Hoisting apparatus and palletizing system

Abstract

The embodiment of the present application discloses a hoisting device and a stacking system. The hoisting device comprises a clamp, a displacement assembly and a sensing assembly. The clamp can be moved to stack a target stack body at a target position. The displacement assembly is movably arranged on the clamp. One end of the displacement assembly can be in contact with the target stack body. At least a part of the displacement assembly can be pushed to displace by the target stack body at the target position. The sensing assembly is arranged on the clamp and / or the displacement assembly. The sensing assembly is used to detect the position information between the target stack body and the clamp. After the clamp clamps the target stack body in the present application, when the target stack body switches between the suspended position and the target position, the sensing assembly can detect the position change of the target stack body compared with the clamp, so as to accurately judge that the target stack body has reached the target position, and complete the storage and warehousing action. The positioning operation is not dependent on the fixed height of the stack body in the traditional way, and the difficulty of stack body storage and warehousing is reduced.

Description

Technical Field

[0001] This application relates to the field of cargo storage and retrieval technology, and in particular to a hoisting device and a palletizing system. Background Technology

[0002] The final products of non-ferrous metals such as lead, zinc, and tin have a standard stack shape, but the height of the metal stack varies considerably depending on the casting weight. Furthermore, some smelters produce multiple types of metal products, and the heights of these different types of metal products also differ.

[0003] Therefore, for the storage and warehousing of metal stacks, the height of the metal stacks is not fixed, and positioning operations cannot be based on a fixed height, which makes the storage and warehousing of metal stacks difficult. Utility Model Content

[0004] An embodiment of the first aspect of this application discloses a lifting device, including a clamp, a displacement component, and a sensing component. The clamp includes a gripping space with an opening on one side for gripping a target stack. The clamp is movable along its height direction to place the target stack at a target position. The displacement component is movably disposed on the clamp, with one end capable of contacting the target stack. At least a portion of the displacement component can be displaced by the target stack at the target position. The sensing component is disposed on the clamp and / or the displacement component, and is used to detect positional information between the target stack and the clamp.

[0005] Furthermore, the displacement assembly includes a pressure plate, a telescopic rod, and a limiting member. The pressure plate can abut against the target stack. The telescopic rod is movably inserted through the clamp, with one end connected to the side of the pressure plate away from the opening. The telescopic rod can be pushed by the target stack and moved in the direction away from the opening. The limiting member is located at the other end of the telescopic rod.

[0006] Furthermore, the displacement assembly also includes an elastic element, which is sleeved on the telescopic rod and compressed between the pressure plate and the clamp.

[0007] Furthermore, the number of telescopic rods is at least two, and the at least two telescopic rods are spaced apart between the pressure plate and the clamp.

[0008] Furthermore, the clamp includes a body, at least two booms, a mounting member, and a first mounting hole. The at least two booms are spaced apart on the body, and each boom is rotatable relative to the body. The at least two booms and the body form a clamping space with an opening. The mounting member is disposed on the body and located within the clamping space, and a mounting cavity is formed between the mounting member and the body. The first mounting hole is disposed on the mounting member and communicates with the mounting cavity. The other end of the telescopic rod extends into the mounting cavity through the first mounting hole. A limiting member is disposed on the side of the mounting member opposite to the opening, and an elastic member is compressed and disposed between the pressure plate and the mounting member.

[0009] Furthermore, the clamp includes a body, at least two booms, and a second mounting hole. The at least two booms are spaced apart on the body, and each boom is rotatable relative to the body. The at least two booms and the body form a clamping space with an opening. The second mounting hole is provided on the body and communicates with the clamping space. The other end of the telescopic rod passes through the second mounting hole and extends toward the side of the body opposite to the opening. An elastic element is compressed and disposed between the pressure plate and the body.

[0010] Furthermore, the sensing component includes a distance sensor, which is disposed on the displacement component and is used to measure the displacement of the displacement component.

