Quick Rail Replacement Construction Method for Lateral Translation and Steering of Intelligent Lifting Robots

Abstract

The present invention belongs to the technical field of the installation and construction of prefabricated buildings, and provides a rapid track-changing construction method for the lateral translation and steering of an intelligent hoisting robot, comprising the following steps: S1, removing and hoisting the previous steel beam track to form the subsequent steel beam track after commutation; S2, preparing the technical conditions for the commutation operation of the current steel beam track; S3, rapidly commuting the current steel beam track in construction; S4, the steering and walking of the intelligent hoisting robot. The rapid track-changing construction method of the present invention, based on the hoisting and lifting functions of the intelligent hoisting robot, realizes the rapid commutation construction of the floor steel beam track when the intelligent hoisting robot laterally transfers, without the need to use large hoisting machinery and equipment relied on by traditional hoisting and installation methods, and effectively solves the problems of low construction efficiency and high cost; at the same time, compared with the commutation method using an arc track, the rapid track-changing construction method of the present invention is not restricted by the turning radius and the on-site operation plane, has high flexibility and a wide application range.

Description

Technical Field

[0001] The present invention belongs to the technical field of the installation construction of prefabricated buildings, and particularly relates to a rapid track-changing construction method for the lateral translation and steering of an intelligent hoisting robot. Background Art

[0002] Industrial concrete factories built upstairs generally have large spans, high storey heights, and large-sized and heavy components. Existing prefabricated construction technology solutions often require the deployment of multiple large tower cranes, or the use of large truck cranes and crawler cranes, resulting in high construction costs. In view of this industry drawback that restricts the development of industrial prefabricated concrete factories built upstairs, and considering that the horizontal and vertical structures of industrial concrete factories built upstairs are relatively regular and have the characteristics of modularization, standardization, and generalization, a construction method for fully prefabricated multi-storey and high-rise concrete factories and a corresponding intelligent hoisting robot have emerged in the prior art; specifically, by utilizing the functions of the intelligent hoisting robot to walk and hoist on the floor, the precast concrete components are hoisted in place on each floor for the efficient assembly of high-standard prefabricated concrete factories.

[0003] However, the tracks supporting the intelligent hoisting robot to walk on the floor and the conversion steel beams at their bottoms are large-sized and heavy. When the intelligent hoisting robot needs to change its walking direction, there are mainly two traditional technical solutions: one is to use traditional methods such as large lifting machinery to suspend and transfer the tracks and conversion steel beams on the floor, which is costly and inefficient; the other is to preset arc-shaped conversion steel beams and tracks on the floor, but the preset arc-shaped conversion steel beams not only have poor versatility, increasing the specifications and varieties of the conversion steel beams and tracks, but also are restricted by the turning radius of the preset conversion steel beams and tracks and the on-site operation plane; at the same time, both of the above two track-changing solutions will have an adverse impact on the overall working efficiency of the intelligent hoisting robot. Summary of the Invention

[0004] In order to overcome the above-mentioned drawbacks of the prior art, the purpose of the present invention is to provide a rapid track-changing construction method for the lateral translation and steering of an intelligent hoisting robot, which realizes the rapid reversal of the floor tracks and effectively improves the operation efficiency of the intelligent hoisting robot.

[0005] The technical solution adopted by the present invention to solve its technical problems is as follows:

[0006] A rapid track-changing construction method for the lateral translation and steering of an intelligent hoisting robot, comprising the following steps:

[0007] S1. Demolish and hoist the previous steel beam track to form the subsequent steel beam track after the reversal;

[0008] When the intelligent hoisting robot walks to the current steel beam track where it needs to change direction, release the temporary fixing device between the previous steel beam track that the intelligent hoisting robot has just passed and the floor, so that the previous steel beam track is loosened from the floor;

[0009] Use the intelligent hoisting robot to hoist the previous steel beam track to the specified position of the subsequent process, and horizontally rotate the previous steel beam track during hoisting, so that the previous steel beam track is fixed on the floor at the angle after reversing; the previous steel beam track at this time constitutes the subsequent steel beam track after reversing.

