Self-propelled hoisting equipment and method thereof

Abstract

The invention provides self-propelled hoisting equipment and a method thereof, and relates to the technical field of hoisting equipment.The self-propelled hoisting equipment comprises a base and a workbench, a lifting mechanism is arranged between the base and the workbench, a console is installed on the workbench, and a hoisting arm is installed on the console; supporting mechanisms are arranged on the periphery of the base, and inclined supporting rods are arranged between the supporting mechanisms and the workbench. The counterweight plate is installed on the side, away from the cargo boom, of the control table, a driving part, a first counterweight assembly and a second counterweight assembly are arranged on the counterweight plate, and the driving part is connected with the first counterweight assembly and the second counterweight assembly and used for driving the first counterweight assembly and the second counterweight assembly to be away from or close to the control table at the same time; a locking mechanism is arranged on the inclined supporting rod so that the inclined supporting rod can be self-locked, and a control mechanism is arranged between the locking mechanism and the driving piece. And the effects of flexible operation, quick and efficient balance weight adjustment and the design of the inclined supporting rods can greatly improve the stability and the anti-overturning capacity of the equipment are achieved.

Description

Technical Field

[0001] This invention relates to the field of lifting equipment technology, specifically to a self-propelled lifting device and its method. Background Technology

[0002] In water treatment facilities, equipment such as water pumps, agitators, and flow promoters are the core components that ensure the stable operation of the process flow. These devices are usually installed inside closed or semi-closed tanks such as equalization tanks and biological reactors. To ensure that regular (usually every 1 to 2 years) disassembly and maintenance, component replacement, and emergency repairs in case of failure can be carried out smoothly, specialized lifting devices must be installed above the equipment.

[0003] Currently, domestic water treatment facilities generally employ fixed-installation lifting devices, which are fixedly mounted on the roof or structures directly above the process equipment. However, due to the large number and dispersed layout of the process equipment, the number of supporting fixed lifting devices also increases, significantly raising construction costs and affecting the overall aesthetics of the tank area. More importantly, during maintenance operations, manual lifting is required, resulting in low automation, a large workload for equipment maintenance, and long operation cycles. Furthermore, personnel operating at or above the tank surface also pose certain safety risks.

[0004] To overcome the shortcomings of fixed lifting devices, mobile lifting equipment has emerged as a potential alternative. However, the environment surrounding pools in the water treatment field has its unique characteristics: passageways are typically narrow, and most pools are equipped with guardrails for safety. This environmental feature makes it difficult or impossible for most traditional mobile lifting equipment (such as truck cranes) to enter the work area. Furthermore, many passageways are located between multiple pools, and according to safety standards, guardrails must be installed on both sides of these passageways. Even if dedicated passageways are provided, the guardrails on both sides still restrict the entry and operation of large lifting equipment.

[0005] Therefore, there is a clear contradiction in existing technologies: fixed lifting devices are costly, lack flexibility, and pose operational safety hazards; while traditional mobile lifting equipment cannot adapt to the complex environment of water treatment plant pools with narrow spaces and multiple guardrails. To address this technological gap, there is an urgent need for specialized equipment capable of flexibly, safely, and efficiently performing lifting operations in such specific environments. Summary of the Invention

[0006] One objective of this invention is to provide a self-propelled lifting device to solve the problems of high lifting costs, poor flexibility, and operational safety hazards in the lifting of various equipment in existing water treatment tanks; the second objective is to propose a lifting method.

[0007] To achieve the above objectives, the present invention employs the following technical solution: A self-propelled lifting device includes a movable base and a worktable disposed on the base. A lifting mechanism for supporting and controlling the lifting of the worktable is disposed between the base and the worktable. A control console is rotatably mounted on the worktable, and a lifting arm is movably mounted on the control console. Support mechanisms are provided around the base. The support mechanisms can be horizontally extended or retracted on the base. A telescopic inclined support rod is provided between the support mechanism and the worktable. The top end of the inclined support rod is connected to the worktable, and the bottom end is connected to the support mechanism. It also includes a counterweight plate connected to the console. The counterweight plate is installed on the side of the console away from the lifting arm. The counterweight plate is provided with a drive unit, a first counterweight assembly and a second counterweight assembly. The drive unit is connected to the first counterweight assembly and the second counterweight assembly and is used to drive the first counterweight assembly and the second counterweight assembly to move away from or towards the console at the same time. The inclined support rod is provided with a locking mechanism so that the inclined support rod can be self-locked. A control mechanism is provided between the locking mechanism and the driving component. When the driving component drives the first counterweight component and the second counterweight component to move away from the control console, the control mechanism controls the locking mechanism to self-lock the inclined support rod.

[0008] Furthermore, the first counterweight assembly includes an adjustment plate and a first counterweight mounted on the adjustment plate. The adjustment plate is slidably mounted on the counterweight plate, and the driving member is connected to the adjustment plate for driving the adjustment plate to move away from or closer to the lifting arm.

[0009] Furthermore, the second counterweight assembly includes a first gear, a rotating arm, and a second counterweight. Racks are provided on both sides of the adjusting plate. There are two first gears distributed on both sides of the adjusting plate. A second gear is provided between the first gear and the adjusting plate. The two sides of the second gear mesh with the racks and the first gear respectively. One end of the rotating arm is fixedly connected to the first gear, and the other end is fixedly connected to the second counterweight.

[0010] Furthermore, the counterweight plate is provided with an arc-shaped groove corresponding to each first gear, the center of the arc-shaped groove lies on the axis of the corresponding first gear, and a support rod is fixedly provided at the bottom of the rotating arm, the bottom end of the support rod extends into the arc-shaped groove and rolls in contact with the control console.

[0011] Furthermore, the support mechanism includes a support base, a crossbar, and a support rod. The support base is fixedly installed on the side wall of the base. One end of the crossbar is hinged to the support base. The support rod is vertically inserted through the free end of the crossbar. The support rod is threaded into the crossbar. The bottom end of the inclined support rod is connected to the crossbar, and the top end is connected to the side wall of the workbench.

