CN218231679U

CN218231679U - Winding equipment, telescoping device and transfer robot

Info

Publication number: CN218231679U
Application number: CN202222409660.8U
Authority: CN
Inventors: 单明明
Original assignee: Hai Robotics Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2022-09-08
Filing date: 2022-09-08
Publication date: 2023-01-06
Anticipated expiration: 2032-09-08
Also published as: WO2024051613A1

Abstract

The utility model relates to a winding device, a telescoping device and a transfer robot, which comprises a driving component and a winding component; the driving assembly and the winding assembly are coaxially arranged and are used for driving the winding assembly to rotate; the winding assembly comprises a plurality of winding parts which are sequentially arranged along the axial direction, and the adjacent winding parts have different winding radiuses. The winding equipment is of the reducing structure, the winding speed of the winding equipment is changed, the tension of the winding equipment is changed, and the structure is simple.

Description

Winding equipment, telescoping device and transfer robot

Technical Field

The utility model relates to a logistics storage field, concretely relates to coiling equipment, telescoping device and transfer robot.

Background

In the logistics storage field, liftable transfer robot's application is more and more extensive, and it can replace the manual work to realize the transport to the goods to and automatic rising gets to put not co-altitude goods in the storage area.

The inventor of the present application found in research that, when goods are lifted along with a transfer robot, as the goods are higher and higher, the load weight of the transfer robot is gradually increased, the lifting speed is gradually reduced, and in order to enable the transfer robot to work normally, it is usually necessary to select a driving assembly according to the maximum load state of the transfer robot. The mode causes the power consumption of the carrying robot to be overlarge, the power utilization rate is lower, and the energy conservation, the environmental protection and the electricity utilization safety are not facilitated.

SUMMERY OF THE UTILITY MODEL

In order to solve all or part of the problems, the application aims to provide a winding device, a telescopic device and a carrying robot, which can match corresponding telescopic/lifting speeds and improve the power utilization rate aiming at different cargo loads.

According to an aspect of an embodiment of the present application, there is provided a winding apparatus including a driving assembly and a winding assembly; the driving assembly and the winding assembly are coaxially arranged and are used for driving the winding assembly to rotate; the winding assembly comprises at least two winding parts which are sequentially arranged along the axial direction, and the adjacent winding parts have different winding radiuses.

The winding device provided by the embodiment of the application has the advantages that the winding parts sequentially arranged along the axial direction are arranged, the adjacent winding parts have different winding radiuses, the winding assembly works under the condition that the driving assembly works at rated power through the change of the winding radiuses of the different winding parts, so that the tension of the winding device in different loads is adjusted, the winding device is guaranteed to work at rated power all the time, the winding efficiency of the winding device is improved, and the utilization rate of the driving assembly is improved.

In an alternative form, the surface of the winding portion is provided with a wire guide groove. Through carrying out guiding orientation to the wire rod, make the wire rod of coiling coil along the metallic channel in proper order, avoid two adjacent circles of wire rod extrusion friction, lead to the dislocation change.

In an optional mode, a buffer part is arranged between the adjacent winding parts, and the buffer part is used for providing buffer for the routing on the surfaces of the adjacent winding parts. By the mode, the winding disorder of the wire in the winding process is prevented, the winding length of each winding part is fixed, the abrasion to the wire is avoided, and the service life of the wire is prolonged.

In an alternative mode, the winding radius of the winding portion is sequentially increased or decreased in the axial direction. The tension of the wire wound by different winding parts is gradually increased or reduced, and different loads are met under the rated power of the driving assembly, so that the power consumption is saved, and the utilization rate of the driving assembly is improved.

According to another aspect of the embodiment of the present application, there is provided a telescopic device, comprising the winding apparatus and the telescopic assembly; the telescopic assembly comprises a fixed bracket, at least one telescopic part and at least one end device, wherein the telescopic part can move relative to the fixed bracket; the telescopic parts are sequentially connected in a sliding manner, and the tail end device is arranged on the telescopic part farthest away from the fixed support in a sliding manner; the winding device and one end of the fixed support are oppositely and fixedly arranged, the winding part is provided with a connecting piece, one end of the connecting piece is connected with the winding part with the largest winding radius, the other end of the connecting piece is connected with the terminal device, and when the winding parts rotate, the connecting piece drives the telescopic parts to sequentially extend or contract along with the rotation of the winding parts.

The telescoping device that this application embodiment provided connects gradually multistage pars contractilis through the connecting piece to coiling along different winding radius's pars contractilis in proper order through the connecting piece, the pars contractilis that corresponds to the flexible demand control of difference is flexible in proper order, and the flexible speed of the pars contractilis that the control corresponds. The power of the driving assembly is not required to be adjusted, the winding assembly rotates at a constant speed, the tension required by the requirements of multiple loads of the multi-stage telescopic part can be met, the winding device is guaranteed to work at rated power all the time, the winding efficiency of the winding device is improved, and the utilization rate of the power of the driving assembly is improved.

In an alternative mode, each winding portion corresponds to the telescopic portion and the terminal device in sequence, wherein the terminal device corresponds to the winding portion with the largest winding radius, and the winding portion corresponding to the telescopic portion farther from the fixed bracket has a larger winding radius. In this way, the winding part with the largest winding radius is connected with the terminal device, and the winding radius is sequentially reduced, and the corresponding telescopic part is closer to the fixed support, so that the winding assembly drives the terminal device to move on the telescopic part firstly through the connecting piece, and the terminal device is quickly moved in a telescopic way due to the minimum load of the terminal device; and then, sequentially stretching and moving from the stretching part farthest from the fixed support, the load level is increased gradually, and the winding radius of the winding part is reduced sequentially, so that the tension of the winding assembly is increased step by step.

In an alternative mode, when the connecting piece is completely wound by the winding parts, the length of the wound connecting piece of each winding part is matched with the maximum extending length of the corresponding telescopic part or the end device. The winding length of each winding part is matched with the maximum extension length of each expansion part, so that the connecting piece can be perfectly matched with each winding part and the corresponding expansion part, and the working stability of the expansion device is improved.

In an alternative mode, the fixing bracket and each telescopic part include a guide groove, and each telescopic part or the terminal device can slide along the adjacent guide groove along with the driving of the connecting piece. Each telescopic part and the tail end device can slide along the adjacent guide grooves under the driving of the connecting piece. Support when stretching out telescopically through the guide way, avoid rocking and skew, reduce the occupation space of flexible subassembly, the structure is compacter.

