Telescopic device and stacking system
By providing a telescopic device including a drive assembly, a telescopic cylinder group, a transmission assembly and a grab assembly, the problem of high cost and low accuracy of the cargo stacking method in the prior art is solved, and a low cost and high precision of the cargo stacking effect is achieved.
Patent Information
- Application Number
- CN202421684223.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-16
- Publication Date
- 2025-05-27
- Estimated Expiration
- 2034-07-16
AI Technical Summary
In the prior art, the cargo stacking method has high cost and low accuracy, the robotic arm costs and there is a risk of goods falling when moving large-scale goods. The hoisting system affects the accuracy and safety of the stacking when the goods shake.
A telescopic device is provided, including a driving component, a telescopic cylinder group, a transmission component and a grabbing component. The lifting component realizes the picking and placement of the goods through the coordination of the telescopic cylinder group and a transmission component. The grabbing component realizes the grabbing and placement of the goods through up and down movement, ensuring the stability and accuracy of the goods in the palletization process.
It reduces the cost of cargo palletization and improves the accuracy and safety of palletization, especially when hoisting large-scale goods, avoiding the risk of cargo shaking and falling.
Smart Images
Figure CN222906935U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of palletizing, in particular to a telescopic device and a palletizing system. Background Art
[0002] The palletizing process is a key process in production and transportation. By using automatic palletizing equipment, goods are stacked according to certain rules and sequences, which is convenient for storage, transportation and management. It can quickly and accurately complete the stacking task of goods, significantly reduce the dependence on manual labor, thereby reducing labor costs, and through the precise control of automatic palletizing equipment, problems such as damage and scattering of goods caused by human factors can be avoided, improving safety. Therefore, realizing automatic palletizing is of great significance in the modern logistics and production fields.
[0003] In the prior art, goods are mainly moved by a robotic arm or a hoisting system. However, the cost of controlling the movement of goods by a robotic arm is relatively high, and when the required movement distance of the goods is large or the mass of the goods itself is large, the requirements for the robotic arm are high, and there is also a risk of goods falling during the movement. During the process of lifting and moving goods by a hoisting system, although goods with a large mass can be lifted by hoisting, the swaying of goods during hoisting will also affect the accuracy and safety of palletizing.
[0004] Correspondingly, a new technical solution is needed in this field to solve the above problems. Summary of the Utility Model
[0005] In order to solve at least one of the above problems in the prior art, that is, to solve the problems of high cost and low precision existing in the existing palletizing methods of goods, the present application provides a telescopic device, which includes:
[0006] A driving component;
[0007] A telescopic cylinder group, the telescopic cylinder group includes a plurality of telescopic cylinders, the plurality of telescopic cylinders are sleeved in sequence, and the plurality of telescopic cylinders can move relative to each other in the vertical direction;
[0008] A transmission component, the transmission component includes a transmission rope, one end of the transmission rope is connected to the driving component, and the other end is connected to the telescopic cylinder at the bottom after extending out of the plurality of telescopic cylinders;
[0009] A grasping component, the grasping component is connected to the telescopic cylinder at the bottom.
[0010] In the case of adopting the above technical solution, during the telescoping process of the telescopic cylinder group, the grasping component moves up and down accordingly, thereby realizing the hoisting of goods. Moreover, through the cooperation of the telescopic cylinder group and the transmission component, the hoisting of goods with a relatively large mass can be achieved. In addition, compared with palletizing by a robotic arm, the manufacturing cost of the telescopic cylinder group is relatively low. Additionally, during the process of hoisting goods, the rigid cooperation between multiple telescopic cylinders can prevent the goods from shaking and falling, providing a basis for improving the accuracy and safety of goods palletizing.
[0011] In the preferred technical solution of the above telescopic device, the telescopic cylinder at the top is located in the outermost layer of the telescopic cylinder group, and the telescopic cylinder at the bottom is located in the innermost layer of the telescopic cylinder group;
[0012] Between two adjacent telescopic cylinders, a first flanging is formed by the bottom of the telescopic cylinder in the outer layer extending vertically inward, and a second flanging is formed by the top of the telescopic cylinder in the inner layer extending vertically outward. The two adjacent telescopic cylinders can be lapped through the first flanging and the second flanging;
[0013] The telescopic cylinder at the bottom is provided with a fixing plate, and at least part of the projection of the fixing plate in the vertical direction is located outside the projection of the telescopic cylinder at the top.