[0011] Furthermore, the sensing component includes a light-shielding plate and at least two through-beam photoelectric sensors. The light-shielding plate is disposed at the other end of the displacement component and moves synchronously with the displacement component. The at least two through-beam photoelectric sensors are disposed on the fixture and located on the side of the displacement component away from the outlet. The at least two through-beam photoelectric sensors are spaced apart along the displacement direction of the light-shielding plate within the displacement stroke of the light-shielding plate.

[0012] Furthermore, at least two through-beam photoelectric sensors include a first sensor and a second sensor, with the first sensor positioned closer to the light-shielding plate than the second sensor.

[0013] An embodiment of the second aspect of this application discloses a palletizing system, including: an overhead crane, lifting equipment, and control equipment. The lifting equipment is mounted on the overhead crane and moves under the drive of the overhead crane. The control equipment is communicatively connected to the overhead crane and the lifting equipment, and is capable of controlling the movement of the overhead crane, the lifting and lowering of the lifting equipment, and its clamping and placing.

[0014] Compared with the prior art, the beneficial effects of this application are:

[0015] The hoisting equipment provided in this application can detect the position information between the target stack and the clamp when the target stack switches between the suspended position and the target position. The position information can be the relative distance between the target stack and the clamp. When the relative distance changes, it can be determined that the target stack has reached the target position, which facilitates storage and warehousing. It can determine whether the target stack has been stacked in place in real time without relying on a fixed height, which is conducive to the effective operation of automated storage and warehousing.

[0016] The hoisting equipment provided in this application, after the clamp picks up the target stack, when the target stack switches between the suspended position and the target position, the sensing component can detect the position change of the target stack relative to the clamp, thereby accurately determining that the target stack has reached the target position and completing the storage and warehousing action. It does not rely on the fixed height of the stack for positioning operation in the traditional method, reducing the difficulty of storing and warehousing the stack.

[0017] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A side view of the hoisting equipment provided in an embodiment of this application;

[0020] Figure 2 A schematic diagram of the structure of a hoisting device provided in one embodiment of this application;

[0021] Figure 3 The hoisting equipment provided in the first embodiment of this application clamps the target stack located in a suspended position;

[0022] Figure 4 for Figure 3 A magnified view of a portion at point A;

[0023] Figure 5 The hoisting equipment provided in the first embodiment of this application clamps the target stack located at the target position;

[0024] Figure 6 for Figure 5 A magnified view of the area at point B;

[0025] Figure 7 The hoisting equipment provided in the second embodiment of this application clamps the target stack located in a suspended position;

[0026] Figure 8 for Figure 7 A magnified view of the area at point C;

[0027] Figure 9 The hoisting equipment provided in the second embodiment of this application clamps the target stack located at the target position;

[0028] Figure 10 for Figure 9 A magnified view of a section at point D.

[0029] Explanation of reference numerals in the attached figures:

[0030] 10. Clamp; 101. Opening; 102. Clamping space; 103. Body; 104. Boom; 105. Mounting components;

[0031] 20 Displacement assembly; 201 Pressure plate; 202 Telescopic rod; 203 Limiting component; 204 Elastic component;

[0032] 30 Sensing component; 301 Light shield; 302 First sensor; 303 Second sensor;

[0033] 40 target stacks. Detailed Implementation

[0034] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0035] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0036] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0037] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.

[0038] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, elements, or components (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.

[0039] An embodiment of the first aspect of this application discloses a hoisting device, such as... Figure 1and Figure 2 As shown, the device includes a clamp 10, a displacement component 20, and a sensing component 30. The clamp 10 includes a gripping space 102 with an opening 101 on one side, used to grip a target stack 40. The clamp 10 can move along its height to place the target stack 40 at a target position. The displacement component 20 is movably mounted on the clamp 10, with one end able to contact the target stack 40. At least a portion of the displacement component 20 can be displaced by the target stack 40 at the target position. The sensing component 30 is mounted on the clamp 10 and / or the displacement component 20, and is used to detect the positional information between the target stack 40 and the clamp 10.

[0040] In this embodiment, the hoisting equipment includes a clamp 10, a displacement component 20, and a sensing component 30. The clamp 10 includes a clamping space 102 with an opening 101 on one side. The target stack 40 can enter the clamping space 102 through the opening 101 and be clamped by the clamp 10, so that there is no relative displacement between the clamp 10 and the target stack 40. It is conceivable that the opening 101 of the clamp 10 can be opened downward or open to one side in the horizontal direction.

