Elevator with walking steering and walking steering method

Abstract

The application discloses a lifting machine with walking and steering and a walking and steering method, relates to the field of plate carrying, and comprises a lower cover, a walking assembly, a bifurcated positioning assembly, a transverse moving assembly, a lifting assembly and a steering assembly. Two sets of limiting wheels are attached to the straight rail side wall to form an inverted U-shaped cladding structure. The left and right movement of the equipment is physically limited, and the great inertial moment generated by the lifting machine at the starting and stopping moments is effectively offset, so that the risk of rollover under heavy load and high speed walking is fundamentally solved. Through cooperation of a single winding drum and a double winding drum, a three-point suspension force structure distributed in front, middle and rear is formed. In combination with the positioning guide rod on the clamped bottom plate sliding along the guide sleeve, the pendulum effect in the lifting process is reduced to the minimum, and the lifting machine is particularly suitable for carrying goods with high stability requirements, such as large-size plates and fragile goods.

Description

Technical Field

[0001] This invention relates to the field of sheet metal handling, and particularly to a hoist with travel steering and a travel steering method. Background Technology

[0002] In the process of handling goods in automated storage and retrieval systems (AS / RS), the hoisting equipment usually adopts a fixed track design, which completes longitudinal travel, track changing, lateral movement and positioning, and lifting operations in the track network.

[0003] In the process of handling sheet metal, existing hoist technology typically relies solely on the wheels for support. During long-distance operation, it lacks lateral restraint and is prone to lateral movement or even tipping over due to start-stop inertia or heavy-load eccentricity. Once deviation occurs, manual intervention to stop and adjust the machine is often required.

[0004] Existing hoists' traverse mechanisms mostly employ a single motor-driven, single-sided lead screw or single-synchronous belt structure. When carrying heavy loads, uneven force distribution on both sides can easily generate torsional torque, causing the loading platform to tilt. Especially when handling large steel plates and profiles, the asynchrony of the two-sided drives can lead to jamming or uneven loading of the goods during traverse.

[0005] Existing hoist steering mechanisms mostly use rigid transmission structures such as gear racks or worm gears. When driving the loading platform to rotate, the rigid impact at the moment of starting and stopping is relatively large, which can easily cause the cargo to slip or overturn due to inertial forces.

[0006] Therefore, we propose a hoist with travel steering and a travel steering method to solve the above problems. Summary of the Invention

[0007] The purpose of this invention is to provide a hoist with travel steering and a travel steering method to solve the problems mentioned in the background art.

[0008] To achieve the above objectives, the present invention provides the following technical solution: a hoist with travel steering, comprising: Two sets of lower covers, with an upper unit base plate installed on each set of lower covers; The walking component is installed on the base plate of the upper unit. Straight rails are provided on both sides of the walking component, and the walking component moves longitudinally along the straight rails. A branch positioning component is installed on the walking component for engaging and positioning with the branch track; A lateral movement component is disposed below the bottom plate of the upper unit to achieve precise lateral alignment; The lifting component, connected below the traverse component, is used to achieve vertical lifting and lowering of goods; A steering component, connected between the lifting component and the traversing component, is used to drive the lifting component to perform a rotation operation.

[0009] Preferably, the walking assembly includes a walking base plate and a walking reducer mounted thereon. A first servo motor is mounted on the walking reducer, and walking wheels are driven to both sides of the walking reducer. The first servo motor drives the walking reducer to move the walking wheels longitudinally along the straight rail. Two sets of limiting wheels are rotatably connected to the bottom of the walking base plate. The limiting wheels fit against the side wall of the straight rail to form an inverted U-shaped covering structure. A bearing sleeve is provided below the walking reducer. A self-aligning roller bearing is provided inside the bearing sleeve. The bearing sleeve is installed in the mounting groove opened in the upper unit base plate.

[0010] Preferably, the branching positioning component includes a branching base plate mounted on a traveling reducer. A main guide rail is integrally formed on the branching base plate. A branching wheel seat is slidably connected to the outer peripheral wall of the main guide rail. An upper guide wheel is rotatably connected to the branching wheel seat. The branching wheel seat can slide laterally along the main guide rail to drive the upper guide wheel to engage in the branching track.

[0011] Preferably, the branching positioning assembly further includes a branching motor and a branching rocker arm. The branching motor is installed below the branching base plate, and the output end of the branching motor is connected to the branching rocker arm. The other end of the branching rocker arm is slidably connected to the branching wheel seat via a slider to drive the branching wheel seat to move laterally.

[0012] Preferably, the transverse movement assembly includes a primary transverse movement base plate, a secondary transverse movement base plate, and a second servo motor. Two sets of transverse linear guide rails are fixedly installed on the top of the primary transverse movement base plate. Mounting seats are slidably connected to both sets of transverse linear guide rails, and the mounting seats are installed at the bottom of the upper unit base plate. The secondary transverse base plate is installed below the primary transverse base plate. Both sides of the secondary transverse base plate are rotatably connected to pulleys. The outer peripheral walls of the two pulleys on the same side are fitted with a first synchronous belt. The first synchronous belt is fixedly clamped and installed with belt clips distributed vertically. The two pulleys, which are symmetrically distributed on the left and right, are connected by a pulley shaft. The pulley shaft is rotatably connected in the secondary transverse base plate to ensure that the angular velocities of the pulleys on both sides are consistent.