[0012] Furthermore, the support base includes an upper half plate and a lower half plate, which are symmetrically arranged in the vertical direction. Both the upper and lower half plates are fixedly connected to the base. An installation space is formed between the upper and lower half plates for inserting the end of the crossbar. A pin is fixedly provided between the upper and lower half plates. One end of the crossbar is inserted into the installation space and rotatably mounted on the pin. A fixing member is provided between the upper and lower half plates. The upper and lower half plates are respectively provided with a first socket for inserting the fixing member. There are multiple first sockets, which are distributed at intervals along the circumference of the pin. The crossbar is provided with a second socket for inserting the fixing member.

[0013] Furthermore, the inclined support rod includes an outer rod and an inner rod slidably disposed within the outer rod. The bottom end of the inclined support rod is hinged to the free end of the crossbar, and the top end is movably connected to the worktable. A number of continuous slots are provided along the axial direction on one side of the inner rod. The locking mechanism includes a mounting base and a plug rod. The mounting base is fixed on the outer rod, and the mounting base has a mounting groove that communicates with the interior of the outer rod. The plug rod is movably installed in the mounting groove and can be engaged in the groove.

[0014] Furthermore, an elastic element is provided between the insertion rod and the mounting base, which causes the insertion rod to tend to move away from the outer rod.

[0015] Furthermore, the workbench or control console is equipped with a storage battery, the control console has a sliding groove, the bottom of the adjustment plate is fixed with a slider that slides in cooperation with the sliding groove, a pair of conductive plates are embedded in the two side walls of the sliding groove, a conductive strip is embedded in the slider, an electromagnet is provided in the mounting base, an iron block is embedded in the insertion rod, and the conductive plates are electrically connected to the electromagnet and the output end of the storage battery through wires. When the driving component moves the adjusting plate away from the crane arm, the two conductive plates are connected through the conductive strip.

[0016] On the other hand, the present invention also proposes a lifting method, including the use of a self-propelled lifting device as described above, and further including the following steps: Equipment positioning: Move the lifting equipment to the pool channel near the equipment to be repaired, and use the self-propelled function of the base to adjust the position to ensure that the equipment is directly below the lifting point or in a suitable position; Initial state setting: Calculate the positions of the first and second counterweight components based on the current working conditions to ensure that the lifting equipment is in a balanced state; Deploy the support mechanism: Based on the terrain of the pool passage, operate the support mechanism to horizontally deploy the crossbar on the support base from the retracted state to a suitable angle and fix it. Rotate the support rod until the bottom of the support rod touches the ground to provide support.

[0017] Lifting work platform and locking inclined support rod: Activate the lifting mechanism to raise the work platform above the pool railing, rotate the control console and extend the lifting arm so that the lifting arm is at the lifting point. After the work platform height is fixed, the drive unit drives the adjustment plate to move away from the lifting arm. The locking mechanism inside the inclined support rod is automatically activated. The electromagnet and the iron block generate a repulsive force. The insertion rod overcomes the elastic force of the elastic element and is inserted into the slot of the inner rod to achieve self-locking of the inclined support rod. Linkage adjustment: When the driving component drives the adjustment plate to move, under heavy load, the first counterweight moves away from the lifting arm and the lever arm increases, while the second counterweight moves away from each other and the lever arm increases. Lifting operation: After adjustment, the system torque is balanced, the boom runs stably, all components are reset after the operation is completed, and the equipment enters standby mode.

[0018] The beneficial effects of this invention are: 1. This invention achieves dynamic torque balance and efficient response by combining the first and second counterweight components. When the crane boom is performing lifting operations, the control console can simultaneously drive the first and second counterweight components to move in opposite directions or away from each other via a drive mechanism, based on load changes. The first counterweight component quickly responds to changes in load weight by changing its lever arm length, while the second counterweight component compensates for changes in load position by adjusting its distribution radius. This combined adjustment avoids over- or under-adjustment caused by a single adjustment, significantly shortening the balance recovery time. Furthermore, through the linkage between the adjustment plate and the locking mechanism, this invention also achieves automatic locking of the diagonal support rod when the counterweight is large, forming a stable triangular structure with the support mechanism, diagonal support rod, and equipment, ensuring the stability of the equipment under heavy loads. This linkage mechanism of the diagonal support, combined with the position adjustment of the two counterweight components, greatly enhances the crane's anti-tipping capability, ensuring stable lifting operations under various working conditions.

[0019] 2. This invention employs a self-propelled base, enabling flexible movement between narrow passages and guardrails, adapting to the complex environment of water treatment plant pool areas. It eliminates the need for individual fixed lifting devices for each piece of equipment, significantly reducing construction costs and space requirements. The base width can be tailored to fit the passageways of water treatment plant pool areas, allowing for rapid and efficient movement to the lifting position. Furthermore, by incorporating a horizontally deployable support mechanism, it maximizes the number of ground support points for the equipment during lifting, increasing stability. The installation of diagonal support rods and locking mechanisms on the equipment creates a stable support system during operation, effectively preventing equipment tipping. The drive components on the counterweight plate and the first and second counterweight assemblies automatically adjust the counterweight position, ensuring balance during lifting, reducing manual intervention, and improving operational safety. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the self-propelled lifting device in this invention; Figure 2 for Figure 1 Enlarged structural diagram at point A; Figure 3 This is a schematic diagram of another embodiment of the fastener in the present invention; Figure 4 This is a partial structural schematic diagram of the inclined support rod in this invention; Figure 5 This is a cross-sectional structural diagram of the mounting base in this invention; Figure 6 This is a schematic diagram of the counterweight component in this invention; Figure 7 This is a partial cross-sectional structural diagram of the counterweight plate in this invention.