[0010] S2. Technical preparation for the reversing operation of the current steel beam track;

[0011] Set up a temporary cushion beam under the inner tower of the intelligent hoisting robot. The inner tower of the intelligent hoisting robot is supported on the temporary cushion beam, and the connection between the traveling mechanism of the intelligent hoisting robot and the current steel beam track is released. Subsequently, under the lifting action of the lifting mechanism of the intelligent hoisting robot, the traveling mechanism is lifted to the specified height.

[0012] S3. Rapid reversing construction of the current steel beam track;

[0013] Release the temporary fixing device of the current steel beam track and the floor, so that the current steel beam track is loosened from the floor.

[0014] Install a universal transfer device on the current steel beam track.

[0015] Under the action of the universal transfer device, push the current steel beam track until the current steel beam track rotates to be in the same direction as the subsequent steel beam track formed after reversing in step S1. Then disassemble the universal transfer device and re-fix the current steel beam track on the floor through the temporary fixing device.

[0016] S4. Steering and traveling of the intelligent hoisting robot;

[0017] Control the intelligent hoisting robot to rotate the traveling mechanism to correspond to the current steel beam track after reversing in step S3. Under the descending action of the lifting mechanism, the traveling mechanism descends so that the traveling mechanism is reconnected to the current steel beam track, thus completing the rapid reversing of the steel beam track on the floor and the steering and traveling of the intelligent hoisting robot.

[0018] Preferably, in step S3, first jack up the current steel beam track through a jacking device, and then install the universal transfer device under the current steel beam track.

[0019] Preferably, install assembled steel arms at both ends of the current steel beam track, and the jacking device jacks up the current steel beam track through the assembled steel arms.

[0020] Preferably, the prefabricated steel arm includes a connecting plate and a supporting end plate. The supporting end plate is arranged at one end of the bottom of the connecting plate, and the connecting plate is provided with assembly holes for assembling and connecting with the current steel beam track.

[0021] Preferably, in step S3, during the installation of the universal transfer device on the current steel beam track, first, the walking mechanism of the intelligent hoisting robot is used to lift and raise the current steel beam track to a specified height. Then, the universal transfer device is installed on the current steel beam track, and then the connection between the walking mechanism of the intelligent hoisting robot and the steel beam track is released. At this time, the intelligent hoisting robot constitutes the jacking device.

[0022] Preferably, the universal transfer device includes a seat body and a plurality of universal wheels. The plurality of universal wheels are arranged at the bottom of the seat body, and the top of the seat body is connected to the current steel beam track.

[0023] Preferably, connection holes are provided on both sides of the seat body; reinforcing clamps are provided between both sides of the seat body and the current steel beam track; the reinforcing clamps and the connection holes are locked and connected by bolts.

[0024] Preferably, at least 3 balls are provided at the bottom of the seat body. The balls are movably connected to the bottom of the seat body, and the balls constitute the universal wheels.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] The rapid rail replacement construction method of the present invention, based on the hoisting and lifting functions of the intelligent hoisting robot, realizes the rapid reverse construction of the floor steel beam track when the intelligent hoisting robot makes a lateral transfer. During the whole construction process, there is no need to use large hoisting machinery and equipment relied on by the traditional hoisting and installation method, and effectively solves the problems of low construction efficiency and high cost; at the same time, compared with the reverse method using an arc track, the rapid rail replacement construction method of the present invention is not limited by the turning radius and the on-site operation plane, has high flexibility and wide applicability; further, in the rapid rail replacement construction method of the present invention, the equipment and technical measures adopted are simple, easy to operate and highly efficient, providing a strong technical support for the large-scale and high-efficiency hoisting operation of the intelligent hoisting robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1Top view of the walking route of the intelligent hoisting robot for the rapid rail changing construction method of the lateral translation and steering of the intelligent hoisting robot of the present invention.

