Hoisting device and hoisting method

Abstract

The invention discloses a hoisting device and a hoisting method, relates to the technical field of hoisting, and solves the technical problems that existing special hoisting hooks or hoisting beams are usually designed for culvert pipes with specific diameters and lengths, and when culvert pipes with different specifications need to be hoisted on a construction site, hoisting tools with various specifications need to be prepared in a targeted manner and tedious adjustment needs to be carried out. The device comprises a first connecting rod, one end of the first connecting rod is sequentially connected with a second connecting rod and a third connecting rod, the second connecting rod is perpendicular to the horizontal plane, and the third connecting rod is parallel to the first connecting rod; a plurality of abutting parts are arranged on the lower portion of the third connecting rod, an electric sliding rail is arranged on the lower portion of the third connecting rod, and first sliding blocks matched with the electric sliding rail are arranged on the upper portions of the abutting parts; a balancing weight capable of sliding on the first connecting rod is further arranged on the first connecting rod; the purpose is that self-adaptive configuration of supporting points can be completed without frequently replacing the lifting appliance when culvert pipes with different length specifications are lifted; and surrounding limiting and anti-swing constraint are formed on the culvert pipe from the structure.

Description

Technical Field

[0001] This invention belongs to the field of hoisting technology, specifically relating to a hoisting device and hoisting method. Background Technology

[0002] Culverts are widely used in highway, railway, water conservancy, and municipal engineering construction. They are characterized by high strength, good durability, and relatively convenient construction, and are widely used in drainage, culvert, and pipeline tunnel projects. The hoisting operation of culverts is a crucial link in the entire construction process, directly affecting the quality, efficiency, and safety of the project. For the hoisting of large tubular components such as culverts, the commonly used techniques on construction sites mainly include the following methods: The first is to use wire ropes or hoisting slings for bottom binding, relying on friction and the binding position to achieve lifting. However, this method requires manual binding and unbinding, which can easily cause squeezing and wear on the pipe body. The second method is to use specialized lifting hooks. Lifting beams or insertion-type lifting devices are used, which are typically inserted into the hollow end of the culvert to form a support. Prior art document No. 202310664812.5 discloses a lifting device for laying municipal culverts, comprising a U-shaped lifting body consisting of a horizontal section, a vertical section, and a lifting section. Two sets of positioning support mechanisms are installed at the bottom of the lifting section, each set containing a sliding seat. Positioning support rods are arranged on both sides of the sliding seat. The sliding seat moves vertically, cooperating with elastic elements, synchronous gears, or driving elements to create a certain force difference in the support rods during lifting and lowering, thereby improving lifting stability and enabling, to a certain extent, insertion lifting and inner wall contact support.

[0003] However, existing specialized hooks or lifting beams are often designed for culverts of specific diameters and lengths. When different specifications of culverts need to be hoisted on the construction site, various specifications of lifting tools need to be prepared and tedious adjustments need to be made. Furthermore, it is difficult to adjust to the optimal support point for culverts of varying lengths. Each hoisting operation requires manual binding and adjustment, which is not conducive to improving construction efficiency in projects that require the continuous installation of a large number of culverts. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a lifting device and method. By providing multiple abutment portions movable along an electric slide rail at the lower part of the third connecting rod, these portions can be quickly rearranged and evenly distributed according to the length of the culvert. This allows for adaptive configuration of support points without frequent changes to the lifting equipment when lifting culverts of different lengths. Simultaneously, the abutment portions have the ability to rotate horizontally, allowing them to switch from an axial to a radial abutment posture after entering the culvert, achieving a close contact with the inner wall of the culvert and reducing the risk of hard tops, uneven loading, or localized compression caused by differences in the inner diameter of the culvert. A slidable counterweight is provided on the first connecting rod, which can be used before and during lifting. During the process, the position is adjusted along the direction of the first connecting rod to compensate for the eccentric moment formed by the self-weight of the culvert and the device, reducing the overall tilting and overturning tendency. A closing part is set at the end of the first connecting rod away from the second connecting rod. The closing part can rotate around the first connecting rod as the axis and can form a closed structure with the first, second and third connecting rods, so that the device changes from an open support to a closed frame holding. Structurally, it forms a ring-shaped limit and anti-sway constraint on the culvert, reducing the swaying and relative displacement caused by wind load, start-stop impact and inertia during hoisting. This improves the accuracy and stability of the culvert placement and significantly reduces the reliance on manual secondary prying and adjustment at the bottom of the pit, improving the efficiency of continuous hoisting construction.

[0005] The technical solution adopted in this invention is as follows:

[0006] A hoisting device includes a first connecting rod, one end of which is sequentially connected to a second connecting rod and a third connecting rod. The second connecting rod is vertically aligned with a horizontal plane, and the third connecting rod is parallel to the first connecting rod. The lower part of the third connecting rod has several abutment portions, which are rotatable in the horizontal direction to abut against the inner wall of a culvert. The lower part of the third connecting rod is provided with an electric slide rail, and the upper part of the abutment portions has a first slider that cooperates with the electric slide rail. A counterweight block that can slide on the first connecting rod is also provided. A closing portion is provided at the end of the first connecting rod away from the second connecting rod, and the closing portion is rotatable about the first connecting rod as an axis, forming a closed loop with the first, second, and third connecting rods.

