Container built-in telescopic crane for hoisting dam maintenance robot and robot hoisting process
By designing a container-integrated telescopic crane, the problem of insufficient working space inside and outside the container in existing technologies is solved, enabling efficient lifting and rapid movement of robots and reducing costs.
Patent Information
- Application Number
- CN202511285681.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-10
- Publication Date
- 2025-10-28
AI Technical Summary
Existing box cranes and vehicle-mounted cranes cannot take into account the working space inside and outside the container, and the top-opening door form is expensive, making it difficult to achieve efficient lifting and rapid movement of robots.
A container-integrated telescopic crane was designed, including a telescopic structure, a lifting mechanism, and a moving mechanism. Utilizing the top space of the container, the clever arrangement of the telescopic structure and guide wheels enables the robot to flexibly lift objects inside and outside the container.
It improves the utilization rate of container space, reduces additional vehicle rental costs, and enables robots to perform efficient lifting and posture adjustment inside and outside containers, meeting the needs of rapid robot movement in and out.
Smart Images
Figure CN120841348A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of telescopic crane technology, and relates to a container-built telescopic crane for hoisting a dam inspection robot and the robot hoisting process. Background Technology
[0002] Currently, the operating time of dams in China varies, and their safety directly impacts the lives and safety of people downstream. Therefore, underwater defect detection of dams is urgently needed. This has led to widespread research into robotics, which involves the issues of robot transportation and deployment. Robots are typically transported to hydroelectric dams using flatbed trucks or container trucks. To facilitate the entry and exit of containers, a device is needed to move robots in and out. Existing container cranes and truck-mounted cranes generally occupy a large amount of vertical space, making it difficult to simultaneously meet the needs of both internal and external working space, hindering the rapid movement of tall, large, and heavy items. Furthermore, the single-hook design, often used, cannot lift items close to the top of the container.
[0003] Currently, there are also top-opening containers on the market that use truck cranes or truck-mounted cranes to lift robots in and out from the top. However, this method is costly, uneconomical, and requires a large crane stand space. Summary of the Invention
[0004] This invention proposes a container-integrated telescopic crane to solve the aforementioned problems. This telescopic crane is installed on the top of the container, making full use of the container's top space and reducing the cost of additional vehicle rentals. Furthermore, the crane's structure is telescopic, allowing it to freely enter and exit the container, while also accommodating external container operations, fully meeting the needs of robots moving containers in and out.
[0005] To achieve the above objectives, the present invention provides the following technical solution:
[0006] A container-mounted telescopic crane for lifting dam inspection robots includes a telescopic structure, a lifting mechanism, and a moving mechanism. The telescopic structure comprises a primary planar truss 1, a secondary planar truss 2, a movable monorail beam 3, and a fixed monorail beam 5. The lifting mechanism enables lifting and lowering movements and is not limited to an electric hoist. The moving mechanism includes a motor, a reducer 43, bearings and bearing seats 41, a sprocket 42, and a chain 44, enabling the movement of the secondary planar truss 2 and the movable monorail beam 3.
[0007] Telescopic Structure: The primary planar truss 1 is fixedly connected to the top of the container 9. The secondary planar truss 2 is embedded within the primary planar truss 1 and can extend and retract within it. A first slider 21 and a second slider 22 are provided between the secondary planar truss 2 and the primary planar truss 1 for guiding and reducing friction. The end of the secondary planar truss 2 is equipped with a horizontal guide wheel 31 and a first lateral guide wheel 32 for guiding and reducing friction, preventing the secondary planar truss 2 from skewed. The movable monorail beam 3 is embedded within the secondary planar truss 2, with a composite roller bearing 35 between them. The composite roller bearing 35 includes vertical and horizontal bearings, providing support and guidance while occupying minimal space. Four horizontal guide wheels are also installed between the movable monorail beam 3 and the secondary planar truss 2 for guiding and preventing skewed operation. The fixed monorail beam 4 is fixed to the secondary planar truss 2. Both fixed monorail beams 4 are equipped with lifting mechanisms (electric hoists). The two lifting mechanisms (electric hoists) can operate synchronously or in coordination to change the posture of the hoisted item.