In an optional mode, the telescopic portion and the fixed bracket both include a limiting portion located at one end of the guide groove, and when the telescopic portion slides along the guide groove of the telescopic portion adjacent to the telescopic portion, the limiting portion of the telescopic portion is currently abutted against the limiting portion of the telescopic portion adjacent to the telescopic portion. Through spacing portion setting, prevent that end device from continuing to rise the roll-off pars contractilis, and then easy landing when avoiding pars contractilis and end device to go up and down fast causes potential safety hazards such as accident.

In an optional manner, the telescopic portion further includes a guide wheel assembly, the guide wheel assembly includes an upper pulley and a lower pulley, and the upper pulley and the lower pulley are respectively disposed at two ends of the telescopic portion; the connecting piece is in proper order around locating the top sheave with the bottom sheave, the guide pulley subassembly with the connecting piece forms the movable pulley structure, drive assembly passes through the connecting piece control the flexible portion goes up and down. Through locating the connecting piece around locating the guide pulley subassembly, change the direction of the power of drive assembly output to drive different pars contractilis through different winding parts and remove, and set up upper pulley and lower pulley, it is more laborsaving when can making a plurality of pars contractilis stretch out in proper order.

In an alternative mode, a fixed pulley is arranged at one end, far away from the winding device, of the fixed support; the connecting piece is sequentially wound from the winding part with the largest winding radius to the tail end device through the fixed pulley, the lower pulley and the upper pulley. The connecting piece is sequentially wound from the winding part with the largest winding radius, the corresponding tail end device with the smallest driving load extends out first, the traction force can be correspondingly increased along with the load when the multi-stage telescopic parts extend out, and the power consumption is saved.

In an alternative mode, the end device is a carrying assembly used for carrying and taking and placing goods, and the carrying assembly is used for carrying the goods. The goods are placed on the end device, and along with the movement of the end device, the goods are placed on a higher shelf or are carried to the ground from a high place.

According to another aspect of the present application, there is provided a transfer robot including any one of the above telescopic assemblies.

The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.

Drawings

Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic structural diagram of a winding apparatus according to an embodiment of the present application;

fig. 2 is a schematic structural diagram of a telescopic device according to an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a telescoping assembly of a telescoping device according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a guide wheel assembly of a telescopic device according to an embodiment of the present application.

The reference numbers in the detailed description are as follows:

100. a winding device;

110. a winding assembly; 111. a winding section; 120. a drive assembly; 130. a wire guide groove; 140. a buffer section; 150. a wire rod;

200. a telescopic device;

210. a telescoping assembly; 211. fixing a bracket; 212. a telescopic part; 213. a connecting member; 214. a guide groove; 215. a limiting part of the telescopic part; 216. a limiting part for fixing the bracket;

220. a guide wheel assembly; 221. an upper pulley; 222. a lower pulley;

230. a fixed pulley;

240. a terminal device; 241. a limiting part of the end device; 242. and (4) connecting the blocks.

Detailed Description

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only used to illustrate the technical solutions of the present application more clearly, and therefore are only used as examples, and the protection scope of the present application is not limited thereby.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof in the description and claims of this application and the description of the figures above, are intended to cover non-exclusive inclusions.

In the description of the embodiments of the present application, the technical terms "first", "second", and the like are used only for distinguishing different objects, and are not to be construed as indicating or implying relative importance or implicitly indicating the number, specific order, or primary-secondary relationship of the technical features indicated.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein may be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is only one kind of association relationship describing an associated object, and means that three relationships may exist, for example, a and/or B, and may mean: there are three cases of A, A and B, and B. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two), and similarly, "plural sets" refers to two or more (including two), and "plural pieces" refers to two or more (including two).

In the description of the embodiments of the present application, the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the directions or positional relationships indicated in the drawings, and are only for convenience of description of the embodiments of the present application and for simplicity of description, but do not indicate or imply that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and thus, should not be construed as limiting the embodiments of the present application.

In the description of the embodiments of the present application, unless otherwise explicitly specified or limited, the terms "mounted," "connected," "fixed," and the like are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrated; mechanical connection or electrical connection is also possible; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the embodiments of the present application can be understood by those of ordinary skill in the art according to specific situations.

With the increasing demand for storage density in logistics storage, for example, for bins with different height specifications, goods are often stored on higher shelves of the storage in order to increase storage density. In order to pick and place goods on shelves with different heights, a telescopic device is generally required to be arranged in a storage area, the height of the telescopic device is adjustable, and different lifting positions can be adjusted according to the height of the shelves, so that the goods are carried to a specified position, or the goods are taken out from the specified position.

In order to meet the requirement of modern logistics, the telescopic device not only ensures enough telescopic height to realize the taking and placing of goods on a high-height goods shelf, but also ensures proper volume of the telescopic device and convenient movement and maintenance, so that under the common condition, the telescopic device is set to be multi-stage telescopic, and the telescopic length can be increased when the telescopic device is in an extending state, thereby meeting the height requirement of the goods.

However, as the number of stages of the telescopic device increases, the telescopic length increases, and as the telescopic length increases, the load becomes larger, because the telescopic device is required to bear the weight of the extended telescopic parts in addition to the weight of the load as the telescopic length increases, and the weight of the extended telescopic parts increases as the telescopic length increases, which requires the telescopic device to output a large lifting power.

In order to solve the above problem, it is generally necessary to set the output power of the drive assembly of the telescopic device according to the maximum load required by the telescopic device, i.e. to select the rated power of the drive assembly according to the load when the telescopic device is at the maximum telescopic length. However, the inventor of the present application finds that, although the telescopic device can normally work at the maximum lifting height, the method does not consider that the load is small when the telescopic device is not fully extended, the driving assembly cannot reach the rated power, so that the power utilization is low, the overall operation efficiency of the telescopic device is low, and the energy saving and environmental protection are not facilitated.

In view of the above, embodiments of the present disclosure provide a winding apparatus, a stretching device, and a transfer robot, in which a plurality of winding portions having different winding radii are provided on a winding assembly of the winding apparatus, so that the winding assembly has different winding radii. In operation, the connecting piece is wound or released by winding parts with different winding radiuses according to different load weights. As the length of the telescopic device is gradually increased, the telescopic device is required to load the weight of the cargo as well as the weight of the telescopic part, and therefore, as the telescopic length of the telescopic device is increased, the load borne by the telescopic device is gradually increased. When the winding equipment starts to wind, the load borne by the telescopic device is small, the winding part with a large winding radius is adopted by the winding equipment to drive the telescopic device to move, and at the moment, under the condition that the winding equipment works at rated power, the telescopic speed of the telescopic device is kept in a fast state. Along with the increase of the extension length of the telescopic device, the load borne by the telescopic device is gradually increased, the winding equipment works under rated power and can drive heavier load to move, at the moment, the winding equipment adopts the winding part with smaller winding radius to drive the telescopic device to move, and as the winding equipment adopts the winding part with smaller winding radius to drive the telescopic device to move, under the rated power, the output tension when the winding part with smaller winding radius is adopted for winding is larger than the output tension when the winding part with larger winding radius is adopted for winding, and the heavier load can be driven to move. Therefore, the scheme provided by the embodiment of the application can adopt different winding radiuses to wind under different load conditions, ensures that the winding equipment always works at rated power, and improves the utilization rate of the winding equipment.

