Automatic climbing crane

Abstract

An automatic climbing crane, comprising a crane body (1) and a crane platform (2) arranged on an upper portion of the crane body (1). The crane body (1) is provided with a plurality of holding mechanisms (4), which are arranged spaced apart from each other, and a driving mechanism for climbing, which is configured to control the crane body (1) to climb up and down along a support body, wherein each holding mechanism (4) comprises a gripper (41) and a gripper driving mechanism which is configured to control the gripper (41) to open and close; and an opening and closing end of the gripper (41) is provided with a pin (7) allowing the gripper (41) to lock the support body. On the one hand, the crane can prevent a self-climbing crane from falling, thereby greatly improving the safety; and on the other hand, the crane can make the holding mechanisms be stably supported when operating, thereby improving the safety and stability of the self-climbing crane.

Description

Technical Field The present invention relates to the technical field of automatic climbing cranes, and particularly relates to an automatic climbing crane. Background The existing building supports (such as column bodies) are generally hoisted by tower cranes, automobile cranes or crawler cranes. Hoisting by the tower cranes mainly has the following defects: (1) The tower cranes are all arranged on the ground, and at least two tower cranes are required to complete the operation, which greatly occupies the ground space. (2) During the operation of the tower cranes, a construction area needs to be surrounded by fences to prevent passing pedestrians or vehicles from straying into the construction area, but this will occupy the original lane, thereby obstructing the traffic of the original road. (3) The existing tower crane is complex in structure and heavy in weight, which not only occupies the ground space, but also greatly increases the material cost. If the automobile cranes are used for hoisting, high hoisting cannot be conducted. For example, the height of a wind power tower is more than 300 meters, and the traditional automobile crane cannot achieve hoisting by such a height, so the purpose of the present invention cannot be realized. If the crawler cranes are used for hoisting, the cost is expensive. Due to the above defects of the existing tower cranes, the applicant has also applied for a patent titled "a climbing crane, a column body hoisting device using same and a hoisting method" (application No.: 2019103550612). The column body of the installed column body is held by the climbing crane, and the column body to be installed is hoisted above the installed column body by a hoist on a hoisting arm, and fixedly connected with the installed column body; and after the column body is installed, adjacent or alternate holding mechanisms and other holding mechanisms hold or release the supports alternately through a holding power mechanism to achieve climbing until climbing to the target position of the column body, to enter a next cycle. However, this structure has the following defects: (1) Because the holding mechanism is arranged at the opening and closing port of a holding hoop, the holding mechanism can only control the tightness of the holding hoop, but cannot control the opening and closing angle or avoid the crossbeams on the column body when climbing. (2) The automatic climbing crane has no anti-fall mechanism. Once the holding hoop fails to hold, anti-fall measures cannot be taken, which greatly reduces the safety. (3) Because there is a phenomenon of slippage or rotation between the gripper and the supporting body, the invention does not provide a rotation limiting part to prevent the phenomenon. (4) The structure is not suitable for holding inclined column bodies. (5) The gripper of the holding mechanism cannot be linked in the states of release and holding, that is, cannot ensure that when one group of holding mechanism is in the release state, another group of holding mechanism must be in the holding state. (6) The automatic climbing crane has potential safety hazards such as easy loosening and instability. Summary A purpose of the present invention is to overcome the above defects of the prior art to provide an automatic climbing crane with high safety and high working efficiency. The technical solution of the present invention is as follows: an automatic climbing crane comprises a body and a crane platform arranged on the upper part of the body; the body is provided with a plurality of spaced holding mechanisms and a climbing driving mechanism for controlling the body to climb up and down along a supporting body; each holding mechanism comprises a gripper and a gripper driving mechanism for controlling the opening and closing of the gripper; and an opening and closing end of the gripper is provided with a bolt for the gripper to lock the supporting body. Further, a rotation limiting part is arranged between the supporting body and the gripper for limiting rotation therebetween. Further, the holding mechanism also comprises a gripper seat connected with the body, and the gripper driving mechanism is connected between the gripper seat and the gripper; the gripper comprises at least two claw parts, and the bolt for connecting the two claw parts together is arranged in a tip position of the opening and closing end of the gripper. Further, one end of the claw parts is hinged with the gripper seat, and the other end is provided with inserting holes for inserting the bolt; and after the two claw parts are nested to align the two inserting holes, the bolt is inserted and the supporting body is locked. Further, a gripper release limit switch for detecting whether the gripper is in a fully open state is arranged between the gripper seat and the gripper; the gripper release limit switch is connected with a controller, and an output end of the controller is connected with the gripper driving mechanism; and the controller is used for receiving a gripper opening signal sent by the gripper release limit switch of a group of holding mechanism, and then controlling the gripper of another group of holding mechanism to always be in a holding state to form a linkage system. Further, the bolt is an electromagnetic bolt; an upward limit switch is arranged in the electromagnetic bolt; the bottom of the gripper is provided with a downward limit switch; a body of the electromagnetic bolt is operated to the upward