An automatic leveling device for stacker crane platform and anti-tangling rope reel

Abstract

This invention relates to the field of automated warehousing and logistics technology, specifically to an automatic leveling and anti-tangling device for a stacker crane platform. The device includes a horizontal moving platform, a vertical frame mounted on the surface of the platform, a lifting frame slidably mounted on the vertical frame, a loading platform on the lifting frame, a drum, and a wire rope. One end of the wire rope is connected to the lifting frame, and the other end is wound around a motor-driven drum. In this invention, a gravity sensing mechanism converts the platform's tilt angle into mechanical displacement using a pendulum and slider structure; a center-of-gravity adjustment mechanism uses hydraulic medium to transmit pressure, driving a counterweight to move and adjust the center of gravity, restoring the platform to a horizontal position; and a cable guiding mechanism, through a movable guide wheel assembly linked with the counterweight, dynamically compensates for the difference in path length between the wire ropes on both sides, thereby simultaneously achieving coordinated control of leveling and anti-tangling, significantly improving the stability, safety, and reliability of the equipment operation.

Description

Technical Field

[0001] This invention relates to the field of automated warehousing and logistics technology, specifically to an automatic leveling device for a stacker crane platform and a device for preventing rope tangling on a drum. Background Technology

[0002] Automated storage and retrieval systems (AS / RS) are a key component of modern logistics systems. Stacker cranes, as the core equipment in AS / RS for vertical storage and retrieval of goods, directly affect the operational efficiency and safety of the entire warehousing system through their stability and reliability. Stacker cranes typically operate back and forth within the aisles of the AS / RS, lifting and moving goods horizontally via loading platforms to achieve storage and retrieval of goods at designated locations.

[0003] The stacker crane's platform is suspended or pulled by flexible components such as wire ropes or chains. During the storage and retrieval of goods, the platform is prone to tilting due to various factors, including uneven weight distribution of goods, vibration during operation, and structural fatigue deformation caused by long-term use. Platform tilting not only causes unstable placement of goods but may also lead to goods slipping and being damaged, causing safety accidents. It also results in uneven tension and asynchronous lengths of the lifting wire ropes.

[0004] Stacker cranes typically use motor-driven drums to rotate, raising or lowering the platform by winding or releasing wire ropes. Asynchronous winding on the drum can lead to the wire ropes failing to maintain tight, equidistant parallel winding, resulting in serious consequences such as rope tangling, rope slippage, or even rope biting. Once tangling occurs, it not only drastically accelerates wire rope wear and fatigue, causing premature breakage, but can also jam the drum, rendering the entire lifting system inoperable.

[0005] Therefore, an automatic leveling device for the stacker crane platform and an anti-tangling rope device for the drum are proposed to solve the above-mentioned problems. Summary of the Invention

[0006] Technical problems to be solved

[0007] To address the aforementioned shortcomings of existing technologies, this invention provides an automatic leveling device for a stacker crane platform and an anti-tangling device for the lifting wire rope. This device solves the problem of uneven load on the stacker crane platform and the resulting tangling of the lifting wire rope, achieving the technical objective of automatically maintaining the platform level and ensuring orderly winding of the wire rope without external power or sensors.

[0008] Technical solution

[0009] To achieve the above objectives, the present invention provides the following technical solution:

[0010] This invention provides an automatic leveling device for a stacker crane platform and an anti-tangling rope device for a drum. It includes a horizontal moving platform with a vertical frame on the platform. A slidable lifting frame is mounted on the vertical frame. The lifting frame has a loading platform, a drum, and a wire rope. One end of the wire rope is connected to the lifting frame, and the other end is wound around a drum driven by a motor. The vertical frame, drum, and wire rope are all configured in two sets, with each set connected to one end of the lifting frame. The lifting frame is equipped with a gravity sensing mechanism for sensing the tilt angle of the lifting frame and a center of gravity adjustment mechanism. The center of gravity adjustment mechanism dynamically adjusts the position of a counterweight on the lifting frame based on the tilt angle sensed by the gravity sensing mechanism, thereby adjusting the center of gravity of the lifting frame.