[0007] By adopting the above technical solution, multiple abutment parts that can move along the electric slide rail are set at the lower part of the third link. These abutment parts can be quickly rearranged and evenly distributed according to the length of the culvert, thus enabling adaptive configuration of support points without frequent changes of lifting equipment when hoisting culverts of different lengths. Simultaneously, the abutment parts have the ability to rotate horizontally, allowing them to switch from an axial to a radial abutment posture after entering the culvert, achieving a close fit with the inner wall of the culvert and reducing the risk of hard tops, uneven loading, or localized compression caused by differences in the inner diameter of the culvert. A sliding counterweight is set on the first link, which can move along the direction of the first link before and during hoisting. Position adjustments are made to compensate for the eccentric moment caused by the weight of the culvert and the device, reducing the overall tendency to tilt and overturn. A closing part is set at the end of the first link away from the second link. The closing part can rotate around the first link as the axis and can form a closed structure with the first, second and third links, changing the device from an open support to a closed frame holding. Structurally, it forms a ring-shaped limit and anti-sway constraint on the culvert, reducing the swaying and relative displacement caused by wind load, start-stop impact and inertia during hoisting. This improves the accuracy and stability of the culvert placement and significantly reduces the reliance on manual secondary prying and adjustment at the bottom of the pit, improving the efficiency of continuous hoisting construction.

[0008] Preferably, the abutting part includes a base, a first rotating assembly, and two abutting rods. The upper part of the base is fixed to the lower part of the first rotating assembly. The two abutting rods are mirror images of each other on both sides of the base. The ends of the abutting rods are fixed to the corresponding sides of the base. The abutting rods are electrically telescopic rods. The upper part of the first rotating assembly is fixed to the lower part of the corresponding first slider. The end of the abutting rod away from the end fixed to the base is provided with a contact part.

[0009] Using the above technical solution, the first rotating component drives the base to rotate as a whole, enabling the abutment rod to adapt to the inner side walls of the culvert. In the initial state, the first rotating component drives the abutment part to be parallel to the third connecting rod, i.e., in the axial direction of the culvert, which facilitates the smooth insertion of the upper pipe wall of the culvert between the first and second connecting rods. After insertion, the first rotating component rotates to adjust the abutment part to the radial direction of the culvert, facilitating abutment and avoiding rigid contact between culverts of different diameters and the abutment part. The abutment rod is an electrically telescopic rod, which can extend and retract to adjust its length, thereby adapting to culverts of different inner diameters. Symmetrical abutment is achieved through mirror setting, ensuring uniform load distribution. A contact part is provided at the end of the abutment rod to increase the contact area with the inner wall of the pipe, reduce local stress, avoid pressure damage or scratches to the pipe body during hoisting, and enhance clamping stability.

[0010] Preferably, the closing part includes a fourth link connected to the end of the first link away from the second link via a second rotating assembly; the fourth link is provided with a socket assembly on the side near the first link, the socket assembly being either a socket or a fifth link with a socket, and the third link is provided with a plug rod on the end near the socket assembly, the plug rod being an electrically telescopic rod.

[0011] Using the above technical solution, the fourth link is connected to the end of the first link via the second rotating assembly. In the initial state, the second rotating assembly drives the fourth link to be perpendicular to the horizontal plane, and the fourth link is located above the first link to avoid obstructing the insertion of the culvert. Then, the second rotating assembly drives the fourth link to rotate so that the fourth link is located below the first link, which facilitates the fourth link to assist in clamping. By inserting the insertion rod and the insertion hole assembly, the third link and the fourth link are quickly connected and locked to form a closed frame for the culvert, which enhances the overall rigidity during hoisting and prevents the culvert from shaking due to external forces during hoisting. The insertion rod is an electric telescopic rod, which can be remotely controlled for insertion and unlocking, improving efficiency and making it suitable for high-risk or repetitive operations. The insertion hole assembly is an insertion hole set on the fourth link, or extended through the fifth link, thereby adapting to different structural configurations.

[0012] Preferably, the insertion hole is located at the end of the fifth link near the insertion rod, the fifth link is an electric telescopic rod, and the end of the fifth link away from the insertion hole is fixed to the fourth link.

[0013] By adopting the above technical solution, the insertion hole position is extended by the fifth link, making it easier to align and insert the insertion rod. When the second rotating component drives the fourth link to rotate to be parallel to the radial direction of the culvert, the fifth link and the first link form a force-bearing structure that complements the third link.

[0014] Preferably, the first link is an electric telescopic rod, the telescopic part of the first link is provided with a first sliding groove, the fixed part of the first link is provided with a second sliding groove, the telescopic part can reciprocate inside the fixed part, and the fourth link is fixed to the end of the telescopic part through a second rotating assembly; the lower part of the counterweight is provided with a sliding assembly, and the sliding assembly can slide in cooperation with the first sliding groove and the second sliding groove.

[0015] Using the above technical solution, the first connecting rod, as an electric telescopic rod, can change its length to adapt to different culvert lengths. The lower part of the counterweight is equipped with a sliding component that can cooperate with the first and second sliding grooves to prevent the counterweight from derailing during sliding and ensure that the counterweight adjustment is stable and reliable.

[0016] Preferably, the first slide groove and the second slide groove are both symmetrically arranged as two lines. The sliding component is a second slider that is mirror-arranged on both sides of the counterweight. The second slider is L-shaped. The first connecting rod is provided with corresponding limiting holes along the length direction of the first slide groove and the second slide groove and on the second slider. Bolts are detachably connected to the limiting holes.

[0017] Preferably, the sliding assembly includes a first roller and a second roller that contact the first connecting rod, the counterweight has a placement groove inside, a rotary motor is fixed inside the placement groove, and the output shaft of the rotary motor drives the first roller to rotate through a transmission assembly;

[0018] Two fixing blocks are symmetrically arranged at the bottom of the counterweight. Two second rollers are provided, which are symmetrically arranged on the side of the fixing blocks near the side wall of the first connecting rod. The lower end of the fixing block is provided with a groove, and an elastic support component is provided inside the groove. The second roller is rotatably connected to the elastic support component.

[0019] By adopting the above technical solution, the first roller driven by a rotating motor enables the counterweight to move actively on the first connecting rod. This eliminates the need for manual adjustment of the counterweight's position, facilitating automatic and precise positioning to the optimal balance point laterally, and significantly improving the intelligence level and response speed of the hoisting process. The elastic support component allows the second roller to interact within a certain range, ensuring that the second roller always adheres to the side wall of the first connecting rod and buffers the impact caused by uneven tracks and joints, preventing jamming and derailment. The first roller is responsible for driving and main load-bearing, while the second roller is responsible for lateral guidance and auxiliary support. Because the symmetrical second rollers are in close contact with the side wall of the first connecting rod, the lateral swing and torsion of the counterweight are limited, ensuring the stability of the counterweight during movement.