limit switch so that the opening and closing end of the gripper is in an unlocked state; and the body of the electromagnetic bolt is operated to the downward limit switch so that the opening and closing end of the gripper is in a locked state. Further, the supporting body held by the holding mechanisms is provided with a plurality of spaced gripper supporting seats, and supporting surfaces of the gripper supporting seats are used for supporting the holding mechanisms; and supporting feet are arranged between the gripper supporting seats and the supporting body. Further, a maximum interval between the adjacent gripper supporting seats is 12 meters. Further, when the supporting body held by the holding mechanisms is inclined, a surface of the crane platform connected with other hoisting devices is an inclined surface. Further, the body comprises an upper body and a lower body, the upper body and the lower body are provided with at least two holding mechanisms, and one of the holding mechanisms is arranged on the top of the upper body; the climbing driving mechanism comprises at least one driving cylinder arranged in an inner cavity of the lower body, and a telescopic end of the driving cylinder is connected with the upper body; or when the number of the driving cylinders is more than two, each driving cylinder is independently controlled. Further, the supporting body comprises an installed supporting body and a to-be-hoisted supporting body, and the holding mechanism holds the installed supporting body; the crane platform is provided with a hoisting device; the to-be-hoisted supporting body is hoisted by the hoisting device to conduct splicing, so that the automatic climbing crane is gradually climbed to the supporting body after splicing to continue the hoisting operation; the upper part of the crane platform is provided with a conversion platform, or the crane platform is directly designed into a conversion platform; and the conversion platform comprises a plurality of installing parts which are provided with a plurality of rows of connecting holes for connecting and replacing the hoisting device from inside to outside. Further, at least two sections of upper bodies are arranged, and the adjacent sections are detachably connected; reinforcing ribs are arranged in the gripper; and the shape of the closed gripper is a circle or N-polygon, with N>6. Further, when the gripper driving mechanism is a hydraulic oil cylinder, the hydraulic oil cylinder is connected between the gripper and the gripper seat; the hydraulic oil cylinder supplies oil through a hydraulic oil tank; the hydraulic oil tank is provided with an oil level detection sensor for detecting whether the oil quantity of the hydraulic oil tank is lower than target oil quantity; and when the oil quantity is lower than the target oil quantity, a signal is generated to the controller; the controller is also used for controlling the bolt to lock the opening and closing end of the gripper after the hydraulic oil cylinder fails or the oil quantity is lower than the target oil quantity; and after a dangerous state is removed, the bolt is controlled to move out so that the bolt is in an idle state. The present invention has the following beneficial effects: (1) The bolt is arranged at the opening and closing end of the gripper and the two claw parts of the gripper are connected together, which can prevent the automatic climbing crane from falling and greatly improve the safety. (2) The gripper driving mechanism is connected between the gripper seat and the gripper to control the opening and closing angle of the gripper, which can avoid obstacles, such as crossbeams, on the supporting body in the climbing process of the automatic climbing crane so as to climb smoothly. (3) The rotation limiting part is arranged, which can prevent the supporting body from rotating around the gripper or slipping, so as to ensure the safety. (4) By arranging the inclined plane on the crane platform, when the automatic climbing crane holds the inclined supporting body, the hoisting device can still maintain the vertical state, so as to ensure the stability of the center of gravity of the hoisting device, make it not easy to damage the hoisting device and the automatic climbing crane, and reduce the stress. (5) The upper body is divided into two sections, which can reduce the stress strength. Moreover, the length of the lower section of the upper body is greater than the length of the upper section, and most of the lower section needs to be sleeved into the lower body. The hydraulic oil cylinder extends into the cylinder body of the lower section of the upper body, which can not only improve the strength of the lower section, but also realize large bending strength and small stress because the upper section is short. (6) By arranging the gripper release limit switch, the release and the holding of each holding mechanism of the body can be in a linkage state. That is, after the gripper of one group of holding mechanism is released, the gripper of another group of holding mechanism is controlled to be always in a holding state, thereby greatly improving the safety and preventing the automatic climbing crane from falling. The oil level detection sensor is arranged and combined with the upward limit switch and the downward limit switch of the 5 bolt, which can ensure that the bolt acts after the oil quantity of the hydraulic oil tank is lower than the target oil quantity, so as to lock the gripper and prevent the gripper from losing the holding function after the oil loss or failure of the hydraulic oil tank. (7) The position and the climbing posture of the automatic climbing crane can be effectively stabilized by arranging the gripper supporting seats to ensure work safety. Moreover, the supporting surface is used for supporting the holding mechanism, so that the holding mechanism can be supported stably during work, which greatly improves the accuracy and the efficiency of hoisting operation and enhances the safety and the stability of the automatic climbing crane. Through the combined arrangement of the gripper supporting seat and the convex part of the supporting body, the automatic climbing crane and the supporting body can be quickly and accurately aligned to ensure that the holding mechanism is quickly and correctly matched with the gripper supporting seat and the supporting body in the process of installation and operation, so as to improve the operation accuracy, stability