Hoisting tool and robot transportation device comprising same

Abstract

The invention provides a hoisting tool. The hoisting tool comprises a supporting beam, a track beam, a moving part and a hoisting part. The supporting beam is attached with a hanging part, and the supporting beam is configured to be connected with a carriage body of the vehicle; a hanging part is attached to the track beam, the hanging part is detachably hung on the hanging part, the track beam forms a track in the length direction of the track beam, one end of the track is arranged in the compartment body, and the other end of the track is arranged outside the compartment body; the moving part is connected to the track and can reciprocate between the two ends of the track; and the hoisting piece is connected with the moving piece, and the hoisting piece is configured to be capable of hoisting a target object located outside the compartment body to a target height higher than the bottom of the compartment body. The invention further provides a robot transportation device comprising the hoisting device.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of hoisting, the field of robot transportation or other fields, and more particularly, to a hoisting tool and a robot transportation device comprising the hoisting tool. BACKGROUND

[0002] Currently, in the scenario of transporting robots onto vehicles, most devices are mainly traditional forklifts or tower cranes, which are independent of van transport vehicles and cannot be transported with the van. Before each operation, the device needs to be dispatched to the site separately, which increases the cost and expense. Moreover, most devices are bulky and occupy a large amount of space. More importantly, the operation of the device depends on a complex stress environment and operation space, which has strict requirements on environmental conditions such as site flatness, distance between surrounding obstacles, and operation height limit. Even the operation cannot be carried out due to limited space, and the fast hoisting work in a small space cannot be realized. SUMMARY

[0003] In view of the above problems, the present application provides a hoisting tool and a robot transportation device comprising the hoisting tool.

[0004] According to a first aspect of the present application, a hoisting tool is provided, comprising:

[0005] a support beam attached with a hanging part, the support beam being configured to be connected with a compartment body of a vehicle;

[0006] a track beam attached with a hanging part, the hanging part being detachably hung on the hanging part, the track beam forming a track along its length direction, one end of the track being configured to be located inside the compartment body and the other end being configured to be located outside the compartment body;

[0007] a moving part connected to the track, the moving part being configured to be able to reciprocate between the two ends of the track;

[0008] a hoisting part connected with the moving part, the hoisting part being configured to be able to hoist a target object located outside the compartment body to a target height higher than the bottom of the compartment body.

[0009] In some embodiments, the hanging part comprises:

[0010] a first wall formed with a first through hole and a second through hole;

[0011] a second wall oppositely arranged with the first wall, the hanging space being formed between the first wall and the second wall, the second wall being formed with a third through hole opposite to the first through hole and a fourth through hole opposite to the second through hole;

[0012] a hanging rod, both ends of the hanging rod being respectively arranged in the first through hole and the third through hole;

[0013] wherein the support beam is configured to pass through the second through hole and the fourth through hole.

[0014] In some embodiments, the hanging part comprises:

[0015] a wide part connected with the track beam;

[0016] a narrow part integrally formed with the wide part, the width of the narrow part being less than that of the wide part, the hanging part having a triangular profile from the narrow part to the wide part;

[0017] wherein the narrow part is in the shape of a hook and is configured to be placed in the hanging space to detachably hang the holding rod.

[0018] In some embodiments, the first wall is further formed with a fifth through hole, the second wall is further formed with a sixth through hole, and the lifting part is formed with a seventh through hole, the fifth through hole, the sixth through hole and the seventh through hole being coaxial;

[0019] wherein the lifting tool further comprises:

[0020] a connecting piece configured to pass through the fifth through hole, the sixth through hole and the seventh through hole.

[0021] In some embodiments, the connecting piece comprises:

[0022] a body rod part;

[0023] a bending part integrally formed with the body rod part and bent relative to the body rod part;

[0024] a protruding part coupled to the body rod part;

[0025] wherein, when the body rod part passes through the fifth through hole, the sixth through hole and the seventh through hole, the first wall, the second wall and the lifting part are located between the bending part and the protruding part.