[0029] Figure 2 Schematic diagram of the rail changing process Figure 1 (Top view), at this time, the intelligent hoisting robot walks to the current steel beam track that needs to change direction;

[0030] Figure 3 Schematic diagram of the rail changing process Figure 2 (Top view), at this time, the hoisting, direction changing and installation of the previous steel beam track have been completed, forming the subsequent steel beam track after direction change;

[0031] Figure 4 Schematic diagram of the rail changing process Figure 3 (Side view), the walking mechanism of the intelligent hoisting robot is separated from the current steel beam track;

[0032] Figure 5 It is Figure 4 Top view schematic diagram after hiding part of the intelligent hoisting robot in

[0033] Figure 6 Schematic diagram of the rail changing process Figure 4 (Top view), at this time, the current steel beam track is rotated;

[0034] Figure 7 Schematic diagram after the steel beam track change is completed (top view).

[0035] Figure 8 Side view schematic diagram of the steel beam track when installing the universal transfer device in Embodiment 1 of the present invention.

[0036] Figure 9 It is Figure 8 Side view of the assembled steel arm in

[0037] Figure 10 Bottom view of the universal transfer device.

[0038] Figure 11 Front view schematic diagram of the steel beam track when installing the universal transfer device in Embodiment 2 of the present invention.

[0039] Wherein:

[0040] 1 - Current steel beam track, 2 - Previous steel beam track, 3 - Intelligent hoisting robot, 4 - Temporary cushion beam, 5 - Walking mechanism, 6 - Track, 7 - Steel beam, 8 - Assembled steel arm, 9 - Universal transfer device, 10 - Jacking device, 11 - Cushion block, 12 - Connecting plate, 13 - Assembly hole, 14 - Support end plate, 15 - Seat body, 16 - Ball, 17 - Connecting hole. Specific implementation manner

[0041] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments can be combined with each other. In the following description, many specific details are set forth in order to fully understand the present invention. The described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

[0043] Embodiment 1

[0044] See Figures 1 - 10 , this embodiment provides a rapid track-changing construction method for the lateral movement and steering of an intelligent hoisting robot, including the following steps:

[0045] S1. Demolish and hoist the previous steel beam track 2 to form the subsequent steel beam track after commutation.

[0046] As Figures 1 - 3 shown, when the intelligent hoisting robot 3 walks to the current steel beam track 1 that needs to be commuted, first, release the temporary fixing device between the previous steel beam track 2 just passed by the intelligent hoisting robot 3 and the floor, so that the previous steel beam track 2 is loosened from the floor;

[0047] Next, use the intelligent hoisting robot 3 to hoist the previous steel beam track 2 to the subsequent designated position, and perform a horizontal rotation on the previous steel beam track 2 while hoisting, so that the previous steel beam track 2 is fixed on the floor at the angle after commutation; at this time, the previous steel beam track 2 forms the subsequent steel beam track after commutation. In this embodiment, the rotation angle of the previous steel beam track 2 in this step is 90°. The subsequent designated position in this step, that is, the position of the next set of steel beam tracks corresponding to the current steel beam track 1 under the intelligent hoisting robot 3 at this time, is in front of the walking direction of the intelligent hoisting robot 3.

[0048] S2. Technical preparation for the commutation operation of the current steel beam track 1.

[0049] As Figures 4 - 5As shown, a temporary cushion beam 4 is arranged below the inner tower body of the intelligent hoisting robot 3. The inner tower body of the intelligent hoisting robot 3 is supported on the temporary cushion beam 4, and the connection between the traveling mechanism 5 of the intelligent hoisting robot 3 and the current steel beam track 1 is released. Subsequently, under the lifting action of the lifting mechanism of the intelligent hoisting robot, the traveling mechanism 5 is lifted to a specified height.

[0050] In this step, under the lifting action of the lifting mechanism, the traveling mechanism 5 only needs to move upward to a reasonable height, aiming to facilitate the steering operation of the current steel beam track 1 below the traveling mechanism 5. The specific height can be adjusted according to the actual situation on site.

[0051] S3. Quick commutation construction of the current steel beam track 1.

