CN214030781U

CN214030781U - Obstacle-avoiding cargo carrying equipment with multipoint displacement grabbing function

Info

Publication number: CN214030781U
Application number: CN202022327997.5U
Authority: CN
Inventors: 王志伟; 曹旭阳; 王旭辉; 付林生; 徐兆光; 周加胜
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-10-19
Filing date: 2020-10-19
Publication date: 2021-08-24
Anticipated expiration: 2030-10-19

Abstract

The utility model provides a can keep away barrier cargo handling equipment with multiple spot shifts snatchs function relates to logistics transportation fields such as material handling, loading and unloading, for solving the material handling under the complex environment long, handling efficiency low grade technical problem of consuming time. Obstacle-avoidable cargo carrying equipment capable of grabbing by multipoint displacement comprises: the crane comprises a cart travelling mechanism, a frame, a lifting mechanism, a main beam, a sliding mechanism, a grabbing mechanism and a control module. The cart running gear is fixed in the frame bottom, and hoisting mechanism is fixed in the frame top, and the girder is installed in the workshop, and hoisting mechanism and girder flexonics are used for driving girder, glide machanism and snatch the mechanism and go up and down, and glide machanism drives and snatchs the mechanism and remove and realize material handling and keep away the barrier. The obstacle-avoiding cargo handling equipment capable of grabbing by multi-point displacement is applied to the processes of workshop and warehouse material handling and obstacle avoidance, can realize quick and accurate fixed-point loading and unloading of materials, improves the working efficiency and reduces the material handling cost.

Description

Obstacle-avoiding cargo carrying equipment with multipoint displacement grabbing function

Technical Field

The invention relates to obstacle-avoidable cargo carrying equipment with a multipoint deflection grabbing function for light and small operations, in particular to the field of logistics transportation such as carrying, loading and unloading of box-shaped materials.

Background

With the development of economic construction in China and the promotion of the target of '2025 manufacturing in China', the logistics transportation industry has gradually developed towards high efficiency, strong adaptability and multiple functions. The fixed-point carrying work is frequently carried out in workshops, warehouses and the like, and as most carried objects are small and medium-tonnage goods and materials, the operation environment is complex, the goods are often accurately and quickly loaded and unloaded, and the stacked materials on site can be avoided in the carrying process. At present, most of goods in a workshop are transported by using a forklift, transported by small hoisting machinery and transported manually, the loading and unloading speed is low, the requirement on transportation space is high, and in order to improve the working efficiency, reduce the cost and save the space, the invention designs a light and small obstacle-avoiding goods transporting device with a multipoint displacement grabbing function on the background of obstacle avoidance and quick loading and unloading requirements.

Disclosure of Invention

The invention aims to overcome the technical problems of single function, low efficiency and the like in the prior art, and provides the cargo handling equipment which is simple and light in structure, can grab at multiple points, can avoid obstacles and has strong universality. According to the invention, aiming at common overlapped box type goods stacking in a workshop, the positions of the grabbing mechanisms are adjusted through remote control, so that goods with different sizes are grabbed quickly, other stacked materials in the workshop are avoided in the carrying process, and after the goods are carried to a specified area, the goods can be arranged and placed quickly, and the loading, unloading and carrying operation under a complex environment can be adapted.

In order to achieve the purpose, the specific technical scheme of the invention is as follows:

the utility model provides a can keep away barrier cargo handling equipment with function is snatched in multiple spot shifting, this equipment is whole can dismantle, includes cart running gear, frame, hoisting mechanism, girder, glide machanism, snatchs mechanism and control module.

In the technical scheme, the cart travelling mechanism comprises an STM32F103 main control chip, a Bluetooth module, a motor driving module, a motor, a power module and a driving wheel. The action wheel adopts the omni wheel structure, can carry out arbitrary direction and remove, bluetooth module receives the instruction from the controller, the motor is connected motor drive module, power module does each module supplies power.

In the technical scheme, the frame comprises four parts, namely a frame main body, a travelling mechanism joint, a control module support and a hoisting mechanism support, the frame main body is formed by splicing connecting pieces, the cart travelling mechanism and the travelling mechanism joint are connected through bolts, the control module is located at the top of the frame main body, the control module support is located at the top of the frame main body, and the hoisting mechanism support is located at the two ends of the top of the frame main body and fixed through bolts. In the design, the frame mainly plays a supporting role and meets certain working strength requirements.