and safety of the automatic climbing crane and reduce the occurrence of accidents. (8) By arranging the conversion platform, different specifications of hoisting devices can be replaced to achieve the combination of one automatic climbing crane with different hoisting devices. Description of Drawings Fig. 1 is an integral structural schematic diagram of embodiment 1 of the present invention; Fig. 2 is a state schematic diagram of a hoisting column body of an automatic climbing crane in embodiment 1 of the present invention; Fig. 3 is a state schematic diagram of lifting an upper body of an automatic climbing crane in embodiment 1 of the present invention; Fig. 4 is a state schematic diagram of lifting a lower body of an automatic climbing crane in embodiment 1 of the present invention; Fig. 5 is a three-dimensional structural schematic diagram of a holding mechanism in embodiment 1 of the present invention (a bolt is not shown); Fig. 6 is a node schematic diagram of holding a supporting body by a holding mechanism in embodiment 1 of the present invention; Fig. 7 is a node schematic diagram of releasing a supporting body by a holding mechanism in embodiment 1 of the present invention; Fig. 8 is a split structural schematic diagram of an upper body and a lower body in embodiment 1 of the present invention; Fig. 9 is a schematic diagram of a gripper release state of a holding mechanism in embodiment 4 of the present invention; Fig. 10 is a schematic diagram of a gripper holding state of a holding mechanism in embodiment 4 of the present invention; Fig. 11 is a structural schematic diagram of a bolt in embodiment 4 of the present invention; Fig. 12 is a structural schematic diagram of a gripper supporting seat in embodiment 5 of the present invention; Fig. 13 is a structural schematic diagram of supporting an automatic climbing crane by a gripper supporting seat in embodiment 5 of the present invention; Fig. 14 is a schematic diagram of connection of a conversion platform and a flat boom crane in embodiment 6 of the present invention; Fig. 15 is a structural schematic diagram of a conversion platform in embodiment 6 of the present invention. Description of Reference Signs: 1. body; 2. crane platform; 3. hoisting device; 4. holding mechanism; 5. hydraulic oil cylinder; 6. hydraulic oil tank; 7. bolt; 8. rotation limiting part; 9. tower column; 10. crossbeam; 11. upper body; 12. lower body; 13. ladder; 21. conversion platform; 41. gripper; 42. gripper seat; 43. gripper oil cylinder; 44. gripper release limit switch; 45. gripper holding limit switch; 71. inserting hole; 72. upward limit switch; 73. downward limit switch; 81. convex part; 82. concave part; 91. column body; 92. tower spiral ladder; 93. gripper supporting seat; 111. upper cylinder limit block; 121. lower cylinder limit block; 211. platform body; 212. threaded plate; 213. reinforcing plate; 411. claw part; 421. upper seat body; 422. lower seat body; 931. supporting surface; 932. supporting foot; 2121. connecting hole; 4111. groove; 4112. convex block. Detailed Description The present invention will be further described in detail below in combination with the drawings of description and specific embodiments. Embodiment 1 As shown in Fig. 1 to Fig. 8: an automatic climbing crane comprises a body 1 and a crane platform 2 arranged on the top of the body 1; the crane platform 2 is provided with a hoisting device 3; the body is provided with a plurality of spaced holding mechanisms 4 and a climbing driving mechanism for controlling the body to climb up and down along a supporting body; each holding mechanism 4 comprises a gripper 41 and a gripper driving mechanism for controlling the opening and closing of the gripper 41; and an opening and closing angle of the gripper is controlled through the gripper driving mechanism for holding or releasing the supporting body. The above solution has the following advantages: By controlling the opening and closing angle of the gripper, the crane can avoid obstacles. For example, when the gripper grabs a column body, climbs up and meets a crossbeam on the column body, the opening angle of the gripper is controlled so that the automatic climbing crane avoids the crossbeam and climbs smoothly. In the present embodiment, the body 1 comprises an upper body 11 and a lower body 12, and the upper body 11 and the lower body 12 are provided with at least two holding mechanisms 4. Preferably, the upper body 11 is provided with two holding mechanisms, and the lower body is provided with three holding mechanisms. The upper body 11 and lower body 12 are of barrel structures. The climbing driving mechanism is a driving cylinder which can adopt electricity, pneumatics or oil for driving. The climbing driving mechanism of the present embodiment is preferably a hydraulic oil cylinder 5. The hydraulic oil cylinder 5 is arranged in the lower body 12. The telescopic end of the hydraulic oil cylinder 5 is connected with the upper body 11. The number of the hydraulic oil cylinders 5 is preferably two. The two hydraulic oil cylinders 5 are arranged in the lower body 12 side by side, and the two hydraulic oil cylinders are independently controlled. One hydraulic oil cylinder can be used as a working hydraulic oil cylinder, and the other is used as a standby hydraulic oil cylinder. For example, the thrust of a single cylinder is 200 tons and the working pressure is 25 Mpa to ensure that the upper body can be lifted for climbing when the automatic climbing crane hoists the supporting body. A hydraulic oil tank 6 is installed on an outer wall of the lower body 12 for supplying oil for the hydraulic oil cylinders 5. The hydraulic oil tank 6 is provided with an oil level detection sensor. The oil level detection sensor is electrically connected with an input end of a controller of a control system. After the oil quantity of the hydraulic oil tank is detected to be lower than the target oil quantity, the oil quantity is sent to the controller, and the controller switches the working hydraulic oil cylinder to the standby hydraulic oil cylinder for lifting, so as to prevent the working hydraulic oil cylinder from being impossible to work without oil and greatly improve the work efficiency. Moreover, the 8 controller is communicated with a remote control platform remotely to notify the operators, so as to prevent the hydraulic oil cylinder from being impossible to drive the holding mechanism in a holding state in the absence of oil, thereby