[0026] In some embodiments, any one of the fifth through hole, the sixth through hole and the seventh through hole comprises:

[0027] a first hole part adapted to the profile shape of the body rod part for the body rod part to pass through;

[0028] a second hole part in communication with the first hole part, the second hole part being adapted to the profile shape of the protruding part for the protruding part to pass through.

[0029] In some embodiments, the lifting tool has a lifting state and a non-lifting state,

[0030] in the lifting state, the lifting tool is configured to lift the target object, the track beam is detachably hung on the holding part through the hanging part, and is connected with the support beam to form a cross structure;

[0031] In the non-lifting state, the lifting device is configured not to lift the target object, the hanging part is separated from the bearing part, so that the track beam is separated from the support beam, and the track beam, the moving part and the lifting part are stored in the target position.

[0032] In some embodiments, the lifting part comprises:

[0033] The lifting device is a motorized hoist or a hand-operated hoist, and the hand-operated hoist is connected with a driving mechanism for driving the rotation thereof.

[0034] In some embodiments, the target object comprises a robot.

[0035] The second aspect of the present application provides a robot transportation device, comprising: a vehicle comprising a compartment; the lifting device of any one of the above, the support beam of the lifting device being mounted on the compartment, wherein the robot is moved from outside the compartment to inside the compartment by the lifting device and is transported to a destination by the vehicle.

[0036] The lifting assembly provided by the embodiments of the present application is detachably connected between the support beam and the track beam through the bearing part and the hanging part, so that the lifting device can be quickly mounted and detached as needed, improving the use flexibility and adaptability of the equipment. Compared with using a forklift or the like, the loading and unloading efficiency is greatly improved, the robot can be quickly loaded and unloaded in a narrow space, the use cost is reduced, and the robot can work in different places with the compartment vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0037] The above and other objects, features and advantages of the present application will become more apparent from the following description of embodiments of the present application, taken in conjunction with the accompanying drawings, in which:

[0038] Figure 1 A schematic diagram of an application scenario of a vehicle and a robot according to an embodiment of the present application is shown;

[0039] Figure 2 A structural diagram of a lifting device according to an embodiment of the present application is shown schematically;

[0040] Figure 3 A structural diagram of a support beam of a lifting device according to an embodiment of the present application is shown schematically;

[0041] Figure 4 A structural diagram of a track beam of a lifting device according to an embodiment of the present application is shown schematically;

[0042] Figure 5 A cross-sectional view of a connecting part according to an embodiment of the present application is shown schematically;

[0043] Figure 6 A hole cross-sectional view according to an embodiment of the present application is shown schematically.

[0044] The reference signs in the above drawings refer to the following items:

[0045] 110: vehicle, 111: compartment, 120: robot, 200: lifting tool, 210: support beam, 211: hanging portion, 2111: first wall, 311: first through-hole, 312: second through-hole, 313: fifth through-hole, 2112: second wall, 321: third through-hole, 322: fourth through-hole, 323: sixth through-hole, 2113: hanging rod, 2114: third wall, 331: eighth through-hole, 212: connecting end portion, 220: track beam, 221: hanging portion, 411: wide portion, 412: narrow portion, 413: seventh through-hole, 230: moving member, 240: lifting member, 250: connecting member, 251: body rod portion, 252: bent portion, 253: protruding portion, 610: first hole portion, 620: second hole portion.

[0046] Note that each structure shown in the drawings is merely schematic, and the size, shape, and components of each structure can be modified as needed. DETAILED DESCRIPTION

[0047] Hereinafter, embodiments of the present application will be described with reference to the accompanying drawings. However, it should be understood that the following description is merely illustrative in nature and is in no way intended to limit the scope of the present application. In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to one skilled in the art that one or more embodiments can be practiced without these specific details. In other instances, well-known structures and

[0048] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the term "includes" and tautological expressions thereof, such as "including," "includes," "include," "contains," "containing," and so forth, mean the term "comprises," unless otherwise noted.