In the technical scheme, the lifting mechanism comprises a lifting motor, a lifting motor support, a lifting motor winch, a small guide wheel, a lifting steel wire rope and a lifting hook. The lifting motor is fixed on the lifting motor bracket through screws. The lifting motor support is fixedly connected with a top cross beam of the frame main body through a bolt. And the hoisting motor is fixed at the end part of the hoisting motor shaft. One end of the lifting steel wire rope is respectively wound in the two wheel grooves wound by the lifting motor in a positive and negative mode and bypasses the small guide wheel, the lifting hook is connected to the other end of the lifting steel wire rope, the lifting hook is matched with a lifting ring screw in the main beam, and the main beam, the sliding mechanism, the grabbing mechanism and the goods are driven to move up and down through positive and negative rotation of the lifting motor.

In the technical scheme, the main beam comprises a main beam body, a double-row wheel slide rod, a sliding motor support, a sliding motor, a double-groove winch, a large guide wheel and a transmission steel wire rope besides the lifting bolt. The main beam is divided into a front part and a rear part, the structures of the front part and the rear part are completely consistent, the front part and the rear part are respectively used for bearing the grabbing mechanisms, and the main beam is connected with the grabbing mechanisms through the sliding mechanisms. The double-row wheel sliding rods and the main beam are connected through bolts and are fixed in a crossed mode. The sliding motor support is fixed in the middle of the upper plane of the main beam main body through a screw. The sliding motor is arranged in the sliding motor bracket. The double-groove winch is fixed at the end part of a motor shaft of the sliding motor. The large guide wheels are connected and fixed at two ends of the main beam main body through pin shafts. One end of each transmission steel wire rope is wound on the double-groove winch, the other end of each transmission steel wire rope bypasses the large guide wheel and then is connected with the sliding mechanism to form closed-loop transmission, and the sliding motor drives the sliding mechanism to move. The lifting ring screws on two sides of the main beam body are connected with the lifting hooks in the lifting mechanism to realize lifting motion.

In the above technical scheme, the sliding mechanism comprises three parts, namely two trolleys, two convex brackets and a connecting frame. The trolley is fixed on the convex bracket through bolt connection and then is fixed on the connecting frame in a straight line. The trolley can be arranged in the guide groove of the main beam to realize left-right reciprocating motion.

In the technical scheme, the grabbing mechanism comprises five parts, namely a supporting rod, a supporting rod bracket, a bearing frame, a connecting rod sliding block mechanism and a grabbing tool. The grabbing mechanism is provided with a front part and a rear part, and the structure is completely consistent. The lower surface of the supporting rod is provided with a guide groove, the whole supporting rod penetrates through a through hole in the middle of the bearing frame, the bearing frame is fixed in the middle of the supporting rod, the supporting rod is arranged on two sides of the bearing frame in a supporting mode and matched with the bearing frame to keep the supporting rod balanced and bear the weight of goods, the gripping apparatus and the connecting rod sliding block mechanism are symmetrically arranged below two ends of the supporting rod, and the gripping apparatus can grip goods in different positions and different sizes through the movement of the connecting rod sliding block mechanism.

In the above technical scheme, further, the connecting rod slider mechanism includes steering engine a, rudder steering engine B, steering engine support, steering engine carousel, connecting rod a, connecting rod B, slider, gripping apparatus joint etc. eight parts. The steering wheel A and the steering wheel B are fixed on the upper surface of the supporting rod through the steering wheel support, the steering wheel rotating disc is mounted at the shaft end of the steering wheel A and the shaft end of the steering wheel B, the connecting rod A is fixedly connected with the steering wheel rotating disc, one end of the connecting rod B is connected with the connecting rod A, the other end of the connecting rod B is fixedly connected with the sliding block, the sliding block is mounted in the guide groove on the lower surface of the supporting rod, the gripper joint is fixed on the lower surface of the sliding block through a bolt, the gripper is mounted below the sliding block through the gripper joint, the steering wheel A and the steering wheel B are opposite in rotation direction in the cargo gripping process, and the steering wheel A and the steering wheel B rotate to drive the sliding block, the gripper joint and the gripper to move in opposite directions, so that the cargos with different sizes can be gripped.

The control module comprises a control part of the cart travelling mechanism, a steering engine A, a control part of the steering engine B, a lifting mechanism control part and a sliding motor control part. The control of the four parts is respectively realized to start and stop, front and back and left and right movement of the equipment, rotation control of each steering engine, up and down movement of the main beam and obstacle avoidance sliding movement of the sliding mechanism.

