A two-dimensional folding I-beam traveling track mechanism and its folding and unfolding control method

Abstract

The present invention relates to a two-dimensional folding I-beam vehicle track mechanism and a folding and unfolding control method thereof. After the track mechanism enters a working state, a movable column structure is unfolded in a certain direction (such as a transverse direction) to drive the I-beam unit structure in a folded state in a one-dimensional direction to unfold, and the one-dimensional direction is fixed by an automatic locking structure; secondly, the movable column structure is unfolded in another direction (such as a longitudinal direction) to drive the I-beam unit structure in a folded state in a two-dimensional direction to unfold, and the second-dimensional direction is fixed by the automatic locking structure, thereby completing the laying of the entire plane bridge-type track; in this way, the track trolley realizes linear motion through the track, and then completes the change of motion direction through the cross-track reversing structure, thereby achieving coverage of a large plane working range.

Description

Technical Field

[0001] The invention belongs to the technical field of track mechanisms, and relates to a two-dimensional folding and unfolding I-beam traveling track mechanism and a folding and unfolding control method thereof. Background Art

[0002] Chinese patent application CN112768869A proposes a foldable antenna structure that uses a foldable pull rod as an actuator to drive a flat-plate space antenna to achieve two-dimensional folding. The drive function utilizes pull rod rotation to complete the planar folding and unfolding process. The unfolded plane lacks the ability to support and allow the movement and positioning of a suspended trolley. The support structure utilizes pull rods for planar support. Meanwhile, Chinese patent application CN 216403598 U proposes a reversing structure suitable for intersecting track I-beam structures. However, the load-bearing mechanism is designed to work on a running mechanism running on the track surface, and automatic rotation is not sufficient for track change. Furthermore, Chinese patent application CN104959999A proposes an autonomous track reversing solution. However, the load-bearing mechanism can only reverse the direction of a lightweight trolley. The control method utilizes a motor in conjunction with a movable slider to rotate the reversing track, which cannot achieve reliable positioning after track reversal. In summary, there is no known system that can autonomously fold and unfold to form intersecting I-beam tracks. Summary of the Invention

[0003] The purpose of the present invention is to provide a two-dimensional folding I-beam traveling track mechanism and its folding and unfolding control method, so as to solve the problems of the existing technology in the process of construction work, such as low efficiency and difficulty in coordinated operation.

[0004] The purpose of the present invention can be achieved by the following technical solutions:

[0005] One of the technical solutions of the present invention provides a two-dimensional folding I-beam traveling track mechanism, comprising:

[0006] Mobile column structure;

[0007] A plurality of I-beam unit structures are arranged on the movable column structure or between two adjacent movable column structures, and two adjacent I-beam unit structures in the same direction are rotatably connected to form a foldable track;

[0008] An automatic locking structure provided between two adjacent I-beam unit structures to lock them;

[0009] And a cross track reversing structure that connects two I-beam unit structures in different directions, and is used to realize the direction change of the walking trolley between the I-beam unit structures in different directions.

[0010] Furthermore, two adjacent I-beam unit structures in the same direction are rotatably connected via a hinge connection structure, and the hinge connection structure is arranged on the opposite side of the corresponding automatic locking structure.

[0011] Furthermore, the hinge connection structure includes a frame hinge and a fan hinge respectively fixedly mounted on two I-beam unit structures, and the frame hinge and the fan hinge are rotatably connected via a hinge pin.

[0012] Furthermore, a fixing pin connection structure is provided at the upper end of the I-beam unit structure. When two adjacent I-beam unit structures are fully unfolded, fixing is achieved by inserting fixing pins into two fixing pin connection structures located close to each other on the two I-beam unit structures.

[0013] Furthermore, the automatic locking structure includes a lock core, and a first lock seat and a second lock seat respectively fixed on two I-beam unit structures. The lock core is I-shaped, and one end of the lock core is rotatably connected to the first lock seat. The second lock seat is composed of two spaced triangular plates parallel to the rotation direction of the lock core, with one side of the triangular plate facing the first lock seat as the first side, and the other side facing away from the first lock seat as the second side. When the two I-beam unit structures are relatively unfolded, the other end of the lock core slides along the first side of the triangular plate until it completely crosses the first side and is inverted on the second side. At this time, the first lock seat and the second lock seat are locked by the lock core.

[0014] Furthermore, a torsion spring structure is provided between the lock core and the first lock seat, so that the lock core is pressed toward the second lock seat.

