Hoisting equipment with obstacle avoidance early warning function

Abstract

The invention relates to the technical field of hoisting equipment, in particular to hoisting equipment with an obstacle avoidance early warning function. The technical problem to be solved is that the gravity center of goods is unbalanced during loading or the goods are unstable during moving and obstacle avoidance. According to the technical scheme, the device comprises a first walking frame, a second walking frame is installed on the first walking frame through a guide rail, a supporting shell is installed on the second walking frame, the device further comprises hoisting mechanisms, the hoisting mechanisms are installed in the supporting shell in a mirror image distribution mode, and a first anti-tilting mechanism is jointly arranged at the bottoms of the two hoisting mechanisms. By arranging a first extrusion wheel, a second extrusion wheel, a third extrusion wheel and a fourth extrusion wheel, the first extrusion wheel, the second extrusion wheel, the third extrusion wheel and the fourth extrusion wheel are kept at the same rotating speed through extrusion of a cable and a transmission gear set and a belt transmission set with the transmission ratio being 1; and therefore, the first anti-swing mechanism hung on the cable is kept in a stable state, and the anti-inclination capability and the stability of goods during movement are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of lifting equipment, and in particular to a lifting equipment with obstacle avoidance and early warning functions. Background Art

[0002] With the development of technology, existing lifting equipment is usually equipped with more sensors, which improve the lifting equipment's judgment of the surrounding environment and improve the reliability and safety of cargo handling, thereby ensuring the safety of personnel and equipment. However, in the actual process of handling goods, the goods may tilt due to unbalanced loading, offset center of gravity or loose binding, thereby increasing the risk of unbalanced cargo loading. In addition, external environments such as wind force and ground flatness and the operation of the staff will affect the degree of tilt of the goods during movement, thereby increasing the difficulty of operation for the staff and increasing the risk of collision between the goods and obstacles during movement. Therefore, there is an urgent need for a lifting equipment with obstacle avoidance and warning function that can keep the goods stable during movement. Summary of the invention

[0003] In order to overcome the disadvantages of unbalanced center of gravity of goods when loading or instability when moving, the technical problem to be solved is: to provide a lifting equipment with obstacle avoidance and warning function that can keep the goods moving stably.

[0004] The technical solution of the present invention is: a lifting equipment with obstacle avoidance and early warning function, comprising a first traveling frame, a second traveling frame is installed on the first traveling frame through a guide rail, a supporting shell is installed on the second traveling frame, and also comprising a hoisting mechanism, a hoisting mechanism is installed in a mirror-image distribution inside the supporting shell, a first anti-tilt mechanism is arranged at the bottom of the two hoisting mechanisms, a first anti-sway mechanism is arranged at the bottom of the first anti-tilt mechanism, a second anti-tilt mechanism is installed at the bottom of the first anti-sway mechanism, a clamping mechanism is arranged at the bottom of the second anti-tilt mechanism, and the first anti-tilt mechanism, the first anti-sway mechanism and the second anti-tilt mechanism are used to maintain the stability of the clamping mechanism; the hoisting mechanism comprises a drum, a supporting A drum is rotatably connected to the outer shell, a cable is fixedly connected to and wound around the drum, a fixed pulley is rotatably connected to the inner part of the supporting shell in a mirror-image distribution, and the fixed pulley is sleeve-connected to the cable; the first anti-tilt mechanism includes a mounting frame, a mounting frame is fixedly connected to the bottom of the supporting shell, a first extrusion wheel, a second extrusion wheel, a third extrusion wheel and a fourth extrusion wheel are rotatably connected to the mounting frame in a mirror-image distribution, the first extrusion wheel and the second extrusion wheel jointly extrude the cable, the third extrusion wheel and the fourth extrusion wheel jointly extrude the cable, a transmission gear group is installed on the mounting frame, a belt drive group is installed on one side of the transmission gear group, the transmission gear group is connected to the second extrusion wheel, and the belt drive group is connected to the fourth extrusion wheel.

[0005] Preferably, the first anti-sway mechanism includes a first movable pulley, and the first movable pulley is mirror-distributed around the bottom of the cable, the mirror-distributed first movable pulley is rotatably connected to the suspension frame, the suspension frame is slidably connected to the first sliding frame, the first sliding frame is mirror-installed with a laser radar, and a guide rod is fixedly connected to the first sliding frame in a mirror-distributed manner, the guide rod is slidably connected to the second sliding frame, the second sliding frame is in sliding contact with the first sliding frame, a first spring is connected between the first sliding frame and the second sliding frame, one side of the mirror-distributed second sliding frame is commonly fixedly connected to a protective shell, a telescopic rod is installed between the protective shell and the suspension frame, the protective shell is rotatably connected to the second movable pulley in a mirror-distributed manner, and the second movable pulley is in contact with the cable.

[0006] Preferably, a planetary gear set is also included. The planetary gear set is installed in a mirror-image distribution in the protective housing, and the planetary gear set is respectively connected to the second movable pulley and the counterweight ring.

[0007] Preferably, the hoisting mechanism also includes a first motor, the first motor is installed on the supporting shell, the output shaft of the first motor passes through the supporting shell and is fixedly connected to the first friction column, the second friction column is slidably connected to the first friction column, the first friction column and the second friction column are installed with a speed adjustment unit, the third friction column is rotatably connected to the supporting shell, the fourth friction column is slidably connected to the third friction column, a second spring is connected between the fourth friction column and the supporting shell, a belt transmission unit is provided inside the first friction column, the second friction column, the third friction column and the fourth friction column, and the third friction column is fixedly connected to the reel.

[0008] Preferably, the belt drive unit includes a transmission belt, and the transmission belt is arranged in the first friction column, the second friction column, the third friction column and the fourth friction column. A plurality of transmission frames are fixedly connected to the transmission belt, and circular slide grooves are arranged in a mirror distribution on the transmission frame. Round balls are slidably connected in the circular slide grooves, and a third spring is connected between the round balls and the circular slide grooves. Limiting grooves are arranged on the first friction column, the second friction column, the third friction column and the fourth friction column, and the limiting grooves are clamped with the plurality of round balls.