[0011] Furthermore, the lifting frame is also equipped with a cable guide mechanism that connects to the counterweight, and the tension between the two sets of wire ropes is adjusted synchronously as the counterweight moves.

[0012] Furthermore, the gravity sensing mechanism includes a pendulum rotatably connected to the lifting frame via a fixed shaft. Two sets of sliding rods are symmetrically arranged on both sides of the pendulum. A slider is slidably mounted on each set of sliding rods via a spring. The lower end of the slider is set as an inclined plane and abuts against the side of the pendulum under the elastic force of the spring.

[0013] Furthermore, the center of gravity adjustment mechanism includes an air pipe installed on the lifting frame, with a first piston rod and a second piston rod slidably installed at both ends of the air pipe, and the air pipe is filled with hydraulic medium; the first piston rod is connected to the slider, and the second piston rod is connected to the counterweight.

[0014] Furthermore, the cable guiding mechanism includes a fixed frame fixedly installed on the surface of the lifting frame and a movable frame connected to the counterweight. A first guide wheel assembly is installed on the fixed frame, and a second guide wheel assembly is installed on the movable frame. The wire rope passes through the first guide wheel assembly and the second guide wheel assembly in sequence.

[0015] Furthermore, the cable guiding mechanism also includes a torsion spring shaft rotatably connected to the fixed frame, on which a gear and a rocker arm are coaxially fixed, and at the end of the rocker arm is a pressure plate that abuts against the surface of the wire rope under the action of the torsion spring force.

[0016] Furthermore, a rack that meshes with the gear is connected to the movable frame.

[0017] Furthermore, the pendulum has a T-shaped cross-section.

[0018] Furthermore, the first piston rod is configured in an L-shape.

[0019] Beneficial effects

[0020] The technical solution provided by this invention has the following advantages compared with the prior art:

[0021] This invention employs a T-shaped pendulum, a spring-loaded slider, and an inclined plane structure to form a purely mechanical gravity sensing mechanism. When the platform tilts, the pendulum remains vertical under the influence of gravity. Its rotation relative to the tilted platform pushes one side of the slider upward against the spring force, while the other side of the slider moves downward under the spring force. This directly converts the tilt angle into a pair of precise mechanical displacements in opposite directions and proportional in magnitude. This achieves highly sensitive and delay-free detection of the platform's tilt state and converts the detection signal into a mechanical force that can directly drive subsequent actuators. This provides a reliable input source for the entire system without the need for external power, ensuring high reliability and durability in harsh industrial environments.

[0022] Furthermore, the center-of-gravity adjustment mechanism converts the mechanical displacement output by the gravity sensing mechanism into precise movement of the counterweight through a closed linkage system consisting of an air pipe, a first piston rod, a second piston rod, and hydraulic medium. When tilting, the first piston rods on both sides move in opposite directions under the drive of the slider. Through the incompressibility of the hydraulic medium, the second piston rods on both sides are forced to move the counterweight synchronously from the heavier side (tilting downward side) to the lighter side (tilting lifting side). This can passively and in real time generate a restoring torque to resist tilting, effectively correcting the tilt of the platform. At the same time, the hydraulic linkage ensures absolute synchronization and smoothness in the adjustment process, fundamentally avoiding structural stress and wire rope tension imbalance caused by uneven load, thus improving the safety and stability of the equipment.

[0023] In particular, the cable guiding mechanism intelligently integrates center-of-gravity adjustment and wire rope tension management. By directly connecting the movable frame and the second guide wheel assembly to the counterweight, the movement of the counterweight synchronously changes the path length of the wire ropes on both sides: shortening the path on the inclined descent side to release excess cable and alleviate over-tightness, and lengthening the path on the inclined lifting side to tighten and loosen the cable. Its beneficial effect is the realization of dynamic and adaptive compensation for wire rope tension, directly eliminating the problem of uneven cable tension caused by platform tilt, effectively preventing wear from over-tightness and swaying and skipping caused by looseness. Furthermore, through the design of racks, gears, and pressure plates with torsion springs, the guiding pressure can be adaptively adjusted according to cable tension, further ensuring that the wire rope passes through the guide wheels at a stable angle, achieving a unified balance between leveling and anti-tangling, greatly improving the reliability of the entire lifting system. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0025] Figure 1 This is an isometric schematic diagram of the automatic leveling and anti-tangling rope device in an embodiment of the present invention;