The winding equipment, the telescopic device and the carrying robot provided by the embodiment of the application can be applied to the field of logistics, and carry and store the obtained materials; the lifting device can also be applied to the engineering field, for example, the lifting device is used for lifting operation under the condition that high-altitude construction is required; the device can also be applied to fire fighting, environmental sanitation and other scenes which relate to the operation needing to adjust the length or height. The examples of the present application are only illustrated by taking the field of logistics as an example.

According to an aspect of an embodiment of the present application, as shown in fig. 1, there is provided a winding apparatus 100, the winding apparatus 100 comprising a driving assembly 120 and a winding assembly 110; the driving assembly 120 is coaxially arranged with the winding assembly 110 and is used for driving the winding assembly 110 to rotate; the winding assembly 110 comprises at least two winding portions 111 arranged in sequence in the axial direction, adjacent winding portions having different winding radii.

As shown in fig. 1, an output shaft of the driving assembly 120 is connected to a central shaft of the winding assembly 110, and when the driving assembly 120 is operated, the winding assembly 110 is driven to rotate to wind or release the wire. The driving assembly 120 may be any type of power output device such as a driving motor, a driving motor or a driving wheel, which can enable the winding assembly 110 to rotate coaxially around its output shaft at a uniform speed or at a variable speed.

The winding assembly 110 includes a plurality of windings 111, shown in fig. 1, two windings are shown, disposed coaxially adjacent to each other, having different winding radii. The two winding portions may be integrally formed or may be formed separately and then screwed or otherwise disposed together. Further, the winding assembly 110 may also include a greater number of winding portions, and the winding portions are coaxially and sequentially disposed, for example, three or four winding portions, and the disposition manner of the winding portions is similar to that of two winding portions, and is not described herein again. It should be noted that when two winding portions formed respectively are adjacently arranged and have the same winding radius, the winding portions are regarded as the same winding portion in the present application, and the winding radii are used to distinguish different winding portions in the present application, and other forms of deformation are also included in the scope of the present application.

In the present embodiment, each winding portion 111 has a winding surface, and the winding surface may be formed in a cylindrical structure, a columnar structure having a bottom surface in an arbitrary shape, or the like, as long as the winding of the connection member can be achieved, and is not limited in the present embodiment. When the connecting piece is wound on the surface of each winding part, each winding part has a fixed winding length so as to ensure that different winding parts correspond to different winding lengths. The connecting piece can be a wire rope, a nylon rope or a cable and the like which can be sequentially wound on the surface of the winding part.

The winding radius of the winding portion refers to a distance from the axial center to the winding surface of the winding portion, and the winding length of the winding portion 111 is a length of the winding surface of each winding portion surrounding the winding portion by one turn, so that the larger the winding radius is, the larger the winding length of the corresponding winding portion 111 is. When the plurality of winding portions 111 are coaxially arranged in order, the winding radii of the adjacent winding portions 111 are different. Preferably, in the present embodiment, the winding radius of the plurality of windings 111 is gradually increased or gradually decreased in sequence. Of course, the winding portions 111 with different winding radii may be arranged at intervals, and do not exhibit obvious regularity as long as the winding requirements can be satisfied.

When the winding part 111 with the largest winding radius is wound, the winding length is the largest, and when the driving assembly works at rated power and rotates at the same rotating speed, the driving assembly has the largest winding speed; when the winding part with the smallest winding radius is wound, the winding perimeter is the smallest, the length of the wire rod wound by the winding part 111 rotating for one circle is the smallest, when the driving assembly works at rated power and rotates at the same rotating speed, the driving assembly has the smallest winding speed, but has the largest pulling force, and the final load can be driven to move. When the winding parts are sequentially arranged according to the size of the winding radius, the winding speed and the output tension of each winding part positioned in the middle are different along with the difference of the winding radius, so that the winding equipment can adapt to the conditions of different loads.

According to the winding device provided by the embodiment of the application, the plurality of winding parts sequentially arranged along the axial direction are arranged, the adjacent winding parts have different winding radiuses, and under the condition that the driving assembly 120 works at rated power, the winding assembly 110 changes the winding radiuses through the different winding parts 111, so that the tension of the winding device under different loads is adjusted, the winding device is guaranteed to work at rated power all the time, the winding efficiency of the winding device is improved, and the utilization rate of the driving assembly is improved.

According to some embodiments of the present application, in order to better determine the winding length of the winding apparatus 100 for winding the connection member, in some embodiments of the present application, the wire groove 130 is provided on the surface of the winding portion 111.

As shown in fig. 1, the wire groove 130 is an annular groove disposed on the surface of the winding portion and extending in the circumferential direction, and the wire groove 130 is used for guiding and positioning the wire, so that the wound wire is sequentially wound along the wire groove 130 and the position of the wire on the winding portion 111 is stabilized. The wire is ensured not to be influenced between every two circles when the winding parts 111 are arranged, and the phenomenon that the adjacent two circles of wire are extruded and rubbed to cause dislocation change is avoided.

The depth of the wire guide groove 130 is matched with the diameter of the wire, and further, the depth of the wire guide groove 130 is matched with the diameter of the wire, so that the situation that the depth of the wire guide groove 130 is shallow, the wire easily slides out of the wire guide groove 130, and the wire is separated from the original winding direction is avoided; or, the depth of the wire groove 130 is too deep, so that the wire material is easily wound in the same wire groove 130 for a plurality of turns, and cannot be wound in another winding portion 111, and the winding speed cannot be changed.

Through setting up in wire rod diameter assorted metallic channel 130, further guarantee that the wire rod only convolutes the round in same metallic channel 130, guarantee that the wire rod is convoluteed in proper order on winding assembly 110 for the single turn, guaranteed that the number of turns of convoluteing of connecting piece on every winding part surface is fixed, definite when also having guaranteed the length of the connecting piece of every winding part convolute.