reducing the risk. In the present embodiment, for two holding mechanisms 1# and 2# of the upper body 11, 1# is arranged in the upper part and located below the crane platform, and 2# is arranged near the lower body 12. For three holding mechanisms 3#, 4# and 5# of the lower body 12, 5# is arranged near the bottom of the lower body, 4# is arranged near the upper middle part of the lower body, 3# is arranged near the upper part of the lower body, and the hydraulic oil tank 6 is located between 4# and 5#. Preferably, in the non-working state of the hydraulic oil cylinder 5, the spacing between the holding mechanisms 1# and 2# is greater than the spacing between the holding mechanisms 2# and 3#, greater than the spacing between the holding mechanism 3# and 4#, and equal to the spacing between the holding mechanisms 4# and 5#. This arrangement structure, on the one hand, can ensure the stationarity of holding the supporting body by each holding mechanism, that is, the top, the bottom, the middle, the upper middle and the lower middle of the supporting body are held by the holding mechanisms, so it is not easy to imbalance, which greatly improves the safety. On the other hand, once one holding mechanism is loose due to fault, other holding mechanisms can also hold the supporting body stably, without affecting the hoisting and climbing of the automatic climbing crane. In the present embodiment, the length of the upper body 11 is much greater than the length of the lower body 12. For example, the upper body is 18 m, the lower body is 11 m, and the lower part of the upper body has 8 m length extending into the lower body. Wherein the upper body is a segmented structure, which is divided into section A and section B which are fixed by a threaded connector, such as flange connection. The holding mechanism 1# is arranged in the section A, and the holding mechanism 2# is arranged in the section B, and near the upper part of the section B. The length of the section B is greater than that of the section A. Wherein a connecting seat connected with the hydraulic oil cylinder 5 is arranged near the middle position of the inner cavity of the section B, and the telescopic end of the hydraulic oil cylinder 5 extends into the cylinder body of the section B and is connected with the connecting seat. In the present embodiment, the outer wall of the lower end of the section B of the upper body 11 is provided with a plurality of upper cylinder limit blocks 111 spaced annularly; the inner wall of the upper end of the lower body 12 is provided with a plurality of lower cylinder limit blocks 121 spaced annularly; a part of the section B of the upper body 11 is sleeved into the lower body 12; and the telescopic end of the hydraulic oil cylinder 5 is sleeved into the section B and connected with the connecting seat of the section B. When the hydraulic oil cylinder 5 drives the upper and lower bodies to act, after the upper cylinder limit blocks 111 of the upper body move to the position corresponding to the lower cylinder limit blocks 121, limit is conducted. Preferably, a slider is a nylon slider. In addition, in order to improve the strength of the body, reinforcing ribs can be arranged on the outer wall and / or the inner wall of the body; for example, outer annular ribs and inner annular ribs are arranged. In the present embodiment, each holding mechanism 4 comprises a gripper seat 42 connected with the body, a gripper 41 connected with the gripper seat 42 and a gripper driving mechanism for controlling the opening and closing of the gripper; and the gripper driving mechanism is connected between the gripper seat 42 and the gripper 41. Wherein the gripper seat 42 comprises an upper seat body 421 and a lower seat body 422 which are separated up and down. Both the upper seat body and the lower seat body comprise a plurality of seat plates spaced up and down to form a multilayer structure. The seat plates are connected annularly through longitudinal ribs, wherein the seat plates are polygon structures, such as octagons. The seat plates are arranged as polygons because the material of the gripper seat is high-strength steel. If the seat plates are designed as circles, it is not easy to be processed and bent. Therefore, the seat plates are designed as the polygons, which is convenient for bending and can ensure the strength of the gripper seat. The upper seat body 421 and the lower seat body 422 are annular structures, and the gripper seat 42 is sleeved on the body and welded or threaded to the body into a whole. The upper seat body 421 and the lower seat body 422 are used for connecting the gripper 41. The gripper 41 comprises two claw parts 411. One end of the claw parts 411 is hinged with the gripper seat 42 and the other end is an opening and closing end so that the two claw parts can be opened and closed along the hinging point. The gripper driving mechanism is connected between the gripper seat and the gripper. The gripper driving mechanism is preferably a gripper oil cylinder 43, and one gripper corresponds to two gripper oil cylinders 43 which are used to control the two claw parts 411 respectively. The claw parts have certain thickness. The upper and lower end surfaces of each claw part are provided with an extending connecting ear. The connecting end of the gripper oil cylinder is connected with the gripper seat, that is, connected between the upper seat body and the lower seat body of the gripper seat. The telescopic end of the gripper oil cylinder is connected with the connecting ears of the claw parts. The opening and closing of the gripper are realized by controlling the expansion and contraction of the gripper oil cylinder 43. For example, the thrust of the gripper oil cylinder is 100 tons. Wherein the gripper oil cylinder also supplies oil through the hydraulic oil tank. In the present embodiment, the shape of the gripper after closure is adapted with the shape of the supporting body. For example, the supporting body of the present embodiment is a column body, and then the shape of the gripper after closure is circular. In the present embodiment, the opening and closing end of the gripper 41 is provided with a bolt 7 for locking the supporting body. One end of the claw parts 411 is hinged with the gripper seat 42, and the other end (also known as a tip, that is, one end away from the hinging end, but the tip does not refer specifically to that the end is pointed) is provided with inserting holes 71 for inserting