[0026] Figure 2 This is a front view schematic diagram of the automatic leveling and anti-tangling rope device in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the integrated structure of the lifting frame in an embodiment of the present invention;

[0028] Figure 4 This is a bottom view schematic diagram of the gravity sensing mechanism on the lifting frame in an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the cable guiding mechanism structure in an embodiment of the present invention;

[0030] Figure 6 This is a schematic cross-sectional view of the center of gravity adjustment mechanism in an embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of the linkage between the gravity sensing mechanism and the center of gravity adjustment mechanism in an embodiment of the present invention.

[0032] The labels in the diagram represent: 1. Horizontal moving platform; 2. Vertical frame; 3. Lifting frame; 4. Loading platform; 5. Drum; 6. Steel wire rope; 7. Gravity sensing mechanism; 701. Fixed shaft; 702. Pendulum; 703. Sliding rod; 704. Spring; 705. Sliding block; 8. Center of gravity adjustment mechanism; 801. Air pipe; 802. First piston rod; 803. Second piston rod; 804. Counterweight; 9. Cable guiding mechanism; 901. Fixed frame; 902. First guide wheel assembly; 903. Movable frame; 904. Second guide wheel assembly; 905. Torsion spring shaft; 906. Swing rod; 907. Gear; 908. Pressure plate; 909. Rack. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0034] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0035] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] In the description of this embodiment, the terms "upper," "lower," "left," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention. In addition, the terms "first" and "second" are used only for distinction in description and have no special meaning.

[0037] The present invention will be further described below with reference to embodiments.

[0038] Example:

[0039] Please refer to the appendix. Figure 1-7 This solution proposes an automatic leveling device for a stacker crane platform and an anti-tangling device for the drum rope, which includes a horizontal moving platform 1, a vertical frame 2, a lifting frame 3, a loading platform 4, a drum 5, and a wire rope 6.

[0040] The horizontal moving platform 1 is installed on a horizontal track to control the horizontal movement of the platform 4 relative to the shelf; the upright frame 2 is installed on the surface of the horizontal moving platform 1, the lifting frame 3 is slidably installed on the upright frame 2, one end of the wire rope 6 is connected to the lifting frame 3, and the other end of the wire rope 6 passes over the top of the upright frame 2 and is wound and installed on the drum 5 set on the surface of the horizontal moving platform 1.

[0041] The drum 5 is driven by a motor installed on the horizontal moving table 1, which in turn winds up and unwinds the wire rope 6, thereby controlling the lifting frame 3 to rise and fall on the upright frame 2. Ultimately, the loading platform 4 installed on the surface of the lifting frame 3 moves vertically relative to the shelf. At the same time, the loading platform 4 is slidably installed on the lifting frame 3 and can slide along the axial direction of the surface of the lifting frame 3, thereby enabling the storage and retrieval of goods at different positions on the shelf.

[0042] The horizontal moving platform 1 has two sets of uprights 2, drums 5, and wire ropes 6 mounted on its surface. The lifting frame 3 is slidably installed between the two sets of uprights 2, and the two sets of wire ropes 6 are respectively connected to the two ends of the lifting frame 3 and are respectively set on the two sets of drums 5 and driven by two sets of motors.

[0043] The lifting frame 3 is sandwiched between two uprights 2, forming a stable portal frame structure. This greatly enhances the rigidity and stability of the entire lifting mechanism, enabling it to safely withstand heavier loads. Furthermore, the weight of the goods and the platform 4 is borne by two sets of steel wire ropes 6 at each end of the lifting frame 3. This ensures that the load is evenly distributed across the uprights 2 on both sides, avoiding problems such as equipment deformation and accelerated wear caused by excessive force on one side.

