CN116281223A

CN116281223A - Clamping device for round objects, stacker crane and control system

Info

Publication number: CN116281223A
Application number: CN202310273393.2A
Authority: CN
Inventors: 严浩; 蔡伟卓; 付豪; 申鹏潇; 王若磐; 张义; 宋子一
Original assignee: Hebei University of Engineering
Current assignee: Hebei University of Engineering
Priority date: 2023-03-21
Filing date: 2023-03-21
Publication date: 2023-06-23

Abstract

The invention belongs to the technical field of stacking of round pieces, and particularly relates to a clamping device for round pieces, a stacker crane and a control system. According to the clamping device, the two clamping jaws are driven by the two telescopic rods arranged back to realize clamping or opening actions, the synchronous rod is rotatably arranged between the end parts of the two clamping jaws, when one clamping jaw is opened or clamped, the other clamping jaw is opened or clamped under the action of the synchronous rod to ensure the synchronism of the two clamping jaws, and the situation that an object is clamped unstably by adopting the linear sliding rail and the sliding block in the prior art is effectively avoided. When the invention carries and stacks the clamped objects, the whole stacker crane is not required to do steering movement, the clamped objects are moved on the horizontal plane and turned over on the vertical plane, and the problem that the conventional stacker crane cannot do steering movement in a small space is fundamentally solved.

Description

Clamping device for round objects, stacker crane and control system

Technical Field

The invention belongs to the technical field of stacking of round objects, and particularly relates to a clamping device for round objects, a stacker crane and a control system.

Background

In daily life and industrial production, the robot has been used for carrying round objects and stacking, such as production and manufacturing of automobile hubs, carrying and stacking of firecracker trays and dinner plates, and the ROBOCON competition has been a competition theme by using a robot for clamping round objects. Taking the carrying stacking of firecracker trays as an example, most of the stacking machines for carrying and stacking firecracker trays in the prior art adopt the moving wheels at the bottom of the stacking machine to rotate and move in the direction of the whole stacking machine, so that the carrying and stacking of the firecracker trays are realized, the space for carrying and stacking the firecracker trays is large, the carrying and stacking actions can not be completed for smaller workshops of firecracker factories, and great inconvenience is brought to the carrying and stacking of the firecracker trays.

Moreover, the clamping device of the stacker crane in the prior art generally adopts the linear movement of the slide block and the slide rail to clamp or place the round objects, and has the defects of unstable clamping and easy falling off when clamping the round objects.

Disclosure of Invention

The invention aims to overcome the defect that a stacker crane in the prior art needs a large space for carrying and stacking objects, and meanwhile, a clamping device clamps unstable round objects, and provides the clamping device, the stacker crane and a control system for moving the round objects with small space and relatively stable clamping.

The technical scheme adopted for solving the technical problems is as follows: the clamping device for the round object comprises a clamping bracket rotatably installed on a bearing platform, and a first telescopic rod and a second telescopic rod which are installed on the clamping bracket and are mutually deviated from each other; clamping jaws for clamping round objects are rotatably arranged at the telescopic ends of the first telescopic rod and the second telescopic rod, and a synchronous rod is rotatably arranged at one end, close to the clamping bracket, of each clamping jaw;

when one of the first telescopic rod or the second telescopic rod drives the corresponding clamping jaw to rotate, the other clamping jaw is pulled by the synchronous rod to carry out follow synchronous clamping/opening actions.

Further, the synchronizing bar includes a straight portion and an inclined portion; the ends of the straight line part and the inclined part are respectively rotatably installed with the two clamping jaws.

Further, the clamping jaw comprises a mounting part rotatably mounted with the first telescopic rod or the second telescopic rod, an arc-shaped part for clamping the round object and a clamping part for blocking the round object from sliding off; the included angle between the clamping part and the outer edge of the arc-shaped part is an obtuse angle.

A stacker crane for round objects comprises a frame and a bearing platform which is slidably arranged on the frame through a vertical moving device and is positioned in a middle cavity of the frame; the bearing platform comprises a bearing bracket, horizontal moving devices symmetrically arranged on the bearing bracket, turnover devices arranged on the two horizontal moving devices and the clamping device of any one of claims 1-3 arranged on the turnover devices.