In order to avoid the problem that when the wire rod is suddenly wound from the winding part 111 with a larger winding radius to the winding part 111 with a smaller winding radius, the wire rod is easy to slide and cannot be wound in sequence along the axial direction; or, when the wire suddenly changes from the winding portion 111 with a smaller winding radius to the winding portion 111 with a larger winding radius, the wire cannot be clamped into the wire guide groove of the winding portion with a larger winding radius, and the winding is continuously wound at the end of the winding portion 111 with a smaller winding radius, referring to fig. 1, according to some embodiments of the present application, a buffer portion 140 is disposed between adjacent winding portions 111, and the buffer portion 140 is configured to provide a buffer for routing on surfaces of adjacent winding portions.

As shown in fig. 1, the buffer part 140 is a protruding part which is arranged on a side wall of a winding part with a larger winding radius and protrudes to one side of the winding part with a smaller winding radius, the protruding part starts from the surface of the winding part 111 with the larger winding radius to gradually decrease the winding radius until the protruding part is connected with the surface of the winding part with the smaller winding radius, so as to play a role in buffering and transiting a connecting piece between two connected winding parts, and provide buffer for routing of the surfaces of adjacent winding parts, so that the wire can be stably and sequentially wound to different winding parts 111 along the axial direction, thereby effectively preventing winding disorder of the wire in the winding process, ensuring the fixing of the winding length of each winding part, avoiding abrasion of the wire, and prolonging the service life of the wire.

Further, in order to make the buffer portion 140 provide a better routing function, the width of the protruding portion of the buffer portion 140 is generally set to be larger than the diameter of the connector. Preferably, the buffer portion is provided with a wire guide groove 130 on the surface thereof, and the wire guide groove 130 extends from the winding portion 111 with a larger winding radius to the winding portion 111 with a smaller winding radius, so that the wire passes through the wire guide groove 130 and transits from different winding portions to each other. The wire groove 130 can effectively prevent the connection from falling off from the surface of the buffer part 140.

Further, since the load is increased or decreased in practice, there is no case where the load abruptly increases, and according to some embodiments of the present application, the winding radius of the winding portion 111 is sequentially increased or decreased in the axial direction.

By axial direction is meant along the central axis of the winding assembly 110, the winding radius of each winding portion 111 is gradually decreased, so that the tension of the wire wound by different winding portions 111 is gradually increased or decreased to meet the increasing or decreasing of the load.

According to another aspect of the embodiment of the present application, as shown in fig. 2, there is also provided a telescopic device 200, which comprises the winding apparatus 100 and the telescopic assembly 210 set forth in the above embodiment. The telescoping assembly 210 comprises a fixed bracket 211 and a plurality of telescoping sections 212, at least one telescoping section 212 and at least one end fitting 240, the telescoping section 212 being movable relative to the fixed bracket 211; the telescopic parts 212 are sequentially connected in a sliding manner, and the end device 240 is arranged on the telescopic part 212 farthest from the fixed bracket 211 in a sliding manner; the winding device 100 and one end of the fixed support 211 are relatively fixedly arranged, the winding part 111 is provided with a connecting piece 213, one end of the connecting piece is connected with the winding part with the largest winding radius, the other end of the connecting piece is connected with the terminal device 240, and when each winding part 111 rotates, the connecting piece 213 drives each telescopic part 212 to sequentially extend or contract along with the rotation of each winding part 111.

As shown in fig. 2, the telescopic assembly 210 may be a rod structure or a column structure, and different basic structures may be adopted as the telescopic assembly 210 according to actual situations. The telescopic direction of the telescopic assembly 210 can be perpendicular to the ground, so that the telescopic device 200 can be lifted; or the direction parallel to the ground, so as to realize the transverse movement and extension of the extension device 200. The telescopic assembly 210 includes a fixing bracket 211 and a plurality of telescopic parts 212, the fixing bracket is used for supporting the telescopic parts and is generally fixed relative to the winding device 100, and the plurality of telescopic parts 212 and the fixing bracket 211 are arranged together and can move relative to the fixing bracket 211 when working, so as to increase the moving distance.

As shown in fig. 2, one end of the fixing bracket 211 is usually fixed on the ground or the base, and is particularly fixed relative to one end of the winding device 100, and since the fixing bracket mainly plays a role of supporting, it is usually made of a material having a certain hardness, such as: stainless steel, aluminum alloy or other plastics with certain hardness.

Wherein, the length of the fixed bracket 211 can be the same as the length of the telescopic part 212, and the telescopic part 212 is parallel to the two ends of the fixed bracket 211 or completely accommodated in the fixed bracket in the initial state of the telescopic assembly 210, i.e. when the winding device does not start to rotate. Of course, the length of the telescopic portion 212 may be smaller than that of the fixed bracket 211, and in the initial state of the telescopic assembly 210, one end of the telescopic portion 212 is parallel to one end of the fixed bracket 211 fixed on the base or the ground.

As shown in fig. 2, the telescopic portion 212 may be disposed inside the fixing bracket 211, or may be disposed opposite to the fixing bracket 211, and may extend out of the fixing bracket 211 or move in the fixing bracket 211. When the telescopic parts 212 extend, the winding mechanism drives the telescopic parts to move relative to the fixed bracket 211, and then the extended telescopic parts 212 drive other telescopic parts to move until a preset extending height is reached or all the telescopic parts 212 are in a maximum extending state. The number of the telescopic parts 212 can be set to be multiple according to the length required to be telescopic, fig. 2 only shows the case of including one telescopic part, and more telescopic parts can be further included, so that the plurality of telescopic parts 212 sequentially extend out of the fixed bracket 211 to realize multi-stage telescopic. The sequential expansion and contraction means that the plurality of expansion and contraction portions 212 sequentially extend or sequentially contract. Taking the example of requiring the extension of the multi-stage telescopic portion 212, the first-stage telescopic portion is extended first, and when the first-stage telescopic portion is located at the maximum extension length, the second-stage telescopic portion adjacent to the first-stage telescopic portion is driven to extend again. The sequential contraction is similar to the sequential extension, the first-stage telescopic part contracts first, and when the first-stage telescopic part contracts to the maximum contraction length, the second-stage telescopic part retracts relative to the fixed support.

It should be noted that the primary expansion portion and the secondary expansion portion are only to distinguish the expansion portion that moves first and the expansion portion that moves later when the plurality of expansion portions 212 move in sequence, and are not limited to any substantial value.

With continued reference to FIG. 2, since FIG. 2 only shows the telescoping device 200 with only one telescoping section 212, the tip device 240 is disposed on the telescoping section. When there are multiple telescoping sections 212, the tip device 240 is disposed at the telescoping section furthest from the fixed support. For convenience of description, taking the extending and retracting direction of the extending and retracting device 200 as the y direction, as an example of a device for realizing the lifting and retracting, when a plurality of extending and retracting parts are fully extended, the extending and retracting part which is extended first is the extending and retracting part which is located at the topmost end, and the distance between the extending and retracting part and the fixed bracket 211 is the farthest, and the end device 240 is disposed on the extending and retracting part.

