Intelligent hoisting robot

Abstract

The application discloses an intelligent hoisting robot, which comprises a first tower body (1), a temporary fixing mechanism for detachably connecting the bottom of the first tower body (1) to a floor, a self-lifting device (2) connected with a tower crane main body (20), the self-lifting device (2) being slidably sleeved to the outer wall of the first tower body (1) through a lifting mechanism, the self-lifting device (2) being provided with a stop safety mechanism for limiting the sliding of the first tower body (1), a walking device (3) for adjusting the movement and fixation of the self-lifting device (2), the walking device (3) being movably arranged at the bottom of the self-lifting device (2), a bearing mechanism for guiding the movement of the walking device (3) and being detachably installed on a beam body or a floor of a factory building, and the bearing mechanism being movably connected with the walking device (3). The intelligent hoisting robot can be lifted to a floor and horizontally moved along the floor, and thus breaks through the technical bottleneck that traditional hoisting equipment is limited by hoisting weight and operation radius.

Description

Technical Field

[0001] This application relates to the technical field of construction machinery, and in particular to an intelligent hoisting robot. Background Technology

[0002] Currently, multi-story concrete factory buildings have relatively regular horizontal and vertical structures, and are characterized by modularity, standardization, and universality, which provides favorable conditions for the promotion and implementation of prefabricated construction.

[0003] Industrial concrete plant buildings typically have large spans, high ceilings, and large, heavy components. Due to the weight and radius requirements of the hoisting units, existing technologies often employ prefabricated construction methods, which typically require the deployment of multiple large tower cranes, or the use of large truck cranes or crawler cranes; or the use of cast-in-place construction methods.

[0004] Regarding the aforementioned technologies, the inventors believe that the following drawbacks exist: the prefabricated construction method places high demands on on-site hoisting machinery and may significantly increase construction costs, further hindering the widespread application of prefabricated construction methods in industrial multi-story concrete plant projects. Summary of the Invention

[0005] This application provides an intelligent hoisting robot to solve or at least partially alleviate at least some of the problems in the prior art.

[0006] The intelligent hoisting robot provided in this application adopts the following technical solution:

[0007] An intelligent hoisting robot includes a first tower body, the bottom of which is detachably connected to a floor via a temporary fixing mechanism; a self-elevating device connected to the main body of the tower crane, the self-elevating device being slidably fitted onto the outer wall of the first tower body via a lifting mechanism, the self-elevating device being provided with a stop safety mechanism to limit the sliding of the first tower body; a traveling device for adjusting the movement and fixing of the self-elevating device, the traveling device being movably disposed at the bottom of the self-elevating device; and a load-bearing mechanism for guiding the movement of the traveling device and being detachably installed on the beams or floor of the factory building, the load-bearing mechanism being movably connected to the traveling device.

[0008] In some embodiments, the walking device includes: a walking base frame connected to the bottom end of the self-elevating device; a walking mechanism rotatably connected to the bottom of the walking base frame and used to move the self-elevating device; and an adjustment mechanism used to adjust the movement of the walking mechanism.

[0009] In some embodiments, the walking mechanism includes: a plurality of pivots connected to the bottom of the walking chassis; and wheels with wheel frames rotatably connected to the end of the pivots away from the walking chassis via an adjustment mechanism.

[0010] In some embodiments, the adjustment mechanism includes: a limiting component disposed on the walking mechanism and used to limit the direction of the walking mechanism; and a control component disposed on the walking mechanism and used to control the walking of the walking mechanism.

[0011] In some embodiments, the limiting component includes: a limiting seat, which is rotatably connected to the traveling mechanism; and a stop member, which is detachably disposed on the limiting seat and used to limit the rotation between the limiting seat and the traveling mechanism.

[0012] In some embodiments, the control component includes: a drive member for driving the walking mechanism to move; a locking member movably connected to a load-bearing mechanism and for limiting the movement of the walking mechanism; a sensor disposed on the drive member and for controlling the opening and closing of the drive member; and a remote control member that shares a signal with the sensor and is used to control the movement of the walking mechanism.

[0013] In some embodiments, the load-bearing mechanism includes at least two groups, each group including: a movable transfer beam detachably connected to the beam of the factory building; a track detachably connected to the top of the movable transfer beam; a traveling mechanism slidably connected to the track; and a locking component movably connected to the track.

[0014] In some embodiments, the self-elevating device includes: a second tower body, which is slidably sleeved on the outer wall of the first tower body via a lifting mechanism, and the bottom end of the second tower body is connected to the traveling frame; a fixing component, which is used to fasten the second tower body and the traveling frame; and a counterweight component, which is used to fasten the second tower body and is detachably installed on the traveling support.

[0015] In some embodiments, the lifting mechanism includes: a support assembly detachably installed inside the first tower body; a lifting cylinder, one end of which is connected to the support assembly and the other end of which is connected to the bottom of the top of the second tower body; and a fastening assembly movably connected to the traveling frame for limiting the sliding of the second tower body.

[0016] In some embodiments, the stop safety mechanism includes: a stop rod disposed on the first tower body; a stop hook adapted to the stop rod, the stop hook being rotatably connected to the top of the traveling frame; the side of the stop hook away from the trench opening abuts against the traveling frame, and the other side is locked to the stop rod. Attached Figure Description

[0017] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings of the embodiments will be briefly introduced below. Obviously, the drawings described below only involve some embodiments of this application and are not intended to limit this application.

[0018] Figure 1 This is a schematic diagram of an example structure of an intelligent hoisting robot according to some embodiments of this application.

