Suction lifting device and suction lifting method

Abstract

The embodiment of the invention relates to a suction lifting device and a suction lifting method. The suction lifting device comprises a suction cup and a counter-force applying assembly, the suction cup is used for generating suction force so as to suck a workpiece from the workpiece placing surface through the suction force, and the counter-force applying assembly is installed on the suction cup and used for applying counter-force to the workpiece for preset time when the suction cup sucks the workpiece and leaves the workpiece placing surface by a preset distance. The counterforce is opposite to the suction force of the sucker to the workpiece to offset part of the suction force. The suction lifting device provided by the embodiment of the invention is high in lifting safety and reliability.

Description

Technical Field

[0001] The invention relates to the technical field of lifting, and in particular to a suction lifting device and a suction lifting method. Background Art

[0002] At present, cranes only have whole-machine overload protectors and lifting weight limiters that are included in the safety supervision of special equipment. When the overall lifting weight of the lifting operation is close to overload, an alarm signal is issued. When overload is reached, the alarm continues and the lifting power supply is interrupted, and the motor stops. Overload protectors and lifting weight limiters can only prevent the whole crane from being overloaded, and can only protect the whole crane, especially the lifting motor.

[0003] Suction cranes lift workpieces (heavy objects) by the suction force generated by magnetic suction cups or vacuum suction cups. The overload protector and lifting weight limiter of the whole machine do not provide sufficient protection for the suction crane, which affects the safety and reliability, and there is a need for improvement. Summary of the invention

[0004] The present invention is based on the inventor's discovery and understanding of the following facts and problems:

[0005] In the related art, in order to improve the safety of the suction crane, the rated load (i.e., the maximum weight allowed to be lifted by the suction crane) is generally set to be smaller than the suction force of the suction crane (usually called the pulling force of the suction crane or the maximum suction force generated). In other words, the rated load is set to be a certain amount smaller than the maximum suction force to leave a suction redundancy, thereby ensuring the safety of lifting.

[0006] However, the inventors have realized that in the actual lifting operation, it is difficult to accurately determine whether the weight of the workpiece is within the rated load, which can easily cause safety accidents caused by overloading. For this reason, the operator usually makes a rough estimate of the weight of the workpiece based on experience, and then uses the maximum suction force to lift the workpiece. However, this lifting operation does not take into account the safety factor of the suction crane, resulting in lifting exceeding the rated load, which not only affects safety, but also causes damage to the suction crane.

[0007] In addition, the inventors also realized that even if the weight of the workpiece is within the rated load, a safety accident of the workpiece falling may occur during the lifting process. The inventors found through research that if the weight of the workpiece is within the rated load of the suction crane, the workpiece should not fall during lifting in theory. The inventors found that the reason why the workpiece falls when the weight is within the rated load is that the actual suction force generated by the suction crane (i.e., the actual adsorption force of the suction crane on the workpiece) is lower than the theoretical suction force (maximum suction force) generated by the crane and lower than the rated load is not considered during the lifting process. The inventors have realized that there are many factors that affect the actual suction force generated by the suction crane or the actual suction force of the adsorbed workpiece, such as changes in the material of the workpiece, the thickness of the workpiece, the thickness of the iron oxide scale, the unevenness of the surface of the workpiece being sucked, the saturation of the magnetic field conduction area or the blockage of the suction hole of the pneumatic suction cup, the elastic deflection of the workpiece, the deviation of the adsorption center of gravity, the gap between the suction cup and the workpiece caused by foreign matter, the temperature of the workpiece, the temperature change of the working environment, the reduction of the suction force of the electromagnet from the cold state to the hot state, and the vibration or elastic deflection of the workpiece during the lifting process, etc. These factors that affect the actual suction force can be collectively referred to as "invisible overload" factors. Since the operator does not consider and cannot quickly identify the invisible overload factors, it will cause a safety accident of "uncontrolled falling" of the workpiece caused by invisible overload during lifting.

[0008] The inventors also realized that the overload protector and lifting weight limiter of traditional cranes can only protect the entire crane, especially the lifting motor, and fail to take into account the invisible overload factors and invisible overload of the suction crane. In addition, for the suction crane, the breaking load of the lifting magnet and vacuum suction cup is only 3.0 and 2.0, while the breaking load of other components of the suction crane is above 5.0. In comparison, the safety factor of the lifting magnet or vacuum suction cup is much smaller than the safety factor of the entire crane and other components. As a result, the overload protector and lifting weight limiter cannot warn and control the lifting operation when the lifting magnet and vacuum suction cup reach the rated load, affecting safety. Moreover, the overload protector and lifting weight limiter cannot monitor and release the invisible overload of the lifting magnet and vacuum suction cup during the lifting process.

[0009] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0010] To this end, an embodiment of the present invention provides a suction lifting device with high lifting safety and reliability.

[0011] An embodiment of the present invention further provides a suction lifting method.

[0012] The suction lifting device of an embodiment of the present invention includes: a suction cup, which is used to generate suction to adsorb a workpiece from a workpiece placement surface through the suction; a reaction force applying component, which is installed on the suction cup, and is used to apply a reaction force to the workpiece for a predetermined time when the suction cup adsorbs the workpiece and leaves the workpiece placement surface by a preset distance, and the reaction force is opposite to the suction force of the suction cup on the workpiece to offset a part of the suction force.

