Walking jack for building translation

Abstract

The application provides a walking type lifting equipment for building translation. Through the cooperation of the adjustable sole plate surface of the walking shoe plate and the damping leveling array, the equipment realizes high adaptability contact with the displacement site. The integrated design of the vertical hydraulic jacking device and the driving connection device enables the equipment to quickly convert the support state. The spatial positioning function of the displacement sensor cooperates with the external control system to realize precise synchronization of multi-equipment collaborative operation. The installation connection tooling of the built-in universal ball hinge enables the equipment to adapt to any slope site, and cooperates with the multi-dimensional buffering function of the damping leveling array. The cooperative working mode of the external driving wheel and the internal driving wheel not only ensures the large tonnage bearing requirement in the translation process, but also provides the flexibility of the self-propelled positioning of the equipment. The driving wheel state adjusting actuator realizes the quick engagement and separation of the transmission chain, which not only ensures the reliable transmission in the working state, but also facilitates the equipment maintenance and repair.

Description

Technical Field

[0001] This invention relates to a walking-type lifting device for building translation. Background Technology

[0002] Building relocation technology is an important means of urban renewal and historical building preservation, playing a crucial role, especially in the overall relocation or repositioning of existing buildings with preservation value. In traditional building relocation practices, technologies such as synchronous jacking devices, sliding track systems, and hydraulic flatbed trucks have been widely used. Among these, the walking-type jacking technology, which achieves gradual translation of the building through alternating lifting and horizontal movement, has become the mainstream solution for building relocation under complex site conditions due to its high construction precision and strong adaptability.

[0003] As a core component of modern building relocation technology, walking-type relocation equipment has evolved from single-function systems to integrated systems. Early equipment primarily used a combination of hydraulic jacks and roller tracks, achieving horizontal movement of the building through alternating lifting in groups. With technological advancements, modern equipment has developed into intelligent systems integrating lifting, translation, and steering functions, capable of forming a multi-point support array at the building's base, significantly improving the stability and controllability of the relocation process. This technology has achieved remarkable results in areas such as historical building preservation and municipal engineering renovation.

[0004] However, existing walking-type relocation equipment still faces several technical bottlenecks in practical applications. First, traditional equipment often uses fixed hydraulic jacking devices as its drive system, which has a single direction of movement and a limited turning radius, making it difficult to adapt to complex relocation paths. Second, when operating on slopes or uneven ground, the equipment lacks an effective adaptive leveling mechanism, easily leading to uneven stress on the building. More importantly, existing systems still suffer from insufficient precision in relocation synchronization control, especially when relocating large-tonnage buildings, where uneven load distribution at each support point may cause structural safety hazards. Summary of the Invention

[0005] The purpose of this invention is to provide a walking lifting device for building translation.

[0006] To address the above problems, the present invention provides a walking-type lifting device for building translation, comprising:

[0007] Includes: walking shoe disc, drive unit, and structural connecting disc; among which,

[0008] The walking boot disc is located at the bottom of the drive unit, and the structural connecting disc is located at the top of the drive unit.

[0009] Furthermore, in the aforementioned walking-type lifting equipment for building relocation, the walking shoe plate includes: a chassis surface, a damping leveling array, a vertical hydraulic jacking and drive connection device, a displacement sensor, a platform plate, and installation connection fixtures; wherein,

[0010] The damping leveling array is located above the chassis surface;

[0011] A platform plate is provided on the upper part of the damping leveling array;

[0012] The vertical hydraulic lifting and drive connection device is mounted on the platform plate;

[0013] The installation and connection fixture is located on the top of the vertical hydraulic jacking and drive connection device. The installation and connection fixture has a built-in universal ball joint structure and is movably connected to the drive device.

[0014] The displacement sensor is fixed to the side wall of the platform plate.

[0015] Furthermore, in the aforementioned walking-type lifting equipment for building translation, the damping leveling array is composed of multiple sets of independent hydraulic damping jacks arranged in a matrix.