[0019] Figure 2 This is a schematic diagram of an intelligent hoisting robot in a self-lifting upstairs state according to some embodiments of this application.

[0020] Figure 3 This is a schematic diagram illustrating the process of an intelligent hoisting robot completing its ascent to an upper floor according to some embodiments of this application.

[0021] Figure 4 This is a schematic diagram showing the connection between a walking device and a self-elevating device according to some embodiments of this application.

[0022] Figure 5 This is a schematic diagram of an example structure of a walking device according to some embodiments of this application.

[0023] Figure 6 for Figure 1 Enlarged view of section A.

[0024] Figure 7 This is an example diagram illustrating the turning and moving operation of an intelligent hoisting robot according to some embodiments of this application.

[0025] Figure 8 This is an example diagram of a smart hoisting robot performing horizontal movement operations according to some embodiments of this application.

[0026] Figure 9 This is an example structural schematic diagram of a self-elevating device in an elevated state according to some embodiments of this application.

[0027] Figure 10 for Figure 9 Enlarged view of section B.

[0028] Figure 11 for Figure 9 Enlarged view of section C.

[0029] Figure 12 for Figure 9 Enlarged view of section D.

[0030] Figure 13 This is an example diagram showing the open and closed states of a fastening component according to some embodiments of this application.

[0031] Figure 14 for Figure 9 Enlarged view of section E in the middle.

[0032] Explanation of reference numerals in the attached drawings: 100, First frame beam; 101, Second frame beam; 1, First tower body; 11, Foundation section; 12, Standard section; 13, Stop bar; 14, Lifting cylinder; 15, Roller; 16, Lower base; 17, Temporary support beam; 18, Lifting crossbeam; 2, Self-elevating device; 20, Tower crane body; 21, Second tower body; 211, Mounting frame; 212, Upper base; 213, Fastening seat; 21 4. Slot; 22. Diagonal brace; 23. Counterweight block; 3. Traveling device; 31. Traveling base frame; 310. Cavity; 311. Stop hook; 312. Limit seat; 313. Rotating shaft; 314. Mounting seat; 315. Stop pin; 316. Through hole; 317. Fastening block; 32. Wheel; 321. Wheel frame; 322. Drive component; 323. Rail clamp; 33. Rail; 331. Movable conversion beam. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the described embodiments of this application without creative effort are within the scope of protection of this application.

[0034] As used herein, the term "comprising" and its variations shall be interpreted as an open-ended term meaning "including but not limited to". The term "based on" shall be interpreted as "based on at least a portion". The terms "one embodiment" and "implementation" shall be understood as "at least one embodiment". The term "another embodiment" shall be understood as "at least one other embodiment". The terms "first", "second", etc., may refer to different or the same objects. Other explicit and implicit definitions may be included below. Unless the context clearly indicates otherwise, the definitions of terms are consistent throughout the specification.

[0035] Furthermore, it should be noted that the various numerical values ​​mentioned in the embodiments of this application are exemplary, and this application is not limited thereto. Rather, these values ​​can be changed according to actual design requirements to achieve essentially the same function and effect.

[0036] Due to the weight and radius requirements of the lifting units, existing technologies using prefabricated construction methods place high demands on on-site lifting machinery, often requiring the deployment of multiple large tower cranes or the use of large truck cranes and crawler cranes, resulting in high costs and inevitably a significant increase in construction costs. This makes it difficult to promote the application of prefabricated construction methods in industrial multi-story concrete plant projects, or a large number of industrial multi-story concrete plant projects may still adopt labor-intensive and extensive cast-in-place construction methods, resulting in low efficiency.

[0037] Therefore, this application provides an intelligent hoisting robot. References will be made below. Figure 1-14 This document describes some exemplary embodiments of this application. It should be noted that in the following description, this application is applied to multi-story concrete plant construction projects. However, the scope of this application is not limited thereto, and any intelligent hoisting robot that can be employed as described herein is included within the scope of this application.

[0038] First refer to Figure 1 , Figure 1 This is a schematic diagram of an example structure of an intelligent lifting robot according to some embodiments of this application. For example... Figure 1 As shown, in some embodiments, the intelligent hoisting robot includes a first tower body 1, a self-elevating device 2, a walking device 3, and a load-bearing mechanism; wherein the bottom of the first tower body 1 is detachably connected to the floor via a temporary fixing mechanism, which can temporarily fix the first tower body 1; the top of the self-elevating device 2 is connected to the tower crane body 20, and the self-elevating device 2 is slidably sleeved on the outer wall of the first tower body 1 via a lifting mechanism, and the self-elevating device 2 is provided with a stop safety mechanism to limit the sliding of the first tower body 1; the walking device 3 is movably disposed at the bottom of the self-elevating device 2, and is used to adjust the movement and fixation of the self-elevating device 2; the load-bearing mechanism is movably connected to the walking device 3 and is used to guide the movement of the walking device 3.

[0039] Figure 2 This is a schematic diagram of an intelligent hoisting robot in a self-lifting-up-floor state according to some embodiments of this application; Figure 3 This is a schematic diagram illustrating the intelligent hoisting robot completing its ascent to a higher floor according to some embodiments of this application. In some embodiments, during the construction of a concrete plant, the intelligent hoisting robot restricts the sliding of the first tower body 1 through a stop safety mechanism. Then, a load-bearing mechanism is installed on the lowest floor. The walking device 3, guided by the load-bearing mechanism, allows the intelligent hoisting robot to move horizontally. When turning, the load-bearing mechanism is first disassembled and installed in the direction after the turn. Then, the walking device 3 is raised by a lifting mechanism, the direction of the walking device 3 is changed, and then the walking device 3 is lowered back to its original position by the lifting mechanism. The stop safety mechanism further restricts the sliding of the first tower body 1, allowing the intelligent hoisting robot to turn horizontally and move through the load-bearing mechanism.