[0009] Preferably, the speed adjustment unit includes a connecting rod, a first friction column is circumferentially distributed and rotatably connected to a plurality of connecting rods, a plurality of connecting rods are rotatably connected to each of the plurality of connecting rods, a second friction column is provided with a plurality of rectangular sliding grooves, the plurality of rectangular sliding grooves correspond to a plurality of sliding blocks one by one and are slidably connected, a support column is fixedly connected in the support shell, a fourth spring is fixedly connected to the support column, an extrusion ring is fixedly connected to one end of the fourth spring, and the extrusion ring is in contact with the connecting rod.

[0010] Preferably, the second anti-roll mechanism includes a sealing frame, a sealing frame is fixedly connected to the bottom of the suspension frame, a double-headed push rod is slidably connected through the sealing frame, a floating plate is fixedly connected to the double-headed push rod, a third sliding frame is slidably connected to the bottom of the suspension frame, a pressure sensor is installed in a mirror-image distribution in the third sliding frame, the double-headed push rod is in contact with the pressure sensor, a hollow shaft motor is fixedly installed at the bottom of the suspension frame, the hollow shaft motor is electrically connected to the pressure sensor, a screw rod is fixedly connected to the inner wall of the output of the hollow shaft motor, the screw rod is threadedly connected to the third sliding frame, and the bottom of the third sliding frame is connected to the clamping mechanism.

[0011] Preferably, the clamping mechanism includes a second motor, a second motor is installed at the bottom of the third sliding frame, the output shaft of the second motor passes through the third sliding frame and is fixedly connected to the claw body, the bottom of the third sliding frame is rotatably connected to the claw body, the bottom of the claw body is slidably connected to a clamping jaw shell, the bottom of the claw body is fixedly connected to a rack, a first gear and a second gear are rotatably connected in the clamping jaw shell, the first gear meshes with the rack and the second gear, one end of the second gear is fixedly connected to a first pulley, a second pulley is rotatably connected in the clamping jaw shell, the first pulley and the second pulley are jointly covered with a friction belt, a bidirectional motor is fixedly installed in the clamping jaw shell, and the output end of the bidirectional motor is fixedly connected to the second gear distributed in a mirror image.

[0012] Preferably, the second anti-sway mechanism includes an airtight shell, an airtight shell is fixedly connected to the supporting shell, a flow limiting valve and a one-way valve are sealed and installed on the airtight shell, a piston rod is slidably connected in the airtight shell, a guide groove is provided on the piston rod, a driving cylinder is slidably connected in the guide groove, the driving cylinder is sleeved on the outer wall of the piston rod, and the driving cylinder is fixedly connected to the fixed pulley.

[0013] Preferably, the second anti-sway mechanism also includes a positioning shell, a cable runs through the positioning shell, the top of the positioning shell is fixedly connected to the cable and the bottom is slidably connected to the positioning shell, a rotating pressure handle is rotatably connected inside the positioning shell, a torsion spring is connected between the positioning shell and the rotating pressure handle, and a third movable pulley is rotatably connected to the rotating pressure handle in a mirror-image distribution, and the third movable pulley is in contact with the cable.

[0014] The beneficial effects are: 1. The present invention provides a first extrusion wheel, a second extrusion wheel, a third extrusion wheel and a fourth extrusion wheel. When the two cables are wound up, the first extrusion wheel, the second extrusion wheel, the third extrusion wheel and the fourth extrusion wheel are driven to rotate. By squeezing the cables and a transmission gear set and a belt transmission set with a transmission ratio of 1, the first extrusion wheel, the second extrusion wheel, the third extrusion wheel and the fourth extrusion wheel are kept at the same rotation speed, so that the first anti-sway mechanism mounted on the cables is kept in a stable state, which greatly improves the anti-tilt ability of the goods during movement and effectively improves the stability of the goods movement.

[0015] 2. The present invention sets a floating plate so that when the goods are tilted, the floating plate drives the double-headed push rod to squeeze the pressure sensor through the buoyancy of the liquid, so that the hollow shaft motor rotates the screw rod based on the pressure applied to the pressure sensor, thereby moving the third sliding frame to drive the clamping mechanism and the goods to adjust the center of gravity, thereby reducing the tilt degree of the goods during movement and improving the stability of the goods during movement. The gap between the floating plate and the inner wall of the sealing frame limits the liquid flow rate, thereby reducing the interference of the large change in the tilt degree of the goods in a short period of time on the adjustment of the center of gravity of the goods and improving the stability of the goods during movement.

[0016] 3. The present invention sets a bidirectional motor to rotate the output shaft of the bidirectional motor, and drives the first pulley to rotate synchronously through the second gear, so that the first pulley cooperates with the second pulley to drive the friction belt to rotate, so that the protrusions on the surface of the friction belt squeeze and roll up the goods, and then the protrusions on the surface of the friction belt can adaptively clamp goods of different shapes, thereby ensuring the reliability of the friction belt clamping the goods, and limiting the possibility of the goods moving when being clamped through the protrusions on the surface of the friction belt, thereby ensuring the stability of the friction belt clamping the goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the structure of a part of the present invention; Figure 3 It is a structural schematic diagram of the first extrusion wheel of the present invention; Figure 4 It is a schematic structural diagram of the third extrusion wheel of the present invention; Figure 5 It is a structural schematic diagram of the supporting shell of the present invention; Figure 6 It is a structural schematic diagram of the transmission belt of the present invention; Figure 7 It is a partial cutaway view of the transmission frame of the present invention; Figure 8 It is a structural schematic diagram of the fixed pulley of the present invention; Fig. 9 It is a schematic structural diagram of the first sliding frame of the present invention; Fig.10 is a schematic structural diagram of a third sliding frame of the present invention; Fig.11 It is a structural schematic diagram of the telescopic rod of the present invention; Fig.12 A partial cutaway view of the protective housing of the present invention; Fig.13 is a partial cross-sectional view of a third sliding frame of the present invention; Fig.14 A partial cutaway view of the jaw housing of the present invention; Fig.15 A partial cutaway view of the positioning housing of the present invention.