It should be noted that the above limitation of the fully extended state of the telescopic device 200 is only for convenience of explanation of the telescopic portion 212 farthest from the fixed bracket 211, and in fact, the end device 240 is slidably disposed on the telescopic portion 212 farthest from the fixed bracket 211 no matter whether the telescopic device 200 is in the extended state, the retracted state or any state, i.e., the telescopic portion 212 farthest from the fixed bracket 211 in the x and y directions in fig. 2.

The end device 240 can slide on the telescopic part 212 farthest from the fixed bracket 211, and when the required extension length of the telescopic assembly 210 is the distance that only the end device 240 needs to move on the telescopic part 212 farthest from the fixed bracket 211, and the load is small, the connection member 213 can be wound to the winding part 111 with the largest winding radius, so that the end device 212 can move quickly to one end of the telescopic part 212, that is, to the end point of the maximum distance that the end device 240 can move on the telescopic part 212. When the required telescopic length needs to extend out of two telescopic parts 212 or more, the load is larger, the load at this moment is the terminal device 240 and the telescopic part 212 farthest from the fixed bracket, when the terminal device 240 is driven to move, the winding part 111 with the largest winding radius drives the terminal device 240 to move, after the terminal device 240 moves to the top end of the telescopic part 212, the connecting piece starts to drive the telescopic part 212 adjacent to the terminal device 240, namely the telescopic part 212 farthest from the fixed bracket, to move from the winding part with the largest winding radius to the winding part with the smaller winding radius adjacent to the winding part, and due to the reduction of the winding radius, when the telescopic part 212 is driven to move, the winding speed is reduced, but the tensile force is increased, so that the terminal device 240 can extend out continuously along with the movement of the telescopic part 212 adjacent to the terminal device to meet the required extending length.

The connection member 213 is a wire material wound around the winding portion by the rotation of the winding unit 110, and may be any flexible material capable of supporting a certain strength and toughness to perform traction, such as a wire rope or a nylon rope. The winding portion 111 drives the telescopic portion 212 and the end device 240 to move relative to the fixed bracket 211 through winding or releasing the connecting member 213.

The plurality of telescopic parts 212 and the terminal device 240 are sequentially connected from the fixed bracket 211 through the connection 213, and when the winding part 111 rotates, the telescopic parts 212 sequentially move relative to the fixed bracket 211 as the winding part 111 rotates. Because the winding assembly 110 comprises a plurality of winding parts 111 with different winding radiuses, when the connecting part 213 winds to different winding parts 111, different telescopic parts 212 are driven to move, so that when the telescopic assembly 210 is at different telescopic lengths, the moving speed of each telescopic part 212 is different, and through the change of the winding radiuses of different winding parts 111, the pulling force of the winding equipment at different loads is adjusted, the winding equipment is guaranteed to work at rated power all the time, the winding efficiency of the winding equipment 100 is improved, and the utilization rate of the driving assembly 120 is improved.

The telescopic device 200 provided by the embodiment of the application sequentially connects the multiple stages of telescopic parts 212 through the connecting pieces 213, sequentially winds the winding parts 111 with different winding radiuses through the connecting pieces 213, sequentially expands and contracts the corresponding telescopic parts 212 according to different expansion requirements, and controls the expansion and contraction speed of the corresponding telescopic parts 212. The power of the driving assembly 120 does not need to be adjusted, the winding assembly 110 rotates at a constant speed, the tension required by various load requirements of the multistage telescopic part 212 can be met, the winding device 100 is guaranteed to work at a rated power all the time, the winding efficiency of the winding device 100 is improved, and the power utilization rate of the driving assembly 120 is improved.

According to some embodiments of the present application, each winding portion 111 corresponds to the telescopic portion 212 and the terminal device 240 in turn, wherein the terminal device 240 corresponds to the winding portion 111 with the largest winding radius, and the winding radius of the winding portion 111 corresponding to the telescopic portion 212 closer to the fixing bracket 211 is smaller.

The winding portion 111 with the largest winding radius is connected to the end device 240, and when the telescopic device 200 is in the initial state to the extended state, the winding assembly 110 drives the end device 240 to move, and correspondingly drives the telescopic portion 212 away from the distal end of the fixed bracket, that is, the telescopic portion adjacent to the end device 240 to the telescopic portion closest to the fixed bracket to extend in sequence along with the decrease in the winding radius of the winding portion 111. When the terminal device 240 is driven to move, the load is the smallest, and the winding part 111 with the largest winding radius winds the connecting piece, so that the terminal device 240 can move quickly; as the plurality of telescopic parts 212 are extended, the load is the end device 240 and the extended telescopic parts 212, and the tension of the winding assembly 110 is increased by the decreasing winding radius of the winding part 111; since the end device 240 corresponds to the winding part 111 with the largest winding radius, and the telescopic parts 212 sequentially extend corresponding to the winding parts 111 with decreasing diameters, when the telescopic part closest to the fixed bracket needs to be driven, the load is the largest, the winding radius of the corresponding winding part 111 is the smallest, and the tension is the largest.

The winding assembly 110 drives the end device to extend through the connecting member 213, and since the telescopic parts 212 move sequentially, the load of the end device 240 is the smallest, and the connecting member 213 starts to wind along the winding part 111 with the largest winding radius, so that the end device 240 moves rapidly. When the telescopic part 212 is extended to its maximum extension length or contracted to its maximum contraction length, the connecting member 213 is completely arranged on the wire guide 130 of the winding part 111 with the maximum winding radius, and at this time, the connecting member 213 continues to be wound to the winding part 111 adjacent to the winding part with the maximum winding radius through the buffer part 140, and the telescopic part 212 adjacent to the end device starts to move.

As the telescopic parts 212 extend sequentially, the load of the telescopic device 200 is increased, the connecting pieces 213 sequentially wind around the winding part 111 with the largest winding radius to the winding part 111 with the smallest winding radius, and due to the reduction of the winding radius, the length of the wound connecting pieces 213 of one rotation of the winding part 111 is shortened, so that the extending speed of the corresponding telescopic parts 212 driven by the winding part through the connecting pieces 213 is reduced. The traction force formula F = P/V, where the power P output by the driving assembly 120 is the rated power, P is constant, and when the winding speed V decreases, the traction force F increases; as can be seen from this, when the winding apparatus 100 is sequentially extended in accordance with the load of the multistage telescoping section 212, the winding radius of the winding section 111 is sequentially decreased in the axial direction, and the tension (traction) is increased accordingly.

