Indoor multi-point intelligent lifting device

Abstract

The invention discloses an indoor multi-point intelligent lifting device which comprises a fixed frame, a movable frame, a lifting device and a control device. The fixed frame comprises a longitudinal beam group, a cross beam group and a corner tube; the movable frame comprises a movable cross beam group, a movable longitudinal beam group, a cross beam unit and a longitudinal beam unit; the movable cross beam group is movably mounted on the longitudinal beam group and is driven by the cross beam group to move back and forth; the movable longitudinal beam group is movably mounted on the movable cross beam group and is driven by the longitudinal beam group to move left and right; the lifting device comprises four sets of lifters and three sets of linear machines; each set of hoister is provided with two winches for hoisting a heavy object up and down; a set of hoister is fixedly arranged on the movable longitudinal beam group; the three sets of elevators are movably mounted on the movable longitudinal beam group and are respectively driven by the three sets of linear machines to move back and forth; the control device adopts control technologies such as numerical control, sound control, vision, a sensor and the Internet of Things to lock the mutual relation of the direction, distance, speed and force of each movement, and each elevator is controlled remotely or on site.

Description

Technical Field

[0001] The invention relates to the technical field of lifting facilities, in particular to an indoor multi-point intelligent lifting device. Background Art

[0002] Lifting facilities are widely used and mature technology facilities. In terms of indoor lifting facilities, there are fixed, single-arm rotary and track types, etc. Most of these lifting facilities are single-point or two-point types in terms of lifting points. However, in indoor spaces with limited height and certain special occasions, such as the coordinated lifting of larger objects in laboratories, the care and transportation of patients in hospitals, and the care of disabled people and elderly people with limited mobility in homes and nursing homes, there is a lack of a suitable multi-point lifting facility to assist. Summary of the invention

[0003] The purpose of the present invention is to provide an indoor multi-point intelligent lifting device to solve the problems raised in the above background technology.

[0004] The present invention moves an object in a three-dimensional space. For the convenience of description, it is agreed in the right-handed Cartesian space coordinate system that: along the Y axis is front and back, along the X axis is left and right, and along the Z axis is up and down; and it is agreed that: the +Y axis direction is front, and the opposite is back, the +X axis direction is right, and the opposite is left, and the +Z axis direction is up, and the opposite is down.

[0005] The invention provides an indoor multi-point intelligent lifting device, which comprises a fixed frame, a movable frame, a lifting device and a control device.

[0006] The fixed frame includes a longitudinal beam group, a transverse beam group and four corner tubes; the corner tube is composed of three short tubes intersecting each other perpendicularly and three ribs; the longitudinal beam group includes two longitudinal beams parallel to each other and of equal length, and the transverse beam group includes two transverse beams parallel to each other and of equal length; the two longitudinal beams are placed along the Y-axis direction with the length of the transverse beam group as a spacing, and the two transverse beams are placed along the X-axis direction with the length of the longitudinal beam group as a spacing; the longitudinal beam group and the transverse beam group are placed perpendicularly to each other in a rectangular shape in a plane, and the four corners formed are connected by four corner tubes to form a fixed frame; the fixed frame can be connected by four columns and four chassis, and is erected from the ground to the required height.

[0007] The movable frame includes a movable crossbeam group, a movable longitudinal beam group, a crossbeam unit, and a longitudinal beam unit;

[0008] The movable crossbeam group includes four movable crossbeams parallel to each other and of equal length in a plane and two connecting block groups; the movable crossbeam group is placed along the X-axis direction; each connecting block group includes four connecting blocks; each connecting block includes a block body and a linear bearing; the connecting block body is a rectangular parallelepiped, provided with two cylindrical holes whose center lines intersect each other perpendicularly and are perpendicular to the surface of the block body, and a linear bearing is installed in one of the cylindrical holes; in the two connecting block groups, the four cylindrical holes of a group of four connecting blocks are respectively inserted into the left ends of the four movable crossbeams in the movable crossbeam group and fixedly connected, and the four linear bearings are jointly inserted into the left longitudinal beam of the fixed frame longitudinal beam group to form a movable connection; the four cylindrical holes of the other group of four connecting blocks are respectively inserted into the left longitudinal beam of the fixed frame longitudinal beam group to form a movable connection; The right ends of the four movable crossbeams in the movable crossbeam group are respectively inserted into the column holes and fixedly connected, and the four linear bearings are jointly inserted into the longitudinal beam on the right side of the longitudinal beam group of the fixed frame to form a movable connection; the movable crossbeam group after connection is perpendicular to the longitudinal beam group in the fixed frame, and under the support of the linear bearings in the two connection block groups, the movable crossbeam group can move forward and backward along the longitudinal beam group in the fixed frame; the spacing between the front and rear movable crossbeams of the four movable crossbeams in the movable crossbeam group is the same as the length of the movable longitudinal beam group, and the spacing between the two middle movable crossbeams and the spacing between the front and rear movable crossbeams are determined according to needs; the three beams of the four movable crossbeams are agreed to be area A, area B and area C respectively;

[0009] The movable longitudinal beam group includes two movable longitudinal beams parallel to each other and of equal length and two connecting block groups; the movable longitudinal beam group is arranged along the Y-axis direction; the two connecting block groups in the movable longitudinal beam group are the same as the two connecting block groups in the movable crossbeam group; in the two connecting block groups, the four cylindrical holes of a group of four connecting blocks are inserted into a movable longitudinal beam on the left side of the movable longitudinal beam group and fixedly connected, and the four linear bearings are respectively inserted into the four movable crossbeams in the movable crossbeam group to form a movable connection; the four cylindrical holes of another group of four connecting blocks are inserted into the movable longitudinal beam group A movable longitudinal beam on the right side is fixedly connected, and four linear bearings are respectively inserted into the four movable beams in the movable crossbeam group to form a movable connection; the connected movable longitudinal beam group is perpendicular to the movable crossbeam group, and under the support of the linear bearings in the two connecting block groups, the movable longitudinal beam group can move left and right along the movable crossbeam group; the movable longitudinal beam group also moves forward and backward following the forward and backward movement of the movable crossbeam group; the spacing between two movable longitudinal beams in the movable longitudinal beam group can be adjusted as needed; correspondingly, the movable longitudinal beam group also forms three areas along with the movable crossbeam group.