[0040] When the hoisting and installation of the first floor of the factory building is about to be completed, the secondary beam and floor slab between the last column are reserved temporarily as a passage for the intelligent hoisting robot to lift itself up to the floor. First, the first tower body 1 is supported on the floor by a temporary fixing mechanism. Then, the self-lifting device is raised in the reserved passage by a lifting mechanism. The load-bearing mechanism, which was placed in a predetermined position near the passage, is installed on the beam of the factory building. The walking device 3 is then movably connected to the load-bearing mechanism at the top of the reserved passage. Then, the restriction of the temporary fixing mechanism is released, and the first tower body 1 is lifted and reset by the lifting mechanism. Then, the sliding of the first tower body 1 is restricted by the stop safety mechanism. Finally, the hoisting robot can move and operate on this floor by the walking device 3.

[0041] In some embodiments, an intelligent hoisting robot includes a first tower body 1, a self-elevating device 2 connected to the tower crane body 20, a traveling device 3, and a load-bearing mechanism; the intelligent hoisting robot or its various structures include some or all of the technical features of the following embodiments. It is understood that the intelligent hoisting robot includes, but is not limited to, the tower crane body, the self-elevating device 2, and the traveling device 3. Through the cooperation of the tower crane body, the self-elevating device 2, and the traveling device 3, a single device can achieve full coverage of floor hoisting operations, further enabling it to self-elevate to floors and move horizontally along the floor surface.

[0042] Figure 4 This is a schematic diagram showing the connection between a walking device and a self-elevating device according to some embodiments of this application. In some embodiments, such as Figure 4 As shown, the traveling device 3 includes a traveling base frame 31, a traveling mechanism, and an adjusting mechanism. The traveling base frame 31 adopts a prefabricated space truss structure, and its external dimensions are designed according to the column spacing of the factory floor plan. The top of the traveling base frame 31 is connected to the bottom of the self-elevating device 2, and the traveling base frame 31 rises and falls together with the self-elevating device 2. A cavity 310 for the passage of the first tower body 1 is opened at the center of the traveling base frame 31. A stop safety mechanism is provided along the edge of the cavity 310 at the top of the traveling base frame 31 to limit the sliding of the first tower body 1 into the cavity 310. The bottom of the traveling base frame 31 is rotatably connected to the traveling mechanism, which is used to move the self-elevating device 2 in the horizontal direction.

[0043] Figure 5 This is an example structural schematic diagram of a walking device according to some embodiments of this application. Reference Figure 4 and Figure 5In some embodiments, the walking mechanism includes wheels 32 and axles 313; wherein, at least four mounting seats 314 corresponding to the axles 313 are fixed to the bottom of the walking base 31 in a rectangular arrangement, and the mounting seats 314 can be bolted to the bottom of the walking base 31. In at least one embodiment, the wheels 32 cover wheel frames 321, one end of the axles 313 is fixed to the mounting seats 314, and the other end is rotatably connected to the wheel frames 321 through an adjustment mechanism, and the wheels 32 are rolledly connected to the load-bearing mechanism so that the walking base 31 moves through the load-bearing mechanism.

[0044] Figure 6 yes Figure 1 A magnified view of section A. (Reference) Figure 2 and Figure 6 In some embodiments, the load-bearing mechanism includes at least two sets, each set including a movable transfer beam 331 and a track 33; wherein the movable transfer beam 331 is made of "H" shaped steel and is detachably supported on the beam of the factory building by embedded parts or bolts. Figure 7 These are example diagrams illustrating the horizontal movement of a hoisting robot according to some embodiments of this application. (Reference) Figure 7 In at least one embodiment, the beams of the factory building include several pairs of first frame beams 100 and several pairs of second frame beams 101. The arrangement and installation direction of each pair of first frame beams 100 are the same as the moving direction of the intelligent hoisting robot. Each pair of second frame beams 101 is perpendicular to the installation direction (i.e. the moving direction of the intelligent hoisting robot). Each pair of first frame beams 100 and each pair of second frame beams 101 generally form a rectangle. In addition, a secondary beam is provided between the two second frame beams 101 in each pair. The arrangement direction of the secondary beam is the same as that of the second frame beams 101.

[0045] refer to Figure 2 and Figure 6 In at least one embodiment, both the first frame beam 100 and the second frame beam 101 are made of reinforced concrete beams, and the movable transfer beam 331 is easily supported on the first frame beam 100 and the second frame beam 101 by pre-embedded parts; in at least one embodiment, the track 33 is made of steel rail, and the track 33 is detachably fixed to the movable transfer beam 331 by pressure plate or high-strength bolts, and the wheels 32 are rolledly connected to the track 33 to drive the walking chassis 31 to move.

[0046] Figure 8 This is an example diagram illustrating the horizontal movement operation of an intelligent lifting robot according to some embodiments of this application. (Reference) Figure 8The movable transfer beam 331 and its track 33 can be set up according to the factory structure layout and installation plan. As the construction progresses, when the intelligent hoisting robot moves to a set of movable transfer beams 331 and tracks 33, the previous set of movable transfer beams 331 and tracks 33 is removed, and the intelligent hoisting robot is used to lift and support the movable transfer beams 331 and tracks 33 below for installation. This process is repeated alternately.

