Goods storage empty rail pick-up device

Abstract

The application discloses a kind of goods warehousing empty rail pick-up device of cargo handling and transportation technical field, to solve the problem of not being convenient for the goods after warehousing to be carried out unstacking directional extraction in prior art.It includes suspension type conveying line, the conveying end of the suspension type conveying line is fixedly provided with mounting bracket, the lower portion of the mounting bracket is rotatably installed with fixed table, the mounting bracket is also provided with rotating assembly for driving the rotation of fixed table, the lower portion of the fixed table is provided with mounting table, the fixed table and mounting table are connected by scissor type lifting assembly, the lower portion of the mounting table is slidably provided with first clamp and second clamp, the lower surface of the mounting table is also provided with drive module for driving first clamp and second clamp to approach or move away from each other;The present application is used for hoisting from high place to complete unstacking sorting operation, which can effectively reduce the degree of human participation, ensure the safety and convenience of operation.

Description

Technical Field

[0001] This invention relates to an air rail retrieval device for cargo storage, belonging to the field of cargo handling and transportation technology. Background Technology

[0002] After goods are palletized and stored, in order to adapt to the needs of different types of goods for repackaging and shipping or to handle problematic goods, it is often necessary to depalletize and sort the goods. Since the goods may be piled up inside or in the middle of the warehouse, the depalletizing and sorting process is usually quite complicated. When depalletizing manually, it may not only require climbing to heights, but also make it very difficult to move the goods out. This not only wastes manual labor, but also has a high operational risk and can easily lead to safety hazards. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a cargo warehousing air rail picking device for lifting from a height to complete destacking and sorting operations, which can effectively reduce the degree of manual intervention and ensure the safety and convenience of operation.

[0004] To achieve the above objectives, the present invention employs the following technical solution: A cargo warehousing overhead rail retrieval device includes a suspended conveyor line. A mounting bracket is fixedly mounted at the conveyor end of the suspended conveyor line. A fixed platform is rotatably mounted below the mounting bracket. A rotating assembly for driving the fixed platform to rotate is also provided on the mounting bracket. An installation platform is positioned directly below the fixed platform. The fixed platform and the installation platform are connected by a scissor-type lifting assembly. A first clamp and a second clamp are slidably mounted below the installation platform. A driving module for driving the first clamp and the second clamp to move closer or further apart is also provided on the lower surface of the installation platform. Both the first clamp and the second clamp are hollow structures, and several slots are provided on their opposite surfaces. An abutment block is provided within each slot of the first clamp and the second clamp. A first driving device capable of driving the abutment block to protrude from the surface of the slot is also provided on the first clamp and the second clamp.

[0005] Specifically, the bottom of the first clamp and the second clamp are chamfered, and the angle formed by the bottom surface of the first clamp and the bottom surface of the second clamp is no greater than 180°.

[0006] Specifically, both the slot and the abutment block are vertically arranged elongated strips. The hollow structures of the first and second clamps are equipped with at least two guide plates on both sides of the slot. Each guide plate has an L-shaped slot of the same shape. The abutment block is also equipped with sliding columns that can slide in the L-shaped slot on both sides. The first driving device is used to drive the abutment block to move along the guiding direction of the L-shaped slot.

[0007] Specifically, a connecting frame is provided above the abutting block, and a connecting block is provided at the movable end of the first driving device. The connecting frame and the connecting block are slidably connected by a slide rod, and the first driving device is used to drive the connecting block to move up and down.

[0008] Specifically, the first clamp and the second clamp are also provided with mounting openings, and an abutment plate is rotatably mounted in the mounting openings. The abutment plate can be rotated to protrude from the inner side of the first clamp or the corresponding second clamp. A second driving device for driving the abutment plate to rotate is also provided in the mounting openings.

[0009] Specifically, the mounting port is also provided with a mounting plate, a third driving device is fixedly mounted on the mounting plate, a rotating wheel is fixedly mounted on the output end of the third driving device, and a fourth driving device is also provided in the mounting port for driving the mounting plate to move so that the rotating wheel can protrude from the inner side of the first clamp or the second clamp.