[0013] Preferably, the second servo motor is installed at the bottom of the upper unit base plate. A first synchronous pulley, a second synchronous pulley, and a second synchronous belt are provided on one side of the second servo motor via a mounting block. The output end of the second servo motor is fixedly connected to the first synchronous pulley. A transverse lead screw is provided at the end of the second synchronous pulley. The second servo motor drives the transverse lead screw to rotate through the first synchronous pulley, the second synchronous pulley, and the second synchronous belt. A transverse nut seat is connected to the outer peripheral wall of the transverse lead screw. A belt traction plate is fixedly installed between the transverse nut seat and the belt clip located above by bolts. The first synchronous belt is wound around the pulleys on both sides of the secondary transverse base plate, and another belt clip on the first synchronous belt is slidably connected to the secondary transverse base plate via a movable slider.

[0014] Preferably, the lifting assembly includes a three-stage transverse base plate, a lifting housing, and a clamping base plate. The three-stage transverse base plate is fixed below the moving slider. The lifting housing is provided with a slewing bearing and is rotatably connected to the three-stage transverse base plate through the slewing bearing. A lifting reducer and a third servo motor are provided on one side of the lifting housing.

[0015] Preferably, a single take-up drum and a double take-up drum are respectively driven and connected to both sides of the third servo motor. Two sets of first single drums are rotatably connected to the side of the lifting housing corresponding to the single take-up drum, and a double drum and a second single drum are rotatably connected to the side of the lifting housing corresponding to the double take-up drum. A first take-up tape is wound on the single take-up drum and connected to the clamping base plate through the first single drum. A second take-up tape and a third take-up tape are wound on the double take-up drum and connected to the clamping base plate through the double drum and the second single drum, respectively, forming a three-point suspension force-bearing structure. The second take-up tape, the third take-up tape, and the first take-up tape are all installed on the clamping base plate through adjustable length adjustment joint seats.

[0016] Preferably, the steering assembly includes a T-shaped lead screw linear advance motor, a drive rod, a swing arm, and a swing guide rail. The T-shaped lead screw linear advance motor is fixed to a mounting plate on a three-stage transverse base plate. The output end of the T-shaped lead screw linear advance motor is connected to the drive rod. The end of the drive rod is hinged to the swing arm. The other end of the swing arm is provided with a swing slider, which is slidably connected to the swing guide rail. A swing shaft is provided below the swing guide rail. The swing shaft is rotatably connected to the lifting housing to form an adaptive linkage compensation mechanism.

[0017] A method for guiding the travel of a hoist with travel steering includes the following steps: S1 longitudinal walking positioning: The first servo motor drives the walking wheel to move longitudinally along the straight rail, while the limit wheel rolls against the side wall of the straight rail to limit left and right movement; S2 Branching Track Locking: When reaching the branching intersection, stop longitudinal movement, start the branching motor to push the upper guide wheel to move laterally and press it into the branching track to achieve overall positioning; S3 Lateral Positioning: Start the second servo motor and drive the lifting assembly to move laterally to directly above the target workstation via the two-stage synchronous belt drive structure; S4 Lifting Operation: Start the third servo motor, and simultaneously wind up and unwind the take-up belt through the single take-up drum and the double take-up drum, driving the clamping base plate to lift and lower to grab or release goods. S5 Steering Adjustment: Start the T-shaped lead screw linear advance motor, which drives the lifting housing to rotate relative to the three-stage transverse base plate through the adaptive linkage compensation mechanism to adjust the orientation of the cargo.

[0018] The technical effects and advantages of this invention are as follows: 1. Existing technologies typically rely solely on the weight of the traveling wheels to press against the track, making them highly susceptible to tipping over during start-up and shutdown. This application addresses this by using two sets of limiting wheels that fit against the sidewall of the straight rail, forming an inverted U-shaped covering structure. This not only physically restricts the lateral movement of the equipment but also effectively counteracts the enormous inertial torque generated by the hoist during start-up and shutdown, fundamentally solving the risk of tipping over under heavy loads and high-speed travel.

[0019] 2. Traditional branch positioning often uses rigid pins. This application uses a branch motor to drive the upper guide wheel to press the branch track laterally, and with the help of buffer pads to absorb the impact kinetic energy, the positioning is achieved by static friction between the polyurethane layer and the side wall of the branch track. This avoids the mechanical damage caused by rigid pins or collision positioning, and prevents the displacement of goods or damage to precision instruments caused by impact.

[0020] 3. By setting a pulley shaft in the secondary transverse base plate to forcibly connect the pulleys on the left and right sides, the angular velocity of the first synchronous belt on both sides is ensured to be absolutely consistent, which solves the problem of asynchronous movement on both sides caused by processing errors, installation errors or load offset. The loading platform remains horizontal during transverse movement, avoiding the risk of goods slipping due to tilting.

[0021] 4. By combining a single take-up drum with a double take-up drum, a three-point suspension force structure is formed, distributed in the front, middle and rear. Combined with the positioning guide rod on the clamping base plate sliding along the guide sleeve, the pendulum effect during the lifting process is minimized. It is especially suitable for handling large-sized plates, fragile items and other goods with high stability requirements.

[0022] 5. The relative sliding of the swing slider within the swing guide rail constitutes an adaptive linkage compensation mechanism. This mechanism softens the impact force when steering starts and absorbs residual vibration when steering stops, automatically compensating for torque deviation caused by changes in the center of gravity of the cargo. Compared with traditional rack and pinion steering, it has higher rotational accuracy and lower mechanical wear.

