Hoisting system for segment steel reinforcement framework

Abstract

The invention relates to the technical field of building prefabricated part production equipment, and provides a segment reinforcement cage hoisting system which comprises an intelligent joist barrow, a shear fork composite device and a grabbing device. The intelligent joist barrow comprises a rack and a hoisting piece. The shear fork composite device comprises an upper base, a lower base and a plurality of shear fork assemblies. The upper base is arranged on the lower side of the rack, and the lower base is located below the upper base and connected with the lifting piece; the shear fork assembly comprises a plurality of shear fork pieces arranged at intervals in the vertical direction. Each scissor-fork piece comprises a first connecting rod and a second connecting rod, the first connecting rod is rotationally connected with the second connecting rod, and the first connecting rod of one scissor-fork piece is rotationally connected with the second connecting rod of the other scissor-fork piece; the grabbing device is arranged on the lower side of the lower base and used for grabbing the segment steel reinforcement framework. On the basis, the pipe piece steel reinforcement framework can be prevented from shaking in the hoisting and moving process as much as possible, so that the hoisting precision is improved.

Description

Technical Field

[0001] The present application relates to the field of production equipment for prefabricated building components, and in particular to a hoisting system for a pipe segment reinforcement skeleton. Background Art

[0002] The segment reinforcement skeleton refers to the steel structure set up during the segment production process to enhance the structural strength and stability of the segment. It is embedded in the concrete of the segment and bears various loads and forces together with the concrete, thereby ensuring the safety and stability of the segment during use.

[0003] In the related art, the segment reinforcement skeleton is hoisted and moved by a bridge crane in conjunction with manual hooking, so as to transfer the segment reinforcement skeleton from the assembly production line to the storage area.

[0004] However, in actual application, the steel frame of the pipe segment is prone to shaking during the lifting and moving process, and the lifting accuracy is poor, so it needs to be improved. Summary of the Invention

[0005] In order to avoid shaking of the segment steel frame during the lifting and moving process as much as possible and to improve the lifting accuracy, the present application provides a lifting system for the segment steel frame.

[0006] The hoisting system of the segment steel frame provided in this application adopts the following technical solution: A hoisting system for a segment steel frame includes an intelligent gantry truck, a scissor-fork composite device, and a grabbing device; the intelligent gantry truck includes a frame and a lifting device; the lifting device is provided on the upper side of the frame; The scissor-fork composite device includes an upper base, a lower base and a plurality of scissor-fork assemblies; the upper base is arranged on the lower side of the frame, the lower base is located below the upper base and is connected to the lifting member; the plurality of scissor-fork assemblies are arranged between the upper base and the lower base and are spaced apart along the circumference of the upper base; The scissors assembly includes a plurality of scissors members spaced apart in a vertical direction; the scissors members include a first link and a second link, the first link being rotatably connected to the second link, the first link of one of the scissors members being rotatably connected to the second link of another of the scissors members, and the first link located at the top is rotatably connected to the upper base, the second link located at the top is slidably and rotatably connected to the upper base, the first link located at the bottom is slidably and rotatably connected to the lower base, and the second link located at the bottom is rotatably connected to the lower base; The grabbing device is arranged on the lower side of the lower base and is used to grab the steel bar skeleton of the pipe segment.

[0007] By adopting the above technical solution, in actual application, the lifting device drives the lower base to move downward in the vertical direction, so that the lower base is away from the upper base. During this process, the first connecting rod and the second connecting rod of each scissor member rotate, and the second connecting rod located at the top and the first connecting rod located at the bottom slide, so that the length of the scissor member in the vertical direction becomes longer, that is, each scissor assembly extends in the vertical direction and cooperates with the grasping device to grasp the pipe segment steel frame. Then, the lifting device drives the lower base to move upward in the vertical direction to realize the lifting of the pipe segment steel frame. Among them, multiple scissor-type components are extended and folded in the vertical direction, always supporting the upper base and the lower base, so that the scissor-type composite device has greater rigidity. Even when the scissor-type composite device is under load and has the longest stroke, that is, when the distance between the lower base and the upper base is the largest, it can maintain deformation and vibration, and try to avoid shaking of the steel frame of the pipe segment during the lifting and movement process, ensuring the plane positioning accuracy of the lifting, thereby improving the lifting accuracy.