[0020] Preferably, the upper part of the first connecting rod is provided with a connecting part, and the connecting part is provided with a first control system, a power supply and a first signal transceiver system. The first control system is electrically connected to the power supply and the first signal transceiver system respectively. The electric slide rail, the first connecting rod, the insert rod, the fifth connecting rod, the abutment rod, the first rotation assembly and the second rotation assembly are all electrically connected to the first control system and the power supply respectively. A remote control for remote operation is also provided, and the remote control is provided with a second control system and a second signal transceiver system. The second signal transceiver system is electrically connected to the second control system and is wirelessly connected to the first signal transceiver system. The counterweight placement slot is provided with an inertial measurement unit module, a third signal transceiver system, a third control system and a power supply. The third signal transceiver system is wirelessly connected to the first signal transceiver system. The third control system is electrically connected to the inertial measurement unit module, the third signal transceiver system, the rotating motor and the power supply respectively. The power supply is electrically connected to the rotating motor.

[0021] The contact portion on the electric slide rail is electrically connected to the first control system and power supply via a flexible cable, which is existing technology well known to those skilled in the art and will not be described in detail here.

[0022] The power supply inside the counterweight is an independent power source.

[0023] By adopting the above technical solution, a unified central control unit is constructed by setting a first control system on the first connecting rod and electrically connecting it to all electric actuators. This central control unit can coordinate and control the actions of all mechanical components. By setting a remote control with a second control system and a wireless communication module, operators can control the entire hoisting device in real time from a safe distance, avoiding the danger of operators being under the heavy load. The inertial measurement unit module can monitor the tilt angle parameters of the counterweight in real time to evaluate the real-time balance status of the hoisting system or assist in positioning. The third control system, based on the balance command sent by the first control system and combined with its own measurement data, controls the rotating motor to drive the counterweight to automatically slide to the optimal balance position where the tilt angle of the inertial measurement unit module is 0. This avoids manual adjustment of the counterweight and realizes dynamic optimization and real-time maintenance of balance during hoisting. It also avoids the tilting of the culvert caused by wind or bird interference during hoisting, greatly improving the stability of the hoisting.

[0024] A hoisting method, employing the aforementioned hoisting device, includes the following steps:

[0025] Step 1: In the initial state, the fourth link is located above the first link, and the abutment rod of the abutment part is rotated to a direction parallel to the third link;

[0026] Step 2: The space between the first and third links passes through one end of the culvert until the end of the culvert to be inserted is located at the end of the third link and in contact with the second link. Control the second rotating assembly to rotate the fourth link downward from the vertical position, so that it swings below the first link. The fifth link assists in alignment, so that the insertion rod is accurately inserted into the insertion hole. At this time, the first, second, third, fourth and fifth links together form a rigid square closed frame, which stably surrounds the culvert.

[0027] Step 3: With the side walls of the second and fourth connecting rods in contact with both ends of the culvert, slowly lift the hoisting device so that the lower surfaces of the third and fifth connecting rods adhere to the top of the upper inner wall of the culvert.

[0028] Step 4: Drive multiple abutment parts to move along the electric slide rail. According to the actual length of different culverts, distribute the abutment parts at equal intervals along their length. The first rotating component rotates 90 degrees synchronously in the horizontal plane, so that the two abutment rods turn from axial to radial. The abutment rods adapt to the inner diameter of the culvert until the contact part at their end firmly abuts against the inner wall of the culvert, forming a symmetrical abutment force.

[0029] Step 5: The counterweight automatically moves to its initial position based on the culvert length data temporarily stored in the first control system, thereby performing the first stage of adjustment to the counterweight position;

[0030] Step 6: Lift smoothly; the third control system controls the counterweight to perform the second stage of adjustment.

[0031] Preferably, the first-stage adjustment of the counterweight in step 5 is as follows: the first control system collects the initial position of the counterweight corresponding to different culvert lengths, compares the current culvert length with the previously saved culvert length, and when a culvert length is input, it corresponds to the position of a counterweight.

[0032] Since the weight of the culvert and other factors will vary each time, it is best to fine-tune the counterweight. As shown in step 6, the second-level adjustment of the counterweight is as follows: the inertial measurement module provides real-time feedback on the attitude of the counterweight and the overall tilt angle of the device. The third control system then makes dynamic fine adjustments to the movement trajectory of the counterweight until the counterweight is always in a balanced position with a horizontal tilt angle of 0.

[0033] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0034] 1. By setting multiple abutment parts at the lower part of the third link that can move along the electric slide rail, the abutment parts can be quickly rearranged and evenly distributed according to the length direction of the culvert. This allows for adaptive configuration of support points without frequent changes of lifting equipment when hoisting culverts of different lengths. Simultaneously, the abutment parts have the ability to rotate horizontally, allowing them to switch from an axial to a radial abutment posture after entering the culvert, thus achieving a close fit with the inner wall of the culvert and reducing the risk of hard tops, uneven loads, or localized compression caused by differences in the inner diameter of the culvert. A sliding counterweight is set on the first link, which can be positioned along the direction of the first link before and during hoisting. Adjustments are made to compensate for the eccentric moment caused by the weight of the culvert and the device, reducing the overall tendency to tilt and overturn. A closing part is set at the end of the first link away from the second link. The closing part can rotate around the first link as the axis and can form a closed structure with the first, second and third links, changing the device from an open support to a closed frame holding. Structurally, it forms a ring-shaped limit and anti-sway constraint on the culvert, reducing the swaying and relative displacement caused by wind load, start-stop impact and inertia during hoisting. This improves the accuracy and stability of the culvert placement and significantly reduces the reliance on manual secondary prying and adjustment at the bottom of the pit, improving the efficiency of continuous hoisting construction.