[0010] Specifically, each mounting port of the first or second clamp is rotatably provided with two parallel hinge rods on its side wall. The ends of each pair of parallel hinge rods are rotatably connected to the corresponding mounting plate. The four hinge points of the two parallel hinge rods form a parallelogram. The hinge rods or mounting plates are provided with sliding grooves. The movable end of the fourth driving device acts in the sliding grooves to drive the hinge rods or mounting plates to move up and down.

[0011] Specifically, each of the mounting ports is equipped with a proximity sensor for detecting the horizontal offset position of the mounting plate.

[0012] Specifically, photoelectric sensors for detecting the presence of goods are provided on the inner surfaces of the first and second clamps.

[0013] Specifically, the fixed platform is fixedly provided with a pull rope, the mounting platform is provided with a hinge seat, the hinge seat is rotatably provided with a rope winding disc, the other end of the pull rope is wound on the rope winding disc, the hinge seat is provided with a coil spring assembly that acts on the rope winding disc to keep the pull rope taut, and the hinge seat is also provided with an encoder for detecting the rotation angle of the rope winding disc.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: This invention utilizes a suspended conveyor line for high-altitude hoisting operations. By adding an additional rotating and lifting mounting platform, and installing first and second clamps on the platform to hold goods, it can efficiently sort out the corresponding stacked goods from a pile. The additional abutment block can prevent the first and second clamps from failing to securely hold the goods, effectively improving the safety of aerial retrieval, reducing the degree of manual intervention, and lowering labor costs while ensuring efficient sorting and improving operational safety. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the air track component retrieval device provided in an embodiment of the present invention; Figure 2 This is the present invention. Figure 1 Enlarged view of section A of the air track component retrieval device provided in the embodiment; Figure 3 This is the present invention. Figure 1 Enlarged view of section B of the air track component retrieval device provided in the embodiment; Figure 4 This is the present invention. Figure 1 Enlarged view of the structure at point C of the air track component retrieval device provided in the embodiment; Figure 5 This is the present invention. Figure 1 Enlarged view of the structure at point D of the air track component retrieval device provided in the embodiment; Figure 6 This is a side view of the air rail component retrieval device provided in an embodiment of the present invention; Figure 7 This is the present invention. Figure 6 Enlarged view of the structure at point E of the air track component retrieval device provided in the embodiment; Figure 8 This is the present invention. Figure 6 A cross-sectional view of the air rail picking device provided in the embodiment, taken in the FF direction. Figure 9 This is the present invention. Figure 8 Enlarged view of the structure at point G of the air track component retrieval device provided in the embodiment; Figure 10 This is the present invention. Figure 8 Enlarged view of the structure at point H of the air track component retrieval device provided in the embodiment; Reference numerals: 1. Mounting bracket; 2. Fixed platform; 3. Rotating assembly; 4. Scissor lift assembly; 5. Mounting platform; 6. First clamp; 7. Second clamp; 8. Drive module; 9. Abutment block; 10. First drive device; 11. Connecting frame; 12. Connecting block; 13. Slide rod; 14. Guide plate; 15. Slide column; 16. Hinge seat; 17. Rope reel; 18. Pull rope; 19. Abutment plate; 20. Second drive device; 21. Mounting plate; 22. Fourth drive device; 23. Third drive device; 24. Rotating wheel; 25. Hinge rod. Detailed Implementation

[0016] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention.

[0017] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, 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, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0018] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances. Example:

[0019] This invention provides a cargo warehousing overhead rail picking device for lifting goods from a height to complete destacking and sorting operations. This effectively reduces manual intervention and ensures operational safety and convenience. To achieve the device's structural functions, it includes a suspended conveyor line, which can be installed using a top-beam rail system. The specific rail configuration is not limited here. A mounting bracket 1 is fixedly installed at the conveying end of the suspended conveyor line, allowing the bracket 1 to move along the conveying direction of the line. To facilitate directional picking of stacked goods, a fixed platform 2 is rotatably mounted below the mounting bracket 1. (See reference...) Figure 1 and Figure 6As shown, a rotating assembly 3 for driving the fixed platform 2 to rotate is also provided on the mounting bracket 1, so that the fixed platform 2 can adjust the picking angle. Specifically, a mounting platform 5 is provided directly below the fixed platform 2. The fixed platform 2 and the mounting platform 5 are connected by a scissor lift assembly 4, so that the high-stroke telescopic function of the scissor lift assembly 4 can be used to achieve a large positional distance of the mounting platform 5 relative to the fixed platform 2, so as to meet the needs of clamping goods of different heights. The scissor lift assembly 4 can be spliced ​​in multiple interconnected sets to adapt to the actual height of the warehouse and adjust the telescopic stroke. In order to achieve the clamping of goods, the mounting platform 5 is equipped with a rotating assembly 3 for driving the fixed platform 2 to rotate, so that the fixed platform 2 can adjust the picking angle. A first clamp 6 and a second clamp 7 are slidably mounted below. A drive module 8 (e.g., a linear motion module) is also provided on the lower surface of the mounting platform 5 to drive the first clamp 6 and the second clamp 7 to move closer or further apart. This allows the first clamp 6 and the second clamp 7 to move closer together after reaching a designated height to clamp the sides of the goods. Since the drive module 8 is already configured as the movable module for the first clamp 6 and the second clamp 7, if it were directly configured as the clamping action module, the force feedback of the goods would be greatly affected by the displacement of the first clamp 6 and the second clamp 7. This would make force detection difficult, and especially for boxed goods requiring sealing, it would be very easy to... This can easily lead to damage and deformation of the goods. Therefore, the first clamp 6 and the second clamp 7 only need to move to the side closest to the goods, and do not achieve a clamping function. By configuring a more reliable clamping component, a stable clamping function for the goods can be achieved. As a preferred embodiment, the first clamp 6 and the second clamp 7 can be configured as hollow structures, and several slots can be provided on the two opposite surfaces of the first clamp 6 and the second clamp 7. In this case, abutment blocks 9 are provided in the slots of the first clamp 6 and the second clamp 7, and a first driving device 10 is also provided on the first clamp 6 and the second clamp 7 to drive the abutment blocks 9 to protrude from the surface of the slot. The first driving device 10 drives the abutment blocks 9 to move. The movable protrusion extends a certain distance from the inner side of the first clamp 6 or the second clamp 7, thereby providing better clamping force for the goods. At this time, the side of the abutment block 9 closest to the goods should be configured as an elastic surface. After the first clamp 6 and the second clamp 7 are close to the goods, the elastic surface or elastic layer deforms to a corresponding thickness with a fixed protrusion distance, thereby achieving flexible clamping of the goods and ensuring the clamping effect. Whether the first clamp 6 or the second clamp 7 is close to the surface of the goods can be controlled by setting a corresponding proximity switch on the clamp. The drive module 8 can be composed of two sets of multiple linear movement modules in different directions to ensure stable directional conveying of the first clamp 6 or the second clamp 7.The equipment uses conveying, rotating, lifting, and clamping actions to complete the destacking operation from high altitudes downwards. It can remove goods in a directional manner with minimal human intervention, saving labor costs and improving the convenience and safety of operation.

[0020] This invention provides a cargo retrieval device using an overhead rail system. For closely spaced goods, ensuring sufficient operating space for the first clamp 6 and the second clamp 7 during destacking often necessitates moving adjacent goods. To avoid this cumbersome process, a small gap can be left between stacks before stacking, and chamfers can be provided at the bottom of the first clamp 6 and the second clamp 7. Figure 8 As shown, the angle formed by the bottom surface of the first clamp 6 and the bottom surface of the second clamp 7 is not greater than 180°, so that the first clamp 6 and the second clamp 7 can be inserted into the gap between the goods, and the goods on the side are pushed outward to offset them to avoid adverse squeezing and compression of the goods in the middle. At this time, the thickness of the side tight part of the first clamp 6 and the second clamp 7 is preferably not greater than 80mm to ensure good insertion space as much as possible.

