CN217534277U

CN217534277U - Flexible tractor guiding device and logistics transmission system

Info

Publication number: CN217534277U
Application number: CN202121683782.5U
Authority: CN
Inventors: 不公告发明人
Original assignee: Shanghai Louda Logistics Technology Center
Current assignee: Shanghai Louda Logistics Technology Center
Priority date: 2021-06-29
Filing date: 2021-07-23
Publication date: 2022-10-04
Anticipated expiration: 2031-07-23

Abstract

The application provides a flexible tractor guider and commodity circulation transmission system. The flexible tractor guide device comprises a flexible tractor, a guide structure and a driving device. One or more force-bearing parts are arranged on the flexible traction body; the guide structure is used for winding the flexible traction object and guiding the flexible traction object; the guide structure is provided with a notch which is embedded with the stress piece. When the stress piece moves to the vicinity of the guide structure along with the flexible traction rod, the driving device drives the guide structure to act so that the notch on the guide structure actively meets the stress piece. After the force-bearing part is embedded in the notch, the guide structure rotates along with the flexible traction device. The flexible tractor guide device in the application is provided with a notch which can be embedded with a stress element arranged on the flexible tractor, and the notch is used for actively meeting the stress element instead of waiting to be clamped with the stress element at a specified position. Because the position of breach no longer is restricted to the position and the interval of atress piece, consequently this application can be suitable for more complicated direction scene.

Description

Flexible tractor guiding device and logistics conveying system

Technical Field

The application relates to the technical field of logistics transmission equipment, in particular to a flexible tractor guiding device and a logistics transmission system.

Background

In a device for performing traction by using a flexible traction member such as a wire rope, the flexible traction member is generally guided by a guide wheel structure such as one or more pulleys having a rib and an idler gear. When the flexible traction rod is provided with a connecting object, various technical measures are needed to be adopted to enable the guide wheel to avoid the connecting object, for example, a notch is arranged on the guide wheel, see fig. 1, so as to prevent the connecting object from impacting the guide wheel or preventing the faults of steel wire rope disengaging, synchronous pulley tooth jumping, chain link clamping and the like.

When the length of the flexible tractor is increased and the intervals of the stress parts are not equal, the implementation of stable guiding becomes very difficult, and no proper technical scheme exists at present.

Therefore, the temperature of the molten metal is controlled, there is a need for a wire rope guide that can accommodate multiple scenarios and provide a traction device with a longer service life.

SUMMERY OF THE UTILITY MODEL

An object of the embodiment of this application is to provide a flexible tractor guider, it can be suitable for multiple complicated direction scene and can make the tractor that adopts its structure smooth operation and have longer life.

In a first aspect, embodiments of the present application provide a flexible traction guide device, including:

a flexible pulling body on which one or more force-receiving members are arranged;

the guiding structure is used for winding the flexible traction object and guiding the flexible traction object; a notch which is embedded with the stress piece is arranged on the guide structure;

the driving device is used for driving the guide structure to act when the stress element moves to the vicinity of the guide structure along with the flexible tractor so as to enable the notch on the guide structure to actively meet the stress element;

after the force-bearing part is embedded in the notch, the guide structure rotates along with the flexible traction object.

In one embodiment, the guide structure comprises:

the guide body can rotate under the driving of the driving device;

a predetermined number of first guide wheels rotatable on their own axes, circumferentially arranged on the entire outer circumferential surface of the guide body; the diameter of each first guide wheel is smaller than that of the guide body, and the axis of each first guide wheel is parallel to that of the guide body; the outer circumferential surface of each first guide wheel is provided with an engaging structure which can be engaged with the flexible tractor;

a plurality of first guide wheels in a preset arc area guide the flexible traction rod; the gap between the two first guide wheels at a predetermined position of the outer circumference of the guide body constitutes the gap.

In one embodiment, the flexible pulling means is any one of a timing belt, a chain or a cable to which a protruding link is fixedly attached;

the engaging structure on the outer circumferential surface of the first guide wheel is a first tooth structure engaged with the synchronous teeth, a second tooth structure engaged with the chain gap or a clamping groove capable of containing the cable.

