CN110407107B

CN110407107B - Accurate allocation and transportation hoist of qxcomm technology

Info

Publication number: CN110407107B
Application number: CN201910555289.6A
Authority: CN
Inventors: 李建霞; 杜文豪; 吕锦超; 强海燕
Original assignee: Shanghai Maritime University
Current assignee: Shanghai Maritime University
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2020-07-24
Anticipated expiration: 2039-06-25
Also published as: CN110407107A

Abstract

The invention discloses an omnidirectional accurate allocation and transportation crane, which relates to the technical field of hoisting mechanical equipment and comprises a machine body, wherein the machine body comprises a frame, a lifting mechanism and a travelling mechanism, and a slippage mechanism is arranged on the frame; the sliding mechanism comprises a guide rail, a sliding block is arranged on the guide rail in a sliding mode, a transmission lead screw is arranged on the guide rail, the transmission lead screw penetrates through the sliding block and is in threaded connection with the sliding block, and a first driving device is arranged at one end of the guide rail; the lifting mechanism comprises a winding drum, an upper pulley block, a lower pulley block, a rope, a lifting appliance platform and a lifting appliance; the upper pulley block is arranged on the sliding block, the lower pulley block is arranged on the lifting appliance platform, the upper pulley block and the lower pulley block are connected in a winding mode through a rope, the winding drum is rotatably arranged on the sliding block, and a second driving device is arranged on the sliding block; the running mechanism comprises a steering wheel. The invention provides the omnidirectional accurate transfer crane which has the advantages of simple and reliable structure, good safety, small occupied space, flexible movement, swing prevention and high precision.

Description

Accurate allocation and transportation hoist of qxcomm technology

Technical Field

The invention relates to the technical field of hoisting machinery, in particular to an omnidirectional accurate allocation and transportation crane.

Background

The crane refers to a multi-action crane for vertically lifting and horizontally carrying heavy objects within a certain range. The working characteristics of the hoisting equipment are that the hoisting equipment does intermittent motion, namely corresponding mechanisms for taking materials, transporting, unloading and the like in one working cycle work alternately, and the development and the use of the crane on the market are more and more extensive.

In the environments of factories, wharfs and the like in the manufacturing industry, a large amount of goods need to be transported in a translation mode, and a straddle carrier and a traditional crane can meet the requirement of hoisting and transporting large-mass goods. However, the existing crane mostly adopts the traditional single-rope winding mode, the trolley travels on the cross beam in a transverse motion mode, and the lifting hook can only grab goods at a fixed point and the conventional straddle carrier travels.

However, in special working environments, such as hazardous chemical substance experiments, explosion elimination, precision machining and manufacturing, small objects need to be transported and transferred. Traditional hoisting equipment fixed point handling, equipment size is big, and it is big to occupy the space, can't satisfy the requirement of indoor nimble transport, and single rope winding mode, easily rocks, and poor stability leads to the accuracy of handling goods low, exists and treats the improvement part.

Disclosure of Invention

Aiming at the technical problems, the invention aims to provide an omnidirectional accurate transfer crane.

In order to achieve the purpose, the invention provides the following technical scheme:

an omnidirectional accurate transfer crane comprises a machine body, wherein the machine body comprises a frame, a lifting mechanism and a travelling mechanism, the travelling mechanism is arranged on one side, close to the ground, of the frame, and a sliding mechanism used for driving the lifting mechanism to slide in the horizontal direction is further arranged on the frame;

the sliding mechanism comprises a guide rail fixedly arranged on the frame, a sliding block is arranged on the guide rail, the sliding block is arranged in a sliding manner along the length direction of the guide rail, a transmission lead screw is rotatably arranged on the guide rail along the length direction of the guide rail, the transmission lead screw penetrates through the sliding block along the length direction of the guide rail, the sliding block is arranged on the transmission lead screw in a threaded connection manner, and a first driving device used for driving the transmission lead screw to rotate is further arranged at one end of the guide rail in the length direction;