[0035] 2. By setting up first-level and second-level adjustments, the first-level adjustment is based on historical data stored in the first control system, namely the correspondence between the culvert length and the counterweight position. At the start of the hoisting operation, it can automatically and quickly move the counterweight to an optimal position according to the current culvert length, avoiding the need for tedious manual adjustments or complex calculations from scratch for each hoisting, and greatly shortening the preparation time before hoisting. The second-level adjustment is the core of balance control. Through the inertial measurement module integrated inside the counterweight, the tilt angle parameters of the hoisting system are monitored in real time. The third control system can perceive the slight imbalance trend caused by uncertain factors such as culvert weight deviation, wind disturbance, and start-stop inertia in real time. Based on this real-time data, the third control system can dynamically and continuously fine-tune the position of the counterweight, so that the counterweight always tracks and maintains the optimal balance position in real time. Attached Figure Description

[0036] The present invention will be described by way of example and with reference to the accompanying drawings, wherein:

[0037] Figure 1 This is a schematic diagram of the initial state structure of a hoisting device according to the present invention;

[0038] Figure 2 This is a schematic diagram of the structure in the completed connection state of this invention;

[0039] Figure 3 This is a schematic diagram of the structure that holds the culvert in the invention;

[0040] Figure 4 This is a schematic diagram of the connection structure of the abutment part in the invention;

[0041] Figure 5 This is a schematic diagram of the connection structure of a hoisting device in Embodiment 6 of the invention;

[0042] Figure 6 This is a schematic diagram of the internal structure of the counterweight in Embodiment 6 of the invention;

[0043] Figure 7 This is a schematic diagram of the connection structure of the first link in the invention.

[0044] Figure Labels

[0045] 1-Connecting part, 2-First connecting rod, 3-Second connecting rod, 4-Third connecting rod, 5-Abutting part, 501-Base, 502-First rotating assembly, 503-Abutting rod, 504-Contact part, 6-Fourth connecting rod, 7-Second rotating assembly, 8-Counterweight block, 9-Fifth connecting rod, 10-Insertion hole, 11-Insertion rod, 12-First sliding groove, 13-Second sliding groove, 14-Limiting hole, 15-Culvert, 16-Placement groove, 17-Rotating motor, 18-First rotating rod, 19-First bevel gear, 20-Second rotating rod, 21-First roller, 22-Fixing block, 23-Elastic element, 24-Fixing seat, 25-Second roller, 26-Protrusion point, 27-Inertial measurement module, 28-Display screen, 29-Operation panel, 30-Chamfer. Detailed Implementation

[0046] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0047] The following is combined Figures 1-7 The present invention will be described in detail below.

[0048] Example 1

[0049] A hoisting device, as shown in the attached document. Figure 1The culvert 15 includes a first connecting rod 2, one end of which is sequentially connected to a second connecting rod 3 and a third connecting rod 4. The second connecting rod 3 is vertically aligned with the horizontal plane, and the third connecting rod 4 is parallel to the first connecting rod 2. The lower part of the third connecting rod 4 has several abutment portions 5, which can rotate horizontally to abut against the inner wall of the culvert 15. The lower part of the third connecting rod 4 has an electric slide rail, and the upper part of the abutment portions 5 has a first slider that cooperates with the electric slide rail. The first connecting rod 2 also has a sliding mechanism. Weight 8; A closing part is provided at the end of the first connecting rod 2 away from the second connecting rod 3. The closing part can rotate about the first connecting rod 2 as an axis. The closing part can form a closure with the first connecting rod 2, the second connecting rod 3, and the third connecting rod 4; By providing multiple abutment parts 5 that can move along the electric slide rail at the lower part of the third connecting rod 4, the abutment parts 5 can be quickly rearranged and evenly distributed according to the length direction of the culvert 15. Thus, when hoisting culverts 15 of different lengths, the adaptive configuration of the support points can be completed without frequent changes of the lifting tools; at the same time, The contact part 5 has the ability to rotate in the horizontal direction, allowing it to switch from an axial posture to a radial contact posture after entering the culvert 15, thereby achieving a close contact with the inner wall of the culvert 15 and reducing the risk of hard top, eccentric load, or local squeezing caused by differences in the inner diameter of the culvert 15; a sliding counterweight 8 is provided on the first connecting rod 2, which can be adjusted in position along the direction of the first connecting rod 2 before and during lifting to compensate for the eccentric moment formed by the weight of the culvert 15 and the device itself, reducing the overall tendency to tilt and overturn; the first connecting rod 2 is away from The end of the second link 3 is provided with a closing part. The closing part can rotate around the first link 2 as the axis and can form a closed structure with the first link 2, the second link 3 and the third link 4, so that the device changes from an open support to a closed frame holding. Structurally, it forms a ring-shaped limit and anti-sway constraint on the culvert 15, reducing the swaying and relative displacement caused by wind load, start-stop impact and inertia during hoisting, thereby improving the accuracy and stability of the culvert 15 in placement, and significantly reducing the reliance on manual secondary prying and adjustment at the bottom of the pit, thus improving the efficiency of continuous hoisting construction.

[0050] The fixed ends of the first link 2, the second link 3, and the third link 4 are integrally formed.