the bolt; and after the two claw parts 411 are nested to align the two inserting holes, the bolt 7 is inserted and the supporting body is locked. Preferably, the tip of one claw part of the gripper is provided with a groove 4111, and the tip of the other claw part is provided with an extending convex block 4112. The groove 4111 and the convex block 4112 are provided with the inserting holes 71 penetrated up and down. After the convex block is inserted into the groove, the inserting holes between the two are aligned and the bolt 7 is inserted so that the holding mechanisms hold the supporting body. The present invention can prevent the phenomenon of loosening the gripper and releasing the supporting body after the gripper oil cylinder fails by arranging the bolt 7 and designing the structure that the gripper is adapted with the bolt, thereby greatly improving the safety. Wherein the bolt 7 of the present embodiment is an automatic control bolt without manual operation, and is preferably an electromagnetic bolt connected with the controller. The electromagnetic bolt is fixed on a claw part 411 in advance. When the automatic climbing crane is in a working state and the oil level detection sensor detects that the oil quantity of the hydraulic oil tank is lower than the target oil quantity, the oil quantity is sent to the controller, and the controller controls the gripper oil cylinder 43 of each holding mechanism to act so that the groove between the two claw parts of the gripper 41 are docked with the convex block, and then controls the electromagnetic bolt to act so that the bolt is inserted into the inserting holes 71 to connect the two claw parts together so that the gripper holds the supporting body to prevent the supporting body from loosening; or when a gripper oil cylinder is detected to be faulty, the controller can control the gripper oil cylinders of other grippers to act to insert the electromagnetic bolt to hold the supporting body. That is, the structure of the present invention can greatly improve the work efficiency and the safety. In the present embodiment, a rotation limiting part 8 is arranged between the supporting body and the gripper for limiting rotation therebetween. Specifically, the rotation limiting part comprises a convex part 81 arranged on the supporting body and a concave part 82 arranged on the inner side of the gripper, and the convex part is adaptively connected with the concave part. Preferably, both sides of the supporting body are symmetrically provided with convex parts 81 arranged along the length direction, such as convex strips, and the convex strips may be arranged along the entire length of the supporting body or spaced. The inner sides of the two claw parts of the gripper are provided with the concave parts 82 in the opposite positions of the convex parts 81. When the gripper holds the supporting body, the concave parts and the convex parts of the two are adaptively connected, which can prevent the supporting body from rotating or slipping, play a role in limiting rotation, and greatly improve the safety. In the present embodiment, the supporting body comprises an installed supporting body and a to-be-hoisted supporting body, and the holding mechanism holds the installed supporting body; the crane platform is provided with a hoisting device; and the to-be-hoisted supporting body is hoisted by the hoisting device to conduct splicing, so that the automatic climbing crane is gradually climbed to the supporting body after splicing to continue the hoisting operation. Wherein the supporting body can be, but not limited to, a column body for building a house, a column body of a wind power tower, and a column body of a multilayer bridge. The present embodiment takes the wind power tower as an example for specific explanation: The wind power tower in the present embodiment comprises four tower columns 9; the four tower columns 9 are inclined; and the four tower columns 9 are connected through crossbeams 10, and arranged into a structure with a trapezoidal section. Wherein each tower column 9 is formed by splicing a plurality of column bodies 91 up and down, and each tower column 9 is a conical structure with a large lower part and a small upper part. Because the tower column is inclined, if the holding mechanism is directly used for holding the column body 91, inclination may occur. Then, the hoisting device on the crane platform at the top of the body will be inclined, which not only makes the center of gravity unstable, makes it easy to break or reduces strength, but also makes it not easy to hoist. Therefore, in the present embodiment, one surface of the crane platform 2 connected with the hoisting device 3 is designed as an inclined plane to ensure that the hoisting device may not be inclined on the crane platform and maintain a vertical state. A specific hoisting method of the present invention is as follows: Firstly, the bottom column bodies are installed by using an automobile crane or other hoisting devices. For example, the bottom two column bodies are installed at first, or only two column bodies of one tower column are installed, or two column bodies of four tower columns are installed. Then, a tower column is selected; the automatic climbing crane is installed on the first column body at the bottom layer of the tower column, and then is controlled to climb to the second column body. The column body to be installed is hoisted through the hoisting device on the crane platform, and the third column body of each tower column is hoisted. After manual installation is completed, the crossbeams between the adjacent column bodies are hoisted and installed. After the third column bodies of all the tower columns are installed, the gripper oil cylinder of the upper body is controlled by the control system to act to release each gripper, and each gripper of the lower body continues to hold the column body. Then, the hydraulic oil cylinder of the upper body is controlled to extend out to lift the upper body. Next, the gripper of the upper body is controlled to hold the column body; the gripper of the lower body is released; and the hydraulic oil cylinder is controlled to act to lift the lower body; and circulation is kept like this, so that the crane can climb to the next station to continue hoisting. Because the automatic climbing crane encounters the crossbeams during the climbing, the opening angle of the gripper when the gripper is controlled to be released enables