In one embodiment, a gap between the two first guide wheels is determined according to the shape of the force-receiving member on the flexible traction device, and the gap can accommodate the force-receiving member so that the flexible traction device smoothly passes through the guide body.

In one embodiment, a flexible retractor guide apparatus comprises:

the first displacement sensor is arranged at a preset position in front of the guide body and used for acquiring the distance between the stress piece and the guide body;

the first angle sensor is arranged on the guide body and used for acquiring the position of the notch on the guide body;

the first controller is in communication connection with the first displacement sensor, the first angle sensor and the driving device respectively, and is used for determining an angle of the guide body to be rotated according to the distance between the stress piece and the guide body and the position of the notch on the guide body, determining a speed signal and a time signal of the rotation of the guide body according to the moving speed of the stress piece and sending the speed signal and the time signal to the driving device;

the driving device controls the guide body to rotate according to the speed signal and the time signal, so that the stress piece is clamped with the notch.

In another embodiment, the guide structure comprises:

the outer circumferential surface of the second guide wheel is provided with an engaging structure which can be engaged with the flexible traction object; the second guide wheels are configured with arc guide tracks; each second guide wheel is provided with the notch;

the orientation of the notches on the adjacent second guide wheels is arranged in a staggered mode, and the staggered angle of the adjacent notches is configured as follows: after a stress piece on the flexible traction rod leaves the notch of the previous second guide wheel at a preset speed, the stress piece just enters the notch of the next second guide wheel;

the first second guide wheel positioned on the arc-shaped guide track can actively meet the stressed part under the driving of the driving device, and the other second guide wheels in the arc-shaped guide track have the same rotating angle with the first second guide wheel.

In one embodiment, the driving device comprises a first driver arranged on each second guide wheel and used for driving the second guide wheels to rotate;

in another embodiment, the driving device includes:

the second driver is arranged on the first second guide wheel of the arc-shaped guide track;

and the double-row synchronous belt wheel or chain wheel is used for being in transmission connection with the adjacent second guide wheels so as to enable the other second guide wheels in the arc-shaped guide track to follow the first second guide wheel.

In one embodiment, the flexible pulling means is any one of a timing belt, a chain or a cable to which a protruding link is fixedly connected;

and the outer circumferential surface of the second guide wheel is provided with a self-rotating meshing structure, and the meshing structure is a first tooth structure meshed with the synchronous belt teeth, a second tooth structure meshed with the chain gaps or a clamping groove capable of containing the cable.

In one embodiment, a flexible retractor guide apparatus comprises:

the second displacement sensor is arranged at a preset position to detect the distance between the stressed part and the first second guide wheel on the entering side of the arc-shaped guide track;

the second angle sensor is arranged on a first second guide wheel of the arc-shaped guide track and used for acquiring the position of the notch of the first second guide wheel when the stressed member reaches the preset position;

the second controller is in communication connection with the second displacement sensor, the second angle sensor and the second driver respectively, and is used for determining an angle of the first second guide wheel to be rotated according to the distance between the stress piece and the first second guide wheel and the position of the notch in the first second guide wheel, determining a speed signal and a time signal of the rotation of the first second guide wheel according to the moving speed of the stress piece, and sending the speed signal and the time signal to the second driver;

and the second driver controls the first second guide wheel to rotate according to the speed signal and the time signal, so that the stress piece is clamped with the notch of the second guide wheel.

In one embodiment, after the force-receiving member is fitted in the notch, the guide structure is driven by the driving device; the notch on the guide structure drives the stress piece to rotate.

According to another aspect of the present application, there is also provided a logistics transport system comprising a flexible tractor arranged with one or more force-bearing members and a flexible tractor guide as described in any one of the above.