[0015] Furthermore, the cross-track reversing structure includes a mounting base, and a first cross-track, a second cross-track and a reversing track arranged on the mounting base. The first cross-track and the second cross-track are respectively rotatably connected to the I-beam unit structures in different directions. The reversing track is rotatably mounted on the mounting base and is located at the intersection of the first cross-track and the second cross-track. By rotating the reversing track, the reversing track is connected to the first cross-track or the second cross-track.

[0016] Furthermore, a direction-changing power unit is provided on the mounting base, and the direction-changing power unit is connected to the reversing track via a direction-changing shaft.

[0017] Furthermore, the parts of the first cross track and the second cross track that contact the reversing track are arc-shaped, and the arc-shaped contact parts of the first cross track and the second cross track are located on the same circumference line with the rotation center of the reversing track as the center of the circle.

[0018] Furthermore, the movable column structure includes a column body, a column crane assembly arranged at the bottom end of the column body, and a guide rail installed on the column body. The cross-track reversing structure is installed on the guide rail, and along the folding and expansion direction of the I-beam unit structure, the outermost cross-track reversing structure is fixed on the guide rail, and the middle cross-track reversing structure is movably arranged on the guide rail.

[0019] A second technical solution of the present invention provides a folding and unfolding control method for a two-dimensional folding I-beam traveling track mechanism. The method is based on the two-dimensional folding I-beam traveling track mechanism described above. The folding and unfolding control method includes a one-dimensional I-beam unfolding stage and a two-dimensional I-beam unfolding stage. The process of the one-dimensional I-beam unfolding stage is as follows:

[0020] Drive two adjacent movable column structures to move horizontally in a certain direction, which is defined as direction A, so that the distance between the two movable column structures in direction A increases, so that the I-beam unit structure located between the two movable column structures is fully unfolded, and then fix the two adjacent I-beam unit structures. Repeat this process until all I-beam unit structures along direction A are fully unfolded and straightened. Finally, fix the adjacent movable column structures along direction A to the ground, thus completing the one-dimensional I-beam unfolding stage.

[0021] The process of the 2D I-beam unfolding stage is as follows:

[0022] Drive the two adjacent movable column structures to move horizontally in another direction. Define the direction of movement at this time as direction B, so that the distance between the two movable column structures in direction B increases, so that the I-beam unit structure located between the two movable column structures is fully unfolded, and then fix the two adjacent I-beam unit structures. Repeat this process until all I-beam unit structures along direction B are fully unfolded and straightened. Finally, fix the adjacent movable column structures along direction B to the ground, thus completing the work of the two-dimensional I-beam unfolding stage.

[0023] After the track mechanism of the present invention enters the working state, the movable column structure is unfolded in a certain direction (such as the horizontal direction) to drive the I-beam unit structure in a folded state in one dimension to unfold, and the one-dimensional direction is fixed by the automatic locking structure; secondly, the movable column structure is unfolded in another direction (such as the longitudinal direction) to drive the I-beam unit structure in a folded state in two dimensions to unfold, and the second-dimensional direction is fixed by the automatic locking structure, thereby completing the laying of the entire plane bridge-type track; in this way, the track trolley realizes linear motion through the track, and then completes the change of motion direction through the cross-track reversing structure, thereby achieving coverage of a large plane working range. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the overall structure of the track mechanism of the present invention;

[0025] Figure 2 It is a structural schematic diagram of the cross-track reversing structure of the present invention;

[0026] Figure 3 It is a schematic diagram of the minimum unit of two I-beam unit structures in a folded and unfolded form;

[0027] Figure 4 It is a schematic diagram of the locking process of the automatic locking structure;

[0028] Figure 5 is a schematic diagram of a hinge connection structure;

[0029] Figure 6 is a schematic diagram of a movable column structure;

[0030] Figure 7 Schematic diagram of the initial state of the track mechanism during the plane expansion process;

[0031] Figure 8 This is a schematic diagram of the state of the track mechanism when the I-beam unit structure begins to unfold during the plane unfolding process;

[0032] Figure 9 This is a schematic diagram of the track mechanism in the plane expansion process after a group of I-beam unit structures are fully expanded;

[0033] Figure 10 This is a schematic diagram of the state in which the track mechanism is fully unfolded in one dimension during the plane unfolding process;

[0034] Figure 11 It is a schematic diagram of the state of the track mechanism when it is two-dimensionally unfolded during the plane unfolding process;

[0035] Figure 12 This is a schematic diagram of the state in which the track mechanism is fully unfolded in two dimensions during the plane unfolding process;

[0036] Description of the marks in the figure:

[0037] 100-I-beam unit structure, 101-fixed pin connection structure;

[0038] 200-automatic locking structure, 201-first lock seat, 202-second lock seat, 203-lock cylinder;

[0039] 300-hinge connection structure, 301-frame hinge, 302-sash hinge, 303-hinge pin;

[0040] 400-cross track reversing structure, 401-first cross track, 402-reversing track, 403-direction changing power unit, 404-mounting base, 405-second cross track;

[0041] 500-movable column structure, 501-guide rail, 502-column body, 503-standard section. DETAILED DESCRIPTION

[0042] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0043] In the following implementation manners or examples, unless otherwise specified, functional components or functional structures are conventional components or conventional structures used in the art to achieve corresponding functions.

[0044] In order to realize the transportation and storage of small-volume mechanisms and the large-area deployment during use, the present invention provides a two-dimensional folding I-beam driving track mechanism, the structure of which can be seen in Figures 1 to 12 As shown, including:

[0045] Mobile column structure 500;

[0046] A plurality of I-beam unit structures 100 are arranged on the movable column structure 500 or between two adjacent movable column structures 500, and two adjacent I-beam unit structures 100 in the same direction are rotatably connected;

[0047] An automatic locking structure 200 disposed between two adjacent I-beam unit structures 100 to lock them;

[0048] And a cross track reversing structure 400 respectively connects two I-beam unit structures 100 located in different directions, and is used to realize the direction change of the traveling trolley between the I-beam unit structures 100 in different directions.

[0049] In some specific embodiments, please refer to Figure 5 As shown in FIG. 1 , two adjacent I-beam unit structures 100 in the same direction are rotatably connected by a hinge connection structure 300, and the hinge connection structure 300 is provided on the opposite side of the corresponding automatic locking structure 200. The present invention adopts the hinge connection structure 300 to enable the two adjacent I-beam unit structures 100 in the same direction to be rotatably connected. In this way, all the I-beam unit structures 100 can be conveniently folded up during transportation and storage. The folded state varies depending on the number of I-beam unit structures 100. For example, the folded state of two I-beam unit structures 100 is as follows: Figure 3 As shown, it is V-shaped. When three I-beam unit structures 100 are folded, they are Z-shaped. When more I-beam units are folded, it can be understood as multiple V-shapes or Z-shapes connected in sequence.

[0050] In a more specific embodiment, the hinge connection structure 300 includes a frame hinge 301 and a fan hinge 302, respectively fixedly mounted on two I-beam unit structures 100. The frame hinge 301 and the fan hinge 302 are rotatably connected via a hinge pin 303. The rotation center axis of the hinge pin 303 is the intersection axis of the contacting side surfaces of two adjacent I-beam unit structures 100, ensuring that after the rotation and locking steps are completed, there is theoretically no gap between adjacent modules, ensuring the continuity of the track after splicing.

[0051] In some specific embodiments, please refer to Figure 3 As shown in the figures, a fixing pin connection structure 101 is further provided at the upper end of the I-beam unit structure 100. When two adjacent I-beam unit structures 100 are fully unfolded, fixing pins are inserted into the two fixing pin connection structures 101 located close to each other on the two I-beam unit structures 100 to fix the two I-beam unit structures 100.

[0052] In some specific embodiments, please refer to Figure 4 As shown in the figure, the automatic locking structure 200 includes a lock core 203, and a first lock seat 201 and a second lock seat 202 respectively fixed on two I-beam unit structures 100, the lock core 203 is I-shaped, and one end of the lock core 203 is rotatably connected to the first lock seat 201, and the second lock seat 202 is composed of two spaced triangles parallel to the rotation direction of the lock core 203, with one side of the triangle plate facing the first lock seat 201 as the first side, and the other side facing away from the first lock seat 201 as the second side. When the two I-beam unit structures 100 are relatively unfolded, the other end of the lock core 203 slides along the first side until it completely crosses the first side and is inverted on the second side. At this time, the first lock seat 201 and the second lock seat 202 are locked by the lock core 203. Here, the triangle plate in the second lock seat 202 can be a right triangle, an acute triangle, or an obtuse triangle. It does not necessarily have to be a triangle in the strict sense, and it can be roughly in this shape. For example, the intersection of its first side and the second side can be rounded, so that the transition of the lock core 203 along the first side and the second side is convenient. At the same time, in order to improve the locking effect, the second side can also have a smooth groove. In addition, as needed, an unlocking power component that can make the lock core 203 exit the second lock seat 202 is also provided on the I-beam unit structure 100, such as an electromagnet device controlled by a relay. In this way, after the track mechanism is fully unfolded and the established working objectives are achieved, this unlocking power component can be activated to complete the unlocking action.