[0018] In the accompanying drawings: 1-first traveling frame, 2-second traveling frame, 3-support shell, 4-winding mechanism, 401-reel, 402-cable, 403-fixed pulley, 404-first motor, 405-first friction column, 406-second friction column, 407-third friction column, 408-fourth friction column, 409-transmission belt, 410-transmission frame, 411-ball, 412-connecting rod, 413-sliding block, 414-transmission belt, 415-transmission frame, 416-transmission frame, 417-transmission frame, 418-transmission frame, 419-transmission frame, 420-transmission frame, 421-transmission frame, 422-transmission frame, 423-transmission frame, 424-transmission frame, 425-transmission frame, 426-transmission frame, 427-transmission frame, 428-transmission frame, 429-transmission frame, 430-transmission frame, 431-transmission frame, 432-transmission frame, 433-transmission frame, 434-transmission frame, 435-transmission frame, 436-transmission frame, 437-transmission frame, 438-transmission frame, 439-transmission frame, 440-transmission frame, 441-transmission frame, 442-transmission frame, 443-transmission frame, 444-transmission frame, 445-transmission frame, 446-transmission frame, 447-transmission frame, 448-transmission frame, 449-transmission frame, 450-transmission frame, 451-transmission frame, 452-transmission frame, 453-transmission frame, 454 4-support column, 415-extrusion ring, 5-first anti-tilt mechanism, 501-mounting frame, 502-first extrusion wheel, 503-second extrusion wheel, 504-third extrusion wheel, 505-fourth extrusion wheel, 506-transmission gear set, 507-belt transmission set, 6-first anti-sway mechanism, 601-first movable pulley, 602-suspension frame, 603-first sliding frame, 6031-laser radar, 604-guide rod, 60 5-second sliding frame, 606-protective housing, 607-telescopic rod, 608-second movable pulley, 609-planetary gear set, 610-counterweight ring, 7-second anti-tilt mechanism, 701-sealing frame, 702-double-headed push rod, 703-floating plate, 704-third sliding frame, 705-pressure sensor, 706-hollow shaft motor, 707-screw, 8-clamping mechanism, 801-second motor, 802-claw body, 803-grip housing, 804-rack, 805-first gear, 806-second gear, 807-first pulley, 808-second pulley, 809-friction belt, 810-bidirectional motor, 9-second anti-sway mechanism, 901-airtight housing, 902-flow limiting valve, 903-check valve, 904-piston rod, 905-driving cylinder, 906-positioning housing, 907-rotating pressure handle, 908-third movable pulley. DETAILED DESCRIPTION

[0019] Embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0020] Example 1 A lifting equipment with obstacle avoidance warning function, such as Figure 1-Figure 15 As shown, it includes a first traveling frame 1, a second traveling frame 2 is installed on the first traveling frame 1 through a guide rail, a supporting shell 3 is installed on the second traveling frame 2, and a hoisting mechanism 4 is also included. The hoisting mechanisms 4 are installed in a mirror-image distribution inside the supporting shell 3, a first anti-tilt mechanism 5 is arranged at the bottom of the two hoisting mechanisms 4, a first anti-sway mechanism 6 is arranged at the bottom of the first anti-tilt mechanism 5, a second anti-tilt mechanism 7 is installed at the bottom of the first anti-sway mechanism 6, and a clamping mechanism 8 is installed at the bottom of the second anti-tilt mechanism 7. When the clamping mechanism 8 moves, the first anti-tilt mechanism 5, the first anti-sway mechanism 6 and the second anti-tilt mechanism 7 are used to maintain the stability of the clamping mechanism 8; The hoisting mechanism 4 includes a drum 401, which is rotatably connected to the supporting shell 3, and a cable 402 is fixedly connected and wound on the drum 401, and both ends of the cable 402 are fixedly connected to the drum 401, and a fixed pulley 403 is rotatably connected inside the supporting shell 3, and the fixed pulley 403 is sleeve-connected to the cable 402; The first anti-tilt mechanism 5 includes a mounting frame 501, the mounting frame 501 is fixedly connected to the bottom of the supporting shell 3, and the first extrusion wheel 502, the second extrusion wheel 503, the third extrusion wheel 504 and the fourth extrusion wheel 505 are connected to the mounting frame 501 in a mirror-distributed rotational manner. The first extrusion wheel 502 and the second extrusion wheel 503 jointly extrude one of the cables 402, and the third extrusion wheel 504 and the fourth extrusion wheel 505 jointly extrude the other cable 402. A transmission gear set 506 and a belt transmission set 507 are installed on the mounting frame 501. The transmission ratios of the transmission gear set 506 and the belt transmission set 507 are both 1. The gear set 506 consists of a first transmission gear and a second transmission gear that mesh with each other. The mounting frame 501 is rotationally connected to the first transmission gear and the second transmission gear. The first transmission gear of the transmission gear set 506 is fixedly connected to the second extrusion wheel 503, and the second transmission gear is connected to the belt transmission set 507. The belt transmission set 507 consists of a first transmission pulley, a second transmission pulley and a synchronous belt sleeved on the first transmission pulley and the second transmission pulley. The first transmission pulley and the second transmission pulley are rotationally connected to the mounting frame 501, the first transmission pulley is fixedly connected to the second transmission gear, and the second transmission pulley is fixedly connected to the fourth extrusion wheel 505.

[0021] The first anti-sway mechanism 6 includes a first movable pulley 601, and the first movable pulley 601 is arranged around the bottom of the cable 402 in a mirror-image distribution. The cable 402 is in a double V shape, so that when the cable 402 is wound or released, the stability of the first movable pulley 601 during movement is improved. The mirror-image distributed first movable pulley 601 is rotatably connected to the suspension frame 602. When the second extrusion wheel 503 and the fourth extrusion wheel 505 move, the suspension frame 602 is kept stable through the cable 402. The suspension frame 602 is slidably connected to the first sliding frame 603. The first sliding frame 603 is mirror-image-distributedly installed with a laser radar 6031. The laser radar 6031 is electrically connected to the external control room through a wire for The distribution of obstacles around the cargo is displayed in real time, so that the staff can adjust the cargo posture in time. The first sliding frame 603 is fixedly connected with a guide rod 604 in a mirror distribution, and the guide rod 604 is slidably connected with a second sliding frame 605. The second sliding frame 605 is in sliding contact with the first sliding frame 603. The first sliding frame 603 and the second sliding frame 605 are commonly connected with a first spring. A protective shell 606 is commonly fixedly connected to one side of the second sliding frame 605 in a mirror distribution. A telescopic rod 607 is installed between the protective shell 606 and the suspension frame 602. The protective shell 606 is rotatably connected with a second movable pulley 608 in a mirror distribution, and the second movable pulley 608 is in contact with the cable 402.

