection signal) according to the outer peripheral edge of the mating part 126. The controller can more accurately control the action of the first driving part Q1 based on these detection signals, and thus more accurately control the rotation angle of the flipping part 125. In this way, the suction unit 122 can be adjusted to a more suitable angle with the surface of the profile 200 to be suctioned, so that the suction unit 122 can better fit the surface of the profile 200 to be suctioned, and achieve a more efficient and stable suction operation. The controller can further adjust the rotation angle of the flipping part 125 according to the detection signal feedback from the fourth detection part A4, which can make the rotation of the suction unit 122 more flexible and improve the reliability and automation of the profile lifting device 100.

[0167] In some embodiments, please refer to Figures 1 to 6 as well as Figure 7 The outer peripheral surface of the mating part 126 has a main surface T other than the tangent surface M.

[0168] Specifically, the main surface T is constructed as an arc surface. The tangent M extends in a straight line from the first edge b1 to the second edge b2; or, the tangent M extends in a concave shape from the first edge b1 to the second edge b2, with the tangent M concave towards the second axis.

[0169] The main surface T is constructed as an arc surface, so that when the mating part 126 is fitted onto the flipping part 125, it can better fit with the flipping part 125. Furthermore, as the mating part 126 rotates with the flipping part 125, the arc surface can provide a relatively smooth transition, reducing interference or instability that may occur due to abrupt changes in shape.

[0170] "The cut surface M extends in a straight line from the first edge b1 to the second edge b2." This means that the cut surface M is a relatively simple planar shape in a straight line from the first edge b1 to the second edge b2. When this straight cut surface M interacts with the fourth detection element A4 (for example, the fourth detection element A4 generates a first detection signal and a second detection signal based on the first edge b1 and the second edge b2 of the cut surface M), the detection logic of the fourth detection element A4 may be relatively straightforward. Because the boundary of the straight line is clear, the fourth detection element A4 can more clearly detect the first edge b1 and the second edge b2 of the cut surface M, thereby generating the corresponding detection signals more accurately. This facilitates the subsequent controller in controlling the rotation angle of the flipping element 125 based on these detection signals.

[0171] "The cut surface M extends in a concave shape from the first edge b1 to the second edge b2, and the cut surface M is concave towards the second axis." This means that the concave cut surface M is a non-linear shape with a certain curvature, and it is concave towards the second axis. Due to the concave shape of the cut surface M, the detection of the first edge b1 to the second edge b2 by the fourth detection element A4 will differ from that of a linear cut surface M. A more accurate fourth detection element A4 may be needed to detect the first edge b1 and the second edge b2, thereby generating more accurate first and second detection signals.

[0172] By constructing the main surface T of the outer peripheral surface of the mating part 126 as an arc surface, when the mating part 126 is fitted onto the flipping part 125, the mating part 126 can better fit the shape of the flipping part 125, and the main surface T of the arc-shaped mating part 126 can rotate more smoothly with the flipping part 125. Alternatively, the cut surface M can be arranged to extend in a straight line from the first edge b1 to the second edge b2; or, the cut surface M can be arranged to extend in a concave shape from the first edge b1 to the second edge b2, with the cut surface M concave towards the second axis. This allows the fourth detection element A4 to more accurately determine the edges of the cut surface M (the first edge b1 and the second edge b2), thereby generating the corresponding detection signals (the first detection signal and the second detection signal) more accurately. Furthermore, based on the detection signal generated by the fourth detection component A4, the controller can more effectively control the action of the first driving component Q1, and thus more accurately control the rotation angle of the flipping component 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 suctioned, which is beneficial to improving the flexibility of the profile lifting device 100.

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

[0174] Specifically, the absorption unit 122 is configured to be magnetically connected to the profile to be absorbed in a controllable manner.

[0175] The material of the profile 200 to be picked up is configured to be magnetic, that is, the profile 200 to be picked up is magnetic. The material of the profile 200 to be picked up can be magnetic materials such as iron, cobalt, nickel, and alloys. The specific material of the profile 200 to be picked up can be set according to the actual situation and is not limited here.