[0049] All terms used herein (including technical and scientific terms) have the meanings commonly understood by one of ordinary skill in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted as having a meaning that is consistent with the context of the specification, and not to be interpreted in an idealized or overly formal way.

[0050] In the case of using expressions such as "at least one of A, B, and C", it will be understood that the meaning is that "only A", "only B", "only C", "at least one of A and B", "at least one of A and C", "at least one of B and C", "at least one of A, B, and C", "at least one of A, B, and C, etc. are included.

[0051] Figure 1 An application scenario diagram of a vehicle and a robot is schematically shown according to an embodiment of the present application. Figure 2 A structure diagram of a hoisting tool is schematically shown according to an embodiment of the present application. Figure 3 A support beam structure diagram of the hoisting tool is schematically shown according to an embodiment of the present application. Figure 4 A track beam structure diagram of the hoisting tool is schematically shown according to an embodiment of the present application.

[0052] Referring Figures 1-4 Embodiments of the present application provide a robot transportation device, comprising: a vehicle 110, a hoisting tool 200, the vehicle 110 comprising a compartment 111; a support beam 210 of the hoisting tool 200 is installed on the compartment 111; a robot 120 is moved from outside the compartment 111 to inside the compartment 111 by the hoisting tool 200, and is transported to a destination by the vehicle 110.

[0053] Exemplarily, the robot transportation device can realize functions such as loading, transporting, and unloading of the robot 120. The vehicle 110 can be a truck, a car, a special vehicle, etc. with the compartment 111. The compartment 111 is a closed or semi-closed space for accommodating goods or equipment on the vehicle 110, such as a container, a closed cargo compartment, an open cargo hopper, etc.

[0054] In some embodiments, the hoisting tool 200 has a hoisting state and a non-hoisting state. In the hoisting state, the hoisting tool 200 is configured to hoist a target object, the track beam 220 is detachably hung on the supporting beam 210 through the hanging part 221, connected with the supporting beam 210, forming a cross structure; in the non-hoisting state, the hoisting tool 200 is configured not to hoist the target object, the hanging part 221 is separated from the supporting beam 210, so that the track beam 220 is separated from the supporting beam 210, and the track beam 220, the moving part 230, and the hoisting part 240 are accommodated in a target position, such as inside the compartment or other positions.

[0055] According to embodiments of the present application, the robot 120 is mechanically loaded and unloaded by the hoisting tool 200, which greatly improves the loading and unloading efficiency compared with using a forklift or other equipment, realizes fast loading and unloading of the robot 120 in a small space, reduces the use cost, and facilitates the robot 120 to work in different places following the compartment vehicle equipment.

[0056] The structure of the hoisting tool 200 is further described below.

[0057] With reference to Figures 2-4 The hoisting tool 200 provided by the embodiments of the present application includes a support beam 210, a track beam 220, a moving part 230, and a hoisting part 240. The support beam 210 is attached with a hanging part 211, and is configured to be connected with the compartment 111 of the vehicle 110. The track beam 220 is attached with a hanging part 221, and the hanging part 221 is detachably hung on the hanging part 211. The track beam 220 forms a track along its length direction, and one end of the track is configured to be located inside the compartment 111, and the other end is configured to be located outside the compartment 111. The moving part 230 is connected to the track, and is configured to be able to reciprocate between the two ends of the track. The hoisting part 240 is connected with the moving part 230, and is configured to be able to hoist the target object located outside the compartment 111 to a target height above the bottom of the compartment 111.