Compared with the prior art, the obstacle-avoidable cargo carrying equipment with multipoint deflection grabbing has the following advantages:

the invention adopts a modular design, has simple and reasonable structure, lower cost, flexible operation, convenient installation, quick assembly, disassembly and transportation and high working efficiency, adopts a double-row wheel slide bar for lifting movement and has novel structure. This design accessible changes the height of frame and the length of crossbeam in order to adapt to not the not lifting operation of co-altitude and the barrier of equidimension not, has stronger adaptability, can obviously improve handling efficiency under the complex environment, saves time, reduces staff's intensity of labour, improves goods transport, puts speed.

Drawings

Fig. 1 is a schematic structural diagram of a whole obstacle-avoidable cargo handling device for multipoint deflection grabbing.

Fig. 2 is a schematic view of the vertical lifting of the obstacle-avoidable cargo handling device for multipoint dislocation grabbing.

Fig. 3 is a cross obstacle avoidance schematic view of obstacle avoidable cargo handling equipment for multipoint deflection grabbing.

Fig. 4 is a schematic diagram of obstacle avoidance on one side of obstacle avoidable cargo handling equipment for multipoint dislocation grabbing.

Fig. 5 is a schematic structural view of a main beam of the obstacle-avoidable cargo handling device for multipoint deflection grabbing.

Fig. 6 is a schematic diagram of a slipping mechanism and a partial grabbing mechanism of obstacle-avoidable cargo handling equipment for multipoint deflection grabbing.

Fig. 7 is a schematic view of an obstacle-avoidable cargo handling device grabbing mechanism for multipoint deflection grabbing.

In the figure:

10-a cart travelling mechanism; 20-a frame; 21-a control module support; 22-hoisting mechanism support; 30-a hoisting mechanism; 31-a hoisting motor; 32-lifting the motor support; 33-hoisting by a hoisting motor; 34-small guide wheels; 35-hoisting the steel wire rope; 36-a hook; 40-a main beam; 41-main beam main body; 411-main beam body guide slot; 42-double-row wheel slide bar; 43-a sliding motor support; 44-a slip motor; 45-double groove hoisting; 46-eye screws; 47-large guide wheel; 48-drive wire rope; 50-a sliding mechanism; 51-a trolley; 52-a male stent; 53-a connecting frame; 60-a gripping mechanism; 61-a support bar; 611-supporting rod guide grooves; 62-a support bar support; 63-a load-bearing frame; 631-support frame through holes; 64-link slider mechanism; 641-steering engine A; 624-steering engine B; 643-a steering engine mount; 644-steering engine turntable; 645 — connecting rod a; 646-connecting rod B; 647-a slider; 648-gripper joints; 65-a gripper;

Detailed Description

The construction and use of the invention will now be further described with reference to the accompanying drawings.

Example one

As shown in fig. 1 to 5, an obstacle-avoidable cargo handling device for multi-point shift grabbing according to an embodiment of the present invention includes: cart running gear 10, frame 20, hoisting mechanism 30, girder 40, glide machanism 50, snatch mechanism 60, control module 70, wherein:

the cart traveling mechanism 10 is of an omnidirectional wheel structure and is fixed at the bottom end of the frame 20, the hoisting mechanism 30 is fixed at the top of the frame 20, the main beam 40 is installed inside the frame 20, the sliding mechanism 50 and the grabbing mechanism 60 are installed below the main beam 40, and the hoisting mechanism 30 and the main beam 40 are flexibly connected and used for driving the main beam 40, the sliding mechanism 50 and the grabbing mechanism 60 to ascend and descend.

As shown in fig. 1 to 5, in the present embodiment, the hoisting mechanism 30, the main beam 40, the sliding mechanism 50, and the grabbing mechanism 60 include two rows, i.e., a front row and a rear row, and the structures are completely the same. The sliding mechanism 50 is fixed at the top end of the grabbing mechanism 60 and assembled with the main beam 40, and in the using process, the sliding mechanism 50 and the grabbing mechanism 60 can be adjusted through the control module 70, so that the grabbing mechanism 60 can grab goods and perform obstacle avoidance movement in the length direction of the main beam 40.