[0051] Example 2

[0052] In this embodiment, refer to the appendix. Figure 4The abutting part 5 includes a base 501, a first rotating assembly 502, and two abutting rods 503. The upper part of the base 501 is fixed to the lower part of the first rotating assembly 502. The two abutting rods 503 are mirror images of each other on both sides of the base 501, and the ends of the abutting rods 503 are fixed to the corresponding sides of the base 501. The abutting rods 503 are electrically telescopic rods. The upper part of the first rotating assembly 502 is fixed to the lower part of the corresponding first slider. A contact part 504 is provided at the end of the abutting rod 503 away from the fixed part of the base 501. The first rotating assembly 502 drives the base 501 to rotate as a whole, so that the abutting rods 503 can adapt to the internal side walls of the culvert 15. In the initial state, the first rotating assembly... 502 drives the abutment part 5 to be parallel to the third connecting rod 4, i.e., in the axial direction of the culvert 15, so that the upper pipe wall of the culvert 15 can be smoothly inserted between the first connecting rod 2 and the second connecting rod 3. After insertion, the first rotating component 502 rotates to drive the abutment part 5 to be adjusted to the radial direction of the culvert 15, so that the abutment part 5 can abut against the pipe and avoid rigid contact between the culvert 15 and the abutment part 5 with pipes of different diameters. The abutment rod 503 is an electric telescopic rod, which can be extended and adjusted in length to adapt to pipes of different inner diameters such as the culvert 15. Symmetrical abutment is achieved by mirror setting to ensure uniform load distribution. A contact part 504 is provided at the end of the abutment rod 503 to increase the contact area with the inner wall of the pipe, reduce local stress, avoid pressure damage or scratches to the pipe during hoisting, and enhance clamping stability.

[0053] Among them, the abutment part 5 has three parts.

[0054] The contact part 504 is made of a silicone material layer with raised dots on the surface, with a thickness of 0.5cm.

[0055] Among them, a pressure sensing chip is arranged under the silicone material layer of the contact part 504.

[0056] Example 3

[0057] In this embodiment, the closing part includes a fourth link 6 connected to the end of the first link 2 away from the second link 3 via a second rotating assembly 7; a socket 10 assembly is provided on the side of the fourth link 6 near the first link 2, the socket 10 assembly being either a socket 10 or a fifth link 9 with a socket 10; a plug rod 11 is provided on the end of the third link 4 near the socket 10 assembly, the plug rod 11 being an electrically telescopic rod; the fourth link 6 is connected to the end of the first link 2 via the second rotating assembly 7. In the initial state, the second rotating assembly 7 drives the fourth link 6 to be perpendicular to the horizontal plane, and the fourth link 6 is located above the first link 2 to avoid obstructing the insertion of the culvert 15. Afterwards, the second rotating assembly 7 drives the fourth link 6 to rotate so that the fourth link 6 is located below the first link 2, facilitating clamping with the fourth link 6; by inserting the plug rod 11 into the socket 10 assembly, the third link 4 and the fourth link 6 are quickly connected and locked. (Refer to attached figure) Figures 2-3 This forms a closed frame for the culvert 15, enhancing the overall rigidity during hoisting and preventing the culvert 15 from swaying due to external forces during hoisting. The insertion rod 11 is an electric telescopic rod that can be remotely controlled for insertion and unlocking, improving efficiency and making it suitable for high-risk or repetitive operations. The insertion hole 10 assembly is an insertion hole 10 set on the fourth link 6, or extended through the fifth link 9, thereby adapting to different structural configurations.

[0058] In this embodiment, the insertion hole 10 is located at the end of the fifth link 9 near the insertion rod 11. The fifth link 9 is an electric telescopic rod, and the end of the fifth link 9 away from the insertion hole 10 is fixed to the fourth link 6. By extending the position of the insertion hole 10 through the fifth link 9, the insertion rod 11 is more easily aligned and inserted. When the second rotating assembly 7 drives the fourth link 6 to rotate to be parallel to the axial direction of the culvert 15, the fifth link 9 and the first link 2 form a force-bearing structure that complements the third link 4.

[0059] Example 4

[0060] In this embodiment, the first connecting rod 2 is an electric telescopic rod. The telescopic part of the first connecting rod 2 is provided with a first sliding groove 12, and the fixed part of the first connecting rod 2 is provided with a second sliding groove 13. The telescopic part can reciprocate inside the fixed part. The fourth connecting rod 6 is fixed to the end of the telescopic part through a second rotating assembly 7. The lower part of the counterweight 8 is provided with a sliding assembly, which can slide in cooperation with the first sliding groove 12 and the second sliding groove 13. As an electric telescopic rod, the first connecting rod 2 can change its length to adapt to different culvert 15 lengths. The lower part of the counterweight 8 is provided with a sliding assembly, which can cooperate with the first sliding groove 12 and the second sliding groove 13 to prevent the counterweight 8 from derailing during sliding and ensure that the counterweight adjustment is stable and reliable.

[0061] Example 5

[0062] In this embodiment, the first slide groove 12 and the second slide groove 13 are both symmetrically arranged as two slides. The sliding component is a second slider that is mirror-arranged on both sides of the counterweight block 8. The second slider is L-shaped. The first connecting rod 2 is provided with corresponding limiting holes 14 along the length direction of the first slide groove 12 and the second slide groove 13 and on the second slider. Bolts are detachably connected to the limiting holes 14.

[0063] Both the first slewing assembly 502 and the second slewing assembly 7 in this application are slewing bearings.