[0041] Specifically, the clamp 10 that clamps the target stack 40 can move in any direction. After the clamp 10 moves the target stack 40 directly above the target position, the clamp 10 will then move along its own height direction, allowing the target stack 40 to be stacked at the target position. The height direction can be vertical. When the target stack 40 is at the target position, its position no longer moves with the downward movement of the clamp 10. At this point, the relative position between the target stack 40 and the clamp 10 changes; that is, the clamp 10 moves downward relative to the target stack 40.

[0042] It is worth noting that the target stack 40 has a suspended position and a target position. The suspended position means that the target stack 40 is clamped by the clamp 10 and suspended in the air, not placed on other stacks. The target position means that during the descent of the clamp 10, the target stack 40 is placed at the stacking position, that is, the bottom of the target stack 40 has been placed on other stacks, and the storage and stacking action has been completed. At this time, the target stack 40 is in the bottom-touching position, which is the target position.

[0043] The displacement component 20 is movably mounted on the clamp 10. When there is no target stack 40 in the clamping space 102, one end of the displacement component 20 is suspended in the clamping space 102. When the target stack 40 is clamped in the clamping space 102, one end of the displacement component 20 can contact the target stack 40. At least a portion of the displacement component 20 can be pushed and displaced by the target stack 40 at the target position. That is, when the target stack 40 touches the bottom, the target stack 40 is subjected to an upward force and transmitted to the displacement component 20, causing at least a portion of the displacement component 20 to move synchronously. When the target stack 40 is in a suspended position, the displacement component 20 can be pushed and displaced by the target stack 40, and the target stack 40 abuts against the displacement component 20; or, the displacement component 20 is not pushed and displaced by the target stack 40, and the target stack 40 overlaps with the displacement component 20.

[0044] The sensing component 30 is mounted on the clamp 10 and / or the displacement component 20. When the target stack 40 switches between the suspended position and the target position, the sensing component 30 can detect the position information between the target stack 40 and the clamp 10. The position information can be the relative distance between the target stack 40 and the clamp 10. When the relative distance changes, it can be determined that the target stack 40 has reached the target position, which facilitates storage and warehousing. It can determine in real time whether the target stack 40 has been stacked in place without relying on a fixed height, which is conducive to the effective operation of automated storage and warehousing.

[0045] The hoisting equipment provided in this application, after the clamp 10 clamps the target stack 40, when the target stack 40 switches between the suspended position and the target position, the sensing component 30 can detect the position change of the target stack 40 relative to the clamp 10, so as to accurately determine that the target stack 40 has reached the target position and complete the storage and warehousing action. It does not rely on the fixed height of the stack for positioning operation in the traditional method, reducing the difficulty of storing and warehousing the stack.

[0046] Furthermore, such as Figures 2 to 10 As shown, the displacement assembly 20 includes a pressure plate 201, a telescopic rod 202, and a limiting member 203. The pressure plate 201 can abut against the target stack 40. The telescopic rod 202 is movably inserted through the clamp 10, and one end of the telescopic rod 202 is connected to the side of the pressure plate 201 away from the opening 101. The telescopic rod 202 can be pushed by the target stack 40 and move in the direction away from the opening 101. The limiting member 203 is provided at the other end of the telescopic rod 202.

[0047] In this embodiment, the displacement assembly 20 includes a pressure plate 201, a telescopic rod 202, and a limiting member 203. The pressure plate 201 can contact the target stack 40. The telescopic rod 202 is movably mounted on the clamp 10. As is conceivable, when the target stack 40 touches the bottom, it stops moving downwards, while the clamp 10 continues to descend. At this time, a relative displacement occurs between the clamp 10 and the target stack 40, causing the target stack 40 to move upwards relative to the clamp 10. The telescopic rod 202 moves upwards synchronously with the target stack 40. One end of the telescopic rod 202 is connected to the pressure plate 201, and the other end protrudes from the clamp 10 and is exposed. The limiting member 203 is located at the other end of the telescopic rod 202, preventing the telescopic rod 202 from detaching from the clamp 10, thereby ensuring the overall positional reliability of the displacement assembly 20.