[0022] It also includes a planetary gear set 609, which is installed in a mirror-distributed manner inside the protective housing 606. The planetary gear set 609 consists of a gear ring, a sun gear, and several planetary gears meshing with the gear ring and the sun gear. The gear ring is fixed to the protective housing 606, and several planetary gears are rotatably connected to the second movable pulley 608. The sun gear is rotatably connected to a counterweight ring 610.

[0023] The hoisting mechanism 4 also includes a first motor 404, which is fixedly mounted on the supporting shell 3, the output shaft of the first motor 404 passes through the supporting shell 3 and is fixedly connected to a first friction column 405, the first friction column 405 is slidably connected to the second friction column 406, the first friction column 405 and the second friction column 406 are installed with a speed adjustment unit, the third friction column 407 is rotatably connected to the supporting shell 3, the fourth friction column 408 is slidably connected to the third friction column 407, a second spring is connected between the fourth friction column 408 and the supporting shell 3, a belt transmission unit is sleeved inside the first friction column 405, the second friction column 406 and the third friction column 407 and the fourth friction column 408, the first friction column 405 and the second friction column 406 can transmit power to the third friction column 407 and the fourth friction column 408 through the belt transmission unit, and the third friction column 407 is fixedly connected to the reel 401.

[0024] The belt drive unit includes a transmission belt 409, and the transmission belt 409 is connected to the first friction column 405, the second friction column 406, the third friction column 407 and the fourth friction column 408. A plurality of transmission frames 410 are fixedly connected to the transmission belt 409, and circular slide grooves are arranged on the transmission frame 410 in a mirror-image distribution. A round ball 411 is slidably connected in the circular slide groove, and a third spring is connected between the round ball 411 and the circular slide groove. The first friction column 405, the second friction column 406, the third friction column 407 and the fourth friction column 408 are all provided with a limiting groove, and the limiting groove is clamped with a plurality of round balls 411. The limiting groove is used to increase the effective contact area between the round ball 411 and the first friction column 405, the second friction column 406, the third friction column 407 and the fourth friction column 408, thereby improving the load capacity of the belt drive unit.

[0025] The speed regulating unit includes a connecting rod 412, and a plurality of connecting rods 412 are rotatably connected to the first friction column 405 in a circumferentially distributed manner. The connecting rod 412 is arc-shaped, so that the connecting rod 412 can rotate on the first friction column 405. A plurality of connecting rods 412 are rotatably connected to each other with a slider 413. The second friction column 406 is provided with a plurality of rectangular slide grooves, and the plurality of rectangular slide grooves correspond to the plurality of sliders 413 one by one and are slidably connected. A support column 414 is fixedly connected to the support shell 3, and a fourth spring is fixedly connected to the support column 414. An extrusion ring 415 is fixedly connected to one end of the fourth spring, and the extrusion ring 415 is in contact with the connecting rod 412.

[0026] The second anti-tilt mechanism 7 includes a sealing frame 701, the sealing frame 701 is fixedly connected to the bottom of the suspension frame 602, the sealing frame 701 is filled with liquid, a double-headed push rod 702 is slidably connected to the sealing frame 701, a floating plate 703 is fixedly connected to the double-headed push rod 702, and a gap is left between the floating plate 703 and the inner wall of the sealing frame 701, so that the speed of the floating plate 703 is limited when moving in the sealing frame 701, so as to avoid the floating plate 703 from making an erroneous judgment on the tilting posture of the cargo and improve the anti-interference ability of the floating plate 703, and a third sliding frame 704 is slidably connected to the bottom of the suspension frame 602, and the third sliding frame 70 4, pressure sensors 705 are installed in a mirror-image distribution. When the third sliding frame 704 is tilted, the double-headed push rod 702 can contact one of the pressure sensors 705. A hollow shaft motor 706 is fixedly installed at the bottom of the suspension frame 602. The hollow shaft motor 706 is electrically connected to the two pressure sensors 705. The rotation speed of the hollow shaft motor 706 is positively correlated with the pressure applied to the pressure sensors 705. A screw rod 707 is fixedly connected to the inner wall of the output of the hollow shaft motor 706. The screw rod 707 is threadedly connected to the third sliding frame 704. The bottom of the third sliding frame 704 is connected to the clamping mechanism 8.

[0027] The clamping mechanism 8 includes a second motor 801, the second motor 801 is installed at the bottom of the third sliding frame 704, the output shaft of the second motor 801 passes through the third sliding frame 704 and is fixedly connected to the claw body 802, the bottom of the third sliding frame 704 is rotatably connected to the claw body 802, the bottom of the claw body 802 is slidably connected to the clamping claw housing 803, the bottom of the claw body 802 is fixedly connected to the rack 804, the first gear 805 and the second gear 806 are rotatably connected in the clamping claw housing 803, and the first gear 805 is meshed with the first gear 806. The rack 804 and the second gear 806, one end of the second gear 806 is fixedly connected to the first pulley 807, the second pulley 808 is rotatably connected in the clamp housing 803, the first pulley 807 and the second pulley 808 are jointly sleeved with a friction belt 809, and the surface of the friction belt 809 is provided with protrusions to increase the friction force of the friction belt 809 when grabbing goods, and a bidirectional motor 810 is fixedly installed in the clamp housing 803, and the output end of the bidirectional motor 810 is fixedly connected to the second gear 806 distributed in a mirror image.

[0028] The second anti-sway mechanism 9 includes an airtight shell 901, and the airtight shell 901 is fixedly connected to the supporting shell 3. A flow limiting valve 902 and a one-way valve 903 are sealed and installed on the airtight shell 901. The flow limiting valve 902 and the one-way valve 903 make the gas flow out of the airtight shell 901 faster than the gas flows into the airtight shell 901. A piston rod 904 is slidably connected in the airtight shell 901, and a guide groove is provided on the piston rod 904. A driving cylinder 905 is slidably connected in the guide groove. The driving cylinder 905 is sleeved on the outer wall of the piston rod 904, and the driving cylinder 905 is fixedly connected to the fixed pulley 403.