[0053] In a more specific embodiment, a torsion spring structure is further provided between the lock core 203 and the first lock seat 201 , so that the lock core 203 is pressed toward the second lock seat 202 .

[0054] In some specific embodiments, please refer to Figure 2 As shown in FIG. 4 , the cross-track reversing structure 400 includes a mounting base 404, and a first cross-track 401, a second cross-track 405, and a reversing track 402 arranged on the mounting base 404. The first cross-track 401 and the second cross-track 405 are respectively rotatably connected to the I-beam unit structure 100 in different directions. The reversing track 402 is rotatably mounted on the mounting base 404 and is located at the intersection of the first cross-track 401 and the second cross-track 405. By rotating the reversing track 402, the reversing track 402 is connected to the first cross-track 401 or the second cross-track 405. According to different needs, one first cross-track 401 and two second cross-tracks 405 can be provided, so that the cross-track reversing structure 400 is arranged in an L-shape, a T-shape, or a cross shape. Figure 1 Here, it is important to note that the cross-section of the reversing track 402 is completely matched with the cross-section of the I-beam unit track. When reversing is required, the trolley first moves to the reversing track 402 via the I-beam unit structure 100 in one direction. Then, the reversing track 402 changes direction to connect with the I-beam unit structure 100 in the other direction. The trolley then moves out of the reversing track 402 to complete the change of direction.

[0055] In a more specific embodiment, a direction-changing power unit 403 is provided on the mounting base 404, and the direction-changing power unit 403 is connected to the reversing track 402 via a direction-changing shaft. The direction-changing power unit of the present invention can be a direction-changing motor that drives the direction-changing shaft to rotate.

[0056] In a more specific embodiment, the parts of the first cross track 401 and the second cross track 405 that contact the reversing track 402 are arc-shaped, and the arc-shaped contact parts of the first cross track 401 and the second cross track 405 are located on the same circumference line with the rotation center of the reversing track 402 as the center, and the reversing track 402 and the first cross track 401 are in matching contact.

[0057] In some specific embodiments, please refer to Figure 6As shown in FIG. 1 , the movable column structure 500 includes a column body 502, a column crane assembly disposed at the bottom end of the column body 502, and a guide rail 501 mounted on the column body 502. The cross-track reversing structure 400 is mounted on the guide rail 501. Along the folding and unfolding direction of the I-beam unit structure 100, the outermost cross-track reversing structure 400 is fixed to the guide rail 501, while the middle cross-track reversing structure 400 is movably mounted on the guide rail 501. The column crane assembly can adopt a roller movement method commonly used in the art, and its power can be a power motor commonly used in the art. In this way, by driving the relative expansion of the movable column structures 500, corresponding power is provided for the folding and unfolding of the I-beam unit structure 100. The guide rail 501 disposed on the side of the column body 502 can not only store the folded I-beam unit structure 100 and the cross-track reversing structure 400, but also provide guidance for the expansion of the I-beam unit structure.

[0058] The above embodiments may be implemented individually or in any combination of two or more.

[0059] The above implementation is described in more detail below with reference to specific examples.

[0060] Example 1

[0061] In order to realize the transportation and storage of small-volume mechanism and the large-area deployment during use, this embodiment provides a two-dimensional folding I-beam driving track mechanism, the structure of which can be seen in Figures 1 to 12 As shown, including:

[0062] Mobile column structure 500;

[0063] A plurality of I-beam unit structures 100 are arranged on the movable column structure 500 or between two adjacent movable column structures 500, and two adjacent I-beam unit structures 100 in the same direction are rotatably connected;

[0064] An automatic locking structure 200 disposed between two adjacent I-beam unit structures 100 to lock them;

[0065] And a cross track reversing structure 400 respectively connects two I-beam unit structures 100 located in different directions, and is used to realize the direction change of the traveling trolley between the I-beam unit structures 100 in different directions.

[0066] Please see again Figure 5As shown in FIG. 1 , two adjacent I-beam unit structures 100 in the same direction are rotatably connected by a hinge connection structure 300, and the hinge connection structure 300 is provided on the opposite side of the corresponding automatic locking structure 200. The present invention adopts the hinge connection structure 300 to enable the two adjacent I-beam unit structures 100 in the same direction to be rotatably connected. In this way, all the I-beam unit structures 100 can be conveniently folded up during transportation and storage. The folded state varies depending on the number of I-beam unit structures 100. For example, the folded state of two I-beam unit structures 100 is as follows: Figure 3 As shown, it is V-shaped. When three I-beam unit structures 100 are folded, they are Z-shaped. When more I-beam units are folded, it can be understood as multiple V-shapes or Z-shapes connected in sequence.