[0013] In some embodiments, the reaction force is A, the suction force of the suction cup is B, and the rated load of the suction cup is C, wherein the suction cup is an electromagnetic suction cup or a vacuum suction cup, then B=2C, and C≤A≤1.05C, or the suction cup is a permanent magnet suction cup or an electrically controlled permanent magnet suction cup, then B=3C and 0.66B≤A≤0.71B.

[0014] In some embodiments, the reaction force applying assembly includes at least one of an electromagnetic force push rod, a hydraulic cylinder, a pneumatic cylinder, an impact hammer and a vibrator.

[0015] In some embodiments, the reaction force applying assembly includes a push bolt, the suction cup is provided with a threaded hole, and the push bolt can be rotatably engaged in the threaded hole to push the workpiece adsorbed by the suction cup.

[0016] In some embodiments, the suction cup is a permanent magnet suction cup, an electrically controlled permanent magnet suction cup or an electromagnet suction cup, and the reaction force applying component includes a vibrator, and a magnetic isolation plate is provided between the vibrator and the suction cup.

[0017] In some embodiments, the suction lifting device further comprises a reaction force regulator for regulating the reaction force applied by the reaction force applying assembly to the workpiece.

[0018] In some embodiments, the suction lifting device further comprises a remote controller for controlling at least one of the reaction force applying assembly and the reaction force regulator.

[0019] In some embodiments, the suction lifting device further comprises a hanging assembly, wherein the hanging assembly is connected to the suction cup and is used for lifting and lowering the suction cup.

[0020] In some embodiments, the hanging assembly includes a hanger, an arm, a hook and a sling, the arm is connected between the hanger and the hook, the suction cup is installed at the bottom of the hanger, and the reaction force applying assembly includes an operating rod, which is detachably connected to the sling, and after the operating rod is detached from the sling, the sling is connected to the hook so that the reaction force is applied to the workpiece through the free fall of the suction cup, the hanger, the arm, the hook and the workpiece.

[0021] In some embodiments, the suction cup is a permanent magnet suction cup, an electrically controlled permanent magnet suction cup or an electromagnet suction cup, and the reaction force applying component is a demagnetization component. When the suction cup sucks the workpiece and leaves the workpiece placement surface at a preset distance, the demagnetization component generates a demagnetization magnetic field to reduce a portion of the magnetic flux of the suction cup, thereby reducing the suction force applied by the suction cup to the workpiece.

[0022] The suction lifting method of an embodiment of the present invention includes: starting a suction cup to generate suction to adsorb a workpiece from a workpiece placement surface; lifting the suction cup and the workpiece a preset distance away from the workpiece placement surface; applying a reaction force opposite to the suction force of the suction cup on the workpiece to the workpiece for a predetermined time to offset a portion of the suction force; if the workpiece does not fall off the suction cup, stopping the application of the reaction force and continuing the lifting operation; if the workpiece falls off the suction cup, stopping the lifting operation.

[0023] In some embodiments, the reaction force is A, the suction force of the suction cup is B, and the rated load of the suction cup is C, wherein the suction cup is an electromagnetic suction cup or a vacuum suction cup, then B=2C and C≤A≤1.05C, or the suction cup is a permanent magnet suction cup or an electrically controlled permanent magnet suction cup, then B=3C and 0.66B≤A≤0.71B.

[0024] In some embodiments, after the suction cup and the workpiece are lifted a preset distance away from the workpiece placement surface, the reaction force is applied to the workpiece by allowing the suction cup and the workpiece to fall freely.

[0025] In some embodiments, after the suction cup and the workpiece are lifted a preset distance away from the workpiece placement surface, the reaction force is applied to the workpiece by a reaction force applying assembly.

[0026] In some embodiments, the suction cup is a permanent magnet suction cup, an electrically controlled permanent magnet suction cup or an electromagnet suction cup, and the counter force is applied by generating a demagnetization magnetic field through a demagnetization component to reduce a portion of the magnetic flux of the suction cup, thereby reducing the suction force applied by the suction cup to the workpiece.

[0027] The suction lifting device and the suction lifting method of the embodiments of the present invention, during the lifting process, that is, after the suction cup sucks the workpiece and leaves the workpiece placement surface by a preset distance, a reaction force is applied to the workpiece for a predetermined time, and the reaction force is opposite to the suction force of the suction cup on the workpiece, so that the reaction force can offset a part of the suction force, that is, the actual suction force on the workpiece is reduced. In this way, the suction force on the workpiece is reduced by applying a reaction force, and the lifting process can release overload, especially invisible overload, thereby improving the lifting safety and reliability of the suction lifting device. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of a suction lifting device according to a first embodiment of the present invention.

[0029] Figure 2 Schematic diagram of a suction lifting device according to a second embodiment of the present invention.

[0030] Figure 3 Schematic diagram of a suction lifting device according to a third embodiment of the present invention.

[0031] Figure 4 Schematic diagram of a suction lifting device according to a fourth embodiment of the present invention.

[0032] Figure 5 Schematic diagram of a suction lifting device according to a fifth embodiment of the present invention.

[0033] Figure 6 2 is another schematic diagram of the suction lifting device according to the fifth embodiment of the present invention.

[0034] Figure 7 Schematic diagram of a suction lifting device according to a sixth embodiment of the present invention.

[0035] Figure 8 Schematic diagram of a suction lifting device according to a seventh embodiment of the present invention.