Further, after the position of the sliding mechanism 50 in the main beam 40 is adjusted by the control module 70, the main beam 40, the sliding mechanism 50 and the grabbing mechanism 60 can be lifted and lowered along with the lifting mechanism 30 by controlling the grabbing mechanism 60 and the cart traveling mechanism 10, so that all goods in a goods carrying area can be carried, the carrying efficiency can be obviously improved, the labor intensity of workers can be reduced, and the working time can be saved.

As shown in fig. 3, in the present embodiment, the hoisting mechanism 30 is used for adjusting the hoisting height of the main beam 40, the skid gear 50, the grabbing mechanism 60 and the cargo, the hoisting mechanism 30 includes a hoisting motor 31, a hoisting motor bracket 32, a hoisting motor winch 33, small guide wheels 34, a hoisting steel wire rope 35 and a hook 36, specifically, the hoisting motor bracket 32 is fixed to a middle end beam on the top surface of the frame 20 through bolt connection, the hoisting motor 31 is installed in the hoisting motor bracket 32, the hoisting motor winch 33 is fixed to the end of a motor shaft of the hoisting motor 31, the two small guide wheels 34 are respectively fixed to the hoisting mechanism brackets 22 on two end beams on the top surface of the frame 20, the two hoisting steel wire ropes 35 are respectively wound around two wire slots of the hoisting motor winch 33 in the horizontal direction, after being led out from the hoisting motor winch 33, the hoisting steel wire ropes 35 are guided by the small guide wheels 34 on two ends on the top surface of the frame 20 to be arranged in the vertical direction, the end of the lifting steel wire rope 35 in the vertical direction is connected with a lifting hook 36, the lifting motor 31 drives a lifting motor winch 33 to rotate to wind or unwind the lifting steel wire rope 35, and the lifting hook 36 is connected with a lifting bolt 46 of the main beam 40, so that the main beam 40, the sliding mechanism 50, the grabbing mechanism 60 and the goods are lifted or descended.

In order to adapt to the conveying work in a complex field, the collision between the conveying path and the obstacle is avoided. In the present embodiment, the main beam 40 and the sliding mechanism 50 are matched to realize the obstacle avoidance or the cross obstacle avoidance on the left and right sides of the cargo.

Specifically, as shown in fig. 6, the main beam 40 includes, in addition to the aforementioned eyebolt 46, a main beam main body 41, a double-row wheel slide rod 42, a sliding motor bracket 43, a sliding motor 44, a double-groove winch 45, a large guide wheel 47, and a transmission wire rope 48. The main girder body 41 is a hollow tube structure with a square cross section, the lower surface of the main girder body is provided with a guide groove 411, two double-row wheel slide rods 42 are symmetrically arranged at the two sides of the main girder body 41 and are I-shaped with the length direction of the main girder body 41, the two double-row wheel slide rods 42 are fixedly connected with the main girder body 41 through bolts through central positioning holes of the double-row wheel slide rods 42, and the fixing positions of the double-row wheel slide rods 42 at the two sides of the main girder body 41 can be determined through the distance between the supporting legs at the two ends of the frame 20. The double-row wheel slide rod 42 is assembled between the supporting legs at two sides of the frame 20 in a rolling way, and is connected with the lifting hook 36 of the lifting mechanism 30 through a lifting bolt 46 on the main beam body 41 to realize the up-and-down lifting movement of the main beam 40, the sliding motor support 43 is fixed at the center of the upper surface of the main beam body 41 through bolt connection, the sliding motor 44 is arranged on the sliding motor support 43, the double-groove winch 45 is fixed at the top end of the motor shaft of the sliding motor 44, the two large guide wheels 47 are respectively arranged at the end parts of two sides of the main beam body 41 through pin shaft connection, the two transmission steel wire ropes 48 are totally two, one end of each transmission steel wire rope is wound on two wire grooves of the double-groove winch 45, the winding directions are opposite, the large guide wheels 47 at two ends are wound, the other end of each transmission steel wire rope is connected with a connecting frame 53 in the sliding mechanism 50, the guide groove 411 on the lower surface of the main beam body 41 is assembled with the two trolleys 51 of the sliding mechanism 50, the transmission steel wire ropes 48, the sliding motor 44, The double-groove winch 45, the large guide wheel 47 and the trolley 51 form closed-loop transmission in a vertical plane, when the frame 20 meets an obstacle in a running path, the sliding motor 44 is controlled to drive the transmission steel wire rope 48 to transmit, the sliding mechanism 50, the grabbing mechanism 60 and the goods move in a straight reciprocating manner left and right in the main beam body 41, and the front sliding mechanism 50 and the back sliding mechanism 60 and the grabbing mechanism 60 can move to one side or one left and one right in a cross mode by judging the position of the obstacle in the path, so that the obstacle is smoothly avoided, the goods are accurately and quickly carried and placed in a complex environment, the working efficiency is effectively improved, and the working time is saved.

