Hoisting robot and horizontal movement and steering and self-lifting method thereof

Abstract

The application discloses a hoisting robot and a transverse moving and turning and self-lifting method thereof. The hoisting robot comprises a hoisting device, a walking underframe, a walking device, a tension-resistant lightening device and a movable track. The walking device is placed on the movable track. The hoisting robot can be shifted along the movable track. When the walking underframe bears a compressive load, the walking wheel can contact the movable track, and the movable track bears the compressive load borne by the walking underframe. When the walking underframe bears a tensile load, the tension-resistant lightening device can contact the movable track, so as to increase the overturning moment resistance of the hoisting robot, replace the conventional means of lifting the overturning moment resistance by using the dead weight, achieve the purpose of reducing the dead weight of the hoisting robot, effectively improve the load-to-dead weight ratio of the hoisting robot, realize the lightweight design of the hoisting robot, and avoid the situation that the lower supporting structure of the hoisting robot needs to be reinforced or temporarily supported due to the excessively large dead weight of the hoisting robot.

Description

Technical Field

[0001] This application relates to the field of intelligent construction technology, and in particular to a hoisting robot and its lateral turning and self-lifting methods. Background Technology

[0002] Promoting the coordinated development of intelligent construction and building industrialization is an important direction for guiding the transformation and upgrading of my country's construction industry and achieving high-quality development. Specific measures such as vigorously developing prefabricated buildings and actively promoting the application of construction robots can help promote the sustainable and healthy development of the construction industry.

[0003] Meanwhile, with the increasing demands for intensive use of urban land resources due to economic development, a new industrial space model of "industrial buildings on high-rise buildings" has emerged to promote industrial agglomeration and collaboration. Prefabricated concrete factory buildings have relatively regular horizontal and vertical structures, and are characterized by standardization and universality, which provides favorable conditions for promoting the implementation of intelligent construction and industrialized construction.

[0004] However, compared to prefabricated residential buildings, prefabricated concrete workshops are characterized by large spans, high floor heights, and heavy components. Existing technologies include construction methods and corresponding intelligent hoisting robots for prefabricated concrete workshops. However, existing hoisting robots typically use counterweights to increase their anti-overturning moment, resulting in a large self-weight load on the hoisting robots. When hoisting prefabricated components on the upper floors, the hoisting robots need to be supported on the composite beams of the same floor, which places higher demands on the crack resistance, bending stiffness, and load-bearing capacity of the frame beams. This may lead to insufficient load-bearing capacity of the lower supporting structure, requiring reinforcement or temporary support measures, thus limiting the application scope of hoisting robots in the assembly and construction of prefabricated concrete workshops. Summary of the Invention

[0005] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a lifting robot that can increase the anti-overturning moment of the lifting robot without increasing the load.

[0006] This application also proposes a lateral turning method for the above-mentioned hoisting robot.

[0007] This application also proposes a self-elevating method for the aforementioned hoisting robot.

[0008] According to a first aspect embodiment of this application, the lifting robot includes:

[0009] A hoisting device, used for hoisting heavy objects;

[0010] A traveling frame, which is connected to the hoisting device;

[0011] A walking device is mounted on the walking base frame. The walking device includes walking wheels and a drive component. The drive component is used to drive the walking wheels to rotate, thereby driving the lifting robot to move its position.

[0012] A tensile weight reduction device, wherein the tensile weight reduction device is installed on the walking device;

[0013] A mobile track, on which the walking device is placed, allows the hoisting robot to move along the mobile track.

[0014] When the traveling frame is subjected to a compressive load, the traveling wheels can contact the mobile track, and the mobile track bears the compressive load borne by the traveling frame; when the traveling frame is subjected to a tensile load, the tensile weight reduction device can contact the mobile track to increase the overturning moment of the hoisting robot.

[0015] The hoisting robot according to the embodiments of this application has at least the following beneficial effects: the walking frame is connected to the hoisting device and is used to set up the walking device and the tensile weight reduction device. The walking wheels of the walking device are placed on the mobile track, so that the hoisting robot can move along the mobile track, improving the positional flexibility of the hoisting robot. The walking device, together with the mobile track, can effectively support the hoisting robot and bear the tensile load borne by the walking frame. The tensile weight reduction device is installed on the walking device and matched with the mobile track, effectively improving the overturning moment of the hoisting robot, replacing the traditional method of using counterweight to increase the overturning moment, thereby reducing the self-weight of the hoisting robot, thus effectively improving the load-to-weight ratio of the hoisting robot, realizing the lightweight design of the hoisting robot, avoiding the problem of the width of the composite beam crack exceeding the specification limit during the construction stage due to the excessive self-weight of the hoisting robot, fully meeting the performance and self-weight requirements of the hoisting robot for prefabricated concrete plants, and ensuring the safety and quality of the assembly construction of prefabricated concrete plants.

[0016] According to some embodiments of this application, the walking device includes a first mounting component and a second mounting component. The walking wheel is rotatably connected to the first mounting component and placed on the surface of the mobile track. The first mounting component is rotatably connected to the second mounting component, and the second mounting component is used to connect the walking base frame.

[0017] According to some embodiments of this application, the tensile weight reduction device includes a crossbeam, a tensile component mounting rod, and a tensile component. The crossbeam is connected to the walking device, the tensile component mounting rod is fixedly connected to the crossbeam, and the tensile component includes a sleeve component. The sleeve component is sleeved on the tensile component mounting rod and rotatably connected to the tensile component mounting rod. The sleeve component is provided with a first bearing.

[0018] When the walking device is placed on the mobile track, the sleeve component can rotate to make the first bearing match the mobile track; when the walking device needs to detach from the mobile track, the sleeve component can rotate to make the first bearing avoid the mobile track.

[0019] According to some embodiments of this application, the sleeve component is fixedly provided with a protrusion, the protrusion is provided with a rotating shaft, and the first bearing is rotatably sleeved on the rotating shaft;

[0020] The surface of the tensile component mounting rod is provided with a protruding support structure, which is used to contact the sleeve component to support the sleeve component.

[0021] According to some embodiments of this application, the surface of the sleeve component is provided with a first positioning hole, the surface of the tensile component mounting rod is provided with a second positioning hole, and the tensile component further includes a pin.

[0022] When the first bearing is matched with the movable track, the first positioning hole and the second positioning hole are positioned correspondingly, and the pin passes through the first positioning hole and is inserted into the second positioning hole to restrict the rotation of the sleeve component.

[0023] According to some embodiments of this application, the second mounting component is provided with a walking device mounting rod, which passes through the crossbeam and is inserted into the walking base frame, so that the walking device, the tensile weight reduction device and the walking base frame are connected as a whole.

[0024] According to some embodiments of this application, the crossbeam is provided with a socket for inserting the mounting rod of the walking device, the inner wall of the socket is provided with a groove, and the surface of the mounting rod of the walking device is provided with a rib.

[0025] When the walking device mounting rod is inserted into the socket, the protruding rib can be embedded in the groove to restrict the crossbeam from rotating around the walking device mounting rod.

[0026] According to some embodiments of this application, the walking device mounting rod is provided with a second bearing, which is located between the crossbeam and the walking chassis, and is used to transfer the compressive load of the walking chassis to the crossbeam.

[0027] According to some embodiments of this application, the portion of the walking device mounting rod inserted into the walking base frame is equipped with a fixing component, the fixing component including a third bearing, a washer, and a fixing plate, the third bearing, the washer, and the fixing plate being sequentially sleeved on the walking device mounting rod;

[0028] The end of the walking device mounting rod is provided with a connecting hole for connecting fasteners, and the third bearing, the gasket and the fixing plate are fixed to the walking device mounting rod by fasteners.