[0036] Fig. 9 Schematic diagram of a suction lifting device according to an eighth embodiment of the present invention.

[0037] Fig.10 is another schematic diagram of the suction lifting device of the eighth embodiment of the present invention.

[0038] Fig.11 Schematic diagram of a suction lifting device according to a ninth embodiment of the present invention.

[0039] Fig.12 Schematic diagram of a suction lifting device according to a tenth embodiment of the present invention.

[0040] Fig.13 Schematic diagram of a suction lifting device according to an eleventh embodiment of the present invention.

[0041] Reference numerals:

[0042] Workpiece 100,

[0043] Suction cup 1,

[0044] Reaction force applying component 2,

[0045] Electromagnetic force push rod 21, electromagnet 211, push rod 212,

[0046] Hydraulic cylinder 22, hydraulic cylinder body 221, liquid inlet 2211, liquid outlet 2212, hydraulic piston rod 222,

[0047] Cylinder 23, pneumatic cylinder body 231, air inlet 2311, air outlet 2312, pneumatic piston rod 232,

[0048] Impact hammer 24, hammer head 241,

[0049] Vibrator 25, thrust bolt 26,

[0050] Operating rod 27, demagnetization assembly 28,

[0051] Magnetic isolation plate 3, reaction force regulator 4, remote control 5,

[0052] Suspension assembly 6, hanger 61, boom 62, hook 63, sling 64,

[0053] Fixing belt 7,

[0054] Power supply box 8. DETAILED DESCRIPTION

[0055] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0056] Please refer to the following Figures 1 to 13 A suction lifting device according to an embodiment of the present invention is described.

[0057] like Figure 1-Figure 13 As shown, the suction lifting device of the embodiment of the present invention comprises a suction cup 1 and a reaction force applying assembly 2. The suction cup 1 is used to generate suction, so that the suction cup 1 adsorbs the workpiece 100 from the workpiece placement surface through the generated suction. The workpiece placement surface is a surface supporting the workpiece 100, such as the ground or the surface of a support frame on which the workpiece 100 is placed.

[0058] The reaction force applying assembly 2 is installed on the suction cup 1, and is used to apply a reaction force to the workpiece 100 adsorbed by the suction cup 1 to offset a part of the suction force of the suction cup 1 on the workpiece 100. Here, it should be understood that the reaction force refers to a force in the opposite direction to the suction force of the suction cup 1 on the workpiece 100. The reaction force applying assembly 2 can apply a force to the workpiece 100 in the opposite direction to the suction force, and then the reaction force is the entire force applied by the reaction force applying assembly 2. Optionally, the direction in which the reaction force applying assembly 2 applies the force to the workpiece 100 is at a predetermined angle to the suction force of the suction cup 1 on the workpiece, and then the reaction force is a component of the entire force applied by the reaction force applying assembly 2. For example, the gravity of the workpiece 100 is vertically downward, the suction force of the suction cup 1 on the workpiece 100 is vertically upward, and the reaction force applying assembly 2 applies a force to the workpiece 100 in the vertically downward direction, then the entire force applied is the reaction force, and if the reaction force applying assembly 2 applies a force to the workpiece 100 in the inclined direction downward, then the component of the force applied by the reaction force applying assembly 2 in the vertically downward direction is the reaction force.

[0059] Specifically, after the suction cup 1 sucks the workpiece 100 and leaves the workpiece placement surface by a preset distance, for example, 50 mm away from the workpiece placement surface, that is, the workpiece 100 is in a suspended state, the reaction force applying component 2 applies a reaction force to the suspended workpiece 100 for a predetermined time, for example, the reaction force is applied for 1 minute. Since the reaction force applied by the reaction force applying component 2 to the workpiece 100 is opposite to the suction force of the suction cup 1 on the workpiece 100, a part of the suction force can be offset, so that the suction force on the workpiece 100 is less than the suction force generated by the suction cup 1. The magnitude of the reaction force can be determined according to the type of the suction cup 1, the rated load, and the suction force theoretically generated by the suction cup 1. The timing of the reaction force application, that is, the distance of the workpiece 100 from the workpiece placement surface, and the duration of the reaction force application can also be determined as needed.

[0060] The suction lifting device of the embodiment of the present invention applies a reaction force to the workpiece for a certain period of time when the suction cup sucks the workpiece and leaves the workpiece placement surface at a preset distance, the reaction force offsets a part of the suction force, and reduces the actual suction force on the workpiece. If the workpiece can still be sucked by the suction cup without falling when the reaction force is applied, the workpiece is lifted normally after the reaction force is canceled, thereby ensuring the safety and reliability of the lifting, and especially releasing invisible overload, such as invisible overload caused by invisible overload factors such as changes in workpiece material, workpiece thickness, iron oxide thickness, unevenness of the workpiece surface being sucked, saturation degree of magnetic field conduction area or blockage of the suction hole of the pneumatic suction cup, elastic deflection of the workpiece, deviation of the adsorption center of gravity, gap between the suction cup and the workpiece caused by foreign matter, workpiece temperature, temperature change of the working environment, reduction of suction force of the electromagnet from cold state to hot state, and vibration or elastic deflection of the workpiece during lifting. In other words, even if the suction force actually generated by the suction cup is less than the theoretical suction force (maximum suction force) due to invisible overload factors, the lifting safety and reliability of the suction lifting device can be guaranteed.