[0023] 6. Adopt a modular layout, with the four functional modules of walking, lateral movement, lifting and steering independently encapsulated under the base plate of the upper unit, which facilitates disassembly and maintenance. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a front view of the present invention; Figure 3 This is a schematic diagram showing the connection between the walking component and the straight rail of the present invention; Figure 4 This is a schematic diagram of the walking component and the branching positioning component of the present invention; Figure 5 This is a schematic diagram of the walking component structure of the present invention; Figure 6 This is a schematic diagram of the branching positioning component structure of the present invention; Figure 7 This is a schematic diagram of the disassembled lower cover of the present invention; Figure 8 This is a schematic diagram showing the connection between the walking component and the upper unit base plate of the present invention; Figure 9 This is a schematic diagram of the upper unit base plate structure of the present invention; Figure 10 This is a schematic diagram showing the disassembled upper unit base plate and transverse moving component of the present invention; Figure 11 This is a schematic diagram of the transverse moving component and the lifting component of the present invention; Figure 12 This is a schematic diagram of the transverse movement component structure of the present invention; Figure 13 This is a schematic diagram showing the disassembled horizontal movement component of the present invention; Figure 14 This is a schematic diagram of the overall structure of the component of the present invention; Figure 15 This is a schematic diagram of the lifting component and steering component structure of the present invention; Figure 16 This is a schematic diagram of the improved component structure of the present invention; Figure 17 This is a schematic diagram of the steering component structure of the present invention.

[0025] In the diagram: 1. Lower cover; 11. Upper unit base plate; 111. Mounting slot; 2. Walking assembly; 21. Walking base plate; 22. Walking reducer; 23. First servo motor; 24. Walking wheel; 25. Limit wheel; 26. Bearing sleeve; 3. Straight rail; 4. Branching positioning assembly; 41. Branching base plate; 42. Main guide rail; 43. Branching wheel seat; 44. Upper guide wheel; 45. Branching swing arm; 46. Buffer pad; 47. Branching motor; 5. Lateral movement assembly; 51. First-stage lateral movement base plate; 52. Lateral movement linear guide rail; 53. Mounting seat; 531. Moving slider; 54. Belt clip; 541. Belt traction plate; 55. Pulley; 56. First synchronous belt; 57. Second-stage lateral movement base plate; 58. Second servo motor; 581. 582. First synchronous pulley; 583. Second synchronous pulley; 584. Transverse lead screw; 585. Transverse nut seat; 6. Lifting assembly; 61. Three-stage transverse base plate; 62. Lifting housing; 621. Slewing bearing; 63. Lifting reducer; 64. Third servo motor; 65. Single take-up drum; 651. First single drum; 652. First take-up belt; 66. Double take-up drum; 661. Double drum; 662. Second single drum; 663. Second take-up belt; 664. Third take-up belt; 67. Clamping base plate; 78. Steering assembly; 71. T-shaped lead screw linear advance motor; 72. Mounting plate; 73. Drive rod; 74. Swing arm; 75. Swing slider; 76. Swing guide rail; 77. Swing shaft. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] This invention provides, for example Figures 1-17 The hoist shown with travel steering includes a lower cover 1, a travel assembly 2, a branching positioning assembly 4, a lateral movement assembly 5, a lifting assembly 6, and a steering assembly 7. The upper unit base plate 11 is installed on the two sets of lower covers 1; The upper unit base plate 11 serves as the load-bearing center of the entire machine. It is made of high-strength steel plate welded together, and a grid-like reinforcing rib is arranged at its bottom to bear all the dynamic and static loads of the lifting component 6 and the fully loaded cargo, and to prevent structural deformation under long-term heavy load. Two sets of traveling components 2 are installed on the base plate 11 of the upper unit. Straight rails 3 are provided on both sides of the traveling components 2. The traveling components 2 are installed with the hoist frame through the straight rails 3 and are used to move the traveling components 2 along the straight rails 3 relative to the hoist. Specifically, the walking assembly 2 includes a walking base plate 21, a walking reducer 22 is mounted on the walking base plate 21, a first servo motor 23 is mounted on the walking reducer 22, the first servo motor 23 is used to drive the walking reducer 22 for transmission, and walking wheels 24 are driven to both sides of the walking reducer 22. The walking wheels 24 are attached to the upper surface of the corresponding straight rail 3. The first servo motor 23 drives the walking reducer 22 to drive the two sets of walking wheels 24, so that the walking wheels 24 walk on the straight rail 3. Furthermore, the bottom of the traveling base plate 21 is rotatably connected to two sets of limiting wheels 25. Each set of limiting wheels 25 includes two limiting wheels 25, and the two limiting wheels 25 are in contact with the side wall of the corresponding straight rail 3 to form an inverted U-shaped covering structure. This structure not only restricts the left and right movement of the traveling component 2, but also effectively counteracts the inertial torque of the hoist when it starts and stops, preventing it from tipping over. By rolling along the inner wall of the straight rail 3 through the limiting wheels 25, the traveling component 2 can move longitudinally along the straight rail 3, which is used to limit the stability of the traveling component 2 on the straight rail 3. Prior to this, two sets of position sensors are installed at the bottom of the walking base plate 21. The position sensors are laser rangefinders. The two sets of position sensors are respectively set to the straight rails 3. They are used to monitor the distance between the walking component 2 and the two sets of straight rails 3, monitor whether the position of the walking component 2 on the straight rails 3 is deviated, and feed the signal back to the PLC control system. The PLC control system controls the output speed of the first servo motor 23 through closed loop control and corrects the speed difference of the two walking wheels 24 in real time. With the cooperation of the walking wheels 24 and the limit wheels 25, the walking component 2 is effectively prevented from tipping over. Specifically, when it is necessary to control the walking component 2 to move longitudinally on the straight rail 3, the PLC control system issues a command to start the first servo motor 23 through the servo driver. Under the high speed ratio reduction action of the walking reducer 22, the two sets of walking wheels 24 rotate simultaneously. Since the walking wheels 24 are pressed against the straight rail 3, under the drive of friction, the walking wheels 24 roll on the straight rail 3, thereby driving the entire walking component 2 to move longitudinally along the straight rail 3. During the movement, the limiting wheel 25 located at the bottom of the walking base plate 21 always rolls close to the inner side of the straight rail 3. During the movement of the walking component 2, under the action of the two sets of limiting wheels 25 attached to the inner walls of the two sets of straight rails 3, the position of the walking base plate 21 in the straight rail 3 is limited by the contact of the limiting wheels 25 with the straight rail 3. This ensures that when the walking component 2 moves along the straight rail 3 as a whole, the walking component 2 does not wobble relative to the straight rail 3. At the same time, it ensures that the walking component 2 does not deviate from its position when moving along the direction of the straight rail 3. The branch positioning component 4, as the core of the hoist's positioning at the branch intersection, is installed on the walking component 2 and is correspondingly fastened in the branch track of the hoist. This component solves the problems of large impact and inaccurate positioning of traditional equipment when changing tracks. The branch positioning component 4 includes a branch base plate 41 mounted on the travel reducer 22. A main guide rail 42 is integrally formed on the branch base plate 41. A branch wheel seat 43 is slidably connected to the outer peripheral wall of the main guide rail 42. An upper guide wheel 44 is rotatably connected to the branch wheel seat 43. The outer periphery of the upper guide wheel 44 is wrapped with a polyurethane layer to increase the coefficient of friction. Furthermore, the upper guide wheel 44 can follow the branch wheel seat 43 to move laterally along the main guide rail 42 so that the upper guide wheel 44 can be engaged in the branch rail to fix the traveling component 2 to the branch rail, thereby fixing the position of the traveling component 2 on the straight rail 3, which facilitates subsequent steering adjustment. To avoid hard impacts, a buffer pad 46 is also installed on the branch base plate 41. The buffer pad 46 is located on one side of the branch wheel seat 43 in the direction of movement, and the buffer pad 46 is used to reduce lateral vibration.