[0016] Furthermore, in the aforementioned walking-type lifting equipment for building translation, the displacement sensor is used to collect real-time three-dimensional displacement, attitude, and speed data of the walking shoe disc, and transmit them to the external central control system via wired or wireless means.

[0017] Furthermore, in the aforementioned walking-type lifting equipment for building relocation, the driving device includes: an external drive wheel, an internal drive wheel, a transmission chain, and a drive wheel state adjustment actuator, wherein,

[0018] There are two built-in drive wheels, symmetrically arranged on the inner side of the transmission chain. The two built-in drive wheels are respectively engaged with the transmission chain, and one of the built-in drive wheels is fixedly connected to the structural connecting plate through a connector.

[0019] There are two sets of external drive wheels, which are symmetrically arranged on the outside of the transmission chain, and work together with the internal drive wheels to form a composite drive system;

[0020] The drive chain wraps around the outside of the built-in drive wheel and around the inside of the external drive wheel;

[0021] The drive wheel state adjustment actuator is fixed to the drive unit housing. The output end of the drive wheel state adjustment actuator is connected to the external drive wheel. The engagement state between the external drive wheel and the transmission chain is adjusted by the extension and retraction movement: when extended, the transmission is engaged, forming a complete transmission chain; when retracted, the transmission is disengaged, the power constraint is released, and maintenance is convenient.

[0022] Furthermore, in the aforementioned walking-type lifting equipment for building translation, the bottom of the structural connecting plate is fixedly connected to one of the built-in drive wheels of the drive device, and the top of the structural connecting plate is detachably connected to the building bottom support fixture, so as to evenly transfer the vertical load of the upper building to the drive device and the walking shoe plate.

[0023] Furthermore, in the aforementioned walking-type lifting equipment for building relocation, the walking-type lifting equipment for building relocation is characterized in that the walking-type lifting equipment for building relocation adopts alternating operation of X and Y grouped walking-type lifting equipment for building relocation. One relocation cycle includes four continuous states: initial support state, building displacement state, support conversion state and equipment reset state, and the building is continuously supported throughout the process.

[0024] Furthermore, in the aforementioned walking-type lifting equipment for building relocation, the initial support state is as follows: the walking shoe discs of the X group of walking-type lifting equipment for building relocation are grounded and supported, while the walking shoe discs of the Y group of walking-type lifting equipment for building relocation are suspended in the air.

[0025] The drive unit of the X group's building translation walking lifting equipment drives its walking shoe disc to advance horizontally;

[0026] The support conversion state is as follows: the walking shoe disc of the building translation walking lifting equipment of group Y falls to bear the load, and the walking shoe disc of the building translation walking lifting equipment of group X is raised and detached.

[0027] The device reset state is: the X group of drive devices drives the walking shoe disc to return to the initial position.

[0028] Furthermore, in the aforementioned walking-type lifting equipment for building relocation, the characteristic is that the walking-type lifting equipment for building relocation has the following driving modes in the plane: a linear movement mode and a rotation mode, wherein the linear movement mode is used for building relocation, and the rotation mode is used for adjusting the relocation orientation and crossing site obstacles.

[0029] Furthermore, in the aforementioned walking-type lifting equipment for building translation, in linear movement mode, the external drive wheel provides the driving force, and the internal drive wheel moves longitudinally along the equipment via a transmission chain;

[0030] In the rotation mode, the built-in drive wheel fixedly connected to the structural connection disk serves as the fixed rotation center and remains in a fixed position; the external drive wheel outputs torque, and drives another built-in drive wheel to move tangentially along the circumferential direction through the transmission chain; under the constraint of the fixed rotation center, the drive wheel group composed of the external drive wheel, the built-in drive wheel and the transmission chain drives the entire device to deflect in situ around the rotation center; the displacement sensor detects the steering angle in real time and feeds it back to the external total control system, and the drive wheel state adjustment actuator adjusts the transmission meshing state according to the feedback signal of the external total control system to achieve precise steering control.