[0021] The components include: base 1, roller 2, lifting mechanism 3, upper half plate 4, lower half plate 5, crossbar 6, first socket 7, pin 8, fixing part 9, support rod 10, support plate 11, crank handle 12, inclined support rod 13, outer rod 14, inner rod 15, mounting base 16, slot 17, mounting groove 18, insertion rod 19, iron block 20, spring 21, electromagnet 22, workbench 23, control console 24, control cabinet 25, lifting arm 26, counterweight plate 27, driving component 28, first counterweight 29, second counterweight 30, adjusting plate 31, first gear 32, second gear 33, rotating arm 34, support rod 35, arc groove 36, slider 37, and conductive sheet 38. Detailed Implementation

[0022] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0023] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show the components related to the present invention and are not drawn according to the actual number, shape and size of the components in the actual implementation. In the actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0024] On the one hand, this embodiment proposes a self-propelled lifting device, such as... Figures 1 to 7As shown, the device includes a movable base 1 and a worktable 23 mounted on the base 1. A lifting mechanism 3 is provided between the base 1 and the worktable 23 to support and control the lifting of the worktable 23. A control console 24 is rotatably mounted on the worktable 23, and a lifting arm 26 is movably mounted on the control console 24. In this embodiment, the lifting mechanism 3 is a scissor-type lifting mechanism, which is driven by a hydraulic cylinder for lifting. Its structure has been fully disclosed in the prior art and will not be elaborated here. The installation method and structure of the control console 24 and the lifting arm 26 have also been fully disclosed in the prior art. The control console 24 may be equipped with a control cabinet 25 for power supply, oil supply and control processing of the entire device. A walking mechanism is provided at the bottom of the base 1. The walking mechanism can adopt any controllable walking mechanism of the prior art, such as a motor-driven roller 2, or a crawler walking mechanism.

[0025] Support mechanisms are provided around the base 1. These support mechanisms can be horizontally extended or retracted on the base 1. A retractable inclined support rod 13 is provided between the support mechanisms and the worktable 23. The top end of the inclined support rod 13 is connected to the worktable 23, and the bottom end is connected to the support mechanism. In this embodiment, extending the support mechanism increases the floor space of the lifting equipment, thereby increasing its stability and maximum lifting weight. By setting the inclined support rod 13, the support mechanism, the inclined support rod 13, and the equipment itself together form a stable triangular structure, which greatly increases the stability and anti-overturning force of the lifting equipment.

[0026] It also includes a counterweight plate 27 connected to the control console 24. The counterweight plate 27 is fixedly installed on the side of the control console 24 away from the lifting arm 26. The counterweight plate 27 is provided with a drive component 28, a first counterweight assembly, and a second counterweight assembly. The drive component 28 is connected to the first and second counterweight assemblies and is used to drive the first and second counterweight assemblies to move away from or towards the control console 24 simultaneously, thereby achieving torque balance and enabling the equipment to lift objects of different weights. In this embodiment, the lifting arm 26 is rotatably mounted on the counterweight plate 27 via bearings, enabling the lifting arm 26 to complete a 360° horizontal rotation. The installation method and structural composition of the lifting arm are already fully disclosed in the prior art and will not be described in detail here.

[0027] The inclined support rod 13 is equipped with a locking mechanism that allows it to self-lock. A control mechanism is provided between the locking mechanism and the drive component 28. When the drive component 28 drives the first and second counterweight components away from the control console 24, the control mechanism controls the locking mechanism to self-lock the inclined support rod 13. In this embodiment, when the two counterweight components are away from the control console 24, it indicates that the load being lifted is heavy. In this case, the inclined support rod 13 automatically self-locks, responding quickly without manual intervention. When the two counterweight components are close to the control console 24, the lifting equipment is either unloaded or lightly loaded. In this case, the self-locking of the inclined support is not required, and the lifting equipment can maintain good stability.

[0028] The first counterweight assembly includes an adjusting plate 31 and a first counterweight 29 mounted on the adjusting plate 31. The adjusting plate 31 is slidably mounted on the counterweight plate 27. A driving member 28 is connected to the adjusting plate 31 and is used to drive the adjusting plate 31 to move away from or towards the lifting arm 26. In this embodiment, the adjusting plate 31 is elongated, and a mounting plate is provided on the control console 24. The driving member 28 is fixedly mounted on the mounting plate by bolts. The driving member 28 is a telescopic member, which can drive the adjusting plate 31 and the first counterweight 29 to move by extending or retracting, thereby changing the distance between the first counterweight 29 and the rotation center of the lifting arm 26 and quickly adjusting the lever arm length.

[0029] The second counterweight assembly includes a first gear 32, a rotating arm 34, and a second counterweight 30. Racks are provided on both sides of the adjusting plate 31. There are two first gears 32 distributed on both sides of the adjusting plate 31. A second gear 33 is provided between the first gear 32 and the adjusting plate 31. The two sides of the second gear 33 are respectively meshed with the racks and the first gear 32 for transmission. One end of the rotating arm 34 is fixedly connected to the first gear 32, and the other end is fixedly connected to the second counterweight 30. In this embodiment, the two first gears 32 and the two second gears 33 are rotatably mounted on the counterweight plate 27. By setting the first gears 32 and the second gears 33, when the driving member 28 drives the adjusting plate 31 to move away from the lifting arm 26, the adjusting plate 31 is driven by the two second gears 33, and at the same time, it drives the two first gears 32 to rotate, so that the two rotating arms 34 move closer to the adjusting plate 31 at the same time. With the total weight of the second counterweight 30 remaining unchanged, the rotation of the rotating arm 34 changes the position of the second counterweight 30, so that the center of gravity of the second counterweight 30 is away from the rotation center of the lifting arm 26, and the stabilizing torque is improved by increasing the lever arm length.