[0047] In some embodiments, reference Figure 4 The adjustment mechanism includes a limiting component and a control component; wherein, the limiting component is used to limit the steering of the traveling mechanism. The limiting component includes a limiting element and a stop element, wherein one end of the limiting seat 312 is rotatably connected to the end of the rotating shaft 313 away from the mounting base 314, and the other end is fixed to the top of the wheel frame 321; the stop element includes a stop pin 315, the rotating shaft 313 has a pair of through holes 316 that are adapted to and communicate with the stop pin 315; the limiting seat 312 has at least two pairs of through holes 316 that are consistent with the rotating shaft 313 in the circumferential direction, and the stop pin 315 slides through the through holes 316 of the rotating shaft and the limiting seat. In at least one embodiment, the at least two pairs of through holes 316 of the limiting seat 312 are arranged in a cross shape at 90-degree intervals. This design allows the wheel 32 to easily achieve a 90-degree steering, and the stop pin 315 passing through the through holes 316 of the rotating shaft and the limiting seat facilitates the turning and movement of the lifting robot.

[0048] In some embodiments, reference Figure 4 and Figure 5 The control component is used to control the movement of the walking mechanism. The control component includes a drive unit 322, a locking component, a sensor, and a remote control component. The drive unit 322 can be a motor. The drive unit 322 is mounted on the side wall of the wheel frame 321 and is fixedly connected to the wheel 32. The drive unit 322 drives the wheel 32 to roll on the track 33.

[0049] In at least one embodiment, reference Figure 4 and Figure 5 To facilitate limiting the movement of the wheel 32, a locking component is used to restrict its movement. This locking component includes a rail clamp 323 fixed to the wheel frame 321. The rail clamp 323 is secured to the rail 33 by its own nut, thus limiting the rolling of the wheel 32. Furthermore, by adjusting the nut to allow the rail clamp 323 to roll along with the wheel 32, the safety and stability of the intelligent lifting robot during its movement can be increased. Of course, the rail clamp 323 described above is illustrative; it can also be electrically powered.

[0050] In at least one embodiment, in order to facilitate the control of the hoisting robot's movement, a sensor is provided on the drive component 322. The sensor is used to regulate the start and stop of the drive component 322. The sensor is a displacement sensor (not shown in the figure). The remote control component includes a remote controller. The remote controller and the sensor share signals, and the movement of the wheel 32 can be remotely controlled through the remote controller.

[0051] Figure 9 This is an example structural schematic diagram of a self-elevating device in an elevated state according to some embodiments of this application. In some embodiments, refer to... Figure 3 and Figure 9 The first tower body 1 adopts a metal structure and is assembled from a base section 11 and modular standard sections 12. The base section 11 is fixedly connected to the bottom of the standard section 12, and a temporary fixing mechanism is detachably connected to the bottom of the base section 11. The temporary fixing mechanism is detachably connected to the floor. In at least one embodiment, the temporary fixing mechanism includes a temporary support beam 17, which is temporarily fixed to the floor by bolts, thereby facilitating the fixing of the first tower body 1.

[0052] Figure 10 yes Figure 9 An enlarged view of part B. In some embodiments, refer to Figure 6 and Figure 10 The stop safety mechanism includes a stop hook 311; a stop rod 13 is installed at the bottom of the base section 11 or the crossbar at the bottom of the base section 11 near the stop safety mechanism is used as the stop rod 13. The end of the stop hook 311 away from the hook opening is rotated upward and hinged to the edge of the cavity 310 at the top of the traveling frame 31. In use, the stop hook 311 is rotated toward the cavity 310. The side of the stop hook 311 away from the hook opening abuts against the traveling support, and the other side is locked to the stop rod 13. The setting of the stop hook 311 limits the first tower body 1 to slide downward under its own weight, thereby facilitating the horizontal movement of the hoisting robot.

[0053] In some embodiments, the self-elevating device 2 includes a second tower body 21, a fixing assembly, and a counterweight assembly. (See reference) Figure 1 and Figure 10The second tower body 21 is assembled from modular standard sections 12. The top of the second tower body 21 is connected to the tower crane body 20, and the bottom of the second tower body 21 is fixedly connected to the edge of the cavity 310 of the traveling frame 31 by high-strength bolts. The tower crane body 20 includes, but is not limited to, a slewing device, a boom, a hoisting device, a luffing device, and an adjustable counterweight. Since the tower crane body 20 is a standard configuration used for hoisting building components, it will not be described in detail here. The top of the second tower body 21 is provided with a connecting frame, and the top of the connecting frame is fixed with an upper base 212. The second tower body 21 has a channel for the first tower body 1 to slide directly below the upper base 212. The second tower body 21 is slidably sleeved onto the outer wall of the first tower body 1 through a lifting mechanism.

[0054] Figure 11 yes Figure 9 A magnified view of section C. (Reference) Figure 9 and Figure 11 In some embodiments, the support assembly includes a lifting beam 18 and at least two sets of lower bases 16. The at least two sets of lower bases 16 are arranged vertically along the extension direction of the first tower body itself. Each set of lower bases 16 includes at least two lower bases. Each set of lower bases 16 is arranged on opposite sides along the horizontal diagonal direction of the standard section 12 of the first tower body 1. The lifting beam 18 is detachably connected between the two opposite lower bases 16. Figure 12 yes Figure 9 A magnified view of section D. (Reference) Figure 11 and Figure 12 The lifting mechanism includes a lifting cylinder 14 and a support assembly; one end of the lifting cylinder 14 is fixed to the support assembly and the other end is fixed to the upper base 212. The lifting and lowering of the second tower body 21 is controlled by the extension and retraction of the lifting cylinder 14. The maximum extension length of the lifting cylinder 14 is in the range of 8m-12m. It should be noted that during the operation of the intelligent hoisting robot, the second tower body 21 is the force-bearing mechanism, and the first tower body 1 serves as the support structure and guide mechanism when it is self-lifting to the upper floor.