[0008] Preferably, the scissors assembly further comprises a plurality of telescopic tubes, wherein the plurality of telescopic tubes are arranged at intervals in the vertical direction, the telescopic tube located at the top is arranged on the lower side of the upper base, the telescopic tube located at the bottom is arranged on the upper side of the lower base, and each of the telescopic tubes can be telescoped to the adjacent telescopic tubes.

[0009] By adopting the above technical solution and setting up multiple telescopic tubes, the support between the lower base and the upper base can be further achieved, and the rigidity of the scissor-type composite device can be further improved, thereby further avoiding the shaking of the pipe segment steel frame during the lifting and movement process.

[0010] Preferably, the scissors-fork combination device also includes a plurality of travel limit switches and a controller, wherein the plurality of travel limit switches are spaced apart on the lower base at the sliding position of the first connecting rod, and the controller is electrically connected to the plurality of travel limit switches and the lifting member.

[0011] By adopting the above technical solution, multiple travel limit switches are set up, and the multiple travel limit switches cooperate with the controller and the lifting parts to control the lifting height position of the pipe segment steel frame to adapt to different lifting requirements.

[0012] Preferably, the scissors-fork composite device further includes a fixed pulley and a rope, wherein the fixed pulley rotates on the upper side of the lower base, and the rope is wound around the fixed pulley and connected to the lifting member.

[0013] By adopting the above technical solution, fixed pulleys and ropes are set to achieve the connection between the lifting member and the lower base, and the stability of the connection between the lifting member and the lower base can be guaranteed, and the stability and accuracy of the lower base moving in the vertical direction can also be guaranteed.

[0014] Preferably, the intelligent gantry vehicle also includes two steel frames and two installation boxes, the two installation boxes are slidably connected to the two steel frames along the length direction of the two steel frames, the machine frame is arranged on the upper side of the two installation boxes, and the scissors-fork composite device is located between the two steel frames and the two installation boxes.

[0015] By adopting the above technical solution, by setting up two steel frames and two installation boxes, the frame can slide along the length direction of the two steel frames following the two installation boxes, so as to drive the scissor-fork composite device and the grabbing device to slide, thereby facilitating the transportation of the hoisted pipe segment steel frame.

[0016] Preferably, the intelligent gantry vehicle further includes two first driving members and two first gears, each of the first driving members is disposed in each of the installation boxes and is used to drive each of the first gears to rotate, and the first gears are engaged with the two steel frames.

[0017] By adopting the above technical solution, two first driving members and two first gears are set to achieve the sliding of the two installation boxes, and under the engagement of the first gears with the two steel frames, the sliding accuracy is improved, thereby ensuring the plane positioning accuracy of the hoisting.

[0018] Preferably, the intelligent gantry truck further includes two second driving members and two second gears. The frame is slidably connected to the two installation boxes along the width direction of the two steel frames. The two second driving members are respectively arranged on both sides of the frame. Each second driving member is used to drive each second gear to rotate, and each second gear is engaged with the upper side of each installation box.

[0019] By adopting the above technical solution, by setting two second driving members and two second gears to drive the scissors-fork composite device and the grabbing device to slide along the width direction of the two steel frames, the pipe segment steel frame can be hoisted to more locations.

[0020] Preferably, the grabbing device includes a mounting seat, two grabbing members and two third driving members, the mounting seat is arranged on the lower side of the lower base, the two grabbing members are arranged opposite to each other and are rotatably connected to the lower side of the mounting seat, and the two third driving members are arranged on the mounting seat and are used to drive the two grabbing members to rotate so that the two grabbing members are closer to or farther away from each other.

[0021] By adopting the above technical solution, by setting a mounting seat, two grabbing members and two third driving members, each third driving member drives each grabbing member to rotate, and the two grabbing members approach each other, the steel skeleton of the pipe segment can be grabbed. The structure is simple and the operation is convenient.

[0022] Preferably, the grabbing member includes a swing arm and a movable clamping hook, one end of the swing arm is rotatably connected to the mounting seat, and the movable clamping hook is threadedly connected to the other end of the swing arm.

[0023] By adopting the above technical solution, a swing arm and a movable clamp are set, and the movable clamp passes between the two stirrups of the pipe segment steel frame. By rotating the movable clamp, the gap between the movable clamp and the two stirrups can be fine-tuned so that the distance between the movable clamp and the stirrups is controlled within 3 mm after the swing arm is rotated, thereby reducing the impact of the movable clamp on the pipe segment steel frame.