[0030] In the above embodiments, the main function of the counterweight in the lifting equipment is to balance the overturning moment generated by the lifting arm 26 and prevent the equipment from overturning. The traditional design of fixed counterweight or single movable counterweight block usually has the following limitations: the movement of a single counterweight block can only change the length of the lever arm, but the counterweight mass is fixed. The torque adjustment range is limited by the weight of the counterweight block and the moving distance. When the load changes greatly, it may not be able to cover all working conditions. Moreover, moving the counterweight block requires mechanical drive. If the counterweight block has a large mass, the moving inertia is large, the adjustment speed is slow, and it is difficult to respond quickly to dynamic load changes. At the same time, in order to cover a large load range, the counterweight block may need to have a very heavy mass, which will lead to excessive self-weight of the equipment when unloaded, increasing energy consumption and structural stress. Moreover, relying solely on the movement of the counterweight block requires complex control algorithms to accurately calculate the position, which can easily introduce additional torque due to the shift of the center of gravity. This embodiment employs a linked design of a first counterweight component (moving the counterweight blocks to change the lever arm) and a second counterweight component (adjusting the distribution radius) to address the aforementioned problems. The first counterweight unit responds quickly to changes in load weight by changing the lever arm length, while the second counterweight unit compensates for changes in load position by adjusting the distribution radius. This combined adjustment avoids over- or under-adjustment caused by a single adjustment, significantly shortening the balance recovery time. Furthermore, the linked design allows for a wider torque adjustment range within the same physical space. For example, under heavy load, the first counterweight block moves away from the rotation center while the centers of gravity of the two second counterweight blocks move closer to the rotation center, resulting in a significant increase in torque. Under light load, the first counterweight block moves closer to the rotation center while the centers of gravity of the two second counterweight blocks move away from the rotation center, resulting in a decrease in torque. This composite adjustment is more precise and flexible than a single method. Under light or no load, the first counterweight block moves to its minimum lever arm position, and the centers of gravity of the two second counterweight blocks are closest to the rotation center, reducing energy consumption during movement and the load on the turntable structure, thus extending the equipment's lifespan.

[0031] Each first gear 32 on the counterweight plate 27 has an arc-shaped groove 36, the center of which falls on the axis of the corresponding first gear 32. A support rod 35 is fixedly provided at the bottom of the rotating arm 34, and the bottom end of the support rod 35 extends into the arc-shaped groove 36 and rolls in contact with the control console 24. In this embodiment, depending on the size of the counterweight plate 27, the arc-shaped groove 36 can also be set as an annular groove. A ball bearing is embedded at the bottom end of the support rod 35, and the ball bearing rolls in contact with the groove wall of the arc-shaped groove 36, providing auxiliary support for the rotating arm 34 and the second counterweight 30.

[0032] The support mechanism includes a support base, a crossbar 6, and a support rod 10. The support base is fixedly installed on the side wall of the base 1. One end of the crossbar 6 is hinged to the support base. The support rod 10 is vertically inserted through the free end of the crossbar 6 and is threaded into the crossbar 6. A support plate 11 is fixedly mounted at the bottom of the support rod 10, and a crank handle 12 is fixedly mounted at the top. The bottom end of the inclined support rod 13 is connected to the crossbar 6, and the top end is connected to the side wall of the worktable 23. In this embodiment, the crossbar 6, the inclined support rod 13, and the lifting equipment form a stable triangular structure, which makes the crossbar 6 and the inclined support rod 13 provide good auxiliary support for the lifting equipment. By turning the crank handle 12, the vertical height of the support plate 11 can be adjusted so that the support plate 11 can be supported on the ground or lifted off the ground. At the same time, when the support plate 11 faces an uneven ground, it can also be stably supported on the ground by adjusting its height.

[0033] The support base includes an upper half-plate 4 and a lower half-plate 5, which are symmetrically arranged vertically. Both the upper half-plate 4 and the lower half-plate 5 are fixedly connected to the base 1. An installation space is formed between the upper half-plate 4 and the lower half-plate 5 for inserting the end of the crossbar 6. A pin is fixedly provided between the upper half-plate 4 and the lower half-plate 5. One end of the crossbar 6 is inserted into the installation space and rotatably mounted on the pin. A fixing member 9 is provided between the upper half-plate 4 and the lower half-plate 5. The upper half-plate 4 and the lower half-plate 5 are each provided with a first insertion port 7 for inserting the fixing member 9. There are multiple first insertion ports 7, which are distributed at intervals along the circumference of the pin. The crossbar 6 is provided with a second insertion port for inserting the fixing member 9. In this embodiment, the fixing member 9 can be set in the following two ways: In one feasible implementation, both the first and second sockets are circular holes. The fasteners 9 are bolts and locking nuts. One end of the bolt passes through the upper half-plate 4, the crossbar 6, and the lower half-plate 5 in sequence, and cooperates with the locking nut to lock and fix the crossbar 6 in the position between the upper half-plate 4 and the lower connection. At the same time, by loosening the locking nut, removing the bolt, and rotating the crossbar 6 until the second socket aligns with the other first sockets 7, the position of the crossbar 6 is fixed again by the bolt and locking nut. This allows the angle of the crossbar 6 to be adjustable. This structural design not only makes the crossbar 6 and the diagonal support rod 13 more flexible when assisting in supporting lifting equipment, but also facilitates the storage and management of the crossbar 6, the upper / lower half-plates 5, and the diagonal support rod 13 when not in use. When in use, the crossbar 6 can be unfolded horizontally, and the unfolding angle of the crossbar 6 can be adjusted according to the site conditions. When not in use, the crossbar 6 can be folded and stored so that the crossbar 6 is close to the side of the parallel base 1, without occupying extra space, which meets the compact layout requirements of the pool area channel in the water treatment field.

[0034] In another feasible implementation, both the first and second insertion ports are trapezoidal holes, and the fixing member 9 is a wedge-shaped pin 8. The insertion of the wedge-shaped pin 8 can make the upper half plate 4 and the lower half plate 5 more evenly stressed on the base 1, resulting in a more reasonable structure. At the same time, it prevents the crossbar 6 from sliding out of the installation space and limits the position of the crossbar 6. In use, the angle of the crossbar 6 is adjusted so that the second insertion port of the crossbar 6 is aligned with one of the first insertion ports 7, the wedge-shaped pin 8 is inserted and hammered tight to complete the fixing of the crossbar 6. By hammering the wedge-shaped pin 8 loosening and tightening, the angle of the crossbar 6 can be adjusted more flexibly, which greatly improves the flexibility of the auxiliary support device. It is also easy to operate, quick to install and disassemble, and has high strength, which greatly improves the work efficiency.

[0035] In this embodiment, the position and number of support mechanisms on the base 1 can be flexibly set. For example, a support seat can be set in the middle of each side wall around the base 1, or a support seat can be set at the corner of the four side walls. In this embodiment, the figure shows that the support is set in the middle of the long side and at the corner of the short side. The two support mechanisms on the short side are located on the left or right side of the lifting equipment. Since the width of the pool area channel is limited, in most cases, the crossbar 6 on the long side can only be unfolded at a small angle, while the crossbar 6 on the short side can be unfolded arbitrarily.