[0055] Figure 13 This is an example diagram showing the open and closed states of a fastening assembly according to some embodiments of this application. (See reference...) Figure 9 and Figure 13In some embodiments, the traveling frame 31 is movably connected to a fastening assembly, which limits the downward sliding of the second tower body 21. When the floor height exceeds the maximum extension stroke of the lifting cylinder 14 of the intelligent hoisting robot, the fastening assembly and the support assembly work together to enable the intelligent robot to self-lift up to the floor. The fastening assembly includes several fastening blocks 317 and several fastening seats 213; the fastening seats 213 are arranged in groups at predetermined heights along the extension direction of the first tower body 1, and the top of the fastening seat 213 has a slot 214 that matches the fastening block 317; the fastening block 317 is rotatably connected to the traveling frame 31, and both ends of the fastening block 317 have chamfers on the same side. When the second tower body 21 slides, the side of the fastening block 317 with the chamfer leaves a predetermined distance from the first tower body 1, and the other side abuts against the inner wall of the cavity 310 of the traveling frame 31. The chamfer reduces the possibility of the fastening block 317 touching the first tower body during the sliding process, thus affecting the intelligent robot's climbing. In addition, when the floor height exceeds the maximum extension stroke of the lifting cylinder 14 of the intelligent hoisting robot, the fastening block 317 rotates and engages with the slot 214 of the fastening block 317. The side of the fastening block 317 away from the chamfer simultaneously abuts against the bottom of the groove of the traveling base 31 and the slot 214 to limit the downward movement of the second tower body 21.

[0056] refer to Figure 9 and Figure 11 In at least one embodiment, the support assembly includes a lifting beam 18 and two sets of lower bases 16. The two sets of lower bases 16 are arranged vertically along the extension direction of the first tower body itself. Each set of lower bases 16 includes at least two lower bases. Each set of lower bases 16 is arranged on opposite sides along the horizontal diagonal direction of the standard section 12 of the first tower body 1. The lifting beam 18 is detachably connected between the two opposite lower bases 16. The fastening blocks 317 are arranged in two sets, each set including two fastening blocks 317. The two sets of fastening blocks 317 are respectively arranged on opposite sides of the traveling base frame 31 along the direction perpendicular to the extension direction of the first tower body 1. The fastening seats 213 are arranged in two sets and are arranged vertically and vertically along the extension direction of the first tower body 1 at a predetermined height. Each set includes four fastening seats 213. Each set of fastening seats 213 is arranged circumferentially along the first tower body 1 and is arranged in a matrix.

[0057] refer to Figure 2 and Figure 9 When the floor height is too high, exceeding the maximum extension stroke of the lifting cylinder 14 of the intelligent hoisting robot, the intelligent hoisting robot uses the retraction operation of the lifting cylinder to move the lifting beam 18 from the bottom lower base 16 and install it onto the next set of lower bases 16 at a higher height. The specific operation is as follows (see reference). Figure 9 and Figure 13First, the second tower body 21 is raised to its maximum stroke by extending the lifting cylinder 14. Then, the fastening block 317 on the traveling base frame 31 is rotated, and the side of the fastening block 317 away from the chamfer is rotated and engaged in the slot 214 of the fastening seat 213, while simultaneously abutting against the top of the traveling base frame 31; (Reference) Figure 9 and Figure 11 The lifting load of the lifting cylinder 14 during operation is transferred to the first tower body 1. The lifting beam 18 is removed from the first tower body 1, and the cylinder retraction operation of the lifting cylinder 14 is performed. Then, the lifting beam 18 is moved up to the next set of lower bases 16 and fixedly connected. (Refer to...) Figure 9 and Figure 13 Finally, disconnect the fastening block 317 from the fastening seat 213, so that the fastening block 317 is in the closed state, that is, the side of the fastening block 317 with the chamfered edge leaves a predetermined distance from the first tower body 1, and the other side abuts against the inner wall of the cavity 310 of the traveling base frame 31. Then continue the lifting operation of the lifting cylinder 14 to lift the intelligent hoisting robot to the target position.

[0058] Figure 14 yes Figure 9 An enlarged view of part E in some embodiments. (Refer to...) Figure 12 and Figure 14 The bottom of the lifting cylinder 14 is fixed to the lifting beam 18, and the actuating end of the lifting cylinder 14 is fixed to the upper base 212. In at least one embodiment, the support assembly also includes several rollers 15. The second tower body 21 is provided with at least two sets of rollers 15 along its own extension direction. Each set includes eight rollers 15. The eight rollers 15 are arranged in pairs along the inner circumference of the second tower body 21 in a matrix. When the second tower body 21 is raised or lowered, the rollers 15 slide along the extension direction of the first tower body 1 to make the sliding between the first tower body 1 and the second tower body 21 smooth and to increase the overturning stability of the second tower body 21.

[0059] In at least one embodiment, reference Figure 5 and Figure 10When the intelligent hoisting robot turns, the self-lifting device 2 and the walking device 3 work together to adjust the steering of the walking device 3. First, the stop hook 311 can be released from the stop rod 13 of the first tower body 1. Then, the first tower body 1 is fixed to the floor or frame beam by the temporary pad beam 17. Then, the second tower body 21 is raised to the predetermined height by the lifting cylinder 14. Then, the wheel 32 is rotated to the predetermined angle and the through hole 316 of the limit seat 312 is aligned with the through hole 316 of the rotating shaft 313. Then, the stop pin 315 is simultaneously inserted into the through holes 316 of the limit seat 312 and the rotating shaft 313. Finally, the second tower body 21 is lowered by the lifting cylinder 14 until the wheel 32 is connected to the track 33. After the temporary pad beam 17 is removed from the first tower body 1, the first tower body 1 is lifted and reset by the lifting cylinder 14. Then, the stop hook 311 limits the sliding of the second tower body 21, and the hoisting robot can turn and move horizontally for operation.