[0044] The difference is that the lifting frame 3 is also equipped with a gravity sensing mechanism 7, a center of gravity adjustment mechanism 8, and a cable guiding mechanism 9. When the lifting frame 3 tilts due to uneven load distribution on the platform 4, the gravity sensing mechanism 7 is used to sense the tilt angle of the lifting frame 3. At the same time, the center of gravity adjustment mechanism 8 dynamically adjusts the center of gravity position of the lifting frame 3 based on the tilt angle sensed by the gravity sensing mechanism 7, thereby adjusting the tilt amplitude of the lifting frame 3 and restoring the lifting frame 3 to a horizontal state.

[0045] During this process, the cable guide mechanism 9 is used to dynamically compensate the tension of the two sets of wire ropes 6 simultaneously while the center of gravity adjustment mechanism 8 adjusts the level of the lifting frame 3, and stabilizes its guide angle, thereby preventing the wire ropes 6 from swinging, jumping out of the groove or getting tangled due to uneven tension.

[0046] Specifically, the gravity sensing mechanism 7 includes a fixed shaft 701 rotatably connected to the lifting frame 3, and a pendulum 702 is fixedly connected to the surface of the fixed shaft 701.

[0047] When the lifting frame 3 is in a horizontal state, the pendulum 702 remains vertical under the action of gravity. When the lifting frame 3 tilts due to the load on the platform 4, the pendulum 702 will rotate relative to the lifting frame 3, and the rotation angle is proportional to the tilt amplitude of the lifting frame 3, thereby realizing the tilt detection of the lifting frame 3.

[0048] The gravity sensing mechanism 7 also includes a slide bar 703 connected to the lifting frame 3. The slide bar 703 is configured in two sets, located on both sides of the T-shaped pendulum 702. Each set of slide bars 703 is slidably connected to a slider 705 via a spring 704. The lower end of the slider 705 is configured as an inclined plane.

[0049] When the lifting frame 3 is in a horizontal state, both sets of sliders 705 are in contact with the two sides of the pendulum 702 under the elastic force of the spring 704.

[0050] When the lifting frame 3 tilts, the pendulum 702 will rotate relative to the lifting frame 3. During the rotation, the pendulum 702 will push the slider 705 on the tilted downward side to slide upward on the slide bar 703, overcoming the elastic force of the spring 704;

[0051] Simultaneously, the pendulum 702 will move away from the slider 705 on the tilted lifting side, causing the slider 705 on the tilted lifting side to continue sliding downwards under the elastic force of the spring 704. Ultimately, the tilt perception of the lifting frame 3 is converted into mechanical force, which is used to control the operation of the two sets of center of gravity adjustment mechanisms 8 installed on the lifting frame 3, so as to realize the center of gravity adjustment mechanism 8 to adjust the center of gravity of the lifting frame 3, so that the lifting frame 3 remains horizontal.

[0052] More specifically, the center of gravity adjustment mechanism 8 includes an air pipe 801 installed on the lifting frame 3. A first piston rod 802 and a second piston rod 803 are slidably installed at both ends of the air pipe 801. The other end of the first piston rod 802 is connected to the slider 705, and a counterweight 804 is fixedly connected between the two sets of second piston rods 803. At the same time, hydraulic medium is filled in the air pipe 801 between the first piston rod 802 and the second piston rod 803.

[0053] When the lifting frame 3 is in a horizontal state, the first piston rod 802 and the second piston rod 803 are in their initial positions within the air pipe 801, while the counterweight 804 is at its center of gravity on the lifting frame 3. When the lifting frame 3 tilts, it synchronously controls the two sets of sliders 705 to slide in opposite directions on the two sets of second piston rods 803. Both sets of first piston rods 802 are L-shaped and connected to the two sets of sliders 705 respectively, thereby controlling the two sets of first piston rods 802 to slide in opposite directions within the two sets of air pipes 801.

[0054] For the inclined downward side, the slider 705 drives the first piston rod 802 to slide upward in the air pipe 801 and squeezes the hydraulic medium in the air pipe 801, so that the second piston rod 803 on the inclined downward side slides outward under the action of high pressure.