[0028] Furthermore, a branching motor 47 is installed below the branching base plate 41. The output end of the branching motor 47 extends upward through the branching base plate 41, and a branching rocker arm 45 is installed at the output end of the branching base plate 41. The other end of the branching rocker arm 45 is rotatably connected to a slider, which slides along the inner wall of the branching wheel seat 43. When it is necessary to adjust the compression between the upper guide wheel 44 and the branch track, the branch motor 47 drives the branch swing arm 45 to rotate. Under the rotation of the branch swing arm 45, the slider at the other end of the branch swing arm 45 moves around the output end of the branch motor 47 as the axis, so that the branch swing arm 45 applies a thrust to the branch wheel seat 43, causing the branch wheel seat 43 to slide along the outer peripheral wall of the main guide rail 42. As the branch wheel seat 43 moves relative to the slider, the slider slides along the inner wall of the branch wheel seat 43, thereby driving the upper guide wheel 44 on the branch wheel seat 43 to move laterally, so that the upper guide wheel 44 moves towards the branch track until it contacts and compresses with the branch track, generating sufficient static friction to prevent the equipment from sliding. Under the compression force of the upper guide wheel 44, the branch positioning component 4 is fixed relative to the branch track, thereby fixing the fixed walking component 2 relative to the straight rail 3, which facilitates the stability of subsequent steering adjustments. When it is necessary to slide along the straight rail 3 via the walking component 2, the branch motor 47 on the branch positioning component 4 drives the branch swing arm 45 to rotate in the opposite direction, thereby causing the branch swing arm 45 to pull the branch wheel seat 43 to move in the opposite direction along the main guide rail 42 via the slider, so that the upper guide wheel 44 does not squeeze the branch rail, and at this time the walking component 2 can drive the branch positioning component 4 to move along the straight rail 3. Specifically disclosed, the upper unit base plate 11 is provided with a mounting groove 111, and a bearing sleeve 26 is provided below the travel reducer 22. The bearing sleeve 26 is provided with a self-aligning roller bearing. The bearing sleeve 26 is installed on the mounting groove 111 for mounting the travel assembly 2 on the upper unit base plate 11. The travel assembly 2 moves along the straight rail 3, driving the upper unit base plate 11 and the lower cover 1 to travel along the straight rail 3. The transverse component 5, the lifting component 6 and the steering component 7 are all located below the upper unit base plate 11 and between the two sets of lower covers 1. The travel assembly 2 then drives the transverse component 5, the lifting component 6 and the steering component 7 to move longitudinally along the straight rail 3. The lateral movement component 5 adopts a two-stage synchronous belt drive structure, which improves the lateral movement response speed and positioning accuracy; The lateral movement assembly 5 is used to achieve precise lateral alignment of goods. It includes a primary lateral movement base plate 51 set at the bottom of the upper unit base plate 11. Two sets of lateral movement linear guide rails 52 are fixedly installed on the top of the primary lateral movement base plate 51. Mounting seats 53 are slidably connected to both sets of lateral movement linear guide rails 52. The mounting seats 53 are installed at the bottom of the upper unit base plate 11. A secondary lateral movement base plate 57 is installed below the primary lateral movement base plate 51. A set of pulleys 55 is rotatably connected to both sides of the secondary lateral movement base plate 57. The set of pulleys 55 includes two pulleys 55 distributed at the front and rear ends. A first synchronous belt 56 is sleeved on the outer peripheral wall of the two pulleys 55. Belt clips 54 distributed vertically are fixedly clamped on the first synchronous belt 56. The transverse component 5 also includes two sets of mounting blocks fixedly installed at the bottom of the upper unit base plate 11. A first synchronous pulley 581 and a second synchronous pulley 582 are rotatably connected to the two sets of mounting blocks respectively. A second synchronous belt 583 is sleeved on the outer peripheral wall of the first synchronous pulley 581 and the second synchronous pulley 582. A second servo motor 58 is installed at the bottom of the upper unit base plate 11. The output end of the second servo motor 58 is fixedly connected to the first synchronous pulley 581. Driven by the second servo motor 58, the first synchronous pulley 581 is rotated. Under the rotation of the first synchronous pulley 581, the second synchronous pulley 582 is rotated in conjunction with the second synchronous belt 583. The end of the second synchronous pulley 582 is provided with a transverse lead screw 584. Both ends of the transverse lead screw 584 are provided with bearing seats installed on the bottom wall of the upper unit base plate 11. The transverse lead screw 584 is rotatably connected in the bearing seats. The outer peripheral wall of the transverse lead screw 584 is connected to a transverse nut seat 585. A belt traction plate 541 is bolted between the transverse nut seat 585 and the belt clip 54 above it. A movable slider 531 is bolted to the belt clip 54 below it. The movable slider 531 is slidably connected to the bottom of the secondary transverse base plate 57. The working principle is as follows: When the first synchronous pulley 581, the second synchronous pulley 582 and the second synchronous belt 583 are driven to rotate by the second servo motor 58, the transverse lead screw 584 is driven to rotate, which in turn drives the transverse nut seat 585 to transmit along the transverse lead screw 584, converting the rotational motion into linear motion. The transverse nut seat 585 