[0010] The crossbeam machine group includes H1 crossbeam machine and H2 crossbeam machine; H1 crossbeam machine and H2 crossbeam machine have the same structure and are bilaterally symmetrical. Each crossbeam machine includes a support seat, two synchronous pulleys, a synchronous belt, a drive connection block, a reduction servo motor and two fixed seats; the drive connection block includes a pressure block and a connection plate; the two fixed seats in the H1 crossbeam machine penetrate into a longitudinal beam on the left side of the fixed frame longitudinal beam group one after the other at a certain interval and are fixedly connected; the support seat is installed on the front fixed seat, the reduction servo motor is installed on the rear fixed seat, the two synchronous pulleys are respectively installed on the shaft end of the support seat and the shaft end of the reduction servo motor, the synchronous belt is sleeved on the two synchronous pulleys, and the connection plate in the drive connection block is fixedly connected to the movable On one of the four connecting blocks on the left end of the four movable beams in the movable beam group, the pressure block fixes the side of the synchronous belt close to the connecting plate on the connecting plate; the two fixed seats in the H2 beam machine penetrate into a longitudinal beam on the right side of the fixed frame longitudinal beam group one after the other at a certain distance and are fixedly connected. The two fixed seats in the H2 beam machine are symmetrical with the two fixed seats in the H1 beam machine. The installation method of the support seat, the reduction servo motor, the two synchronous pulleys and the synchronous belt is the same as that of the H1 beam machine. The connecting plate in the driving connecting block is fixedly connected to one of the four connecting blocks on the right end of the movable beam in the movable beam group, and the pressure block fixes the side of the synchronous belt close to the connecting plate on the connecting plate.

[0011] The longitudinal beam machine group includes a Z1 longitudinal beam machine and a Z2 longitudinal beam machine; the Z1 longitudinal beam machine and the Z2 longitudinal beam machine have the same structure and are symmetrical front and back, and each longitudinal beam machine includes a supporting seat, two synchronous pulleys, a synchronous belt, a driving connection block, a reduction servo motor and two fixed seats; the two fixed seats in the Z1 longitudinal beam machine are passed through a movable crossbeam on the front side of the four movable crossbeams of the movable crossbeam group, one on the left and one on the right, and are fixedly connected with the connection blocks close to the left and right ends of the movable crossbeam, the supporting seat is installed on the right fixed seat, the reduction servo motor is installed on the left fixed seat, the two synchronous pulleys are respectively installed on the shaft end of the supporting seat and the shaft end of the reduction servo motor, the synchronous belt is sleeved on the two synchronous pulleys, and the connecting plate in the driving connection block is fixedly connected to the movable longitudinal beam in the movable longitudinal beam group. On one of the two connecting blocks at the front end of the moving longitudinal beam, the pressing block fixes the side of the synchronous belt close to the connecting plate on the connecting plate; the two fixing seats in the Z2 longitudinal beam machine are passed through a movable crossbeam on the rear side of the four movable crossbeams of the movable crossbeam group, one on the left and one on the right, and are respectively fixedly connected to the connecting blocks close to the left and right ends of the movable crossbeam. The two fixing seats in the Z2 longitudinal beam machine are symmetrical front and back with the two fixing seats in the Z1 longitudinal beam machine. The installation method of the support seat, the reduction servo motor, the two synchronous pulleys and the synchronous belt is the same as that of the Z1 longitudinal beam machine. The connecting plate in the driving connecting block is fixedly connected to one of the two connecting blocks at the rear end of the movable longitudinal beam in the movable longitudinal beam group, and the pressing block fixes the side of the synchronous belt close to the connecting plate on the connecting plate;

[0012] The two reduction servo motors in the crossbeam unit rotate synchronously, and drive the movable crossbeam unit to move forward and backward along the longitudinal beam unit in the fixed frame through the transmission chain: synchronous pulley → synchronous belt → driving connection block → connection block; while the movable crossbeam unit moves forward and backward, it also drives the movable longitudinal beam unit to move forward and backward;

[0013] The two reduction servo motors in the longitudinal beam unit rotate synchronously, and drive the movable longitudinal beam group to move left and right along the four movable crossbeams in the movable crossbeam group through a transmission chain: synchronous pulley→synchronous belt→driving connection block→connection block.

[0014] The lifting device comprises four sets of lifting machines and three sets of linear machines.

[0015] The hoist comprises a frame and two winches; the frame comprises a frame body and two pairs of linear bearings; the frame body is provided with seven groups of cylindrical holes, namely, Y1, Y2, Y3, Y4, Y5, Y6 and Y7, the axes of the seven groups of cylindrical holes are parallel to each other, and the center distance between the Y1 cylindrical hole and the Y2 cylindrical hole is the same as the spacing between the two movable longitudinal beams in the movable longitudinal beam group; the two pairs of linear bearings are respectively fixedly mounted in the Y1 cylindrical hole and the Y2 cylindrical hole at both ends of the frame body; each winch comprises a drum gear complex, two pairs of rolling bearings, an angular reducer pinion complex, a servo motor, a lifting rope and a rope guide sensor complex; of the two winches, the drum gear complex in one winch is supported on the linear bearing in the Y1 cylindrical hole in the frame body through two pairs of rolling bearings, the angular reducer pinion complex is fixedly mounted on the Y3 cylindrical hole in the frame body, and the servo motor is mounted on the input end of the angular reducer pinion complex; the drum in the other winch The large gear combination is supported on the linear bearing in the Y2 cylindrical hole in the frame body through two pairs of rolling bearings, the angular reducer pinion combination is fixedly installed on the Y4 cylindrical hole in the frame body, and the servo motor is installed at the input end of the angular reducer pinion combination; in each winch, the pinion in the angular reducer pinion combination is meshed with the large gear in the drum large gear combination, and the upper end of the lifting rope is spirally wound in the drum in the drum large gear combination; the winding state can be clockwise or counterclockwise, and the winding state of the lifting rope in the two winches can be various combinations of clockwise and counterclockwise; when in use, the lower end of the lifting rope is connected with other auxiliary equipment; a rope guide sensor combination is set at the lifting rope outlet in the winch, and when the lifting rope is in an oblique tension state, the rope guide sensor combination sends a signal; the installation of the hoist only requires the two pairs of linear bearings at both ends of the frame body to be respectively inserted into the two movable longitudinal beams in the movable longitudinal beam group;

[0016] The linear machine comprises a reduction servo motor and a ball screw pair; one end of the ball screw in the ball screw pair is connected to the reduction servo motor;