[0029] According to some embodiments of this application, the movable track includes a wheel track and a tensile track. The movable track is located at the end of the movable track along a first direction and is used to contact the wheel. The tensile track is used to contact the working surface of the first bearing in the opposite direction to the first direction.

[0030] According to some embodiments of this application, the hoisting device includes an inner tower body, an outer tower body, a hoisting arm, and a counterweight arm. The outer tower body is fixedly connected to the traveling base frame. The inner tower body is disposed inside the outer tower body. The inner tower body and the outer tower body are connected by a jacking device. The hoisting arm is connected to the outer tower body and is used to hoist heavy objects. The counterweight arm is connected to the outer tower body and is used to adjust the center of gravity of the hoisting device.

[0031] The lateral turning method of the hoisting robot according to the second aspect of this application is applied to the above-mentioned hoisting robot. The hoisting device includes an inner tower body, an outer tower body, and a hoisting boom. The inner tower body and the outer tower body are connected by a lifting device. The tensile weight reduction device includes a tensile component, and the tensile component includes a pin. The lateral turning method of the hoisting robot includes:

[0032] Connect the pad block and pad beam at the position of the inner tower body in the building frame structure, and connect the inner tower body to the pad beam;

[0033] Rotate the tensile component to make it avoid the movable track, thereby releasing the vertical displacement restriction of the movable track on the tensile component;

[0034] A counterweight is lifted onto the lifting boom to keep the center of gravity of the lifting robot within the inner tower body. The jacking device is then activated to raise the height of the outer tower body and the traveling frame, causing the traveling device to detach from the mobile track.

[0035] Disassemble the movable track of the current floor, rotate the disassembled movable track by a preset angle, and reinstall it on the composite beam of the building frame structure. Rotate the walking device so that the direction of the walking device corresponds to the movable track.

[0036] The lifting device drives the outer tower body and the traveling base to lower the height, so that the traveling device and the tensile weight reduction device on the traveling base can be rematched with the mobile track;

[0037] The inner tower body and the support beam are disconnected, and the jacking device raises the height of the inner tower body to complete the repositioning of the inner tower body.

[0038] The lateral turning method of the hoisting robot according to the embodiments of this application has at least the following beneficial effects: Using the hoisting robot of the first aspect of this application, the traveling frame is connected to the hoisting device and used to house the traveling device and the tensile weight reduction device. The traveling wheels of the traveling device are placed on a movable track, enabling the hoisting robot to move along the movable track, improving the positional flexibility of the hoisting robot. The traveling device, in conjunction with the movable track, can effectively support the hoisting robot and bear the tensile load borne by the traveling frame. The tensile weight reduction device is installed on the traveling device and matched with the movable track, effectively improving the overturning moment of the hoisting robot, replacing the traditional method of using counterweight to increase the overturning moment, thereby reducing the weight of the hoisting robot. This design effectively improves the load-to-weight ratio of the hoisting robot, achieving a lightweight design and preventing the problem of excessive self-weight leading to cracks in composite beams exceeding specification limits during construction. It fully meets the performance and weight requirements of prefabricated concrete plants, ensuring the safety and quality of assembly construction. When the hoisting robot is in use, the outer tower, traveling frame, and the traveling device and tensile weight-reducing device on the traveling frame provide effective support, ensuring normal hoisting and horizontal movement. When the hoisting robot performs lateral movement and turning, the traveling device and tensile weight-reducing device disengage from the moving track and are supported by the inner tower, facilitating lateral movement and turning.

[0039] According to some embodiments of this application, the rotation of the tensile-resistant component, causing the tensile-resistant component to avoid the movable track and releasing the vertical displacement restriction of the movable track on the tensile-resistant component, includes:

[0040] Remove the pin on the tensile component to release the rotation restriction of the tensile component;

[0041] The tensile component rotates 90° to avoid the moving track.

[0042] According to some embodiments of this application, the lifting device drives the outer tower body and the traveling base to lower their height, so that the traveling device and the tensile weight reduction device on the traveling base are re-matched to the mobile track, including:

[0043] Insert the pin into the tensile component to limit its rotation, thereby keeping it in position corresponding to the movable track.

[0044] The self-elevation method of the lifting robot according to the third aspect embodiment of this application is applied to the above-described lifting robot. The lifting device includes an inner tower body, an outer tower body, and a lifting arm. The inner tower body and the outer tower body are connected by a jacking device. The tensile weight reduction device includes tensile components. The lateral turning method of the lifting robot includes:

[0045] Disassemble the first set of mobile tracks of the hoisting robot in the adjacent span of the current floor, and use the hoisting robot's hoisting function to reinstall the disassembled first set of mobile tracks on the composite beam of the next floor;

[0046] Connect the pad block and pad beam at the position of the inner tower body in the building frame structure, and connect the inner tower body to the pad beam;

[0047] Rotate the tensile component to make it avoid the second set of movable tracks, thereby releasing the vertical displacement restriction of the second set of movable tracks on the tensile component;

[0048] A counterweight is lifted onto the lifting boom to keep the center of gravity of the lifting robot within the inner tower body. The jacking device is then activated to raise the height of the outer tower body and the traveling frame, causing the traveling device to detach from the mobile track.

[0049] The lifting device drives the outer tower body and the traveling base to lower the height, so that the traveling device and the tensile weight reduction device on the traveling base are matched with the first set of mobile tracks;

[0050] The inner tower body and the support beam are disconnected, and the jacking device raises the height of the inner tower body to complete the height increase of the inner tower body;

[0051] The second set of movable rails on the current floor is disassembled, and the lifting robot is used to reinstall the disassembled second set of movable rails on the adjacent span of the composite beam of the next floor's lifting robot.

[0052] The self-lifting method of the hoisting robot according to the embodiments of this application has at least the following beneficial effects: Using the hoisting robot of the first aspect of this application, the traveling frame is connected to the hoisting device and used to house the traveling device and the tensile weight-reducing device. The traveling wheels of the traveling device are placed on a movable track, enabling the hoisting robot to move along the movable track, improving the positional flexibility of the hoisting robot. The traveling device, in conjunction with the movable track, can effectively support the hoisting robot and bear the tensile load borne by the traveling frame. The tensile weight-reducing device is installed on the traveling device and matched with the movable track, effectively improving the overturning moment of the hoisting robot, replacing the traditional method of using counterweight to increase the overturning moment, thereby reducing the self-weight of the hoisting robot and effectively improving the load-to-weight ratio of the hoisting robot, achieving a lightweight hoisting robot. The quantitative design avoids the problem of excessive weight of the lifting robot causing cracks in the composite beams to exceed the specification limits during construction, fully meeting the performance and weight requirements of the lifting robot for prefabricated concrete plants, and ensuring the safety and quality of the assembly construction of prefabricated concrete plants. When the lifting robot is in use, the outer tower, the traveling frame, and the traveling device and tensile weight-reducing device on the traveling frame can effectively support the lifting robot, ensuring normal lifting and horizontal movement operations. When the lifting robot is self-lifting to the upper floor, the traveling device and tensile weight-reducing device are disengaged from the moving track and the lifting robot is supported by the inner tower, facilitating self-lifting to the upper floor. Through lateral movement, turning, and self-lifting to the upper floor, the lifting robot can achieve full coverage of the lifting operations of prefabricated concrete plants, simplifying construction and increasing efficiency.

[0053] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0054] The present application will be further illustrated below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments illustrated in the following drawings are exemplary and are only used to explain the present application, and should not be construed as limiting the present application.