Further, the vertical moving device comprises two vertical moving motors symmetrically and fixedly arranged on a base of the frame, a driving belt pulley coaxially arranged with an output shaft of the vertical moving motors, a driven belt pulley in belt transmission connection with the driving belt pulley and a guide wheel linear slide block clamped on a vertical rod of the frame;

the driven belt wheel is arranged on the ejector rod of the frame, and the bearing platform and the guide wheel linear slide block are fixedly arranged.

Further, the turnover device comprises a turnover rod rotatably installed with the output end of the horizontal movement device, a turnover motor fixedly installed with the output end of the horizontal movement device, a driving turnover gear coaxially arranged with the output shaft of the turnover motor and a driven turnover gear sleeved and fixed on the turnover rod; the driving turnover gear is in external meshed connection with the driven turnover gear.

Further, a rotating device is arranged on the turning rod, and the rotating device comprises a rotating motor fixedly arranged on the turning rod and a connecting rod fixedly arranged with the output end of the rotating motor; the connecting rod is perpendicular to the clamping support and fixedly connected with the clamping support.

Further, the horizontal moving device comprises a horizontal rack and a horizontal sliding rail which are arranged along a horizontal cross beam of the bearing platform, a horizontal sliding block which is connected with the horizontal sliding rail in a matching way, and a connecting seat which is arranged on the horizontal sliding block; the connecting seat is fixedly provided with a horizontal moving motor, and a horizontal moving gear is coaxially arranged with an output shaft of the horizontal moving motor; the horizontal moving gear is in external engagement fit connection with the horizontal rack.

A control system of a palletizer for round objects, characterized in that: the system comprises a vision acquisition module, a radar detection module, a signal analysis module, a main control module, an auxiliary control module, a driving module and a motor correspondingly driven;

the visual acquisition module is used for acquiring field signals and signals of objects to be clamped on the field and transmitting the signals to the signal analysis module;

the radar detection module is used for detecting a position signal of an object to be clamped and transmitting the position signal to the signal analysis module;

the signal analysis module is used for calculating and analyzing the signals acquired by the vision acquisition module and the radar detection module and sending out calculated and analyzed object position coordinates and vision information;

the main control module receives the object position coordinates, the visual information and the corresponding motor information through the CAN bus and sends the object position coordinates, the visual information and the corresponding motor information to the upper computer, receives control signals sent by the upper computer through serial port communication, analyzes and calculates the motor rotation angle to be driven according to the control signals and sends the motor rotation angle;

the auxiliary control module is used for receiving the rotation angle instruction of the motor to be driven issued by the main control module, processing the driving motor instruction and issuing the driving motor instruction in the form of CAN message;

the driving module is used for receiving instructions in the form of CAN messages sent by the auxiliary control module, driving the corresponding motor and feeding back the motor signals after driving to the auxiliary control module; the auxiliary control module sends the feedback signal to the main control module;

the signal analysis module, the main control module, the auxiliary control module and the driving module are all in signal transmission through the same CAN bus.

Further, the intelligent driving device further comprises a magnetic encoder for reading the rotation angle pulse of the motor to be driven in real time, and the magnetic encoder feeds the read rotation angle pulse data of the motor to be driven back to the auxiliary control module through the CAN bus.

The clamping device for the round objects, the stacker crane and the control system have the beneficial effects that:

1. according to the clamping device, the two clamping jaws are driven by the two telescopic rods arranged back to realize clamping or opening actions, the synchronous rod is rotatably arranged between the end parts of the two clamping jaws, when one clamping jaw is opened or clamped, the other clamping jaw is opened or clamped under the action of the synchronous rod to ensure the synchronism of the two clamping jaws, and when one clamping jaw is clamped, even if the telescopic rod corresponding to the other clamping jaw is powered off, the powered-off clamping jaw still clamps an object under the action of the synchronous rod, so that the stability of clamping the object is ensured, and the situation that a slide rail sliding block adopting linear motion in the prior art clamps the object unstably is effectively avoided.

2. According to the stacker crane disclosed by the invention, the horizontal moving device for horizontally moving the clamping device and the turning device for turning the direction of the clamping device are arranged on the bearing platform, the horizontal moving device and the turning device are arranged, when the clamped objects are carried and stacked, the whole stacker crane is not required to carry out turning movement, and only the clamped objects are required to move on the horizontal plane and turn over the clamped objects on the vertical plane under the action of the horizontal moving device and the turning device, so that the problem that the conventional stacker crane cannot carry out turning movement in a small space is fundamentally solved, and the stacker crane has profound significance for carrying and stacking firecracker trays in a small space such as a firecracker tray manufacturing vehicle or a firecracker tray warehouse.