[0024] Preferably, the grasping device also includes two sliding seats, a bidirectional screw and a fourth driving member. The two sliding seats are slidingly connected to the mounting seat. The two grasping members are respectively arranged on the two sliding seats. The bidirectional screw is rotationally connected to the mounting seat and is threadedly connected to the two sliding seats. The fourth driving member is arranged on the mounting seat and is used to drive the bidirectional screw to rotate so that the two sliding seats are closer to or farther away from each other.

[0025] By adopting the above technical solution, by setting two sliding seats, a bidirectional screw and a fourth driving member, the fourth driving member drives the bidirectional screw to rotate, so that the two sliding seats are close to or away from each other, and the two grabbing members are close to or away from each other, so as to be suitable for pipe segment steel skeletons of different specifications.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. Multiple scissor-type components extend and fold in the vertical direction, always supporting the upper and lower bases. This makes the scissor-type composite device more rigid. Even when the scissor-type composite device is loaded and has the longest travel, that is, when the distance between the lower and upper bases is the largest, it can maintain its shape and vibration. This minimizes the vibration of the segment reinforcement skeleton during the lifting and movement process, ensures the plane positioning accuracy of the lifting, and thus improves the lifting accuracy. 2. By providing multiple telescopic tubes, the support between the lower base and the upper base can be further realized, further improving the rigidity of the scissor-fork composite device, thereby further preventing the segment reinforcement skeleton from shaking during the lifting and moving process; 3. By setting a swing arm and a movable clamp, the movable clamp passes between the two stirrups of the pipe segment reinforcement skeleton. By rotating the movable clamp, the gap between the movable clamp and the two stirrups can be fine-tuned so that the distance between the movable clamp and the stirrups is controlled within 3mm after the swing arm is rotated, thereby reducing the impact of the movable clamp on the pipe segment reinforcement skeleton. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 Schematic diagram of the overall structure of the lifting system in the embodiment of the present application; Figure 2 1 is a schematic diagram of a top view of the upper base and the lower base in an embodiment of the present application; Figure 3 1 is a schematic diagram of the overall structure of the hoisting system in another state in an embodiment of the present application; Figure 4 yes Figure 1 A magnified schematic diagram of part A in FIG; Figure 5 yes Figure 1 A magnified schematic diagram of part B in FIG. Figure 6 Schematic diagram of the working state of the gripping device in the embodiment of the present application; Figure 7 It is a schematic diagram of the side structure of the gripping device in an embodiment of the present application.

[0028] Figure numerals: 1. Intelligent gantry truck; 11. Frame; 12. Lifting device; 13. Two steel frames; 14. Mounting box; 15. First driving member; 16. First gear; 17. Second driving member; 18. Second gear; 2. Scissors-fork composite device; 21. Upper base; 22. Lower base; 23. Scissors-fork assembly; 231. Scissors-fork member; 231a. First connecting rod; 231b. Second connecting rod; 232. Telescopic tube; 24. Travel limit switch; 25. Fixed pulley; 26. Rope; 3. Grabbing device; 31. Mounting seat; 32. Grabbing member; 321. Swing arm; 322. Movable clamp; 33. Third driving member; 34. Sliding seat; 35. Bidirectional screw. DETAILED DESCRIPTION

[0029] The following is combined with Figure 1-7 This application is described in further detail.

[0030] An embodiment of the present application discloses a hoisting system for a pipe segment reinforcement skeleton.

[0031] Reference Figure 1 The lifting system includes an intelligent gantry truck 1, a scissors-fork composite device 2 and a grabbing device 3. The intelligent gantry truck 1 includes a frame 11 and a lifting component 12. The frame 11 is horizontally arranged. In this embodiment, the lifting component 12 is a winch and is fixedly connected to the upper side of the frame 11. In other embodiments, the lifting component 12 can also be an electric hoist, which is not limited in this application.

[0032] Reference Figure 1 and Figure 2 The scissors-fork composite device 2 includes an upper base 21, a lower base 22 and a plurality of scissors-fork assemblies 23. The upper base 21 and the lower base 22 are both arranged in a rectangular frame shape. The upper base 21 is fixedly connected to the lower side of the frame 11, and the lower base 22 is located below the upper base 21. The lower base 22 is connected to the lifting member 12, so that the lifting member 12 drives the lower base 22 to move in the vertical direction.