[0055] Figure 1 This is a front view schematic diagram of a hoisting robot in one embodiment of this application;

[0056] Figure 2 This is a schematic diagram of the installation position and left view of the walking frame, moving track, and tensile weight reduction device of the hoisting robot in one embodiment of this application;

[0057] Figure 3 This is a schematic diagram of the inclined steel beam structure of the walking frame of the hoisting robot in one embodiment of this application;

[0058] Figure 4This is a schematic diagram of the installation position and three-dimensional structure of the walking frame, mobile track, and tensile weight reduction device of the hoisting robot in one embodiment of this application;

[0059] Figure 5 This is a schematic diagram of the pad structure of the mobile track of the hoisting robot in one embodiment of this application;

[0060] Figure 6 This is a schematic diagram of the structure of the mobile track of the hoisting robot in one embodiment of this application;

[0061] Figure 7 This is a three-dimensional schematic diagram of the tensile weight reduction device of the hoisting robot in one embodiment of this application;

[0062] Figure 8 This is an exploded schematic diagram of the tensile weight reduction device of the hoisting robot in one embodiment of this application;

[0063] Figure 9 This is a left-side schematic diagram of the walking frame, moving track, and tensile weight reduction device of the hoisting robot in one embodiment of this application;

[0064] Figure 10 This is a schematic diagram of the installation of the support beam during the lateral movement, turning, and self-lifting construction of the hoisting robot in one embodiment of this application, and a left view of the tensile components after the direction is adjusted.

[0065] Figure 11 This is a three-dimensional schematic diagram of the tensile components after adjusting their direction during the lateral movement, turning, and self-lifting construction of the hoisting robot in one embodiment of this application.

[0066] Figure 12 This is a front view schematic diagram of the lifting robot during the lateral turning and jacking of the outer tower body in one embodiment of this application;

[0067] Figure 13 This is a front view schematic diagram of the hoisting robot lifting the outer tower body during construction in one embodiment of this application;

[0068] Figure 14 This is a left-side view of the hoisting robot during the lateral movement, turning, and self-lifting construction of the outer tower body in one embodiment of this application;

[0069] Figure 15 This is a schematic diagram of the anti-overturning mechanical model of a hoisting robot in one embodiment of this application;

[0070] Figure 16 This is a schematic diagram of the anti-tipping mechanical model of an existing hoisting robot.

[0071] Figure label:

[0072] 100. Lifting device; 101. Inner tower body; 102. Outer tower body; 103. Lifting boom; 104. Counterweight boom; 105. Pricing device;

[0073] 200. Traveling base frame; 201. Diagonal steel beam; 202. Steel pipe;

[0074] 300. Walking device; 301. Walking wheel; 302. Drive component; 303. First mounting component; 304. Second mounting component; 305. Walking device mounting rod; 306. Protruding rib; 307. Groove; 308. Second bearing; 309. Third bearing; 310. Shim; 311. Fixing plate;

[0075] 400. Tensile weight reduction device; 401. Crossbeam; 402. Tensile component mounting rod; 403. Sleeve component; 404. Protrusion; 405. Rotating shaft; 406. First bearing; 407. Support structure; 408. First positioning hole; 409. Second positioning hole; 410. Pin;

[0076] 500. Mobile track; 501. Wheel track; 502. Tensile track;

[0077] 600. Frame structure; 601. Pad block. Detailed Implementation

[0078] The embodiments of this application are described in detail below with reference to the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0079] In the description of this application, it should be understood that the terms "center", "middle", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0080] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0081] In the description of this application, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0082] In the description of this application, the use of terms such as "one embodiment," "some embodiments," "an example," "some instances," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0083] like Figure 1 , Figure 2 and Figure 4 As shown in the figure, this application provides a hoisting robot, which includes a hoisting device 100, a walking base 200, a walking device 300, a tensile weight reduction device 400, and a mobile track 500.

[0084] The hoisting device 100 includes an inner tower body 101, an outer tower body 102, a hoisting arm 103, and a counterweight arm 104. The hoisting arm 103 is equipped with a winch, cable, hook, and other devices, and is used to lift heavy objects.

[0085] Furthermore, the traveling frame 200 is fixedly connected to the hoisting device 100 and is used to install the traveling device 300 and the tensile weight reduction device 400. It can be understood that when both sides of the outer tower body 102 of the hoisting device 100 are subjected to compressive loads, the hoisting device 100 can transfer the compressive load to the traveling frame 200; similarly, when one side of the outer tower body 102 of the hoisting device 100 is subjected to a tensile load and the other side is subjected to a compressive load, the hoisting device 100 can also transfer both the tensile load and the compressive load to the traveling frame 200 at the same time.

[0086] Furthermore, the walking device 300 is mounted on the walking base 200, and includes walking wheels 301 and a drive component 302 connected to each other. When the walking wheels 301 rotate, they can drive the entire lifting robot to move, thereby adjusting the working position of the lifting robot and improving its positional flexibility. Specifically, the drive component 302 is used to drive the walking wheels 301 to rotate.

[0087] Furthermore, the tensile weight-reducing device 400 is installed on the traveling device 300, making the traveling base frame 200, the traveling device 300, and the tensile weight-reducing device 400 a whole. The tensile weight-reducing device 400 can increase the overturning moment of the lifting robot. When the lifting device 100 lifts a heavy object, it is easy for the lifting robot to tip over. To avoid such construction accidents, current lifting robots often adopt the strategy of increasing the counterweight. However, increasing the counterweight will greatly increase the self-weight of the lifting robot, which can easily lead to the width of the crack in the composite beam exceeding the specification limit during the construction stage, resulting in the need for reinforcement or temporary support measures. However, the tensile weight-reducing device 400 of this application avoids the lifting robot from tipping over by increasing the overturning moment of the lifting robot, without the need to increase the counterweight of the lifting robot, which helps to reduce the self-weight of the lifting robot and improve construction safety.

[0088] Furthermore, the walking device 300 is placed on and interlocks with the mobile track 500. When the walking wheels 301 rotate, they drive the hoisting robot to move along the mobile track 500, facilitating the robot's relocation. Specifically, during the installation of the mobile track 500, pads 601 are installed on the composite beams of the building frame structure 600. The pads 601 are typically made of steel, and both ends of the mobile track 500 are supported by the pads 601. It is understood that the mobile track 500, pads 601, and building frame structure 600 can be fixed together with bolts; this connection method can transmit both pressure and tension.

[0089] It is worth noting that when both sides of the outer tower body 102 of the hoisting device 100 are subjected to compressive loads, the hoisting device 100 transfers the compressive loads to the traveling frame 200. At this time, the traveling wheels 301 contact the movable track 500, allowing the compressive loads to be transferred to the movable track 500, which ultimately bears the compressive loads. Due to the high strength of the movable track 500, it can effectively bear the compressive loads. Simultaneously, when one side of the outer tower body 102 of the hoisting device 100 is subjected to a tensile load and the other side to a compressive load, the hoisting device 100 transfers both the tensile and compressive loads to the traveling frame 200. At this time, the tensile weight-reducing device 400 contacts the movable track 500, allowing the tensile loads to be transferred to the movable track 500, thereby increasing the anti-overturning moment of the hoisting robot and preventing it from tipping over.

[0090] The contents of this application are described in detail below with reference to specific embodiments. It should be noted that the following description is merely illustrative and not a specific limitation of this application.

[0091] like Figure 4 , Figure 7 , Figure 8 and Figure 9 As shown, in some embodiments, the walking device 300 includes a first mounting component 303 and a second mounting component 304.

[0092] The first mounting component 303 is generally a steel structure with a "U"-shaped cross-section. The traveling wheel 301 is placed inside the first mounting component 303 and connected to it via a corresponding pivot, allowing the traveling wheel 301 to rotate freely. The freely rotating traveling wheel 301 is placed on the surface of the movable track 500, and the drive component 302 is connected to the aforementioned pivot on the outside of the first mounting component 303, facilitating the drive component 302 to drive the traveling wheel 301 to rotate. Furthermore, each first mounting component 303 is equipped with at least two traveling wheels 301 to ensure the stability of the traveling device 300's movement.