[0067] The hinge connection structure 300 includes a frame hinge 301 and a fan hinge 302, respectively fixedly mounted on two I-beam unit structures 100. The frame hinge 301 and fan hinge 302 are rotatably connected via a hinge pin 303. The rotation axis of the hinge pin 303 intersects the contacting side surfaces of two adjacent I-beam unit structures 100, ensuring that after the rotation and locking steps are completed, there is theoretically no gap between adjacent modules, ensuring the continuity of the track after splicing.

[0068] Please see again Figure 3 As shown in the figures, a fixing pin connection structure 101 is further provided at the upper end of the I-beam unit structure 100. When two adjacent I-beam unit structures 100 are fully unfolded, fixing pins are inserted into the two fixing pin connection structures 101 located close to each other on the two I-beam unit structures 100 to fix the two I-beam unit structures 100.

[0069] Please see again Figure 4As shown in the figure, the automatic locking structure 200 includes a lock core 203, and a first lock seat 201 and a second lock seat 202 respectively fixed on two I-beam unit structures 100. The lock core 203 is I-shaped, and one end of the lock core 203 is rotatably connected to the first lock seat 201, and the second lock seat 202 is composed of two spaced triangles parallel to the rotation direction of the lock core 203 (this embodiment is illustrated by taking a right-angled plate as an example). When the two I-beam unit structures 100 are relatively unfolded, the other end of the lock core 203 slides along the hypotenuse of the triangle (i.e., the first side) until it completely passes over the hypotenuse of the triangle and inverts the right-angled side of the triangle (i.e., the second side). At this time, the first lock seat 201 and the second lock seat 202 are locked by the lock core 203. Here, the triangular plate in the second lock seat 202 does not necessarily need to be a strictly right-angled shape; it can be roughly this shape. For example, the intersection of its hypotenuse and the right-angled side can be rounded to facilitate the transition of the lock cylinder 203 from the hypotenuse to the right-angled side. In addition, as needed, the I-beam unit structure 100 is also provided with an unlocking power component that can cause the lock cylinder 203 to exit the second lock seat 202, such as an electromagnet device controlled by a relay. In this way, after the track mechanism is fully unfolded and the predetermined working goal is achieved, this unlocking power component can be activated to complete the unlocking action. A torsion spring structure is also provided between the lock cylinder 203 and the first lock seat 201 to press the lock cylinder 203 toward the second lock seat 202.

[0070] Please see again Figure 2 As shown in FIG. 4 , the cross-track reversing structure 400 includes a mounting base 404, and a first cross-track 401, a second cross-track 405, and a reversing track 402 arranged on the mounting base 404. The first cross-track 401 and the second cross-track 405 are respectively rotatably connected to the I-beam unit structure 100 in different directions. The reversing track 402 is rotatably mounted on the mounting base 404 and is located at the intersection of the first cross-track 401 and the second cross-track 405. By rotating the reversing track 402, the reversing track 402 is connected to the first cross-track 401 or the second cross-track 405. According to different needs, one first cross-track 401 and two second cross-tracks 405 can be provided, so that the cross-track reversing structure 400 is arranged in an L-shape, a T-shape, or a cross shape. Figure 1 Here, it is important to note that the cross-section of the reversing track 402 is completely matched with the cross-section of the I-beam unit track. When reversing is required, the trolley first moves to the reversing track 402 via the I-beam unit structure 100 in one direction. Then, the reversing track 402 changes direction to connect with the I-beam unit structure 100 in the other direction. The trolley then moves out of the reversing track 402 to complete the change of direction.

[0071] A direction-changing power unit 403 is provided on the mounting base 404, and the direction-changing power unit 403 is connected to the reversing track 402 via a direction-changing shaft. The direction-changing power unit of the present invention can be a direction-changing motor that drives the direction-changing shaft to rotate.

[0072] The parts of the first cross track 401 and the second cross track 405 that contact the reversing track 402 are arc-shaped, and the arc-shaped contact parts of the first cross track 401 and the second cross track 405 are located on the same circular line with the rotation center of the reversing track 402 as the center, and the reversing track 402 and the first cross track 401 are in matching contact.