[0036] The inclined support rod 13 includes an outer rod 14 and an inner rod 15 that is slidably disposed within the outer rod 14. The bottom end of the inclined support rod 13 is hinged to the free end of the crossbar 6, and the top end is movably connected to the worktable 23. A number of continuous slots 17 are provided on one side of the inner rod 15 along the axial direction. In this embodiment, the positional relationship between the outer rod 14 and the inner rod 15 can be twofold: one is with the inner rod 15 below and the outer rod 14 above, and the other is with the inner rod 15 above and the outer rod 14 below. Either method is acceptable, but for easier wiring, the method of installing the inner rod 15 below and the outer rod 14 above is preferred. The top of the outer rod 14 is fixedly equipped with a U-shaped connecting structure, and the side wall of the workbench 23 is fixedly equipped with a mounting ring. The arc-shaped part of the U-shaped connecting structure is interlocked with the mounting ring, and the two opposite free ends of the U-shaped connecting structure are fixedly connected to the top of the outer rod 14. The bottom end of the inner rod 15 is hinged to the crossbar 6. With this structural design, the wire of the electromagnet 22 (not shown in the figure) can be threaded inside the outer rod 14, and finally emerges from the top of the outer rod 14 and connects to the battery and other structures on the workbench 23. The locking mechanism includes a mounting base 16 and a plug rod 19. The mounting base 16 is fixed on the outer rod 14. The mounting base 16 has a mounting groove 18 that communicates with the interior of the outer rod 14. The plug rod 19 is movably installed in the mounting groove 18 and can be inserted into the slot 17. When the plug rod 19 is inserted into the slot 17, the inclined support rod 13 completes self-locking.

[0037] An elastic element is provided between the insertion rod 19 and the mounting base 16, which causes the insertion rod 19 to tend to move away from the outer rod 14. In this embodiment, the elastic element is a spring 21. One end of the spring 21 is fixedly connected to the insertion rod 19, and the other end is fixedly connected to the inner side wall of the mounting base 16. In its natural state, the spring 21 prevents the insertion rod 19 from being inserted into the slot 17, that is, the inclined support rod 13 can extend and retract freely, and the worktable 23 can be raised and lowered arbitrarily.

[0038] A storage battery (not shown in the figure) is provided on the workbench 23 or control console 24. The storage battery can be installed inside the control cabinet 25. A sliding groove is provided on the control console 24. A slider 37 that slides in cooperation with the sliding groove is fixed at the bottom of the adjusting plate 31. A pair of conductive plates 38 are embedded in the two side walls of the sliding groove. A conductive strip is embedded in the slider 37. An electromagnet 22 is provided in the mounting base 16. An iron block 20 is embedded in the insertion rod 19. The conductive plates 38 are electrically connected to the electromagnet 22 and the output terminal of the storage battery through wires. When the driving component 28 drives the adjusting plate 31 to move away from the lifting arm 26, the two conductive plates 38 are connected through the conductive strip. In this embodiment, a limit switch is installed within the slide groove to control the maximum movement distance of the adjusting plate 31. When the slider 37 contacts the limit switch, the drive component 28 stops extending. This mechanical linkage trigger protection mechanism, compared to traditional technologies that rely on photoelectric sensors or hydraulic limits, which may suffer from signal delays, power dependence, or complex hydraulic circuit failures, achieves hard constraints on the displacement boundary through a purely mechanical structure. The physical contact between the slider 37 and the limit switch provides instant trigger feedback, eliminating the need for external energy intervention and resulting in higher reliability. Under extreme operating conditions, even if the control system fails, the mechanical protection can still forcibly terminate the displacement, preventing structural overtravel damage or machine overturning. Furthermore, the absence of electrical components reduces maintenance complexity, adapts to harsh environments such as construction sites and rescue sites, significantly improves the safety and durability of the equipment throughout its entire lifecycle, and provides a more robust protection boundary for dynamic counterweight adjustment.

[0039] In the above embodiment, the initial state is defined as the distance when the slider 37 is closest to the lifting arm 26. The maximum stroke of the slider 37 is L. The conductive plate 38 extends from the maximum stroke point of the slider 37 towards the initial position. The length is adaptively set according to the counterweight balance of the lifting equipment. For example, if the length of the conductive plate 38 is 1 / 4L (this is an illustrative example and does not represent the solution adopted in this embodiment. The setting of the conductive plate 38 will be analyzed in detail later), it means that when the slider 37 has 3 / 4 of its stroke, the lifting equipment is lightly loaded and does not require additional auxiliary support. The lifting equipment can be stably lifted by relying solely on the counterweight components. Alternatively, the crossbar 6 can be extended to increase the support points of the equipment on the ground to maintain balance. When the slider 37 slides to the point where the conductive strip connects with the conductive plate 38, it means that the lifting equipment is heavily loaded. In particular, when the workbench 23 is raised and a heavy object is lifted, the center of gravity of the equipment is raised and the load is large. At this time, the self-locking of the inclined support greatly increases the anti-overturning force of the equipment, improving the lifting capacity and stability of the equipment.

[0040] In the above embodiments, the driving component 28 is a pneumatic cylinder or a hydraulic cylinder, and the telescopic end of the driving component 28 is fixedly connected to one end of the adjusting plate 31. The first counterweight assembly and the second counterweight assembly can be made in various ways, such as counterweight liquid, sand, stone slabs or iron blocks 20, etc. In this embodiment, iron blocks 20 are preferred, and iron blocks 20 are fixed together with bolts.

[0041] In the above embodiments, besides avoiding the side railings of the pool channel, there are still other special scenarios where the workbench needs to be raised for operation, specifically: ① When process pipes, cable trays, or ventilation ducts pass horizontally above the pool or passageway, these obstacles are low in height but do not completely cover the pool. When there is a pipe directly above the location to be hoisted, the amplitude (upward) angle of the low-positioned work platform and its boom will be severely limited. The hook may not be able to be raised high enough to pass over the hoisted equipment itself. Raising the work platform is equivalent to moving the "rotation fulcrum" of the boom upward, allowing the boom to perform amplitude changes and rotations on a higher initial plane, thereby changing the vertical lifting path of the hook from below the pipe to above the pipe and avoiding interference.