[0061] In some embodiments, the suction cup 1 may be an electromagnetic suction cup or a vacuum suction cup. The magnitude of the reaction force is A, the suction force (also called the maximum suction force, theoretical suction force, pull-off force) of the suction cup 1 is B, and the rated load of the suction cup 1 is C, where B=2C, and C≤A≤1.05C.

[0062] Specifically, the suction force B of the suction cup 1 is the maximum suction force that the suction cup 1 can theoretically generate. When the suction cup 1 is an electromagnetic suction cup or a vacuum suction cup, the rated load of the suction cup 1 is set to half of the maximum suction force that the suction cup 1 can theoretically generate. By setting the reaction force and the rated load within the above range, it can not only ensure that sufficient suction redundancy is reserved, but also prevent the suction redundancy from being too large, thereby wasting the working capacity of the suction cup. While ensuring the safety of lifting, the suction capacity of the suction cup can be ensured to be exerted, thereby being able to lift heavier workpieces, thereby expanding the scope of application of the suction lifting device.

[0063] According to the different forms of the suction cup 1, the relationship between the rated load of the suction cup 1 and the suction force of the suction cup 1 is also different, and accordingly, the reaction force that the reaction force applying component 2 needs to apply is also different. The rated load of the suction cup 1 is set to half of the maximum suction force that the suction cup 1 can theoretically generate, and the rated load is the minimum value of the reaction force. By setting the reaction force to C≤A≤1.05C, the suction redundancy can be reduced while ensuring safety, overload release and implicit overload release can be achieved, and the maximum allowable load can be controlled to ensure the safety and reliability of the lifting process.

[0064] For example, the value of A can be C, 1.01C, 1.02C, 1.03C, 1.04C, and 1.05C.

[0065] For example, the suction force of the suction cup 1 is 200N (Newton), the rated load of the electromagnetic suction cup 1 or the vacuum suction cup 1 is 100N, and the reaction force can be 100N-105N.

[0066] In some embodiments, the suction cup 1 can be a permanent magnet suction cup 1 or an electrically controlled permanent magnet suction cup 1, the reaction force is A, the suction force of the suction cup 1 is B, the rated load of the suction cup 1 is C, wherein B=3C, and 0.66B≤A≤0.71B.

[0067] Specifically, the suction force B of the suction cup 1 is the maximum suction force that the suction cup 1 can theoretically generate. When the suction cup 1 is a permanent magnet suction cup 1 or an electric-controlled permanent magnet suction cup 1, the rated load of the suction cup 1 is set to one third of the maximum suction force that the suction cup 1 can theoretically generate, and the reaction force is set to be within the range of 66%-71% of the maximum suction force, that is, 0.66B≤A≤0.71B. In other words, 1.98C≤2.13C. The minimum value of the reaction force is 66% of 3 times the rated load. The reaction force is set within the above range. On the premise of ensuring overload release and hidden overload release to ensure safety, the suction redundancy is reduced, the maximum allowable load is controlled, the safety and reliability of the lifting process and the capacity of the suction lifting device are ensured, and the scope of use is expanded.

[0068] For example, the value of A can be 0.66B, 0.67B, 0.68B, 0.69B, 0.7B, and 0.71B.

[0069] For example, the suction force of the suction cup 1 may be 300N, the rated load of the permanent magnet suction cup 1 or the electric-controlled permanent magnet suction cup 1 may be 100N, and the reaction force may be 198N-213N.

[0070] Preferably, the suction lifting device further comprises a reaction force regulator 4 for adjusting the magnitude of the reaction force applied by the reaction force applying component 2 to the workpiece 100, so that the magnitude of the reaction force can be adjusted according to actual needs, thereby improving the practicality of the suction lifting device. More preferably, the suction lifting device further comprises a remote controller 5 for controlling at least one of the reaction force applying component 2 and the reaction force regulator 4, so that the operator can control the reaction force application and cancellation and the lifting operation away from the suction lifting device, thereby improving the safety of the operator.

[0071] Specifically, the reaction force regulator 4 is connected to the reaction force applying assembly 2, and the reaction force regulator 4 is used to adjust the reaction force applied by the reaction force applying assembly 2 to the workpiece 100, so as to adapt to the suction cup 1 with different suction forces.

[0072] It is understandable that when the pull-off force value of the suction cup 1, i.e., the maximum suction force of the suction cup 1, changes, the reaction force applied by the reaction force applying component 2 to the workpiece 100 can be adjusted by the reaction force regulator 4, thereby improving the adaptability and flexibility of the reaction force regulating component.

[0073] Optionally, a knob is provided on the reaction force regulator 4 to facilitate adjustment of the reaction force value level of the reaction force regulator 4 .

[0074] Optionally, the reaction force regulator 4 can be installed on the suction cup 1 or the hanging assembly 2.

[0075] Optionally, the suction lifting device also includes a power box 8, which is provided with an indicator light. The power box 8 can be fixed to the suction cup 1 by screws or gluing. The power box 8 is used to supply power to at least one of the reaction force regulator 4 and the reaction force applying component 2.

[0076] Optionally, the suction lifting device needs to be inspected and tested regularly. The pull-off force value of the suction cup 1 is tested to calculate the rated load. If the rated load is smaller than the pull-off force value of the suction cup 1, a reaction force applying component 2 with different reaction forces is configured. The reaction force value level is fine-tuned to achieve the best match, and the matched reaction force value is sealed and fixed on the suction cup 1.