[0014] In the case of adopting the above technical solution, during the extension process of the telescopic cylinder group, the inner telescopic cylinders extend synchronously, and the grasping component moves downward. On the contrary, during the contraction process of the telescopic cylinder group, the bottom telescopic cylinders are successively contracted into the upper telescopic cylinders, and the grasping component moves upward. The telescopic cylinder group can be limited during the extension process through the first flanging and the second flanging, and the upper telescopic cylinder can be driven to retract when the bottom telescopic cylinder moves upward through the fixing plate.
[0015] In the preferred technical solution of the above telescopic device, a plurality of limiting wheels are provided at the bottom of some of the telescopic cylinders, and at least part of the limiting wheels is located inside the telescopic cylinders;
[0016] The plurality of limiting wheels are arranged circumferentially around the telescopic cylinder, and the plurality of limiting wheels are arranged to be able to rollingly abut against the inner telescopic cylinder during the vertical movement of the inner telescopic cylinder.
[0017] In the case of adopting the above technical solution, the direction of the contraction cylinder during upward contraction and downward extension can be limited through a plurality of limiting wheels, ensuring the stability of each telescopic cylinder during the movement process and further improving the lifting accuracy of the telescopic device.
[0018] In the preferred technical solution of the above telescopic device, the driving component is arranged on the telescopic cylinder at the top; and / or
[0019] The driving component is a motor driving component or a hydraulic driving component.
[0020] In the case of adopting the above technical solution, the hydraulic drive assembly can be used to lift large-mass goods, and for lifting small-mass goods, the motor drive assembly can be used to reduce the cost of the drive assembly while ensuring the lifting effect.
[0021] In the preferred technical solution of the above telescopic device, the transmission rope is set as a steel wire rope; and / or
[0022] The transmission rope is set as two, one ends of the two transmission ropes are both connected to the drive assembly, and the other ends are respectively connected to both sides of the telescopic cylinder at the bottom; and / or
[0023] The transmission rope is located outside the telescopic cylinder group.
[0024] In the preferred technical solution of the above telescopic device, the transmission assembly further includes a first pulley, the first pulley is arranged on the telescopic cylinder at the top, and one end of the transmission rope bypasses the first pulley and is connected to the drive assembly; and / or
[0025] The transmission assembly further includes a second pulley, the second pulley is arranged on the telescopic cylinder at the bottom, and one end of the transmission rope bypasses the second pulley and is connected to the drive assembly.
[0026] In the case of adopting the above technical solution, the upper limit of the mass that the telescopic device can bear can be increased, further ensuring the stability of lifting large-mass goods and avoiding the dropping of goods.
[0027] In the preferred technical solution of the above telescopic device, the grasping assembly includes a motor and a claw, the claw is arranged on the telescopic cylinder at the bottom, and at least part of the claw is located outside the telescopic cylinder at the bottom;
[0028] The motor is connected to the claw, and the motor can control the opening and closing of the claw.
[0029] In the preferred technical solution of the above telescopic device, the grasping assembly further includes a positioning sensor, the positioning sensor is arranged on the telescopic cylinder at the bottom, and the positioning sensor is used for positioning the goods to be grasped.
[0030] The present application also provides a palletizing system, and the palletizing system is the telescopic device as described in any one of the above.
[0031] In the case of adopting the above-mentioned telescopic device, the palletizing system can realize the hoisting of goods with relatively large mass through the cooperation of the telescopic cylinder group and the transmission component. Moreover, compared with palletizing by a robotic arm, the manufacturing cost of the telescopic cylinder group is relatively low. In addition, during the process of hoisting goods, the use of multiple telescopic cylinders can prevent the goods from shaking and falling, providing a basis for improving the accuracy and safety of goods palletizing.
[0032] In a preferred technical solution of the above-mentioned palletizing system, the palletizing system further includes a truss and a first traveling device. The telescopic device is connected to the first traveling device, and the telescopic device can travel along a first direction on the truss through the first traveling device; and / or
[0033] The palletizing system further includes a second traveling device. The second traveling device is connected to the truss, and the truss can travel along a second direction through the second traveling device, where the first direction is perpendicular to the second direction; and / or
[0034] The palletizing system further includes a vision device. The vision device is arranged on the truss, and the vision device is used for positioning the goods to be grabbed and the palletizing position. Description of the Drawings
[0035] The following describes the telescopic device of the present application with reference to the drawings. In the drawings:
[0036] Figure 1 is a schematic diagram of the first telescopic device of the present application;
[0037] Figure 2 is a cross-sectional view of the first telescopic device of the present application;
[0038] Figure 3 is a schematic diagram of the second telescopic device of the present application;
[0039] Figure 4 is a schematic diagram of the palletizing system of the present application;
[0040] Figure 5 is a left view of the palletizing system of the present application.