[0042] ② Many pools (such as some aeration tanks and sludge tanks) have concrete or composite material covers on top, leaving only a limited-sized access hole (e.g., 1.5m × 1.5m). The equipment is located at the bottom of the pool below the cover. At this low position, the boom, once extended, has its wire rope almost perpendicular to the ground. To vertically lift the equipment through the narrow opening, the hook must be precisely aligned with the center of the opening. Raising the work platform creates a "slant-pull" operating space: the boom can extend further, allowing the wire rope to descend at an angle and hook the equipment. Then, through a combination of lifting, luffing, and slewing movements, the equipment is carefully guided to directly below the opening before being lifted vertically. If the work platform is too low, the boom's range of motion is severely restricted to the area around the opening, making collisions highly likely.

[0043] ③ When the equipment is installed close to the pool wall, or when the equipment itself is higher than the pool wall (or the low wall beside the pool), the mobile crane cannot drive into the pool and can only operate from the access road outside the pool. When the work platform is in a low position, the working radius of the boom is a "low hemisphere" centered on the lowest pivot point. To cross a pool wall of height H, the boom needs to be raised at a large angle to allow the equipment to pass over the pool wall, which is difficult and dangerous. Raising the work platform is equivalent to raising the base height of this "hemisphere," allowing the boom to easily "lift" the equipment from inside the pool over the pool wall and place it on the access road outside the pool at a gentler and safer angle.

[0044] ④ When replacing a section of aeration pipe or agitator shaft several meters long, the top of the long rod is highly susceptible to collision with the pool wall or surrounding railings once it leaves the pool bottom during low-level hoisting. Raising the work platform and coordinating with the boom's amplitude adjustment can maintain the equipment in a near-vertical state (i.e., the hoisting point is near the top of the equipment) during the lifting process, thereby minimizing horizontal swaying and interference and safely removing the equipment from congested spaces.

[0045] Currently, the environments of various pools in the water treatment field are quite complex, with multi-dimensional and fixed physical obstacles (side, top, and edge of openings). This forces the hoisting path to not be a simple vertical lift, but a complex spatial curvilinear movement. A lifting platform essentially provides the boom system with an optimal working base height dynamically, enabling it to plan and execute a safe path that avoids all obstacles.

[0046] In the above embodiments, there are height differences between the various tanks in the water treatment field. Therefore, the power of the walking mechanism needs to be able to support the entire equipment to climb slopes, with a climbing ability of at least 30°. An inspection camera (for monitoring the status of the tanks and equipment) can be installed on the aforementioned lifting equipment. The camera can be mounted in the middle of the lifting arm or on the work platform. The operator can remotely control the camera to check the uniformity of bubbles in the aeration tank, the scum in the sedimentation tank, and floating objects on the water surface, inspect the tank walls and underwater equipment, and remotely identify the readings of instruments such as level gauges and flow meters installed on the tank side. A sensor system can also be added to the lifting equipment to enable automatic obstacle avoidance. Both cameras and sensors are existing technologies and will not be described in detail here.

[0047] On the other hand, the present invention also proposes a lifting method, including the use of a self-propelled lifting device as described above, and further including the following steps: Equipment positioning: Move the lifting equipment to the pool channel near the equipment to be repaired, and use the self-propelled function of base 1 to adjust the position to ensure that the equipment is directly below the lifting point or in an appropriate position; Initial state setting: Based on the current working conditions, the extension of the boom 26 and the weight of the hoisted load, calculate the positions of the first and second counterweight components to ensure that the hoisting equipment is in a balanced and stable state; Deploy the support mechanism: Based on the terrain of the pool channel on site, operate the support mechanism to horizontally deploy the crossbar 6 on the support base from the retracted state to a suitable angle and fix it with the fastener 9. Rotate the support rod 10 until the support plate 11 at the bottom of the support rod 10 contacts the ground to provide support.

[0048] Lifting work platform 23 and locking inclined support rod 13: Start the lifting mechanism 3 to raise the work platform 23 above the height of the pool guardrail. The control console 24 rotates and the lifting arm 26 extends, so that the lifting arm 26 is located at the lifting point. After the height of the work platform 23 is fixed, the drive component 28 drives the adjustment plate 31 to move away from the lifting arm 26. When the slider 37 at the bottom of the adjustment plate 31 moves to the preset position, the conductive strip connects the two conductive pieces 38, and the entire circuit is connected. The locking mechanism in the mounting base 16 is activated, and the electromagnet 22 and the iron block 20 generate a repulsive force. The insertion rod 19 overcomes the elastic force of the spring 21 and is inserted into the slot 17 of the inner rod 15, realizing the self-locking of the inclined support rod 13. At this time, the inclined support rod 13, the crossbar 6 and the lifting equipment itself form a stable triangular structure, which greatly increases the stability of the equipment. Linkage adjustment: When the driving component 28 drives the adjustment plate 31 to move, under heavy load, the first counterweight 29 moves away from the lifting arm 26 and the lever arm increases. At the same time, the second counterweight 30 moves away from each other and the lever arm increases, thus achieving torque balance. Lifting operation: After adjustment, the system torque is balanced, the boom 26 runs stably, all components are reset after the operation is completed, and the equipment enters standby mode.

[0049] In this embodiment, the conductive sheet 38 should be positioned so that the system's stability margin at the instant the conductive strip contacts is precisely what the inclined support rod 13 needs to provide rigid assistance. State 1: Pure counterweight balance. When the lifting equipment is lightly loaded, adjusting the anti-overturning moment generated by the first and second counterweight components is sufficient to maintain stability under the equipment's own weight and the deployed support mechanism. In this state, the inclined support rod 13 acts only as a regular, retractable brace, its main function being to form the structure rather than provide rigid locking force. The workbench 23 can be freely raised and lowered to accommodate pool railings of different heights. State 2: Composite rigid balance zone. When the load increases to a certain critical value, even if the counterweight components can balance the moment by moving to a certain position, the risks brought by uncertainties such as deformation of the entire structure, elastic vibration, and minor ground settlement increase significantly. At this time, the system needs the inclined support rod 13 to change from "flexible" support to "rigid" support to greatly increase structural stiffness and anti-overturning safety factor. The position where the conductive sheet 38 is connected is the switch that switches from "State 1" to "State 2".