[0077] In some embodiments, the reaction force applying component 2 includes at least one of an electromagnetic force push rod 21, a hydraulic cylinder 22, a cylinder 23, an impact hammer 24 and a vibrator 25. The reaction force applying component 2 can be one or more. When there are multiple reaction force components, the multiple reaction force applying components 2 are symmetrically arranged on both sides of the suction cup 1, and the multiple reaction force applying components 2 can be set to be the same or different. For example, there are two reaction force applying components 2, and both reaction force applying components 2 are electromagnetic force push rods 21. Alternatively, there are two reaction force applying components 2, one reaction force applying component 2 is an electromagnetic push rod 212, and the other reaction force applying component 2 is a hydraulic cylinder 22.

[0078] The suction lifting devices of some specific embodiments of the present invention are described below with reference to the accompanying drawings.

[0079] Figure 1 The first embodiment of the suction lifting device is shown, and the suction lifting device includes a suction cup 1, a reaction force applying assembly 2 and a hanging assembly 6. The hanging assembly 6 includes a hanger 61, a hanging arm 62 and a hook 63. The hanger 61 is connected to the suction cup 1, the lower ends of the two hanging arms 62 are pivotally connected to the hanger 61, and the upper ends of the two hanging arms 62 are connected to the hook 63. The hook 63 is suitable for being connected to a lifting device to lift the suction cup and the workpiece sucked thereon.

[0080] The counterforce applying assembly 2 is constructed as an electromagnetic force push rod 21. The electromagnetic force push rod 21 includes an electromagnet 211 and a push rod 212. The electromagnet 211 is connected to the suction cup 1. The magnetic field generated by the electromagnet 211 when it is powered causes the push rod 212 to move in a direction close to the workpiece 100, for example, Figure 1 The push rod 212 moves downward, thereby applying a reaction force in the opposite direction to the suction cup 1 to the workpiece 100. When the reaction force applied by the push rod 212 to the workpiece 100 is to be cancelled, the electromagnet 211 can be energized in the reverse direction to generate an opposite magnetic field to move the push rod 212 in a direction away from the workpiece. Optionally, when the reaction force is cancelled, the electromagnet 211 can be de-energized, and an elastic member, such as a spring, can be used to push the push rod 211 to reset upward and leave the workpiece 100.

[0081] Preferably, the suction lifting device of this embodiment further includes a reaction force regulator 4 and a remote controller 5. The reaction force regulator 4 can be used to adjust, for example, the current applied to the electromagnet 211, thereby adjusting the reaction force applied by the magnetic field and the push rod 212 to the workpiece 100. For example, the reaction force regulator 4 can be a current regulator. The remote controller 5 has an operation button and a display screen, which can remotely control the reaction force regulator 4 to adjust the size of the reaction force, the timing of applying the reaction force, the duration of the reaction force application, etc., and remotely control the lifting operation of the suction lifting device, such as the start and stop of the suction cup 1, the lifting and lowering of the suction cup 1, and the adsorption of the workpiece 1. The size of the reaction force, the duration of application, the size and direction of the current of the electromagnet 211, the actual suction force of the suction cup, the rated suction force, the maximum suction force, and the relevant parameters of the lifting operation can be displayed on the display screen, thereby improving the intuitiveness of the operation.

[0082] Preferably, the suction lifting device may further include an alarm, such as a sound and / or light alarm, which emits an alarm sound and / or an alarm light to warn to stop the lifting operation if the workpiece falls after a reaction force is applied to the workpiece.

[0083] Figure 2The second embodiment of the suction lifting device is shown. In this embodiment, the reaction force applying assembly 2 is constructed as a hydraulic cylinder 22, and the hydraulic cylinder 22 includes a hydraulic cylinder body 221 and a hydraulic piston rod 222. The hydraulic cylinder body 221 is provided with a liquid inlet 2211 and a liquid outlet 2212. The hydraulic piston rod 222 is driven by hydraulic oil to move in the hydraulic cylinder body 221 in a direction close to the workpiece 100 to apply a reaction force to the workpiece 100, and then the hydraulic piston rod 222 is driven to move in a direction away from the workpiece 100 to cancel the reaction force applied to the workpiece 100. Other aspects of the suction lifting device of this embodiment may be the same as those of the first embodiment, and will not be repeated here.

[0084] Figure 3 The third embodiment of the suction lifting device is shown. In this embodiment, the reaction force applying assembly 2 is constructed as a cylinder 23. The cylinder 23 includes a pneumatic cylinder body 231 and a pneumatic piston rod 232. The pneumatic cylinder body 231 is provided with an air inlet 2311 and an air outlet 2312. Compressed air is used to push the pneumatic piston rod 232 to move in the pneumatic cylinder body 231 in the direction of approaching and moving away from the workpiece 100 to apply a reaction force to the workpiece 100 or stop applying a reaction force to the workpiece 100. Other aspects of the suction lifting device of this embodiment may be the same as those of the first and second embodiments, and will not be repeated here.

[0085] Figure 4 A fourth embodiment of the suction lifting device is shown, in which the reaction force applying assembly 2 is configured as an impact hammer 24, and the impact hammer 24 has a hammer head 241. The impact hammer 24 applies a reaction force to the workpiece 100 or stops applying the reaction force to the workpiece 100 by driving the hammer head 241 to move in a direction close to and away from the workpiece 100. Other aspects of the suction lifting device of this embodiment may be the same as those of the other embodiments described above, and will not be described in detail here.