[0029] The second anti-sway mechanism 9 also includes a positioning shell 906, the cable 402 runs through the positioning shell 906, the top of the positioning shell 906 is fixedly connected to the cable 402 and the bottom is slidably connected to the positioning shell 906, a rotating pressure handle 907 is rotatably connected inside the positioning shell 906, a torsion spring is connected between the positioning shell 906 and the rotating pressure handle 907, the torsion spring can rotate the rotating pressure handle 907 so that the tension of the cable 402 is absorbed by the torsion spring, and a third movable pulley 908 is rotatably connected to the rotating pressure handle 907 in a mirror-image distribution, and the third movable pulley 908 contacts the cable 402.

[0030] In the initial state, the mirror-imaged clamping shells 803 are far away from each other, and the first anti-sway mechanism 6, the second anti-tilt mechanism 7 and the clamping mechanism 8 do not have a center of gravity shift, so that the clamping shell 803 is vertically downward. The staff first needs to move the clamping shell 803 around the goods to facilitate the equipment to carry the goods, start the first walking frame 1, move the first walking frame 1 around the goods, and drive the second walking frame 2 to move synchronously, then the staff closes the first walking frame 1 and starts the second walking frame 2, so that the second walking frame 2 moves on the guide rail of the first walking frame 1, and drives the support shell 3 to move synchronously. During the movement of the support shell 3, the cable 402 is driven to move by the drum 401, so that the first anti-sway mechanism 6 passes through the second anti-tilt mechanism 7 at its bottom, so that the first anti-sway mechanism 6 The anti-tilt mechanism 7 drives the clamping mechanism 8 to move to just above the cargo, and then the staff closes the second walking frame 2 and starts the first motor 404. Taking the first motor 404 on the front side as an example, the output shaft of the first motor 404 rotates to drive the first friction column 405 to rotate. During the rotation, the first friction column 405 drives the second friction column 406 to rotate synchronously, so that the first friction column 405 and the second friction column 406 drive the ball 411 to revolve around the axis of the first friction column 405 through their own limiting grooves. The revolution of the ball 411 drives the transmission frame 410 to rotate synchronously, and then all the transmission frames 410 move through the transmission belt 409. The transmission frame 410 moves through the ball 411 to squeeze the limiting grooves of the third friction column 407 and the fourth friction column 408. , and then the third friction column 407 and the fourth friction column 408 keep rotating. At this time, the third friction column 407 drives the drum 401 to rotate synchronously, and at the same time, the drum 401 releases the cable 402 wrapped around its outer wall, so that the first movable pulley 601 rolls downward under the friction of the cable 402 through gravity, and drives the first anti-sway mechanism 6 to move downward. During the downward movement of the first anti-sway mechanism 6, it drives the second anti-tilt mechanism 7 to move synchronously, so that the second anti-tilt mechanism 7 drives the clamping mechanism 8 to move downward and close to the cargo, and finally the clamping claw shell 803 at the bottom of the clamping claw shell 803 moves around the cargo, so that the friction belt 809 clamps the cargo when the clamping claw shell 803 moves. Then the staff turns off the first motor 404 and starts the bidirectional motor 810 to make the bidirectional motor 810 move downward. The output shaft of the motor 810 rotates to drive the second gear 806 to rotate. The rotation of the second gear 806 causes the first gear 805 to mesh and roll on the rack 804, thereby causing the first gear 805 to drive the mirror-distributed clamping jaw housings 803 to approach each other. While the second gear 806 rotates, the second gear 806 drives the first pulley 807 to rotate synchronously, so that the first pulley 807 cooperates with the second pulley 808 to drive the friction belt 809 to rotate, so that the protrusions on the surface of the friction belt 809 squeeze and roll up the goods, so that the goods are clamped by the friction belt 809 until the mirror-distributed friction belts 809 contact each other, completing the clamping of the goods by the friction belt 809, wherein the protrusions on the surface of the friction belt 809 enable the friction belt 809 to adaptively clamp goods of different shapes.This ensures the reliability of the friction belt 809 in clamping the goods, and the protrusions on the surface of the friction belt 809 can further limit the possibility of the goods moving when being clamped, thereby ensuring the stability of the friction belt 809 in clamping the goods.

[0031] After the friction belt 809 completes the clamping of the goods, the staff needs to lift the goods before carrying the goods to reduce the possibility of collision between the goods and obstacles. The staff starts the first motor 404, so that the output shaft of the first motor 404 drives the second friction column 406 to rotate synchronously through the first friction column 405. During the rotation of the second friction column 406, the slider 413 slides in the rectangular slide groove of the second friction column 406 through centrifugal force, so that the slider 413 drives the connecting rod 412 to rotate on the first friction column 405, and the connecting rod 412 compresses the fourth spring by squeezing the squeezing ring 415. The connecting rod 412 rotates on the first friction column 405 and drives the second friction column 406 to move through the slider 413, so that the second friction column 406 reduces the impact of the ball 411 is pressed against the third spring, thereby releasing the third spring to squeeze the ball 411, ensuring the fit between the ball 411 and the second friction column 406 and improving the load capacity of the ball 411. It is worth noting that since the length of the transmission belt 409 is fixed, the movement of the second friction column 406 reduces the tension of the ball 411 on the transmission belt 409 through the transmission frame 410. The tension in the middle of the transmission belt 409 is reduced, resulting in a lower degree of tension in the middle, so that when the second spring squeezes the ball 411 through the fourth friction column 408, the force of the ball 411 controlling the transmission frame 410 to squeeze the transmission belt 409 through the third spring is greater than the tension of the transmission belt 409, thereby further releasing the second spring, and the fourth friction column 408 is squeezed and moved by the second spring, causing the ball 411 to pass through the third friction column 408. The spring controls the transmission frame 410 to squeeze the transmission belt 409, thereby increasing the tension of the transmission belt 409 and making the ball 411 move away from the axis of the third friction column 407 along the limiting grooves of the third friction column 407 and the fourth friction column 408. During the dynamic change of the tension of the transmission belt 409, the transmission belt 409 always controls the third spring through the transmission frame 410 to drive the ball 411 to squeeze the first friction column 405 and the second friction column 406, so that the ball 411 moves along the limiting grooves of the first friction column 405 and the second friction column 406 close to the axis of the first friction column 405, so that the rotation of the first friction column 405 and the second friction column 406 can drive the third friction column 407 and the fourth friction column 408 to rotate faster. It is worth noting that when the ball 4 When the ball 411 slides into the limiting grooves of the first friction column 405, the second friction column 406, the third friction column 407 and the fourth friction column 408 through revolution, the ball 411 is engaged with the limiting groove to prevent the first motor 404 from falling off the limiting groove when a large instantaneous load is generated, thereby preventing the ball 411 from detaching from the first friction column 405, the second friction column 406, the third friction column 407 and the fourth friction column 408 under a large instantaneous load. When the ball 411 does not slide into the limiting grooves of the first friction column 405, the second friction column 406, the third friction column 407 and the fourth friction column 408, the first friction column 405, the second friction column 406, the third friction column 407 and the fourth friction column 408 completely compress the third spring by squeezing the ball 411.Since the ball 411 slides in the transmission frame 410, the ball 411 can pass through the friction generated by the first friction column 405, the second friction column 406, the third friction column 407 and the fourth friction column 408 to squeeze the ball 411, thereby preventing the ball 411 from detaching from the first friction column 405, the second friction column 406, the third friction column 407 and the fourth friction column 408 under an instantaneous large load, thereby preventing the belt transmission unit from detaching from the first friction column 405, the second friction column 406, the third friction column 407 and the fourth friction column 408, thereby improving the stability of the belt transmission unit. The radius of the first friction column 405, the second friction column 406, the third friction column 407, and the fourth friction column 408 changes smoothly during revolution, so that the rotation speed of the drum 401 changes smoothly. The drum 401 rotates and drives the first anti-sway mechanism 6 to move upward through the cable 402. The first anti-sway mechanism 6 drives the clamping mechanism 8 to drive the goods to move smoothly and accelerate through the second anti-tilt mechanism 7, thereby preventing the goods from becoming unstable due to excessive speed changes during the rising process, thereby further improving the stability of the equipment when moving goods. When the clamping mechanism 8 moves upward and resets, the first motor 404 is turned off to complete the lifting of the goods.