the lifting mechanism comprises a winding drum, an upper pulley block, a lower pulley block, a rope, a lifting appliance platform and a lifting appliance; the upper pulley set is arranged on the sliding block, the lower pulley set is arranged on one side, close to the upper pulley set, of the lifting appliance platform, the lower pulley set comprises three lower pulleys, the three lower pulleys are arranged on the lifting appliance platform at intervals, the positions of the three lower pulleys on the lifting appliance platform form a triangle, the upper pulley set comprises three upper pulley units, and the three upper pulley units and the three lower pulleys are arranged in a one-to-one correspondence manner; the upper pulley unit is connected with the corresponding lower pulley through rope winding, one end of the rope is fixed on the lifting appliance platform, one end, far away from the lifting appliance platform, of the rope sequentially penetrates through the lower pulley and the upper pulley unit and is fixed on the winding drum, the winding drum is rotatably arranged on the sliding block, and a second driving device used for driving the winding drum to rotate is arranged on the sliding block.

Through the technical scheme, in actual use, a user transfers the crane to a belt operation place through the steering wheel in the travelling mechanism; then, a driving device in the sliding mechanism drives the lead screw to rotate, and the sliding block is conveyed to a specified position; then, the goods are grabbed and transported by using the lifting mechanism, so that the small objects and the like can be rapidly transported. By the mode, the driving device is used for controlling the rotation turns of the transmission lead screw, so that the moving distance of the sliding block can be accurately controlled, and the lifting precision of the crane is improved; meanwhile, the upper pulley block and the lower pulley block in the lifting mechanism are matched with the rope, so that the lifting appliance is prevented from swinging when being positioned and moved, the precision of the lifting appliance of the crane in use is further improved, and the lifting appliance can accurately grab the goods to be transported.

The invention is further configured to: the three lower pulleys form a regular triangle on the lifting appliance, the regular triangle formed by the lower pulleys is superposed with the central point on the lifting appliance platform, and the rope is fixed at the central point position of the lifting appliance.

Through above-mentioned technical scheme, set three lower pulleys into a regular triangle, and its central point and hoist central point coincidence, make the hoist when the transfer goods, hoist platform atress is even, effectively avoids hoist platform atress unstable emergence slope, helps guaranteeing the stability of hoist platform in the use.

Secondly, help guaranteeing that each rope atress is even to be favorable to prolonging the life of rope.

The invention is further configured to: every go up the pulley unit and include first top sheave, second top sheave leading wheel, the one end that the hoist platform was kept away from to the rope is at first twined first top sheave, then the rope is around establishing on lower pulley, then the rope is around establishing on second top sheave, finally the rope is around establishing on the leading wheel, the rope changes direction through the leading wheel and fixes on the reel, around establishing the perpendicular reel axis place's of rope on the leading wheel plane, and it with the reel surface is tangent.

Through the technical scheme, the rope winding mode is used for helping to ensure the stability of the winding drum for winding and unwinding the rope in the lifting process of the lifting mechanism, so that the stability of the lifting process of the lifting mechanism is helped to be ensured.

The invention is further configured to: the three first upper pulleys are arranged at the same height and form a regular triangle, and the three ropes fixed at the center point of the lifting appliance platform and the three first upper pulleys form a triangular conical rope structure together.

Through the technical scheme, the lifting appliance platform is effectively prevented from shaking in the using process, the stability of the lifting appliance platform in the using process is further improved, and the precision of the crane in the using process is improved.

The invention is further configured to: be provided with the mounting panel on the slider, one side that the mounting panel deviates from the slider is fixed to be provided with first pulley yoke and second pulley yoke, first pulley rotates and sets up on first pulley yoke, second pulley and leading wheel setting are on second pulley yoke, just the leading wheel sets up in second upper pulley below, rope, lower pulley and second upper pulley constitute three prism form rope structure.