[0017] The four hoists are all installed on the movable longitudinal beam group: one hoist is fixedly connected in the B area of ​​the movable longitudinal beam group, called the B hoist; one hoist is movably connected in the A area of ​​the movable longitudinal beam group, called the A hoist; the other two hoists are movably connected in the C area of ​​the movable longitudinal beam group, respectively called the C1 hoist and the C2 hoist;

[0018] The three sets of linear machines, one set of linear machines has a reduction servo motor installed in the Y6 cylindrical hole of the B elevator frame, and the nut in the ball screw pair is installed in the Y6 cylindrical hole of the A elevator frame, driving the A elevator to move forward and backward relative to the B elevator in the A area of ​​the movable longitudinal beam group 21, which is called the D linear machine; one set of linear machines has a reduction servo motor installed in the Y5 cylindrical hole of the C2 elevator frame, and the nut in the ball screw pair is installed in the Y5 cylindrical hole of the C1 elevator frame, driving the C2 elevator to move forward and backward relative to the C1 elevator in the C area of ​​the movable longitudinal beam group 21, which is called the D2 linear machine; the other set of linear machines has a reduction servo motor installed in the Y7 cylindrical hole of the B elevator frame, and the nut in the ball screw pair is installed in the Y7 cylindrical hole of the C1 elevator frame, and simultaneously drives the C1 elevator and the C2 elevator to move forward and backward relative to the B elevator in the C area of ​​the movable longitudinal beam group 21, which is called the D1 linear machine.

[0019] The control device comprises an input end, an output end, a CPU, a power supply and an Internet of Things; wherein the input end receives the following signals: a signal from a control keyboard, a voice control signal, an Internet of Things signal, a visual signal and a sensor signal; the output end controls each servo motor and issues an alarm, voice and video; the control device uses numerical control technology to control the position, distance, speed and force of the rise and fall of each hoist, controls the rotation speed and angle of each linear machine to control the speed and distance of the forward and backward movement of each hoist, controls the rotation speed and angle of the deceleration servo motor in the beam unit to control the speed and distance of the forward and backward movement of the movable beam unit, controls the rotation speed and angle of the deceleration servo motor in the longitudinal beam unit to control the speed and distance of the left and right movement of the movable longitudinal beam unit, and locks the mutual relationship between the distance, speed and force of each movement; uses voice control technology to execute the control signal orally stated during operation; uses visual technology to determine the position of the lifted weight and monitor the state of the lifted weight, safety status, etc.; uses sensor technology to detect the position and force; uses the Internet of Things technology to connect local remote control signals, remote control signals and transmit audio and video signals of the voice control system and the visual system through Bluetooth and WIFI networks. During operation, the control device can provide single-action control mode, linkage control mode and one-touch control mode that combines multiple control modes into a fixed control mode; in addition, the self-learning function of the control device can automatically combine the operation process into a customized control mode to facilitate repeated operation.

[0020] When using the present invention to lift and move heavy objects, corresponding rigging should be provided; among all kinds of heavy objects, the requirements for lifting and moving objects by personnel care are relatively complex, and the following will introduce the use process by taking personnel care as an example. First, corresponding auxiliary equipment is provided according to different lifting and moving requirements of people, such as F1 wide support belt, F2 support belt, F3 rehabilitation support belt, F4 lower limb support belt, F5 support pad and F6 segmented bed board, etc.; the person lies flat on the bed along the Y-axis direction with the head facing +Y, and the A hoist is connected to the F2 support belt to support the upper body from the armpits, and the A hoist rises and moves backward in an arc to help the person sit up from lying flat; after sitting up, the C1 hoist is connected to the F2 support belt to support the knees, and the C1 hoist rises and moves forward in an arc to lift the thighs to the appropriate position, and the B hoist is connected to the F1 wide support belt to support the buttocks; after adjustment, control A The three hoists C1, B, and C2 rise or fall simultaneously to lift or put down the person; after lifting, the crossbeam unit is started to adjust the front and rear position of the person on the bed, and the longitudinal beam unit is started to adjust the left and right position of the person on the bed; after lifting, the longitudinal beam unit is started to move the person out of the bed to the left or right, or change the bedding, or put the person in a basin for bathing, or put the person in a toilet for defecation, or put the person in a wheelchair for pushing; the C2 hoist can adjust the state of the calf relative to the thigh and coordinate with other hoists to rise and fall, so that the person can move in a comfortable posture; the legs can also use the F4 lower limb support belt to connect with the C1 and C2 hoists, and the two legs can be adjusted separately to meet the needs of movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 The present invention is a schematic diagram of the overall structure after being elevated from the ground and the agreed directions of movement;

[0022] Figure 2 A schematic diagram of the fixed frame, the movable frame and the three area positions of the present invention;

[0023] Figure 3 A schematic diagram of the installation positions of various components in the movable frame of the present invention;

[0024] Figure 4 Schematic diagram of the corner tube of the present invention;

[0025] Figure 5 A schematic diagram of the chassis of the present invention;

[0026] Figure 6 A schematic diagram of the state of the connecting block of the present invention when used to connect the movable cross beam group and the longitudinal beam group;

[0027] Figure 7 A schematic diagram of the state of the connecting block of the present invention when used to connect the movable longitudinal beam group and the movable cross beam group;

[0028] Figure 8 A schematic diagram of a fixing base for installing the crossbeam unit of the present invention;

[0029] Fig. 9 A schematic diagram of a fixing base for installing a longitudinal beam unit of the present invention;

[0030] Fig.10 Schematic diagram of the linear machine of the present invention;

[0031] Fig.11 Schematic diagram of the crossbeam unit of the present invention;

[0032] Fig.12 Schematic diagram of the longitudinal beam unit of the present invention;

[0033] Fig.13 Schematic diagram of the drive connection block of the present invention;

[0034] Fig.14 Schematic diagram of the lifting device of the present invention installed on the movable longitudinal beam group;

[0035] Fig.15 Schematic diagram of the hoist of the present invention;

[0036] Fig.16 A schematic diagram of a frame of a hoisting machine according to the present invention;

[0037] Fig.17 Schematic diagram of the drum and gear combination in the hoist winch of the present invention;

[0038] Fig.18Schematic diagram of the angular reducer pinion combination in the hoist winch of the present invention;

[0039] Fig.19 Schematic diagram of the state of the lifting rope of the present invention being wound in a clockwise and counterclockwise spiral shape;

[0040] Fig. 20 A schematic diagram of the state of the lifting rope of the present invention being wound inwardly and outwardly in a spiral manner;