[0093] Furthermore, the second mounting component 304 is also a steel component with a cross-sectional shape of approximately "U". The first mounting component 303 is placed inside the second mounting component 304 and is connected to the second mounting component 304 through a corresponding pivot, so that the first mounting component 303 is rotatably connected to the second mounting component 304 to improve the movement flexibility of the walking device 300.

[0094] In some embodiments, the tensile weight reduction device 400 includes a crossbeam 401, a tensile component mounting rod 402, and a tensile component. The crossbeam 401 is connected to the walking device 300, and the crossbeam 401 has a hole structure. One end of the tensile component mounting rod 402 is inserted into the hole structure and fixedly connected to the crossbeam 401.

[0095] Specifically, the tensile component mounting rod 402 has an external thread section at one end for inserting into the hole structure. The external thread section is threaded with two nuts, one above the other. The two nuts are located at the top and one below the crossbeam 401, respectively, and the two nuts clamp the crossbeam 401, ensuring that the tensile component mounting rod 402 is fixedly connected to the crossbeam 401 under the clamping action of the nuts.

[0096] Furthermore, the tensile component includes a sleeve member 403, which is formed as a hollow structure. The tensile component mounting rod 402 passes through the hollow portion of the sleeve member 403, so that the sleeve member 403 is sleeved on the outside of the tensile component mounting rod 402.

[0097] Meanwhile, the sleeve component 403 is equipped with a first bearing 406, and the tensile component contacts the movable track 500 through the first bearing 406 to increase the anti-overturning moment of the hoisting robot.

[0098] Furthermore, the sleeve component 403 is rotatably connected to the tensile component mounting rod 402. As the sleeve component 403 rotates, the first bearing 406 can be matched with or detached from the movable track 500. When the walking device 300 is placed on the movable track 500, the sleeve component 403 can rotate to drive the first bearing 406 to match the movable track 500, preventing the lifting robot from tipping over. When the walking device 300 needs to detach from the movable track 500, the sleeve component 403 can rotate to drive the first bearing 406 to avoid the movable track 500, preventing structural interference between the first bearing 406 and the movable track 500 during the process of the walking device 300 detaching from the movable track 500.

[0099] It is understandable that the crossbeam 401 is provided with two tensile component mounting rods 402, which are located on opposite sides of the crossbeam 401. Each tensile component mounting rod 402 is provided with a sleeve component 403 and a first bearing 406, thereby increasing the anti-overturning moment of the hoisting robot in different directions.

[0100] Specifically, the first bearing 406 adopts a self-aligning roller bearing, which includes a cylindrical steel shaft, a steel tube with cylindrical grooves, a steel tube with side ribs, and an outer steel tube. The cylindrical steel shaft is embedded in the steel tube with cylindrical grooves, and the outer steel tube of the self-aligning roller bearing can automatically adjust the tilt angle by a small arc to prevent the self-aligning roller bearing from having a gap with the self-aligning roller bearing and the self-aligning roller bearing track, which would affect the force transmission between the two.

[0101] In addition, the movable track 500 serves two purposes: bearing the pressure transmitted by the lifting robot's traveling wheels 301 and bearing the tensile force transmitted by the lifting robot's self-aligning roller bearings. Simultaneously, a gap of approximately 10mm needs to be maintained between the self-aligning roller bearings and the web of the movable track 500 to prevent the web from jamming the self-aligning roller bearings, which would prevent the tensile components from rotating 90° and thus make it difficult to relieve the vertical displacement restriction of the movable track 500 on the tensile components.

[0102] In some embodiments, the sleeve component 403 is fixedly provided with a protrusion 404, which protrudes from the side wall of the sleeve component 403. Specifically, the protrusion 404 can be a tubular fitting. Furthermore, a rotating shaft 405 is fixedly provided at the end of the protrusion 404, and a first bearing 406 is sleeved on the rotating shaft 405, allowing the first bearing 406 to rotate freely. At this time, the first bearing 406 and the movable track 500 experience rolling friction, ensuring the smooth movement of the hoisting robot.

[0103] Furthermore, a support structure 407 is provided at the bottom end of the tensile component mounting rod 402. The support structure 407 is located at the bottom end of the tensile component mounting rod 402 and protrudes from the side wall of the tensile component mounting rod 402. When the sleeve component 403 is fitted onto the tensile component mounting rod 402, since the sleeve component 403 and the tensile component mounting rod 402 are slidably connected, the sleeve component 403 tends to slide down along the tensile component mounting rod 402. As the sleeve component 403 slides down to the bottom end of the tensile component mounting rod 402, the tensile component mounting rod 402 contacts the support structure 407. Under the support of the support structure 407, the sleeve component 403 is prevented from detaching from the tensile component mounting rod 402.

[0104] In some embodiments, the surface of the sleeve component 403 is provided with a first positioning hole 408, and the surface of the tensile component mounting rod 402 is provided with a second positioning hole 409. The heights of the first positioning hole 408 and the second positioning hole 409 correspond to each other, and their dimensions also correspond to each other. Meanwhile, the tensile component also includes a pin 410, the dimensions of which correspond to the dimensions of the first positioning hole 408 and the second positioning hole 409.

[0105] Furthermore, as the sleeve component 403 rotates, the first bearing 406 gradually aligns with the movable track 500, at which point the positions of the first positioning hole 408 and the second positioning hole 409 correspond. To ensure that the first bearing 406 remains in its current position and to prevent the sleeve component 403 from rotating arbitrarily, the pin 410 passes through the first positioning hole 408 and is inserted into the second positioning hole 409, thereby restricting the rotation of the sleeve component 403, i.e., restricting the movement of the first bearing 406.

[0106] Similarly, when the first bearing 406 needs to disengage from the movable track 500, the sleeve component 403 needs to rotate. However, the pin 410 restricts the rotation of the sleeve component 403, so the pin 410 needs to be removed from the first positioning hole 408 and the second positioning hole 409.

[0107] In addition, the end of the pin 410 is provided with a head that is larger than the first positioning hole 408 and the second positioning hole 409. When the pin 410 is inserted into the first positioning hole 408 and the second positioning hole 409, the head can be stuck on the edge of the first positioning hole 408, preventing the pin 410 from being completely embedded in the first positioning hole 408 and the second positioning hole 409, making it easier to remove the pin 410 in subsequent processes.

[0108] In some embodiments, the second mounting component 304 is provided with a walking device mounting rod 305, which passes through the crossbeam 401 and is inserted into the walking base frame 200. The walking base frame 200 includes an inclined steel beam 201 with corresponding hole structures. The walking device mounting rod 305 is inserted into these hole structures, thereby connecting the walking device 300, the tensile weight-reducing device 400, and the walking base frame 200 into a single unit.

[0109] In some embodiments, the crossbeam 401 is provided with a insertion hole for inserting the travel device mounting rod 305, so that the crossbeam 401 is sleeved on the travel device mounting rod 305, and thus the crossbeam 401 and the travel device mounting rod 305 are inserted into each other.

[0110] Furthermore, the inner wall of the insertion hole is provided with grooves 307, and the number of grooves 307 can be set according to actual needs. Meanwhile, the surface of the traveling device mounting rod 305 is provided with protruding ribs 306, the number of which is equal to the number of grooves 307, and their positions and dimensions correspond one-to-one. When the traveling device mounting rod 305 is inserted into the insertion hole, the protruding ribs 306 embed into the grooves 307, thereby restricting the rotation of the crossbeam 401 on the traveling device mounting rod 305, ensuring the stability of the tensile component mounting rod 402 on the crossbeam 401, that is, ensuring the stability of the positions of the sleeve component 403 and the first bearing 406.