[0041] List of Reference Numerals
[0042] 10. Driving component; 20. Telescopic cylinder group; 21. Telescopic cylinder; 211. First folded edge; 212. Second folded edge; 22. Fixed plate; 23. Limiting wheel; 30. Transmission component; 31. Transmission rope; 32. First pulley; 33. Second pulley; 40. Grabbing component; 41. Motor; 42. Claw; 43. Positioning sensor; 50. Truss; 60. First traveling device; 70. Second traveling device. Detailed Description of the Invention
[0043] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present application and are not intended to limit the protection scope of the present application. For example, although the driving component in the drawings is set as an electric motor driving component, this is not intended to limit the protection scope of the present application. Without departing from the principle of the present application, those skilled in the art can set the driving component as a hydraulic driving component. Another example is that although this embodiment is introduced in combination with goods with hooks, this is not intended to limit the protection scope of the present application. Without departing from the principle of the present application, those skilled in the art can change the specific settings of the grasping component according to needs to grasp different types of goods.
[0044] It should be noted that in the description of the present application, the terms indicating directions or positional relationships such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In addition, in the description of the present application, "a plurality of" means at least two.
[0045] In addition, it should also be noted that in the description of the present application, unless otherwise clearly specified and limited, the terms "install", "connect", and "couple" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to specific situations.
[0046] As described in the background art, the palletizing process is a key process in production and transportation. By using an automatic palletizing device to stack goods according to certain rules and sequences, it is convenient for storage, transportation, and management. It can quickly and accurately complete the stacking task of goods, significantly reduce the dependence on manual labor, thereby reducing labor costs, and through the precise control of the automatic palletizing device, it can avoid problems such as damage and scattering of goods caused by human factors, improving safety. Therefore, realizing automatic palletizing is of great significance in the modern logistics and production fields.
[0047] In the prior art, goods are mainly moved by a robotic arm or a hoisting system. However, the cost of controlling the movement of goods by a robotic arm is relatively high. Moreover, when the required movement distance of the goods is large or the mass of the goods themselves is large, high requirements are imposed on the robotic arm, and there is also a risk of the goods falling during the movement. In the process of lifting and moving goods by a hoisting system, although goods with a relatively large mass can be lifted by hoisting, the swaying of the goods during hoisting will also affect the accuracy and safety of palletizing.
[0048] In order to solve the problems of high cost and low precision existing in the existing palletizing methods of goods, the present application provides a telescopic device. The telescopic device includes a driving component, a telescopic cylinder group, a transmission component, and a grasping component. Among them, the telescopic cylinder group includes a plurality of telescopic cylinders, the plurality of telescopic cylinders are sleeved in sequence, and the plurality of telescopic cylinders can move relative to each other in the vertical direction. The transmission component includes a transmission rope, one end of the transmission rope is connected to the driving component, and the other end is connected to the telescopic cylinder located at the bottom after extending out of the plurality of telescopic cylinders. The grasping component is connected to the bottom telescopic cylinder.
[0049] In the case of adopting the above technical solution, during the telescopic process of the telescopic cylinder group, the grasping component moves up and down accordingly, thereby realizing the hoisting of goods. Moreover, through the cooperation of the telescopic cylinder group and the transmission component, the hoisting of goods with a relatively large mass can be realized. In addition, compared with palletizing by a robotic arm, the manufacturing cost of the telescopic cylinder group is relatively low. Furthermore, during the process of hoisting goods, the rigid cooperation between the plurality of telescopic cylinders can prevent the goods from swaying and prevent the goods from falling, providing a basis for improving the accuracy and safety of goods palletizing.
[0050] The following refers to Figures 1 to 5 , to describe the telescopic device and the palletizing system of the present application. Among them, Figure 1 is a schematic diagram of the first telescopic device of the present application; Figure 2 is a cross-sectional view of the first telescopic device of the present application; Figure 3 is a schematic diagram of the second telescopic device of the present application;
[0051] Figure 4 is a schematic diagram of the palletizing system of the present application; Figure 5 is a left view of the palletizing system of the present application.