3. The invention is also provided with a rotating device for driving the clamping device to rotate along the clamping axis, when the clamping object is turned to the vertical direction or is close to the vertical direction, the clamping object can be rotated according to specific requirements, and the upward faces of the stacked or placed clamping objects are ensured to meet the requirements. The problem that the stacker crane in the prior art needs to manually clamp the object to face is solved, the investment of manpower is saved, and the cost is saved.

4. The control system of the stacker crane integrates the operation module, the driving module and the plurality of motors to be driven onto one CAN bus, so that higher real-time performance and faster transmission speed in the signal transmission process are ensured, meanwhile, the occurrence of unstable signals caused by the fact that signals of the common control system in the prior art are easily interfered by the outside is avoided, and the stability of signal transmission is ensured.

Drawings

The invention will be described in further detail with reference to the drawings and the detailed description.

FIG. 1 is a perspective view of a gripping device according to a first embodiment of the present invention;

FIG. 2 is a schematic view of a clamping jaw according to a first embodiment of the invention;

FIG. 3 is a perspective view of a palletizer and palletized circular objects according to a second embodiment of the present invention;

FIG. 4 is a schematic view of a first state structure of a palletizer according to a second embodiment of the present invention;

FIG. 5 is a schematic view of a second state structure of a palletizer according to a second embodiment of the present invention;

fig. 6 is a schematic structural diagram of a carrying platform according to a second embodiment of the present invention;

fig. 7 is a schematic structural diagram of a horizontal moving device and a turning device according to a second embodiment of the present invention;

FIG. 8 is a block diagram of a double-layer idler linear slider employed in accordance with a second embodiment of the present invention;

FIG. 9 is a block diagram of a single idler linear slide of a second embodiment of the present invention;

fig. 10 is a control flow chart of a palletizer in accordance with the second embodiment of the present invention.

The device is characterized by comprising a clamping device, a clamping bracket, a 12, a first telescopic rod, a 13, a second telescopic rod, a 14, clamping jaws, a 141, a mounting part, a 142, an arc part, a 143, a clamping part, a 144, a supporting rib, a 15, a synchronous rod, a 151, a straight line part, a 152, an inclined part, a 2, a frame, a 3, a bearing platform, a 31, a bearing bracket, a 32, a horizontal moving device, a 321, a horizontal rack, a 322, a horizontal sliding rail, a 323, a connecting seat, a 324, a horizontal moving motor, a 325, a horizontal moving gear, a 33, a turnover device, a 331, a turnover rod, a 332, a turnover motor, 333, a driving turnover gear, 334, a driven turnover gear, 34, a rotating device, 341, a rotating motor, 342, a connecting rod, a 4, a vertical moving device, 41, a vertical moving motor, a 42, a driving pulley, 43, a driven pulley, a 44, a guide wheel linear sliding block, 441, a sliding block body, 442, a square accommodating cavity, 443, a groove 444, a guide wheel, 45, a connecting plate, 5, an omni-directional wheel, a 6, a circular object, a 100, a main control module, a visual detection module, a 300, a radar detection module, a signal acquisition module, a 400, a signal sensor module, a driver module, a 500, a magnetic sensor module and a 900.

Detailed Description

The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only the structures which are relevant to the invention.

The clamping device for circular objects according to the invention as shown in fig. 1-2 comprises a clamping bracket 11 rotatably mounted on the carrying platform 3, a first telescopic rod 12 and a second telescopic rod 13 mounted on the clamping bracket 11 and mounted away from each other; the telescopic ends of the first telescopic rod 12 and the second telescopic rod 13 are respectively provided with a clamping jaw 14 for clamping the round object 6 in a rotating mode, and one end, close to the clamping bracket 11, of each clamping jaw 14 is provided with a synchronous rod 15 in a rotating mode. Wherein when one of the first telescopic rod 12 or the second telescopic rod 13 drives the corresponding clamping jaw 14 to rotate, the other clamping jaw 14 is pulled by the synchronous rod 15 to perform follow synchronous clamping/opening actions. When the two telescopic rods simultaneously do expansion and contraction motions, the corresponding clamping jaws 14 are driven to do clamping or opening motions.