[0111] Understandably, depending on actual needs, the groove 307 can also be set on the walking device mounting rod 305, and correspondingly, the protruding rib 306 is set on the inner wall of the insertion hole, which can also prevent the crossbeam 401 from rotating on the walking device mounting rod 305.

[0112] In some embodiments, the walking device mounting rod 305 is fitted with a second bearing 308, and the second bearing 308 is located between the crossbeam 401 and the walking base 200. The second bearing 308 is used to transfer the compressive load of the walking base 200 to the crossbeam 401, and then to the walking wheels 301 of the walking device 300.

[0113] Specifically, the second bearing 308 is a thrust bearing, which includes spherical steel balls, steel plates with round holes, and steel plates with spherical steel balls in the track, so that the thrust bearing can easily achieve 360° rotation even when subjected to greater pressure.

[0114] like Figure 3 , Figures 7-9 As shown, in some embodiments, the portion of the walking device mounting rod 305 that inserts into the walking base frame 200 is equipped with a fixing component for fixing the walking device mounting rod 305 to the walking base frame 200.

[0115] The fixing components include a third bearing 309, a washer 310, and a fixing plate 311. After the traveling device mounting rod 305 is inserted into the hole structure of the inclined steel beam 201 of the traveling base frame 200, the third bearing 309, the washer 310, and the fixing plate 311 are sequentially fitted onto the traveling device mounting rod 305. Therefore, among the third bearing 309, the washer 310, and the fixing plate 311, the third bearing 309 is closest to the inner wall of the inclined steel beam 201.

[0116] Specifically, a steel pipe 202 is welded to the inner wall of the inclined steel beam 201. The position of the steel pipe 202 corresponds to the position of the hole structure of the inclined steel beam 201. After the walking device mounting rod 305 is inserted into the hole structure, the walking device mounting rod 305 passes through the end of the steel pipe 202 and then the third bearing 309, the gasket 310 and the fixing plate 311 are sequentially installed.

[0117] Furthermore, the end of the traveling device mounting rod 305 that inserts into the hole structure of the inclined steel beam 201 is provided with a connecting hole, which is a threaded hole. After the third bearing 309, the washer 310, and the fixing plate 311 are fitted onto the traveling device mounting rod 305, fasteners are connected to the threaded holes, thereby fixing the third bearing 309, the washer 310, and the fixing plate 311 onto the traveling device mounting rod 305. It is understood that the fasteners here can be bolts or similar structures.

[0118] Furthermore, the third bearing 309 is a thrust bearing. The third bearing 309 has the same structure and function as the second bearing 308, and is located between the steel pipe 202 and the shim 310. The third bearing 309 is used to transfer the tensile load borne by the traveling frame 200 of the hoisting robot to the crossbeam 401, then to the tensile component mounting rod 402, and finally to the first bearing 406 of the tensile component. The shim 310 is used to adjust the distance between the third bearing 309 and the fixing plate 311 to ensure the normal functioning of the third bearing 309. When the traveling frame 200 is under tension, the fixing plate 311 is used to prevent the traveling frame 200 from detaching from the tensile weight reduction device 400.

[0119] like Figure 6 and Figure 9 As shown, in some embodiments, the mobile track 500 includes a wheel track 501 and a tensile track 502. The wheel track 501 is used to place the wheel 301 and guide the movement direction of the wheel 301, while the tensile track 502 is used to contact the first bearing 406, thereby increasing the anti-overturning moment of the lifting robot.

[0120] Furthermore, in the mobile track 500, the walking wheel track 501 is located at the top of the tensile track 502. The walking wheel track 501 is used to bear the pressure transmitted by the walking wheel 301 of the lifting robot, and the tensile track 502 is used to bear the tensile force transmitted by the first bearing 406 of the lifting robot. Further, the walking wheel track 501 is located at the end of the mobile track 500 along the first direction and is used to contact the walking wheel 301. The tensile track 502 is used to contact the working surface of the first bearing 406 in the opposite direction to the first direction, that is, the first bearing 406 is located at the bottom of the tensile track 502 and contacts the working surface of the tensile track 502. Specifically, the first direction here is... Figure 6 The X-axis direction is defined in the image, and the first direction is also the height direction of the hoisting robot.

[0121] In addition, the mobile track 500 also includes an I-beam located at the bottom of the mobile track 500. The I-beam enhances the overall structural strength and rigidity of the mobile track 500 and also supports the tensile track 502 and the wheel track 501. Specifically, the tensile track 502 also includes a web, through which the wheel track 501 is connected to the I-beam. Therefore, in the mobile track 500, from bottom to top, the components are, in order: the I-beam, the tensile track 502, and the wheel track 501.

[0122] like Figure 1 As shown, in some embodiments, the hoisting device 100 includes an inner tower body 101, an outer tower body 102, a hoisting boom 103, and a counterweight boom 104. The inner tower body 101 is disposed inside the outer tower body 102, and the inner tower body 101 and the outer tower body 102 are connected by a lifting device 105. Specifically, the lifting device 105 here includes a lifting cylinder.

[0123] When the inner tower body 101 is fixed in position, the lifting device 105 can drive the outer tower body 102 to adjust its height relative to the inner tower body 101; similarly, when the outer tower body 102 is fixed in position, the lifting device 105 can drive the inner tower body 101 to adjust its height relative to the outer tower body 102, so that the inner tower body 101 and the outer tower body 102 are movably connected.

[0124] Furthermore, the lifting boom 103 is connected to the outer tower body 102 and is used for lifting heavy objects. The counterweight boom 104 is also connected to the outer tower body 102 and is located on the opposite side of the lifting boom 103. The counterweight boom 104 is used to adjust the center of gravity of the lifting device 100.

[0125] In some embodiments, the outer tower body 102 serves as the load-bearing structure for the hoisting robot to lift and move, and the inner tower body 101 serves as the guiding structure for the intelligent robot to turn and self-elevate. The inner tower body 101 and the outer tower body 102 facilitate the lateral turning and self-elevation of the hoisting robot to the upper floor.

[0126] Meanwhile, the tensile weight reduction device 400, walking base frame 200, mobile track 500, inner tower body 101, outer tower body 102 and lifting cylinder in the hoisting robot adopt an assembly connection method. After each component is transported to the construction site, it is assembled into a hoisting robot, which makes the hoisting robot of this application adopt a modular design, which is conducive to the replacement and transportation of each device.

[0127] like Figure 15 and Figure 16 In some embodiments, traditional lifting robots primarily increase their anti-overturning moment by adding counterweights. However, this technique has significant drawbacks. Specifically, during construction, increasing the counterweight increases the lifting robot's own weight. Excessive weight transferred to the composite beam structure can easily lead to the composite beam exceeding its load limits, causing the crack width to exceed the design specifications, posing a potential risk to structural safety and durability.

[0128] For example, the LR315-25 lifting robot has a self-weight of about 52.7t, and requires an additional counterweight of about 16.5t and a counterweight of about 36t, bringing the total weight of the machine to about 105.2t. Its maximum lifting weight is about 25t, and the load-to-weight ratio is only 24%. This limits the lifting efficiency and makes it difficult to guarantee the safety of the composite beams during the lifting process.

[0129] To address the aforementioned issues, the lifting robot proposed in this application has been improved. The core improvement lies in replacing the traditional counterweight with a tensile weight-reducing device 400. The tensile weight-reducing device 400 provides a stable and reliable anti-overturning moment during robot operation, thereby significantly reducing the overall weight while ensuring operational safety and stability. With this optimization, the overall weight of the lifting robot can be reduced to approximately 69.2 tons. While maintaining the maximum lifting capacity of 25 tons, the load-to-weight ratio is increased by approximately 36%, resulting in a significant improvement in overall performance.