[0055] For the tilting and lifting side, slider 705 drives the first piston rod 802 to slide downwards within the air pipe 801, creating negative pressure in the hydraulic medium within the air pipe 801. This negative pressure causes the second piston rod 803 on the tilting and lifting side to slide inwards. Ultimately, the two sets of second piston rods 803 control the counterweight 804 to move from the tilting and lowering side to the tilting and lifting side. By dynamically moving the position of the counterweight 804, the tilting moment of the lifting frame 3 caused by uneven load distribution on the platform 4 is compensated in real time, thereby restoring and maintaining the lifting frame 3 in a horizontal state.

[0056] It is worth noting that the surface of the lifting frame 3 is also equipped with two sets of cable guiding mechanisms 9. The two sets of cable guiding mechanisms 9 are used to control the tension of the two sets of steel wire ropes 6 connected to the lifting frame 3, thereby eliminating the problem of one side of the steel wire rope being too tight and the other side being too loose due to the tilt of the platform, and fundamentally preventing abnormal wear, jumping, jumping out of the groove and tangling of the steel wire rope.

[0057] The cable guiding mechanism 9 includes a fixed frame 901 connected to the surface of the lifting frame 3, on which a first guide wheel assembly 902 is mounted; the cable guiding mechanism 9 also includes a movable frame 903 connected to the counterweight 804, on which a second guide wheel assembly 904 is mounted; the wire rope 6 passes through the first guide wheel assembly 902 and the second guide wheel assembly 904 in sequence and is then connected to the surface of the lifting frame 3. When the lifting frame 3 tilts:

[0058] On the inclined descent side, the actual required cable length between the suspension point of the wire rope 6 and the upper fixed point becomes shorter, but the length of the wire rope 6 itself remains unchanged. Therefore, the cable is forced to extend beyond the rope and is in a taut state. Excessive tension will aggravate wear and may be transmitted to the drum 5, resulting in rope tangling.

[0059] At this time, the counterweight 804 will move from the inclined descent side to the inclined lifting side, thereby causing the counterweight 804 to drive the second guide wheel group 904 on the inclined descent side to move closer to the first guide wheel group 902, so as to reduce the distance between the first guide wheel group 902 and the second guide wheel group 904; thereby releasing a small length of the travel path of the steel wire rope 6 that comes down from above, passes through the first guide wheel group 902 and turns to the second guide wheel group 904.

[0060] The released length perfectly offsets the excess cable length caused by the tilting and descent of the lifting frame 3, effectively alleviating the over-tightness of the wire rope 6 and bringing the tension back to a reasonable range. This effectively prevents component overload and internal damage to the wire rope 6 caused by excessive tension on one side.

[0061] For the inclined lifting side, the actual required cable length between the suspension point of the wire rope 6 and the upper fixed point becomes longer, and the wire rope 6 becomes insufficient, thus becoming loose. The loose wire rope 6 is prone to swinging and shaking during operation, which is the direct cause of slippage and entanglement.

[0062] At this time, the counterweight 804 will move from the inclined descent side to the inclined lifting side, thereby causing the counterweight 804 to drive the second guide wheel group 904 on the inclined lifting side to move away from the first guide wheel group 902, so as to increase the distance between the first guide wheel group 902 and the second guide wheel group 904, so that the path of the wire rope 6 from the first guide wheel group 902 to the second guide wheel group 904 is lengthened.

[0063] The increased path length compensates for the cable shortage caused by the tilting and lifting side of the lifting frame 3, re-tensions the slack wire rope 6, restores the necessary tension of the wire rope 6, suppresses harmful swaying, and ensures the stable fit and orderly winding of the wire rope 6 in the guide wheel groove.

[0064] The cable guide mechanism 9 enables adaptive tension adjustment: when the platform is tilted, the movement of the counterweight 804 causes the second guide wheel group 904 on the movable frame 903 to move closer to or further away from the first guide wheel group 902 on the fixed frame 901, thereby dynamically adjusting the tortuous path length of the wire rope.

[0065] For the inclined descent side, excess cable is released and over-tension is alleviated by reducing the spacing between the guide pulley sets; for the inclined lifting side, the path is lengthened by increasing the spacing between the guide pulley sets, thus tightening the slack cable. This mechanism ensures that the wire rope is always within a reasonable tension range, avoiding overload wear and suppressing slack rope sway, guaranteeing the smooth fit and orderly winding of the wire rope within the guide pulley grooves.