[0086] Figure 5 and Figure 6 The fifth embodiment of the suction lifting device is shown, in which the hanging assembly 6 includes a hanger 61, a suspension arm 62, a hook 63 and a sling 64. The suspension arm 62 is connected between the hanger 61 and the hook 63, the lower end of the suspension arm 62 is connected to the hanger 61, the upper end of the suspension arm 62 is connected to the hook 63, and the suction cup 1 is installed at the bottom of the hanger 61. The reaction force applying assembly 2 includes an operating rod 27, the operating rod 27 is detachably connected to the sling 64, and the sling 64 is connected to the hook 63 after the operating rod 27 is detached from the sling 64, so that the reaction force is applied to the workpiece 100 through the free fall of the suction cup 1, the hanger 61, the suspension arm 62, the hook 63 and the workpiece 100.

[0087] Specifically, Figure 5As shown, in the initial state, the operating rod 27 is connected to the sling 64. After the sling 64 lifts the suction cup 1 and the workpiece 100 adsorbed thereon away from the workpiece placement surface, the operating rod 27 is pulled so that the operating rod 27 is separated from the sling 64. Figure 6 Then, the suction cup 1, the hanger 61, the arm 62, the hook 63 and the workpiece 100 fall freely to apply a reaction force to the workpiece 100, and finally the sling 64 is connected to the hook 63. The downward impulse generated by the free fall of the suction cup 1, the hanger 61, the arm 62, the hook 63 and the workpiece 100 offsets a part of the suction force, thereby improving the safety and reliability of the suction lifting device.

[0088] Figure 7 The sixth embodiment of the suction lifting device is shown. In this embodiment, the reaction force applying component 2 is configured as a vibrator 25. When the workpiece 100 is adsorbed onto the lower surface of the suction cup 1, the vibrator 25 can contact the workpiece 100, start the vibrator 25, and the vibrator 25 generates vibrations that are transmitted to the workpiece 100 to apply a reaction force to the workpiece 100. The vibrator 25 can be fixed to the suction cup 1 by a fixing belt 7, and the fixing belt 7 can be fixed to the suction cup 1 by screws. By applying a reaction force through the vibrator 25, different types of suction lifting devices can be adapted to improve versatility.

[0089] Specifically, the vibrator 25 can generate vibration by rotating the eccentric wheel, and the vibration force and frequency of the vibrator 25 can be changed by adjusting the parameters of the eccentric wheel, such as the deflection vector, the rotation speed, etc. Preferably, the suction lifting device includes a reaction force regulator 4 and a remote controller 5, and the reaction force regulator 4 adjusts the vibration force and frequency by adjusting the rotation speed of the vibrator 25, for example, the reaction force regulator 4 can be a current regulator for adjusting the current of the driving motor of the vibrator 25 to adjust the rotation speed of the vibrator 25. It can be understood that the reaction force regulator 4 can be other forms of regulators, such as a mechanical mechanism for adjusting the eccentricity of the eccentric wheel of the vibrator 25, which will not be described in detail here. The operation of the reaction force regulator 4 and the lifting operation of the suction lifting device can be operated by the remote controller 5, which further improves safety. In this embodiment, when the suction cup 1 is a magnetic suction cup, a magnetic isolation plate 3 is provided between the vibrator 25 and the suction cup 1 to prevent the vibrator 25 from affecting the suction force of the suction cup 1.

[0090] Figure 8 The seventh embodiment of the suction lifting device is shown, in which the reaction force applying component 2 is configured as a vibrator 25, and the suction cup 1 is one of a permanent magnet suction cup 1, an electric-controlled permanent magnet suction cup 1, and an electromagnet suction cup 1. Other aspects of this embodiment may be the same as the other embodiments described above, and will not be repeated here.

[0091] Figure 9-10An eighth embodiment of the suction lifting device is shown, in which the reaction force applying assembly 2 is configured as a vibrator 25. The suction lifting device is configured as a multi-unit combined suction lifting device, the suction lifting device comprises a plurality of suction cups 1, the plurality of suction cups 1 jointly adsorb the workpiece 100, and a vibrator 25 is arranged on both sides of each suction cup 1, thereby improving the adsorption safety and reliability of each suction cup 1 in the multi-unit combined suction lifting device, and the working capacity of the suction lifting device is improved, and heavier workpieces can be lifted.

[0092] Fig.11 A ninth embodiment of the suction lifting device is shown. In this embodiment, the reaction force applying assembly 2 includes a push bolt 26. The push bolt 26 can be rotatably engaged in the threaded hole in the suction cup 1. The push bolt 26 is rotated clockwise so that the push bolt 26 applies a downward thrust to the workpiece 100 adsorbed by the suction cup 1. By measuring the applied force value, it can be measured whether the workpiece 100 is within the safe lifting range, thereby improving the safety of the suction lifting device.

[0093] There can be one jacking bolt 26, and the jacking bolt 26 is arranged at the center of the suction cup 1. Optionally, there can be multiple jacking bolts 26, and the multiple jacking bolts 26 are symmetrically arranged along the center line of the suction cup 1. It can be understood that the jacking bolt 26 can be manually operated. Preferably, the reaction force applying assembly 2 also includes an electric mechanism for rotating the jacking bolt 26, and the jacking bolt 26 can be rotated by the electric mechanism to apply a reaction force to the workpiece 100 or cancel the application of the reaction force. The specific structure of the electric mechanism can be any suitable structure in the art, for example, an electric mechanism similar to an electric drill, and the jacking bolt 26 is similar to a drill bit.