[0130] To clearly illustrate the essential differences between the two designs in terms of overturning resistance and structural impact, the overturning resistance of the traditional lifting robot and the lifting robot of this application are compared in Table 1 below:

[0131] Table 1. Anti-tipping analysis of existing lifting robots and the lifting robot of this application.

[0132]

[0133] Wherein, L1 is the length of the lifting arm; L2 is the length of the counterweight arm; L3 and L4 are the distances between the center of the tensile weight reduction device 400 and the center of the tower body; L5 is the distance between the mobile track 500 and the adjacent composite beams; L6 is the distance between the center of gravity of the lifting robot and the center of the inner tower body; F1 is the self-weight; F2 is the counterweight; G1 is the weight of the tower body; G2 is the counterweight load; N1 and N2 are the reaction forces on opposite sides of the mobile track.

[0134] like Figure 16 As shown, Figure 16 This is a schematic diagram of the anti-overturning mechanical model of an existing hoisting robot. When hoisting prefabricated components, the loads borne by the robot are: the self-weight load F1 of the prefabricated component, the configured counterweight load F2, the self-weight G1 of the tower structure, the ballast load G2 configured at the bottom, and the opposite reaction forces N1 and N2 provided by the moving track 500 on both sides.

[0135] Based on this mechanical model, its overturning stability analysis is detailed in Table 1. The analysis shows that when the self-weight F1 of the precast component being hoisted is large and no counterweight load G2 is provided, the hoisting robot faces a significant risk of overturning. At this time, the overturning moment M around the preset overturning point E... q For: M q =F1(L1-L3)+N1(L3+L4); Simultaneously, the resisting moment M generated by the counterweight and the self-weight of the tower body. d For: M d =F2(L2+L3)+G1(L3-L6). Under this condition, if M is satisfied... q >M d The hoisting robot will overturn and break around point E.

[0136] To prevent such instability, the existing technical solution is to place a counterweight load G2 at the bottom of the robot. This technique increases the resisting torque, updating it to: M d =F2(L2+L3)+(G1+G2)(L3-L6). By properly configuring the counterweight load G2, it can be ensured that M is satisfied during operation. q <M d These conditions effectively prevent the robot from tipping over.

[0137] However, this anti-overturning scheme relying on counterweight leads to significant negative effects. The substantial increase in counterweight load G2 directly results in a significant increase in the overall weight of the lifting robot. Excessive load acting on the supporting structure below (such as composite beams) can easily cause excessive structural cracks during critical construction stages, making the crack width of the composite beams exceed the limits allowed by design specifications. This structural safety issue threatens construction safety and building durability, and also severely limits the application scope of this type of lifting robot in structural scenarios such as the construction of prefabricated concrete workshops.

[0138] like Figure 15 As shown, Figure 15 This is a schematic diagram of the anti-overturning mechanical model of the hoisting robot of this application. When hoisting prefabricated components, the load on the hoisting robot is: the self-weight of the prefabricated component F1, the counterweight F2, the self-weight of the tower structure G1, and the reaction forces N1 and N2 on opposite sides provided by the moving track 500.

[0139] The results of the overturning stability analysis are detailed in Table 1. Table 1 shows the core advantage of this scheme: even when lifting prefabricated components with a large self-weight and without any traditional counterweights, the lifting robot can still maintain high stability. At this time, the moment balance relationship around the overturning point is: Overturning moment M q =F1(L1-L3), while the resisting torque M d =F2(L2+L3)+G1(L3-LN1(L3+L4). Since the tensile weight reduction device provides an additional anti-overturning moment N1(L3+L4), it can satisfy M. q <M d This effectively prevents the lifting robot from tipping over and breaking. This technology offers several significant advantages:

[0140] 1. Significantly reduce the overall weight of the machine: Completely eliminate counterweights, resulting in a significant reduction in the overall weight of the lifting robot.

[0141] 2. Significantly improves efficiency indicators: Under the premise of unchanged maximum lifting capacity, the reduction of the overall weight directly translates into an increase in the load-to-weight ratio, thereby improving the lifting efficiency of the equipment.

[0142] 3. Achieve lightweight design: Reduce the weight of the lifting robot, improve its mobility, and reduce energy consumption.

[0143] 4. Solving structural safety issues: It fundamentally avoids the problem of excessive crack width in composite beams during construction due to the excessive weight of the robot, reduces the load requirements on the lower support structure 407, and ensures construction safety.

[0144] 5. Expanding application scope: The lightweight and high-efficiency features enable the hoisting robot to better meet the needs of various prefabricated concrete plants, and its application scenarios are more extensive.

[0145] In actual implementation, the pad 601 is first fixed to the frame structure 600 by the bolts pre-embedded on the composite beam of the building frame structure 600. Then, the mobile rail 500 is hoisted onto the pad 601 using a truck crane or crawler crane, and the mobile rail 500 and the pad 601 are fixed together with bolts.

[0146] Next, install the walking device 300, crossbeam 401, tensile component mounting rod 402, sleeve component 403, second bearing 308, fixing component and walking base frame 200 in sequence. When installing tensile component mounting rod 402 and sleeve component 403, ensure that there is a gap between the first bearing 406 and tensile track 502 to prevent the walking wheel 301 from jamming with the first bearing 406 due to unevenness of the track steel beam when the hoisting robot moves on the mobile track 500.

[0147] Next, install the inner tower body 101, the outer tower body 102, and the lifting cylinder and other components in sequence.

[0148] Finally, the hoisting robot uses the mobile track 500 to hoist the precast components of the upper floors onto the composite beams of this floor. When the precast components are relatively light, the hoisting robot's anti-overturning moment is greater than the overturning moment of the precast components. The traveling wheels 301 of the tensile weight reduction device 400 are in close contact with the traveling wheel track 501 of the mobile track 500, and the safety requirements of the hoisting process are met. When the precast components are relatively heavy, the hoisting robot's anti-overturning moment is less than the overturning moment of the precast components. The traveling wheels 301 of the tensile weight reduction device 400 disengage from the traveling wheel track 501 of the mobile track 500, and the first bearing 406 of the tensile weight reduction device 400 is in close contact with the tensile track 502. Tension is generated between the tensile weight reduction device 400 and the mobile track 500, increasing the hoisting robot's anti-overturning moment, making the hoisting robot's anti-overturning moment less than the overturning moment of the precast components, and the safety requirements of the hoisting process are met.

[0149] Based on the above-described hoisting robot, various embodiments of the lateral turning method of the hoisting robot of this application are presented below.

[0150] The lateral turning method of the hoisting robot can be applied to the hoisting robot described above. The lateral turning method of the hoisting robot includes, but is not limited to, steps S110, S120, S130, S140, S150 and S160.

[0151] like Figure 5 and Figure 10 As shown, in step S110, the pad block 601 and the pad beam are connected at the position of the building frame structure 600 corresponding to the inner tower body 101, and the inner tower body 101 is connected to the pad beam.

[0152] like Figure 11 As shown, in step S120, the tensile component is rotated to avoid the movable track 500, thereby releasing the vertical displacement restriction of the movable track 500 on the tensile component.

[0153] like Figure 12 and Figure 14 As shown, in step S130, a counterweight is lifted on the lifting arm 103 so that the center of gravity of the lifting robot is within the inner tower body 101. The lifting device 105 is activated, and the lifting device 105 raises the height of the outer tower body 102 and the traveling base frame 200, so that the traveling device 300 is removed from the mobile track 500.

[0154] Step S140: Disassemble the movable track 500 of the current floor, rotate the disassembled movable track 500 by a preset angle, and reinstall it on the composite beam of the building frame structure 600. Rotate the walking device 300 so that the direction of the walking device 300 corresponds to the movable track 500.