[0052] As Figures 1 to 2As shown, in a possible implementation, the telescopic device includes a driving component 10, a telescopic cylinder group 20, a transmission component 30, and a grasping component 40. Among them, the telescopic cylinder group 20 includes a plurality of telescopic cylinders 21. The plurality of telescopic cylinders 21 are sleeved in sequence, and the plurality of telescopic cylinders 21 can move relative to each other in the vertical direction. The top telescopic cylinder 21 is located on the outermost layer of the telescopic cylinder group 20, and the bottom telescopic cylinder 21 is located on the innermost layer of the telescopic cylinder group 20. Between two adjacent telescopic cylinders 21, a first flange 211 is formed by the bottom of the outer telescopic cylinder 21 extending vertically inward, and a second flange 212 is formed by the top of the inner telescopic cylinder 21 extending vertically outward. Two adjacent telescopic cylinders 21 can be lapped through the first flange 211 and the second flange 212. The bottom telescopic cylinder 21 is provided with a fixing plate 22. The projection of the fixing plate 22 in the vertical direction is at least partially located outside the projection of the top telescopic cylinder 21. Preferably, the projection of the fixing plate 22 in the vertical direction can completely cover the projection of the top telescopic cylinder 21. The driving component 10 is arranged on the top telescopic cylinder 21. The transmission component 30 includes two transmission ropes 31 and two first pulleys 32. The two first pulleys 32 are respectively arranged on both sides of the top telescopic cylinder 21. One ends of the two transmission ropes 31 respectively bypass the two first pulleys 32 and are connected to the driving component 10, and the other ends respectively pass through the inside of the telescopic cylinder group 20 and are connected to both sides of the bottom telescopic cylinder 21 through hooks. Specifically, the two hooks are symmetrically arranged on both sides of the fixing plate 22 inside the telescopic cylinder 21, and the two transmission ropes 31 are respectively connected to the fixing plate 22 through a hook. The grasping component 40 includes a motor 41, a clamping jaw 42, and a positioning sensor 43. The motor 41 and the clamping jaw 42 are both arranged on the bottom telescopic cylinder 21, and the clamping jaw 42 is at least partially located outside the bottom telescopic cylinder 21. The motor 41 is connected to the clamping jaw 42, and the motor 41 can control the opening and closing of the clamping jaw. The positioning sensor 43 is arranged on the bottom telescopic cylinder 21 and close to the clamping jaw 42. The positioning sensor 21 is used for positioning the goods to be grasped.
[0053] In this embodiment, the telescopic cylinder group 20 includes four telescopic cylinders 21 with a rectangular cross-section, and the driving assembly 10 is set as a motor driving assembly. One end of each of the two transmission ropes 31 is connected to the output shaft of the driving motor, and the two transmission ropes 31 can be partially wound around the output shaft of the driving motor. During the forward and reverse rotation of the driving motor, the bottom telescopic cylinder 21 is driven to move up or down through the transmission rope 31. During the upward movement of the bottom telescopic cylinder 21, the telescopic cylinder 21 above it first remains stationary until the fixing plate 22 abuts against the bottom of the telescopic cylinder 21 above it. Then, the bottom telescopic cylinder 21 continues to move up to drive the telescopic cylinder 21 above it to retract, thereby completing the contraction of the telescopic cylinder group 20. During the downward movement of the bottom telescopic cylinder 21, the telescopic cylinder 21 outside it moves down synchronously with it. When the second fold 212 of the telescopic cylinder 21 located inside abuts against the first fold 211 of the telescopic cylinder 21 located outside, at this time, both telescopic cylinders 21 start to remain stationary, thereby completing the extension of the telescopic cylinder group 20. In addition, in this embodiment, the positioning sensor 43 is set as a laser sensor. Taking the goods with a hook as an example, when grabbing the goods, the position of the hook can be determined through the laser sensor, and then the clamping jaw 42 is controlled to open and close by the motor 41 to clamp or release the hook. Specifically, the laser sensor near the clamping jaw 42 can emit a laser beam and receive the reflected laser signal. According to the time, intensity, angle and other information of the reflected signal, it can be judged whether the clamping jaw 42 is above the hook. If so, the clamping jaw 42 is controlled to open and close, thereby realizing the accurate grasping of the hook.