[0058] For example, the support beam 210 is the main load-bearing structure of the hoisting tool 200, and is used to provide stable support and connect other compartments 111, such as connecting the end parts 212 at both ends with the two side walls at the entrance of the compartment 111 of the vehicle 110 by means of bolt connection, welding, clamping, etc. Figure 1 The hanging part 211 is arranged on the support beam 210, and is used to connect the track beam 220, such as hooks, rings, hooks, clamping grooves, hinged parts, etc. The track beam 220 extends along a specific direction to form a beam-shaped structure of the moving track, such as a single-track track beam 220, a double-track track beam 220, an I-beam track beam 220, and a special profile track beam 220, etc. The track beam 220 can be designed to be telescopic or segmented, and can be quickly installed and detached through the cooperation of the hanging part 221 and the hanging part 211. The extension direction of the track can be adjusted as needed, and can provide a moving path to realize the hoisting range extending from inside the compartment 111 to outside the compartment 111. The hanging part 221 is arranged on the track beam 220, and is used to be detachably connected to the hanging part 211, such as hooks, clamping claws, etc. The moving part 230 can move along the track, and is connected with the hoisting part 240 to drive it to move, such as rollers, pulley blocks, sliding blocks, electric trolleys, etc. The hoisting part 240 is used to directly grab, fix, and hoist the target object, such as electric hoists, manual hoists, hooks, etc. The hoisting part 240 provides vertical hoisting function to realize the height adjustment of the target object, and ensures that it can smoothly enter the compartment 111. The target object can include robots 120, automated equipment, precision instruments, heavy mechanical parts, etc.

[0059] In some embodiments, the hoisting part 240 includes a hoisting hoist, which is an electric hoist or a hand-operated hoist. The hand-operated hoist is connected with a driving mechanism for driving it to rotate. The hoisting hoist has a self-braking function, and can realize hoisting at different heights.

[0060] For example, the moving part 230 includes a walking motor, a driving wheel set, the walking motor is engaged with the corresponding driving wheel set through the driving gear fixed on the motor shaft, and the driving wheel set is in rolling fit with the track beam 220. The driving wheel set includes two driving wheels, and the driving wheel includes a roller which is a circular truncated cone and is engaged with the driving gear on the walking motor. During movement, the walking motor is controlled to act, and the walking motor drives the driving wheel set on both sides of the moving cantilever beam to roll in the track. Alternatively, the walking motor can be cancelled, and the driving wheel set is manually pushed to roll in the track.

[0061] For example, the operator connects the support beam 210 with the compartment 111. Then the hanging part 221 of the track beam 220 is connected with the hanging part 211 of the support beam 210, and is locked through the split pin to form a stable hoisting tool. One end of the track beam 220 naturally extends to the outside of the compartment 111, and the other end is located in the compartment 111. The operator connects the hook of the hoisting part 240 (such as an electric hoist) with the lifting ring on the top of the robot 120, confirms that the connection is firm, and then starts the electric hoist through the remote controller to slowly lift the robot 120 from the ground. When the bottom of the robot 120 rises to a height of about 2 meters from the ground, the lifting operation is stopped. At this time, the height of the robot 120 has exceeded the height of the bottom of the compartment 111 of the transport vehicle 110, meeting the condition of entering the compartment 111. The operator controls the moving part 230 to move along the track from the outside of the compartment 111 to the inside of the compartment 111 through the remote controller. The moving part 230 drives the electric hoist and the robot 120 to enter the inside of the compartment 111. When the robot 120 moves above the designated position in the compartment 111, the operator controls the electric hoist to slowly descend and place the robot 120 on the pre-prepared fixed support. Then a special clamp is used to firmly fix the base of the robot 120 to the floor of the compartment 111 to prevent movement and collision during transportation. And the track beam 220, the moving part 230 and the hoisting part 240 are disassembled and put into the vehicle 110, and then transported to the destination.

[0062] According to the embodiment of the present application, the detachable connection between the support beam 210 and the track beam 220 through the hanging part 211 and the hanging part 221 enables the hoisting tool 200 to be quickly installed and disassembled as needed, improving the flexibility and adaptability of the equipment. Compared with using a forklift or other equipment, the loading and unloading efficiency is greatly improved, the robot 120 can be quickly loaded and unloaded in a narrow space, the use cost is reduced, and the robot 120 can work in different places with the compartment equipment. Through the design of the track beam 220 spanning inside and outside the compartment 111, the direct horizontal transfer of the target object is realized, avoiding the cumbersome process of needing to adjust the hoisting position multiple times, and significantly improving the loading and unloading efficiency.