[0048] The clamp 10 has a mounting hole, and the other end of the telescopic rod 202 can pass through the mounting hole and be connected to the limiting member 203. When the target stack 40 is in the target position, the clamp 10 moves down as a whole, and the pressure plate 201, telescopic rod 202, and limiting member 203 will be lifted up by the target stack 40 and move upward simultaneously.

[0049] Preferably, the limiting member 203 is a limiting bolt, which is connected to the other end of the telescopic rod 202.

[0050] Furthermore, such as Figures 2 to 10 As shown, the displacement assembly 20 also includes an elastic element 204, which is sleeved on the telescopic rod 202 and compressed between the pressure plate 201 and the clamp 10.

[0051] In this embodiment, the displacement component 20 further includes an elastic element 204, which is sleeved on the telescopic rod 202. The elastic element 204 is compressed between the pressure plate 201 and the clamp 10. The elastic element 204 can provide a downward force to the pressure plate 201. After the target stack 40 is stacked, in addition to the weight of the telescopic rod 202 itself, the elastic element 204 can also transmit a downward force to the pressure plate 201, so that the pressure plate 201 can be stably maintained in the initial position, preparing for the next storage and warehousing operation.

[0052] Preferably, the elastic element 204 is a spring.

[0053] Furthermore, the number of telescopic rods 202 is at least two, and at least two telescopic rods 202 are spaced apart between the pressure plate 201 and the clamp 10.

[0054] In this embodiment, there are at least two telescopic rods 202, which are spaced apart between the pressure plate 201 and the clamp 10, thereby ensuring that the pressure plate 201 is subjected to uniform force. When the target stack 40 is in the target position, the force transmitted from the target stack 40 to the pressure plate 201 can be stably transmitted through the at least two telescopic rods 202.

[0055] Preferably, there are four telescopic rods 202, which are respectively set at the four corners of the pressure plate 201.

[0056] Furthermore, such as Figure 1 As shown, the clamp 10 includes a body 103, at least two lifting arms 104, a mounting member 105, and a first mounting hole. The at least two lifting arms 104 are spaced apart on the body 103, and each lifting arm 104 is rotatable relative to the body 103. The at least two lifting arms 104 and the body 103 form a clamping space 102 with an opening 101. The mounting member 105 is disposed on the body 103 and located within the clamping space 102, and a mounting cavity is formed between the mounting member 105 and the body 103. The first mounting hole is disposed on the mounting member 105 and communicates with the mounting cavity. The other end of the telescopic rod 202 passes through the first mounting hole and extends into the mounting cavity. A limiting member 203 is disposed on the side of the mounting member 105 facing away from the opening 101, and an elastic member 204 is compressed and disposed between the pressure plate 201 and the mounting member 105.

[0057] In this embodiment, the clamp 10 includes a body 103, at least two lifting arms 104, a mounting member 105, and a first mounting hole. The at least two lifting arms 104 are spaced apart and arranged on the same side of the body 103. Each lifting arm 104 is rotatable relative to the body 103, thereby switching between clamping and open states. When the two lifting arms 104 are close to each other, they clamp the target stack 40. When the target stack 40 is in the target position, the two lifting arms 104 move away from each other, thus opening, completing the storage of the target stack 40, and the clamp 10 moves away from the target stack 40.

[0058] The mounting component 105 is disposed on the body 103 and located within the clamping space 102, and a mounting cavity is formed between the mounting component 105 and the body 103. Preferably, the mounting component 105 includes a mounting plate and two connecting plates, the two connecting plates being respectively connected to the same side of the mounting plate, and a mounting cavity is formed between the mounting plate and the two connecting plates. For example, the mounting component 105 is U-shaped.

[0059] Preferably, a first mounting hole is provided on the mounting member 105, and the first mounting hole communicates with the mounting cavity. The other end of the telescopic rod 202 passes through the first mounting hole and extends into the mounting cavity. A limiting member 203 is provided on the side of the mounting member 105 opposite to the opening 101. An elastic member 204 is compressed and provided between the pressure plate 201 and the mounting member 105.