[0094] Fig.12 The tenth embodiment of the suction lifting device is shown. In this embodiment, the suction cup 1 is a permanent magnet suction cup 1, an electrically controlled permanent magnet suction cup 1 or an electromagnet 211, and the reaction force applying component 2 is configured as a demagnetizing component 28. When the suction cup 1 sucks the workpiece 100 and leaves the workpiece placement surface at a preset distance, the demagnetizing component 28 generates a demagnetizing magnetic field to reduce a part of the magnetic flux of the suction cup 1, thereby reducing the suction force applied by the suction cup 1 to the workpiece 100.

[0095] When the demagnetization component 28 is started, the demagnetization component can reduce part of the magnetic flux of the suction cup 1 to reduce the suction force of the suction cup 1 on the workpiece 100, which is equivalent to applying a reaction force opposite to the suction force to the workpiece 100, thereby releasing the overload of the suction cup 1 during the lifting process. When the demagnetization component stops working, the suction force of the suction cup 1 on the workpiece instantly recovers to the maximum suction force.

[0096] Optionally, the demagnetization component 28 can be alternating demagnetization, DC inverter demagnetization, high-frequency demagnetization, and progressive demagnetization. When the demagnetization component 28 is alternating demagnetization, the direction of the internal magnetic domain is gradually changed by applying an alternating magnetic field to achieve a demagnetization effect. When this demagnetization method is used for demagnetization, it is safe and efficient, and can be applied to workpieces 100 of various materials. When the demagnetization component 28 is DC inverter demagnetization, the demagnetization field is generated by DC current inversion, and demagnetization is achieved by adjusting the current. When this demagnetization method is used for demagnetization, the control accuracy is high and the demagnetization effect is good. When the demagnetization component 28 is high-frequency demagnetization, the high-frequency current drives the demagnetization coil to generate a strong alternating magnetic field to achieve rapid demagnetization. When this demagnetization method is used for demagnetization, the processing speed is fast. When the demagnetization component 28 is progressive demagnetization, the hysteresis loop is gradually reduced by gradually reducing the magnetic field strength to achieve a demagnetization effect. When this demagnetization method is used for demagnetization, the demagnetization is uniform and is applicable to workpieces 100 with complex structures.

[0097] Fig.13 The eleventh embodiment of the suction lifting device is shown. In this embodiment, the reaction force applying component 2 is configured as a vibrator 25, and the suction cup 1 is a vacuum suction cup. The vibrator 25 applies a reaction force to the workpiece 100 adsorbed by the vacuum suction cup 1. Other aspects of the suction lifting device of this embodiment can be connected with the above embodiments, and will not be repeated here.

[0098] The suction lifting method according to an embodiment of the present invention is described below.

[0099] The suction lifting method of the embodiment of the present invention includes: starting the suction cup to generate suction, so that the suction cup absorbs the workpiece from the workpiece placement surface through the suction.

[0100] Lift the suction cup and the workpiece to a preset distance from the workpiece placement surface, and then apply a reaction force to the workpiece that is opposite to the suction force of the suction cup on the workpiece to offset part of the suction force. Apply the reaction force for a predetermined time. If the workpiece does not fall off the suction cup, it means that the lifting is safe, then stop applying the reaction force and continue the lifting operation. If the workpiece falls off the suction cup, it means that the lifting is overloaded, especially the overload caused by invisible overload factors, then stop the lifting operation.

[0101] The suction lifting method of the embodiment of the present invention utilizes a method of reducing a portion of the suction force to release overload and invisible overload during the suction cup lifting process, thereby improving the lifting safety and reliability of the suction lifting device.

[0102] In some embodiments, the reaction force is A, the suction force of the suction cup is B, and the rated load of the suction cup is C. When the suction cup is an electromagnetic suction cup or a vacuum suction cup, B=2C and C≤A≤1.05C; when the suction cup is a permanent magnet suction cup or an electric-controlled permanent magnet suction cup, B=3C and 0.66B≤A≤0.71B. By setting the size of the reaction force according to different types of suction cups, the suction redundancy is minimized while ensuring safety, and the lifting capacity can be fully utilized.

[0103] In some embodiments, after the suction cup and the workpiece are lifted away from the workpiece placement surface by a preset distance, a reaction force is applied to the workpiece by allowing the suction cup and the workpiece to fall freely. The reaction force is applied to the workpiece by the free fall of the suction cup and the workpiece, that is, the reaction force is applied by using the downward impact of the suction cup and the workpiece, whether it is overloaded or invisible overloaded, which improves the safety and reliability of the suction lifting device, and the way of applying the reaction force is simple, convenient, fast, and easy to operate.

[0104] In some embodiments, after the suction cup and the workpiece are lifted a preset distance away from the workpiece placement surface, a reaction force can be applied to the workpiece by the reaction force applying assembly in the above embodiments.

[0105] Specifically, the reaction force applying component is configured as at least one of an electromagnetic force push rod, a hydraulic cylinder, a pneumatic cylinder, an impact hammer and a vibrator. By applying reaction force to the workpiece through a plurality of reaction force applying components in different forms, it is convenient to adapt to different suction lifting scenarios and improve the versatility of the reaction force applying component.