[0063] Reference Figure 3The hanging part 211 includes a first wall 2111, a second wall 2112, and a hanging rod 2113. The first wall 2111 is formed with a first through hole 311 and a second through hole 312. The second wall 2112 is arranged opposite to the first wall 2111, and a hanging space is formed between the first wall 2111 and the second wall 2112. The second wall 2112 is formed with a third through hole 321 opposite to the first through hole 311 and a fourth through hole 322 opposite to the second through hole 312. The hanging rod 2113 is arranged to pass through the first through hole 311 and the third through hole 321. The support beam 210 is arranged to pass through the second through hole 312 and the fourth through hole 322.

[0064] Exemplarily, the first wall 2111 or the second wall 2112 is formed in a plate shape or a frame structure, and the through holes are holes passing through the wall components. The hanging space is a cavity region formed by the opposite arrangement of the first wall 2111 and the second wall 2112. The hanging rod 2113 is a rod-shaped component passing through the through holes of the wall structure and used for bearing and transmitting loads. Opposite can refer to the coaxial tolerance being less than a preset value, such as 0.1 millimeter (only as an example).

[0065] For example, the diameters of the first through hole 311 and the third through hole 321 match the diameter of the hanging rod 2113, and an interference fit is adopted, or the two ends of the hanging rod 2113 are fixed in the first wall 2111 and the second wall 2112 through nuts or positioning pins. The diameters of the second through hole 312 and the fourth through hole 322 match the diameter of the support beam 210, and an interference fit is adopted.

[0066] According to the embodiments of the present application, the symmetrical wall structure design ensures uniform distribution of loads, and the precise fit of multiple through holes realizes accurate positioning of each component, effectively preventing loosening, shaking or deformation during hoisting. Through the opposite arrangement of the first wall 2111 and the second wall 2112 to form the hanging space, and the connection of the hanging rod 2113 and the support beam 210, the structural stability during hoisting is improved.

[0067] Referring to Figure 4 The hanging part 221 of the embodiment of the present application includes a wide part 411 and a narrow part 412. The wide part 411 is connected with the track beam 220. The narrow part 412 is integrally formed with the wide part 411. The width of the narrow part 412 is less than the width of the wide part 411. The hanging part 221 has a triangular profile from the narrow part 412 to the wide part 411. The narrow part 412 is in the shape of a hook and is arranged to be placed in the hanging space to detachably hang the hanging rod 2113.

[0068] Exemplarily, the wide part 411 is a part with a larger width in the hanging part 221, connected with the track beam 220, providing a stable support base and a larger connection area. The narrow part 412 is a part with a smaller width in the hanging part 221, in a hook shape, used for detachably hanging the bearing rod 2113. The triangular profile is a triangular appearance shape of the hanging part 221 from the narrow part 412 to the wide part 411.

[0069] According to the embodiments of the present application, the triangular profile has good stress characteristics, can uniformly disperse the hoisting load, the locking of the hook-shaped structure with the bearing rod 2113 ensures the reliability of the connection, and the triangular profile design reduces the amount of material used while ensuring strength, and reduces the structure weight.

[0070] Referring to Figure 3 and Figure 4 , the first wall 2111 is further formed with a fifth through hole 313, the second wall 2112 is further formed with a sixth through hole 323, and the hoisting part is formed with a seventh through hole 413, and the fifth through hole 313, the sixth through hole 323 and the seventh through hole 413 are coaxial; wherein the hoisting tool 200 further comprises: a connecting piece 250 configured to pass through the fifth through hole 313, the sixth through hole 323 and the seventh through hole 413.

[0071] The fifth through hole 313, the sixth through hole 323 and the seventh through hole 413 are respectively arranged on the first wall 2111, the second wall 2112 and the hoisting part, forming a coaxial connection path. The coaxial line represents that the center lines of the plurality of through holes are on the same straight line, such as the center lines of the fifth through hole 313, the sixth through hole 323 and the seventh through hole 413 substantially coincide. The connecting piece 250 passes through the plurality of through holes, used for connecting different structural components. Such as bolts, pins or screws, etc., through the through holes to realize the detachable connection of each component.