Through above-mentioned technical scheme, effectively avoid the hoist rotatory in the use, cause the rope to tie a knot to help improving the precision that the hoist transferred the goods.

The invention is further configured to: the first pulley yoke and the second pulley yoke are detachably arranged on the mounting plate.

Through above-mentioned technical scheme, the person of facilitating the use dismantles first pulley yoke and second pulley yoke, improves the convenience that the maintenance was overhauld greatly.

The invention is further configured to: one side of the guide rail, which is close to the transmission screw rod, is provided with a guide strip, the guide strip is arranged along the length direction of the guide rail, and one side of the sliding block, which is close to the guide strip, is provided with a groove for embedding the guide strip.

Through above-mentioned technical scheme, avoid the slider to turn to the motion on the guide rail, help guaranteeing the stability of slider sliding on the guide rail, help improving the precision of hoist handling goods.

The invention is further configured to: the driving mechanism comprises a steering wheel arranged on one side of the frame close to the ground.

Through above-mentioned technical scheme, through the directive wheel that is close to ground one side at the frame, conveniently remove the transfer of hoist.

The invention is further configured to: the steering wheel is configured as a Mecanum wheel.

Through the technical scheme, the crane can freely turn on the ground by controlling the four wheels to rotate at different speeds and turn.

In conclusion, the invention has the following beneficial effects:

1. the structure is simple and reliable, the omnidirectional flexible movement is realized, the sliding block is self-locked and prevents slipping, the lifting system is omnidirectional and prevents shaking, the stability is good, the space occupation is small, the space utilization rate is high, the requirement on manual operation skill is low, and the economy and the high efficiency are realized;

2. the lower pulleys on the lifting appliance platform are arranged into a regular triangle shape, so that the stability of the lifting appliance platform in use is ensured; meanwhile, the guide wheels are arranged, so that the rope can be ensured to be stably contracted or released on the roller, and the stability of the lifting appliance platform in the using process can be improved; moreover, the three ropes, the upper pulley block and the lower pulley block form a triangular pyramid-shaped and triangular prism-shaped rope structure, so that the stability of the lifting appliance platform in the use process is ensured, and the rope winding caused by the rotation of the lifting appliance platform is avoided; by the mode, the stability of the lifting appliance platform in the using process is ensured, so that the precision of the lifting appliance platform for lifting goods in the using process of the crane is ensured;

3. the driving device has no power self-locking and can prevent the sliding block from sliding after losing power, thereby greatly improving the safety performance of the crane.

Drawings

FIG. 1 is an overall schematic view of an omnidirectional accurate allocation and transportation crane according to the present invention;

FIG. 2 is a schematic structural diagram of a frame of the omnidirectional accurate allocation and transportation crane of the invention;

FIG. 3 is a schematic diagram of a sliding mechanism of the omnidirectional accurate allocation and transportation crane according to the present invention;

FIG. 4 is an exploded view of a slider and a guide rail of the omnidirectional accurate allocation crane of the present invention;

FIG. 5 is an enlarged view of a portion A of FIG. 4;

FIG. 6 is a schematic diagram of a rope winding structure of an omnidirectional accurate allocation and transportation crane according to the present invention;

fig. 7 is a schematic structural diagram of an upper pulley set of the omnidirectional accurate allocation and transportation crane according to the present invention.

Reference numerals: 1. a machine body; 2. a frame; 21. a mounting frame; 22. a support bar; 3. a travelling mechanism; 31. a Mecanum wheel; 4. a sliding mechanism; 41. a guide rail; 411. a guide strip; 412. installing a baffle; 42. a drive screw; 43. a slider; 431. a groove; 44. a servo motor; 5. a lifting mechanism; 51. A reel; 52. a drum motor; 53. mounting a plate; 541. a first sheave frame; 542. a second sheave frame; 55. a rope; 56. an upper pulley set; 560. an upper sheave unit; 561. a first upper pulley; 562. a second upper pulley; 563. a guide wheel; 57. a spreader platform; 58. a lower pulley block; 581. a lower pulley; 59. and (4) clamping.