the gripper to cross the crossbeam obstacle between the adjacent column bodies to avoid the crossbeams to climb along the installed column body. When anti-fall operation is needed for the automatic climbing crane, the two claw parts of each gripper are controlled to close, so that the convex block is inserted into the groove and then the electromagnetic bolt is automatically inserted into the inserting hole to lock the column body. In the present embodiment, one of the four tower columns 9 is provided with a tower spiral ladder 92 which circles around the tower column, which is convenient for maintenance and installation. In the present embodiment, a ladder 13 can also be arranged in the body. The inner diameter of the body can meet the passage of at least one person. A manhole is arranged on the body, which can enable persons to climb into the body to carry out maintenance and quality inspection of the internal hydraulic oil cylinder and other components, thereby greatly improving the convenience. Embodiment 2 Based on embodiment 1, a plurality of reinforcing ribs are arranged in the inner cavities of the two claw parts of the gripper. By arranging the reinforcing ribs, the strength of the gripper can be improved to prevent the gripper from breaking in the process of holding the column body. Other structures are the same as those of embodiment 1, and will not be detailed here. Embodiment 3 The difference from embodiment 1 is that the shape of the gripper after closure is polygonal. Because the material of the gripper is high-strength steel, if the gripper is designed to be round, it is not easy to be processed and bent. Therefore, the gripper is designed to be octagonal, which is convenient for bending and can ensure the strength of the gripper. Even if the cross section of the column body is circular, is a polygon and is closer to a circle if the number of edges is larger; the column bodies can be held without damaging the column bodies. In the present embodiment, the number of the edges of the polygon is preferably greater than or equal to 6, and further preferably equal to 8. Other structures are the same as those of embodiment 1, and will not be detailed here. Embodiment 4 As shown in Fig. 9 to Fig. 11: In the present embodiment, a gripper release limit switch 44 for detecting whether the gripper is in a fully open state is arranged between the gripper seat 42 and the gripper 41; the limit switch can be a non-contact photoelectric switch or a contact stroke switch; for example, a stroke switch is installed on the gripper, and a stopper in a limit position is installed on the gripper seat. By arranging the gripper release limit switch between the gripper seat and the gripper, the present embodiment can detect whether the group of holding mechanism is in a released state. If it is in the released state, it is necessary to ensure that another group of holding mechanism is necessarily in a holding state to improve the safety of the crane. The gripper release limit switch 44 is connected with the input end of the controller, and the output end of the controller is connected with the gripper oil cylinder 43; and the controller is used for receiving a gripper opening signal sent by the gripper release limit switch of a group of holding mechanism, and then controlling the gripper of another group of holding mechanism to always be in a holding state to form a linkage system. Wherein the model of the controller can be a PLC, or an integrated circuit with a single chip microcomputer as the core. A linkage system is formed among the gripper release limit switch, the controller and the gripper oil cylinder, which can not only ensure the automatic climbing of the upper body and the lower body, but also ensure that there is always a group of holding mechanism in the holding state to prevent the automatic climbing crane from falling. To further improve the safety, in the present embodiment, a gripper holding limit switch 45 for detecting whether the gripper is in a closed state can also be arranged at the opening and closing end of the gripper, and the gripper holding limit switch 45 is connected with the input end of the controller. For example, the gripper holding limit switch is arranged between the two claw parts of the gripper. After the two claw parts are closed, a closure signal can be detected through the limit switch and sent to the controller. The controller determines that the two claw parts are already in the holding state. In the present embodiment, an upward limit switch 72 is arranged in the body of the bolt 7 or on the top of the outer wall of the body; the bottom of the gripper 41 is provided with a downward limit switch 73; the upward limit switch 72 and the downward limit switch 73 are connected with the controller; and the output end of the controller is connected with the control end of the bolt 7. The body of the bolt is operated to the upward limit switch 72 so that the opening and closing end of the gripper 41 is in an unlocked state; and the body of the bolt 7 is operated to the downward limit switch 73 so that the opening and closing end of the gripper is in a locked state. The working principle of the present embodiment is as follows: When the automatic climbing crane needs to climb along the supporting body (such as the column body), when the gripper holding limit switch 45 on the gripper of each holding mechanism of the lower body 12 detects that the two claw parts 411 of the gripper are in a closed state, a signal is sent to the controller, and the controller controls each gripper oil cylinder 43 of the upper body 11 to act to release the gripper of each holding mechanism of the upper body. When the gripper release limit switch 44 detects that the gripper is in a fully opened state, each gripper oil cylinder 43 of the lower body 12 is controlled to always drive the gripper to be in a holding state to form a linkage system to prevent the grippers of two bodies from being in a release state; then, the upper body 11 is lifted, so that the upper body 11 moves up to achieve climbing; after climbing, the gripper of the upper body 11 is controlled to close and hold the column body; after each gripper holding limit switch 45 of the upper body detects gripper holding, a signal is sent to the controller, and the controller controls the gripper oil cylinder 43 of the lower body 12 to act to release each gripper of the lower body to lift the lower body; and the circulation is kept like this to