Further, as shown in fig. 7, the sliding mechanism 50 includes two convex brackets 52 besides two trolleys 51 and a connecting frame 53, a central positioning hole of the convex bracket 52 is connected with a central hole of the trolley 51 through a bolt, the two convex brackets 52 are respectively connected with positioning holes at two sides of the connecting frame 53 through positioning holes at two ends of the convex bracket 52 through bolts, so that the sliding mechanism 50 is combined into a whole, the lower surface of the connecting frame 53 is fixedly connected with the upper surface of a bearing frame 63 of the grabbing mechanism 60 through bolts, and the grabbing mechanism 60 is moved to and fro along with the sliding mechanism 50.

As shown in fig. 7, in the present embodiment, the grasping mechanism 60 includes a support bar 61, a support bar bracket 62, a bearing frame 63, a link slider mechanism 64, and a grasping implement 65. The support rod 61 passes through the through hole 631 in the middle of the bearing frame 63 and is positioned at the midpoint of the support rod 61. The support rod bracket 62 is fixed on two sides of the bearing frame 63 through bolt connection, the bearing frame 63 is helped to bear the weight of the support rod 61, the connecting rod sliding block mechanism 64, the gripping apparatus 65 and the goods and maintain the balance of the support rod 61, the connecting rod sliding block mechanism 64 and the gripping apparatus 65 are respectively and symmetrically arranged on two sides of the support rod 61, and each gripping mechanism 60 can grip two groups of box-shaped goods.

Further, the link slider mechanism 64 includes a steering engine 641, a steering engine 642, a steering engine bracket 643, a steering engine dial 644, a link 645, a link 646, a slider 647, and a gripper joint 648. By taking the structure of one side of the support rod 61 as an example, the structures of the two sides are symmetrically arranged, and the steering engine bracket 643 is fixed on the upper surface of the support rod 61 through bolt connection. The steering engine 641 and the steering engine 642 are arranged in a steering engine bracket 643, the steering engine turntable 644 is arranged at the end part of the rotating shaft of the steering engine 641 and the steering engine 642, the connecting rod 645 is fixedly connected with the steering engine turntable 644, two ends of the connecting rod 646 are respectively connected with the connecting rod 645 and the sliding block 647 through pin shafts, the sliding block 647 is arranged in the guide groove 611 on the lower surface of the supporting rod 61, the upper end of the gripper joint 648 is fixed with the lower surface of the sliding block 647, and the gripper 65 is fixedly connected with the lower end of the gripper joint 648 through bolts. The steering gear 641 and the steering gear 642 are opposite in steering direction, so that the sliding block 647, the gripper joint 648 and the gripper 65 are driven to move oppositely, and the position adjustment of the gripper and the gripping of goods with different sizes are realized by controlling the rotation angles of the steering gear 641 and the steering gear 642.

Further, as preferred, in the goods area of putting, through control slip motor 44, steering wheel 641 and steering wheel 642, adjustable goods locating position, through control to rise motor 31, realize that the accuracy of goods piles up and puts to satisfy accurate quick transport, loading and unloading requirement.

As shown in fig. 1 to 7, in the above technical solution of this embodiment, the obstacle-avoidable cargo-handling device control module 70 with a multi-point type shift grabbing function includes a cart traveling mechanism control module 71 and other control modules 72, where the cart traveling mechanism control module 71 includes an STM32F103 main control chip 711, a bluetooth module 712, a motor driving module 713, a power module 714, and a control module bracket 21 mounted on the top end of the frame 20 together with the other control modules 72 and is responsible for controlling the cart to run and the motors and steering engines in the mechanisms to rotate. The STM32F103 main control chip 711 is connected with modules to complete signal receiving and sending among the control modules, the Bluetooth module 712 is connected with the STM32F103 main control chip 711, signal interaction operation of the STM32F103 main control chip 711 is realized through an external control terminal, other control modules 72 control the rotation speed and rotation direction of motors and steering engines in the grabbing mechanism 60, the main beam 40 and the lifting mechanism 30, for example, the steering engine 641 and the steering engine 642 are controlled to grab and release cargoes, and the power supply module 714 is used for providing integral operation electric energy of the device.