[0052] As Figure 6 、 Figure 8 and Figure 9 shown, it specifically includes the following steps:

[0053] (1) Release the temporary fixing device of the current steel beam track 1 from the floor surface, so that the current steel beam track 1 is loosened from the floor surface;

[0054] (2) Install assembled steel arms 8 at both ends of the current steel beam track 1;

[0055] (3) Install a jacking device 10 on the floor surface so that the telescopic rod of the jacking device 10 corresponds to the assembled steel arm 8;

[0056] (4) The jacking device 10 jacks up the current steel beam track 1 through the assembled steel arm 8;

[0057] (5) Install a universal transfer device 9 on the current steel beam track 1;

[0058] (6) Dismantle the jacking device 10;

[0059] (7) Under the action of the universal transfer device 9, push the current steel beam track 1 by means of manual labor, electric hoist, winch, etc., so that the current steel beam track 1 rotates until it is in the same direction as the pre - sequence steel beam track 2 after commutation in step S1. Then, dismantle the universal transfer device 9 and re - fix the current steel beam track 1 on the floor surface through the temporary fixing device, as Figure 6 shown.

[0060] In this embodiment, after the current steel beam track 1 rotates to be in the same direction as the previous steel beam track 2 after the reverse in step S1, reinstall the jacking device 10. Jack up the current steel beam track 1 through the jacking device 10 to facilitate the disassembly of the universal transfer device 9. Subsequently, after disassembling the jacking device 10 and the assembled steel arm 8, refix the current steel beam track 1 again.

[0061] S4. Steering and walking of the intelligent hoisting robot 3.

[0062] As Figure 7 shown, control the intelligent hoisting robot 3 to rotate the walking mechanism 5 to correspond to the current steel beam track 1 after the reverse in step S3. Under the descending action of the lifting mechanism, lower the walking mechanism 5 to the height corresponding to the current steel beam track 1 after the reverse in step S3, and reconnect the walking mechanism 5 to the current steel beam track 1 again, thereby completing the rapid reverse of the steel beam track on the floor.

[0063] At this time, the intelligent hoisting robot 3 walks along the current steel beam track 1 after the reverse and the subsequent steel beam track formed after the reverse (i.e., the previous steel beam track 2 after the reverse in step S1), realizing the lateral transfer and reverse walking operation of the intelligent hoisting robot 3.

[0064] In this embodiment, the jacking device 10 is a jack. Of course, other jacking devices 10 can also be used. When installing the universal transfer device 9, the jacking device 10 can be temporarily arranged on the floor through the cushion block 11. By using the cushion block 11, on the one hand, the stability of the jacking device 10 during operation is improved, and on the other hand, according to the actual situation on site, cushion blocks 11 with different heights can be used to adjust the installation height of the jacking device 10, effectively improving the installation flexibility.

[0065] See Figures 8 - 10 , further, install the assembled steel arms 8 at both ends of the current steel beam track 1. The jacking device 10 jacks up the current steel beam track 1 through the assembled steel arms 8. In this embodiment, the assembled steel arms 8 are installed on both sides at both ends of the current steel beam track 1, and two jacks are used at both ends of the current steel beam track 1. The jacks are arranged in one-to-one correspondence with the assembled steel arms 8, facilitating the installation of the universal transfer device 9.

[0066] See Figures 8 - 9, the prefabricated steel arm 8 includes a connecting plate 12 and a supporting end plate 14. The supporting end plate 14 is arranged at one end of the bottom of the connecting plate 12. An assembly hole 13 for assembling and connecting with the current steel beam track 1 is provided on the connecting plate 12. Specifically, during the installation process, first align the assembly hole 13 on the connecting plate 12 with the through hole on the steel beam of the current steel beam track 1, and then lock and fix the connecting plate 12 and the steel beam of the current steel beam track 1 through bolts. At this time, the supporting end plate 14 extends to the outside of the current steel beam track 1 to facilitate docking with the jacking device 10. The prefabricated steel arm 8 adopted has a simple structure, large stiffness, is stable and reliable, and is convenient for disassembly and assembly.