[0041] Fig.21 Schematic diagram of F1 wide support belt;

[0042] Fig. 22 F2 support belt schematic diagram;

[0043] Fig.23 Schematic diagram of the connection between F1 wide support belt and F2 support belt and lifting device;

[0044] Fig.24 Schematic diagram of F3 rehabilitation support belt;

[0045] Fig.25 Schematic diagram of the connection between the F3 rehabilitation support belt and the lifting device;

[0046] Fig.26 Schematic diagram of F4 lower limb support strap;

[0047] Fig. 27 Schematic diagram of the connection between F4 lower limb support belt, F1 wide support belt and F2 support belt and lifting device;

[0048] Fig.28 F5 pad diagram;

[0049] Fig.29 Schematic diagram of the connection between the F5 support pad and the lifting device;

[0050] Fig.30 F6 Schematic diagram of a segmented bed with a turning belt;

[0051] Fig.31 Schematic diagram of the connection between the turning belt and the lifting device on the F6 segmented bed board;

[0052] Fig.32 Schematic diagram of F6 segmented bed board connected to lifting device and adjusted into sofa shape; DETAILED DESCRIPTION

[0053] The technical scheme in the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiment of the present invention, not all of the embodiments. Based on the embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0054] An indoor multi-point intelligent lifting device comprises a fixed frame 1, a movable frame 2, a lifting device 3 and a control device 4, such as Figure 1 shown.

[0055] The fixed frame 1 comprises a longitudinal beam group 11, a transverse beam group 12 and four corner tubes 13; Figure 1 , Figure 2 and Figure 3 As shown; the angle tube 13 is composed of three short tubes and three ribs intersecting each other perpendicularly, as Figure 4 As shown; the longitudinal beam group 11 includes two longitudinal beams 111 and 112 that are parallel to each other and of equal length; the cross beam group 12 includes two cross beams 121 and 122 that are parallel to each other and of equal length; the longitudinal beams 111 and 112 are placed along the Y-axis direction with the length of the cross beam group 12 as the spacing; the cross beams 121 and 122 are placed along the X-axis direction with the length of the longitudinal beam group 11 as the spacing; the longitudinal beam group 11 and the cross beam group 12 are placed perpendicularly to each other in a rectangular shape in a plane, and the four corners formed are connected by four corner tubes 13 to form a fixed frame 1, as shown Figure 3 The fixed frame 1 can be connected to four columns 10 and four chassis 14, and the frame is set at an appropriate height from the ground, such as Figure 1 , Figure 2 As shown; the chassis 14 is mainly composed of a disc, a short tube perpendicular to the disc, such as Figure 5 shown.

[0056] The movable frame 2 includes a movable longitudinal beam group 21, a movable cross beam group 22, a cross beam unit 17 and a longitudinal beam unit 27. Figure 3 As shown;

[0057] The movable crossbeam group 22 includes a movable crossbeam 221, a movable crossbeam 222, a movable crossbeam 223, a movable crossbeam 224 and two connecting block groups which are parallel to each other and of equal length in a plane; the movable crossbeam group 22 is placed along the X-axis direction; each connecting block group includes four connecting blocks 15; the connecting block 15 includes a block body and a linear bearing 151; the connecting block 15 block body is a rectangular parallelepiped, and is provided with two cylindrical holes whose center lines intersect each other perpendicularly and are perpendicular to the surface of the block body, and a linear bearing 151 is installed in one of the cylindrical holes, such as Figure 6As shown; in the two connection block groups, the four cylindrical holes of one group of four connection blocks 15 are respectively inserted into the left ends of the four movable crossbeams 221, 222, 223 and 224 in the movable crossbeam group 22 and fixedly connected, and the four linear bearings 151 are jointly inserted into the longitudinal beam 111 of the longitudinal beam group 11 in the fixed frame 1 to form a movable connection; the four cylindrical holes of the other group of four connection blocks 15 are respectively inserted into the right ends of the four movable crossbeams 221, 222, 223 and 224 in the movable crossbeam group 22 and fixedly connected, and the four linear bearings 151 are jointly inserted into the longitudinal beam 112 of the longitudinal beam group 11 in the fixed frame 1 to form a movable connection, as shown Figure 1 , Figure 2 , Figure 3 As shown; the connected movable crossbeam group 22 is perpendicular to the longitudinal beam group 11 in the fixed frame 1. Under the support of the linear bearings 151 in the two connecting block groups, the movable crossbeam group 22 can move forward and backward along the longitudinal beam group 11 in the fixed frame 1; the spacing between the movable crossbeam 221 and the movable crossbeam 224 is the same as the length of the movable longitudinal beam group 21, and the spacing between the movable crossbeams 221, 222, 223 and 224 can be determined as needed to form three areas: the space between the movable crossbeam 221 and the movable crossbeam 222 is marked as area A, the space between the movable crossbeam 222 and the movable crossbeam 223 is marked as area B, and the space between the movable crossbeam 223 and the movable crossbeam 224 is marked as area C, as shown Figure 2 , Figure 3 As shown;

[0058] The movable longitudinal beam group 21 includes a movable longitudinal beam 211 and a movable longitudinal beam 212 which are parallel to each other and of equal length, and two connecting block groups; the movable longitudinal beam group 21 is placed along the Y-axis direction; each connecting block group includes four connecting blocks 25, and the connecting block 25 is another installation form of the connecting block 15, such as Figure 7 As shown; in the two connection block groups, the four cylindrical holes of one group of four connection blocks 25 are inserted into the movable longitudinal beam 211 and fixedly connected, and the four linear bearings 151 are respectively inserted into the four movable beams 221, 222, 223 and 224 in the movable beam group 22 to form a movable connection; the four cylindrical holes of the other group of four connection blocks 25 are inserted into the movable longitudinal beam 212 and fixedly connected, and the four linear bearings 151 are respectively inserted into the four movable beams 221, 222, 223 and 224 in the movable beam group 22 to form a movable connection, as shown Figure 1 , Figure 2 , Figure 3As shown; the connected movable longitudinal beam group 21 is perpendicular to the movable cross beam group 22. Under the support of the linear bearings 151 in the two connection block groups, the movable longitudinal beam group 21 can move left and right along the movable cross beam group 22; the movable longitudinal beam group 21 also moves forward and backward following the forward and backward movement of the movable cross beam group 22; the spacing between the movable longitudinal beams 211 and 212 in the movable longitudinal beam group 21 can be adjusted as needed; correspondingly, the movable longitudinal beam group 21 also forms three areas along with the movable cross beam group 22;