[0060] In at least one embodiment, reference Figure 2 and Figure 3 The intelligent hoisting robot is equipped with two sets of movable conversion beams 331 and their paired tracks 33. First, one set of movable conversion beams 331 and their paired tracks 33 are hoisted to the pre-determined installation position of the floor to be completed without affecting the pre-determined passage for the intelligent hoisting robot to ascend to the floor. Then, the stop hooks 311 on the traveling frame 31 are released from their restriction on the first tower body 1, and the first tower body 1 is supported on the floor by the temporary pad beams 17. Then, the nut of the rail clamp 323 is operated to disengage the wheels 32 from the tracks 33. Then, the second tower body 21 is lifted into position using the lifting cylinder 14, and the wheels 32 are raised to a predetermined height above the installation position of the track on the subsequent construction floor. Next, another set of movable transfer beams 331 and their tracks 33, hoisted to the predetermined position, are installed. Of course, the other set of movable transfer beams 331 and their tracks 33 can also be pre-installed and fixed. The lifting cylinder 14 is then used to lower the traveling device 3 and connect the wheels 32 to the tracks 33, while the rail clamps 323 limit the possibility of the wheels 32 rolling. Finally, refer to... Figure 3 The first tower body 1 is lifted and reset by the retraction operation of the lifting cylinder 14, and the first tower body 1 is limited by the locking connection between the stop hook 311 and the stop rod 13. Then the intelligent robot completes the self-lifting upstairs and installs the subsequent construction floors.

[0061] In some embodiments, reference Figure 1 and Figure 4The fixing components include several diagonal braces 22, which are arranged circumferentially along the second tower body 21. One end of each diagonal brace 22 is fixed to the second tower body 21, and the other end is fixed to the traveling base frame 31. In at least one embodiment, at least four diagonal braces 22 are provided between the traveling base frame 31 and the outer tower body. The traveling base frame 31, the outer tower body, and the diagonal braces 22 between them are generally frustum-shaped, but other shapes are also possible. Accordingly, an adaptive design can be made according to the actual dimensions and installation. The traveling base frame 31, the outer tower body, and the diagonal braces 22 between them form a solid whole, increasing the stability of the second tower body 21 during movement.

[0062] In some embodiments, reference Figure 1 and Figure 4 The counterweight component includes a counterweight block 23, which is made of concrete or metal. The counterweight block 23 is mounted on the traveling frame 31 using the tower crane body 20 or a truck crane. The counterweight block 23 increases the anti-overturning stability and safety of the intelligent lifting robot during operation, enabling the intelligent lifting robot to operate stably.

[0063] The following are specific examples of how to use the intelligent hoisting robot. However, it should be understood that these examples should not be considered as the only specific limitation on the intelligent hoisting robot.

[0064] In some embodiments, a method of using an intelligent hoisting robot includes the following steps: installation, use, disassembly, etc.

[0065] 1) Installation of intelligent hoisting robot

[0066] a. Reference Figure 1 and Figure 6 At least two sets of movable transfer beams 331 are first installed along the walking path of the intelligent lifting robot using a tower crane or truck crane. Each set includes two parallel movable transfer beams 331. The movable transfer beams 331 of adjacent sets should be connected end to end and detachably installed on the top of the second frame beam 101 through embedded parts. Then, a track 33 for the intelligent tower crane robot to walk on is set on the movable transfer beams 331. The track 33 is made of steel rails and is fixed to the movable transfer beams 331 by pressure plates or high-strength bolts.

[0067] b. Assemble the traveling frame 31 and traveling device 3 on the ground, and install them on the track 33 using a tower crane or truck crane, and connect the rail clamp 323 of the wheel 32 frame to the track 33. At the same time, use a tower crane or truck crane to place the counterweight 23 on the traveling frame 31.

[0068] c. The first tower body 1 of the intelligent hoisting robot is temporarily fixed to the floor by the temporary support beam 17. The first tower body 1 is assembled by using a tower crane or truck crane, and the connection and installation between the lifting cylinder 14, the lifting beam 18 and the first tower body 1 are completed.

[0069] d. Use a tower crane or truck crane to assemble the second tower body 21. Use components such as the diagonal brace 22 between the traveling base frame 31 and the second tower body 21 to form a solid whole. Then, after completing the connection and installation between the lifting cylinder 14 and the second tower body 21, the upper and lower working platforms and ladders (not shown in the figure) can be assembled.

[0070] e. Assemble the tower crane body 20 on the ground. The tower crane body 20 is a standard configuration and will not be described in detail here.

[0071] f. Install the electrical control cabinet and hydraulic pump station, etc., on the traveling frame 31 and / or working platform, connect the circuits, and finally check, debug, and test run the control system.

[0072] In some embodiments, the first tower body 1, the second tower body 21 and the lifting cylinder 14 are assembled into a whole on the ground using a tower crane or truck crane, and then hoisted onto the traveling frame 31, and then the connection and fixation between the second tower body 21 and the traveling frame 31 are completed.