[0067] See Figure 8 and Figure 10 , the universal transfer device 9 includes a seat body 15 and a plurality of universal wheels. The plurality of universal wheels are arranged at the bottom of the seat body 15, and the top of the seat body 15 is connected to the current steel beam track 1. Preferably, connection holes 17 are provided on both sides of the seat body 15; reinforcement clamps are provided between both sides of the seat body 15 and the current steel beam track 1; the reinforcement clamps and the connection holes 17 are locked and connected through bolts. In the prior art, the steel beams on the floor are generally "I"-shaped steel beams. At this time, through the use of the reinforcement clamps, the two sides of the bottom surface of the steel beam can be combined to further reinforce the connection between the universal transfer device 9 and the steel beam, improve stability, and thus ensure the smooth rotation of the current steel beam track 1, so as to realize the reversal of the steel beam track.

[0068] See Figure 10 , at least 3 balls 16 are provided at the bottom of the seat body 15 in this embodiment. The balls 16 are movably connected to the bottom of the seat body 15, and the balls 16 constitute the universal wheels. Specifically, 3 balls 16 are provided in this embodiment.

[0069] See Figure 8 , the steel beam track in this embodiment includes a steel beam 7 and a track 6. The steel beam 7 is used for connecting with the concrete floor surface, the track 6 is installed on the steel beam, and the track 6 cooperates with the traveling mechanism 5 of the intelligent hoisting robot 3; the prefabricated steel arm 8 and the universal transfer device 9 are both connected to the steel beam 7.

[0070] In step (7) of this embodiment, generally, the current steel beam track 1 can be rotated manually. Specifically, for example, in a certain project, the column grid spacing is 12m × 12m, and correspondingly, the span of the steel beam track is 12m. Considering the bearing and stiffness requirements of the steel beam track, the steel beam used is H900×300×16×28, weighing 2855kg, and the track is QU70, weighing 52.80kg / m, that is, each track weighs 634kg. Therefore, the total weight of the steel beam track is 3489kg. According to experimental research, the rolling friction coefficient between the steel and the concrete floor is about 0.02 - 0.04. To promote the rotation and displacement of the steel beam track, only a force of F = μG = 0.04×3489kg = 139.56kg is required. Therefore, by manually pushing and pulling at both ends of the steel beam track and supplementing with simple tools such as crowbars, or using tools such as small winches and electric hoists to pull, the movement of the steel beam track can be easily achieved. As Figure 6 shown, in order to avoid collisions with the intelligent hoisting robot 3 and the temporary cushion beam 4 below it, and the mutual influence, the steel beam track group should be gradually moved in a butterfly shape towards the steering target position according to the site conditions, and can be moved simultaneously or separately one after another.

[0071] Embodiment 2

[0072] As Figure 11 shown, the difference between this embodiment and Embodiment 1 is that only two jacking devices 10 are provided in this embodiment, which are respectively arranged at both ends of the current steel beam track 1.

[0073] Embodiment 3

[0074] The difference between this embodiment and Embodiment 1 is that in step S3 of Embodiment 1, this embodiment uses the lifting system of the intelligent hoisting robot to lift the current steel beam track through the drive of the traveling mechanism, so as to install the universal transfer device 9 under the steel beam track.

[0075] In addition, after the current steel beam track is reversed, the intelligent hoisting robot can also be used to lift the current steel beam track after reversal. After lifting and rising to a specified height, the disassembly work of the universal transfer device 9 can be carried out.

[0076] This embodiment utilizes the self-hoisting function of the intelligent hoisting robot to realize the lifting or lowering of the current steel beam track, thereby realizing the installation and disassembly of the universal transfer device 9, without additionally installing other devices on the floor, which is beneficial to improving the efficiency of rail replacement construction.

[0077] Further, during the installation and disassembly of the universal transfer device 9, the intelligent hoisting robot can also be used in combination with an additional jacking device (such as a jack), and flexibly cooperate according to the actual situation on site to achieve rapid, efficient and reliable lifting and lowering of the current steel beam track.