[0059] The beam machine group 17 includes an H1 beam machine and an H2 beam machine; the H1 beam machine and the H2 beam machine have the same structure and are symmetrical. Fig.11 As shown, each beam machine includes a support seat 170, two synchronous pulleys 171, a synchronous belt 172, a drive connection block 173, a reduction servo motor 174 and two fixed seats 16; the drive connection block 173 includes a pressure block 1731 and a connection plate 1732, as shown in FIG. Fig.13 As shown; the two fixed seats 16 in the H1 beam machine are fixedly connected to the longitudinal beam 111 of the longitudinal beam group 11 in the fixed frame 1 with a certain spacing in front and behind, the support seat 170 is installed on the front fixed seat 16, the reduction servo motor 174 is installed on the rear fixed seat 16, the two synchronous pulleys 171 are respectively installed on the shaft ends of the support seat 170 and the shaft ends of the reduction servo motor 174, the synchronous belt sleeve 172 is on the two synchronous pulleys 171, the connecting plate 1732 in the driving connecting block 173 is fixedly connected to the connecting block 15 at the left end of the active crossbeam 223 in the active crossbeam group 22, and the pressing block 1731 fixes the side of the synchronous belt 172 close to the connecting plate 1732 to the connecting block 15. Plate 1732; the two fixed seats 16 in the H2 beam machine are inserted into the longitudinal beam 112 of the longitudinal beam group 11 in the fixed frame 1 with a certain distance in front and behind and fixedly connected. The two fixed seats 16 in the H2 beam machine are symmetrical with the two fixed seats 16 in the H1 beam machine. The installation method of the support seat 170, the reduction servo motor 174, the two synchronous pulleys 171 and the synchronous belt 172 is the same as that of the H1 beam machine. The connecting plate 1732 in the driving connecting block 173 is fixedly connected to the connecting block 15 at the right end of the movable beam 222 in the movable beam group 22, and the pressing block 1731 fixes the side of the synchronous belt 172 close to the connecting plate 1732 to the connecting plate 1732.

[0060] The longitudinal beam machine group 27 includes a Z1 longitudinal beam machine and a Z2 longitudinal beam machine; the Z1 longitudinal beam machine and the Z2 longitudinal beam machine have the same structure and are symmetrical front and back; Fig.12As shown, each longitudinal beam machine includes a support seat 170, two synchronous pulleys 171, a synchronous belt 272, a driving connection block 173, a reduction servo motor 174 and two fixed seats 26; the two fixed seats 26 in the Z2 longitudinal beam machine are passed through the movable crossbeam 224 in the movable crossbeam group 22, one on the left and one on the right, and are fixedly connected to the connection blocks 15 at the left and right ends of the movable crossbeam 224, respectively. The support seat 170 is installed on the right side of the fixed seat 26, the reduction servo motor 174 is installed on the left side of the fixed seat 26, the two synchronous pulleys 171 are respectively installed on the shaft ends of the support seat 170 and the shaft ends of the reduction servo motor 174, the synchronous belt 272 is sleeved on the two synchronous pulleys 171, and the connection plate 1732 in the driving connection block 173 is fixedly installed on the connection plate 173 at the rear end of the movable longitudinal beam 211 in the movable longitudinal beam group 21. The two fixing seats 26 in the Z1 longitudinal beam machine are passed through the movable crossbeam 221 in the movable crossbeam group 22, one on the left and one on the right, and are symmetrical with the two fixing seats 26 in the Z2 longitudinal beam machine, and are fixedly connected to the connecting blocks 15 close to the left and right ends of the movable crossbeam 221, respectively. The installation method of the supporting seat 170, the reduction servo motor 174, the two synchronous pulleys 171 and the synchronous belt 272 is the same as that of the Z2 longitudinal beam machine. The connecting plate 1732 in the driving connecting block 173 is fixedly installed on the connecting block 25 at the front end of the movable longitudinal beam 212 in the movable longitudinal beam group 21, and the pressing block 1731 presses and fixes the side of the synchronous belt 272 close to the connecting plate 1732 to the connecting plate 1732;

[0061] The two reduction servo motors 174 in the crossbeam unit 17 rotate synchronously, and drive the movable crossbeam unit 22 to move forward and backward along the longitudinal beam unit 11 in the fixed frame 1 through the transmission chain: synchronous pulley 171 → synchronous belt 172 → driving connection block 173 → connection block 15; while the movable crossbeam unit 22 moves forward and backward, it also drives the movable longitudinal beam unit 21 to move forward and backward;

[0062] The two reduction servo motors 174 in the longitudinal beam assembly 27 rotate synchronously, and drive the movable longitudinal beam assembly 21 to move left and right along the movable cross beam assembly 22 through the transmission chain: synchronous pulley 171 → synchronous belt 272 → driving connection block 173 → connection block 25.

[0063] The lifting device includes four sets of lifting machines 30 and three sets of linear machines 35.

[0064] The hoist 30 comprises a frame 301 and two winches; the frame 301 comprises a frame body and two pairs of linear bearings 151; the frame body 301 is provided with seven groups of cylindrical holes Y1, Y2, Y3, Y4, Y5, Y6 and Y7, and the axes of the seven groups of cylindrical holes are parallel to each other, such as Fig.16The center distance between the Y1 cylindrical hole and the Y2 cylindrical hole is the same as the spacing between the two movable longitudinal beams in the movable longitudinal beam group, and the two pairs of linear bearings 151 are respectively fixedly mounted in the Y1 hole and the Y2 hole at both ends of the frame 301, as shown. Fig.16 Each winch includes a drum gear combination 302, two pairs of rolling bearings, an angular reducer pinion combination 303, a servo motor 304, a lifting rope 305 and a rope guide sensor combination 306, such as Fig.15 As shown; in the two winches, the drum gear combination 302 in one winch is supported on the linear bearing 151 in the Y1 cylindrical hole in the frame 301 through two pairs of rolling bearings, such as Fig.17 As shown; angular reducer pinion combination 303, such as Fig.18 As shown, it is fixedly mounted on the Y3 cylindrical hole in the frame 301, and the servo motor 304 is mounted on the input end of the angular reducer pinion combination 303; the drum gear combination 302 in the other winch is supported on the linear bearing 151 in the Y2 cylindrical hole in the frame 301 through two pairs of rolling bearings, as shown in FIG. Fig.17 As shown; the angular reducer pinion gear complex 303 is fixedly mounted on the Y4 cylindrical hole in the frame 301, and the servo motor 304 is mounted on the input end of the angular reducer pinion gear complex 303; in each winch, the pinion in the angular reducer pinion gear complex 303 is meshed with the large gear in the drum large gear complex 302; the upper end of the lifting rope 305 is spirally wound in the drum in the drum large gear complex 302; the winding state can be clockwise or counterclockwise, and the lifting rope 305 is wound between the two The winding state in the winch can be various combinations of clockwise and counterclockwise; when in use, the lower end of the lifting rope 305 is connected to other auxiliary equipment; a rope guide sensor complex 306 is set at the outlet of the lifting rope 305 in the winch, and when the lifting rope 305 is in a diagonal state, the rope guide sensor complex 306 sends a signal; the installation of the hoist 30 only requires the two pairs of linear bearings 151 at both ends of the frame 301 to be respectively inserted into the two movable longitudinal beams 211 and 212 in the movable longitudinal beam group 21, such as Fig.14 shown.