[0054] As Figures 3 to 5 shown, in another possible embodiment, the working principle of the telescopic device is basically the same as that of the above embodiment, but the transmission rope 31 is arranged outside the telescopic cylinder group 20. Two second pulleys 33 are respectively arranged on both sides of the fixing plate 22, and the two transmission ropes 31 are respectively wound around the two second pulleys 33 and connected to the driving assembly 10. The grasping assembly 40 is connected to the bottom telescopic cylinder 21 through the fixing plate 22. Between two adjacent telescopic cylinders 21, four limiting wheels 23 are circumferentially arranged at the bottom of the telescopic cylinder 21 above, and at least part of the limiting wheels 23 is located inside the telescopic cylinder 21.
[0055] In this embodiment, taking Figure 3 as an example, the limiting wheel 23 is located at the bottom of the corresponding telescopic cylinder 21. As can be seen from Figure 3 this, in this embodiment, the telescopic cylinder group 20 includes three telescopic cylinders 21, and the length of the top telescopic cylinder is the largest. Figure 3In the shown state, the telescopic cylinder 21 at the bottom has been fully retracted into the telescopic cylinder 21 above it. The transmission rope 31 is connected to the telescopic cylinder 21 at the bottom through the second pulley 33. During the telescoping process of the telescopic cylinder group 20, the second pulley 33 functions as a movable pulley. And between two adjacent telescopic cylinders 21, when the inner telescopic cylinder 21 moves up and down, the limiting wheel 23 on the outer telescopic cylinder 21 rolls against the inner telescopic cylinder 21, thereby restricting the direction of the inner telescopic cylinder 21 when it moves up and down, ensuring the stability of each telescopic cylinder during the movement and further improving the lifting accuracy of the telescopic device. And because in this embodiment, part of the limiting wheel 23 is located outside the telescopic cylinder 21, during the upward movement of the telescopic cylinder 21, the telescopic cylinder 21 where the limiting wheel 23 is located cannot retract into the telescopic cylinder 21 above it.
[0056] It should be noted that those skilled in the art can change the specific settings of the telescopic cylinder group 20 according to needs. For example, although in this embodiment, the telescopic cylinder 21 at the top is in the outermost layer when the telescopic cylinder group 20 telescopes, this setting is not necessary. The normal function of the telescopic device can also be achieved when the telescopic cylinder 21 at the top is in the innermost layer. However, considering the structural strength of the telescopic cylinder group 20, setting the telescopic cylinder 21 at the top in the outermost layer is a better choice. Again, those skilled in the art can change the number of telescopic cylinders 21 and the height of each telescopic cylinder 21 according to needs. In addition, the setting of the limiting wheel 23 is not fixed either. Those skilled in the art can change or omit the setting of the limiting wheel 23 according to needs. In an alternative embodiment, the limiting wheel 23 can be set inside the telescopic cylinder 21, and it can also play the role of limiting the moving direction of the inner telescopic cylinder 21. At this time, the inner telescopic cylinder 21 can be completely retracted into the outer telescopic cylinder 21. In another alternative embodiment, those skilled in the art can also change the number of limiting wheels 23. For example, only one limiting wheel 23 is respectively set on both sides in any direction at the bottom of the telescopic cylinder 21. Again, when the limiting wheel 23 is set inside the telescopic cylinder 21, the volume of the limiting wheel 23 may be small. At this time, multiple limiting wheels 23 can be set on each side of the telescopic cylinder 21 to ensure the limiting effect of the limiting wheel 23. In addition, the setting of the grasping assembly 40 is not fixed either. Those skilled in the art can change its specific settings according to needs. In an alternative embodiment, the grasping assembly can also be set as a suction cup to lift goods with a smooth surface and a small mass. In another alternative embodiment, those skilled in the art can select the specific type of the positioning sensor 43 or adjust the position of the positioning sensor 43 according to needs. For example, setting the positioning sensor 43 as an ultrasonic sensor can also play the role of positioning.