[0033] Reference Figure 1 and Figure 3 The number of scissor-type assemblies 23 is adapted to the shapes of the upper base 21 and the lower base 22. In this embodiment, the number of scissor-type assemblies 23 is four, and the four scissor-type assemblies 23 are all located between the upper base 21 and the lower base 22 and are evenly spaced along the circumference of the upper base 21, that is, the four scissor-type assemblies 23 are arranged on the four sides of the upper base 21 and the lower base 22.

[0034] Among them, the scissors fork assembly 23 includes a plurality of scissors fork parts 231, and the plurality of scissors fork parts 231 are evenly spaced along the vertical direction. Specifically, the scissors fork parts 231 include a first link 231a and a second link 231b, and the middle part of the first link 231a is rotatably connected to the middle part of the second link 231b, so that the first link 231a and the second link 231b are in an "X" shape, and the lower end of the first link 231a of one of the scissors fork parts 231 is rotatably connected to the upper end of the second link 231b of the adjacent scissors fork part 231 below, and the lower end of the second link 231b of one of the scissors fork parts 231 is rotatably connected to the upper end of the first link 231a of the adjacent scissors fork part 231 below. At the same time, the first link 231a at the top is rotatably connected to the upper base 21, the second link 231b at the top slides and is rotatably connected to the upper base 21, the first link 231a at the bottom slides and is rotatably connected to the lower base 22, and the second link 231b at the bottom is rotatably connected to the lower base 22.

[0035] The grabbing device 3 is installed on the lower side of the lower base 22 and is used to grab the steel reinforcement skeleton of the pipe segment.

[0036] In actual application, the lifting member 12 drives the lower base 22 to move downward in the vertical direction, so that the lower base 22 is away from the upper base 21. During this process, the first link 231a and the second link 231b in each scissors member 231 rotate, and the second link 231b located at the top and the first link 231a located at the bottom slide, so that the length of each scissors member 231 in the vertical direction becomes longer, that is, each scissors assembly 23 extends in the vertical direction and cooperates with the grabbing device 3 to grab the pipe segment steel frame. Then the lifting member 12 drives the lower base 22 to move upward in the vertical direction, and each scissors assembly 23 folds in the vertical direction to realize the lifting of the pipe segment steel frame.

[0037] Among them, since multiple scissor-type components 23 are extended and folded in the vertical direction, the upper base 21 and the lower base 22 are always supported, so that the rigidity of the scissor-type composite device 2 is relatively large. Even when the scissor-type composite device 2 is loaded and has the longest stroke, that is, when the distance between the lower base 22 and the upper base 21 is the largest, the scissor-type composite device 2 can be kept from deformation and shaking, so as to ensure that the grasping device 3 can stably grasp the pipe segment steel frame, and try to avoid the pipe segment steel frame from shaking during the lifting and movement process, so as to ensure the plane positioning accuracy of the lifting, thereby improving the lifting accuracy.

[0038] In some embodiments, the scissor assembly 23 further includes a plurality of telescopic tubes 232, which are spaced apart in the vertical direction. The top telescopic tube 232 is fixedly connected to the bottom side of the upper base 21, and the bottom telescopic tube 232 is fixedly connected to the top side of the lower base 22. The size of each telescopic tube 232 is larger than the size of the adjacent telescopic tube 232 below, so that two adjacent telescopic tubes 232 can be vertically telescoped, allowing the plurality of telescopic tubes 232 to be retracted to the top telescopic tube 232. The plurality of telescopic tubes 232 further provide support between the upper base 21 and the lower base 22, further increasing the rigidity of the scissor assembly 2, thereby further preventing the segment reinforcement skeleton from shaking during hoisting and movement. Furthermore, the stability of the lower base 22 in vertical movement is further improved, minimizing the deviation of the lower base 22.

[0039] Reference Figure 1 and Figure 4 In some embodiments, the scissor-fork hybrid device 2 further includes multiple travel limit switches 24 and a controller (not shown). The first connecting rod 231a is slidably and rotationally connected to the lower base 22 via a sliding groove (not labeled) in the lower base 22. Multiple travel limit switches 24 are fixedly connected to the sliding groove at intervals along the length of the sliding groove to abut against the first connecting rod 231a. The controller is also electrically connected to the multiple travel limit switches 24 and the lifting fixture 12. During operation, the sliding first connecting rod 231a abuts the travel limit switch 24, which transmits the signal to the controller. The controller then controls the operation of the lifting fixture 12, thereby controlling the lifting height of the segment reinforcement skeleton to meet different lifting requirements.