In this specification, the above embodiments are only used to illustrate the basic principle and technical features of the present invention, and the present invention is not limited by the above embodiments. It should be understood that various modifications and equivalent changes may occur to those skilled in the art without departing from the spirit and scope of the invention, and are intended to be included within the scope of the invention.

Claims

1. The utility model provides a can keep away barrier cargo handling equipment with function is snatched in multiple spot shifting, includes cart running gear (10), frame (20), hoisting mechanism (30), girder (40), glide machanism (50), snatchs mechanism (60) and control module (70), its characterized in that: cart running gear (10) install in the landing leg lower extreme of frame (20), girder (40) assemble in between the landing leg of frame (20) both sides, hoisting mechanism (30) are fixed in frame (20) top and with girder (40) flexonics, mounting in glide machanism (50) in guide way (411) of girder (40), snatch mechanism (60) and pass through glide machanism (50) connect in girder (40) below.

2. The obstacle-avoidable cargo handling device with the multi-point shift grabbing function according to claim 1, wherein the lifting mechanism (30) comprises six parts, namely a lifting motor (31), a lifting motor support (32), a lifting motor winch (33), a small guide wheel (34), a lifting steel wire rope (35) and a lifting hook (36), the lifting motor (31) is fixed on a top end beam of the frame (20) through the lifting motor support (32), the lifting motor winch (33) is fixed on the end portion of a motor shaft of the lifting motor (31), the lifting steel wire ropes (35) are provided with two parts, one end of each part is wound on the lifting motor winch (33) and is wound in opposite directions, the other end of each part is wound on the small guide wheel (34) and then is connected with the lifting hook (36), and the lifting hook (36) is connected with a lifting ring screw (46) in the main beam (40), thereby realizing the lifting movement of the main beam (40) and the sliding mechanism (50), the grabbing mechanism (60) and goods below the main beam.

3. The obstacle-avoidable cargo handling device with multi-point shift grabbing function according to claim 2, it is characterized in that the main beam (40) is a flexible transmission structure, except the lifting ring bolt (46), the concrete structure of the main beam comprises a main beam main body (41), double-row wheel slide rods (42), a sliding motor (44), a sliding motor bracket (43), a double-groove winch (45), a large guide wheel (47) and a transmission steel wire rope (48), the sliding motor (44) is arranged at the center of the upper surface of the main beam main body (41) through the sliding motor bracket (43), the double-groove winch (45) is fixedly connected with the sliding motor (44), two transmission steel wire ropes (48) are provided, one ends of the two transmission steel wire ropes are respectively wound on the double-groove winch (45) and are wound in the same direction, and the other ends of the two transmission steel wire ropes are respectively wound around the large guide wheels (47) on two sides and then are connected with the connecting frame (53) in the sliding mechanism (50).

4. The obstacle-avoidable cargo handling device with the multipoint deflection grabbing function as claimed in claim 3, wherein the two ends of the double-row wheel sliding rod (42) are respectively provided with an upper pulley and a lower pulley, and the double-row wheel sliding rod (42) is assembled between the supporting legs of the frame (20) and fixed at two sides of the upper surface of the main beam body (41) through bolt connection.

5. The obstacle-avoidable cargo handling device having a multipoint deflection grabbing function according to claim 3, wherein: the sliding mechanism (50) comprises a trolley (51), a convex bracket (52) and a connecting frame (53), wherein the trolley (51) is assembled in the main beam main body (41), and is fixed on the upper surface of the connecting frame (53) through the convex bracket (52), and the connecting frame (53) is connected with the transmission steel wire rope (48) to achieve the closed-loop transmission effect of traction movement of the transmission steel wire rope (48).

6. The obstacle-avoidable cargo handling device having a multipoint deflection grabbing function according to claim 1, wherein: the grabbing mechanism (60) comprises five parts, namely a supporting rod (61), a supporting rod support (62), a bearing frame (63), a connecting rod sliding block mechanism (64) and a grabbing tool (65), and the grabbing tool (65) is driven by the connecting rod sliding block mechanism (64) to move below the supporting rod (61), so that box-type goods of different sizes are grabbed.