[0155] In step S150, the lifting device 105 drives the outer tower body 102 and the traveling base frame 200 to lower the height, so that the traveling device 300 and the tensile weight reduction device 400 on the traveling base frame 200 are re-matched to the mobile track 500.

[0156] In step S160, the inner tower body 101 and the pad beam are disconnected, and the lifting device 105 raises the height of the inner tower body 101 to complete the reset of the inner tower body 101.

[0157] In some embodiments, the lifting robot uses its own lifting capabilities, with the outer tower 102 as the core load-bearing and force-transmitting structure, and the inner tower 101 that can move relative to the outer tower 102 and the lifting cylinder that provides lifting power to form a complete support and guidance system, thereby enabling the lifting robot to move and turn autonomously within the construction plane.

[0158] Furthermore, a single hoisting robot can independently complete the hoisting of all precast components for prefabricated concrete plants, achieving full coverage of the construction area. This method not only simplifies the construction process and reduces the complexity of equipment scheduling and coordination, but also significantly improves overall construction efficiency and reduces overall costs. These advantages enhance the practicality of hoisting robots in the construction of prefabricated concrete plants.

[0159] In practical engineering applications, this method offers high flexibility and adaptability. The disassembled mobile track 500 can be re-laid and reinstalled in other predetermined directions according to the actual needs of the next construction phase. Furthermore, the lateral turning of the hoisting robot can be achieved simply by synchronously rotating the walking device 300 to match the direction of the mobile track 500.

[0160] Through the coordinated operation of "customizable track direction" and "adaptive walking direction", the hoisting robot can break through the limitation of fixed angle and achieve precise turning and subsequent horizontal self-movement in any direction required for construction. This enables the hoisting robot to efficiently cope with complex factory layouts, avoid obstacles, or optimize the hoisting sequence.

[0161] Additionally, step S120: rotating the tensile component to allow it to avoid the movable track 500, thereby releasing the vertical displacement restriction of the movable track 500 on the tensile component, may include, but is not limited to, the following steps:

[0162] Step S210: Remove the pin 410 on the tensile component to release the rotation restriction of the tensile component;

[0163] In step S220, the tensile component rotates 90° to avoid the movable track 500.

[0164] In some embodiments, during normal use of the hoisting robot, the sleeve component 403 on the tensile component cannot rotate, ensuring that the first bearing 406 is always matched with the movable track 500, that is, the first bearing 406 is located at the bottom of the tensile track 502, so that the first bearing 406 and the sleeve component 403 limit the height increase of the outer tower body 102 and the traveling base frame 200.

[0165] Therefore, it is necessary to first remove the pin 410 on the sleeve component 403 so that the sleeve component 403 can rotate to drive the first bearing 406 to disengage from the movable track 500, thereby achieving structural avoidance and preventing structural interference between the outer tower body 102 and the traveling base frame 200 during the height increase. Specifically, the sleeve component 403 rotates 90° during this process.

[0166] Additionally, step S150: the lifting device 105 drives the outer tower body 102 and the traveling base 200 to lower their height, so that the traveling device 300 and the tensile weight reduction device 400 on the traveling base 200 are re-matched to the mobile track 500. This may include, but is not limited to, the following steps:

[0167] In step S310, the pin 410 is inserted into the tensile component to limit the rotation of the tensile component and keep the tensile component in the position corresponding to the movable track 500.

[0168] In some embodiments, as the height of the outer tower 102 and the traveling base 200 decreases, the traveling device 300 is matched with the movable track 500. At the same time, the sleeve component 403 of the tensile weight reduction device 400 drives the first bearing 406 to rotate, so that the first bearing 406 is re-matched with the movable track 500, that is, the first bearing 406 is located at the bottom of the tensile track 502.

[0169] Furthermore, since the first bearing 406 needs to be held at the bottom of the tensile track 502, the position of the locking sleeve 403 needs to be locked to prevent the sleeve 403 from rotating freely. Therefore, the pin 410 is inserted into the sleeve 403 of the tensile assembly to position the first bearing 406 in a manner that restricts the rotation of the sleeve 403.

[0170] Based on the above-described hoisting robot, various embodiments of the self-elevating method of the hoisting robot of this application are presented below.

[0171] The self-lifting method of the hoisting robot can be applied to the hoisting robot mentioned above. The self-lifting method requires at least two sets of moving rails 500. The self-lifting method of the hoisting robot includes, but is not limited to, steps S410, S420, S430, S440, S450, S460 and S470.

[0172] Step S410: Disassemble the first set of movable rails 500 of the adjacent span of the hoisting robot on the current floor, and use the hoisting function of the hoisting robot to reinstall the disassembled first set of movable rails 500 on the composite beam of the next floor.

[0173] like Figure 5 and Figure 10 As shown, in step S420, the pad block 601 and the pad beam are connected at the position of the inner tower body 101 on the building frame structure 600, and the inner tower body 101 is connected to the pad beam.

[0174] like Figure 11 As shown, in step S430, the tensile component is rotated to avoid the second set of movable tracks 500, thereby releasing the vertical displacement restriction of the second set of movable tracks 500 on the tensile component.

[0175] like Figure 13 and Figure 14 As shown, in step S440, a counterweight is lifted on the lifting arm 103 so that the center of gravity of the lifting robot is within the inner tower body 101. The lifting device 105 is activated, and the lifting device 105 raises the height of the outer tower body 102 and the traveling base frame 200, so that the traveling device 300 is removed from the mobile track 500.

[0176] In step S450, the lifting device 105 drives the outer tower body 102 and the traveling base frame 200 to lower the height, so that the traveling device 300 and the tensile weight reduction device 400 on the traveling base frame 200 match the first set of mobile tracks 500.

[0177] In step S460, the inner tower body 101 and the pad beam are disconnected, and the lifting device 105 raises the height of the inner tower body 101 to complete the height increase of the inner tower body 101.

[0178] Step S470: Disassemble the second set of movable rails 500 on the current floor, and use the hoisting function of the hoisting robot to reinstall the disassembled second set of movable rails 500 on the adjacent span composite beam of the hoisting robot on the next floor.

[0179] In some embodiments, this method fully utilizes the lifting capabilities of the hoisting robot itself to construct an efficient self-elevating construction system. This system uses the outer tower 102 as the core load-bearing structure and lifting support, with the inner tower 101 and the lifting cylinder working in tandem to form a complete support and guiding mechanism. This drives the hoisting robot to climb vertically smoothly and safely, enabling transfer between floors.

[0180] The entire self-lifting process requires no external equipment for assisted disassembly or hoisting, enabling a single hoisting robot to independently complete the hoisting of precast components for all floors of a multi-story prefabricated concrete building, achieving full coverage of the entire construction area. This method simplifies the construction process of multi-story prefabricated buildings, reduces the number of equipment and overlapping operations, significantly improves construction efficiency and safety, and lowers overall costs.

[0181] In a specific implementation, this self-lifting method achieves a high degree of integration and intelligence. After completing the work on this floor, the operator can first lift the first set of unused mobile tracks 500 in the adjacent span of the hoisting robot on this floor to the composite beam on the next floor, and then perform the self-lifting operation of the hoisting robot. In addition, during the hoisting process or before the hoisting is positioned, the set of mobile tracks 500 can be rotated horizontally by 90° in the air through the rotation control of the hoisting arm 103.

[0182] Finally, when reinstalling the mobile track 500 on the composite beam of the next floor, its installation direction can be directly kept perpendicular to the original installation direction of the track on this floor. Therefore, during the process of the hoisting robot climbing up the floor, the lateral movement and turning adjustment on the construction plane of the next floor are completed simultaneously. After the robot climbs to the new floor, its walking direction corresponds to the direction of the newly laid mobile track 500, and no additional turning adjustment is required to start the new horizontal movement and hoisting operation. This achieves a seamless connection between the "climbing" and "turning" processes, further optimizing the process and saving operation time.