[0065] The linear machine 35 comprises a reduction servo motor 3501 and a ball screw pair; the ball screw 3502 in the ball screw pair is connected to the output end of the reduction servo motor 3501, such as Fig.10 shown.

[0066] The four sets of hoists 30 are all installed on the movable longitudinal beam group 21. Fig.14As shown, one set of hoists 30 is fixedly connected in the B area of ​​the movable longitudinal beam group 21, called the B hoist; one set of hoists 30 is movably connected in the A area of ​​the movable longitudinal beam group 21, called the A hoist; the other two sets of hoists 30 are movably connected in the C area of ​​the movable longitudinal beam group 21, respectively called the C1 hoist and the C2 hoist.

[0067] The three sets of linear machines 35 are as follows: Fig.14 As shown, a set of linear machine 35 with a reduction servo motor 3501 is installed in the Y6 cylindrical hole of the frame 301 of the B elevator, and a nut 3503 is installed in the Y6 cylindrical hole of the frame 301 of the A elevator, driving the A elevator to move forward and backward relative to the B elevator in the A area of ​​the movable longitudinal beam group 21, which is called the D linear machine; a set of linear machine 35 with a reduction servo motor 3501 is installed in the Y5 cylindrical hole of the frame 301 of the C2 elevator, and a nut 3503 is installed in the C1 elevator frame 301 The Y5 cylindrical hole of the body drives the C2 elevator to move forward and backward relative to the C1 elevator in the C area of ​​the movable longitudinal beam group 21, which is called the D2 linear machine; the reduction servo motor 3501 of another set of linear machines 35 is installed in the Y7 cylindrical hole of the frame 301 of the B elevator, and the nut 3503 is installed in the Y7 cylindrical hole of the frame 301 of the C1 elevator, which drives the C1 elevator and the C2 elevator to move forward and backward relative to the B elevator in the C area of ​​the movable longitudinal beam group 21 at the same time, which is called the D1 linear machine.

[0068] The control device comprises an input end, an output end, a CPU, a power supply and an Internet of Things; wherein the input end receives the following signals: a signal from a control keyboard, a voice control signal, an Internet of Things signal, a visual signal and a sensor signal; the output end controls each servo motor and issues an alarm, voice and video; the control device uses numerical control technology to control the position, distance, speed and strength of the rise and fall of each hoist, controls the rotation speed and angle of each linear unit to control the speed and distance of the forward and backward movement of each hoist, controls the rotation speed and angle of the deceleration servo motor in the beam unit to control the speed and distance of the forward and backward movement of the movable beam unit, controls the rotation speed and angle of the deceleration servo motor in the longitudinal beam unit to control the speed and distance of the left and right movement of the movable longitudinal beam unit, and locks the mutual relationship between the distance, speed and strength of each movement; uses voice control technology to execute the control signal orally stated during operation; uses visual technology to determine the position of the lifted weight and monitor the state of the lifted weight, safety status, etc.; uses sensor detection to detect the position and strength; uses the Internet of Things technology to connect local remote control signals, remote control signals and transmit audio and video signals of the voice control system and the visual system through Bluetooth and WIFI networks. During operation, the control device can provide single-action control mode, linkage control mode and one-touch control mode that combines multiple control modes into a fixed control mode; in addition, the self-learning function of the control device can automatically combine the operation process into a customized control mode to facilitate repeated operation.

[0069] When using the present invention to lift and move heavy objects, corresponding rigging should be equipped; among all kinds of heavy objects, the requirements for lifting and moving with personnel care are more complicated. The following will take personnel care as an example to introduce the use process. First, according to the different lifting and moving requirements of people, corresponding auxiliary equipment should be equipped, such as Fig.21 The F1 wide support belt shown, Fig. 22 The F2 strap shown, Fig.24 The F3 rehabilitation support belt shown, Fig.26 The F4 lower limb support strap shown, Fig.28 The F5 pad shown and Fig.30 The F6 segmented bed board shown in the figure, etc.; the person lies flat on the bed along the Y axis direction with the head facing +Y, the A hoist is connected to the F2 support belt to support the upper body from the armpits, and the A hoist rises and moves backwards in an arc to help the person sit up from lying down; after sitting up, the C1 hoist is connected to the F2 support belt to support the knees, and the C1 hoist rises and moves forwards in an arc to lift the thighs to the appropriate position, and the B hoist is connected to the F1 wide support belt to support the buttocks. After all the connections are completed, Fig.23As shown; after adjustment, control the three hoists A, B, and C1 to rise or fall simultaneously to lift or lower the person; after lifting, start the crossbeam unit to adjust the front and rear position of the person on the bed, and start the longitudinal beam unit to adjust the left and right position of the person on the bed; after lifting, start the longitudinal beam unit to move the person out of the bed to the left or right, or change the bedding, or put the person in a basin for bathing, or sit on the toilet for defecation, or sit in a wheelchair for pushing; the C2 hoist can adjust the state of the calf relative to the thigh and coordinate with other hoists to rise and fall, so that the person can move in a comfortable posture; the legs can also use the F4 lower limb support belt to connect with the C1 and C2 hoists as shown Fig. 27 As shown, adjust the two legs to meet the needs of movement; after the person is placed in a wheelchair, connect the B hoist to the F3 rehabilitation support belt as shown in Fig.25 As shown in the figure, the F3 rehabilitation support belt is lifted under the armpits to help the person stand up, and then the crossbeam unit is started to move forward or backward to assist walking rehabilitation. Each hoist is connected to the F5 support pad and Fig.29 As shown, rescue transfer can be implemented; A hoist and B hoist are connected to the F6 segmented bed with turning belt as shown in FIG. Fig.31 As shown, to assist turning over to the left and right; each hoist is connected to the F6 segmented bed board with turning belt as shown Fig.32 As shown, the seat can be adjusted into a sofa shape to allow a person to sit comfortably, and the turning belt can be formed into a protective belt to prevent the person from tilting.