[0040] Reference Figure 1 and Figure 2 In some embodiments, the scissors-fork composite device 2 also includes a fixed pulley 25 and a rope 26. The fixed pulley 25 is rotatably connected to the upper side of the lower base 22. The rope 26 is wound around the fixed pulley 25 and fixedly connected to the lifting member 12 to achieve the connection between the lifting member 12 and the lower base 22, and can ensure the stability of the connection between the lifting member 12 and the lower base 22, and can also ensure the stability and accuracy of the movement of the lower base 22 in the vertical direction.

[0041] Reference Figure 1 In some embodiments, the intelligent gantry truck 1 further includes two steel frames 13 and two installation boxes 14. The two steel frames 13 are mounted on the ground. The two installation boxes 14 are spaced apart along the length of the two steel frames 13 and are slidably connected to the two steel frames 13 via pulleys, with the sliding direction being the length of the two steel frames 13. The frame 11 is mounted on the upper side of the two installation boxes 14, and the scissor-type composite device 2 is located between the two steel frames 13 and the two installation boxes 14. The two installation boxes 14 are slidably connected to the two steel frames 13. The frame 11 can slide along the length of the two steel frames 13 following the two installation boxes 14, thereby driving the scissor-type composite device 2 and the grasping device 3 to slide, thereby driving the segment reinforcement skeleton to move, thereby facilitating the transfer of the hoisted segment reinforcement skeleton. At the same time, the scissor-fork composite device 2 can be retracted between the two steel frames 13 and the two installation boxes 14 to increase the hoisting height and make the overall structure of the hoisting system compact.

[0042] Reference Figure 1 and Figure 5 In some embodiments, the intelligent gantry crane 1 further includes two first drive members 15 and two first gears 16. The two first drive members 15 are servo motors and are fixedly connected to the two mounting boxes 14. The two first gears 16 are rotatably connected to the bottom side of the mounting boxes 14 and are connected to the power output shafts of the two first drive members 15, respectively. Each first drive member 15 drives each first gear 16 to rotate, and the first gears 16 mesh with the racks inside the two steel frames 13. By controlling the operation of the two first drive members 15, sliding between the two mounting boxes 14 and the two steel frames 13 is achieved. The meshing of the first gears 16 with the two steel frames 13 effectively improves the accuracy of the sliding, allowing the planar positioning accuracy to be controlled within 0.5 mm, thereby further ensuring the planar positioning accuracy of the lifting.

[0043] In some embodiments, the intelligent gantry truck 1 further includes two second drive members 17 and two second gears 18. The frame 11 is slidably connected to the two installation boxes 14 via pulleys, and the sliding direction is the width direction of the two steel frames 13. The two second drive members 17 are servo motors and are fixedly connected to the two sides of the frame 11. The two second gears 18 are rotatably connected to the two sides of the frame 11 and are respectively connected to the power output shafts of the two second drive members 17, so that each second drive member 17 drives each second gear 18 to rotate, and at the same time, each second gear 18 engages with the rack on the upper side of each installation box 14. By controlling the operation of the two second drive members 17 to drive the frame 11 to slide, the scissor-type composite device 2 and the grasping device 3 to slide along the width direction of the two steel frames 13, and the pipe segment reinforcement skeleton can be hoisted to more locations to meet the needs of transferring and storing the pipe segment reinforcement skeleton at different locations.

[0044] Reference Figure 1 and Figure 6 In some embodiments, the grasping device 3 includes a mounting base 31, two grasping members 32, and two third driving members 33. The mounting base 31 is fixedly connected to the lower side of the lower base 22. The two grasping members 32 are arranged opposite to each other and are rotatably connected to the lower side of the mounting base 31. The two third driving members 33 can be, but are not limited to, electric push cylinders, air cylinders, oil cylinders, etc. The two third driving members 33 are fixedly connected to the mounting base 31, and the power output shafts are distributed and connected to the two grasping members 32 to drive the two grasping members 32 to rotate, so that the two grasping members 32 are closer to or farther away from each other, thereby grasping the steel skeleton of the pipe segment. The structure is simple and easy to operate. It should be noted that there can be multiple grasping devices 3 and they are arranged at intervals along the width direction of the two steel frames 13 to improve the stability of grasping.