[0031] Through the innovatively designed dual-mode drive system, intelligent leveling array and universal connection mechanism, the present invention realizes precise control of multiple degrees of freedom during the building displacement process. In particular, the modular design and array-style flexible layout of the present invention solve the technical problems of building steering and complex path displacement in narrow spaces, and provide a more efficient and safer solution for building protection projects in urban renewal. The walking type displacement device proposed by the present invention can be arranged in an array, and is particularly suitable for the translation construction environment of existing buildings with flexible displacement paths, narrow sites or uneven slopes.

[0032] The present invention can solve the problems of insufficient displacement accuracy and adaptability in the prior art. Especially for the application requirements of the overall displacement and position adjustment of existing buildings in urban renewal, the device design of the present invention can adapt to the displacement environment of complex or limited spaces, and realizes precise jacking and translation of buildings through its walking type displacement function, which can effectively ensure the displacement quality while improving the displacement efficiency. In addition, the present invention also aims to reduce the dynamic impact on the building structure and displacement site during the displacement process through the collaborative control method配套 with the device, protect the integrity of existing buildings, and achieve safer and more efficient urban renewal and building displacement. This innovative technical means will provide important technical support for building translation projects, especially in the urban center areas with complex displacement paths, limited sites and high requirements for displacement accuracy.

[0033] The technical effects of the present invention are specifically as follows:

[0034] (1) Through the coordinated action of the replaceable chassis surface of the walking shoe plate and the damping leveling array, high adaptability contact between the device and the displacement site is achieved, solving the problem of uneven force transmission caused by uneven ground of traditional translation equipment, and significantly improving the stability during the building displacement process.

[0035] (2) The integrated design of the vertical hydraulic jacking device and the drive connection device enables the device to have the ability to quickly switch the support state, solves the technical problem of low support conversion efficiency of traditional translation equipment, and greatly shortens the building displacement cycle.

[0036] (3) The spatial positioning function of the displacement sensor, together with the external control system, enables precise synchronization of multi-device collaborative operation, and solves the risk of building structure damage caused by asynchronous operation during the translation of large buildings.

[0037] (4) The built-in universal ball joint installation and connection tooling enables the equipment to adapt to any slope site. Combined with the multi-dimensional buffer function of the damping leveling array, it effectively solves the problem of discontinuous force transmission path of traditional equipment under complex terrain conditions.

[0038] (5) The collaborative working mode of the dual drive wheel system (external drive wheel and internal drive wheel) not only ensures the large tonnage load requirement during the translation process, but also provides the flexibility of self-propelled positioning of the equipment, thus solving the contradiction that traditional equipment cannot balance rigidity and mobility.

[0039] (6) The drive wheel state adjustment actuator realizes the rapid engagement and disengagement of the transmission chain, which not only ensures reliable transmission in the working state, but also facilitates equipment maintenance and repair, solving the technical problem of difficult maintenance of traditional translation equipment.

[0040] (7) The working mode of alternating support of equipment groups realizes the continuous advancement of building translation, and solves the problems of traditional translation equipment requiring a large translation backstage and discontinuous advancement.

[0041] (8) The flexible switching between the two driving modes (linear movement mode and rotation mode) in the plane enables the equipment to ensure the stability of the straight translation of the building and to achieve precise turning under complex paths, thus solving the problem of turning the building in a narrow space.

[0042] (9) The modular array arrangement of the equipment and the function of flexibly adjusting the turning angle can realize the free setting of the rotation center during the building relocation process, breaking through the limitation of the minimum turning radius of traditional translation equipment, and is particularly suitable for engineering environments with limited space.