[0070] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An indoor multi-point intelligent lifting device, comprising a fixed frame, a movable frame, a lifting device and a control device, characterized in that: The fixed frame includes a longitudinal beam group, a transverse beam group and four corner tubes; the longitudinal beam group includes two longitudinal beams parallel to each other and of equal length, and the transverse beam group includes two transverse beams parallel to each other and of equal length; the corner tube is mainly composed of three short tubes intersecting perpendicularly to each other and three rib plates; The movable frame includes a movable crossbeam group, a movable longitudinal beam group, a crossbeam unit and a longitudinal beam unit; the movable crossbeam group includes four movable crossbeams and two connecting block groups; each connecting block group includes four connecting blocks, which are used for movable connection between the movable crossbeam group and the longitudinal beam group in the fixed frame; the distance between the two outer movable crossbeams of the movable crossbeam group is the same as the length of the movable longitudinal beam group, and the distance between the two middle movable crossbeams and the distance between the middle and the two outer movable crossbeams are determined according to needs; the three beams of the four movable crossbeams are respectively agreed to be area A, area B and area C. C area; the movable longitudinal beam group includes two movable longitudinal beams parallel to each other and of equal length and two connecting block groups; each connecting block group includes four connecting blocks for movable connection between the movable longitudinal beam group and the movable cross beam group; the spacing between the two movable longitudinal beams in the movable longitudinal beam group is the same as the center distance between the Y1 cylindrical hole and the Y2 cylindrical hole in the frame of the hoist frame; after the movable longitudinal beam group and the movable cross beam group are connected through the connecting block group, three areas are formed along with the movable cross beam group: A area, B area and C area; the cross beam machine group includes H1 cross beam machine and H2 cross beam machine; The H1 beam machine and the H2 beam machine have the same structure and are symmetrical to each other. They are respectively installed on the two longitudinal beams of the longitudinal beam group in the fixed frame, and are used to drive the movable longitudinal beam group to move forward and backward; the longitudinal beam machine group includes the Z1 beam machine and the Z2 beam machine; the Z1 beam machine and the Z2 beam machine have the same structure and are symmetrical to each other. They are respectively installed on the two movable longitudinal beams outside the movable longitudinal beam group, and are used to drive the movable longitudinal beam group to move left and right; the movable longitudinal beam group also moves forward and backward following the forward and backward movement of the movable longitudinal beam group; The lifting device includes four sets of hoists and three sets of linear machines: the four sets of hoists have the same structure, are installed on the movable longitudinal beam group, and are used to lift heavy objects up and down: one set of hoists is movably connected in the A area of ​​the movable beam group and is called A hoist, one set of hoists is fixedly connected in the B area of ​​the movable beam group and is called B hoist, and two sets of hoists are movably connected in the C area of ​​the movable beam group and are respectively called C1 hoist and C2 hoist; the C2 hoist can move at the same time as the C1 hoist, and can also move in addition to the C1 hoist; the three sets of linear machines have the same structure, and are used to drive the hoists to move forward and backward: the one that drives the A hoist to move is called D linear machine, the one that drives the C1 hoist and the C2 hoist to move at the same time is called D1 linear machine, and the one that drives the C2 hoist to move relative to the C1 hoist is called D2 linear machine; The control device includes a numerical control system, a voice control system, a vision system, a sensor system and an Internet of Things system.

2. An indoor multi-point intelligent lifting device according to claim 1, characterized in that: The two longitudinal beams of the longitudinal beam group in the fixed frame are spaced apart by the length of the transverse beam group; the two transverse beams of the transverse beam group in the fixed frame are spaced apart by the length of the longitudinal beam group; the longitudinal beam group and the transverse beam group are placed perpendicularly to each other in a rectangular shape in a plane, and the four corners formed are respectively connected to the four corner tubes in the fixed frame to form a fixed frame; the fixed frame is erected from the ground to the required height.

3. An indoor multi-point intelligent lifting device according to claim 1, characterized in that: There are four connecting blocks in the connecting block group; each connecting block includes a block body and a linear bearing: the connecting block body is a rectangular parallelepiped, and is provided with two cylindrical holes whose axes intersect each other perpendicularly and are perpendicular to the surface of the block body, one of which is used for the fixed connection between the connecting block and the penetration beam, and a linear bearing is installed in the other cylindrical hole for supporting the movable connection between the connecting block and the penetration beam.

4. An indoor multi-point intelligent lifting device according to claim 1, characterized in that: The longitudinal beam group in the fixed frame and the movable crossbeam group in the movable frame are perpendicular to each other, and a movable connection is formed by the two connecting block groups: the four cylindrical holes in one group of four connecting blocks are respectively inserted into one end of the four movable crossbeams in the movable crossbeam group of the movable frame and fixedly connected, and the four linear bearings in the four connecting blocks are jointly inserted into a longitudinal beam on one side of the longitudinal beam group of the fixed frame to form a movable connection; the four cylindrical holes in the other group of four connecting blocks are respectively inserted into the other ends of the four movable crossbeams in the movable crossbeam group of the movable frame and fixedly connected, and the four linear bearings in the four connecting blocks are jointly inserted into a longitudinal beam on the other side of the longitudinal beam group of the fixed frame to form a movable connection; the movable crossbeam group of the movable frame can move along the longitudinal beam group in the fixed frame under the support of the linear bearings in the two connecting block groups.

5. The indoor multi-point intelligent lifting device according to claim 1, characterized in that: The movable crossbeam group and the movable longitudinal beam group in the movable frame are perpendicular to each other, and a movable connection is formed by the two connecting block groups: the four cylindrical holes of one group of four connecting blocks are jointly inserted into a movable longitudinal beam on one side of the movable longitudinal beam group and fixedly connected, and the four linear bearings in the four connecting blocks are respectively inserted into the four movable crossbeams in the movable crossbeam group to form a movable connection; the four cylindrical holes of another group of four connecting blocks are jointly inserted into a movable longitudinal beam on the other side of the movable longitudinal beam group and fixedly connected, and the four linear bearings in the four connecting blocks are respectively inserted into the four movable crossbeams in the movable crossbeam group to form a movable connection; the movable longitudinal beam group can move along the movable crossbeam group under the support of the linear bearings in the two connecting block groups.