[0064] Example 6

[0065] In this embodiment, refer to the appendix. Figures 5-7The sliding assembly includes a first roller 21 and a second roller 25. The counterweight 8 has a placement groove 16 inside, and a rotating motor 17 is fixed inside the placement groove 16. The output shaft of the rotating motor 17 is perpendicular to the horizontal plane. The output end of the rotating motor 17 is fixed to a first bevel gear 19 via a first rotating rod 18. The first rotating rod 18 rotates through the lower part of the placement groove 16 via a bearing. The first bevel gear 19 meshes with a second bevel gear. The second bevel gear is coaxially fixed to a second rotating rod 20. The first roller 21 is coaxially fixed to the second rotating rod 20. Two fixing blocks 22 are symmetrically arranged at the bottom of the counterweight 8. Two second rollers 25 are provided, symmetrically arranged on the side of the fixing block 22 near the side wall of the first connecting rod 2. The lower end of each fixing block 22 has a groove, inside which an elastic element 23 is provided. A fixing seat 24 is movably disposed inside the groove. One end of the elastic element 23 is fixed to the inner wall of the groove, and the other end is fixed to the end of the fixing seat 24. The second roller 25 is rotatably connected to the end of the fixing seat 24 away from the elastic element 23 via a rotating shaft. The rotation direction of the rotating shaft is consistent with the direction of the first sliding groove 12 and the second sliding groove 13. The fixing part of the first connecting rod 2 is located near the telescopic part. The part is provided with a chamfer of 30°; by setting a first bevel gear 19, a second bevel gear and a first roller 21 driven by a rotating motor 17, the counterweight 8 can actively move on the first connecting rod 2; this avoids manual adjustment of the position of the counterweight 8, making it easier to locate the optimal balance point later, and significantly improving the intelligence level and response speed of the hoisting process; when the counterweight 8 slides on the first connecting rod 2 and needs to cross the joint between the second slide groove 13 of the fixed part and the first slide groove 12 of the telescopic part, the fixed seat 24 of the elastic element 23 and the second roller 25 float within a certain range under the guidance of the elastic element 23, so that the second roller 25 can always fit against the first connecting rod 2. The sidewalls of the first connecting rod 2 are cushioned by uneven tracks and joints, preventing jamming and derailment. The first roller 21 is responsible for driving and bearing the main load, while the second roller 25 is responsible for lateral guidance and auxiliary support. Since the symmetrical second roller 25 is close to the sidewall of the first connecting rod 2, the lateral swing and torsion of the counterweight 8 are limited, ensuring the stability of the counterweight 8 during movement. The chamfer 30 forms a sloped transition area at the end of the fixed part. When the sliding component of the counterweight 8 moves from the second slide groove 13 area of ​​the fixed part to the first slide groove 12 area of ​​the telescopic part or moves in the opposite direction, the chamfer 30 can smoothly guide the second roller 25 to transition, avoiding sudden collisions caused by right-angled edges.

[0066] Example 7

[0067] In this embodiment, a connecting part 1 is provided on the upper part of the first connecting rod 2. The connecting part 1 houses a first control system, a power supply, and a first signal transceiver system. The first control system is electrically connected to both the power supply and the first signal transceiver system. The electric slide rail, the first connecting rod 2, the insert rod 11, the fifth connecting rod 9, the abutment rod 503, the first rotation assembly 502, and the second rotation assembly 7 are all electrically connected to the first control system and the power supply. A remote control for remote operation is also provided, which houses a second control system and a second signal transceiver system. The second signal transceiver system is electrically connected to the second control system and wirelessly connected to the first signal transceiver system. The placement slot 16 of the counterweight 8 houses an inertial measurement unit module 27, a third signal transceiver system, a third control system, and a power supply. The third signal transceiver system is wirelessly connected to the first signal transceiver system. The third control system is connected to the inertial measurement unit module 27, the third signal transceiver system, and the rotating motor 17. The power supply is electrically connected to the rotating motor 17. By setting a first control system on the first connecting rod 2 and electrically connecting it to all electric actuators, a unified central control unit is constructed, which can coordinate and control the actions of all mechanical parts. By setting a remote control with a second control system and a wireless communication module, the operator can control the entire hoisting device in real time from a safe distance, avoiding the danger of the operator being under the heavy object. The inertial measurement module 27 can monitor the tilt angle parameters of the counterweight 8 in real time to evaluate the real-time balance status of the hoisting system or assist in positioning. The third control system controls the rotating motor 17 to drive the counterweight 8 to automatically slide to the optimal balance position where the tilt angle of the inertial measurement module 27 is 0, based on the balance command sent by the first control system and combined with its own measurement data. This avoids the need for manual adjustment of the counterweight 8, realizes dynamic optimization and real-time maintenance of balance during hoisting, avoids the tilting of the culvert 15 caused by wind or birds and other interference factors during hoisting, and greatly improves the stability of hoisting.

[0068] The connecting part 1 and the placement slot 16 of the counterweight 8 are equipped with mutually cooperating distance sensors to determine the moving distance of the counterweight 8 relative to the original input position.

[0069] The contact part 5 on the electric slide rail is electrically connected to the first control system and power supply via a flexible cable, which is existing technology well known to those skilled in the art and will not be described in detail here.

[0070] The power supply inside counterweight 8 is an independent power supply.

[0071] The upper outer wall of the first connecting rod 2 is provided with protrusions 26 for increasing friction.

[0072] Example 8

[0073] One hoisting method, see attached document. Figures 2-3 The above-mentioned hoisting device includes the following steps:

[0074] Step 1: Send a command via remote control to control the second rotating assembly 7 to rotate the fourth connecting rod 6 to a position perpendicular to the horizontal plane and above the first connecting rod 2, making room for the culvert 15 to be inserted. Control each first rotating assembly 502 to rotate the abutting rods 503 of all abutting parts 5 to a direction parallel to the third connecting rod 4, i.e., the axis of the culvert 15, so as to smoothly enter the culvert 15. Ensure that the insertion rod 11 and the first connecting rod 2, which is an electric telescopic rod, are in the retracted state. The fifth connecting rod 9 also retracts accordingly. At this time, the insertion rod 11 separates from the insertion hole 10. Operate the main crane to move and lower the entire lifting device above the culvert 15 to be lifted.

[0075] Step 2: Slowly adjust the crane so that the central axis of the culvert 15 is parallel to the third link 4; drive the lifting device so that the space between the first link 2 and the third link 4 smoothly passes through one end of the culvert 15. After passing through, the third link 4 is located in the upper part of the culvert 15. The telescopic part of the first link 2 extends adaptively according to the length of the culvert 15. Control the second rotating component 7 to rotate the fourth link 6 downward from the vertical position, so that it swings to below the first link 2. Control the insertion rod 11 at the end of the third link 4 to extend, and at the same time control the fifth link 9 to assist in alignment so that the insertion rod 11 is accurately inserted into the insertion hole 10. At this time, the first link 2, the second link 3, the third link 4, the fourth link 6 and the fifth link 9 together form a rigid square closed frame, which securely surrounds the culvert 15.