achieve the climbing of the automatic climbing crane. After the oil level detection sensor of the hydraulic oil tank 6 detects that the oil quantity of the hydraulic oil tank is lower than target oil quantity, the oil quantity information is sent to the controller to prompt the system to replenish oil. Because the two claw parts of the gripper are nested with each other when the gripper is in the holding state, the convex block of the end of one claw part is inserted into the groove of the end of the other claw part to achieve clamping. After clamping, the inserting holes 71 on the two claw parts are aligned so that the body of the bolt 7 is inserted into the inserting holes 71 to achieve the locking of the gripper. After the gripper oil cylinder 43 fails or the oil quantity is lower than the target oil quantity, the controller controls the body of the bolt 7 to move in the direction of the inserting holes to lock the opening and closing end of the gripper, and to stop moving after moving to the downward limit switch to achieve locking; and after a dangerous state is removed (for example, the oil quantity is adequate), the body of the bolt 7 is controlled by the controller to move out of the inserting holes and to stop moving after moving to the upward limit switch so that the bolt is in an idle state. Embodiment 5 As shown in Fig. 12 to Fig. 13: In the present embodiment, the supporting body (the tower column 9 in the figure) held by the holding mechanisms 4 is provided with a plurality of spaced gripper supporting seats 93, and each gripper supporting seat 93 comprises a supporting surface 931 and a plurality of spaced supporting feet 932 connected between the supporting surface and the supporting body. Wherein one surface of the supporting surface 931 connected with the supporting body is an arc surface, so as to adaptively connect, preferably weld, with the supporting body. The supporting feet are spaced at the bottom of the supporting surface to form comb teeth. The maximum spacing of the adjacent gripper supporting seats is 12 m, and preferably the gripper of each holding mechanism in the automatic climbing crane can be stably supported. Preferably, two gripper supporting seats are preferably arranged opposite to each other, and each gripper supporting seat is provided with the convex part 81 of embodiment 1. The bottom surface of the convex part 81 is connected with the top surface of the supporting surface, and is arranged near one side of the supporting surface. After the concave part 82 of the inner walls of the two claw parts of the gripper is matched with two convex parts 81 which are arranged opposite to each other, the two claw parts are also just supported on the supporting surfaces of the two gripper supporting seats arranged opposite to each other. The supporting feet 932 of the present embodiment are wedge-shaped and gradually decreased in size from top to bottom to increase the bearing capacity of the gripper supporting seats. In the present embodiment, the position and the climbing posture of the automatic climbing crane can be effectively stabilized by arranging the gripper supporting seats to ensure work safety. Moreover, the supporting surface is used for supporting the holding mechanism, so that the holding mechanism can be supported stably during work, which greatly improves the accuracy and the efficiency of hoisting operation and enhances the safety and the stability of the automatic climbing crane. Through the combined arrangement of the gripper supporting seat 93 and the convex part 81, the automatic climbing crane and the supporting body can be quickly and accurately aligned to ensure that the holding mechanism is quickly and correctly matched with the gripper supporting seat and the supporting body in the process of installation and operation, so as to improve the operation accuracy, stability and safety of the automatic climbing crane and reduce the occurrence of accidents. Embodiment 6 As shown in Fig. 14 to Fig. 15: the difference from embodiment 1 is that: the upper part of the crane platform is also connected with a conversion platform 21 for connecting different types of hoisting devices. The conversion platform 21 comprises a platform body 211 formed by truss connection, and four sides of the platform body 211 extend outwards for connecting installing parts of the hoisting device. For example, the platform body 211 of the present embodiment is a directional structure. The installing parts are connected at four corners of the platform body 211. Each installing part comprises a threaded plate 212 and a reinforcing plate 213 connected between the threaded plate and the platform body. The threaded plate 212 is provided with a plurality of rows of connecting holes 2121 from inside to outside for connecting and replacing the hoisting device. A base or a truss of the hoisting device (e.g., a flat boom crane) can be installed on four threaded plates. Because a plurality of rows of connecting holes are arranged from inside to outside, for example: some hoisting devices are small in size and can be connected to a plurality of connecting holes located on an inner row on the four threaded plates, and some hoisting devices are large in size and can be connected to a plurality of connecting holes located on an outer row on the four threaded plates, different specifications of hoisting devices can be replaced to achieve the combination of one automatic climbing crane with different hoisting devices. In the present embodiment, the platform body 211 is formed by connecting a plurality of truss steels, which can effectively disperse weight and force, enhance the stability and the balance of the entire conversion platform, and distribute load and pressure evenly, thereby reducing local stress and increasing the stability of the connecting components. The multi-row 5 layout of the connecting holes achieves the flexibility of the combination of the automatic climbing crane with different specifications of hoisting devices, and reduces the cost required to retrofit the platform to adapt to different hoisting devices. The above only describes specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any change or replacement 10 contemplated easily by those skilled in the art familiar with the technical field within the technical scope disclosed by the present application shall be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be determined by the protection scope of the claims.