[0050] In this embodiment, the conductive plate 38 is positioned to correspond to the position where the driving component 28 drives the adjusting plate 31 to move to a high-risk operating condition. Specifically, a high-risk operating condition is defined as the condition where the lifting boom 26, at its maximum extension, lifts more than 70% of the rated load. The length of the conductive plate 38 is configured such that when the adjusting plate 31 moves to the position required to handle this high-risk operating condition, the conductive strip just contacts the conductive plate 38 and connects the circuit, and the conductive strip keeps the conductive plate 38 connected until 100% of the rated load is reached. In this embodiment, the inclined support rod 13 is self-locked at this critical point, so that when the equipment is bearing a high-risk load, the torque balance provided by the counterweight component, together with the rigid triangular support structure composed of the locked inclined support rod 13 and the support mechanism, forms a composite safety mechanism, thereby improving the anti-overturning stability of the equipment to a level that cannot be achieved by counterweight balance alone. This structural design transforms passive "signal detection" into active "operating condition judgment," eliminating the need to detect "the current weight" and instead determining "how far the system has progressed in balancing this weight."

[0051] In this embodiment, when the inclined support rod 13 self-locks, the system enters a "high-risk working condition," automatically prohibiting the high-risk action of raising and lowering the worktable 23. This is because raising and lowering the worktable 23 under high load dynamically changes the center of gravity, posing a significant risk of tipping over. This ensures that the operator follows the correct safety procedure: during operation, first raise and lower to position, then load and lock; after operation, first unload and unlock, then raise and lower to reset, preventing operator error. This invention achieves safety interlocking through the self-locking of the inclined support rod 13 and the linkage of the lifting mechanism 3, thereby improving the safety level of the equipment.

[0052] In this embodiment, adding and deploying the support mechanism while keeping the counterweight constant can significantly increase the maximum safe load capacity. The overturning of lifting equipment is essentially an imbalance of torque rotating around an "overturning axis," which is typically the line connecting the tires on one side of the base 1. Without external support, the anti-overturning moment is mainly composed of "equipment self-weight * self-weight lever arm" and "counterweight * counterweight lever arm." This moment counteracts the overturning moment generated by "lifting load * length of lifting arm 26," and its stable region is confined within the contour of the base 1. With external support: the deployment of the support mechanism (crossbar 6, support rod 10, support plate 11) greatly extends the anti-overturning lever arm, and the support plate 11 provides a new fulcrum. At this time, the overturning axis of the equipment moves from the edge of the base 1 to the position of the support plate 11. The anti-overturning lever arm changes from the width B of the base 1 to the spacing B' of the support plates 11 (B' is much larger than B). The overturning moment now needs to be transmitted to the support plate 11 at the far end via the diagonal support rod 13, and borne by the ground. This is equivalent to using a huge "lever" to resist overturning. Therefore, with the counterweight unchanged, due to the significant increase in the anti-overturning lever arm, the overturning moment that the equipment can safely withstand (i.e., load * lever length) also increases significantly, thereby improving the maximum safe load capacity.

[0053] In this embodiment, the inclined support rod 13 is self-locking. Under constant load, this indirectly ensures the safe achievement of the maximum load capacity by increasing structural rigidity. When the inclined support rod 13 is not locked, it is a telescopic two-force member, primarily bearing axial tensile and compressive forces. However, the entire structure (workbench 23 - lifting mechanism 3 - base 1) is still a mechanism with movable joints and elastic deformation. Under heavy loads, the structure may experience slight deformation or swaying, which consumes some stability margin and creates a sense of insecurity. When the inclined support rod 13 is self-locking, the locked inclined support rod 13, together with the crossbar 6 and the equipment base 1, forms a highly rigid triangular truss structure. This rigidly connects the workbench 23 to the ground support point, greatly reducing structural deformation and swaying, and better resisting dynamic loads caused by sudden loading, wind, or minor collisions. Therefore, although the self-locking of the inclined support rod 13 does not directly change the theoretical maximum static load capacity, it ensures that the equipment can still work safely and stably when it is close to its theoretical maximum load capacity, rather than being in a dangerous elastic equilibrium state, by providing extremely high structural stiffness and dynamic stability.

[0054] In this embodiment, the extended lever arm of the support mechanism and the self-locking of the diagonal support provide rigid support, together providing significant additional anti-overturning capacity. This allows for the use of a smaller counterweight for the same load. The counterweight is one of the main components of the equipment's unloaded weight; reducing the counterweight lowers the overall weight, resulting in less energy consumption by the chassis drive motor during movement. The smaller mass of the counterweight that the drive component 28 needs to move also reduces the energy required to drive it. The reduced total weight that the lifting mechanism 3 needs to lift further saves energy.

[0055] In summary, this invention, through the collaborative design of the support mechanism and the self-locking inclined support rod 13, transforms the source of anti-overturning capability from the traditional reliance on massive counterweights to a composite mode combining appropriate counterweights, expanded support lever arms, and enhanced structural rigidity. This mode not only significantly improves the stability and safety of the equipment under heavy load conditions but also brings significant weight reduction and energy-saving effects: while meeting the same rated lifting capacity, the total mass of the first and second counterweight components can be greatly reduced, thereby effectively reducing the unloaded weight of the equipment and the energy consumption during movement, counterweight adjustment, and lifting.

[0056] The above embodiments are merely preferred embodiments provided to fully illustrate the present invention, and the scope of protection of the present invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on the present invention are all within the scope of protection of the present invention.