[0073] 2) Use of intelligent hoisting robots

[0074] a. Reference Figure 9 and Figure 10 When the intelligent hoisting robot is hoisting, the second tower body 21 serves as the load-bearing structure, and the first tower body 1 is housed on top of the traveling frame 31 using a stop safety mechanism. In at least one embodiment, the first tower body 1 is limited to slide by the locking connection between the stop hook 311 on the top of the traveling frame 31 and the stop rod 13 of the first tower body 1, and the first tower body 1 is kept at a predetermined height and above the traveling frame 31 to facilitate the subsequent movement of the intelligent hoisting robot.

[0075] refer to Figure 1 and Figure 10In some embodiments, the turning of the intelligent hoisting robot is accomplished through the coordinated action of the self-elevating device 2 and the walking device 3. Where turning is required, the restraint mechanism on the walking base 31 is first released from its restriction on the first tower body 1. The lifting cylinder 14 is used to control the first tower body 1 to slide downwards. Then, the first tower body 1 is supported on the temporary support beam 17 and temporarily fixed. Next, the rail clamp 323 is opened, and the self-elevating function of the intelligent hoisting robot is used to detach the walking device 3 from the track 33 and raise it to a predetermined height. The movable conversion beam 331 at the bottom of the intelligent hoisting robot and its track 33 are removed and turned 90° to form a turning track 33. Then, the intelligent hoisting robot is manipulated to turn its walking device 3 90° as well, and it is lowered back to connect and install with the turned track 33, allowing subsequent walking and hoisting operations to proceed.

[0076] Thus, by moving the intelligent tower crane robot across the floor, a single device can achieve full coverage of hoisting operations across the entire floor, breaking through the bottleneck of traditional hoisting equipment being easily limited in terms of lifting capacity and working radius.

[0077] b. Reference Figure 4 and Figure 7 The intelligent hoisting robot performs hoisting operations along the floor plan. Based on the hoisting progress of the intelligent hoisting robot, the robot itself completes the longitudinal (along the laying direction of the movable transfer beams 331 and tracks 33) travel and hoisting work by alternately removing and laying at least two sets of movable transfer beams 331 and tracks 33.

[0078] c. Self-lifting and stair-climbing of intelligent hoisting robots

[0079] In step b, when the intelligent hoisting robot moves to the last column of the floor, the precast secondary beams and precast composite floor slabs in that column are not installed temporarily, but are left as a vertical passage for the intelligent hoisting robot to lift itself up to the floor.

[0080] refer to Figure 2 and Figure 6 The preceding movable transfer beam 331, dismantled by an intelligent hoisting robot, is then lifted to a position near the intended installation location on the floor to be completed, without obstructing the robot's self-elevating access. Next, the stop hook 311 on the traveling frame 31 is released from its restraint on the first tower body 1, and the first tower body 1 is supported on the floor by a temporary support beam 17. Finally, the rail clamp 323 nuts are operated to disengage the wheels 32 from the rail 33. (Reference) Figure 2 and Figure 3Then, the second tower body 21 is lifted into position using the lifting cylinder 14, and the wheels 32 are raised to a predetermined height above the track 33 of the subsequent construction floor. Next, the movable transfer beam 331, hoisted to the vicinity of the predetermined position, and its track 33 are installed in place. Then, the lifting cylinder 14 is used to lower the traveling device 3 and connect the wheels 32 to the track 33, while the rail clamp 323 limits the possibility of the wheels 32 rolling. Finally, refer to... Figure 3 The first tower body 1 is lifted and reset by the retraction operation of the lifting cylinder 14, and the first tower body 1 is limited by the locking connection between the stop hook 311 and the stop rod 13. Thus, the intelligent robot completes the self-lifting upstairs and can move to the subsequent construction floors.

[0081] In some embodiments, during the self-lifting process, the intelligent lifting robot can reduce the possibility of generating bending moments through adjustable counterweights or temporary counterweights.

[0082] refer to Figure 2 and Figure 3 Then, using an intelligent hoisting robot, a set of movable transfer beams 331 and their tracks 33 from the previous floor are hoisted to this floor. The movable transfer beams 331 and their tracks 33 from the previous floor are connected and fixed to the movable transfer beams 331 and their tracks 33 from this floor. Then, the intelligent hoisting robot is moved to the next column space, the movable transfer beams 331 and their tracks 33 from the previous floor are removed and the next set of movable transfer beams 331 and their tracks 33 are installed and fixed in the subsequent column space. The intelligent hoisting robot is used to complete the installation of the precast secondary beams and precast floor slabs in the reserved vertical passages in the previous column space. Then, following step b, the hoisting operation of this floor is completed.

[0083] In some embodiments, reference Figure 2 and Figure 9 When the floor height is too high, exceeding the maximum extension stroke of the lifting cylinder 14 of the intelligent hoisting robot, the intelligent hoisting robot uses the retraction operation of the lifting cylinder to move the lifting beam 18 from the bottom lower base 16 and install it onto the next set of lower bases 16 at a higher height. The specific operation is as follows (see reference). Figure 9 and Figure 13 First, the second tower body 21 is raised to its maximum stroke by extending the lifting cylinder 14. Then, the fastening block 317 on the traveling base frame 31 is rotated, and the side of the fastening block 317 away from the chamfer is rotated and engaged in the slot 214 of the fastening seat 213, while simultaneously abutting against the top of the traveling base frame 31; (Reference) Figure 9 and Figure 11The lifting load of the lifting cylinder 14 during operation is transferred to the first tower body 1. The lifting beam 18 is removed from the first tower body 1, and the cylinder retraction operation of the lifting cylinder 14 is performed. Then, the lifting beam 18 is moved up to the next set of lower bases 16 and fixedly connected. (Refer to...) Figure 9 and Figure 13 Finally, disconnect the fastening block 317 from the fastening seat 213, so that the fastening block 317 is in the closed state, that is, the side of the fastening block 317 with the chamfered edge leaves a predetermined distance from the first tower body 1, and the other side abuts against the inner wall of the cavity 310 of the traveling base frame 31. Then continue the lifting operation of the lifting cylinder 14 to lift the intelligent hoisting robot to the target position.