[0043] (10) The design of the damping leveling array of the walking shoe disc of this equipment can reduce the impact of dynamic load during the building relocation process and effectively protect the building structure and site safety. Attached Figure Description

[0044] Figure 1 is a schematic diagram of the overall three-dimensional structure of the walking lifting device for building translation according to the present invention;

[0045] Figure 2 is a three-dimensional structural schematic diagram of the internal drive device of the walking lifting device for building translation according to the present invention;

[0046] Figure 3 is a top view of the internal drive device of the walking lifting device for building translation according to the present invention;

[0047] Figure 4 is a first-view three-dimensional exploded structure diagram of the walking boot disc of the present invention;

[0048] Figure 5 is a schematic diagram of the three-dimensional exploded structure of the walking boot disc of the present invention from a second perspective;

[0049] Figure 6 is a side view of the walking boot disc structure of the present invention;

[0050] Figure 7 is a schematic diagram of the main structure of the walking boot disc of the present invention;

[0051] Figure 8 is a schematic diagram of the internal three-dimensional structure of the driving device of the present invention;

[0052] Figure 9 is a top view of the X and Y group devices in the initial support state of displacement according to an embodiment of the present invention;

[0053] Figure 10 is a top view of the X and Y group equipment in the building displacement state and support conversion state according to an embodiment of the present invention;

[0054] Figure 11 is a top view of the X and Y group devices in the reset state according to an embodiment of the present invention;

[0055] Figure 12 is a schematic diagram of the main structure of the X and Y groups of equipment in the initial support state and the building displacement state according to an embodiment of the present invention;

[0056] Figure 13 is a schematic diagram of the main structure of the X and Y group devices under shift cycle states 3 and 4 of the present invention;

[0057] Figure 14 is a schematic diagram of the linear movement mode principle of the present invention; Figure 15 is a schematic diagram of the rotation mode principle of the present invention;

[0058] Among them, 1—walking shoe plate, 11— chassis surface, 12—damping leveling array, 13—vertical hydraulic lifting and drive connection device, 14—displacement sensor, 15—installation connection fixture, platform plate 16;

[0059] 2— Drive unit; 21— External drive wheel; 22— Internal drive wheel; 23— Transmission chain; 24— Drive wheel status adjustment actuator; Connector 25;

[0060] 3— Structural connecting plate. Detailed Implementation

[0061] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0062] Figure 1 This is a three-dimensional view of a walking lifting device used for building translation; Figure 2It is a 3D view of a walking lifting device used for building translation, used to show the structure of the internal drive mechanism; Figure 3 This is a top view of a walking lifting device used for building translation, used to show the internal drive mechanism structure;

[0063] Figure 4 It is a three-dimensional view composed of the walking boot disc; Figure 5 It is a three-dimensional view composed of the walking boot disc; Figure 6 This is a side view of the walking boot discs; Figure 7 This is the main view of the walking boot discs; Figure 8 It is a three-dimensional view of the internal components of the drive unit; Figure 9 This is a top view of a pair of XY group equipment under the initial support state during the building relocation and advancement cycle. The equipment on the left belongs to group Y, and the equipment on the right belongs to group X. Figure 10 This is a top view of a pair of XY group equipment during the building relocation and support conversion phases of the building relocation process. The equipment on the left belongs to group Y, and the equipment on the right belongs to group X. Figure 11 This is a top view of a pair of XY group devices in the reset state during the building relocation and advancement cycle. The device on the left belongs to group Y, and the device on the right belongs to group X. Figure 12 This is a front view of a pair of XY group equipment in the initial support state and the building relocation state during the building relocation promotion cycle. The equipment on the left belongs to the Y group, and the equipment on the right belongs to the X group. Figure 13 This is a schematic diagram illustrating the principle of the linear movement mode of the equipment; Figure 14 This is a schematic diagram illustrating the principle of the linear movement mode of the equipment; Figure 15 This is a schematic diagram illustrating the principle of the equipment's rotation mode.