6. An indoor multi-point intelligent lifting device according to claim 1, characterized in that: The H1 crossbeam machine and H2 crossbeam machine in the crossbeam machine group have the same structural principle as the Z1 longitudinal beam machine and Z2 longitudinal beam machine in the longitudinal beam machine group, and both include a support seat, two synchronous pulleys, a synchronous belt, a drive connection block, a reduction servo motor and two fixed seats; the drive connection block includes a pressure block and a connection plate; the two fixed seats in the H1 crossbeam machine penetrate into a longitudinal beam on one side of the longitudinal beam group in the fixed frame, and are fixedly connected to the longitudinal beam at a certain distance, and the two fixed seats in the H2 crossbeam machine penetrate into a longitudinal beam on the other side of the longitudinal beam group in the fixed frame, and are fixedly connected to the longitudinal beam at a certain distance; the two fixed seats in the Z1 longitudinal beam machine penetrate into the middle and outer sides of the movable crossbeam group A movable crossbeam is fixedly connected with the movable crossbeam at a certain interval, and two fixed seats in the Z2 longitudinal beam machine penetrate into another movable crossbeam on the outside of the movable crossbeam group and are fixedly connected with the movable crossbeam at a certain interval; the installation method of the remaining parts in the crossbeam unit and the longitudinal beam unit is the same: the support seat is installed on a fixed seat, the reduction servo motor is installed on another fixed seat, the two synchronous pulleys are respectively installed on the shaft end of the support seat and the shaft end of the reduction servo motor, the synchronous belt is sleeved on the two synchronous pulleys, the connecting plate in the driving connecting block is fixedly connected to a connecting block in the connecting block group, and the pressing block fixes the side of the synchronous belt close to the connecting plate to the connecting plate.

7. An indoor multi-point intelligent lifting device according to claim 1, characterized in that: Each of the four hoists in the lifting device includes a frame and two winches; the frame includes a frame body and two pairs of linear bearings; the frame body is provided with seven groups of cylindrical holes, namely Y1, Y2, Y3, Y4, Y5, Y6 and Y7, and the axes of the seven groups of cylindrical holes are parallel to each other; the center distance between the Y1 cylindrical hole and the Y2 cylindrical hole is the same as the spacing between the two movable longitudinal beams in the movable longitudinal beam group; the two pairs of linear bearings are respectively fixedly installed in the Y1 cylindrical hole and the Y2 cylindrical hole at both ends of the frame body; each winch includes a drum gear combination, two pairs of rolling bearings, an angular reducer pinion gear combination, a servo motor, a lifting rope and a rope guide sensor combination; the drum gear combination in a winch is supported on the linear bearing in the Y1 cylindrical hole of the frame body through two pairs of rolling bearings, the angular reducer pinion gear combination is fixedly installed on the Y3 cylindrical hole of the frame body, and the servo motor is fixedly installed on the input of the two angular reducer pinion gear combinations. end; the drum gear complex in the other winch is supported on the linear bearing in the Y2 cylindrical hole of the frame body through two pairs of rolling bearings, the angular reducer pinion complex is fixedly mounted on the Y4 cylindrical hole of the frame body, and the servo motor is fixedly mounted on the input ends of the two angular reducer pinion complexes; in each winch, the pinion in the angular reducer pinion complex is meshed with the large gear in the drum gear complex; the upper end of the lifting rope is spirally wound in the drum in the drum gear complex, and the winding state can be clockwise or counterclockwise, and the winding state of the lifting rope in the two winches can be various combinations of clockwise and counterclockwise; a rope guide sensor complex is arranged at the outlet of the lifting rope in the winch, and when the lifting rope is in an oblique tension state, the rope guide sensor complex sends a signal; the two movable longitudinal beams in the movable longitudinal beam group are respectively inserted into the two pairs of linear bearings at both ends of the frame to complete the installation of the hoist.

8. An indoor multi-point intelligent lifting device according to claim 1, characterized in that: Each of the three sets of linear machines in the lifting device includes a reduction servo motor and a ball screw pair, and one end of the ball screw in the ball screw pair is connected to the reduction servo motor; among the three sets of linear machines: the reduction servo motor of the D linear machine is installed in the Y6 cylindrical hole of the B lifting machine frame, and the nut in the ball screw pair is installed in the Y6 cylindrical hole of the A lifting machine frame, driving the A lifting machine to move forward and backward relative to the B lifting machine; the reduction servo motor of the D2 linear machine is installed in the Y5 cylindrical hole of the C2 lifting machine frame, and the nut in the ball screw pair is installed in the Y5 cylindrical hole of the C1 lifting machine frame, driving the C2 lifting machine to move forward and backward relative to the C1 lifting machine; the reduction servo motor of the D1 linear machine is installed in the Y7 cylindrical hole of the B lifting machine frame, and the nut in the ball screw pair is installed in the Y7 cylindrical hole of the C1 lifting machine frame, driving the C1 lifting machine and the C2 lifting machine to move forward and backward relative to the B lifting machine at the same time.

9. An indoor multi-point intelligent lifting device according to claim 1, characterized in that: The number of winches in each set of hoists in the lifting device can be one to four.

10. An indoor multi-point intelligent lifting device according to claim 1, characterized in that: The numerical control system in the control device is used to control the position, speed and force of the rise and fall of each hoist, control the linkage of each hoist, control the rotation angle and speed of each linear machine to control the distance and speed of movement of each hoist, control the rotation angle and speed of the deceleration servo motor in the beam unit to control the distance and speed of movement of the movable beam unit, control the rotation angle and speed of the deceleration servo motor in the longitudinal beam unit to control the distance and speed of movement of the movable longitudinal beam unit, and lock the mutual relationship between the distance, position, speed and force of each movement; The voice control system is used to execute the control signals spoken during operation; The visual system is used to determine the position of the lifted object and monitor the state and safety of the lifted object; The sensor system is used to detect position and force; the Internet of Things system connects local remote control signals, remote control signals, and transmits audio and video signals of the voice control system and visual system through Bluetooth and WIFI networks.

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