[0060] By setting the mounting component 105, this application can avoid making many changes to the existing equipment structure. The displacement component 20 can be installed through the mounting component 105, which is simple in structure and easy to install.

[0061] Furthermore, such as Figure 2 As shown, the clamp 10 includes a body 103, at least two lifting arms 104, and a second mounting hole. The at least two lifting arms 104 are spaced apart on the body 103, and each lifting arm 104 is rotatable relative to the body 103. The at least two lifting arms 104 and the body 103 form a clamping space 102 with an opening 101. The second mounting hole is provided on the body 103 and communicates with the clamping space 102. The other end of the telescopic rod 202 extends through the second mounting hole toward the side of the body 103 opposite to the opening 101. An elastic element 204 is compressed and disposed between the pressure plate 201 and the body 103.

[0062] In this embodiment, the displacement component 20 can be assembled simply by opening a second mounting hole on the main body 103, which is simple in structure and easy to operate.

[0063] Furthermore, the sensing component 30 includes a distance sensor, which is disposed on the displacement component 20 and is used to measure the displacement of the displacement component 20.

[0064] In this embodiment, the sensing component 30 includes a distance sensor, which is disposed on the displacement component 20. The distance sensor can measure the displacement of the displacement component 20, that is, the distance sensor can measure the relative position of the target stack 40 to the clamp 10 at the suspended position and the target position, respectively.

[0065] For example, when the target stack 40 is in a suspended position, it rests on the displacement component 20, meaning the displacement x1 of the displacement component 20 is 0. When the target stack 40 is in the target position, it moves upward relative to the clamp 10, and then it abuts against the displacement component 20, pushing it upward. The displacement x2 of the displacement component 20 is then greater than 0. When the displacement values ​​detected by the distance sensor in two separate measurements are unequal, it is determined that the target stack 40 is in the target position.

[0066] Furthermore, such as Figures 2 to 10 As shown, the sensing component 30 includes a light-shielding plate 301 and at least two through-beam photoelectric sensors. The light-shielding plate 301 is disposed at the other end of the displacement component 20 and moves synchronously with the displacement component 20. The at least two through-beam photoelectric sensors are disposed on the fixture 10 and located on the side of the displacement component 20 opposite to the outlet 101. The at least two through-beam photoelectric sensors are spaced apart along the displacement direction of the light-shielding plate 301 within the displacement stroke of the light-shielding plate 301.

[0067] In this embodiment, the sensing component 30 includes at least two through-beam photoelectric sensors. These sensors are mounted on the clamp 10 and located on the side of the displacement component 20 opposite to the outlet 101. The at least two through-beam photoelectric sensors are spaced apart along the displacement direction of the light-shielding plate 301 within its displacement stroke; that is, each through-beam photoelectric sensor is at a different distance from the pressure plate 201. Specifically, each through-beam photoelectric sensor includes a transmitter and a receiver, which are arranged opposite to each other. In the unobstructed state, the receiver can receive signals transmitted by the transmitter.

[0068] The light-shielding plate 301 is located at the other end of the displacement component 20, and moves synchronously with the displacement component 20. When the light-shielding plate 301 moves upward as the target stack 40 is pushed upward, the light-shielding plate 301 extends into the through-beam photoelectric sensor, triggering the through-beam photoelectric sensor.

[0069] Based on the triggering status of the photoelectric sensor, it can be determined that the target stack 40 is in the target position.

[0070] Furthermore, at least two photoelectric sensors include a first sensor 302 and a second sensor 303, with the first sensor 302 positioned closer to the light shield 301 than the second sensor 303.

[0071] In this embodiment, at least two through-beam photoelectric sensors include a first sensor 302 and a second sensor 303, with the first sensor 302 positioned closer to the light-shielding plate 301 than the second sensor 303. The method for determining the first sensor 302 and the second sensor 303 is as follows:

[0072] For example, such as Figure 3 and Figure 4 As shown, when the target stack 40 is in a suspended position, the first sensor 302 is not triggered and there is no signal. The clamp 10 continues to move downwards, as... Figure 5 and Figure 6 As shown, the first sensor 302 is triggered, generating a signal to determine that the target stack 40 is in the target position.