The connecting piece 213 is sequentially wound from the winding part 111 with the largest winding radius, and correspondingly drives the plurality of telescopic parts 212 to sequentially extend out from the tail end device, so that the telescopic device 200 realizes speed change through the winding parts 111 with different winding radii, the traction force can be correspondingly increased along with the load when the multi-stage telescopic parts 212 extend out, and the power consumption is saved.

To improve the telescoping effect of the telescoping devices, according to some embodiments of the present application, with continued reference to fig. 2, when each winding section 111 fully winds the connecting member 213, the length of the connecting member 213 wound by each winding section 111 matches the maximum extension of its corresponding telescoping section 212 and end fitting 240.

In the embodiment of the present application, since the winding assembly 110 includes a plurality of winding portions 111 with different winding radii, each winding portion 111 is disposed corresponding to each expansion portion 212, and when all the wire slots 130 on the surface of each winding portion 111 are wound by the connecting members 213, the expansion portion 212 corresponding to the winding portion 111 is fully extended, that is, the expansion portion reaches the maximum distance that it can be extended. When all the wire grooves 130 on the surface of the winding part 111 with the largest winding radius are wound by the connecting pieces 213, the terminal device 240 moves to the top end of the expansion part 212 adjacent to the terminal device, that is, the terminal device 240 reaches the end point of the maximum moving range of the expansion part adjacent to the terminal device.

Due to the arrangement of the buffer part 140, the length of the winding part 111 with the smallest winding radius winding connection member 213 may be greater than the maximum extension length of the telescopic part 212 closest to the fixed bracket, and the length (winding part + buffer part) of the winding connection member 213 of the other winding parts 111 needs to be smaller than the maximum extension length of the telescopic part 212 corresponding to the winding part. As shown in fig. 2, when it is required that the terminal device 240 is moved to the top end of the telescopic part 212 adjacent thereto, the connection member 213 is completely wound around the winding part 111 having the maximum winding radius and the buffer part 140 adjacent thereto; the winding portion 111 of the maximum winding radius winds the connection member 213 by a length less than the maximum protruding length of the terminal device 240, and the winding portion 111 of the maximum winding radius and the buffer portion 140 adjacent thereto are matched to the maximum protruding length of the terminal device 240. And the telescopic part 212 connected with the fixed bracket corresponding to the winding part 111 with the smallest winding radius, that is, the telescopic part 212 extending from the last stage, does not need to drive other telescopic parts to extend in sequence after extending, so that the maximum extending length of the telescopic part 212 only needs the winding part with the smallest corresponding winding radius, does not need to pass through other winding parts 111 with different winding radii, and does not need to wind the buffer part 140 through a connecting piece, and therefore, the length of the connecting piece 213 corresponding to the maximum extending length of the telescopic part 212 is smaller than that of the connecting pieces 213 of other telescopic parts.

The connection member 213 is wound on the winding assembly 110 in a single layer, and the length of the connection member 213 can be set by the maximum extension length and the number of windings of each telescopic part 212. The number of windings can be calculated manually, and the encoder can calculate the number of rotations of the driving assembly 120 or calculate the transmission stroke, etc. to accurately set the length of the connecting member 213, so as to ensure that the multistage telescoping portion 212 in the telescoping device 200 is fully extended when the connecting member 213 is fully arranged on the winding assembly 110.

In another embodiment of the present application, to avoid the connection member 213 from falling off, the connection member 213 is wound on the winding assembly 110 for at least three turns in the initial state of the telescopic device 200. The winding part 111 is controlled to wind the telescopic part 212 corresponding to the connecting member 213 to the maximum extension length by calculating the number of rotation turns of the driving assembly 120 and presetting the set value of the number of rotation turns.

Further, the length of the wire groove 130 of the winding portion 111 is also matched with the length of the connecting member 213. In order to prevent the connecting member 213 from falling off and the winding apparatus 100 from idling to cause the telescopic device 200 to malfunction, a sensor may be further disposed in the wire guide 130 for detecting whether the connecting member 213 is wound on the wire guide 130 when the telescopic device 200 needs to be extended. The sensor is also used to detect whether the connector 213 on the wire guide 130 is released when the retractor device 200 needs to be retracted. The sensor can be a pressure sensor, an infrared sensor, a photosensitive sensor or a temperature sensor and other devices for acquiring sensing signals at will.

The maximum length of the connecting piece 213 is determined by the combination of the number of turns of the winding part 111, the winding radius of the buffer part and the maximum extension length of the telescopic part 212, so that the overlong connecting line can be avoided, and the cost is saved. And the perfect matching of the connecting member 213 with each winding part 111 and the corresponding telescopic part 212 improves the working stability of the telescopic device 200.

In order to make the telescopic device 200 more compact, in some embodiments of the present invention, as shown in fig. 2 and 3, the fixing bracket and each telescopic part include a guiding groove 214, and each telescopic part 212 and the end device 240 can slide along the adjacent guiding groove 214 under the driving of the connecting member 213.

The telescopic part 212 is arranged in the guide groove of the fixed bracket 211, so that the multi-stage telescopic part 212 is completely contracted into the fixed bracket 211 in the initial state of the telescopic device 200, the whole occupied space of the telescopic device 200 is reduced, and the structure is more compact. Specifically, the size of the notch of the guide groove 214 is matched with that of the telescopic part 212, and the telescopic part 212 is just inserted into the guide groove 214 and has a guiding and fixing function.

Further, the telescopic parts 212 also include guide grooves, and a plurality of telescopic parts 212 are slidably connected to the adjacent telescopic parts through the guide grooves 214, and since each telescopic part 212 is sequentially extended, each telescopic part is inserted into the guide groove 212 of the next telescopic part in the sequential extending sequence.

The end unit is mounted in a guide groove on the telescopic part farthest from the fixed bracket and slides along a guide groove of the telescopic part 212 farthest from the fixed bracket through a connecting member 213.

When the cargo is located at a higher or farther position, the telescopic portion 212 is farther from the fixed bracket 211 or the ground, and the telescopic portion 212 has limited structural rigidity, so that the cargo is difficult to shake during taking and placing, and the stability and the safety of the telescopic device 200 are affected. The telescopic part 212 is arranged in the fixing support 211, so that the telescopic part 212 can be supported when extending out, shaking is avoided, and the telescopic part 212 and the end device 240 cannot be inclined and deviated due to multi-stage extension.