Detailed Description

The invention provides an omnidirectional accurate allocation and transportation crane, and in order to make the purpose, technical scheme and effect of the invention clearer and clearer, the invention is further described in detail below by referring to the attached drawings and taking examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the above-described drawings are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order, it being understood that the data so used may be interchanged under appropriate circumstances. Furthermore, the terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a system, article, or apparatus that comprises a list of elements is not necessarily limited to those elements explicitly listed, but may include other elements not expressly listed or inherent to such system, article, or apparatus.

Referring to the attached

drawings

1 and 2, the omni-directional accurate allocation and transportation crane comprises a machine body 1, wherein the machine body 1 comprises a frame 2, and a sliding mechanism 4, a lifting mechanism 5 and a travelling crane mechanism are arranged on the frame 2. The frame 2 comprises a mounting frame 21, and the mounting frame 21 is of a rectangular frame structure shaped like a Chinese character 'ri'. The support rods 22 are vertically fixed on one side, close to the ground, of the mounting frame 21, two support rods 22 are arranged on one side, in the width direction, of the frame 2 at intervals, the two support rods 22 on one side, in the width direction, of the mounting frame 21 are a group of support rods 22, and a group of support rods 22 are arranged on two sides, in the width direction, of the mounting frame 21 respectively. In this way, the crane can conveniently stride over the ground obstacle, and the gravity generated by the crane is respectively borne by the four support rods 22, so that the stability of the frame 2 is greatly improved, and the overturn is prevented. The end of the support rod 22 away from the mounting frame 21 is rotatably provided with a Mecanum wheel 31, and the Mecanum wheel 31 is a steering wheel. By controlling the four wheels to rotate at different speeds and to turn, the crane can rotate freely on the ground.

To facilitate the transfer of cargo. Referring to fig. 3, the sliding mechanism 4 includes a guide rail 41 fixedly disposed on the mounting bracket 21, the guide rail 41 is fixedly disposed on a side of the mounting bracket 21 close to the ground, and the guide rail 41 is disposed along a length direction of the mounting bracket 21. The mounting baffle 412 is fixed on one side of the guide rail 41 close to the ground, the mounting baffle 412 is vertically fixed on one side of the guide rail 41 close to the ground, and two mounting baffles 412 are arranged and are respectively arranged at two ends of the guide rail 41. A transmission screw 42 is arranged between the two mounting plates 53, and the transmission screw 42 is rotatably arranged between the two mounting plates 53 through a bearing. A servo motor 44 is further fixedly arranged at one end of the guide rail 41, and a driving shaft of the servo motor 44 is fixedly connected with the transmission screw 42 through a coupler, that is, the servo motor 44 is a first driving device.

With reference to fig. 4 and 5, the guide rail 41 is further provided with a sliding block 43, and the sliding block 43 is a square block structure. The slider 43 is slidably disposed along the longitudinal direction of the guide rail 41. One side of the guide rail 41 close to the ground is convexly provided with a guide strip 411, and the guide strip 411 is arranged along the length direction of the guide rail 41. The side of the slider 43 close to the guide bar 411 is concavely formed with a groove 431. The guide bar 411 is inserted into the groove 431 to form a plug-in fit. In this way, a steering movement of the slide 43 on the drive spindle 42 is avoided, which helps to ensure the stability of the sliding movement of the slide 43 on the guide rail 41. The sliding block 43 is driven by the transmission lead screw 42, and the servo motor 44 is unpowered and self-locked, so that the sliding of the sliding block 43 after losing power can be prevented, and the use safety of the crane is greatly improved; meanwhile, the servo motor 44 controls the number of rotation turns of the transmission screw 42, so that the moving distance of the sliding block 43 can be accurately controlled, and the lifting moving precision of the crane can be improved.