The concrete structure of the synchronizing lever 15 in this embodiment includes a straight portion 151 and an inclined portion 151, and the ends of the straight portion 151 and the inclined portion 151 are rotatably mounted with the two jaws 14, respectively. The inclined portion 151 is adjacent to one end of the second telescopic link 13. According to the clamping device 1 disclosed by the invention, the two clamping jaws 14 are driven by the two telescopic rods arranged back to realize clamping or opening actions, the synchronous rod 15 is rotatably arranged between the end parts of the two clamping jaws 14, when one clamping jaw 14 is opened or clamped, the other clamping jaw 14 is opened or clamped under the action of the synchronous rod 15 to ensure the synchronism of the two clamping jaws 14, and meanwhile, when one clamping jaw 14 is clamped, even if the telescopic rod corresponding to the other clamping jaw 14 is powered off, the powered-off clamping jaw 14 still clamps an object under the action of the synchronous rod 15, so that the stability of clamping the object is ensured, and the situation that a slide rail slide block adopting linear motion in the prior art clamps the object unstably is effectively avoided.

The clamping jaw 14 in the first embodiment comprises a mounting portion 141 rotatably mounted with the first telescopic rod 12 or the second telescopic rod 13, an arc portion 142 for clamping the circular object 6, and a clamping portion 143 for blocking the circular object 6 from sliding down; the included angle between the clamping portion 143 and the outer edge of the arc portion 142 is an obtuse angle. The clamping jaw 14 is the same two clamping jaw 14 plates which are oppositely arranged up and down, the middle is supported and reinforced through a plurality of supporting ribs 144, the contact area between the clamping jaw 14 and an object to be clamped is increased by adopting two layers of clamping jaw 14 plates, and the clamping stability is ensured.

Example two

An embodiment of a palletizer for circular articles, comprising a gripping device 1 embodying a first embodiment as described above, is shown in fig. 4-9, and comprises a frame 2, a carrying platform 3 slidably mounted on the frame 2 by means of a vertical movement device 4 and located in the middle cavity of the frame 2; the carrying platform 3 includes a carrying bracket 31, horizontal moving devices 32 symmetrically mounted on the carrying bracket 31, a turning device 33 mounted on the two horizontal moving devices 32, and the gripping device 1 of the first embodiment mounted on the turning device 33.

The vertical moving device 4 in the second embodiment includes two vertical moving motors 41 symmetrically and fixedly installed on the base of the frame 2, a driving pulley 42 coaxially arranged with an output shaft of the vertical moving motors 41, a driven pulley 43 in belt transmission connection with the driving pulley 42, and a guide wheel linear slider 44 clamped on a vertical rod of the frame 2. Referring specifically to fig. 3 and 4, the driven pulley 43 is mounted on the ejector rod of the frame 2, and the bearing platform 3 is fixedly mounted with the guide wheel linear slide 44. It should be further elaborated that, in this embodiment, the linear guide wheel slider 44 cooperates with a vertical rod of the frame 2 to slide in a vertical direction, the cross section of the vertical rod is quadrilateral, and the linear guide wheel 444 slider includes a slider body 441, a square accommodating cavity 442 formed on the slider body 441 for penetrating the vertical rod, grooves 443 formed on the slider body 441 and located at four corners of the square accommodating cavity 442, and guide wheels 444 installed in the grooves 443; the groove 443 communicates with the square receiving cavity 442. Referring specifically to fig. 8 and 9, the wheel body of the idler 444 is mounted in rolling engagement with a vertical rod, and the four outer corners of the vertical rod are adapted to the concave corners of the wheel body of the idler 444.

The guide wheels 444 which are oppositely arranged at four corners of the quadrangle are in rolling contact with the vertical rod of the frame 2, so that the friction force between the guide wheel linear slide block 44 and the vertical rod of the frame 2 is reduced, the problem that the traditional solid steel slide rail slide block device is heavy is solved, the inner corners of the guide wheels 444 are attached to the outer corners of the vertical rod, and the stability and accuracy of movement of the guide wheel linear slide block 44 and the vertical rod are realized. The guide wheel linear slider 44 in this embodiment is a two-layer structure connected by a connecting plate 45.