[0078] The above are only the preferred embodiments of the present invention, and do not impose any formal restrictions on the present invention. Therefore, any modifications, equivalent changes and decorations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A rapid track-changing construction method for the lateral movement and steering of an intelligent hoisting robot, characterized in that, It includes the following steps: S1. Demolish and hoist the previous steel beam track to form the subsequent steel beam track after commutation; When the intelligent hoisting robot walks onto the current steel beam track that needs to be commutated, release the temporary fixing device between the previous steel beam track that the intelligent hoisting robot has just passed through and the floor, so that the previous steel beam track is loosened from the floor; Use the intelligent hoisting robot to hoist the previous steel beam track to the subsequent designated position, and perform horizontal rotation on the previous steel beam track during hoisting, so that the previous steel beam track is fixed on the floor at the angle after commutation; at this time, the previous steel beam track forms the subsequent steel beam track after commutation; S2. Technical preparation for the commutation operation of the current steel beam track; Set a temporary cushion beam under the inner tower of the intelligent hoisting robot, support the inner tower of the intelligent hoisting robot on the temporary cushion beam, release the connection between the traveling mechanism of the intelligent hoisting robot and the current steel beam track, and then under the lifting action of the lifting mechanism of the intelligent hoisting robot, lift the traveling mechanism to the designated height; S3. Rapid commutation construction of the current steel beam track; Release the temporary fixing device between the current steel beam track and the floor, so that the current steel beam track is loosened from the floor; Install a universal transfer device on the current steel beam track; Under the action of the universal transfer device, push the current steel beam track so that the current steel beam track rotates to be in the same direction as the subsequent steel beam track formed after commutation in step S1, then disassemble the universal transfer device, and re-fix the current steel beam track on the floor through the temporary fixing device; S4. Steering and walking of the intelligent hoisting robot; Control the intelligent hoisting robot to rotate the traveling mechanism to correspond to the current steel beam track after commutation in step S3. Under the descending action of the lifting mechanism, the traveling mechanism descends so that the traveling mechanism is re-connected to the current steel beam track, thereby completing the rapid commutation of the steel beam track on the floor and the steering and walking of the intelligent hoisting robot.

2. The rapid track-changing construction method for the lateral translation and steering of the intelligent hoisting robot according to claim 1, characterized in that, In step S3, first jack up the current steel beam track through a jacking device, and then install the universal transfer device on the current steel beam track.

3. The rapid track-changing construction method for the lateral translation and steering of the intelligent hoisting robot according to claim 2, characterized in that Install assembled steel arms at both ends of the current steel beam track, and the jacking device jacks up the current steel beam track through the assembled steel arms.

4. The rapid track-changing construction method for lateral translation and steering of the intelligent hoisting robot according to claim 3, characterized in that The assembled steel arm includes a connecting plate and a supporting end plate. The supporting end plate is arranged at the bottom end of the connecting plate, and the connecting plate is provided with assembly holes for assembling and connecting with the current steel beam track.

5. The rapid track-changing construction method for the lateral translation and steering of the intelligent hoisting robot according to claim 2, characterized in that, In step S3, during the process of installing the universal transfer device on the current steel beam track, first drive and lift the current steel beam track by the traveling mechanism of the intelligent hoisting robot and raise it to the designated height, install the universal transfer device on the current steel beam track, and then release the connection between the traveling mechanism of the intelligent hoisting robot and the steel beam track; at this time, the intelligent hoisting robot forms the jacking device.

6. The rapid track-changing construction method for the lateral translation and steering of the intelligent hoisting robot according to claim 1, characterized in that, The universal transfer device includes a seat body and a plurality of universal wheels. The plurality of universal wheels are arranged at the bottom of the seat body, and the top of the seat body is connected to the current steel beam track.

7. The rapid track-changing construction method for lateral translation and steering of the intelligent hoisting robot according to claim 6, wherein, Connection holes are provided on both sides of the seat body; reinforcing clamps are provided between both sides of the seat body and the current steel beam track; the reinforcing clamps and the connection holes are locked and connected by bolts.

8. The rapid track-changing construction method for the lateral translation and steering of the intelligent hoisting robot according to claim 6 or 7, characterized in that, At least three balls are provided at the bottom of the seat body. The balls are movably connected to the bottom of the seat body, and the balls form the universal wheels.

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