[0021] This invention provides a cargo storage air rail retrieval device. To enable the clamping and driving of the abutment block 9 even when the first clamp 6 and the second clamp 7 are relatively narrow, it is preferable that both the slot and the abutment block 9 are vertically arranged elongated strips. At least two guide plates 14 are provided on both sides of the slot within the hollow structure of the first clamp 6 and the second clamp 7, and each guide plate 14 has an identical L-shaped slot. Multiple sliding columns 15 that can slide within the L-shaped slots are also installed on both sides of the abutment block 9. (Refer to...) Figure 10 As shown, this allows the abutment block 9 to move along the guide direction of the L-shaped groove. The bend of the L-shaped groove is obtuse to ensure smooth reciprocating movement. The lateral guide range of the L-shaped groove determines the lateral movement range of the abutment block 9. The first drive device 10 is configured to drive the abutment block 9 to move along the guide direction of the L-shaped groove, so that the abutment block 9 can automatically change its protrusion distance during movement, thereby achieving the clamping operation of the goods. This drive method avoids the problem of larger lateral installation space required by lateral action drive, and helps to ensure a narrower thickness for the first clamp 6 and the second clamp 7, facilitating insertion into the goods for operation. As a preferred specific drive method, a connecting frame 11 can be provided above the abutment block 9, as shown in the reference... Figure 9As shown, a connecting block 12 is provided at the movable end of the first driving device 10. The connecting frame 11 and the connecting block 12 are slidably connected by the slide rod 13. The first driving device 10 is used to drive the connecting block 12 to move up and down. In this way, the first driving device 10 can be installed in a vertical state. The slide rod 13 automatically matches the change in the lateral movement of the abutment block 9 when it moves. In addition, the first driving device 10 can be installed at the top to avoid thickening the side walls of the first clamp 6 and the second clamp 7, which is beneficial for extending into the gaps of the palletized products for operation.

[0022] In some other embodiments of the air rail retrieval device for cargo storage provided by this invention, to prevent insufficient lateral friction provided by the abutment block 9 from causing cargo to fall from a height, mounting openings are also provided on the first clamp 6 and the second clamp 7. (See reference...) Figure 5 As shown, an abutment plate 19 is rotatably installed inside the mounting opening. The abutment plate 19 can be rotated to protrude from the inner side of the first clamp 6 or the corresponding second clamp 7 (normally it is folded inside the mounting opening). A second drive device 20 is also provided inside the mounting opening to drive the abutment plate 19 to rotate. This allows the abutment plate 19 to support the bottom of the goods after they are lifted, preventing them from sliding and falling due to insufficient friction. In actual operation, the goods are located at the top between the first clamp 6 and the second clamp 7. After the abutment plate 19 extends, the abutment block 9 can be slightly adjusted outward to reduce friction. After the bottom surface of the goods contacts the abutment plate 19, the abutment block 9 returns to a clamping position with sufficient force. Under the combined action of the abutment block 9 and the abutment plate 19, the stable positioning and transfer of the goods is completed, ensuring the safety of the operation.

[0023] The present invention provides a cargo warehousing air rail retrieval device. To prevent the bottom surface of the cargo from exceeding the position of the abutment plate 19 due to excessive loosening of the abutment block 9, or the cargo position from being too low during normal transportation, an installation plate 21 can be provided inside the installation opening. (See reference) Figure 4As shown, a third drive device 23 is fixedly installed on the mounting plate 21, and a rotating wheel 24 is fixedly installed at the output end of the third drive device 23. A fourth drive device 22 is also provided in the mounting opening to drive the mounting plate 21 to move so that the rotating wheel 24 can protrude from the inner side of the first clamp 6 or the second clamp 7. After the cargo has passed the descent position, the surface of the rotating wheel 24 can contact the surface of the cargo under the action of the fourth drive device 22. At this time, the abutment block 9 is released to allow the third drive device 23 to drive the rotating wheel 24 to rotate, so that the cargo can be conveyed upward against the force of gravity until the abutment plate 19 can properly support it. By configuring a safe action distance and a safe position detection, the stable transportation of cargo is guaranteed efficiently and reliably. In this embodiment, the more components of the rotating wheel 24, the stronger the maximum friction force provided. When the weight of the cargo is greater than the reverse friction force provided by all the rotating wheels 24, this method is not applicable. It can be selected according to the actual use requirements.