drives the belt clip 54 above to move through the belt traction plate 541. Furthermore, as the upper belt clip 54 moves, the belt clip 54 drives the first synchronous belt 56 to perform transmission. Under the transmission of the first synchronous belt 56, the two pulleys 55 connected to the two first synchronous belts 56 rotate accordingly. The lower belt clip 54 moves with the first synchronous belt 56, causing the movable slider 531 to move accordingly. Furthermore, a pulley shaft is inserted between two symmetrically distributed pulleys 55. The pulley shaft is rotatably connected in the secondary transverse base plate 57. This pulley shaft ensures that the angular velocities of the two pulleys 55 are completely consistent, and ensures that the tension of the synchronous belts on both sides is consistent. It is used to drive the two sets of pulleys 55 corresponding to the action to rotate simultaneously, thereby making the two sets of first synchronous belts 56 move synchronously. This further makes the belt clips 54 installed on the two first synchronous belts 56 move synchronously. The belt clips 54 are installed with the moving sliders 531, thereby making the two sets of moving sliders 531 move synchronously. This eliminates the asynchronous movement error on both sides caused by processing errors or installation errors, and ensures the synchronicity of the transverse movement of the moving sliders 531 relative to the primary transverse base plate 51 and the upper unit base plate 11. The lifting assembly 6 is used to realize the vertical lifting of goods. It includes a three-stage transverse base plate 61 installed below two sets of moving sliders 531. The three-stage transverse base plate 61 serves as the top support platform of the lifting assembly 6. Furthermore, the lateral movement of the sliding block 531 is used to drive the lifting component 6 and the steering component 7 to move laterally relative to the upper unit base plate 11, thereby adjusting the lateral position of the lifting component 6 and the steering component 7. The longitudinal movement of the traveling component 2 on the straight rail 3 is used to adjust the position of the lateral movement component 5 and the lifting component 6, thus facilitating the lifting of the clamped items. A lifting housing 62 is rotatably connected below the three-stage transverse base plate 61. A clamping base plate 67 is provided below the lifting housing 62. A lifting reducer 63 is provided on one side of the lifting housing 62. A third servo motor 64 for driving the lifting reducer 63 is installed at the lifting reducer 63. A single take-up drum 65 and a double take-up drum 66 are respectively connected to the two sides of the third servo motor 64. The single take-up drum 65 and the double take-up drum 66 are coaxially connected to ensure that the rope take-up and release speeds are consistent. Two sets of first single drums 651 are rotatably connected to one side of the lifting housing 62. A double drum 661 and a second single drum 662 are rotatably connected to the other side of the lifting housing 62. To enable the lifting housing 62 to rotate, a slewing bearing 621 is provided on the lifting housing 62. The slewing bearing 621 is a cross roller bearing with high rigidity. The slewing bearing 621 causes the lifting housing 62 to rotate relative to the three-stage transverse base plate 61 through a rotating shaft. Furthermore, the outer peripheral wall of the double take-up drum 66 is wound with a second take-up tape 663 and a third take-up tape 664 distributed in parallel. The second take-up tape 663 is attached to the outer peripheral wall of the double drum 661 and the second single drum 662, and its end is mounted on the clamping base plate 67. The third take-up tape 664 is attached to the outer peripheral wall of the double drum 661, and its end is mounted on the clamping base plate 67. Furthermore, a first take-up tape 652 is wound around the outer peripheral wall of the single take-up drum 65. The first take-up tape 652 is attached to the outer peripheral wall of the two sets of first single drums 651, and its end is mounted on the clamping base plate 67. Specifically disclosed, the second take-up belt 663 and the third take-up belt 664 are distributed on both sides of the clamping base plate 67 along with the first take-up belt 652. The second take-up belt 663 and the third take-up belt 664 are symmetrically distributed on the front and rear sides of the clamping base plate 67, and the first take-up belt 652 is distributed at the middle position of the clamping base plate 67, forming a stable three-point suspension force-bearing structure, which effectively prevents the clamping base plate 67 from swinging during the lifting process. Furthermore, the second roll take-up 663, the third roll take-up 664 and the first roll take-up 652 are all mounted on the clamping base plate 67 through adjusting connector seats. The adjusting connector seats can be finely adjusted in length to ensure that the three belts are subjected to uniform force. Specifically disclosed, the single take-up drum 65 and the double take-up drum 66 have the same dimensions, and the double drum 661, the second single drum 662 and the first single drum 651 have the same dimensions. Furthermore, driven by the third servo motor 64, the single take-up drum 65 and the double take-up drum 66 rotate synchronously in conjunction with the lifting reducer 63. Under the winding of the single take-up drum 65 and the double take-up drum 66, the second take-up tape 663, the third take-up tape 664 and the first take-up tape 652 are wound along the rollers. The winding of the second take-up tape 663, the third take-up tape 664 and the first take-up tape 652 lifts the clamping base plate 67, thereby driving the clamping claws installed at the bottom of the clamping base plate 67 to lift as well. Specifically disclosed, the gripper can also be replaced with a vacuum suction cup structure for handling stacked thin sheet materials, and the device also has a destacking function.