[0064] like Figures 1 to 3 As shown, the present invention provides a walking lifting device for building translation, comprising: a walking shoe plate 1, a driving device 2, and a structural connecting plate 2;

[0065] Here, a walking-type lifting device for building relocation mainly consists of three core components: a walking shoe plate 1, a drive unit 2, and a structural connecting plate 3. The device adopts a modular design, allowing for flexible disassembly and transportation, making it particularly suitable for rapid assembly at building relocation sites with limited space. When the device is in operation, its outer casing is sealed and equipped with ventilation holes for rapid cooling of the internal components in conjunction with external cooling equipment. Simultaneously, the outer casing houses the connecting components that secure the internal parts of the drive unit.

[0066] The walking boot disc 1 is located at the bottom of the drive device 2, and the structural connecting disc 3 is located at the top of the drive device 3.

[0067] Preferred, such as Figures 4 to 7As shown, the walking shoe plate 1 includes: a chassis surface 11, a damping leveling array 12, a vertical hydraulic lifting and drive connection device 13, a displacement sensor 14, a platform plate 16, and an installation and connection fixture 15;

[0068] Here, as Figures 4-7 As shown, the walking shoe disc 1, as a key load-bearing component of the walking-type relocation device, can be disassembled into five parts: the chassis surface 11, the damping leveling array 12, the vertical hydraulic lifting and drive connection device 13, the relocation sensor 14, and the installation and connection fixture 15. Each part adopts a modular design, allowing each component to be maintained and replaced independently, improving the maintainability and service life of the equipment. The chassis surface features a detachable design, facilitating the quick replacement of worn parts during relocation operations.

[0069] The damping leveling array 12 is located above the chassis surface 11;

[0070] The upper part of the damping leveling array 12 is provided with a platform plate 16;

[0071] The vertical hydraulic lifting and drive connection device 13 is mounted on the platform plate 16;

[0072] The installation and connection fixture 15 is located on the top of the vertical hydraulic jacking and drive connection device 13. The installation and connection fixture 15 has a built-in universal ball joint structure and is movably connected to the drive device 2.

[0073] The displacement sensor 14 is fixed to the side wall 16 of the platform plate.

[0074] Preferably, the chassis surface is made of wear-resistant material and has a detachable structure, with a quick disassembly and assembly mechanism for rapid on-site replacement after wear.

[0075] Here, the various components of the walking shoe work together. The chassis surface provides basic support; the damping leveling array completes leveling and buffering; the vertical hydraulic lifting and drive connection device realizes lifting and power docking; the displacement sensor outputs real-time status data; and the installation connection fixture ensures attitude self-adaptation through universal ball joints.

[0076] The chassis surface is a load-bearing base plate that directly contacts the relocation site. It is made of high wear-resistant alloy material, which effectively solves the wear problem caused during the relocation process. It is equipped with a quick disassembly and assembly mechanism, which can be quickly replaced on site after wear. The chassis surface has a rectangular planar structure, and the dimensions are designed to match the load-bearing tonnage to ensure the support area and load-bearing stability.

[0077] Preferably, the deflection angle of the universal ball joint structure is greater than or equal to ±15°, and in conjunction with the damping leveling array, it is adapted to the site adaptive support with a slope of greater than or equal to 0°~15°.

[0078] Here, the top of the installation and connection fixture is equipped with a universal ball joint structure, which is movably connected to the bottom of the drive device. It can freely deflect in three-dimensional space to adapt to the slope and angle deviation of the site. The universal ball joint, together with the damping leveling array, enables the equipment to be stably fitted and supported on any slope and uneven site.

[0079] The installation and connection fixture has a built-in universal ball joint structure, which enables the equipment to adapt to different slopes of the relocation site. Combined with the damping leveling array, it can achieve smooth relocation of the building on uneven ground.

[0080] Better, such as Figures 4 to 6 As shown, the damping leveling array is composed of multiple independent hydraulic damping jacks arranged in a matrix. Each set of hydraulic damping jacks has independent extension, pressure feedback and buffering functions, which are used for adaptive leveling and dynamic load absorption.