[0084] 3) Disassembly of intelligent hoisting robots

[0085] After the intelligent hoisting robot completes the hoisting operation on the floor, a tower crane or truck crane, or a boom lift, can be used to disassemble and dismantle the various assembly units of the intelligent hoisting robot from top to bottom. The tower crane body 20, lifting cylinder 14, second tower body 21, counterweight block 23, traveling frame 31, first tower body 1, mobile conversion beam 331 and track 33 are dismantled in sequence.

[0086] The various embodiments of this application have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen to best explain the principles, practical application, or technical improvements to the embodiments in the market, or to enable others skilled in the art to understand the embodiments disclosed herein.

[0087] The above are merely optional embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. An intelligent hoisting robot, characterized in that, The utility model relates to a kind of intelligent hoisting robot, including: First tower body (1), the first tower body (1) bottom is detachably connected to floor by temporary fixing mechanism; Self-lifting device (2) connected with tower crane main body (20), the self-lifting device (2) is slidably sleeved on the outer wall of first tower body (1) by lifting mechanism, and the self-lifting device is equipped with stop safety mechanism for limiting the sliding of first tower body (1); Walking device (3), the walking device (3) is used to adjust self-lifting device (2) movement and fixed, and the walking device (3) is movably arranged at the bottom of self-lifting device (2); Load-bearing mechanism, the load-bearing mechanism is used to guide walking device (3) movement and detachably installed on the beam body or floor of factory building, and the load-bearing mechanism is movably connected with walking device (3); Wherein, the walking device (3) includes: Walking chassis (31), the walking chassis (31) is connected to the bottom end of self-lifting device (2); Walking mechanism, the walking mechanism is rotatably connected to the bottom of walking chassis (31) and is used to make self-lifting device (2) walk; Adjusting mechanism, the adjusting mechanism is used to adjust the walking of walking mechanism; The self-lifting device (2) includes: Second tower body (21), the second tower body (21) is slidably sleeved on the outer wall of first tower body (1) by lifting mechanism, and the bottom end of the second tower body (21) is connected with walking chassis (31); Fixing assembly, the fixing assembly is used to fasten second tower body (21) and walking chassis (31); Weight compression assembly, the weight compression assembly is used to fasten second tower body (21) and detachably installed on walking chassis (31); Wherein, the lifting mechanism includes: Supporting assembly, the supporting assembly is detachably installed on the inner side of first tower body (1); Jacking oil cylinder (14), one end of the jacking oil cylinder (14) is connected to supporting assembly, and the other end is connected to the bottom of the top end of second tower body (21); The walking chassis (31) movably connects fastening assembly for limiting the sliding of second tower body (21); Wherein, when the intelligent hoisting robot is lifted, the second tower body (21) is jacked into position by jacking oil cylinder (14), and the walking mechanism is lifted to a predetermined height higher than the subsequent construction floor track installation position, then the walking device (3) is changed to reverse, the walking device (3) is returned to the original position by jacking oil cylinder (14), and the intelligent hoisting robot completes the lifting and subsequent construction floor installation.

2. The intelligent hoisting robot according to claim 1, characterized in that: The walking mechanism includes: A plurality of rotating shafts (313), a plurality of the rotating shafts (313) are connected to the bottom of walking chassis (31); Wheel (32) with wheel frame (321), the wheel frame (321) is rotatably connected to the end of rotating shaft (313) away from walking chassis (31) by adjusting mechanism.

3. The intelligent hoisting robot according to claim 1, characterized in that: The adjusting mechanism includes: Limiting assembly, the limiting assembly is arranged on the walking mechanism and is used to limit the turning of the walking mechanism; Control assembly, the control assembly is arranged on the walking mechanism and is used to control the walking of the walking mechanism.

4. The intelligent hoisting robot according to claim 3, characterized in that: The limiting assembly includes: Limiting seat (312), the limiting seat (312) is rotatably connected with the walking mechanism. A stop component is detachably arranged in the limiting seat (312) and used for limiting rotation between the limiting seat and the walking mechanism.

5. The intelligent hoisting robot according to claim 3, characterized in that: The control assembly comprises: A driving component (322) is used for driving walking of the walking mechanism; A locking component is movably connected with the load-bearing mechanism and used for limiting walking of the walking mechanism; A sensor is arranged in the driving component (322) and used for controlling opening and closing of the driving component (322); A remote control component shares signals with the sensor and is used for controlling walking of the walking mechanism.

6. The intelligent hoisting robot according to claim 5, characterized in that: The load-bearing mechanism comprises at least two groups, and each group comprises: A movable conversion beam (331) is detachably connected with a beam body of the factory building; A track (33) is detachably connected with a top of the movable conversion beam (331), the walking mechanism is rollingly connected with the track (33), and the locking component is movably connected with the track (33).

7. The intelligent hoisting robot according to claim 1, characterized in that: The first tower body (1) comprises a stop rod (13); A stop safety mechanism comprises a stop hook (311) matched with the stop rod (13), the stop hook (311) is rotatably connected with a top of the walking chassis (31), one side of the stop hook (311) away from the pit abuts against the walking chassis (31), and the other side is lockingly connected with the stop rod (13).

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