[0176] "The suction unit 122 is configured to be magnetically connected to the profile 200 to be suctioned in a controllable manner." This means the connection between the suction unit 122 and the profile 200 is magnetic, and this magnetic connection is controllable. Specifically, a controllable magnetic connection can be achieved by using electromagnetic devices or similar methods. For example, when the suction unit 122 suctions the profile 200, a controller can send a command to generate an appropriate magnetic field, which attracts the magnetic material of the profile 200, resulting in a more stable suction effect. When the lifting task is completed and the profile is lowered, the controller can control the suction unit 122 to stop generating the magnetic field or change its direction, thus releasing the magnetic connection and allowing the profile to detach from the suction unit 122 more easily.

[0177] When the rotating mechanism 130 stops moving toward the profile 200 to be picked up, the picking unit 122 can start to be magnetized by the electromagnetic device, thereby adsorbing the profile 200 to be picked up. After the picking is completed, the hoisting equipment drives the profile lifting device 100 to rise. During the rising process, the profile lifting device 100 can move along the second direction F2, or along the third direction F3, or along other directions.

[0178] By configuring the material of the profile 200 to be picked up as a magnetic material, the picking unit 122 can be magnetically connected to the profile 200 in a controllable manner, providing a more reliable picking force to the profile 200. This allows the profile to be more firmly attached to the picking unit 122 during the hoisting process, reducing the occurrence of profile shaking or falling off due to insufficient picking force, and further improving the safety and stability of the hoisting operation.

[0179] Of course, the material of the profile 200 to be picked up does not have to be magnetic. The material of the profile 200 to be picked up can also be plastic or wood, etc., and there are no specific limitations here. In some other embodiments, the picking unit 122 and the profile 200 to be picked up can also be connected by vacuum adsorption or other methods, and there are no specific limitations here.

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

[0181] The suction part 122a is the part that directly suctions the profile 200 to be suctioned. Specifically, each suction part 122a is configured to be magnetically connected to the profile 200 to be suctioned in an independently controllable manner.

[0182] The suction unit 122 has multiple suction parts 122a. It can be understood that the suction unit 122 is not a single, integral structure to achieve the suction of the profile 200 to be suctioned, but rather uses multiple relatively independent suction parts 122a to perform suction.

[0183] Each suction unit 122a is configured to be independently and controllably magnetically connected to the profile 200 to be suctioned. This means that each suction unit 122a can be individually controlled by the controller to maintain the magnetic connection between itself and the profile 200. Specifically, the controller can control whether each suction unit 122a generates a magnetic field, the strength of the magnetic field, and the on and off times of the magnetic field. Multiple independently controllable suction units 122a can more flexibly adjust the magnetic connection method according to the specific conditions of various parts of the profile 200 to be suctioned.

[0184] Furthermore, the structure of each suction unit 122a can be configured differently depending on the angle and position of the suction surface of different profiles 200 to be suctioned. In the same profile hanger 100, the structures of the suction units 122a of the same suction mechanism 120 can be the same or different, and can be configured according to the actual situation, without specific restrictions. The suction units 122 of multiple suction mechanisms 120 can also be configured with different numbers of suction units 122a according to the length, size, and suction surface of the profiles 200 to be suctioned; or, the same number of suction units 122a can be configured.

[0185] By setting multiple suction units 122a, each suction unit 122a is configured to be independently and controllably magnetically connected to the profile 200 to be suctioned. When dealing with profiles 200 with complex shapes and irregular surfaces, the multiple independently controllable suction units 122a can more flexibly adjust the magnetic connection method according to the specific conditions of each part of the profile 200. Each suction unit 122a can independently control the magnetic field strength, opening or closing operations according to the characteristics of the corresponding part of the profile 200, so that the suction unit 122 can fit more tightly to the surface of the profile 200, improving the versatility of the profile hanger 100 for different profiles 200 to be suctioned. The profile hanger 100 in this embodiment is no longer limited to handling profiles 200 with relatively regular shapes, but can handle various profiles 200 with large differences in shape, further broadening the application range of the profile hanger 100 in different production scenarios, and enabling it to better meet diverse production needs. Meanwhile, each suction unit 122a is configured to be magnetically connected independently and controllably, allowing for more precise control over the generation and intensity of the magnetic field at each part of the profile 200 to be suctioned, based on actual needs. Compared to an integral suction unit 122, this reduces the occurrence of wasted energy in areas where a strong magnetic field is not needed due to uniform magnetic field control.