[0076] Step 3: The telescopic part of the first link 2 is shortened adaptively according to the length of the culvert 15 until the side walls of the second link 3 and the fourth link 6 are in contact with the two ends of the culvert 15 respectively. The hoisting device is slowly lifted so that the lower surfaces of the third link 4 and the fifth link 9 are attached to the top of the upper inner wall of the culvert 15.

[0077] Step 4: The operator controls the electric slide rail at the bottom of the third link 4 via remote control, driving multiple abutment parts 5 to move along the electric slide rail. According to the actual length of different culverts 15, the abutment parts 5 are evenly distributed along their length. The operator controls all the first rotating components 502 to rotate 90 degrees synchronously in the horizontal plane via remote control, thereby driving each abutment part 5 to rotate as a whole, so that the two abutment rods 503 turn from axial to radial, aligning with the inner wall of the culvert 15. The operator sends a command, and all abutment rods 503 extend outward at the same time. Each abutment rod 503 adapts to the inner diameter of the culvert 15 until the contact part 504 at its end firmly abuts against the inner wall of the culvert 15, forming a symmetrical abutment force.

[0078] In the initial state, when the length of the culvert 15 is longer than the length of the third link 4, the distance of each abutment 5 is evenly divided into the third link 4; when the length of the culvert 15 is less than the length of the third link 4, the distance of each abutment 5 is evenly divided into the culvert 15 as a spacing.

[0079] Step 5: The counterweight 8 automatically moves to its initial position based on the length data of the culvert 15 temporarily stored in the first control system, thereby performing the first stage of adjustment of the position of the counterweight 8.

[0080] Step 6: After the counterweight 8 is in place, the operator confirms that all components are in normal condition through the remote control and the display screen 28 on the device. The operator then operates the main crane to start lifting slowly and steadily. Since the culvert 15 is rigidly held in a balanced closed frame, the lifting process remains stable. At this time, the third control system controls the counterweight 8 to perform the second-stage adjustment.

[0081] Example 9

[0082] In step 5, the first-stage adjustment of the counterweight 8 is as follows: The first control system collects the initial positions of the counterweight 8 corresponding to different culvert 15 lengths. The initial position is calculated by comparing the current culvert 15 length with the previously saved culvert 15 length. When a culvert 15 length is input, the lever principle corresponds to the position of a counterweight 8. The obtained counterweight target position command is sent to the third control system inside the counterweight 8. After receiving the command, the third control system starts the rotating motor 17, drives the first roller 21, and makes the entire counterweight 8 automatically slide to the position along the first slide groove 12 and the second slide groove 13 on the first connecting rod 2. Since the weight of the culvert 15 and other factors will vary each time, it is best to perform fine adjustment of the counterweight 8, as shown in step 6.

[0083] In step 6, the second-stage adjustment of the counterweight 8 is as follows: the inertial measurement module 27 provides real-time feedback on the attitude of the counterweight 8 and the overall tilt angle of the device. Based on this, the third control system dynamically fine-tunes the movement trajectory of the counterweight 8 until the counterweight 8 is always in a balanced position with a horizontal tilt angle of 0. During the hoisting process, the inertial measurement module 27 continuously monitors the tilt angle of the device. If an over-threshold swing is detected, the third control system sends a signal to the second control system through the first control system, thereby temporarily reducing the hoisting speed and further avoiding large swings in case of accidents.

[0084] Example 10

[0085] In step 6, after the first successful hoisting of a culvert 15 of a certain specification, the operator saves all current parameters such as the length L, weight W, wall thickness t, distribution of the abutment part 5, stroke of the abutment rod 503, stroke of the insertion rod 11, stroke of the fifth connecting rod 9, stroke of the first connecting rod 2, position of the counterweight 8, and hoisting speed as a pre-stored working condition template. Before the next hoisting, the operator inputs the basic parameters such as the length and weight of the new culvert 15 on the operation panel 29. The first control system will compare the new parameters with the pre-stored working condition template library. If the same or similar specifications are matched, the corresponding optimal parameter group will be automatically called, and all settings will be restored with one click, realizing rapid hoisting in the pre-stored working condition memory mode. This eliminates the need to repeatedly operate the remote control to adjust the device parameters. If no existing template is matched, the system will record the optimized parameters of this hoisting as a new template, continuously expanding the database to adapt to more diverse construction needs.

[0086] It should be noted that:

[0087] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general deviations defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the deviations and novel features disclosed herein.

Claims

1. A hoisting device, characterized in that, The device includes a first connecting rod (2), one end of which is connected to a second connecting rod (3) and a third connecting rod (4) in sequence. The second connecting rod (3) is set vertically to the horizontal plane, and the third connecting rod (4) is parallel to the first connecting rod (2). The lower part of the third connecting rod (4) is provided with several abutting parts (5), which can rotate in the horizontal direction to abut against the inner wall of the culvert (15). The lower part of the third connecting rod (4) is provided with an electric slide rail, and the upper part of the abutting parts (5) is provided with a first slider that cooperates with the electric slide rail. The first connecting rod (2) is also provided with a counterweight (8) that can slide on it. The end of the first connecting rod (2) away from the second connecting rod (3) is provided with a closing part, which can rotate about the first connecting rod (2) as the axis, and the closing part can form a closure with the first connecting rod (2), the second connecting rod (3) and the third connecting rod (4).

2. The hoisting device according to claim 1, characterized in that, The abutting part (5) includes a base (501), a first rotating assembly (502), and two abutting rods (503). The upper part of the base (501) is fixed to the lower part of the first rotating assembly (502). The two abutting rods (503) are mirror images of each other on both sides of the base (501). The ends of the abutting rods (503) are fixed to the corresponding sides of the base (501). The abutting rods (503) are electric telescopic rods. The upper part of the first rotating assembly (502) is fixed to the lower part of the corresponding first slider. The abutting rod (503) has a contact part (504) at the end away from the base (501).