In order to realize the lifting and carrying of goods. Referring to fig. 6 and 7, the lifting mechanism 5 includes a mounting plate 53. The mounting plate 53 is fixedly arranged on one side of the slide block 43 close to the ground, and the mounting plate 53 is of a rectangular plate-shaped structure. The mounting plate 53 is fixedly mounted at the center of the slider 43. The mounting plate 53 is fixed with first pulley yoke 541 and second pulley yoke 542 near ground one side, and first pulley yoke 541 and second pulley yoke 542 are a fixed plate, and the perpendicular mounting plate 53 of fixed plate is close to on the ground one side sets up the mounting plate 53. The fixed plate is of a rectangular structure and is fixedly arranged on the mounting plate 53 through screws, so that the fixed plate can be detachably arranged on the mounting plate 53. The first pulley yoke and the second pulley yoke are convenient for a user to disassemble for maintenance and overhaul.

A first upper pulley 561 is rotatably disposed on the fixing plate of the first pulley frame 541 via a shaft pin. The first pulley frames 541 are provided with three sets, and the first upper pulleys 561 of the three sets of the first pulley frames 541 are all arranged at the same height. The second pulley frames 542 are provided with three sets, and are arranged in one-to-one correspondence with the first pulley frames 541. A second upper pulley 562 and a guide wheel 563 are rotatably arranged on the fixing plate of the second pulley frame 542 through a shaft pin, and the guide wheel 563 is arranged right below the first anti-skid wheel. The first upper sheave 561 and the second upper sheave 562 constitute an upper sheave unit 560, and all the upper sheave units 560 constitute the upper sheave group 56.

Referring to fig. 6, a reel motor 52 is fixedly disposed on one side of the mounting plate 53 close to the ground, the reel motor 52 is vertically disposed on the mounting plate 53, and the reel motor 52 is disposed at the center of the mounting plate 53. The output shaft of the reel motor 52 is opposite to the center of the mounting plate 53, and the reel 51 is fixedly arranged on the output shaft of the reel motor 52, that is, the reel motor 52 is a second driving device.

A lifting appliance platform 57 is arranged right below the mounting plate 53, and the lifting appliance platform 57 is of a disc-shaped plate-shaped structure. One side of the hanger platform 57 close to the slide block 43 is provided with three lower pulleys 581, the three lower pulleys 581 are uniformly distributed on the hanger platform 57, and the positions of the three lower pulleys 581 on the hanger platform 57 form a regular triangle. The center point of the regular triangle coincides with the center of the spreader platform 57, and three lower pulleys 581 form a lower pulley 581 set 58. The lifting appliance platform 57 is beneficial to ensuring the stress balance when the heavy object is lifted, thereby improving the stability. The three lower pulleys 581 are disposed in one-to-one correspondence with the three upper pulley units 560, respectively.

A rope 55 is provided between the upper pulley set 56 and the lower pulley 581 set 58. The ropes 55 are provided in three sets, and the three sets of ropes 55 are wound around and disposed between the corresponding upper pulley unit 560 and the lower pulley 581, respectively. One end of the rope 55 is fixedly arranged at the center of the circle of the spreader platform 57, and then the rope 55 is sequentially wound around the first upper pulley 561, the lower pulley 581, the second upper pulley 562 and the guide wheel 563, and finally one end far away from the spreader platform 57 is fixedly arranged on the winding drum 51. The cable 55 wound around the guide wheel 563 is perpendicular to the plane of the central axis of the drum 51 and tangent to the side of the drum 51. This design helps to ensure the stability of the rope 55 being unwound and unwound by the drum 51 during the lifting operation of the lifting mechanism 5, and thus helps to ensure the stability of the lifting mechanism 5 during the lifting operation.