[0081] Here, the damping leveling array consists of multiple independent hydraulic damping jacks arranged in a matrix above the chassis surface. Each set of hydraulic damping jacks has independent extension, pressure feedback and buffering functions, and can automatically adjust the extension amount according to the flatness of the ground to achieve adaptive leveling; at the same time, it absorbs the dynamic load during the lifting, pushing and lowering process to reduce the impact effect.

[0082] A damping leveling array 12, consisting of multiple hydraulic damping jacks, is installed above the chassis surface 11. This array has dual functions of buffering and shock absorption as well as automatic leveling, effectively absorbing the dynamic load generated during the relocation of the superstructure and ensuring the smooth transmission of vertical forces. The top of the damping leveling array 12 is connected to a platform plate 16, which is connected to a vertical hydraulic lifting and drive connection device 13. This device not only realizes the power connection between the walking shoe disc and the drive device, but also has an independent lifting function, which can precisely adjust the height position of the walking shoe disc during the relocation of the building. Displacement sensors arranged on the platform plate monitor the displacement status of the equipment in real time through spatial positioning and feed the data back to the external control system to ensure the coordinated operation of multiple devices.

[0083] Preferably, the vertical hydraulic lifting and drive connection device 13 is an integrated hydraulic actuator that combines vertical lifting function with drive device power connection function. It is used to independently drive the lifting and lowering of the walking shoe disc, realize the switching between supported and suspended states, and form a rigid power transmission interface with the drive device through the installation and connection fixture.

[0084] Preferably, the displacement sensor 14 is a high-precision spatial positioning sensor used to collect real-time three-dimensional displacement, attitude, and speed data of the walking shoe disc, and transmit them to the external central control system via wired or wireless means to provide data input for synchronous control of multiple devices.

[0085] The components work together in precise coordination. The damping leveling array and installation connection fixtures work together to ensure stable support for the equipment on sites with varying slopes; the vertical hydraulic jacking and drive connection device collaborates with the drive unit to complete height adjustment and power transmission during building relocation; displacement sensors monitor the equipment status in real time, providing decision-making basis for the external control system. This integrated design enables the walking shoe disc to maintain load-bearing capacity while possessing excellent environmental adaptability and control precision.

[0086] like Figure 8 As shown, the drive device 2 includes: an external drive wheel 21, an internal drive wheel 22, a transmission chain 23, and a drive wheel state adjustment actuator 24; this modular design realizes the integration of power output and transmission adjustment, and can adapt to the driving force requirements under different displacement conditions.

[0087] Among them, there are two built-in drive wheels 22, which are symmetrically arranged on the inner side of the transmission chain. The two built-in drive wheels are respectively engaged with the transmission chain. One of the built-in drive wheels 22 is fixedly connected to the structural connecting plate 3 through the connecting piece 25 to form a stable power transmission path.

[0088] There are two sets of external drive wheels 21, which are symmetrically arranged on the outside of the transmission chain. They are auxiliary power wheels and work together with the built-in drive wheels to form a composite drive system, which improves the driving force and structural rigidity when moving large tonnage objects. There are multiple external drive wheels 21 in each set.

[0089] The transmission chain 23 is wrapped around the outside of the built-in drive wheel 22 and around the inside of the external drive wheel 21, serving as a power transmission medium to realize torque transmission between the drive wheels;

[0090] The drive wheel state adjustment actuator 24 is a linear hydraulic actuator, fixed to the drive unit housing. The output end of the drive wheel state adjustment actuator is connected to the external drive wheel. The engagement state between the external drive wheel and the transmission chain is adjusted by the extension and retraction movement: when extended, the transmission is engaged, forming a complete transmission chain; when retracted, the transmission is disengaged, the power constraint is released, and maintenance is convenient.

[0091] Here, the drive unit has three-dimensional power coordination capability. In the vertical direction, it is linked with the vertical hydraulic lifting and drive connection device to achieve lifting and lowering. In the horizontal direction, it achieves translation with the transmission chain through the external drive wheel and the internal drive wheel. The drive wheel state adjustment actuator receives the command of the external control system and combines it with the feedback data of the displacement sensor to achieve displacement closed-loop control.