3. A hoisting device according to claim 2, characterized in that, The closing part includes a fourth link (6) connected to the end of the first link (2) away from the second link (3) via a second rotating assembly (7); the fourth link (6) is provided with a socket assembly on the side near the first link (2), the socket assembly being either a socket (10) or a fifth link (9) with a socket (10), and the third link (4) is provided with a plug rod (11) on the end near the socket assembly, the plug rod (11) being an electric telescopic rod.

4. A hoisting device according to claim 3, characterized in that, The insertion hole (10) is located at one end of the fifth link (9) near the insertion rod (11). The fifth link (9) is an electric telescopic rod. The end of the fifth link (9) away from the insertion hole (10) is fixed to the fourth link (6).

5. A hoisting device according to claim 4, characterized in that, The first link (2) is an electric telescopic rod. The telescopic part of the first link (2) is provided with a first slide groove (12), and the fixed part of the first link (2) is provided with a second slide groove (13). The telescopic part can reciprocate inside the fixed part. The fourth link (6) is fixed to the end of the telescopic part through a second rotating component (7). The lower part of the counterweight (8) is provided with a sliding component. The sliding component can slide in cooperation with the first slide groove (12) and the second slide groove (13).

6. A hoisting device according to claim 5, characterized in that, The first slide (12) and the second slide (13) are both symmetrically arranged as two slides. The sliding component is a second slider that is mirrored on both sides of the counterweight (8). The second slider is L-shaped. The first connecting rod (2) is provided with corresponding limiting holes (14) along the length direction of the first slide (12) and the second slide (13) and on the second slider. The limiting holes (14) are detachably connected with bolts.

7. A hoisting device according to claim 6, characterized in that, The sliding assembly includes a first roller (21) and a second roller (25) that are in contact with the first connecting rod (2). The counterweight (8) has a placement groove (16) inside. A rotating motor (17) is fixed inside the placement groove (16). The output shaft of the rotating motor (17) drives the first roller (21) to rotate through the transmission assembly. Two fixing blocks (22) are symmetrically arranged at the bottom of the counterweight (8). Two second rollers (25) are provided, which are symmetrically arranged on the side of the fixing blocks (22) on the corresponding side, close to the side wall of the first connecting rod (2). The lower end of the fixing block (22) is provided with a groove, and an elastic support component is provided inside the groove. The second roller (25) is rotatably connected to the elastic support component.

8. A hoisting device according to claim 7, characterized in that, The upper part of the first link (2) is provided with a connecting part (1), and the connecting part (1) is provided with a first control system, a power supply and a first signal transceiver system. The first control system is electrically connected to the power supply and the first signal transceiver system respectively. The electric slide rail, the first link (2), the insert rod (11), the fifth link (9), the abutment rod (503), the first rotation assembly (502) and the second rotation assembly (7) are all electrically connected to the first control system and the power supply respectively. A remote control for remote operation is also provided, and the remote control is provided with a second control system and a second signal transceiver system. The second signal transceiver system is electrically connected to the second control system, and the second signal transceiver system is wirelessly connected to the first signal transceiver system. The counterweight (8) is equipped with an inertial measurement module (27), a third signal transceiver system, a third control system and a power supply inside the placement slot (16). The third signal transceiver system is wirelessly connected to the first signal transceiver system. The third control system is electrically connected to the inertial measurement module (27), the third signal transceiver system, the rotating motor (17) and the power supply respectively. The power supply is electrically connected to the rotating motor (17).

9. A hoisting method, characterized in that, The hoisting device according to claim 8 includes the following steps: Step 1: In the initial state, the fourth link (6) is located above the first link (2), and the abutment rod (503) of the abutment part (5) rotates to a direction parallel to the third link (4); Step 2: The space between the first link (2) and the third link (4) passes through one end of the culvert (15) until the end of the culvert (15) that is inserted is located at the end of the third link (4) and contacts the second link (3). Control the second rotating assembly (7) to rotate the fourth link (6) downward from the vertical position, so that it swings to below the first link (2). The fifth link (9) assists in alignment so that the insertion rod (11) is accurately inserted into the insertion hole (10). At this time, the first link (2), the second link (3), the third link (4), the fourth link (6) and the fifth link (9) together form a rigid square closed frame, which securely surrounds the culvert (15). Step 3: With the side walls of the second link (3) and the fourth link (6) in contact with the two ends of the culvert (15), slowly lift the hoisting device so that the lower surfaces of the third link (4) and the fifth link (9) adhere to the top of the upper inner wall of the culvert (15). Step 4: Drive multiple abutment parts (5) to move along the electric slide rail. According to the actual length of different culverts (15), the abutment parts (5) are evenly distributed along their length direction. The first rotating assembly (502) rotates 90 degrees synchronously in the horizontal plane, so that the two abutment rods (503) turn from axial to radial. The abutment rods (503) adapt to the inner diameter of the culvert (15) until the contact part (504) at its end firmly abuts against the inner wall of the culvert (15), forming a symmetrical abutment force. Step 5: The counterweight (8) automatically moves to its initial position based on the length data of the culvert (15) temporarily stored in the first control system, thereby performing the first-level adjustment of the position of the counterweight (8); Step 6: Lift smoothly; the third control system controls the counterweight (8) to perform the second-stage adjustment.

10. A hoisting method according to claim 9, characterized in that, In step 5, the first-level adjustment of the counterweight (8) is as follows: the first control system collects the initial position of the counterweight (8) corresponding to different culvert (15) lengths, and compares the current culvert (15) length with the previous culvert (15) length. When a culvert (15) length is input, it corresponds to the position of a counterweight (8). In step 6, the second-level adjustment of the counterweight (8) is as follows: the inertial measurement module (27) provides real-time feedback on the attitude of the counterweight (8) and the overall tilt angle of the device, and the third control system performs dynamic fine-tuning of the movement trajectory of the counterweight (8) until the counterweight (8) is always in a balanced position with a horizontal tilt angle of 0.

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