[0073] Please see again Figure 6 As shown in FIG. 1 , the movable column structure 500 includes a column body 502, a column crane assembly disposed at the bottom end of the column body 502, and a guide rail 501 mounted on the column body 502. The cross-track reversing structure 400 is mounted on the guide rail 501. Along the folding and unfolding direction of the I-beam unit structure 100, the outermost cross-track reversing structure 400 is fixed to the guide rail 501, while the middle cross-track reversing structure 400 is movably mounted on the guide rail 501. The cross-track annular structure is placed on the guide rail 501 via its mounting base 404. In addition, when the mounting base 404 is movably mounted on the guide rail 501, it is preferably arranged in an active movable manner, and the specific moving method is a conventional active roller movement method in the art. The column crane assembly can adopt a roller movement method commonly used in the art, and its power can be a power motor commonly used in the art. In this way, by driving the relative expansion between the movable column structures 500, corresponding power is provided for the folding and unfolding of the I-beam unit structure 100. The guide track 501 provided on the side of the column body 502 can store the folded I-beam unit structure 100 and the cross-track reversing structure 400, and can also provide guidance for the unfolding of the I-beam structure unit.

[0074] Example 2

[0075] Based on the two-dimensional folding I-beam traveling track mechanism of embodiment 1, this embodiment provides a folding and unfolding control method of the two-dimensional folding I-beam traveling track mechanism, see Figures 7 to 12 , specifically including the one-dimensional I-beam expansion stage and the two-dimensional I-beam expansion stage.

[0076] The control method for the one-dimensional I-beam expansion stage, in this embodiment, wherein the one-dimensional expansion is horizontal expansion, specifically includes the following steps:

[0077] Step S1: Based on the target building work area size measured by the sensor, the minimum size parameters of the target frame construction and the reference parameters of the stop position are input into the controller (which can be a PLC controller commonly used in the art), and the column driving assembly under the movable column structure 500 is moved to the predetermined position, such as Figure 7 As shown;

[0078] Step S2: The controller issues a command to start driving the movable column structure 500 to move horizontally in the lateral direction, so that the distance of the movable column structure 500 in the lateral direction increases; when the movable column structure 500 approaches the position where the first group of I-beam unit structures 100 are fully unfolded, the straightness of the I-beam unit structure 100 is monitored in real time by a sensor (such as an existing conventional commercially available straightness sensor) and fed back to the controller, and the movement speed of the column traveling assembly is adjusted in real time. After reaching the predetermined position, the I-beam unit structure 100 in the folded state between the first group of cross-track reversing structures 400 along the lateral direction is controlled to be unfolded, spliced, and locked, as shown in FIG. Figure 8 、 Figure 9 As shown;

[0079] Step S3: After the initial first set of I-beam rails are deployed, a fixing pin is manually inserted into the fixing pin connection structure 101 and fixed, so that the straightened I-beam unit structure 100 is fixedly connected to the main body of the rail mechanism;

[0080] Step S4: Any one of the cross-track reversing structures 400 moves away from the guide track 501, while the other one remains fixed in the guide track 501, and the Nth group (N is an integer greater than 1) of I-beam structures in the transverse direction are fully deployed. Steps S2 and S3 are repeated to complete the full deployment of the Nth group of transverse I-beam tracks. Figure 10 As shown;

[0081] Step S5: The horizontal I-beam unit structure 100 is unfolded, assembled, locked, and fixed. The bottom of the movable column structure 500 on the same side in the horizontal direction is fixedly connected to the ground through high-strength bolts. At this point, the one-dimensional I-beam unfolding work stage is completed.

[0082] During the above-mentioned unfolding process, each group of I-beam unit structures 100 is provided with two, and a cross-track reversing structure 400 is provided at both ends of each group of I-beam unit structures 100, that is, a group of I-beam unit structures 100 is provided between any two cross-track reversing structures 400 adjacent in the transverse direction.

[0083] The control method for the 2D I-beam expansion stage, where the longitudinal horizontal direction is used as the 2D expansion direction, includes the following steps:

[0084] Step S6: The controller can issue a command to start driving the other side's movable column structure 500 to move horizontally in the longitudinal direction, so that the movable column structure 500 increases its distance in the longitudinal direction; similarly, sensors and other methods are used to monitor the straightness of the I-beam structure in real time and feed back to the controller, so as to adjust the movement speed of the column crane assembly in real time, and control the I-beam unit structures 100 in the folded state along the longitudinal direction to unfold, splice, and lock after reaching the predetermined position. Figure 11 、 Figure 12 As shown;

[0085] Step S7: Manually insert a fixing pin into the fixing pin connection structure 101 to fix the straightened longitudinal I-beam track to the main body, and fix the bottom of the movable column structure 500 on the other side to the ground through high-strength bolts. At this point, the two-dimensional I-beam deployment stage is completed.