[0008] Mobility Mechanisms: Two mobility mechanisms are configured, arranged opposite each other inside the container 9. The first mobility mechanism 7 is mounted at the end of the primary planar truss 1 via the bearing and bearing seat 41, and is used to drive the movement of the secondary planar truss 2. The second mobility mechanism 8 is mounted at the end of the secondary planar truss 2, and is used to drive the movement of the movable monorail beam 3.
[0009] The chain 44 is broken in the middle and connected to the secondary planar truss 2 / movable monorail beam 3. When the motor and reducer 43 are running, they drive the sprocket 42 to rotate, which in turn moves the chain 44 and the secondary planar truss 2 / movable monorail beam 3.
[0010] The first slider 21 and the second slider 22 are respectively disposed on the inner side of the head of the first-level planar truss 1 and the outer side of the end of the second-level planar truss 2. Both the first slider 21 and the second slider 22 are made of polymer material, with smooth surface, low coefficient of friction, and small thickness, making them more compact than wheels and improving the stability and smoothness of operation.
[0011] The second lateral guide wheels 33 are installed on both sides inside the container door 9 to prevent the secondary planar truss 2 from running skewed.
[0012] Each guide wheel is made of bearings, which takes up little space.
[0013] The beneficial effects of the present invention are as follows:
[0014] This invention's unique telescopic structure not only improves the utilization rate of container space but also ensures efficient lifting both inside and outside the container. The telescopic structure uses channel steel, allowing for nested installation. Sliding blocks are arranged at the beginning and end of the primary and secondary planar trusses, and composite roller bearings are arranged between the movable monorail beam and the secondary planar truss. This design is more compact than wheels, reduces beam height, and increases the working space height within the container. The telescopic structure can be completely retracted into the container, minimizing space usage and providing more room for robot placement. When fully extended, the robot can be lifted out of the container for installation outside.
[0015] The system provides full coverage of the internal and external working spaces of the container. The secondary planar truss and movable monorail beam are nested and move within the primary planar truss, achieving longitudinal coverage of the container's working space. The lifting mechanism moves on the monorail beam, achieving lateral coverage of the container's working space. The lifting mechanism's vertical movement achieves vertical coverage of the container's working space. The secondary planar truss can also extend beyond the container, achieving external coverage of the container's working space.
[0016] The drive mechanism is cleverly arranged. The two moving mechanisms are positioned opposite each other inside the container, occupying minimal space. Two monorail beams are installed on the secondary planar truss, one movable and one fixed, thus saving one moving mechanism and allowing adjustment of the distance between the two monorail beams. This allows the lifting points of the suspended items to be set at lower levels or on the sides, facilitating the lifting of tall items and enabling changes in the orientation of the items—actions impossible with a single hook. Attached Figure Description
[0017] Figure 1 This is an isometric view of the overall structure of the present invention.
[0018] Figure 2 This is a view of the first-level planar truss slider of the present invention.
[0019] Figure 3 This is a view of the two-dimensional planar truss slider of the present invention.
[0020] Figure 4 This is a view of the secondary planar truss guide wheel of the present invention.
[0021] Figure 5 This is a view of the guide wheel next to the container door of the present invention.
[0022] Figure 6 This is a view of the movable monorail beam of the present invention.
[0023] Figure 7 This is a view of the moving mechanism of the present invention.
[0024] Figure 8This is a view of the lifting robot inside a container according to the present invention.
[0025] Figure 9 This is an external view of the robot being moved from the container according to the present invention.
[0026] Figure 10 This is a view of the invention of a single electric hoist lifting a powered buoy inside a container.
[0027] Figure 11 This is a view of the lifting point of the powered buoy connected to another electric hoist outside the container, according to the present invention.
[0028] Figure 12 This invention relates to a view of a powered buoy that is flipped in mid-air by two electric hoists.
[0029] In the diagram: 1. Primary planar truss; 2. Secondary planar truss; 3. Movable monorail beam; 4. Fixed monorail beam;
[0030] 5. Electric hoist No. 1; 6. Electric hoist No. 2; 7. Moving mechanism No. 1; 8. Moving mechanism No. 2; 9. Container;
[0031] 21 First slider; 22 Second slider; 31 Horizontal guide wheel; 32 First lateral guide wheel; 33 Second lateral guide wheel; 34 Third lateral guide wheel; 35 Composite roller bearing; 41 Bearing and bearing housing; 42 Sprocket; 43 Motor and reducer; 44 Chain. Detailed Implementation
[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to this specific embodiment.