[0072] According to the embodiments of the present application, the coaxial arrangement of the fifth through hole 313, the sixth through hole 323 and the seventh through hole 413 enables the connecting piece 250 to uniformly transmit the load, preventing structural deformation or damage caused by uneven force at the connection part during hoisting. The detachable connection mode improves the maintenance convenience and reusability of the tool.

[0073] Figure 5 The cross-sectional view of the connecting piece 250 according to the embodiments of the present application is schematically shown.

[0074] As Figure 5As shown, the connecting piece 250 includes a body rod part 251, a bending part 252 and a protruding part 253. The bending part 252 is integrally formed with the body rod part 251 and is bent relative to the body rod part 251. The protruding part 253 is coupled to the body rod part 251. The body rod part 251 passes through the fifth through hole 313, the sixth through hole 323 and the seventh through hole 413, and the first wall 2111, the second wall 2112 and the hoisting part are located between the bending part 252 and the protruding part 253.

[0075] Exemplarily, the body rod part 251 and the bending part 252 are obtained by bending a rod member, and the protruding part 253 can be integrally formed, fixedly connected or detachably connected with the body rod part 251. For example, the body rod part 251 is processed with external threads, and the protruding part 253 is a matching nut. In another example, the body rod part 251 is drilled, and the protruding part 253 is fixed by a pin. In another example, the protruding part 253 is directly welded on the body rod part 251. In another example, the protruding part 253 is fixed in an annular groove of the body rod part 251 as an elastically deformable material (e.g., a spring).

[0076] According to the embodiments of the present application, when the body rod part 251 passes through the through holes, the bending part 252 and the protruding part 253 form a bidirectional limiting mechanical lock, which simplifies the installation process and improves the operation efficiency.

[0077] Referring to Figure 2 and Figure 3 The hoisting tool 200 further includes a third wall 2114 having a recessed part matching a partial contour of the support beam 210 for placing the support beam 210. After the support beam 210 passes through the second through hole 312 and the fourth through hole 322, the support beam 210 is placed in the upper recessed part of the third wall 2114. The third wall 2114 is provided with an eighth through hole 331.

[0078] For example, after the body rod part 251 passes through the eighth through hole 331, the sixth through hole 323, the seventh through hole 413 and the fifth through hole 313 in sequence from one side (or in reverse order), the protruding part 253 is installed at the other end of the body rod part 251. The other end can have multiple holes, and the position of the protruding part 253 can be adjusted as needed to ensure that the components are properly clamped. By adjusting the position of the protruding part 253 on the body rod part 251, the spacing between the bending part 252 and the protruding part 253 can be changed, so as to adapt to different specifications of the combination of the first wall 2111, the second wall 2112 and the hoisting part, thereby improving the versatility of the tool.

[0079] Figure 6 The hole cross-sectional view according to the embodiments of the present application is schematically shown.

[0080] For example, with the protrusion 253, the main body rod 251 is sequentially threaded through the eighth through hole 331, the sixth through hole 323, the seventh through hole 413, and the fifth through hole 313 from one side (or sequentially threaded in reverse order). Any one of the eighth through hole 331, the sixth through hole 323, the seventh through hole 413, and the fifth through hole 313 includes:

[0081] The first hole 610 is adapted to the outline shape of the main body rod 251 so that the main body rod 251 can pass through it.

[0082] The second hole 620 communicates with the first hole 610. The second hole 620 is adapted to the outline shape of the protrusion 253 so that the protrusion 253 can pass through.

[0083] "Adaptation" refers to providing a penetration area larger than the corresponding structure. If the main body rod 251 is a cylinder with a diameter of 12mm, then the first hole 610 is a circular hole segment with a diameter slightly larger than 12mm (e.g., 12.5mm). If the protrusion 253 is a strip-shaped protrusion with a diameter of 8mm and a width of 3mm, then the second hole 620 is a rectangular hole segment with a length slightly larger than 8mm (e.g., 8.5mm) and a width slightly larger than 3mm, communicating with the first hole 610. It is understood that the various dimensional parameters provided in this embodiment are merely examples, and this application is not limited thereto.