[0086] During the above-mentioned two-dimensional I-beam unfolding stage, two or more I-beam unit structures 100 connected in a folded state may be provided between the two longitudinal cross-track reversing structures 400 . This embodiment is described by taking four as an example.

[0087] After the overall plane track is built, the work phase also includes:

[0088] Step S8: The entire track structure is vertically raised by adding and connecting standard sections 503 according to the requirements of the target building;

[0089] Step S9: The controller inputs the vehicle's planned route parameters, stop position parameters, etc. according to the target work requirements. The connection and control method between the controller and the vehicle is not the focus of the present invention and is not required. Conventional technology known in the art can be used.

[0090] Step S10: The controller sends a command to start the control motors of each wheel of the trolley, driving the trolley to walk on the track according to the planned path, ensuring that there is no interference between the trolleys; when the trolley needs to move from the track surface of a longitudinal I-beam unit structure 100 to another transverse I-beam unit track through the cross-track reversing structure 400, the reversing track 402 of the cross-track reversing structure 400 is first parallel to the longitudinal I-beam unit structure 100 through the rotating structure (that is, connected to the second cross-track 405 along the longitudinal direction), and the reversing track is completed. The trolley is positioned and fixed on the reversing track 402; the reversing track 402 loaded with the trolley is driven by the reversing shaft to rotate by the reversing power unit 403, so that the reversing track 402 is parallel to the track of the transverse I-beam unit structure 100 (at this time, the reversing track 402 is connected to the second cross track 405 along the transverse direction), and is positioned and fixed so that the reversing track 402 becomes part of the track of the transverse I-beam unit structure 100. The trolley completes the reversing movement from the longitudinal I-beam track to the transverse I-beam track;

[0091] Step S11: During the movement of each trolley, the sensor measures the real-time position of the trolley and completes the feedback of the position parameters;

[0092] Step S12: The controller determines whether the trolley has reached a preset stop position based on the received trolley position parameter information. When the trolley reaches the preset stop position, the controller issues a command to control the wheel motors of each trolley to stop running.

[0093] Step S13: The controller issues instructions to control the motors of the mechanical arm and other structures under the vehicle according to the pre-input work content to complete the work target.

[0094] After completing all construction workflows, the platform disassembly phase is also included:

[0095] Step S14: After the entire mechanism completes the construction work, the controller issues a command to retract the traveling trolley and the connected actuator mechanism running in the inner track structure;

[0096] Step S15: The controller issues a command to control the column traveling assembly below the movable column structure 500 to move horizontally to leave the range of the completed building;

[0097] Step S16: disconnecting and recovering the standard section 503 to achieve vertical descent of the track plane of the I-beam unit structure 100 until the height drops to the initial height state;

[0098] Step S17: Manually disconnect the fixed pin connection structure 101 connecting the longitudinal I-beam unit structures 100, and the controller issues a command to disconnect the locking state of the longitudinal automatic locking structure 200. The two pairs of longitudinal movable column structures 500 move toward each other, completing the two-dimensional track disassembly and retraction;

[0099] Step S18: Manually disconnect the fixed pin connection structure 101 connecting the transverse I-beam unit structures 100 between a pair of cross-track reversing structures 400, and the controller issues a command to disconnect the locking state of the relevant automatic locking structure 200. The two pairs of transverse and longitudinal movable column structures 500 move toward each other for a certain distance, completing the contraction of one group of transverse I-beam unit structures 100; the other transverse I-beam unit structures 100 are contracted in the same way and stored back in the guide track 501, thus completing a complete workflow.

[0100] The above description of the embodiments is intended to facilitate understanding and use of the invention by those skilled in the art. It will be apparent that those skilled in the art can readily make various modifications to these embodiments and apply the general principles described herein to other embodiments without requiring inventive effort. Therefore, the present invention is not limited to the above-described embodiments. Improvements and modifications made by those skilled in the art based on the disclosure of the present invention, without departing from the scope of the present invention, should be within the scope of protection of the present invention.