For preventing easy landing when pars contractilis 212 and end device 240 go up and down fast, in some embodiments of this application, pars contractilis and fixed bolster all include spacing portion (not shown), are located the one end of guide way is in present when pars contractilis slided along the guide way rather than adjacent pars contractilis, present the spacing portion of pars contractilis and rather than the spacing portion looks butt of adjacent pars contractilis.

The limiting part is used for limiting the maximum moving range of the telescopic part adjacent to the limiting part or the fixed support. When the extending portion 212 abuts against the adjacent portion, it indicates that the extending portion 212 has reached its maximum extending length, and at this time, if the winding assembly 110 continues to wind the connecting member 213, the extending portion adjacent to the extending portion 212 is driven to extend. When the limit portion of the extending telescopic portion 212 abuts against the limit portion of the fixing bracket 211, it indicates that the telescopic portion 212 has reached its maximum extending length, and at this time, it indicates that the telescopic device 200 has reached the fully extended state, i.e. each telescopic portion 212 has reached the maximum extending length, and at this time, the winding assembly 110 cannot continue to wind the connecting member 213.

As shown in fig. 2, when the position-limiting portion 241 of the end device abuts against the position-limiting portion 212 of the telescopic portion 212 farthest from the fixed bracket, the end device 240 is located at the topmost end of the telescopic portion 212, and at this time, if the winding assembly 110 continues to wind the connecting member 213, the telescopic portion 212 farthest from the fixed bracket is driven to extend.

Through the setting of spacing portion, prevent that end device 240 from continuing to rise roll-off telescopic part 212, and then avoid end device 240 or the goods on end device 240 to fall from the eminence, cause potential safety hazards such as accident. Moreover, after the end device is located at the top end of the telescopic part adjacent to the end device, the end device 240 drives the telescopic part 212 adjacent to the end device to extend towards the fixing support 211, and the lifting range of the end device 240 is extended, so that the end device can pick and place higher and farther goods.

In order to better enable each winding portion 111 to drive each corresponding telescopic portion 212 to extend and retract, in some embodiments of the present application, referring to fig. 2 and 4, the telescopic portion further includes a guide wheel assembly, the guide wheel assembly includes an upper pulley and a lower pulley, and the upper pulley and the lower pulley are respectively disposed at two ends of the telescopic portion; the connecting piece is in proper order around locating the top sheave with the bottom sheave, the guide pulley subassembly with the connecting piece forms the movable pulley structure, drive assembly passes through connecting piece control the flexible portion goes up and down.

As shown in fig. 2 and 4, the plurality of expansion/contraction sections 212 are connected to each other by movable pulleys provided at both ends of the expansion/contraction section 212, so that it is possible to save labor when the plurality of expansion/contraction sections 212 are sequentially extended. Specifically, fig. 4 simplifies the side walls of the telescopic portion 212 and the fixed bracket 211 for convenience of illustration, and as shown in fig. 4, an upper pulley 221 and a lower pulley 222 are disposed on one side surface of the telescopic portion 212 abutting against the fixed bracket, and the telescopic portion 212 abuts against the guide groove 214 of the fixed bracket 211 through the upper pulley 221 and the lower pulley 222.

The direction of the force output by the driving assembly 120 is changed by the connecting member 213 wound around the guide wheel assembly 220, so that different telescopic parts 212 are driven to move by different winding parts 111, and the upper pulley and the lower pulley are arranged, so that the plurality of telescopic parts can be more labor-saving when being sequentially extended.

In order to make the winding device 100 more labor-saving when driving the plurality of telescopic parts 212 to extend sequentially, in some embodiments of the present application, with reference to fig. 2 and 4, a fixed pulley 230 is disposed on one end of the fixed bracket 211 away from the winding device 100; the connecting member 213 winds the fixed pulley 230, the lower pulley 222, and the upper pulley 221 from the winding portion 111 having the largest winding radius to the end device in this order.

The fixed pulley 230 is a pulley in which the position of the shaft is fixed, and is used to wind the guide link 213 around the guide wheel assembly 220. When the telescopic assembly 210 is in the extended state, the winding portion 111 drives the upper pulley 221 and the lower pulley 222 to rotate along with the winding connection member 213, and the upper pulley 221 and the lower pulley 222 move along the guide groove 214 of the fixed bracket 211 together with the telescopic portion 212.

In order to meet the requirement of logistics storage, in some embodiments of the present application, the end device 240 is a handling assembly for carrying and taking and placing goods. Goods are placed on the end device 240 and move along with the movement of the end device or move along with the expansion (lifting) of the multi-stage expansion part, so that the goods can be placed on a higher shelf or can be carried to the ground from a high position.

The end device 240 is used for carrying goods, the end device 240 includes, but is not limited to, a fork and a pallet, the pallet is mounted on the fork, and in order to prevent the goods from falling off the pallet along with the movement of the end device, a baffle is further arranged on the pallet, and the baffle is perpendicular to the bottom surface of the pallet. As shown in fig. 2, the bottom surface of the pallet and the barrier form at least one opening in the pallet, and the forks also rotate the end devices 240 so that goods can be placed on a designated shelf through the opening in the pallet or on the bottom surface of the pallet through the opening in the pallet.

The tip device 240 is disposed in the telescoping section 212 and moves within the length of the telescoping section 212. The connection member 213 has one end connected to the end unit 240 and the other end connected to the winding part 111 having the largest winding radius, and when the winding apparatus 100 rotates, the end unit 240 moves as the telescopic assembly 210 is extended and contracted, so that the end unit 240 reaches a designated position and the goods are taken and placed.

In the process of the telescopic device 200 from the initial state to the extended state, the end device 240 moves in the telescopic part 212, and the telescopic part 212 does not extend at this time, so that the end device 240 and the goods are loaded, and the connecting piece 213 is wound by the winding part 111 with the maximum winding radius, so that the goods can be moved rapidly.

For convenience of description of the embodiment of the present application, taking the telescopic direction of the telescopic assembly 210 as a direction perpendicular to the ground as an example, the telescopic assembly 210 is used to lift the end device 240, so as to place the goods on a higher shelf or carry the goods from a high place to the ground.

In the most specific embodiment of the telescopic device in the embodiment of the present application, as shown in fig. 2, the telescopic device 200 includes a base, and the fixing bracket 211 and the winding apparatus 100 are fixed on the base. The fixed bolster 211 includes relative left fixed bolster and the right fixed bolster that sets up, and corresponding pars contractilis 212 includes left pars contractilis and right pars contractilis, and left pars contractilis inserts through guide way 214 and establishes on left fixed bolster, and right pars contractilis inserts through guide way 214 and establishes on right fixed bolster. Correspondingly, the winding assembly 110 includes a left winding assembly for driving the left telescopic part to move relative to the left fixed bracket by winding or releasing the connecting member 213, and a right winding assembly for driving the right telescopic part to move relative to the right fixed bracket by winding or releasing the connecting member. The drive assembly 120 simultaneously rotates the left and right take-up assemblies via the drive links.