[0073] For example, such as Figure 7 and Figure 8 As shown, when the target stack 40 is in a suspended position, the first sensor 302 is triggered, generating the first signal corresponding to the first sensor 302. The clamp 10 continues to move downwards, as... Figure 9 and Figure 10 As shown, the second sensor 303 is triggered, generating the second signal corresponding to the second sensor 303, and determining that the target stack 40 is in the target position.

[0074] An embodiment of the second aspect of this application discloses a palletizing system, including: an overhead crane, lifting equipment, and control equipment. The lifting equipment is mounted on the overhead crane and moves under the drive of the overhead crane. The control equipment is communicatively connected to the overhead crane and the lifting equipment, and is capable of controlling the movement of the overhead crane, the lifting and lowering of the lifting equipment, and its clamping and placing.

[0075] In this embodiment, the palletizing system includes an overhead crane, a hoisting device, and a control device. The overhead crane can reciprocate along a preset track. The hoisting device is suspended on the overhead crane, which can move the hoisting device horizontally. When it moves directly above the target position, the overhead crane stops moving, and the hoisting device begins to descend. At this time, the target pallet 40 is in a suspended position. When the target pallet 40 touches the bottom, that is, when the target pallet 40 is stacked at the target position, the target pallet 40 no longer changes in height, while the clamp 10 continues to descend. At this time, the control device, through the displacement component 20 and the sensing component 30, can detect the change in the relative position between the target pallet 40 and the clamp 10, thereby determining that the target pallet 40 has reached the target position. The control device then controls the clamp 10 of the hoisting device to open, releasing the target pallet 40, completing the storage of the target pallet 40, and moving away from the target pallet 40 to prepare for the next storage operation.

[0076] Regarding the hoisting equipment disclosed in this application, the control method during the storage and retrieval of the stack includes the following specific steps:

[0077] The target stack is gripped by a clamp and placed in a suspended position. The first position information between the target stack and the clamp is obtained by a sensing component.

[0078] The clamp is controlled to descend, and a second position information between the target stack and the clamp is obtained through a sensing component;

[0079] Based on the fact that the first and second position information meet the preset conditions, it is determined that the target stack has reached the target position;

[0080] The control clamp opens, and the target stack is placed at the target location.

[0081] In this embodiment, the clamp picks up the target stack. When the target stack is in a suspended position, a sensing component acquires the first position information between the target stack and the clamp, which is the initial relative position between the target stack and the clamp. As the clamp continues to descend, the position information between the target stack and the clamp remains the first position information until the target stack reaches the target position. When the position information changes compared to the first position information, it is determined that the target stack has reached the target position, thus facilitating storage. This allows for real-time determination of whether the target stack has been stacked in place without relying on a fixed height, which is beneficial for the effective operation of automated storage and warehousing.

[0082] Furthermore, the first position information includes a first distance between the target stack and the clamp when it is in a suspended position, and the second position information includes a second distance between the target stack and the clamp when it is in a target position. The preset condition includes that the second distance is less than the first distance.

[0083] In this embodiment, the first position information and the second position information represent the relative positions of the target stack body to the clamp at the suspended position and the target position, respectively. When the relative position between the target stack body and the clamp changes, it can be determined that the target stack body has reached the target position.

[0084] Furthermore, the first position information includes a first position signal obtained by the sensing component from the target stack at the suspended position, and the second position information includes a second position signal obtained by the sensing component from the target stack at the target position. The preset condition includes that the first position signal and the second position signal are different.

[0085] In this embodiment, the first position signal and the second position signal are different. Specifically, the first position signal may be empty, while the second position signal may be a trigger signal for the first sensor. For example, when the target stack is in a suspended position, the first sensor is not triggered and there is no signal. As the fixture continues to move downward, the first sensor is triggered, generating a signal and determining that the target stack is now in the target position.