As can be seen from the above technical solutions, the flexible tractor guide apparatus in the present application is provided with a notch that can be engaged with the force receiving member provided on the flexible tractor, and the notch is used to actively meet the force receiving member, rather than waiting for engagement with the force receiving member at a specified position. Because the position of breach no longer is subject to the position and the interval of atress spare, therefore this application can be suitable for more complicated direction scenes.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic diagram of a conventional wire rope guide wheel and wire rope guide;

FIG. 2 illustrates a flexible tractor guide according to an embodiment of the present application;

FIG. 3 isbase:Sub>A partial schematic view of the cross-section taken along line A-A of FIG. 2;

FIG. 4 is a schematic structural diagram illustrating another guiding structure according to an embodiment of the present application;

fig. 5 is a front and side view of a second guide wheel according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

The guide mode of traditional wire rope leading wheel does: the connecting object on the steel wire rope moves to the traction gap, is embedded in the traction gap and pushes the guide wheel to rotate through the connecting object, the connecting object is separated from the gap after the connecting object pushes the steel wire rope guide wheel to rotate for a preset angle, and then the subsequent connecting object is used for continuously pushing the steel wire rope guide wheel to rotate. The diameter of the steel wire rope guide wheel and the arrangement of the position of the gap are limited by the distance arrangement of the connecting objects on the steel wire rope. The inventor of the present application has creatively proposed that the arc portion of the guide wheel used for guiding is not driven by the connecting object, but only used for guiding the steel wire rope, and a gap for accommodating the connecting object is arranged. The guide wheel is provided with another driving device, the driving device can enable the guide wheel to rotate, so that the notch can actively meet the connecting object which is about to reach the arc line part, and the guide wheel is driven to rotate after the connecting object is embedded in the notch, so that the position of the notch is changed until the connecting object on the steel wire rope is separated from the notch. Because can initiatively meet the connector, so the setting that the direction mode in this application made the diameter of wire rope leading wheel and breach position no longer is subject to the interval of the connector on the wire rope to be suitable for more scenes.

The above-described guide device and the operating principle are explained in detail below by means of specific embodiments.

FIG. 2 illustrates a flexible tractor guide according to an embodiment of the present application. Referring to fig. 2, the flexible tractor guide apparatus includes a flexible tractor 100, a guide structure 200, and a driving apparatus (not shown).

Conveying apparatuses are generally divided into conveying apparatuses with flexible traction and conveying apparatuses without flexible traction according to the presence or absence of traction (chain, rope, belt). Flexible tractors as described herein include, but are not limited to, timing belts, chains, cables with fixedly attached protruding links, and the like. In the embodiment shown in fig. 2, the structure of the flexible traction guide will be described by taking a wire rope to which a protruding connector is fixedly connected as an example.

One or more force-bearing members 300 are disposed on the flexible pulling member 100. The guiding structure 200 is used for winding the flexible pulling member 100 and guiding the flexible pulling member 100. The guide structure 200 is provided with a notch 210 to be fitted with the force receiving member 300. The driving device is used for driving the guide structure 200 to rotate. When the force-bearing member 300 moves to the vicinity of the guiding structure 200 along with the flexible pulling member 100, the driving device drives the guiding structure 200 to act so that the notch 210 on the guiding structure 200 actively meets the force-bearing member 300. After the force receiving member 300 is fitted in the notch 210, the driving device drives the guide structure 200 to rotate following the flexible pulling member 100.

In one embodiment, FIG. 3 isbase:Sub>A partial schematic view ofbase:Sub>A section taken along line A-A of FIG. 2. Referring to fig. 3, the guide structure 200 includes a guide body 220 and a predetermined number of first guide wheels 230.

The guide body 220 is driven by the driving device to rotate. The driving device may be installed on the guide body 220, or may be disposed outside the guide body 220, and the driving device may drive the guide body 220 to rotate without specifically limiting the positions of the guide body and the guide body.

Each of the first guide wheels 230 is rotatable, and a predetermined number of the first guide wheels 230 are circumferentially arranged on the entire outer circumferential surface of the guide body 220 to form a guide arc. The diameter of each first guide wheel 230 is smaller than that of the guide body 220, and the axial center of each first guide wheel 230 is parallel to the axial center of the guide body 220. An engagement structure engageable with the flexible pulling member 100 is provided at an outer circumferential surface of each of the first guide wheels 230.