[0033] The crane of this invention consists of a telescopic structure, a hoisting mechanism, and a moving mechanism. The telescopic mechanism includes a primary planar truss 1, a secondary planar truss 2, a movable monorail beam 3, and a fixed monorail beam 4. The hoisting mechanism includes a primary electric hoist 5 and a secondary electric hoist 6. The moving mechanism includes a motor and reducer 43, a bearing and bearing seat 41, a sprocket 42, and a chain 44.
[0034] The primary planar truss 1 is fixed to the top of the container 9 and is fixedly connected to the container 9. The secondary planar truss 2 is embedded in the primary planar truss 1. A second slider 22 and a first slider 21 are respectively provided on the outer end of the secondary planar truss 2 and the inner head of the primary planar truss 1. At the same time, a horizontal guide wheel 31 and a first lateral guide wheel 32 are also provided at the end of the secondary planar truss 2 to guide the secondary planar truss 2 and prevent it from running skewed.
[0035] Two fixed monorail beams 4 are set and embedded in the secondary planar truss 2. The fixed monorail beams 4 are fixed on the secondary planar truss, and the movable monorail beams 3 are equipped with composite roller bearings 35 and third lateral guide wheels 34 at both ends, and can move on the secondary planar truss 2 to adjust the distance between the two monorail beams.
[0036] Two lifting mechanisms (electric hoists) are provided. The first electric hoist 5 is installed on the fixed monorail beam 4, and the second electric hoist 6 is installed on the movable monorail beam 3. The two electric hoists can move synchronously or in coordination to adjust the posture of the object.
[0037] Two moving mechanisms are configured, arranged on opposite sides. The first moving mechanism 7 is mounted at the end of the primary planar truss 1 via the bearing and bearing seat 41, driving the secondary planar truss 2 to move. The second moving mechanism 8 is mounted at the end of the secondary planar truss 2, driving the movable monorail beam 3 to move.
[0038] The chain 44 is broken in the middle and connects the secondary planar truss 2 and the movable monorail beam 3. When the motor and reducer are energized and rotate, they drive the sprocket 42, which in turn moves the chain 44, the secondary planar truss 2, and the movable monorail beam 3.
[0039] The robotic lifting process using a built-in telescopic crane for this container is as follows:
[0040] When the robot moves out of the container, the second moving mechanism 8 is first energized. The motor and reducer 43 operate, driving the sprocket 42, which in turn moves the chain 44 and the movable monorail beam 3 to adjust the distance between the robot and the fixed monorail beam 4 until it is equal to the distance between the lifting points on both sides of the robot. If necessary, the first moving mechanism 7 drives the secondary planar truss 2 to adjust its position so that the two fixed monorail beams are aligned with the robot. Then, the two electric hoists are energized and adjusted to their lateral position on the container 9, ensuring they are directly above the robot's lifting point. The electric hoist hooks are then lowered and connected to the lifting points.
[0041] Simultaneously lift the two electric hoists to raise the robot off the ground. The first moving mechanism 7 drives the secondary planar truss 2 to move out of the container 9. Once in the appropriate position, drive the first and second electric hoists to simultaneously lower the robot to the ground. At this point, the robot has moved out of the container 9. Moving the robot into the container 9 is achieved by reversing the above steps.
[0042] The first moving mechanism 7 drives the secondary planar truss 2 to retract into the container 9, adjusting its position so that the first electric hoist 5 is directly above the powered buoy. Connecting the lifting point, the first electric hoist 5 is raised, lifting the powered buoy off the ground. The first electric hoist 5 is then moved to the middle position of the container 9. The secondary planar truss 2 is then driven to move the powered buoy outside the container 9. The movable monorail beam 3 is driven to adjust the distance between the two electric hoists. The second electric hoist 6 connects to the lower lifting point of the powered buoy and works in conjunction with the first electric hoist 5 to flip the powered buoy in mid-air from an upright to a horizontal position before landing.