The three first upper pulleys 561 form a regular triangle, and one end of each of the three ropes 55 is fixed to the center of the circle of the lifting device platform 57 to form a rope structure in the shape of a triangular cone, which helps to prevent the lifting device platform 57 from shaking. The three ropes 55, the three lower pulleys 581 and the three upper pulley sets 56 form a triangular prism-shaped rope structure, thereby effectively preventing the rope 55 from being wound and knotted due to the rotation of the hanger platform 57 in the use process. The lower pulley set 58 (movable pulley set) can reduce the stress of the rope 55 and the winding drum 51, and ensure that the degree of freedom of the lifting system is unchanged, and ensure that the lifting system only has linear degree of freedom in the up-down lifting direction, so that the goods can only move up and down along the central axis of the lifting system.

In the actual use process, the hoist platform 57 is driven to ascend (or descend) by winding (or releasing) the rope 55 through the winding drum 51, so that the hoist platform 57 is lifted. Meanwhile, the gravity of the lifting appliance platform 57 and the tension borne by the gravity are effectively concentrated on the central axis of the lifting mechanism 5 by the three groups of ropes 55, so that the stability of the crane during starting, stopping or lifting goods is ensured; meanwhile, the swinging of the goods in the hoisting process is effectively avoided, and the unloading precision of the goods is improved when the crane unloads the goods. The center of one side of the lifting appliance platform 57 close to the ground is fixedly provided with a clamping jaw, namely the clamping jaw is a clamp 59. The user can also change the corresponding anchor clamps 59 of fixed according to the shape and the size of actual goods to help improving anchor clamps 59 and hold the stability of goods, and enlarge the application scope of hoist.

The working principle of the embodiment is as follows:

in actual use, a user firstly moves the crane to a working place where goods need to be carried through the Mecanum wheels 31; then, the servo motor 44 drives the transmission screw 42 to rotate, so as to drive the sliding block 43 to slide on the sliding rail, and the sliding block 43 slides to the upper end of the goods to be transported; next, the reel 51 is driven to rotate by the reel motor 52 in the lifting mechanism 5, the rope 55 wound on the reel 51 is released, the clamping jaws are made to contact the goods to be carried, and the goods to be carried are grabbed by the clamping jaws; at the same time, the drum motor 52 is driven again to drive the drum 51 to rotate so as to wind the rope 55, thereby lifting the clamping jaws and the goods grabbed by the clamping jaws; then, the servo motor 44 drives the transmission screw rod 42 to rotate, so as to drive the sliding block 43, and further, the goods are conveyed to the position above the goods placing point; and finally, the goods are descended through the lifting mechanism 5, and the clamping jaw is opened, so that the small goods can be stably transported.

The embodiments of the present invention have been described in detail, but the embodiments are merely examples, and the present invention is not limited to the embodiments described above. Any equivalent modifications or alterations to this practice will occur to those skilled in the art and are intended to be within the scope of this invention. Accordingly, equivalent changes and modifications made without departing from the spirit and scope of the present invention should be covered by the present invention.

Claims

1. An omnidirectional accurate transfer crane comprises a machine body (1), wherein the machine body (1) comprises a frame (2), a lifting mechanism (5) and a travelling mechanism (3) arranged on one side, close to the ground, of the frame (2), and a sliding mechanism (4) used for driving the lifting mechanism (5) to slide in the horizontal direction is further arranged on the frame (2);

the device is characterized in that the sliding mechanism (4) comprises a guide rail (41) fixedly arranged on the frame (2), a sliding block (43) is arranged on the guide rail (41), the sliding block (43) is arranged in a sliding manner along the length direction of the guide rail (41), the guide rail (41) is rotatably provided with a transmission lead screw (42) along the length direction of the guide rail, the transmission lead screw (42) penetrates through the sliding block (43) along the length direction of the guide rail (41), the sliding block (43) is arranged on the transmission lead screw (42) in a threaded connection manner, and one end of the guide rail (41) in the length direction is further provided with a first driving device for driving the transmission lead screw (42) to rotate;