The engaging structure at the outer circumferential surface of the first guide wheel 230 is different according to the kind of the flexible pulling member 100. For example, when the flexible pulling member 100 is a steel wire rope fixedly connected with a protruding connector, the engaging structure at the outer circumferential surface of the first guiding wheel 230 is a slot for receiving the steel wire rope, see fig. 3. When the flexible pulling member 100 is a timing belt, the engaging structure at the outer circumferential surface of the first guide wheel 230 is a first tooth structure capable of engaging with teeth on the timing belt. When the flexible pulling member 100 is a chain, the engaging structure at the outer circumferential surface of the first guide wheel 230 is a second tooth structure engaged with a gap of the chain. It should be noted that the engaging structure at the outer circumferential surface of the first guide wheel 230 is not particularly limited, and the structure is adaptively adjusted according to the structure of the flexible pulling member 100. After the flexible traction object 100 is engaged with the engagement structure at the outer circumferential surface of the first guide wheel 230, the first guide wheel 230 functions only as an idle wheel, and the first guide wheel 230 can rotate and does not exert a traction function on the flexible traction object 100.

The first guide wheels 230 within the predetermined arc region guide the flexible pulling member 100. A gap between the two first guide wheels 230 at a predetermined position of the outer circumference of the guide body 220 constitutes the notch 210. It should be noted that, when there is only one notch 210 formed in the guide body 220, a gap is only required to be formed between the two first guide wheels 230 on the guide body 220 to form the notch 210. The gap between the two first guide wheels 230 is determined according to the shape of the force-receiving member 300 on the flexible traction apparatus 100, and the gap is sized to accommodate the force-receiving member 300 so that the flexible traction apparatus 100 smoothly passes through the guide body 220.

In order to make the notch 210 of the guide body 220 actively meet the force-receiving member 300 and make the force-receiving member 300 be just embedded in the notch 210 of the guide body 220, in one embodiment, a first displacement sensor is disposed at a predetermined position in front of the guide body 220. The first displacement sensor is used for acquiring the distance between the force-bearing member 300 and the guide body 220. A first angle sensor is provided on the guide body 220, and the first angle sensor is used to acquire the position of the notch 210 on the guide body 220. Meanwhile, the flexible traction device 100 is further provided with a first controller which is respectively in communication connection with the first displacement sensor, the first angle sensor and the driving device. The first controller is used for determining the angle of the guide body 220 to be rotated according to the distance between the force-bearing member 300 and the guide body 220 and the position of the notch 210 on the guide body 220, determining the moving speed of the force-bearing member 300 obtained from the previous controller, determining a speed signal and a time signal of the rotation of the guide body 220, and sending the speed signal and the time signal to the driving device. The driving device controls the guide body 220 to rotate according to the speed signal and the time signal, so that the force-bearing member 300 is engaged with the notch 210.

In another embodiment, FIG. 4 is a schematic structural view of another guide structure according to the examples of the present application. Referring to fig. 4, the guide structure 200 includes a second driver 260, a plurality of second guide wheels 240, and a double-row timing pulley 250.

Each second guide wheel 240 has an engaging structure on its outer circumferential surface, which is capable of engaging with the flexible pulling member 100 and rotating. The engaging structure at the outer circumferential surface of the second guide wheel 240 in this embodiment may refer to the engaging structure at the outer circumferential surface of the first guide wheel 230, that is, the engaging structure may be different according to the kind of the flexible traction object 100. For example, when the flexible pulling member 100 is a steel wire rope fixedly connected with a protruding connector, the engaging structure at the outer circumferential surface of the second guide wheel 240 is a slot capable of accommodating the steel wire rope, as shown in fig. 5, the second guide wheel 240 is provided with rollers 241 arrayed around the axis at a position far away from the axis, the length of the rollers 241 is parallel to the axis of the second guide wheel 240, the length of the rollers 241 from the axis is smaller than the radius of the second guide wheel 240, so that the rollers 241 form a slot capable of accommodating the steel wire rope, the steel wire rope is wound on the rollers 241, and the rollers 241 can rotate. When the flexible pulling member 100 is a timing belt, the engaging structure at the outer circumferential surface of the second guide wheel 240 is a first tooth structure capable of engaging with teeth on the timing belt. When the flexible pulling member 100 is a chain, the engaging structure at the outer circumferential surface of the second guide wheel 240 is a second tooth structure engaged with a gap of the chain.