[0024] This invention provides a cargo storage rail retrieval device. To provide mounting space for the rotating wheel 24 while keeping the first clamp 6 and the second clamp 7 relatively flat, two parallel hinge rods rotatably mounted on the side wall of each mounting opening of the first clamp 6 or the second clamp 7. The ends of each pair of parallel hinge rods 25 are rotatably connected to the corresponding mounting plate 21. The four hinge points of the two parallel hinge rods 25 form a parallelogram, ensuring that the mounting surface of the mounting plate 21 remains vertical during movement. This is achieved by creating grooves on the hinge rods 25 or the mounting plate 21, and by having the movable end of a fourth driving device 22 act within these grooves to drive the hinge rods 25 or the mounting plate 21 to rise and fall. (See reference...) Figure 4 As shown, this arrangement effectively utilizes the space above the mounting opening to accommodate the rotating wheel 24 and provides lateral tilting movement, helping to maintain the narrow thickness of the first clamp 6 and the second clamp 7 for flexible operation. To ensure or limit the movement range of the mounting plate 21, a proximity sensor for detecting the horizontal offset position of the mounting plate 21 can be provided in each mounting opening. Similarly, to facilitate the detection of whether the goods are at a safe height, photoelectric sensors, photosensitive sensors, or other sensors for detecting the presence of goods can be provided on the opposing inner surfaces of the first clamp 6 and the second clamp 7.

[0025] This invention provides a cargo warehousing air rail retrieval device. Because a small offset of the drive end of the scissor lift assembly 4 during use will cause the entire assembly to undergo a large range of position adjustments, the height of the scissor lift assembly 4 is difficult to precisely control in actual operation. Even after visual recognition or proximity recognition (the position installed on the first clamp 6 or the second clamp 7 to facilitate fine-tuning of the clamping position before clamping) is used to locate the corresponding height of the cargo, the height adjustment of the scissor lift assembly 4 is prone to significant deviations. To facilitate timely detection of the actual overall position change of the scissor lift assembly 4 and to provide feedback to the output end for timely adjustment or termination, a pull rope 18 can be fixedly installed on the fixed platform 2. (Refer to...) Figure 3 and Figure 6 As shown, a hinge seat 16 is provided on the mounting platform 5, and a rope winding disc 17 is rotatably mounted on the hinge seat 16. The other end of the pull rope 18 is wound onto the rope winding disc 17 so that the fixed platform 2 and the mounting platform 5 are connected by the pull rope 18. At this time, a coil spring assembly is provided on the hinge seat 16 to act on the rope winding disc 17 to keep the pull rope 18 taut, so that the pull rope 18 can always position the rotation angle of the rope winding disc 17 in a taut state. At this time, an encoder for detecting the rotation angle of the rope winding disc 17 is also provided on the hinge seat 16. By combining the outer diameter of the rope winding disc 17 with the number of rotations and angle of the rope winding disc 17, the actual change distance of the pull rope 18 is calculated. This distance is the actual comprehensive position change distance of the scissor lift assembly 4, thus providing a reliable and effective calculation basis for timely braking and stopping, and ensuring accurate changes in height position when clamping goods.

[0026] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A cargo storage overhead rail retrieval device, comprising a suspended conveyor line, characterized in that, The conveying end of the suspended conveyor line is fixedly provided with a mounting bracket (1). A fixed platform (2) is rotatably mounted below the mounting bracket (1). A rotating component (3) for driving the fixed platform (2) to rotate is also provided on the mounting bracket (1). A mounting platform (5) is provided directly below the fixed platform (2). The fixed platform (2) and the mounting platform (5) are connected by a scissor lift component (4). A first clamp (6) and a second clamp (7) are slidably provided below the mounting platform (5). The surface is also provided with a drive module (8) for driving the first clamp (6) and the second clamp (7) to move closer or further apart. The first clamp (6) and the second clamp (7) are both hollow structures and have a number of slots on the two opposite surfaces of the first clamp (6) and the second clamp (7). Abutment blocks (9) are provided in the slots of the first clamp (6) and the second clamp (7). The first clamp (6) and the second clamp (7) are also provided with a first drive device (10) that can drive the abutment blocks (9) to protrude from the surface of the slot.