[0186] In some embodiments, please refer to Figures 1 to 6 The target load-bearing member is defined as a load-bearing member that is controllably movable along a first direction F1 and connected to the base 110. The profile lifting device 100 also includes a drive mechanism 150.

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

[0188] The drive 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 drive mechanism 150, so as to better enable the suction mechanism 120 to perform more accurate alignment and suction operation with the profile 200 to be suctioned, or to make it easier to place the profile in a more suitable position after hoisting.

[0189] By driving the target carrier component relative to the base 110 along the first direction F1 using the drive mechanism 150, the position of the suction mechanism 120 can be adjusted more flexibly. This allows the suction mechanism 120 to more accurately align with the target suction position of the profile 200 to be suctioned, and better adapts to profiles 200 placed in different locations. Simultaneously, after the profile suction operation is completed, when hoisting the profile to the designated location, the drive mechanism 150 can drive the target carrier component to move along the first direction F1, helping to place the profile more accurately in the required position. Compared to manual adjustment, this further improves the overall hoisting efficiency, allowing the profile hoisting operation to proceed more smoothly.

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

[0191] Specifically, the second driving member Q2 is connected to the target carrier. 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, and the rack 151b is disposed on the base along the first direction F1. The gear 151a and the rack 151b mesh, and the second driving member Q2 drives the gear 151a to move the target carrier along the first direction F1.

[0192] By connecting the second driving component Q2 to the target carrier, the power generated by the second driving component Q2 can be directly applied to the target carrier, thereby causing the target carrier to move along the first direction F1.

[0193] The second driving component Q2 can be a servo motor, which can more accurately control the position of the carrier 121, enabling the suction unit 122 to reach the suction area more precisely. The second driving component Q2 can also be other types of motors, which can be set according to the actual situation, and no specific restrictions are made here.

[0194] Gear 151a is sleeved on the output shaft of the second drive member Q2. This means that gear 151a is connected to the output shaft of the second drive member Q2. When the second drive member Q2 operates and outputs rotational power, gear 151a can rotate together with the output shaft of the second drive member Q2. Rack 151b is mounted on the base 110 along the first direction F1. This means that rack 151b is mounted on the base 110, allowing gear 151a and rack 151b to cooperate and convert the rotational power output by the second drive member Q2 into 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 drive unit Q2 starts working, it outputs rotational power, driving the gear 151a mounted on its output shaft to rotate. Since gear 151a and rack 151b mesh, the rotating gear 151a rolls along rack 151b, thereby causing the target carrier to move linearly along the first direction F1. This also drives the suction unit 122 to move linearly along the first direction F1, facilitating better suction and hoisting of the profile. Furthermore, compared to other transmission methods, the transmission of gear 151a and rack 151b allows the target carrier to move more smoothly in a linear fashion along the first direction F1, reducing the risk of profile swaying or falling off due to unstable movement of the target carrier.

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

[0197] Rotating component 131 refers to a component that enables the base 110 to rotate about the second axis. Specifically, rotating component 131 is connected to the base 110, and third driving component Q3 is connected to rotating component 131. Third driving component Q3 is used to drive rotating component 131 to rotate about the second axis.

[0198] The third drive component Q3 is connected to the rotating component 131, enabling Q3 to transmit its own power to 131, providing the necessary power for 131 to rotate around the second axis. When Q3 starts and outputs power, 131 rotates around the second axis, centered on a fixed point connected to the base 110, thereby rotating the base 110. This allows for the fulfillment of functions such as picking up and hoisting the profile 200 at different angles and positions.

[0199] It should be noted that the third driving component Q3 can be a servo motor. The servo motor drives the rotating component 131 to rotate around the second axis, which can more accurately control the rotation angle of the rotating component 131, thus facilitating the picking up of the profile to be picked up.

[0200] The first detection component A1 transmits the image information of the profile 200 to be picked up to the controller. The controller can calculate the required rotation angle of the rotating component 131 according to the built-in algorithm, thereby controlling the rotating component 131 to rotate.

[0201] The rotating component 131 is driven to rotate around the second axis by the third driving component Q3, which can drive the base 110 to rotate. This allows for more flexible adjustment of the suction angle of the suction unit on the profile 200 to be suctioned, reducing operational difficulties and time waste caused by unsuitable angles or positions, and improving hoisting efficiency.