The plurality of second guide wheels 240 are configured to form an arc-shaped guide track. Each second guiding wheel 240 is provided with a notch 210. The second driver 260 is provided on the first second guide wheel 240 of the arc-shaped guide track. Second driver 260 and first second leading wheel 240 accessible synchronous pulley carry out the transmission, also can pass through sprocket feed, and this application does not do specific restrictions to the transmission structure of second driver 260 and first second leading wheel 240, and whatever can make second driver 260 drive the structure that first second leading wheel 240 rotated and all fall into the scope of protection of this application.

The double-row synchronous pulley 250 is used for connecting the adjacent second guide wheels 240, and the orientation of the notches 210 on the adjacent second guide wheels 240 is arranged in a staggered manner, and the staggered angle of the notches 210 on the adjacent second guide wheels 240 is configured as follows: after leaving the notch 210 of the previous second guide wheel 240, the force-bearing member 300 on the flexible traction device 100 just enters the notch 210 of the next second guide wheel 240 at a predetermined speed.

In one implementation, the spacing between the plurality of second guide wheels 240 may be set to be very small so that each second guide wheel 240 is not interfered by the adjacent second guide wheels 240. Through the transmission of the double-row synchronous belt wheel 250, the rotating speeds of the plurality of second guide wheels 240 are consistent, and when the notches 210 on the plurality of second guide wheels 240 are mapped to one guide wheel, the notches 210 on the second guide wheels 240 are adjacently arranged on one circumference and just form one circumference.

It should be noted that the use of a double row timing belt is merely exemplary, and a sprocket configuration may be used instead. This application does not do specific limit to the transmission structure between the second leading wheel 240, all can make the transmission structure that a plurality of second leading wheels 240 can rotate simultaneously all fall into the scope of protection of this application.

It should be noted that the above-mentioned driving means for simultaneously rotating all the second guide wheels 240 by using the second driver 260 and the double-row timing pulley 250/sprocket is only exemplary, and the driving means may further include a first driver provided on each of the second guide wheels, and the driving means may control each of the first drivers to simultaneously rotate all the second guide wheels.

In order to actively meet the force-receiving member 300 in the notch 210 of the second guide wheel 240 located at the first position and to enable the force-receiving member 300 to be just embedded in the notch 210 of the guide body 220, in one embodiment, a second displacement sensor is disposed at a predetermined position and is used for detecting the distance between the force-receiving member 300 and the first second guide wheel 240 at the entrance side of the arc-shaped guide track. It should be noted that, in the present application, the setting position of the second displacement sensor is not specifically limited, and any setting position capable of detecting the distance between the force-receiving member 300 and the first second guide wheel 240 on the entering side of the arc-shaped guide track falls within the protection scope of the present application. A second angle sensor is arranged on the first second guide wheel 240, and the second angle sensor is used for acquiring the position of the notch 210 of the first second guide wheel 240 when the force-bearing member 300 reaches a predetermined position. Meanwhile, the flexible traction device 100 guiding device is also provided with a second controller. The second controller is in communication connection with the second displacement sensor, the second angle sensor and the second driver 260, and is configured to determine an angle to be rotated by the first and second guide wheels 240 according to a distance between the force-receiving member 300 and the first and second guide wheels 240 and a position of the notch 210 in the first and second guide wheels 240, determine a speed signal and a time signal of rotation of the first and second guide wheels 240 according to a moving speed of the force-receiving member 300, and send the speed signal and the time signal to the second driver 260. The second driver 260 controls the first second guide wheel 240 to rotate according to the speed signal and the time signal, so that the force-bearing member 300 is engaged with the notch 210 of the second guide wheel 240.

The above-mentioned structure manner that the second guide wheels 240 are adjacently disposed is only an example, and a certain gap may be formed between the adjacent second guide wheels 240, and correspondingly, the gap 210 between the adjacent second guide wheels 240 may increase an arc length in addition to the offset angle, where the arc length is determined by the distance between the adjacent second guide wheels 240 and the radius of the second guide wheels 240. In this embodiment, the distance between the force receiving member 300 and the first second guide wheel 240 on the side where the arc-shaped guide track enters can be detected by the second displacement sensor, and the position where the notch 210 of the next second guide wheel 240 should be located is calculated based on the distance between the adjacent second guide wheels 240 and the moving speed of the flexible traction member 100, so that the force receiving member 300 is just fitted into the notch 210 of the second guide wheel 240 when reaching the notch 210 of the next second guide wheel 240.