As shown in fig. 3 to 7, the turning device 33 includes a turning rod 331 rotatably mounted to an output end of the horizontal moving device 32, a turning motor 332 fixedly mounted to the output end of the horizontal moving device 32, a driving turning gear 333 coaxially disposed with an output shaft of the turning motor 332, and a driven turning gear 334 sleeved and fixed on the turning rod 331; the driving turning gear 333 is externally engaged with the driven turning gear 334. When the clamping device 1 needs to be moved from the side of the frame 2 to the side of the opposite frame 2, the horizontal moving device 32 is started to horizontally move the clamping device 1 along a straight line, and after the clamping device 1 moves to a certain position, the turning motor 332 and the driving turning gear 333 are started to drive the driven turning gear 334 to drive the turning rod 331 to rotate along the axis of the turning rod 331, so that the turning movement of the clamping device 1 is realized.

As shown in fig. 7, the horizontal moving device 32 in the present embodiment includes a horizontal rack 321 and a horizontal slide rail 322 provided along a horizontal beam of the carrying platform 3, a horizontal slider cooperatively connected with the horizontal slide rail 322, and a connection base 323 mounted on the horizontal slider; the connecting seat 323 is fixedly provided with a horizontal moving motor 324, and a horizontal moving gear 325 is coaxially arranged with the output shaft of the horizontal moving motor 324; the horizontal moving gear 325 is in external engagement fit connection with the horizontal rack 321. Compared with the chain transmission in the prior art, the novel chain transmission device has the advantages that the gear and the rack are adopted to move, the structure is simple, the occupied space is small, and the noise is small.

According to the stacker crane disclosed by the invention, the horizontal moving device 32 for horizontally moving the clamping device 1 and the turnover device 33 for turning over the direction of the clamping device 1 are arranged on the bearing platform 3, and the horizontal moving device 32 and the turnover device 33 are arranged, so that the whole stacker crane is not required to carry and stack the clamped objects, and only the clamped objects are required to move on the horizontal plane and turn over the clamped objects on the vertical plane under the action of the horizontal moving device and the turnover device, thereby fundamentally solving the problem that the conventional stacker crane cannot carry out turning movement in a small space, and having far-reaching significance for carrying and stacking firecracker trays in a small space such as a firecracker tray manufacturing vehicle or a firecracker tray warehouse.

Referring to fig. 6 and 7, a rotation device 34 is mounted on the rotation rod 331, and the rotation device 34 includes a rotation motor 341 fixedly mounted on the rotation rod 331 and a connection rod 342 fixedly mounted with an output end of the rotation motor 341; the connecting rod 342 is perpendicular to the gripping bracket 11 and fixedly connected thereto. The invention is also provided with a rotating device 34 which drives the clamping device 1 to rotate along the clamping axis, and when the clamped objects are turned to the vertical direction or close to the vertical direction, the clamped objects can be rotated according to specific requirements, so that the upward faces of the piled or placed clamped objects are ensured to meet the requirements. The problem that the stacker crane in the prior art needs to manually clamp the object to face is solved, the investment of manpower is saved, and the cost is saved.

It should be further noted that, in the second embodiment, the bottom of the stacker crane is provided with a plurality of omni-wheels 5, so that when the omni-wheels 5 rotate, the body of the stacker crane does not rotate along with the rotation, further saving the steering space, and ensuring the convenience of steering and moving of the stacker crane in a smaller space.

Referring to fig. 10 in detail, the control system of the palletizer for round objects according to the second embodiment includes a vision acquisition module 200, a radar detection module 300, a signal analysis module 400, a main control module 100, a secondary control module 500, a driving module 900 and a motor to be driven. The vision acquisition module 200 is used for acquiring a field signal and an object signal to be clamped on the field, and transmitting the signals to the signal analysis module 400; the radar detection module 300 is configured to detect a position signal of an object to be gripped, and transmit the signal to the signal analysis module 400.

The signal analysis module 400 is used for performing calculation analysis on the signals acquired by the vision acquisition module 200 and the radar detection module 300, and sending out calculated and analyzed object position coordinates and vision information; the signal analysis module 400 in this embodiment employs NVIDA JestonXavierNX to execute the algorithms of the vision module and the radar detection module 300. It should be further noted that, in this embodiment, the vision module is a depth camera, and the radar detection module 300 is a laser radar.