[0183] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A hoisting robot, characterized in that, include: A hoisting device, used for hoisting heavy objects; A traveling frame, which is connected to the hoisting device; The hoisting robot can move along the mobile track. A walking device is placed on the mobile track and mounted on the walking base. The walking device includes walking wheels, a drive component, a first mounting component, and a second mounting component. The drive component drives the walking wheels to rotate, thereby moving the lifting robot to a new position. The walking wheels are rotatably connected to the first mounting component and placed on the surface of the mobile track. The first mounting component is rotatably connected to the second mounting component, which is used to connect to the walking base. A tensile weight-reducing device is installed on the traveling device. The tensile weight-reducing device includes a crossbeam, a tensile component mounting rod, and a tensile component. The crossbeam is connected to the traveling device, and the tensile component mounting rod is fixedly connected to the crossbeam. The tensile component includes a sleeve member, which is sleeved on the tensile component mounting rod and rotatably connected to it. The sleeve member is provided with a first bearing. When the traveling device is placed on the mobile track, the sleeve member can rotate to drive the first bearing to match the mobile track. When the walking device needs to detach from the mobile track, the sleeve component can rotate to drive the first bearing to avoid the mobile track; the sleeve component is fixedly provided with a protrusion, the protrusion is provided with a rotating shaft, and the first bearing is rotatably sleeved on the rotating shaft; the surface of the tensile component mounting rod is provided with a protruding support structure, the support structure is used to contact the sleeve component to support the sleeve component; the surface of the sleeve component is provided with a first positioning hole, the surface of the tensile component mounting rod is provided with a second positioning hole, and the tensile component also includes a pin; when the first bearing is matched with the mobile track, the first positioning hole and the second positioning hole are positioned correspondingly, and the pin passes through the first positioning hole and inserts into the second positioning hole to restrict the rotation of the sleeve component; When the traveling frame is subjected to a compressive load, the traveling wheels can contact the mobile track, and the mobile track bears the compressive load borne by the traveling frame. When the traveling frame is subjected to tensile load, the tensile weight reduction device can contact the mobile track to increase the anti-overturning moment of the hoisting robot.

2. The hoisting robot according to claim 1, characterized in that, The second mounting component is provided with a walking device mounting rod, which passes through the crossbeam and is inserted into the walking base frame, so that the walking device, the tensile weight reduction device and the walking base frame are connected as a whole.

3. The hoisting robot according to claim 2, characterized in that, The crossbeam is provided with a hole for inserting the mounting rod of the walking device, the inner wall of the hole is provided with a groove, and the surface of the mounting rod of the walking device is provided with a rib. When the walking device mounting rod is inserted into the socket, the protruding rib can be embedded in the groove to restrict the crossbeam from rotating around the walking device mounting rod.

4. The hoisting robot according to claim 2, characterized in that, The traveling device mounting rod is equipped with a second bearing, which is located between the crossbeam and the traveling chassis. The second bearing is used to transfer the compressive load of the traveling chassis to the crossbeam.

5. The hoisting robot according to claim 2, characterized in that, The portion of the walking device mounting rod that inserts into the walking base frame is equipped with a fixing component, which includes a third bearing, a washer, and a fixing plate. The third bearing, the washer, and the fixing plate are sequentially sleeved on the walking device mounting rod. The end of the walking device mounting rod is provided with a connecting hole for connecting fasteners, and the third bearing, the gasket and the fixing plate are fixed to the walking device mounting rod by fasteners.

6. The hoisting robot according to claim 1, characterized in that, The movable track includes a wheel track and a tensile track. The wheel track is located at the end of the movable track along a first direction and is used to contact the wheel. The tensile track is used to contact the working surface of the first bearing in the opposite direction to the first direction.

7. The hoisting robot according to claim 1, characterized in that, The hoisting device includes an inner tower body, an outer tower body, a hoisting boom, and a counterweight boom. The outer tower body is fixedly connected to the traveling base frame. The inner tower body is located inside the outer tower body. The inner tower body and the outer tower body are connected by a jacking device. The hoisting boom is connected to the outer tower body and is used to hoist heavy objects. The counterweight boom is connected to the outer tower body and is used to adjust the center of gravity of the hoisting device.

8. A lateral turning method for a lifting robot, applied to the lifting robot as described in any one of claims 1-7, characterized in that, The hoisting device includes an inner tower body, an outer tower body, and a hoisting boom. The inner tower body and the outer tower body are connected by a jacking device. The tensile weight reduction device includes a tensile component, which includes a pin. The lateral turning method of the hoisting robot includes: Connect the pad block and pad beam at the position of the inner tower body in the building frame structure, and connect the inner tower body to the pad beam; Rotate the tensile component to make it avoid the movable track, thereby releasing the vertical displacement restriction of the movable track on the tensile component; A counterweight is lifted onto the lifting boom to keep the center of gravity of the lifting robot within the inner tower body. The jacking device is then activated to raise the height of the outer tower body and the traveling frame, causing the traveling device to detach from the mobile track. Disassemble the movable track of the current floor, rotate the disassembled movable track by a preset angle, and reinstall it on the composite beam of the building frame structure. Rotate the walking device so that the direction of the walking device corresponds to the movable track. The lifting device drives the outer tower body and the traveling base to lower the height, so that the traveling device and the tensile weight reduction device on the traveling base can be rematched with the mobile track; The inner tower body and the support beam are disconnected, and the jacking device raises the height of the inner tower body to complete the repositioning of the inner tower body.

9. The lateral turning method for a hoisting robot according to claim 8, characterized in that, The rotating tensile component, which causes the tensile component to avoid the movable track and releases the vertical displacement restriction of the movable track on the tensile component, includes: Remove the pin on the tensile component to release the rotation restriction of the tensile component; The tensile component rotates 90° to avoid the moving track.

10. The lateral turning method for a hoisting robot according to claim 8, characterized in that, The lifting device drives the outer tower and traveling frame to lower their height, allowing the traveling device and tensile weight reduction device on the traveling frame to be re-matched to the mobile track, including: Insert the pin into the tensile component to limit its rotation, thereby keeping it in position corresponding to the movable track.

11. A self-elevating method for a hoisting robot, applied to the hoisting robot as described in any one of claims 1-7, characterized in that, The hoisting device includes an inner tower body, an outer tower body, and a hoisting boom. The inner tower body and the outer tower body are connected by a jacking device. The tensile weight reduction device includes tensile components. The self-lifting method of the hoisting robot includes: Disassemble the first set of mobile tracks of the hoisting robot in the adjacent span of the current floor, and use the hoisting robot's hoisting function to reinstall the disassembled first set of mobile tracks on the composite beam of the next floor; Connect the pad block and pad beam at the position of the inner tower body in the building frame structure, and connect the inner tower body to the pad beam; Rotate the tensile component to make it avoid the second set of movable tracks, thereby releasing the vertical displacement restriction of the second set of movable tracks on the tensile component; A counterweight is lifted onto the lifting boom to keep the center of gravity of the lifting robot within the inner tower body. The jacking device is then activated to raise the height of the outer tower body and the traveling frame, causing the traveling device to detach from the mobile track. The lifting device drives the outer tower body and the traveling base to lower the height, so that the traveling device and the tensile weight reduction device on the traveling base are matched with the first set of mobile tracks; The inner tower body and the support beam are disconnected, and the jacking device raises the height of the inner tower body to complete the height increase of the inner tower body; The second set of movable rails on the current floor is disassembled, and the lifting robot is used to reinstall the disassembled second set of movable rails on the adjacent span of the composite beam of the next floor's lifting robot.

Images