In one embodiment, after the force-receiving member is fitted in the notch, the guide structure is driven by the driving device; the notch on the guide structure drives the stressed part to rotate.

In the embodiment of the application, after the force-bearing part is embedded in the notch, the guide structure can only play a role in guiding, and can also be driven by the driving device to play a role in guiding and driving. When only guiding is performed, after the notch is clamped with the stress piece, the driving device stops driving, and the guide wheel rotates to an idle wheel state. When the guiding and driving functions are achieved, the notch is clamped with the stress piece, the driving device continues to rotate the notch continuously, the guide wheel enters a driving state, and the stress piece is pushed by the notch to move along the circumferential edge.

As can be seen from the above technical solutions, the flexible tractor guide apparatus according to the present invention is provided with the notch 210 that can be engaged with the force receiving member provided in the flexible tractor 100, and the notch 210 is used to actively meet the force receiving member 300, instead of waiting for engagement with the force receiving member at a predetermined position. Since the position of the gap 210 is no longer limited by the position and the distance between the stress elements 300, the present application can be applied to more complex guiding scenarios.

According to the second aspect of the present application, there is also provided a logistics transportation system, comprising a flexible pulling apparatus 100 arranged with one or more force receiving members 300 and a flexible pulling apparatus guiding device as described above.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Claims

1. A flexible tractor guide, comprising:

a flexible pulling body on which one or more force-bearing members are arranged;

the guide structure is used for winding a flexible traction object and guiding the flexible traction object; a notch which is embedded with the stress piece is arranged on the guide structure;

2. The flexible pull guide assembly of claim 1, wherein the guide structure comprises:

the guide body can rotate under the driving of the driving device;

a plurality of first guide wheels in a preset arc area guide the flexible traction mechanism; the gap between the two first guide wheels at a predetermined position of the outer circumference of the guide body constitutes the gap.

3. The flexible tractor guide of claim 2, wherein the flexible tractor is any one of a timing belt, a chain or a cable to which a protruding link is fixedly attached;

the engaging structure at the outer circumferential surface of the first guide wheel is a first tooth structure engaged with the synchronous teeth, a second tooth structure engaged with the chain gaps or a clamping groove capable of accommodating the cable.

4. The flexible tractor guide of claim 2 or 3 wherein the gap between the two first guide wheels is determined by the shape of the force receiving member on the flexible tractor, the gap being capable of receiving the force receiving member such that the flexible tractor smoothly passes through the guide body.

5. The flexible tractor guide of claim 2, comprising:

the first controller is in communication connection with the first displacement sensor, the first angle sensor and the driving device respectively, and is used for determining an angle of the guide body to be rotated according to the distance between the stress piece and the guide body and the position of the notch on the guide body, determining a speed signal and a time signal of the rotation of the guide body according to the moving speed of the stress piece, and sending the speed signal and the time signal to the driving device;

6. The flexible pull guide assembly of claim 1, wherein the guide structure comprises:

the first second guide wheel positioned on the arc-shaped guide track can actively meet the stress element under the driving of the driving device, and the other second guide wheels in the arc-shaped guide track have the same rotating angle with the first second guide wheel.

7. The flexible traction guide assembly of claim 6 wherein the drive assembly includes a first drive disposed on each of the second guide wheels for driving rotation of the second guide wheels; or

The driving device includes:

8. The flexible pulling guide as defined in claim 6, wherein the flexible pulling means is any one of a timing belt, a chain or a cable to which a protruding connector is fixedly connected;

9. The flexible tractor guide of claim 7, comprising:

the second angle sensor is arranged on a first second guide wheel of the arc-shaped guide track and used for acquiring the position of a notch of the first second guide wheel when the stress member reaches the preset position;

and the second driver controls the first second guide wheel to rotate according to the speed signal and the time signal, so that the stressed part is clamped with the notch of the second guide wheel.

10. The flexible pull guide of claim 1, wherein the guide structure is driven by the drive device after the force-receiving member is engaged with the notch; the notch on the guide structure drives the stressed part to rotate.

11. A logistics transport system comprising a flexible tractor having one or more force bearing members arranged thereon and a flexible tractor guide apparatus according to any of claims 1 to 10.