The main control module 100 receives the object position coordinates and visual information sent by the signal analysis module 400 through a CAN bus and sends the object position coordinates and visual information to the upper computer 800, an operator sends a command through serial port communication according to data in the upper computer 800, and the operator invokes and receives a signal analysis of a motor to be driven through the CAN bus to calculate a rotation angle of the motor to be driven and sends rotation angle data to the auxiliary control module 500 through the CAN bus; the main control module 100 is further configured to receive a feedback signal of the motor information transmitted by the secondary control module 500 through the CAN bus, and transmit the feedback signal to the upper computer 800 to update the data of the upper computer 800 in real time.

The auxiliary control module 500 is configured to receive a rotation angle instruction of the motor to be driven issued by the main control module 100, process the rotation angle instruction of the motor, and issue the rotation angle instruction in a form of a CAN message; the driving module 900 is configured to receive an instruction in the form of a CAN message sent by the secondary control module 500, drive a corresponding motor, and feed back a motor signal after driving to the secondary control module 500; the sub-control module 500 transmits the feedback signal to the main control module 100; the signal analysis module 400, the main control module 100, the auxiliary control module 500 and the driving module 900 all transmit signals through the same CAN bus.

The control system in this embodiment further includes a magnetic encoder 700 for reading the rotation angle pulse of the motor to be driven in real time, where the magnetic encoder 700 feeds back the read corresponding rotation angle pulse data of the motor to the secondary control module 500 through the CAN bus.

The execution process of each part in actual operation is as follows: the operator clicks the upper computer 800 to execute corresponding operations, such as the forward movement of the omnidirectional wheel 5, the movement of the horizontal movement device 32, the overturning of the clamping device by the overturning device 33, and the like, and the operation signals clicked by the operator are processed inside the upper computer 800 and then are packaged by the serial port to issue data instructions; the main control module 100 receives the data instruction transmitted by the upper computer 800, unpacks the data instruction, analyzes the information corresponding to each byte/bit, processes, stores and transmits the instruction information corresponding to the auxiliary control module 500, and meanwhile, the main control module 100 CAN also receive motor information fed back by the auxiliary control module 500 on the CAN bus, such as the temperature, torque, pulse number and the like of the motor. The auxiliary control module 500 receives the command signal of the main control module 100, and also receives the current data of the motor, specifically, the temperature, torque, pulse number and the like of the motor fed back from the driving module 900, and periodically executes a PID algorithm to form a closed loop according to the requirement, and sends the obtained execution result to the driving module 900 in a CAN message, and the driving module 900 forwards the CAN message to control the corresponding motor to execute corresponding operation according to the expected state, thereby executing a complete set of flow. The motor to be driven in this embodiment is a vertical movement motor 41, a horizontal movement motor 324, a rotation motor 341, a turning motor 332, or a driving motor that drives an omni-wheel.

It should be understood that the above-described specific embodiments are only for explaining the present invention and are not intended to limit the present invention. Obvious variations or modifications which extend from the spirit of the present invention are within the scope of the present invention.

Claims

1. The utility model provides a clamp of circular article gets device which characterized in that: the device comprises a clamping bracket (11) rotatably arranged on a bearing platform (3), and a first telescopic rod (12) and a second telescopic rod (13) which are arranged on the clamping bracket (11) and are arranged in a mutually deviating way; clamping jaws (14) for clamping a round object (6) are rotatably arranged at the telescopic ends of a second telescopic rod (13) of the first telescopic rod (12), and a synchronizing rod (15) is rotatably arranged at one end, close to the clamping bracket (11), of each clamping jaw (14);

when one of the first telescopic rod (12) or the second telescopic rod (13) drives the corresponding clamping jaw (14) to rotate, the other clamping jaw (14) is pulled by the synchronous rod (15) to perform follow synchronous clamping/opening actions.

2. The device for gripping round objects as defined in claim 1, wherein: the synchronizing lever (15) includes a straight portion (151) and an inclined portion (151); the ends of the straight line part (151) and the inclined part (151) are respectively rotatably mounted with the two clamping jaws (14).

3. The device for gripping round objects as defined in claim 1, wherein: the clamping jaw (14) comprises a mounting part (141) rotatably mounted with the first telescopic rod (12) or the second telescopic rod (13), an arc-shaped part (142) for clamping the round object (6) and a clamping part (143) for blocking the round object (6) from sliding off; the included angle between the clamping part (143) and the outer edge of the arc-shaped part (142) is an obtuse angle.