[0045] Reference Figure 6 In some embodiments, the grabbing member 32 includes a swing arm 321 and a movable clamping hook 322. One end of the swing arm 321 is rotatably connected to the mounting base 31, and the movable clamping hook 322 is threadedly connected to the other end of the swing arm 321. When grabbing the pipe segment steel frame, the movable clamping hook 322 passes between the two stirrups of the pipe segment steel frame. By rotating the movable clamping hook 322, the gap between the movable clamping hook 322 and the two stirrups can be fine-tuned so that the distance between the movable clamping hook 322 and the stirrups is controlled within 3 mm after the swing arm 321 is rotated, thereby reducing the impact of the movable clamping hook 322 on the pipe segment steel frame.

[0046] Reference Figure 6 and Figure 7 In some embodiments, the grabbing device 3 further includes two sliding seats 34, a bidirectional screw 35, and a fourth drive member (not shown). The two sliding seats 34 are both slidably connected to the mounting seat 31, and the sliding direction is the length direction of the two steel frames 13. The two swing arms 321 are respectively rotatably connected to the two sliding seats 34. The bidirectional screw 35 has a first thread and a second thread, which are rotatably connected to the mounting seat 31, and the two sliding seats 34 are respectively threadedly connected to the first thread and the second thread. The fourth drive member is a servo motor. The fourth drive member is fixedly connected to the mounting seat 31, and the power output shaft is fixedly connected to the bidirectional screw. The fourth drive member drives the bidirectional screw 35 to rotate, so that the two sliding seats 34 move closer to or farther away from each other, and the two grabbing members 32 move closer to or farther away from each other, so as to be suitable for pipe segment reinforcement skeletons of different specifications.

[0047] The implementation principle of this embodiment is: in actual application, the lifting member 12 drives the lower base 22 to move downward in the vertical direction, so that the lower base 22 is away from the upper base 21. During this process, the first link 231a and the second link 231b in each scissors member 231 rotate, and the second link 231b located at the top and the first link 231a located at the bottom slide, so that the length of each scissors member 231 in the vertical direction becomes longer, that is, each scissors assembly 23 extends in the vertical direction, and cooperates with the grasping device 3 to grasp the pipe segment steel frame, and then the lifting member 12 drives the lower base 22 to move upward in the vertical direction, and each scissors assembly 23 folds in the vertical direction to realize the lifting of the pipe segment steel frame.

[0048] Among them, since multiple scissor-type components 23 are extended and folded in the vertical direction, the upper base 21 and the lower base 22 are always supported, so that the rigidity of the scissor-type composite device 2 is relatively large. Even when the scissor-type composite device 2 is loaded and has the longest stroke, that is, when the distance between the lower base 22 and the upper base 21 is the largest, the scissor-type composite device 2 can be kept from deformation and shaking, so as to ensure that the grasping device 3 can stably grasp the pipe segment steel frame, and try to avoid the pipe segment steel frame from shaking during the lifting and movement process, so as to ensure the plane positioning accuracy of the lifting, thereby improving the lifting accuracy.

[0049] The above are all preferred embodiments of the present application, and are not intended to limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application should be included in the scope of protection of the present application.

Claims

1. A hoisting system for a segment steel frame, characterized in that: It comprises an intelligent gantry vehicle (1), a scissor-fork composite device (2) and a grabbing device (3); the intelligent gantry vehicle (1) comprises a frame (11) and a lifting member (12); the lifting member (12) is arranged on the upper side of the frame (11); The scissor-fork composite device (2) comprises an upper base (21), a lower base (22) and a plurality of scissor-fork assemblies (23); the upper base (21) is arranged on the lower side of the frame (11), and the lower base (22) is located below the upper base (21) and connected to the lifting member (12); the plurality of scissor-fork assemblies (23) are all arranged between the upper base (21) and the lower base (22) and are spaced apart along the circumference of the upper base (21); The scissor assembly (23) includes a plurality of scissor members (231) spaced apart in a vertical direction; the scissor members (231) include a first link (231a) and a second link (231b), the first link (231a) and the second link (231b) being rotatably connected, the first link (231a) of one of the scissor members (231) being rotatably connected to the second link (231b) of another of the scissor members (231), and the first link (231a) located at the top is rotatably connected to the upper base (21), the second link (231b) located at the top is slidably and rotatably connected to the upper base (21), the first link (231a) located at the bottom is slidably and rotatably connected to the lower base (22), and the second link (231b) located at the bottom is rotatably connected to the lower base (22); The grabbing device (3) is arranged on the lower side of the lower base (22) and is used to grab the steel reinforcement skeleton of the pipe segment.