[0202] Figure 10 The flowcharts of the lifting methods of profile lifting tools in some embodiments of this application are shown; for ease of explanation, only the content related to the embodiments of this application is shown.

[0203] Based on the same inventive concept, please refer to Figure 10 This application provides a hoisting method applicable to the profile hoisting fixture described in any of the above embodiments. The hoisting method includes the following steps:

[0204] Step S100: Determine the absorption area of ​​the profile 200 to be absorbed based on the image information obtained from the first detection component A1;

[0205] Step S200: Based on the suction area, control the action of the suction mechanism 120 and the rotation mechanism 130 to adsorb and lift the profile 200 to be suctioned.

[0206] In step S100, after the first detection element A1 acquires the image information of the profile 200 to be picked up, it transmits the image information to the controller. The controller analyzes and calculates the image data using a built-in algorithm. Based on the processing results of the image information, the controller can determine a suitable area for the picking operation. The picking area can be determined according to the shape, size, and surface flatness of the profile 200 to be picked up. For example, for some irregularly shaped profiles 200 to be picked up, a relatively flat area close to the center of gravity may be selected as the picking area to ensure that the profile remains relatively stable during adsorption and hoisting.

[0207] It should be noted that the built-in algorithm refers to an algorithm pre-stored within the controller or in related components such as a processor connected to the controller. Based on the built-in algorithm, the absorption area can be determined according to the image information. This built-in algorithm can be a lookup mapping table, a specific operation on the image information, or other implementation methods. For example, taking the lookup mapping table method as an example, the absorption area can be pre-determined according to the shape and size of different profiles 200 to be absorbed, and a mapping relationship between the profiles 200 to be absorbed and the absorption area can be formed. Thus, when the image information of the profiles 200 to be absorbed is obtained, the absorption area can be determined by looking up the mapping relationship. As another example, a mechanically balanced relationship can be constructed for different types of profiles 200 to be absorbed. Based on this relationship and the shape, size, and surface flatness of the profiles 200 to be absorbed, the absorption area can be determined. As long as the absorption area of ​​the profiles 200 to be absorbed can be determined, no specific restrictions are imposed here.

[0208] In step S200, after the suction area is determined, the controller can control the action 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 hoisting.

[0209] By controlling the actions of the suction mechanism 120 and the rotating mechanism 130, the suction unit 122 can be more accurately adsorbed onto the suction area of ​​the profile 200 to be suctioned. Then, the profile lifting device 100 is used to lift the suction unit 122 adsorbing the profile, thereby completing the adsorption and lifting operation of the profile 200 to be suctioned.

[0210] Figure 11 A flowchart of a lifting method for a profile lifting device is shown in some other embodiments of this application; for ease of explanation, only the content related to the embodiments of this application is shown.

[0211] In some embodiments, please refer to Figure 11 Based on the image information acquired by the first detection component A1, the absorption area of ​​the profile 200 to be absorbed is determined, including the following steps:

[0212] Step S110: Based on the image information, determine the pose, size, and surface to be picked up of the profile 200 to be picked up;

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

[0214] In step S110, after the first detection element A1 acquires the image information of the profile 200 to be picked up, the controller can analyze and process the image information to determine the pose, size, and pick-up surface of the profile 200. The pose includes the position and orientation of the profile 200 in space, such as whether it is placed horizontally, vertically, or tilted, and the specific angle and positional relationship between the profile 200 and the profile lifting device 100. Profiles 200 with different poses may require pick-up from different locations to ensure greater balance and stability of the profile lifting device 100 during lifting. The size of the profile 200 can include geometric parameters such as its length, width, and thickness. The pick-up surface of the profile 200 refers to the surface on the profile 200 that is most suitable for the pick-up operation, and can depend on factors such as the material of the profile and its surface condition (e.g., flatness, roughness). For example, for some smooth and flat profiles 200 to be picked up, the entire surface can be used as the pick-up surface, but for profiles 200 with special textures or uneven surfaces, a relatively flat area may be suitable as the pick-up surface.

[0215] In step S120, after determining the position, size, and surface to be picked up of the profile 200 to be picked up, as well as the number of picking mechanisms 120, the picking area required to maintain the profile 200 to be picked up in a static equilibrium state when hoisting it can be determined based on the number of picking mechanisms 120, the position, size, and surface to be picked up of the profile 200 to be picked up, and the specific situation can be analyzed.