[0032] In the process of lifting the goods upward, the goods will tilt due to the eccentric center of gravity when clamping. The tilt of the goods will increase the risk of the goods falling off, resulting in safety accidents. The tilt of the goods will also increase the possibility of collision with obstacles when the goods move. When the goods are lifted upward, the eccentric center of gravity of the goods will cause the loads of the two cables 402 to be different. When the load of the cable 402 is large, the speed at which the first motor 404 drives the cable 402 to reel in will be slow. When the load of the cable 402 is small, the speed at which the first motor 404 drives the cable 402 to reel in will be fast, causing the goods to tilt when lifted upward. It is worth noting that the transmission The transmission ratios of the gear set 506 and the belt transmission set 507 are both 1. When the two cables 402 are wound up, they will drive the first extrusion wheel 502, the second extrusion wheel 503, the third extrusion wheel 504 and the fourth extrusion wheel 505 to rotate. Since the first extrusion wheel 502 and the second extrusion wheel 503 squeeze the same cable 402, the third extrusion wheel 504 and the fourth extrusion wheel 505 squeeze the same cable 402, and the second extrusion wheel 503 keeps the same speed as the third extrusion wheel 504 through the transmission gear set 506 and the belt transmission set 507, the first extrusion wheel 502, the second extrusion wheel 503, the third extrusion wheel 504 and the fourth extrusion wheel 505 are rotated. The fourth squeezing wheel 505 will limit the winding speed of the cable 402, so that the winding speeds of the two cables 402 are consistent, so that the first anti-sway mechanism 6 mounted on the cable 402 remains in a stable state. At the same time, when the center of gravity of the cargo is eccentric in the front-to-back direction, the two cables 402 are subjected to different tensions. At this time, the first spring is released on the first sliding frame 603 to push the second sliding frame 605 to slide on the guide rod 604, so that the second sliding frame 605 drives the protective shell 606 to move synchronously. The movement of the protective shell 606 will lengthen the telescopic rod 607 and drive the second movable pulley 608 to squeeze the cable 402. When the cable 4 When the tension is small, the second movable pulley 608 squeezes the cable 402 to move a longer distance, so that the second movable pulley 608 drives the second sliding frame 605 to move through the protective shell 606, and the second sliding frame 605 is limited by the cable 402 after contacting the cable 402. At this time, the first spring is not completely released, so that the second sliding frame 605 drives the first sliding frame 603 to adjust its position through the first spring, and the first sliding frame 603 moves through the second anti-tilt mechanism 7 to make the clamping mechanism 8 drive the cargo to move, so that the center of gravity of the cargo moves to the bottom of the suspension frame 602, thereby improving the stability of the cargo during clamping and movement;When the cargo is eccentric in the left and right directions, the cargo will tilt, and the friction belt 809 will drive the jaw shell 803 to tilt synchronously. The jaw shell 803 tilts so that the jaw body 802 drives the third sliding frame 704 to tilt synchronously, thereby causing the first sliding frame 603 to tilt synchronously. The first sliding frame 603 tilts so that the sealing frame 701 drives the floating plate 703 to tilt synchronously through the double-headed push rod 702. When the cargo tilts, the floating plate 703 drives the double-headed push rod 702 to squeeze the pressure sensor 705 through the buoyancy of the liquid. The shaft motor 706 rotates the screw rod 707 based on the pressure applied to the pressure sensor 705, so that the screw rod 707 drives the clamping mechanism 8 to move through the third sliding frame 704, so that the cargo on the clamping mechanism 8 adjusts its center of gravity, thereby reducing the tilt of the cargo during movement. Since there is a gap between the floating plate 703 and the inner wall of the sealing frame 701, the liquid in the gap between the floating plate 703 and the inner wall of the sealing frame 701 flows slowly, thereby reducing the interference of the large change in the tilt of the cargo in a short period of time on the adjustment of the center of gravity of the cargo. ;