[0057] It should also be explained that although the driving component 10 in the above embodiments adopts an electric motor driving component, its setting is not necessary. In an alternative embodiment, taking a lead ingot with a hook as an example, its weight is relatively large, reaching 2t - 3t. At this time, the driving component 10 can also be set as a hydraulic driving component to provide a greater pulling force, thereby ensuring the palletizing effect of the lead ingot. In addition, those skilled in the art can change the specific setting of the transmission rope 31 according to needs. For example, when lifting goods with a large mass, the transmission rope 31 can be set as a steel wire rope. Another example is that when the transmission rope 31 passes through the inside of the telescopic cylinder group 20 and is connected to the center of the bottom telescopic cylinder 21, only one transmission rope 31 can also be set. However, considering the lifting effect of the transmission component 30, setting two transmission ropes 31 is a better choice. In addition, in this embodiment, the first pulley 32 and the second pulley 33 respectively act as a fixed pulley and a movable pulley, but the setting of the first pulley 32 and the second pulley 33 is not necessary. Those skilled in the art can omit the setting of the first pulley 32 or change the setting position of the first pulley 32 according to the adjustment of the specific position of the driving component 10, or selectively omit the setting of the second pulley 33 according to the mass of the goods.
[0058] The present application also provides a palletizing system, which includes any one of the telescopic devices in the above embodiments.
[0059] In the case of adopting the above telescopic device, the palletizing system can realize the hoisting of goods with a relatively large mass through the cooperation of the telescopic cylinder group and the transmission component. Moreover, compared with palletizing by a robotic arm, the manufacturing cost of the telescopic cylinder group is relatively low. In addition, during the process of hoisting goods, the goods can be prevented from shaking and falling through multiple telescopic cylinders, providing a basis for improving the accuracy and safety of goods palletizing.
[0060] As Figures 3 to 5 shown, the palletizing system includes the telescopic device, a truss 50, a first traveling device 60, a second traveling device 70, and a vision device (not shown in the figure) in the second embodiment above. Among them, the telescopic device is connected to the first traveling device 60, and the telescopic device can travel along a first direction on the truss 50 through the first traveling device 60. The second traveling device 70 is connected to the truss 50, and the truss 50 can travel along a second direction through the second traveling device 70, where the first direction is perpendicular to the second direction. Specifically, taking the Figure 4 shown direction as an example, the telescopic device can travel in the left - right direction of the truss 50 through the first traveling device 60, and the truss 50 can travel along the front - back direction (perpendicular to the paper surface direction) through the second traveling device 70. The vision device is arranged on the truss 50, and the vision device is used for positioning the goods to be grabbed and the palletizing position.
[0061] In this embodiment, the vision device can be set as a camera, a camera, etc. There are tracks arranged in the width direction of the truss 50. The first traveling device 60 can be set as a general truss trolley. The telescopic device is fixed to the trolley, and the traveling of the telescopic device is driven by the traveling of the first traveling device 60 on the track. The second traveling device 70 can be driving wheels arranged on each support column of the truss 50, and the driving wheels are rotated by the rotation of the motor, so as to realize the traveling of the truss 50. During the palletizing process of the goods, the position of the goods can be preliminarily located by the vision device at a high place. The automatic palletizing system calculates the required moving distances of the telescopic device in each direction, and then controls the first traveling device 60 and the second traveling device 70 to move the telescopic device above the goods. Then, the grasping assembly 40 is controlled to descend, and the position of the telescopic device is finely adjusted through the feedback of the laser sensor, so that the grasping assembly 40 can accurately grasp the goods. Moreover, the vision device can also determine the position where the goods are to be palletized. After grasping the goods, the automatic palletizing system can further control the telescopic device to palletize the goods to the preset position, so as to realize the in-warehouse palletizing or loading palletizing of the goods.
[0062] It should be noted that the first traveling device 60 for controlling the movement of the telescopic device and the second traveling device 70 for controlling the movement of the truss 50 belong to the prior art, and their control principles will not be elaborated here. In addition, although the telescopic device is introduced in combination with the truss 50 and the first traveling device 60 in this embodiment, its setting is not necessary. Those skilled in the art can change the specific setting of the palletizing system according to needs. In an alternative embodiment, the palletizing system includes a truss and a telescopic and rotatable cantilever. The cantilever is arranged on the truss, and multi-directional adjustment of the grasping position can be realized through the truss and the cantilever. At this time, the telescopic device is arranged on the cantilever to realize the lifting of the goods. Of course, the setting of the first traveling device 60 or the second traveling device 70 is not necessary either. For example, when setting a telescopic and rotatable cantilever, those skilled in the art can also omit the setting of the first traveling device 60 or the second traveling device 70 according to needs. At this time, the movement of the telescopic device in each direction can also be realized. In addition, the setting position of the driving assembly 10 of the telescopic device can also be changed according to the needs of those skilled in the art. For example, the driving assembly 10 is arranged on the first traveling device 60, as long as the normal function of the telescopic device is not affected.