the lifting mechanism (5) comprises a winding drum (51), an upper pulley block (56), a lower pulley block (58), a rope (55), a lifting appliance platform (57) and a lifting appliance; the upper pulley set (56) is arranged on a sliding block (43), the lower pulley set (58) is arranged on one side, close to the upper pulley set (56), of a lifting appliance platform (57), the lower pulley set (58) comprises three lower pulleys (581), the three lower pulleys (581) are arranged on the lifting appliance platform (57) at intervals, the positions of the three lower pulleys (581) on the lifting appliance platform (57) form a triangle, the upper pulley set (56) comprises three upper pulley units (560), and the three upper pulley units (560) and the three lower pulleys (581) are arranged in a one-to-one correspondence manner; the upper pulley unit (560) is connected with the corresponding lower pulley (581) in a winding manner through a rope (55), one end of the rope (55) is fixed on the lifting appliance platform (57), one end, far away from the lifting appliance platform (57), of the rope (55) sequentially penetrates through the upper pulley unit (560) and the lower pulley (581) and is fixed on the winding drum (51), the winding drum (51) is rotatably arranged on the sliding block (43), and a second driving device for driving the winding drum (51) to rotate is arranged on the sliding block (43);

the three lower pulleys (581) form a regular triangle on the lifting appliance, the regular triangle formed by the lower pulleys (581) is superposed with the central point of the lifting appliance platform (57), and the rope (55) is fixed at the central point of the lifting appliance;

each upper pulley unit (560) comprises a first upper pulley (561), a second upper pulley (562) and a guide wheel (563), one end, far away from a hanger platform (57), of the rope (55) is firstly wound on the first upper pulley (561), then the rope (55) is wound on the lower pulley (581), then the rope (55) is wound on the second upper pulley (562), finally the rope (55) is wound on the guide wheel (563), the direction of the rope (55) is changed through the guide wheel (563) to be fixed on a winding drum (51), and the rope (55) wound on the guide wheel (563) is perpendicular to a plane where a central axis of the winding drum (51) is located and is tangent to the surface of the winding drum (51).

2. An omnidirectional accurate transfer crane according to claim 1, wherein three of said first upper pulleys (561) are at the same height, and three of said first upper pulleys (561) form a regular triangle, and three of said ropes (55) fixed at the center point of said spreader platform (57) and three of said first upper pulleys (561) together form a triangular pyramid rope structure.

3. An omnidirectional accurate transfer crane according to claim 1, wherein a mounting plate (53) is disposed on the slider (43), a first pulley frame (541) and a second pulley frame (542) are fixedly disposed on a side of the mounting plate (53) away from the slider (43), the first upper pulley (561) is rotatably disposed on the first pulley frame (541), the second upper pulley (562) and the guide pulley (563) are disposed on the second pulley frame (542), the guide pulley (563) is disposed below the second upper pulley (562), and the rope (55), the lower pulley (581) and the second upper pulley (562) form a rope structure with a triangular prism shape.

4. An omnidirectional accurate transfer crane according to claim 3, wherein said first pulley yoke (541) and said second pulley yoke (542) are detachably disposed on the mounting plate (53).

5. The omni-directional accurate allocation and transportation crane according to claim 1, wherein a guide bar (411) is arranged on one side of the guide rail (41) close to the transmission screw (42), the guide bar (411) is arranged along the length direction of the guide rail (41), and a groove (431) for embedding the guide bar (411) is formed on one side of the sliding block (43) close to the guide bar (411).

6. An omnidirectional accurate transfer crane according to claim 1, wherein said travelling mechanism comprises a steering wheel disposed on a ground-near side of the frame (2).

7. An omnidirectional accurate pick up crane according to claim 6, wherein said steerable wheels are arranged as Mecanum wheels (31).