[0033] After the clamping mechanism 8 moves upward and resets, the staff needs to move the goods above the destination and place the goods steadily and accurately at the destination. The staff starts the first walking frame 1 to move the first walking frame 1 and drive the second walking frame 2 to move synchronously, so that the second walking frame 2 drives the hoisting mechanism 4 to move synchronously through the supporting shell 3. The movement of the hoisting mechanism 4 causes the first anti-sway mechanism 6 to drive the clamping mechanism 8 to move synchronously through the second anti-tilt mechanism 7, so that the clamping mechanism 8 drives the goods to move. In the process of moving the goods forward and backward, on the one hand, the goods may bump into obstacles, thereby increasing the risk of the goods escaping from the equipment and causing safety accidents and damage to the equipment and goods. At this time, the laser radar 6 031 scans the surrounding environment, and the laser radar 6031 transmits the obstacle data obtained by the scan to the operator's cab through a wire, so that the operator can get a timely warning, thereby driving the cargo to adjust the height through the hoisting mechanism 4, and driving the cargo to adjust the left and right position through the second walking frame 2, and the operator starts the second motor 801 to rotate the output shaft of the second motor 801, and controls the rotation of the clamping claw shell 803 through the claw body 802, and then the clamping claw shell 803 drives the cargo to rotate through the friction belt 809, so that the cargo changes its posture to avoid obstacles in time, thereby improving the flexibility of cargo to avoid obstacles. On the other hand, the cable 402 will reduce its own flexibility and tension. The cable 402 sways, causing its own local tension to decrease, or even bend. The reduced tension in the cable 402 releases the torsion spring, causing the torsion spring to drive the third movable pulley 908 to rotate by rotating the pressure handle 907, thereby causing the third movable pulley 908 to squeeze the cable 402 in the positioning housing 906, causing the third movable pulley 908 to overcome the tension and bending resistance of the cable 402, thereby bending the cable 402. The bending of the cable 402 in the positioning housing 906 shortens the length of the cable 402 outside the positioning housing 906, thereby reducing the swaying radius of the cargo, dissipating the energy of the cargo when it is swaying, and alleviating the swaying of the cargo. As the cargo moves downward while swaying, the tension in the cable 402 becomes smaller. The third movable pulley 908 is large, so that the cable 402 drives the rotating pressure handle 907 to rotate through the tension squeeze of the third movable pulley 908, and the rotating pressure handle 907 squeezes the torsion spring to realize the reset of the rotating pressure handle 907; on the other hand, the cargo sways back and forth to change the tension of the cable 402. Since the moving direction of the second movable pulley 608 is not perpendicular to the cable 402, the first spring drives the second movable pulley 608 to squeeze and fit the cable 402 to rotate. The rotation of the second movable pulley 608 drives the counterweight ring 610 to rotate in the opposite direction through the planetary gear set 609, so that the torque of the counterweight ring 610 is offset by the torque generated when the cargo sways, thereby reducing the swaying of the cargo and improving the stability of the cargo when it moves back and forth.When the first traveling frame 1 moves to the vicinity of the destination, the first traveling frame 1 is stopped and the second traveling frame 2 is started, so that the second traveling frame 2 moves on the guide rail of the first traveling frame 1, and drives the hoisting mechanism 4 to move through the supporting shell 3. The hoisting mechanism 4 moves and drives the second anti-tilt mechanism 7 to move through the first anti-sway mechanism 6, so that the second anti-tilt mechanism 7 drives the goods to move left and right through the clamping mechanism 8. In the process of the goods moving left and right, the cable 402 will shake due to its own flexibility and the reduction of tension. On the one hand, the reduction of the tension of the cable 402 will release the torsion spring, thereby repeating the above process of wasting the shaking energy of the goods, reducing the shaking of the goods. On the other hand, the left and right shaking of the cable 402 will cause the fixed pulley 403 to drive the driving cylinder 905 to rotate through the friction force. When the cable 402 shakes and moves upward, the fixed pulley 403 drives the piston rod 904 through the driving cylinder 905 to squeeze the gas in the airtight shell 901, so that the gas in the airtight shell 901 is discharged through the limiting valve 902 and the one-way valve 903. When the cable 402 shakes and moves downward, the fixed pulley 403 drives the piston rod 904 to reset through the driving cylinder 905. The piston rod 904 is reset to allow the gas to enter the airtight shell 901 through the limiting valve 902. Since the one-way valve 903 can only discharge the gas in the airtight shell 901 The gas is discharged, so the speed at which the airtight casing 901 discharges gas outwards is faster than the speed at which the airtight casing 901 inhales air from the outside, which slows down the rotation speed of the fixed pulley 403 when it rotates to reset, thereby wasting energy when the goods are swaying, reducing the swaying of the goods, and improving the stability of the goods when they are moved. When the second traveling frame 2 drives the clamping mechanism 8 to move above the destination, the second traveling frame 2 is turned off, and the first motor 404 is restarted, so that the first motor 404 repeats the above process of driving the clamping mechanism 8 to move downward, so that the clamping mechanism 8 drives the goods to move to the destination. Then the staff turns off the first motor 404 and starts the bidirectional motor 810. The bidirectional motor The output shaft of the machine 810 rotates in the opposite direction, so that the second gear 806 drives the first gear 805 to rotate in the opposite direction on the rack 804, thereby driving the clamping jaw housing 803 to move on the claw body 802, so that the two clamping jaw housings 803 move away from each other. During the process of the two clamping jaw housings 803 moving away from each other, the second gear 806 drives the friction belt 809 to rotate through the first pulley 807, so that the protrusion on the friction belt 809 puts the goods down until the clamping jaw housing 803 is reset on the claw body 802, and the transportation of the goods is completed. Then the staff starts the first motor 404, repeats the above process of the clamping mechanism 8 moving upward, and completes the reset of the clamping mechanism 8. ;

[0034] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A lifting equipment with obstacle avoidance and early warning function, comprising a first traveling frame, a second traveling frame being mounted on the first traveling frame via a guide rail, and a supporting shell being mounted on the second traveling frame, characterized in that: It also includes a winch mechanism, a winch mechanism is installed in a mirror-image distribution inside the supporting shell, a first anti-tilt mechanism is arranged at the bottom of the two winch mechanisms, a first anti-sway mechanism is arranged at the bottom of the first anti-tilt mechanism, a second anti-tilt mechanism is installed at the bottom of the first anti-sway mechanism, and a clamping mechanism is arranged at the bottom of the second anti-tilt mechanism, and the first anti-tilt mechanism, the first anti-sway mechanism and the second anti-tilt mechanism are used to maintain the stability of the clamping mechanism; the winch mechanism includes a drum, a drum is rotatably connected to the supporting shell, a cable is fixedly connected and wound on the drum, a fixed pulley is rotatably connected to the supporting shell in a mirror-image distribution inside the supporting shell, and the fixed pulley is connected to the cable sleeve type; the first anti-tilt mechanism includes a mounting frame, a mounting frame is fixedly connected to the bottom of the supporting shell, a first extrusion wheel, a second extrusion wheel, a third extrusion wheel and a fourth extrusion wheel are rotatably connected on the mounting frame in a mirror-image distribution, the first extrusion wheel and the second extrusion wheel jointly extrude the cable, the third extrusion wheel and the fourth extrusion wheel jointly extrude the cable, a transmission gear group is installed on the mounting frame, a belt transmission group is installed on one side of the transmission gear group, the transmission gear group is connected to the second extrusion wheel, and the belt transmission group is connected to the fourth extrusion wheel.