Claims
1. A container-mounted telescopic crane for lifting dam inspection robots, characterized in that, It includes a telescopic structure, a lifting mechanism, and a moving mechanism; the telescopic structure includes a primary planar truss (1), a secondary planar truss (2), a movable monorail beam (3), and a fixed monorail beam (5); the lifting mechanism realizes lifting and lowering movements; the moving mechanism includes a motor, a reducer (43), a bearing and bearing seat (41), a sprocket (42), and a chain (44) to realize the movement of the secondary planar truss (2) and the movable monorail beam (3); The primary planar truss (1) is fixed to the top of the container (9) and is fixedly connected; the secondary planar truss (2) is embedded in the primary planar truss (1) and can extend and retract within the primary planar truss (1); a first slider (21) and a second slider (22) are provided between the secondary planar truss (2) and the primary planar truss (1) to guide and reduce friction; the end of the secondary planar truss (2) is provided with a horizontal guide wheel (31) and a first lateral guide wheel (32) to guide and reduce friction, preventing the secondary planar truss from being retracted. The truss (2) operates at an angle; the movable monorail beam (3) is embedded in the secondary planar truss (2), and a composite roller bearing (35) is provided between the two; the composite roller bearing (35) includes a vertical bearing and a horizontal bearing, which play a supporting and guiding role and occupy little space; four horizontal guide wheels are also installed between the movable monorail beam (3) and the secondary planar truss (2) to play a guiding role and prevent skew operation; the fixed monorail beam (4) is fixed on the secondary planar truss (2); a lifting mechanism is installed on both fixed monorail beams (4); Two moving mechanisms are set up and arranged on the left and right sides inside the container (9); the first moving mechanism (7) is installed at the end of the first-level planar truss (1) through the bearing and bearing seat (41) to drive the second-level planar truss (2) to move; the second moving mechanism (8) is installed at the end of the second-level planar truss (2) to drive the movable monorail beam (3) to move. The chain (44) is broken in the middle and connected to the secondary planar truss (2) / movable monorail beam (3); when the motor and reducer (43) are running, they drive the sprocket (42) to rotate, which in turn drives the chain (44) and the secondary planar truss (2) / movable monorail beam (3) to move. The first slider (21) and the second slider (22) are respectively disposed on the inner side of the head of the first-level planar truss 1 and the outer side of the end of the second-level planar truss (2); The second lateral guide wheels (33) are provided on both sides inside the door of the container (9) to prevent the secondary planar truss (2) from running skewed.
2. The container-mounted telescopic crane for lifting dam inspection robots according to claim 1, characterized in that, The lifting mechanism is an electric hoist.
3. The container-mounted telescopic crane for lifting dam inspection robots according to claim 1, characterized in that, Each guide wheel is a bearing.
4. The container-mounted telescopic crane for lifting dam inspection robots according to claim 1, characterized in that, The first slider (21) and the second slider (22) are made of polymer materials, with smooth surfaces, low coefficient of friction, and small thickness.
5. A robotic lifting process using a container-built telescopic crane for lifting dam inspection robots, characterized in that... The steps are as follows: When the robot moves out of the container, the second moving mechanism (8) is first powered on, the motor and reducer (43) operate, driving the sprocket (42), which in turn drives the chain (44) and the movable monorail beam (3) to move, in order to adjust the distance between the robot and the fixed monorail beam (4) until it is equal to the distance between the lifting points on both sides of the robot; if necessary, the first moving mechanism (7) drives the secondary planar truss (2) to adjust its position so that the two monorail beams are aligned with the robot; the two electric hoists are powered on and adjusted to their lateral position on the container (9) to ensure that they are directly above the robot's lifting point position; the electric hoist hooks are lowered and connected to the lifting points; Two electric hoists are lifted simultaneously to lift the robot off the ground; the first electric hoist (7) drives the second-level planar truss electric hoist (2) to move out of the container (9); Once the robot reaches the appropriate position, drive the No. 1 electric hoist (5) and the No. 2 electric hoist (6) to simultaneously lower the robot to the ground; at this point, the robot moves out of the container (9); the robot moves into the container (9), and the above steps are reversed. The first moving mechanism electric hoist (7) drives the secondary planar truss (2) to retract into the container (9), adjusts its position so that the first electric hoist (5) is directly above the power buoy, connects the lifting point, lifts the first electric hoist (5), the power buoy leaves the ground, and moves the first electric hoist (5) to the middle position of the container electric hoist (9); drives the secondary planar truss (2) to move the power buoy out of the container (9); drives the movable monorail beam (3) to adjust the distance between the two electric hoists, the second electric hoist (6) connects to the lower lifting point of the power buoy, works in coordination with the first electric hoist (5), flips the power buoy in the air from an upright state to a horizontal state, and then lands.