[0106] In some embodiments, the suction cup is constructed as a permanent magnet suction cup, an electrically controlled permanent magnet suction cup or an electromagnet suction cup, and the counter force is applied by generating a demagnetization magnetic field through a demagnetization component to reduce a portion of the magnetic flux of the suction cup, thereby reducing the suction force applied by the suction cup to the workpiece. Applying the counter force by demagnetization is simple and convenient to operate.

[0107] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0108] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0109] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0110] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0111] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0112] It is to be understood that the above embodiments are exemplary and are not to be construed as limiting the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A suction lifting device, characterized in that: include: A suction cup, the suction cup is used to generate suction to suck the workpiece from the workpiece placement surface through the suction; A reaction force applying component is installed on the suction cup, and is used to apply a reaction force to the workpiece for a predetermined time when the suction cup sucks the workpiece and leaves the workpiece placement surface by a preset distance. The reaction force is opposite to the suction force of the suction cup on the workpiece to offset a part of the suction force.

2. The suction lifting device according to claim 1, characterized in that: The reaction force is A, the suction force of the suction cup is B, the rated load of the suction cup is C, wherein the suction cup is an electromagnetic suction cup or a vacuum suction cup, then B=2C and C≤A≤1.05C; or wherein the suction cup is a permanent magnet suction cup or an electrically controlled permanent magnet suction cup, then B=3C and 0.66B≤A≤0.71B.

3. The suction lifting device according to claim 1 or 2, characterized in that: The reaction force applying assembly includes at least one of an electromagnetic force push rod, a hydraulic cylinder, a pneumatic cylinder, an impact hammer and a vibrator.

4. The suction lifting device according to claim 1 or 2, characterized in that: The reaction force applying assembly comprises a pushing bolt, the suction cup is provided with a threaded hole, and the pushing bolt can be rotatably engaged in the threaded hole to push the workpiece adsorbed by the suction cup.

5. The suction lifting device according to claim 1, characterized in that: The suction cup is a permanent magnet suction cup, an electrically controlled permanent magnet suction cup or an electromagnet suction cup, and the reaction force applying component includes a vibrator, and a magnetic isolation plate is provided between the vibrator and the suction cup.

6. The suction lifting device according to claim 1, characterized in that: The suction lifting device also includes a reaction force regulator for regulating the reaction force applied by the reaction force applying assembly to the workpiece.

7. The suction lifting device according to claim 6, characterized in that: The suction lifting device also includes a remote controller for controlling at least one of the reaction force applying assembly and the reaction force regulator.

8. The suction lifting device according to claim 1, characterized in that: The suction lifting device also includes a hanging assembly, which is connected to the suction cup and is used to lift the suction cup.

9. The suction lifting device according to claim 8, characterized in that: The hanging assembly includes a hanger, an arm, a hook and a sling, the arm is connected between the hanger and the hook, the suction cup is installed at the bottom of the hanger, and the reaction force applying assembly includes an operating rod, the operating rod is detachably connected to the sling, and the sling is connected to the hook after the operating rod is detached from the sling, so that the reaction force is applied to the workpiece through the free fall of the suction cup, the hanger, the arm, the hook and the workpiece.

10. The suction lifting device according to claim 1, characterized in that: The suction cup is a permanent magnet suction cup, an electrically controlled permanent magnet suction cup or an electromagnet suction cup, and the reaction force applying component is a demagnetization component. When the suction cup sucks the workpiece and leaves the workpiece placement surface at a preset distance, the demagnetization component generates a demagnetization magnetic field to reduce a portion of the magnetic flux of the suction cup, thereby reducing the suction force applied by the suction cup to the workpiece.

11. A suction lifting method, characterized in that: include: activating the suction cup to generate suction to absorb the workpiece from the workpiece placement surface; Lifting the suction cup and the workpiece away from the workpiece placement surface by a preset distance; applying a reaction force opposite to the suction force of the suction cup on the workpiece to the workpiece for a predetermined time to offset a portion of the suction force; If the workpiece does not fall off the suction cup, stop applying the reaction force and continue the lifting operation; If the workpiece falls off the suction cup, the lifting operation is stopped.

12. The suction lifting method according to claim 11, characterized in that: The reaction force is A, the suction force of the suction cup is B, and the rated load of the suction cup is C. If the suction cup is an electromagnetic suction cup or a vacuum suction cup, then B=2C and C≤A≤1.05C; if the suction cup is a permanent magnet suction cup or an electrically controlled permanent magnet suction cup, then B=3C and 0.66B≤A≤0.71B.

13. The suction lifting method according to claim 11, characterized in that: After the suction cup and the workpiece are lifted away from the workpiece placement surface by a preset distance, the reaction force is applied to the workpiece by allowing the suction cup and the workpiece to fall freely.

14. The suction lifting method according to claim 11, characterized in that: After the suction cup and the workpiece are lifted away from the workpiece placement surface by a preset distance, the reaction force is applied to the workpiece through a reaction force applying component.

15. The suction lifting method according to claim 11, characterized in that: The suction cup is a permanent magnet suction cup, an electrically controlled permanent magnet suction cup or an electromagnet suction cup, and the counter force is applied by generating a demagnetization magnetic field through a demagnetization component to reduce a portion of the magnetic flux of the suction cup, thereby reducing the suction force applied by the suction cup to the workpiece.

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