[0063] Those skilled in the art can understand that although some of the embodiments described herein include certain features included in other embodiments rather than other features, the combination of the features of different embodiments means that it is within the scope of the present application and forms different embodiments. For example, in the claims of the present application, any one of the claimed embodiments can be used in any combination.
[0064] So far, the technical solution of the present application has been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present application is obviously not limited to these specific embodiments. Without departing from the principle of the present application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present application.
Claims
1. A telescopic device, characterized in that: include: Drive components; A telescopic cylinder group, the telescopic cylinder group comprising a plurality of telescopic cylinders, the plurality of telescopic cylinders being arranged in sequence, and the plurality of telescopic cylinders being able to move relative to each other in a vertical direction; A transmission assembly, the transmission assembly comprising a transmission rope, one end of the transmission rope is connected to the driving assembly, and the other end is connected to the telescopic cylinder that extends out of the plurality of telescopic cylinders and is located at the bottom; A grabbing assembly is connected to the telescopic cylinder at the bottom.
2. The telescopic device according to claim 1, characterized in that: The telescopic cylinder at the top is located at the outermost layer of the telescopic cylinder group, and the telescopic cylinder at the bottom is located at the innermost layer of the telescopic cylinder group; Between two adjacent telescopic tubes, the bottom of the telescopic tube located at the outer layer extends vertically inward to form a first folded edge, and the top of the telescopic tube located at the inner layer extends vertically outward to form a second folded edge, and the two adjacent telescopic tubes can be overlapped by the first folded edge and the second folded edge; The telescopic cylinder at the bottom is provided with a fixing plate, and the projection of the fixing plate in the vertical direction is at least partially located outside the projection of the telescopic cylinder at the top.
3. The telescopic device according to claim 2, characterized in that: A plurality of limiting wheels are provided at the bottom of some of the telescopic cylinders, and the limiting wheels are at least partially located inside the telescopic cylinders; The plurality of limiting wheels are arranged around the circumference of the telescopic cylinder, and the plurality of limiting wheels are arranged to be able to roll and abut against the inner telescopic cylinder during the vertical movement of the inner telescopic cylinder.
4. The telescopic device according to claim 1, characterized in that: The drive assembly is arranged at the top of the telescopic cylinder; and / or The driving assembly is a motor driving assembly or a hydraulic driving assembly.
5. The telescopic device according to claim 1, characterized in that: The transmission rope is configured as a steel wire rope; and / or The transmission ropes are provided in two numbers, one end of each of the transmission ropes is connected to the driving assembly, and the other end is connected to two sides of the telescopic cylinder at the bottom respectively; and / or The transmission rope is located outside the telescopic cylinder group.
6. The telescopic device according to claim 1, characterized in that: The transmission assembly further comprises a first pulley, the first pulley being arranged on the top of the telescopic cylinder, one end of the transmission rope passing over the first pulley and connected to the driving assembly; and / or The transmission assembly also includes a second pulley, which is arranged on the telescopic cylinder at the bottom, and one end of the transmission rope passes around the second pulley and is connected to the driving assembly.
7. The telescopic device according to claim 1, characterized in that: The gripping assembly comprises a motor and a clamping claw, wherein the clamping claw is arranged on the telescopic cylinder at the bottom, and the clamping claw is at least partially located outside the telescopic cylinder at the bottom; The motor is connected to the clamping jaw, and the motor can control the opening and closing of the clamping jaw.
8. The telescopic device according to claim 1, characterized in that: The grabbing assembly further includes a positioning sensor, which is disposed on the telescopic cylinder at the bottom and is used to position the cargo to be grabbed.
9. A palletizing system, characterized in that: The palletizing system is a telescopic device as described in any one of claims 1-8.
10. The palletizing system according to claim 9, characterized in that: The palletizing system further comprises a truss and a first walking device, the telescopic device is connected to the first walking device, and the telescopic device can move along a first direction on the truss through the first walking device; and / or The palletizing system further comprises a second walking device, the second walking device is connected to the truss, and the truss can move along a second direction through the second walking device, wherein the first direction is perpendicular to the second direction; and / or The palletizing system further comprises a visual device, which is arranged on the truss and is used for locating the goods to be grabbed and the palletizing position.