[0029] Furthermore, the third servo motor 64 drives the single take-up drum 65 and the double take-up drum 66 to rotate synchronously in opposite directions in conjunction with the lifting reducer 63. Then, under the unwinding of the single take-up drum 65 and the double take-up drum 66, the second take-up tape 663, the third take-up tape 664 and the first take-up tape 652 are unwound along the rollers. The unwinding of the second take-up tape 663, the third take-up tape 664 and the first take-up tape 652 lowers the clamping base plate 67, thereby driving the clamping claws installed at the bottom of the clamping base plate 67 to lower as well, and the height of the clamping claws is adjusted accordingly. Specifically disclosed, the clamping base plate 67 is provided with a positioning guide rod, and the three-stage transverse base plate 61 is provided with a positioning guide sleeve. The guide sleeve is embedded with a self-lubricating bearing. The positioning guide rod slides along the positioning guide sleeve, thereby guiding and limiting the relative movement of the three-stage transverse base plate 61 and the clamping base plate 67, preventing rotational deviation during the lifting process.

[0030] Steering assembly 7 is used to realize the slewing operation of the front end of the hoist. It is installed below the three-stage transverse base plate 61. Steering assembly 7 includes a mounting plate 72 installed on the three-stage transverse base plate 61. A T-shaped lead screw linear advance motor 71 is installed on one side of the mounting plate 72. The T-shaped lead screw linear advance motor 71 has a power failure self-locking function to ensure safety after steering positioning. The output end of the T-shaped lead screw linear advance motor 71 is connected to the drive rod 73. The end of the drive rod 73 is hinged to the swing arm 74. The swing arm 74 is designed as a high-strength alloy steel forging. The swing arm 74 is L-shaped. The other end of the swing arm 74 is provided with a swing slider 75. The swing guide rail 76 is slidably connected to the outer peripheral wall of the swing slider 75. The swing shaft 77 is provided below the swing guide rail 76. The swing shaft 77 is rotatably connected to the lifting housing 62 to form an adaptive linkage compensation mechanism. When the T-shaped lead screw linear advance motor 71 drives the drive rod 73 to move, the drive rod 73 moves and drives the swing arm 74 to move. At this time, the swing arm 74 is subjected to tension, which causes the swing arm 74 to transmit the tension to the lifting housing 62 through the swing slider 75, the swing guide rail 76 and the swing shaft 77, so that the lifting housing 62 rotates relative to the three-stage transverse base plate 61. Under the action of the swing arm 74, the swing slider 75, the swing guide rail 76 and the swing shaft 77, the lifting housing 62 rotates relative to the three-stage transverse base plate 61 through the slewing bearing 621 on it. At this time, the swing arm 74 moves, and the lifting housing 62 rotates relative to the three-stage transverse base plate 61, so that the swing shaft 77 moves with the lifting housing 62 and rotates in the lifting housing 62, while driving the swing guide rail 76 to rotate with the swing shaft 77 relative to the lifting housing 62. At this time, the swing guide rail 76 slides along the swing slider 75 to form an adaptive linkage compensation mechanism, realizing the adaptive compensation of the linkage mechanism, compensating for the rotational position of the lifting housing 62, adjusting the rotation of the lifting housing 62 relative to the three-stage transverse base plate 61 through the steering component 7, thereby adjusting the lifting component 6 and the clamping claw installed below the clamping base plate 67 to lift the item. The rotation of the lifting component 6 can also drive the clamping claw to rotate, thus rotating the item. According to the action of the transverse component 5, the item moves laterally. Under the action of the walking component 2 and the straight rail 3, the item moves longitudinally, completing the walking, turning and lifting operations.

[0031] A method for guiding the travel of a hoist with travel steering includes the following steps: S1 Longitudinal walking positioning: The PLC control system sends pulse commands to the first servo motor 23 to drive the walking wheel 24 to move longitudinally along the straight rail 3. During the movement, the laser rangefinder installed at the bottom of the walking base plate 21 monitors the distance between the walking component 2 and the straight rails 3 on both sides in real time and feeds back the analog signal to the PLC control system. When the detected deviation exceeds the preset threshold, the PLC control system automatically corrects the output speed of the first servo motors 23 on both sides through a closed-loop control algorithm to eliminate the speed difference. In conjunction with the inverted U-shaped wrapping guide of the limit wheel 25, adaptive correction of longitudinal movement is achieved.