Claims

1. A two-dimensional folding I-beam traveling track mechanism, characterized in that: include: Mobile column structure; A plurality of I-beam unit structures are arranged on the movable column structure or between two adjacent movable column structures, and two adjacent I-beam unit structures in the same direction are rotatably connected to form a foldable track; An automatic locking structure provided between two adjacent I-beam unit structures to lock them; and a cross-track reversing structure that connects two I-steel unit structures in different directions, and is used to realize the direction change of the traveling trolley between the I-steel unit structures in different directions; Two adjacent I-beam unit structures in the same direction are rotatably connected via a hinge connection structure, and the hinge connection structure is arranged on the opposite side of the corresponding automatic locking structure; The upper end of the I-beam unit structure is also provided with a fixing pin connection structure. When two adjacent I-beam unit structures are fully unfolded, fixing pins are inserted into the two fixing pin connection structures located close to each other on the two I-beam unit structures to achieve fixation. The cross-track reversing structure includes a mounting base, and a first cross-track, a second cross-track and a reversing track arranged on the mounting base. The first cross-track and the second cross-track are respectively rotatably connected to the I-beam unit structures in different directions. The reversing track is rotatably mounted on the mounting base and is located at the intersection of the first cross-track and the second cross-track. By rotating the reversing track, the reversing track is connected to the first cross-track or the second cross-track.

2. A two-dimensional folding I-beam traveling track mechanism according to claim 1, characterized in that: The hinge connection structure comprises a frame hinge and a fan hinge respectively fixedly mounted on two I-beam unit structures, and the frame hinge is rotationally connected to the fan hinge via a hinge pin.

3. A two-dimensional folding I-beam traveling track mechanism according to claim 1, characterized in that: The automatic locking structure includes a lock core, and a first lock seat and a second lock seat respectively fixed on two I-beam unit structures. The lock core is I-shaped, and one end of the lock core is rotatably connected to the first lock seat. The second lock seat is composed of two spaced triangular plates parallel to the rotation direction of the lock core, with one side of the triangular plate facing the first lock seat as the first side, and the other side facing away from the first lock seat as the second side. When the two I-beam unit structures are relatively unfolded, the other end of the lock core slides along the first side of the triangular plate until it completely crosses the first side and is upside down on the second side. At this time, the first lock seat and the second lock seat are locked by the lock core.

4. A two-dimensional folding I-beam traveling track mechanism according to claim 3, characterized in that: A torsion spring structure is further provided between the lock core and the first lock seat, so that the lock core is pressed toward the second lock seat.

5. The two-dimensional folding I-beam traveling track mechanism according to claim 1, characterized in that: A direction-changing power unit is provided on the mounting base, and the direction-changing power unit is connected to the direction-changing track via a direction-changing shaft.

6. The two-dimensional folding I-beam traveling track mechanism according to claim 1, characterized in that: The portions of the first cross track and the second cross track that contact the reversing track are arc-shaped, and the arc-shaped contact portions of the first cross track and the second cross track are located on the same circumference line with the rotation center of the reversing track as the center of the circle.

7. The two-dimensional folding I-beam traveling track mechanism according to claim 1, characterized in that: The movable column structure includes a column body, a column crane assembly arranged at the bottom end of the column body, and a guide rail installed on the column body. The cross-track reversing structure is installed on the guide rail, and along the folding and unfolding direction of the I-beam unit structure, the outermost cross-track reversing structure is fixed on the guide rail, and the middle cross-track reversing structure is movably arranged on the guide rail.

8. A folding and unfolding control method for a two-dimensional folding I-beam traveling track mechanism, based on the two-dimensional folding I-beam traveling track mechanism according to any one of claims 1 to 7, characterized in that: The folding and unfolding control method includes a one-dimensional I-beam unfolding stage and a two-dimensional I-beam unfolding stage, wherein the process of the one-dimensional I-beam unfolding stage is as follows: Drive two adjacent movable column structures to move horizontally in a certain direction, which is defined as direction A, so that the distance between the two movable column structures in direction A increases, so that the I-beam unit structure located between the two movable column structures is fully unfolded, and then fix the two adjacent I-beam unit structures. Repeat this process until all I-beam unit structures along direction A are fully unfolded and straightened. Finally, fix the adjacent movable column structures along direction A to the ground, thus completing the one-dimensional I-beam unfolding stage. The process of the 2D I-beam unfolding stage is as follows: Drive the two adjacent movable column structures to move horizontally in another direction. Define the direction of movement at this time as direction B, so that the distance between the two movable column structures in direction B increases, so that the I-beam unit structure located between the two movable column structures is fully unfolded, and then fix the two adjacent I-beam unit structures. Repeat this process until all I-beam unit structures along direction B are fully unfolded and straightened. Finally, fix the adjacent movable column structures along direction B to the ground, thus completing the work of the two-dimensional I-beam unfolding stage.

Images