[0216] For example, if there are three suction mechanisms and the profile 200 to be suctioned is placed at an angle and is large in size, a large flat area near the center of gravity of the profile 200 to be suctioned can be selected as the main suction area. Then, an auxiliary suction area can be selected on each side of the profile 200 to be suctioned, at a more suitable position relatively far from the center of gravity. Through the combined action of the adsorption forces of these three suction areas, the profile 200 to be suctioned can be kept in a static balance state during the hoisting process.

[0217] Figure 12 A flowchart of a lifting method for a profile lifting device is shown in some other embodiments of this application; for ease of explanation, only the content related to the embodiments of this application is shown.

[0218] In some embodiments, please refer to Figure 12 The operation of the suction mechanism 120 and the rotation mechanism 130, based on the suction area, 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 a region on the profile 200 to be suctioned that is deemed suitable for suction operation by the controller analysis. Different suction areas can be located at different parts of the profile 200, and their shape, position, angle, and other characteristics can also vary. For example, the suction area may be located on the side, top, or bottom surface of the profile 200, and may have a certain tilt angle. To enable the suction unit 122 to more accurately fit onto the suction area and achieve 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 and has a certain tilt, then the suction unit 122 can rotate a certain angle relative to the carrier 121 around the first axis to allow the suction unit 122 to fit more tightly against the suction area.

[0221] The initial suction angle of the suction unit 122 is the angle at which the suction unit 122 is positioned relative to the support member 121 before the hoisting operation of the profile 200 to be suctioned is performed. Determining the initial suction angle allows the controller to more accurately calculate the additional angle the suction unit 122 can rotate to conform to the suction area, thereby determining the final rotation angle of the suction unit 122 relative to the support member 121. For example, if the initial suction angle is horizontal, and the suction area is inclined at 30 degrees to the side of the profile 200 to be suctioned, then the suction unit 122 can rotate 30 degrees relative to the support member 121.

[0222] The initial position of the carrier 121 relative to the base 110 is the position state before the start of this hoisting operation. After the suction area is determined, in order to enable the suction mechanism 120 to move more accurately above the suction area for suction operation, the target position of the carrier 121 relative to the base can be determined based on the position of the suction area in space and the initial position of the carrier 121.

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

[0224] Figure 13A flowchart of a profile lifting method in some embodiments of this application is shown; for ease of explanation, only the content related to the embodiments of this application is shown.

[0225] In some embodiments, please refer to Figure 13 Based on the suction area, the actions of the suction mechanism 120 and the rotation mechanism 130 are controlled to adsorb and lift the profile to be suctioned, followed by the following steps:

[0226] Step S300: Based on the sensing information from the second detection element A2, control the rotation mechanism 130 to move along the second direction F2. The second detection element A2 is located on 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 rotating mechanism 130 to move along the second direction F2 according to the sensing information of the second detection element A2, so that the entire profile lifting device 100 reaches above the suction area of ​​the profile 200 to be picked up.

[0228] For example, the surface of the profile 200 to be picked up can be preset. Based on the specifications of different profiles 200 to be picked up, the controller calculates the rotation angle of the picking unit 122 relative to the carrier 121, the target position of the carrier 121 relative to the base 110, and the target position of the rotating mechanism 130 using the image information obtained by the first detection element A1. Then, the first driving element Q1 drives the flipping element 125 to rotate, thereby driving the picking unit 122 to rotate and flip the picking unit 122 to the calculated angle. At the same time, the controller controls the carrier 121 and the rotating mechanism 130 to reach the target position. Finally, the hoisting equipment drives the profile lifting device 100 to descend along the second direction F2. When the second detection element A2 detects that the picking unit 122 has contacted the profile 200 to be picked up, the controller controls the descent speed of the profile lifting device 100 along the second direction F2 to slow down.

[0229] Figure 14 A flowchart of a lifting method for a profile lifting device is shown in some embodiments of this application; for ease of explanation, only the content related to the embodiments of this application is shown.

[0230] In some embodiments, please refer to Figure 14 The hoisting method also includes the following steps:

[0231] Step S400: Based on the detection information of the third detection element A3, determine whether the suction unit 122 contacts the third detection element A3. The third detection element A3 is located on the side of the suction unit 122 opposite to the profile 200 to be suctioned, and is situated on the movement path of the suction unit 122. The suction unit 122 is configured to move relative to the carrier 121 along a preset direction, the preset direction intersecting with the first direction.