[0086] The first position signal and the second position signal are different; the first position signal may be the trigger signal for the first sensor, and the second position signal may be the trigger signal for the second sensor. For example, when the target stack is in a suspended position, the first sensor is triggered, generating a first signal corresponding to the first sensor. As the fixture continues to move downward, the second sensor is triggered, generating a second signal corresponding to the second sensor, indicating that the target stack has reached the target position.

[0087] Furthermore, the control method also includes: recording the position parameters of the target position corresponding to the target stack, the position parameters being used to locate the target stack.

[0088] In this embodiment, the location parameters of the target information of the target stack can serve as data for picking up and leaving the target stack, thereby enabling accurate positioning and improving outbound efficiency.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A hoisting device, characterized in that, include: A clamp, the clamp including a clamping space with an opening on one side, the clamping space being used to clamp a target stack, the clamp being movable along the height direction of the clamp to place the target stack at a target position; A displacement component is movably disposed in the clamp, one end of the displacement component can contact the target stack, and at least a portion of the displacement component can be pushed by the target stack at the target position to cause displacement; A sensing component is disposed on the clamp and / or the displacement component, the sensing component being used to detect positional information between the target stack and the clamp.

2. The hoisting equipment according to claim 1, characterized in that, The displacement component includes: A pressure plate that can abut against the target stack; A telescopic rod is movably inserted through the clamp, one end of which is connected to the side of the pressure plate away from the opening. The telescopic rod can be pushed by the target stack body to move in the direction away from the opening. A limiting element is provided at the other end of the telescopic rod.

3. The hoisting equipment according to claim 2, characterized in that, The displacement component further includes: An elastic element is sleeved on the telescopic rod, and the elastic element is compressed between the pressure plate and the clamp.

4. The hoisting equipment according to claim 2, characterized in that, The number of telescopic rods is at least two, and the at least two telescopic rods are spaced apart between the pressure plate and the clamp.

5. The hoisting equipment according to claim 3, characterized in that, The clamp includes: ontology; At least two booms are spaced apart on the body, each boom being rotatable relative to the body, and the at least two booms and the body are configured to form the clamping space having the opening; A mounting component is disposed on the body and located within the clamping space, and a mounting cavity is provided between the mounting component and the body; A first mounting hole is provided on the mounting member, and the first mounting hole communicates with the mounting cavity. The other end of the telescopic rod extends into the mounting cavity through the first mounting hole. The limiting member is provided on the side of the mounting member opposite to the opening. The elastic member is compressed and disposed between the pressure plate and the mounting member.

6. The hoisting equipment according to claim 3, characterized in that, The clamp includes: ontology; At least two booms are spaced apart on the body, each boom being rotatable relative to the body, and the at least two booms and the body are configured to form the clamping space having the opening; A second mounting hole is provided on the body and communicates with the clamping space. The other end of the telescopic rod extends through the second mounting hole toward the side of the body away from the opening. The elastic element is compressed between the pressure plate and the body.

7. The hoisting equipment according to any one of claims 1 to 6, characterized in that, The sensing component includes: A distance sensor is provided on the displacement assembly, and the distance sensor is used to measure the displacement of the displacement assembly.

8. The hoisting equipment according to any one of claims 1 to 6, characterized in that, The sensing component includes: A light-shielding plate is disposed at the other end of the displacement component, and the light-shielding plate moves synchronously with the displacement component; At least two through-beam photoelectric sensors are disposed on the fixture and located on the side of the displacement assembly away from the opening. The at least two through-beam photoelectric sensors are spaced apart along the displacement direction of the light-shielding plate in the displacement stroke of the light-shielding plate.

9. The hoisting equipment according to claim 8, characterized in that, At least two through-beam photoelectric sensors include a first sensor and a second sensor, wherein the first sensor is positioned closer to the light-shielding plate than the second sensor.

10. A palletizing system, characterized in that, include: overhead crane; The hoisting equipment as described in any one of claims 1 to 9 is mounted on the overhead crane and moves under the drive of the overhead crane; The control device is communicatively connected to the overhead crane and the hoisting equipment, and the control device is capable of controlling the movement of the overhead crane and the lifting and clamping of the hoisting equipment.

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