2. The cargo storage air rail retrieval device according to claim 1, characterized in that, The bottom of the first clamp (6) and the second clamp (7) are chamfered, and the included angle formed by the bottom surface of the first clamp (6) and the bottom surface of the second clamp (7) is no greater than 180°.

3. The cargo storage air rail retrieval device according to claim 1, characterized in that, Both the slot and the abutment block (9) are vertically arranged elongated strips. The hollow structures of the first clamp (6) and the second clamp (7) are provided with at least two guide plates (14) on both sides of the slot. Each guide plate (14) has an L-shaped slot of the same shape. The abutment block (9) is also equipped with sliding columns (15) that can slide in the L-shaped slot on both sides. The first driving device (10) is used to drive the abutment block (9) to move along the guiding direction of the L-shaped slot.

4. A cargo storage rail retrieval device according to claim 3, characterized in that, A connecting frame (11) is provided above the abutting block (9), and a connecting block (12) is provided at the movable end of the first driving device (10). The connecting frame (11) and the connecting block (12) are slidably connected by a slide rod (13). The first driving device (10) is used to drive the connecting block (12) to move up and down.

5. A cargo storage rail retrieval device according to claim 1, characterized in that, The first clamp (6) and the second clamp (7) are also provided with mounting ports, and an abutment plate (19) is rotatably mounted in the mounting port. The abutment plate (19) can be rotated to protrude from the inner side of the first clamp (6) or the corresponding second clamp (7). The mounting port is also provided with a second driving device (20) for driving the abutment plate (19) to rotate.

6. A cargo storage rail retrieval device according to claim 5, characterized in that, An installation plate (21) is also provided in the installation port. A third driving device (23) is fixedly provided on the installation plate (21). A rotating wheel (24) is fixedly provided at the output end of the third driving device (23). A fourth driving device (22) is also provided in the installation port for driving the installation plate (21) to move so that the rotating wheel (24) can protrude from the inner side opposite to the first clamp (6) or the second clamp (7).

7. A cargo storage rail retrieval device according to claim 6, characterized in that, Each mounting port of the first clamp (6) or the second clamp (7) has two parallel hinge rods (25) rotatably mounted on its side wall. The ends of each pair of parallel hinge rods (25) are rotatably connected to the corresponding mounting plate (21). The four hinge points of the two parallel hinge rods (25) form a parallelogram. The hinge rods (25) or the mounting plate (21) are provided with a sliding groove. The movable end of the fourth driving device (22) acts in the sliding groove to drive the hinge rods (25) or the mounting plate (21) to move up and down.

8. A cargo storage rail retrieval device according to claim 7, characterized in that, Each of the mounting ports is equipped with a proximity sensor for detecting the horizontal offset position of the mounting plate (21).

9. A cargo warehousing air rail retrieval device according to claim 1, characterized in that, The first clamp (6) and the second clamp (7) are each provided with photoelectric sensors on their opposite inner surfaces for detecting the presence of goods.

10. A cargo storage rail retrieval device according to any one of claims 1-9, characterized in that, A pull rope (18) is fixedly installed on the fixed platform (2), and a hinge seat (16) is installed on the mounting platform (5). A rope winding disc (17) is rotatably installed on the hinge seat (16). The other end of the pull rope (18) is wound on the rope winding disc (17). A coil spring assembly is installed on the hinge seat (16) to act on the rope winding disc (17) to keep the pull rope (18) taut. An encoder for detecting the rotation angle of the rope winding disc (17) is also installed on the hinge seat (16).

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