4. A stacker crane for round articles, characterized in that: the device comprises a frame (2) and a bearing platform (3) which is arranged on the frame (2) in a sliding manner through a vertical moving device (4) and is positioned in a middle cavity of the frame (2); the carrying platform (3) comprises a carrying bracket (31), horizontal moving devices (32) symmetrically arranged on the carrying bracket (31), overturning devices (33) arranged on the two horizontal moving devices (32), and the clamping device (1) of any one of claims 1-3 arranged on the overturning devices (33).

5. A palletizer for circular objects according to claim 1, wherein: the vertical moving device (4) comprises two vertical moving motors (41) symmetrically and fixedly arranged on a base of the frame (2), a driving belt wheel (42) coaxially arranged with an output shaft of the vertical moving motors (41), a driven belt wheel (43) in belt transmission connection with the driving belt wheel (42) and a guide wheel linear sliding block (44) clamped on a vertical rod of the frame (2);

the driven belt wheel (43) is arranged on the ejector rod of the frame (2), and the bearing platform (3) and the guide wheel linear slide block (44) are fixedly arranged.

6. A palletizer for circular objects according to claim 5, wherein: the turnover device (33) comprises a turnover rod (331) rotatably installed at the output end of the horizontal movement device (32), a turnover motor (332) fixedly installed at the output end of the horizontal movement device (32), a driving turnover gear (333) coaxially arranged with the output shaft of the turnover motor (332) and a driven turnover gear (334) sleeved and fixed on the turnover rod (331); the driving turning gear (333) is externally meshed with the driven turning gear (334).

7. A palletizer for circular objects according to claim 6, wherein: the turnover rod (331) is provided with a rotating device (34), and the rotating device (34) comprises a rotating motor (341) fixedly arranged on the turnover rod (331) and a connecting rod (342) fixedly arranged at the output end of the rotating motor (341); the connecting rod (342) is perpendicular to the clamping bracket (11) and fixedly connected with the clamping bracket.

8. A palletizer for circular objects according to claim 5, wherein: the horizontal moving device (32) comprises a horizontal rack (321) and a horizontal sliding rail (322) which are arranged along a horizontal cross beam of the bearing platform (3), a horizontal sliding block which is matched and connected with the horizontal sliding rail (322), and a connecting seat (323) which is arranged on the horizontal sliding block; a horizontal moving motor (324) is fixedly arranged on the connecting seat (323), and a horizontal moving gear (325) is coaxially arranged with an output shaft of the horizontal moving motor (324); the horizontal moving gear (325) is in external meshing fit connection with the horizontal rack (321).

9. A control system for a palletizer for circular objects according to any of claims 4-8, wherein: the system comprises a vision acquisition module (200), a radar detection module (300), a signal analysis module (400), a main control module (100), a secondary control module (500), a driving module (900) and a motor correspondingly driven;

the vision acquisition module (200) is used for acquiring field signals and signals of objects to be clamped on the field and transmitting the signals to the signal analysis module (400);

the radar detection module (300) is used for detecting a position signal of an object to be clamped and transmitting the position signal to the signal analysis module (400);

the signal analysis module (400) is used for calculating and analyzing the signals acquired by the vision acquisition module (200) and the radar detection module (300) and sending out calculated and analyzed object position coordinates and vision information;

the main control module (100) receives the object position coordinates, the visual information and the corresponding motor information through the CAN bus and sends the object position coordinates, the visual information and the corresponding motor information to the upper computer (800), receives a control signal sent by the upper computer (800) through serial port communication, analyzes and calculates a motor corner to be driven according to the control signal and sends the motor corner;

the auxiliary control module (500) is used for receiving a rotation angle instruction of the motor to be driven issued by the main control module (100), processing the drive motor instruction and issuing the drive motor instruction in a CAN message form;

the driving module (900) is used for receiving an instruction in the form of a CAN message sent by the auxiliary control module (500), driving a corresponding motor and feeding back a motor signal after driving to the auxiliary control module (500); the auxiliary control module (500) sends the feedback signal to the main control module (100);

the signal analysis module (400), the main control module (100), the auxiliary control module (500) and the driving module (900) are all transmitted through the same CAN bus signal.

10. A control system for a palletizer for circular objects according to claim 9, wherein: the motor rotation angle pulse detection device further comprises a magnetic encoder (700) for reading the motor rotation angle pulse in real time, and the magnetic encoder (700) feeds the read motor rotation angle pulse data back to the auxiliary control module (500) through a CAN bus.