Claims

1. An automatic climbing crane, comprising a body and a crane platform arranged on the upper part of the body; wherein the body is provided with a plurality of spaced holding mechanisms and a climbing driving mechanism for controlling the body to climb up and down along a supporting body; each holding mechanism comprises a gripper and a gripper driving mechanism for controlling the opening and closing of the gripper; wherein an opening and closing end of the gripper is provided with a bolt for the gripper to lock the supporting body.

2. The automatic climbing crane according to claim 1, wherein a rotation limiting part is arranged between the supporting body and the gripper for limiting rotation therebetween.

3. The automatic climbing crane according to claim 1, wherein the holding mechanism also comprises a gripper seat connected with the body, and the gripper driving mechanism is connected between the gripper seat and the gripper; the gripper comprises at least two claw parts, and the bolt for connecting the two claw parts together is arranged in a tip position of the opening and closing end of the gripper.

4. The automatic climbing crane according to claim 3, wherein one end of the claw parts is hinged with the gripper seat, and the other end is provided with inserting holes for inserting the bolt; and after the two claw parts are nested to align the two inserting holes, the bolt is inserted and the supporting body is locked.

5. The automatic climbing crane according to claim 3, wherein a gripper release limit switch for detecting whether the gripper is in a fully open state is arranged between the gripper seat and the gripper; the gripper release limit switch is connected with a controller, and an output end of the controller is connected with the gripper driving mechanism; and the controller is used for receiving a gripper opening signal sent by the gripper release limit switch of a group of holding mechanism, and then controlling the gripper of another group of holding mechanism to always be in a holding state to form a linkage system.

6. The automatic climbing crane according to any one of claims 1-5, wherein the bolt is an electromagnetic bolt; an upward limit switch is arranged in the electromagnetic bolt; the bottom of the gripper is provided with a downward limit switch; a body of the electromagnetic bolt is operated to the upward limit switch so that the opening and closing end of the gripper is in an unlocked state; and the body of the electromagnetic bolt is operated to the downward limit switch so that the opening and closing end of thegripper is in a locked state.

7. The automatic climbing crane according to any one of claims 1-5, wherein the supporting body held by the holding mechanisms is provided with a plurality of spaced gripper supporting seats, and supporting surfaces of the gripper supporting seats are used for supporting the holding mechanisms; and supporting feet are arranged between the gripper supporting seats and the supporting body.

8. The automatic climbing crane according to claim 7, wherein a maximum interval between the adjacent gripper supporting seats is 12 meters.

9. The automatic climbing crane according to any one of claims 1-5, wherein when the supporting body held by the holding mechanisms is inclined, a surface of the crane platform connected with other hoisting devices is an inclined surface.

10. The automatic climbing crane according to any one of claims 1-5, wherein the body comprises an upper body and a lower body, the upper body and the lower body are provided with at least two holding mechanisms, and one of the holding mechanisms is arranged on the top of the upper body; the climbing driving mechanism comprises at least one driving cylinder arranged in an inner cavity of the lower body, and a telescopic end of the driving cylinder is connected with the upper body; or when the number of the driving cylinders is more than two, each driving cylinder is independently controlled.

11. The automatic climbing crane according to any one of claims 1-5, wherein the supporting body comprises an installed supporting body and a to-be-hoisted supporting body, and the holding mechanism holds the installed supporting body; the crane platform is provided with a hoisting device; the to-be-hoisted supporting body is hoisted by the hoisting device to conduct splicing, so that the automatic climbing crane is gradually climbed to the supporting body after splicing to continue the hoisting operation; the upper part of the crane platform is provided with a conversion platform, or the crane platform is directly designed into a conversion platform; and the conversion platform comprises a plurality of installing parts which are provided with a plurality of rows of connecting holes for connecting and replacing the hoisting device from inside to outside.

12. The automatic climbing crane according to claim 10, wherein at least two sections of upper bodies are arranged, and the adjacent sections are detachably connected; reinforcing ribs are arranged in the gripper; and the shape of the closed gripper is a circle or N-polygon, with N>6.

13. The automatic climbing crane according to any one of claims 3-5, wherein when thegripper driving mechanism is a hydraulic oil cylinder, the hydraulic oil cylinder is connected between the gripper and the gripper seat; the hydraulic oil cylinder supplies oil through a hydraulic oil tank; the hydraulic oil tank is provided with an oil level detection sensor for detecting whether the oil quantity of the hydraulic oil tank is lower than target oil quantity; and when the oil quantity is lower than the target oil quantity, a signal is generated to the controller; the controller is also used for controlling the bolt to lock the opening and closing end of the gripper after the hydraulic oil cylinder fails or the oil quantity is lower than the target oil quantity; and after a dangerous state is removed, the bolt is controlled to move out so that the bolt is in an idle state.

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