[0032] S2 Branch Track Locking: When the equipment needs to change tracks at a branch intersection, the PLC control system controls the first servo motor 23 to brake, and the equipment stops moving longitudinally. Start the branch motor 47, drive the branch swing arm 45 to drive the branch wheel seat 43 to slide laterally along the main guide rail 42, so that the upper guide wheel 44 contacts and squeezes the side wall of the branch track at a preset buffer speed. At the moment of contact, the buffer pad 46 installed on the branch base plate 41 absorbs the lateral impact kinetic energy. After the pressure sensor or current feedback confirms the locking, the rigid positioning of the whole machine at the branch port is completed.

[0033] S3 Lateral positioning: Start the second servo motor 58, which drives the lateral lead screw 584 to rotate sequentially through the first synchronous pulley 581, the second synchronous belt 583 and the second synchronous pulley 582. The transverse nut seat 585 converts the rotational motion into linear motion. The belt traction plate 541 pulls the first synchronous belt 56, and the pulley shaft forces the angular velocity of the double pulleys 55 to synchronize, eliminating gear backlash error. This drives the moving slider 531 and the lifting assembly 6 to perform high-precision transverse translation until they reach directly above the target workstation.

[0034] S4 Lifting Operation: Start the third servo motor 64 to drive the single take-up drum 65 and the double take-up drum 66 to rotate synchronously at the same linear speed; The coordinated take-up and take-out of the first take-up belt 652, the second take-up belt 663, and the third take-up belt 664 drive the clamping base plate 67 to rise and fall vertically. During the lifting process, the three-point suspension force-bearing structure distributed on both sides and the middle of the clamping base plate 67 remains horizontal, while the positioning guide rod slides along the positioning guide sleeve to suppress load swing.

[0035] S5 Steering Adjustment: Start the T-shaped lead screw linear advance motor 71 with power failure self-locking function to drive the drive rod 73 to perform linear extension and retraction motion; The driving force is transmitted to the swing guide rail 76 through the L-shaped swing arm 74. The relative sliding of the swing slider 75 in the swing guide rail 76 forms an adaptive linkage compensation mechanism to compensate for the torque deviation caused by the change of the center of gravity of the lifting housing 62. The lifting housing 62 is driven to rotate smoothly through the slewing bearing 621 to adjust the orientation of the goods.

[0036] After the material transfer is completed, the lifting component 6 is reset to the high position, the steering component 7 returns to zero, the branch positioning component 4 releases the lock on the branch track, and the equipment enters the longitudinal travel state of the next cycle.

[0037] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A hoist with travel steering, characterized in that, include: Two sets of lower covers (1), and upper unit base plates (11) are installed on the two sets of lower covers (1). The walking component (2) is installed on the bottom plate (11) of the upper unit. Straight rails (3) are provided on both sides of the walking component (2). The walking component (2) moves longitudinally along the straight rails (3). A branch positioning component (4) is installed on the walking component (2) and is used to engage and position with the branch track. A transverse component (5) is disposed below the base plate (11) of the upper unit to achieve precise transverse alignment; The lifting component (6) is connected below the traverse component (5) and is used to realize the vertical lifting of goods; Steering assembly (7) is connected between lifting assembly (6) and lateral assembly (5) and is used to drive lifting assembly (6) to perform rotation operation; The branch positioning component (4) includes a branch base plate (41) installed on the walking reducer (22). A main guide rail (42) is integrally formed on the branch base plate (41). A branch wheel seat (43) is slidably connected to the outer peripheral wall of the main guide rail (42). An upper guide wheel (44) is rotatably connected to the branch wheel seat (43). The branch wheel seat (43) can slide laterally along the main guide rail (42) to drive the upper guide wheel (44) to engage in the branch track. The branch positioning component (4) also includes a branch motor (47) and a branch swing rod (45). The branch motor (47) is installed below the branch base plate (41). The output end of the branch motor (47) is connected to the branch swing rod (45). The other end of the branch swing rod (45) is slidably connected to the branch wheel seat (43) through a slider to drive the branch wheel seat (43) to move laterally. As the branch wheel seat (43) moves relative to the slider, the slider slides along the inner wall of the branch wheel seat (43), thereby driving the upper guide wheel (44) on the branch wheel seat (43) to move laterally, causing the upper guide wheel (44) to move towards the branch track until it contacts and presses against the branch track, generating sufficient static friction to prevent the equipment from sliding. Under the pressing force of the upper guide wheel (44), the branch positioning component (4) is fixed relative to the branch track, thereby fixing the fixed walking component (2) relative to the straight track (3), thus facilitating the stability of subsequent steering adjustments.

2. The hoist with travel steering according to claim 1, characterized in that, The walking assembly (2) includes a walking base plate (21) and a walking reducer (22) mounted thereon. A first servo motor (23) is mounted on the walking reducer (22). Walking wheels (24) are connected to both sides of the walking reducer (22). The first servo motor (23) drives the walking reducer (22) to drive the walking wheels (24) to move longitudinally along the straight rail (3). Two sets of limiting wheels (25) are rotatably connected to the bottom of the walking base plate (21). The limiting wheels (25) are fitted with the side wall of the straight rail (3) to form an inverted U-shaped covering structure. A bearing sleeve (26) is provided below the walking reducer (22). A self-aligning roller bearing is provided inside the bearing sleeve (26). The bearing sleeve (26) is installed in the mounting groove (111) opened in the upper unit base plate (11).