The left telescopic part is provided with a left guide groove on one side facing the right telescopic part, the right telescopic part is provided with a right guide groove on one side facing the left telescopic part, and the end device 240 is provided with a slide block matched with the left guide groove and the right slide, so that the end device moves between the two telescopic parts 212 which are opposite in parallel left and right along the left guide groove and the right guide groove.

Through being equipped with left and right mutual symmetry and parallel flexible subassembly 210 on the base, end device 240 goes up and down between two pars contractilis 212 about, plays the effect that stabilizes the support to end device 240 goes up and down, rocks when avoiding end device 240 to remove, prevents the phenomenon that the goods lift in-process dropped.

When the end device 240 needs to be lifted, the driving assembly 120 drives the left winding assembly and the right winding assembly to rotate simultaneously through the coaxial transmission assembly, and the winding part 111 with the largest winding radius drives the end device 240 connected to the other end of the connecting member 213 to move through the winding connecting member 213. The left and right extendable portions are connected by the stopper portion 215 of the extendable portion, and when the end device 240 reaches the stopper portion 215, the end device 240 is located at the topmost end of the extendable portion 212.

Fig. 2 also shows a fully extended state of the telescopic device 200 according to the embodiment of the present application, in a specific manner of the telescopic device 200 from the retracted state to the fully extended state, the driving assembly 120 drives the winding assembly 110 to rotate, the connecting member 213 starts to wind from the winding portion 111 with the largest radius, and the terminal device 240 is driven to move on the telescopic portion 212, and at this time, the telescopic portion 212 is not moved; when the end device 240 moves to one end of the telescopic portion 212, and the limit portion 241 of the end device abuts against the limit portion 215 of the telescopic portion, the connecting member 213 winds to the winding portion 111 with a smaller winding radius, and at this time, the telescopic portion 212 extends relative to the fixed bracket 211 to drive the end device 240 to continue moving.

The left fixing support and the right fixing support are connected through the limiting portion 216 of the fixing support, a notch matched with the limiting portion 215 (the telescopic portion adjacent to the fixing support) of the telescopic portion is further formed in the limiting portion 216 of the fixing support, when the telescopic assembly 210 needs to be contracted, the end device 240 is moved to the other end of the telescopic portion 212 firstly, the limiting block 241 is abutted to the base, the telescopic portion 212 is retracted into the fixing support 211 again, and the limiting portion 215 of the telescopic portion is parallel to the limiting portion 216 of the fixing support through the notch.

The left winding assembly 110 and the right winding assembly 110 are driven to rotate by the driving assembly 120, so that the tail end device 240 can lift stably, and after the tail end device 240 reaches one end of the telescopic parts 212, the left telescopic part 212 and the right telescopic part 212 are driven to lift synchronously, so that the goods can lift and the running stability is guaranteed.

According to another aspect of an embodiment of the present application, there is provided a transfer robot including any one of the above-described telescopic devices 200.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included in the scope of the claims and description of the present invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. The present invention is not limited to the particular embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims

1. A winding apparatus comprising a drive assembly and a winding assembly;

the driving assembly and the winding assembly are coaxially arranged and are used for driving the winding assembly to rotate;

the winding assembly comprises at least two winding parts which are sequentially arranged in the axial direction, and the adjacent winding parts have different winding radiuses.

2. Spooling apparatus as claimed in claim 1, wherein the spooling portion surface is provided with a wire guide groove.

3. The winding apparatus according to claim 1, wherein a buffer is disposed between adjacent windings for buffering the running of adjacent winding surfaces.

4. The winding apparatus according to claim 1, characterized in that the winding radius of the winding portion sequentially increases or decreases in the axial direction.

5. A telescopic device, characterized by comprising a winding apparatus according to any one of claims 1 to 4 and a telescopic assembly;

the telescopic assembly comprises a fixed support, at least one telescopic part and at least one tail end device, wherein the at least one telescopic part can move relative to the fixed support, the telescopic parts are sequentially connected in a sliding manner, and the tail end device is arranged on the telescopic part farthest from the fixed support in a sliding manner;

the winding device and one end of the fixed support are oppositely and fixedly arranged, the winding part is provided with a connecting piece, one end of the connecting piece is connected with the winding part with the largest winding radius, the other end of the connecting piece is connected with the tail end device, and when each winding part rotates, the connecting piece can sequentially drive the tail end device and each telescopic part to sequentially extend out or contract along with the rotation of each winding part.

6. The telescopic device according to claim 5, wherein each of the winding portions corresponds to the telescopic portion and the terminal device in sequence, wherein the terminal device corresponds to the winding portion having the largest winding radius, and the winding portion corresponding to the telescopic portion closer to the fixed bracket has a smaller winding radius.

7. The telescopic device according to claim 6, wherein when the connecting member is completely wound by each winding portion, the length of the connecting member wound by each winding portion is matched with the maximum extension length of the telescopic portion or the terminal device corresponding to the connecting member.

8. The telescopic device according to claim 5, wherein the fixed bracket and each telescopic part comprise a guide slot, and each telescopic part and the end device can slide along the adjacent guide slot under the driving of the connecting piece.

9. The telescopic device according to claim 8, wherein the telescopic part has a stopper part at one end of the guide groove, and when the telescopic part or the end device slides along the guide groove of the telescopic part adjacent thereto, the stopper part of the telescopic part or the end device is brought into contact with the stopper part of the telescopic part adjacent thereto.

10. The telescopic device according to claim 8, wherein the telescopic portion further comprises a guide wheel assembly, the guide wheel assembly comprises an upper pulley and a lower pulley, and the upper pulley and the lower pulley are respectively arranged at two ends of the telescopic portion; the connecting piece is in proper order around locating the top sheave with the bottom sheave, the guide pulley subassembly with the connecting piece forms the movable pulley structure, drive assembly passes through the connecting piece control the flexible portion goes up and down.

11. The telescopic device according to claim 10, wherein a fixed pulley is arranged at one end of the fixed bracket far away from the winding equipment; the connecting piece is sequentially wound from the winding part with the largest winding radius to the tail end device through the fixed pulley, the lower pulley and the upper pulley.

12. The telescopic device according to claim 5, wherein the end device is used for a handling assembly for picking and placing goods.

13. A transfer robot comprising the telescopic device according to any one of claims 5 to 12.