[0084] According to an embodiment of this application, the combined design of the first hole 610 and the second hole 620 facilitates the passage of the connector 250.

[0085] Those skilled in the art will understand that the features described in the various embodiments of this application can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this application. In particular, the features described in the various embodiments of this application can be combined and / or combined in various ways without departing from the spirit and teachings of this application. All such combinations and / or combinations fall within the scope of this application.

Claims

1. A lifting tool, comprising: a support beam to which a receiving portion is attached, the support beam being configured to be coupled to a body of a vehicle; a track beam to which a hooking portion is attached, the hooking portion being detachably coupled to the receiving portion, the track beam having a track formed along a length direction thereof, one end of the track being configured to be located inside the body and the other end being configured to be located outside the body; a moving member coupled to the track, the moving member being configured to be movable back and forth between the two ends of the track; a lifting member coupled to the moving member, the lifting member being configured to lift a target object located outside the body to a target height above a bottom of the body.

2. The lifting tool of claim 1, wherein the receiving portion includes: a first wall having a first through hole and a second through hole; a second wall disposed opposite to the first wall, the second wall and the first wall forming a coupling space therebetween, the second wall having a third through hole opposite to the first through hole and a fourth through hole opposite to the second through hole; a receiving rod having two ends respectively passing through the first through hole and the third through hole; wherein the support beam is configured to pass through the second through hole and the fourth through hole.

3. The lifting tool of claim 2, wherein the hooking portion includes: a wide portion coupled to the track beam; a narrow portion integrally formed with the wide portion, the narrow portion having a width smaller than that of the wide portion, the hooking portion having a triangular profile from the narrow portion to the wide portion; wherein the narrow portion is configured to be located in the coupling space and detachably coupled to the receiving rod. 4.The lifting tool according to claim 3, wherein: the first wall further has a fifth through hole, the second wall further has a sixth through hole, and the lifting portion has a seventh through hole, the fifth through hole, the sixth through hole and the seventh through hole being coaxial; wherein the lifting tool further includes: a connecting member configured to pass through the fifth through hole, the sixth through hole and the seventh through hole.

5. The lifting tool of claim 4, wherein the connecting member includes: a body rod portion; a bending portion integrally formed with the body rod portion and bent relative to the body rod portion; a protruding portion coupled to the body rod portion; wherein the body rod portion passes through the fifth through hole, the sixth through hole and the seventh through hole, the first wall, the second wall and the lifting portion being located between the bending portion and the protruding portion.

6. The lifting tool of claim 5, wherein any one of the fifth through hole, the sixth through hole and the seventh through hole includes: a first hole portion adapted to the profile shape of the body rod portion for the body rod portion to pass therethrough; a second hole portion in communication with the first hole portion, the second hole portion being adapted to the profile shape of the protruding portion for the protruding portion to pass therethrough.

7. The lifting tool according to any one of claims 1 to 6, characterized in that the lifting tool has a lifting state and a non-lifting state, in the lifting state, the target object is configured to be lifted, the track beam is detachably coupled to the receiving portion via the hooking portion, and the track beam is coupled to the support beam to form a cross structure. In the non-lifting state, the lifting part is separated from the bearing part to separate the track beam from the support beam, and the track beam, the moving part and the lifting part are accommodated in a target position.

8. The lifting tool according to any one of claims 1 to 6, characterized in that The lifting part comprises: A lifting sling, which is an electric hoist or a hand-operated hoist, and the hand-operated hoist is connected with a driving mechanism for driving rotation thereof.

9. The lifting tool according to any one of claims 1 to 6, characterized in that The target object comprises a robot.

10. A robot transportation device comprising: A vehicle comprising a compartment; The lifting tool of any one of claims 1-9, wherein the support beam of the lifting tool is installed on the compartment, and a robot is moved from outside the compartment to inside the compartment by the lifting tool and is transported to a destination by the vehicle.

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