2. The lifting equipment with obstacle avoidance and warning function according to claim 1 is characterized in that: The first anti-sway mechanism includes a first movable pulley, and the first movable pulley is mirror-distributed around the bottom of the cable, the mirror-distributed first movable pulley is rotatably connected to the suspension frame, the first sliding frame is slidably connected to the suspension frame, a laser radar is mirror-distributed installed on the first sliding frame, and a guide rod is fixedly connected to the first sliding frame in a mirror-distributed manner, the guide rod is slidably connected to the second sliding frame, the second sliding frame is in sliding contact with the first sliding frame, a first spring is connected between the first sliding frame and the second sliding frame, a protective shell is commonly fixedly connected to one side of the mirror-distributed second sliding frame, a telescopic rod is installed between the protective shell and the suspension frame, a second movable pulley is mirror-distributed and rotatably connected in the protective shell, and the second movable pulley is in contact with the cable.

3. The lifting equipment with obstacle avoidance and warning function according to claim 2 is characterized in that: It also includes a planetary gear set, which is mirror-distributed and installed in the protective housing. The planetary gear set is connected to the second movable pulley and the counterweight ring respectively.

4. The lifting equipment with obstacle avoidance and warning function according to claim 3 is characterized in that: The winch mechanism also includes a first motor, which is installed on the supporting shell, the output shaft of the first motor passes through the supporting shell and is fixedly connected to the first friction column, the second friction column is slidably connected to the first friction column, the first friction column and the second friction column are installed with a speed adjustment unit, the third friction column is rotatably connected to the supporting shell, the fourth friction column is slidably connected to the third friction column, a second spring is connected between the fourth friction column and the supporting shell, a belt transmission unit is sleeved inside the first friction column, the second friction column, the third friction column and the fourth friction column, and the third friction column is fixedly connected to the reel.

5. The lifting equipment with obstacle avoidance and warning function according to claim 4 is characterized in that: The belt drive unit includes a transmission belt, and the transmission belt is arranged in the first friction column, the second friction column, the third friction column and the fourth friction column. A plurality of transmission frames are fixedly connected to the transmission belt, and circular slide grooves are arranged on the transmission frame in a mirror distribution. Round balls are slidably connected in the circular slide grooves, and a third spring is connected between the round balls and the circular slide grooves. Limiting grooves are arranged on the first friction column, the second friction column, the third friction column and the fourth friction column, and the limiting grooves are clamped with the plurality of round balls.

6. The lifting equipment with obstacle avoidance and warning function according to claim 5, characterized in that: The speed adjustment unit includes a connecting rod, a first friction column is circumferentially distributed and rotatably connected to a plurality of connecting rods, a plurality of connecting rods are rotatably connected to a plurality of sliding blocks, a second friction column is provided with a plurality of rectangular sliding grooves, the plurality of rectangular sliding grooves correspond to a plurality of sliding blocks one by one and are slidably connected, a support column is fixedly connected in the support shell, a fourth spring is fixedly connected to the support column, an extrusion ring is fixedly connected to one end of the fourth spring, and the extrusion ring is in contact with the connecting rod.

7. The lifting equipment with obstacle avoidance and warning function according to claim 6 is characterized in that: The second anti-tilt mechanism includes a sealing frame, a sealing frame is fixedly connected to the bottom of the suspension frame, a double-headed push rod is slidably connected to the sealing frame, a floating plate is fixedly connected to the double-headed push rod, a third sliding frame is slidably connected to the bottom of the suspension frame, a pressure sensor is installed in the third sliding frame in a mirror-image distribution, the double-headed push rod is in contact with the pressure sensor, a hollow shaft motor is fixedly installed at the bottom of the suspension frame, the hollow shaft motor is electrically connected to the pressure sensor, a screw rod is fixedly connected to the output inner wall of the hollow shaft motor, the screw rod is threadedly connected to the third sliding frame, and the bottom of the third sliding frame is connected to the clamping mechanism.

8. The lifting equipment with obstacle avoidance and warning function according to claim 7 is characterized in that: The clamping mechanism includes a second motor, a second motor is installed at the bottom of the third sliding frame, the output shaft of the second motor passes through the third sliding frame and is fixedly connected to the claw body, the bottom of the third sliding frame is rotatably connected to the claw body, the bottom of the claw body is slidably connected to a clamping jaw shell, the bottom of the claw body is fixedly connected to a rack, a first gear and a second gear are rotatably connected in the clamping jaw shell, the first gear meshes with the rack and the second gear, one end of the second gear is fixedly connected to a first pulley, and a second pulley is rotatably connected in the clamping jaw shell, the first pulley and the second pulley are jointly covered with a friction belt, a bidirectional motor is fixedly installed in the clamping jaw shell, and the output end of the bidirectional motor is fixedly connected to the second gear distributed in a mirror image.

9. The lifting equipment with obstacle avoidance and warning function according to claim 8, characterized in that: The second anti-sway mechanism includes an airtight shell, an airtight shell is fixedly connected to the supporting shell, a flow limiting valve and a one-way valve are sealed and installed on the airtight shell, a piston rod is slidably connected in the airtight shell, a guide groove is provided on the piston rod, a driving cylinder is slidably connected in the guide groove, the driving cylinder is sleeved on the outer wall of the piston rod, and the driving cylinder is fixedly connected to the fixed pulley.

10. The lifting equipment with obstacle avoidance and warning function according to claim 9, characterized in that: The second anti-sway mechanism also includes a positioning shell, a cable runs through the positioning shell, the top of the positioning shell is fixedly connected to the cable and the bottom is slidably connected to the positioning shell, a rotating pressure handle is rotatably connected inside the positioning shell, a torsion spring is connected between the positioning shell and the rotating pressure handle, and a third movable pulley is rotatably connected to the rotating pressure handle in a mirror-image distribution, and the third movable pulley is in contact with the cable.

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