[0066] It should be noted that when the cable guiding mechanism 9 adjusts the tension of the wire rope 6, the distance between the first guide wheel group 902 and the second guide wheel group 904 will change frequently. During this process, the cutting angle of the wire rope 6 when it enters the first guide wheel group 902 will be directly changed. An excessively large angle will cause the wire rope 6 to rub against the edge of the rope groove or even jump out of the groove.

[0067] Therefore, the cable guiding mechanism 9 also includes a torsion spring shaft 905 connected to the fixed frame 901. A rocker arm 906 and a gear 907 are coaxially distributed on the torsion spring shaft 905. The other end of the rocker arm 906 is connected to a pressure plate 908. Under the elastic force of the torsion spring inside the torsion spring shaft 905, the pressure plate 908 always abuts against the surface of the wire rope 6 and lifts the wire rope 6 upward.

[0068] This increases pressure when the wire rope 6 is slack, pushing it back onto the correct guide path and forcing it to enter the first guide pulley group 902 at a smaller, more stable angle; and reduces pressure when the cable is taut, avoiding excessive friction. This effectively suppresses harmful swaying and vibration, preventing it from derailing or tangling due to excessive swaying.

[0069] The movable frame 903 is also connected to a rack 909, which meshes with a gear 907. When the cable guide mechanism 9 adjusts the tension of the wire rope 6, the rack 909 will simultaneously mesh with the gear 907 to drive the torsion spring shaft 905 to rotate, thereby dynamically changing the pressure of the pressure plate 908 on the wire rope 6.

[0070] Specifically:

[0071] On the inclined descent side, the wire rope 6 will be relatively too long and be tightened, resulting in a significant increase in tension. The taut wire rope 6 will generate a large cutting angle at the first guide pulley group 902. The wire rope 6 may strongly squeeze the outside of the rope groove, which will not only aggravate wear, but also make it very easy to jump out of the groove during dynamic operation.

[0072] At this time, since the movable frame 903 slides from the inclined descent side to the inclined lifting side, it will drive the rack 909 to mesh with the gear 907 to rotate counterclockwise, thereby controlling the swing arm 906, which is fixed coaxially with the gear 907, to rotate counterclockwise as well, and overcome the elastic force of the torsion spring in the torsion spring shaft 905, so that the pressure plate 908 at the end of the swing arm 906 on the wire rope 6 is reduced, and becomes a gentle guiding force.

[0073] It serves only a basic guiding and limiting function, without imposing excessive lateral restraint on the taut wire rope 6. This minimizes frictional losses, protects the wire rope 6, and ensures that the entire mechanical feedback system operates smoothly and efficiently.

[0074] On the inclined lifting side, the wire rope 6 on this side becomes relatively loose due to the inclined lifting side of the lifting frame 3, and the tension decreases. When the equipment is running, the loose wire rope 6 is very prone to lateral swing or vertical vibration. This uncontrolled movement will cause the wire rope 6 to enter the rope groove of the first guide wheel group 902 at an unstable angle and posture, and it is very easy to jump out of the groove, get stuck on the edge of the guide wheel or interfere with the adjacent cable.

[0075] At this time, since the movable frame 903 slides from the inclined descent side to the inclined lifting side, it will drive the rack 909 to mesh with the gear 907 to rotate counterclockwise, thereby controlling the swing rod 906, which is fixed coaxially with the gear 907, to rotate counterclockwise as well. In the direction of the elastic force of the torsion spring in the torsion spring shaft 905, the pressure of the pressure plate 908 at the end of the swing rod 906 on the wire rope 6 increases.

[0076] This is equivalent to adding a controllable lateral damping to the slack wire rope 6, which presses the cable onto the predetermined guide path through friction, forcing it to enter the rope groove of the first guide pulley group 902 stably and closely, effectively suppressing swaying and ensuring the optimal cutting angle.