3. The hoist with travel steering according to claim 1, characterized in that, The transverse component (5) includes a primary transverse base plate (51), a secondary transverse base plate (57) and a second servo motor (58). Two sets of transverse linear guides (52) are fixedly installed on the top of the primary transverse base plate (51). Mounting seats (53) are slidably connected to both sets of transverse linear guides (52), and the mounting seats (53) are installed at the bottom of the upper unit base plate (11). The secondary transverse base plate (57) is installed below the primary transverse base plate (51). Both sides of the secondary transverse base plate (57) are rotatably connected to pulleys (55). The outer peripheral walls of the two pulleys (55) on the same side are fitted with a first synchronous belt (56). The first synchronous belt (56) is fixedly clamped and installed with belt clips (54) distributed vertically. The two pulleys (55) symmetrically distributed on the left and right are connected by a pulley shaft. The pulley shaft is rotatably connected in the secondary transverse base plate (57) to ensure that the angular velocities of the pulleys (55) on both sides are consistent.

4. The hoist with travel steering according to claim 3, characterized in that, The second servo motor (58) is mounted on the bottom of the upper unit base plate (11). A first synchronous pulley (581), a second synchronous pulley (582), and a second synchronous belt (583) are mounted on one side of the second servo motor (58) via a mounting block. The output end of the second servo motor (58) is fixedly connected to the first synchronous pulley (581). A transverse lead screw (584) is provided at the end of the second synchronous pulley (582). The second servo motor (58) is connected to the first synchronous pulley (581), the second synchronous pulley (582), and the second synchronous belt (583). The second synchronous belt (583) drives the transverse lead screw (584) to rotate. The outer peripheral wall of the transverse lead screw (584) is connected to the transverse nut seat (585). The transverse nut seat (585) and the belt clip (54) above it are fixedly installed with a belt traction plate (541) by bolts. The first synchronous belt (56) is wound around the pulleys (55) on both sides of the secondary transverse base plate (57). The other belt clip (54) on the first synchronous belt (56) is slidably connected to the secondary transverse base plate (57) through the movable slider (531).

5. The hoist with travel steering according to claim 4, characterized in that, The lifting assembly (6) includes a three-stage transverse base plate (61), a lifting housing (62), and a clamping base plate (67). The three-stage transverse base plate (61) is fixed below the moving slider (531). The lifting housing (62) is provided with a slewing bearing (621) and is rotatably connected to the three-stage transverse base plate (61) through the slewing bearing (621). A lifting reducer (63) and a third servo motor (64) are provided on one side of the lifting housing (62).

6. The hoist with travel steering according to claim 5, characterized in that, The third servo motor (64) is connected to a single take-up drum (65) and a double take-up drum (66) on both sides respectively. The lifting housing (62) is rotatably connected to two sets of first single drums (651) on the side corresponding to the single take-up drum (65). The lifting housing (62) is rotatably connected to a double drum (661) and a second single drum (662) on the side corresponding to the double take-up drum (66). The first take-up tape (652) is wound on the single take-up drum (65) and passes through the first single drum (661). 51) Connected to the clamping base plate (67), the double take-up drum (66) is wound with a second take-up tape (663) and a third take-up tape (664) distributed in parallel, and connected to the clamping base plate (67) through the double drum (661) and the second single drum (662) respectively, forming a three-point suspension force structure. The second take-up tape (663), the third take-up tape (664) and the first take-up tape (652) are all installed on the clamping base plate (67) through adjustable length adjustment joint seats.

7. The hoist with travel steering according to claim 6, characterized in that, The steering assembly (7) includes a T-shaped lead screw linear advance motor (71), a drive rod (73), a swing arm (74), and a swing guide rail (76). The T-shaped lead screw linear advance motor (71) is fixed on a mounting plate (72) on a three-stage transverse base plate (61). The output end of the T-shaped lead screw linear advance motor (71) is connected to the drive rod (73). The end of the drive rod (73) is hinged to the swing arm (74). The other end of the swing arm (74) is provided with a swing slider (75), and it is slidably connected to the swing guide rail (76) through the swing slider (75). A swing shaft (77) is provided below the swing guide rail (76). The swing shaft (77) is rotatably connected to the lifting housing (62) to form an adaptive linkage compensation mechanism.

8. A method for guiding the travel of a hoist with travel steering, according to claim 7, characterized in that, Includes the following steps: S1 Longitudinal walking positioning: The first servo motor (23) drives the walking wheel (24) to move longitudinally along the straight rail (3), while the limiting wheel (25) rolls against the side wall of the straight rail (3) to limit left and right movement; S2 branch track locking: When the branch intersection is reached, the longitudinal movement stops, the branch motor (47) is started to push the upper guide wheel (44) to move laterally and press it into the branch track to achieve the positioning of the whole machine; S3 Lateral Positioning: Start the second servo motor (58) and drive the lifting assembly (6) to move laterally to directly above the target workstation through the secondary synchronous belt drive structure; S4 Lifting Operation: Start the third servo motor (64), and simultaneously wind up and unwind the take-up belt through the single take-up drum (65) and the double take-up drum (66), thereby driving the clamping base plate (67) to lift and lower to grab or release goods; S5 Steering Adjustment: Start the T-shaped lead screw linear advance motor (71), and drive the lifting housing (62) to rotate relative to the three-stage transverse base plate (61) through the adaptive linkage compensation mechanism to adjust the orientation of the cargo.

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