[0232] In step S500, when the suction unit 122 comes into contact with the third detection piece A3, the control rotation mechanism 130 stops moving toward the profile 200 to be suctioned.

[0233] In step S400, the controller determines whether the suction unit 122 has contacted the third detection element A3 based on the detection information of the third detection element A3. If the suction unit 122 has not contacted the third detection element A3, the third detection element A3 may not generate detection information, and the rotating mechanism continues to move toward the profile 200 to be suctioned.

[0234] In step S500, when the suction unit 122 contacts the third detection element A3, the third detection element A3 generates detection information, which is transmitted to the controller. The controller then controls the rotating mechanism 130 to stop moving towards the profile 200 to be suctioned. Next, the elastic element 123 returns to its initial state under its own elasticity and weight, and the third detection element A3 no longer detects contact with the suction unit 122. If the second detection element A2 continuously detects contact with the profile 200 to be suctioned, the lifting process is normal. Then, the profile lifting device 100 moves the profile to the designated position. The lifting equipment lowers the profile lifting device 100 along the second direction F2, moves it along the third direction F3, or moves it in other directions, and decelerates the profile lifting device 100 at a suitable height. The profile lifting device 100 continues to descend. When the profile is placed at the target position, the elastic element 123 deforms. Then, the side of the suction unit 122 away from the profile touches the third detection element A3, and the profile lifting device 100 stops moving, confirming that the profile has been placed at the target position. Finally, the absorption unit 122 begins to demagnetize via electromagnetic devices, etc. After demagnetization is completed, the hoisting equipment, carrying the profile lifting device 100, rises in the second direction to continue performing the next hoisting task.

[0235] In some embodiments, the absorption area is defined by a planar area on the absorption surface of the profile 200 to be absorbed.

[0236] Specifically, the suction area is defined by the planar area on the suction surface of the profile 200 to be suctioned. For the profile 200 to be suctioned with holes in the suction area, the suction area can be located more accurately, reducing the chance that the suction unit 122 will suck up the hole area, which would result in insufficient suction force from the suction unit 122, affecting the safety of hoisting and thus improving the safety of the hoisting process.

[0237] It should be understood that while the steps in the flowchart shown above are displayed sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order constraint on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps may include multiple steps or stages, which are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the steps or stages of other steps.

[0238] It should be noted that the technical solutions described above can be implemented as independent embodiments or combined with each other as combined embodiments in actual implementation. Furthermore, the description of the embodiments of this application is based solely on the convenience of explanation, and different embodiments are described in a corresponding order, such as according to the order of data flow, rather than limiting the execution order between different embodiments. Accordingly, in actual implementation, if multiple embodiments provided by this application need to be implemented, it is not necessary to follow the execution order provided in the description of the embodiments in this application; instead, the execution order between different embodiments can be arranged according to requirements.