Claims

1. A self-propelled lifting device, characterized in that: It includes a movable base and a worktable set on the base. A lifting mechanism for supporting and controlling the lifting of the worktable is provided between the base and the worktable. A control console is rotatably mounted on the worktable, and a lifting arm is movably mounted on the control console. Support mechanisms are provided around the base. The support mechanisms can be horizontally extended or retracted on the base. A telescopic inclined support rod is provided between the support mechanism and the worktable. The top end of the inclined support rod is connected to the worktable, and the bottom end is connected to the support mechanism. It also includes a counterweight plate connected to the console. The counterweight plate is installed on the side of the console away from the lifting arm. The counterweight plate is provided with a drive unit, a first counterweight assembly and a second counterweight assembly. The drive unit is connected to the first counterweight assembly and the second counterweight assembly and is used to drive the first counterweight assembly and the second counterweight assembly to move away from or towards the console at the same time. The inclined support rod is provided with a locking mechanism so that the inclined support rod can be self-locked. A control mechanism is provided between the locking mechanism and the driving component. When the driving component drives the first counterweight component and the second counterweight component to move away from the control console, the control mechanism controls the locking mechanism to self-lock the inclined support rod.

2. The self-propelled lifting equipment according to claim 1, characterized in that: The first counterweight assembly includes an adjustment plate and a first counterweight mounted on the adjustment plate. The adjustment plate is slidably mounted on the counterweight plate. The driving member is connected to the adjustment plate and is used to drive the adjustment plate to move away from or towards the lifting arm.

3. The self-propelled lifting equipment according to claim 2, characterized in that: The second counterweight assembly includes a first gear, a rotating arm, and a second counterweight. Racks are provided on both sides of the adjusting plate. There are two first gears distributed on both sides of the adjusting plate. A second gear is provided between the first gear and the adjusting plate. The two sides of the second gear mesh with the racks and the first gear respectively. One end of the rotating arm is fixedly connected to the first gear, and the other end is fixedly connected to the second counterweight.

4. The self-propelled lifting equipment according to claim 3, characterized in that: The counterweight plate is provided with an arc-shaped groove corresponding to each first gear. The center of the arc-shaped groove falls on the axis of the corresponding first gear. A support rod is fixedly provided at the bottom of the rotating arm. The bottom end of the support rod extends into the arc-shaped groove and rolls in contact with the control console.

5. The self-propelled lifting equipment according to claim 2, characterized in that: The support mechanism includes a support base, a crossbar, and a support rod. The support base is fixedly installed on the side wall of the base. One end of the crossbar is hinged to the support base. The support rod is vertically inserted through the free end of the crossbar. The support rod is threaded into the crossbar. The bottom end of the inclined support rod is connected to the crossbar, and the top end is connected to the side wall of the workbench.

6. The self-propelled lifting equipment according to claim 5, characterized in that: The support base includes an upper half plate and a lower half plate, which are symmetrically arranged in the vertical direction. Both the upper and lower half plates are fixedly connected to the base. An installation space is formed between the upper and lower half plates for inserting the end of a crossbar. A pin is fixedly provided between the upper and lower half plates. One end of the crossbar is inserted into the installation space and rotatably mounted on the pin. A fixing member is provided between the upper and lower half plates. The upper and lower half plates are respectively provided with a first socket for inserting the fixing member. There are multiple first sockets, which are distributed at intervals along the circumference of the pin. The crossbar is provided with a second socket for inserting the fixing member.

7. The self-propelled lifting equipment according to claim 5, characterized in that: The inclined support rod includes an outer rod and an inner rod that is slidably disposed inside the outer rod. The bottom end of the inclined support rod is hinged to the free end of the crossbar, and the top end is movably connected to the worktable. Several continuous slots are provided on one side of the inner rod along the axial direction. The locking mechanism includes a mounting base and a plug rod. The mounting base is fixed on the outer rod, and the mounting base has a mounting groove that communicates with the interior of the outer rod. The plug rod is movably installed in the mounting groove and can be engaged in the groove.

8. The self-propelled lifting equipment according to claim 7, characterized in that: An elastic element is provided between the insertion rod and the mounting base, which causes the insertion rod to tend to move away from the outer rod.

9. The self-propelled lifting equipment according to claim 7, characterized in that: The workbench or control console is equipped with a storage battery. The control console has a sliding groove. The bottom of the adjustment plate is fixed with a slider that slides in cooperation with the sliding groove. A pair of conductive plates are embedded in the two side walls of the sliding groove. A conductive strip is embedded in the slider. An electromagnet is provided in the mounting base. An iron block is embedded in the insertion rod. The conductive plates are electrically connected to the electromagnet and the output terminal of the storage battery through wires. When the driving component moves the adjusting plate away from the crane arm, the two conductive plates are connected through the conductive strip.

10. A lifting method, characterized in that, Including the use of a self-propelled lifting device as described in any one of claims 1 to 9, and further including the following steps: Equipment positioning: Move the lifting equipment to the pool channel near the equipment to be repaired, and use the self-propelled function of the base to adjust the position to ensure that the equipment is directly below the lifting point or in a suitable position; Initial state setting: Calculate the positions of the first and second counterweight components based on the current working conditions to ensure that the lifting equipment is in a balanced state; Deploy the support mechanism: Based on the terrain of the pool passage, operate the support mechanism to horizontally deploy the crossbar on the support base from the retracted state to a suitable angle and fix it. Rotate the support rod until the bottom of the support rod touches the ground to provide support. Lifting work platform and locking inclined support rod: Start the lifting mechanism to raise the work platform above the pool railing, the control console rotates and the lifting arm extends so that the lifting arm is at the lifting point. When the height of the work platform is fixed, the drive unit drives the adjustment plate to move away from the lifting arm. The locking mechanism on the inclined support rod is automatically activated. The electromagnet and the iron block generate a repulsive force. The insertion rod overcomes the elastic force of the elastic element and is inserted into the slot of the inner rod to achieve self-locking of the inclined support rod. Linkage adjustment: When the driving component drives the adjustment plate to move, under heavy load, the first counterweight moves away from the lifting arm and the lever arm increases, while the second counterweight moves away from each other and the lever arm increases. Lifting operation: After adjustment, the system torque is balanced, the boom runs stably, all components are reset after the operation is completed, and the equipment enters standby mode.

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