[0077] Through the intelligent, bidirectional adaptive pressure control of the cable guide mechanism 9, when the platform tilts and causes the wire rope on the tilting and descending side to become taut, the mechanism will reduce the pressure of the pressure plate 908 through the linkage of the rack 909 and the gear 907, thereby minimizing the frictional loss of the wire rope that is already under high tension and ensuring that the system operates smoothly and efficiently.

[0078] Conversely, when the wire rope on the inclined lifting side may swing due to slack, the mechanism will drive the pressure plate 908 to increase the pressure, which is equivalent to adding a controllable lateral damping to it, forcibly stabilizing the slack swinging cable on the correct path and guiding it into the guide wheel groove at the optimal angle.

[0079] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. A stacker crane platform automatic leveling and anti-tangling rope device, characterized in that: The system includes a horizontal moving platform (1), a vertical frame (2) on the horizontal moving platform (1), a sliding lifting frame (3) on the vertical frame (2), a loading platform (4), a drum (5) and a wire rope (6) on the horizontal moving platform (1), one end of the wire rope (6) is connected to the lifting frame (3), and the other end is wound around the drum (5) driven by a motor. The vertical frame (2), the drum (5) and the wire rope (6) are all set in two groups, and the two groups of wire ropes (6) are respectively connected to the two ends of the lifting frame (3). The lifting frame (3) is provided with a gravity sensing mechanism (7) and a center of gravity adjustment mechanism (8) for sensing the tilt angle of the lifting frame (3). The center of gravity adjustment mechanism (8) dynamically adjusts the position of the counterweight (804) on the lifting frame (3) based on the tilt angle sensed by the gravity sensing mechanism (7) in order to adjust the center of gravity of the lifting frame (3). The lifting frame (3) is also provided with a cable guide mechanism (9) that connects to the counterweight (804), and the tension between the two sets of steel wire ropes (6) is adjusted synchronously with the movement of the counterweight (804). The gravity sensing mechanism (7) includes a pendulum (702) rotatably connected to the lifting frame (3) via a fixed shaft (701). Two sets of slide rods (703) are symmetrically arranged on both sides of the pendulum (702). A slider (705) is slidably mounted on each set of slide rods (703) via a spring (704). The lower end of the slider (705) is set as an inclined plane and abuts against the side of the pendulum (702) under the elastic force of the spring (704). The center of gravity adjustment mechanism (8) includes an air pipe (801) installed on the lifting frame (3). A first piston rod (802) and a second piston rod (803) are slidably installed at both ends of the air pipe (801). The air pipe (801) is filled with hydraulic medium. The air pipe (801) is L-shaped and inverted on the lifting frame (3). The first piston rod (802) is connected to the slider (705), and the second piston rod (803) is connected to the counterweight (804). The sliding motion of the slider (705) drives the first piston rod (802) connected to it to move up and down in the air pipe (801), and transmits the pressure to the second piston rod (803) at the other end through the hydraulic medium, thereby driving the counterweight (804) to move along the axial direction of the second piston rod (803). The cable guiding mechanism (9) includes a fixed frame (901) fixedly installed on the surface of the lifting frame (3) and a movable frame (903) connected to the counterweight (804). A first guide wheel group (902) is installed on the fixed frame (901), and a second guide wheel group (904) is installed on the movable frame (903). The wire rope (6) passes through the first guide wheel group (902) and the second guide wheel group (904) in sequence.

2. The stacker crane platform automatic leveling and anti-tangling rope device according to claim 1, characterized in that, The cable guiding mechanism (9) further includes a torsion spring shaft (905) rotatably connected to the fixed frame (901). A gear (907) and a rocker arm (906) are coaxially fixed on the torsion spring shaft (905). The end of the rocker arm (906) is provided with a pressure plate (908) that abuts against the surface of the wire rope (6) under the action of the torsion spring force.

3. The automatic leveling and anti-tangling rope device for a stacker crane platform according to claim 2, characterized in that, The movable frame (903) is connected to a rack (909) that meshes with the gear (907).

4. The stacker crane platform automatic leveling and anti-tangling rope device according to claim 1, characterized in that, The pendulum (702) has a T-shaped cross-section.

5. The stacker crane platform automatic leveling and anti-tangling rope device according to claim 1, characterized in that, The first piston rod (802) is configured in an L-shape.

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