[0239] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above 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 embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A profile lifting tool, characterized in that, include: The base extends longitudinally along the first direction; Multiple suction mechanisms are arranged on the base along the first direction; each suction mechanism includes a support member and a suction unit disposed on the support member, wherein the support member 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 support member about a first axis; the extension direction of the first axis is parallel to the first direction. A rotating mechanism is connected to the base; the rotating mechanism is configured to drive the base to rotate about a second axis; the second axis is perpendicular to the first axis. The first detection element is connected to the rotating mechanism; The first detection element is configured to acquire image information of the profile to be inspected; and The controller is electrically connected to the suction mechanism, the rotating mechanism, and the first detection element, respectively; the controller is used to determine the suction area of ​​the profile to be suctioned based on the image information acquired by the first detection element, and control the operation of the suction mechanism and the rotating mechanism based on the suction area; The suction unit is configured to be elastically connected to the support member along a preset direction; the preset direction and the first direction intersect each other; in the initial state, there is a preset elastic force between the suction unit and the support member; The suction mechanism further includes an elastic element and a guide element. The elastic element is located on the moving path of the suction unit along the preset direction. One end of the guide element is connected to the suction unit, and the other end is movably connected to the support element along the preset direction. The elastic element is sleeved on the guide element. The suction mechanism further includes a third detection element, which is disposed on the side of the suction unit opposite to the profile to be suctioned and located on the movement path of the suction unit; the third detection element is electrically connected to the controller; the third detection element is configured to detect whether it contacts the suction unit; the controller is used to determine whether to control the rotating mechanism to stop moving toward the profile to be suctioned based on the detection information of the third detection element. The suction mechanism further includes a flipping component, a first driving component, a mating component, and a fourth detection component; The flipping member is rotatably connected to the carrier member around the first axis, and the flipping member is provided with the suction unit; the first driving member is connected to the flipping member and is used to drive the flipping member to rotate around the first axis. The fitting component is sleeved on the flipping component, and the outer peripheral surface of the fitting component has a cut surface, the cut surface having a first edge and a second edge arranged opposite to each other along the circumference of the fitting component; The fourth detection element is disposed on the support member and is provided corresponding to the outer peripheral surface of the mating member; the fourth detection element is configured to generate a detection signal based on the outer peripheral edge of the mating member, and the detection signal of the fourth detection element includes a first detection signal and a second detection signal, wherein the first detection signal is the detection signal generated by the fourth detection element based on the first edge, and the second detection signal is the detection signal generated by the fourth detection element based on the second edge; The controller is also electrically connected to the fourth detection element and the first driving element respectively. The controller is configured to control the action of the first driving element to control the rotation angle of the flipping element based on the first detection signal and the second detection signal.

2. The profile lifting tool according to claim 1, characterized in that, The rotating mechanism is also configured to move controllably along a second direction, which is parallel to the extension direction of the second axis. The suction mechanism further includes a second detection element, which is disposed on one side of the suction unit and electrically connected to the controller; the second detection element is configured to sense the profile to be suctioned; the controller is used to control the movement of the rotating mechanism along the second direction based on the sensing information of the second detection element.

3. The profile lifting tool according to claim 1 or 2, characterized in that, The material of the profile to be absorbed is configured to be magnetic, and the absorption unit is configured to be magnetically connected to the profile to be absorbed in a controllable manner; The suction unit has multiple suction sections, each of which is configured to be independently and controllably magnetically connected to the profile to be suctioned.

4. The profile lifting tool according to claim 1 or 2, characterized in that, A target support member is defined as a support member that is controllably movable along the first direction and connected to the base. The profile lifting tool further includes a drive mechanism, which includes a second drive component and a transmission assembly; the second drive component is connected to the target support component. The transmission assembly includes a gear and a rack. The gear is sleeved on the output shaft of the second drive member, and the rack is disposed on the base along the first direction. The gear and the rack mesh, and the second drive member drives the gear to move the target carrier along the first direction.

5. A hoisting method, characterized in that, The lifting tool is applied to the profile lifting fixture as described in any one of claims 1 to 4; the lifting method includes the following steps: Based on the image information obtained from the first detection component, the pose, size, and surface to be absorbed of the profile to be absorbed are determined. Based on the number of the suction mechanisms, the position, size, and suction surface of the profile to be suctioned, the suction area required to maintain the profile to be suctioned in a static equilibrium state during hoisting is determined. The actions of the suction mechanism and the rotation mechanism are controlled based on the suction area to adsorb and lift the profile to be suctioned.

6. The hoisting method according to claim 5, characterized in that, The control of the suction mechanism and 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.

7. The hoisting method according to claim 5 or 6, characterized in that, The process of controlling the action of the suction mechanism and the rotation mechanism based on the suction area to adsorb and lift the profile to be suctioned includes: Based on the sensing information from the second detection element, the rotating mechanism is controlled to move along the second direction; wherein the second detection element is disposed on one side of the suction unit, and the second direction is parallel to the extension direction of the second axis.

8. The hoisting method according to claim 5 or 6, characterized in that, The hoisting method also includes: Based on the detection information of the third detection element, it is determined whether the suction unit contacts the third detection element; wherein, the third detection element is located on the side of the suction unit away from the profile to be suctioned and is located on the movement path of the suction unit, and the suction unit is configured to be able to move relative to the carrier in a preset direction, the preset direction intersecting with the first direction; When the suction unit comes into contact with the third detection element, the rotating mechanism is controlled to stop moving toward the profile to be suctioned.

Images