2. The segment reinforcement skeleton hoisting system according to claim 1, characterized in that: The scissor assembly (23) further includes a plurality of telescopic tubes (232), wherein the plurality of telescopic tubes (232) are arranged at intervals in the vertical direction, wherein the telescopic tube (232) located at the top is arranged on the lower side of the upper base (21), and the telescopic tube (232) located at the bottom is arranged on the upper side of the lower base (22), and each telescopic tube (232) can be telescoped relative to an adjacent telescopic tube (232).

3. The segment reinforcement skeleton hoisting system according to claim 1, characterized in that: The scissor-fork composite device (2) further includes a plurality of travel limit switches (24) and a controller, wherein the plurality of travel limit switches (24) are spaced apart on the lower base (22) at the sliding position of the first connecting rod (231a), and the controller is electrically connected to the plurality of travel limit switches (24) and the lifting member (12).

4. The segment reinforcement skeleton hoisting system according to claim 1, characterized in that: The scissor-fork composite device (2) further comprises a fixed pulley (25) and a rope (26), wherein the fixed pulley (25) rotates on the upper side of the lower base (22), and the rope (26) is wound around the fixed pulley (25) and connected to the lifting member (12).

5. The segment reinforcement skeleton hoisting system according to claim 1, characterized in that: The intelligent gantry vehicle (1) further comprises two steel frames (13) and two installation boxes (14), wherein the two installation boxes (14) are slidably connected to the two steel frames (13) along the length direction of the two steel frames (13), the frame (11) is arranged on the upper side of the two installation boxes (14), and the scissor-fork composite device (2) is located between the two steel frames (13) and the two installation boxes (14).

6. The segment reinforcement skeleton hoisting system according to claim 5, characterized in that: The intelligent gantry vehicle (1) further comprises two first driving members (15) and two first gears (16), each of the first driving members (15) being arranged in each of the installation boxes (14) and being used to drive each of the first gears (16) to rotate, and the first gears (16) are meshed with the two steel frames (13).

7. The segment reinforcement skeleton hoisting system according to claim 5, characterized in that: The intelligent gantry vehicle (1) further comprises two second driving members (17) and two second gears (18); the frame (11) is slidably connected to the two installation boxes (14) along the width direction of the two steel frames (13); the two second driving members (17) are respectively arranged on both sides of the frame (11); each second driving member (17) is used to drive each second gear (18) to rotate, and each second gear (18) is engaged with the upper side of each installation box (14).

8. The segment reinforcement skeleton hoisting system according to claim 1, characterized in that: The grabbing device (3) comprises a mounting seat (31), two grabbing members (32) and two third driving members (33), wherein the mounting seat (31) is arranged on the lower side of the lower base (22), the two grabbing members (32) are arranged opposite to each other and are rotatably connected to the lower side of the mounting seat (31), and the two third driving members (33) are arranged on the mounting seat (31) and are used to drive the two grabbing members (32) to rotate so that the two grabbing members (32) are moved closer to or farther away from each other.

9. The segment reinforcement skeleton hoisting system according to claim 8, characterized in that: The grabbing member (32) comprises a swing arm (321) and a movable clamping hook (322), one end of the swing arm (321) is rotatably connected to the mounting seat (31), and the movable clamping hook (322) is threadedly connected to the other end of the swing arm (321).

10. The segment reinforcement skeleton hoisting system according to claim 8, characterized in that: The gripping device (3) further comprises two sliding seats (34), a bidirectional screw (35) and a fourth driving member, wherein the two sliding seats (34) are slidably connected to the mounting seat (31), and the two gripping members (32) are respectively arranged on the two sliding seats (34), the bidirectional screw (35) is rotationally connected to the mounting seat (31) and is threadedly connected to the two sliding seats (34), and the fourth driving member is arranged on the mounting seat (31) and is used to drive the bidirectional screw (35) to rotate so that the two sliding seats (34) are moved closer to or away from each other.

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