[0092] The core function of the drive unit is achieved through the coordinated operation of the external drive wheel and the internal drive wheel. The external drive wheel, acting as an additional power source, forms a composite drive system with the internal drive wheel during heavy-duty lateral movement of the building, significantly improving the overall rigidity and power output stability of the equipment. The transmission chain serves both as the power transmission medium and allows for switching of operating modes via a drive wheel state adjustment actuator. This actuator adjusts the meshing position of the external drive wheel relative to the transmission chain through telescopic movement: in the meshing state, it forms a transmission chain, ensuring efficient power transmission; in the disengaged state, it releases the constraint, facilitating equipment inspection and maintenance.

[0093] In the vertical dimension, the hydraulic lifting linkage is formed between the structural connecting plate and the vertical hydraulic lifting and drive connection device of the walking shoe plate; in the horizontal dimension, the built-in drive wheel drives the walking shoe plate to move through the transmission chain; in the control dimension, the positioning feedback of the displacement sensor is received to achieve precise synchronous control.

[0094] Preferably, the structural connecting plate 3 is the top force transmission interface module of the walking lifting equipment for building translation. It is made of high-strength steel structure and has a standardized quick connection interface. The bottom of the structural connecting plate is fixedly connected to one of the built-in drive wheels of the drive device, and the top of the structural connecting plate is detachably connected to the support fixture at the bottom of the building. This allows the vertical load of the upper building to be evenly transferred to the drive device and the walking shoe plate. Different specifications can be matched according to the building tonnage and support layout to achieve rapid adaptation of multiple models of equipment to different buildings.

[0095] The structural connecting plate 3, as a key force-transmitting component of the walking-type relocation device, can effectively transfer the load of the superstructure to the drive unit. This component adopts a modular design and can be quickly assembled with walking shoe plates and drive units of different specifications according to the tonnage of the relocated object, the characteristics of the relocation site, and the relocation construction environment, adapting to various building relocation conditions.

[0096] Preferred, such as Figures 9-13 As shown, the walking-type lifting equipment for building relocation employs alternating operation of X and Y grouped walking-type lifting equipment. One relocation cycle includes four continuous states: initial support state, building displacement state, support conversion state, and equipment reset state, maintaining continuous building support throughout the entire process; wherein,

[0097] 1) The initial support state is as follows: the walking shoe disc of the building translation walking lifting equipment of group X is grounded and supported, while the walking shoe disc of the building translation walking lifting equipment of group Y is suspended in the air;

[0098] Here, the X group of equipment's walking shoe is fully on the ground, making full contact with the relocation site and bearing the entire load of the building; the Y group of equipment is in a suspended standby state, and the drive devices of both groups of equipment are in the starting position of their stroke.

[0099] Specifically, the inputs for the initial support state are: system startup command and device positioning signal;

[0100] Output: X group support locking signal, Y group floating standby signal;

[0101] The X group of equipment has its walking shoe fully on the ground, with the chassis surface closely fitting the site. The damping leveling array automatically levels itself and bears the entire load of the building. The Y group of equipment has its vertical hydraulic lifting and drive connection device retracted, leaving the walking shoe suspended in the air. Both drive devices are in their initial stroke positions.

[0102] 2) The building displacement state is as follows: The drive device of the walking-type lifting equipment for building translation of group X drives its walking shoe disc to advance horizontally;

[0103] Here, the X group of equipment drives the walking shoe disc to move in a predetermined direction through the drive device, and the displacement sensor monitors the displacement data in real time; at this time, the damping leveling array of the walking shoe disc absorbs the vibration generated by the displacement, ensuring that the upper building moves smoothly.

[0104] Specifically, the inputs for building relocation status are: X group support locking signals and relocation start command;

[0105] Output: Real-time displacement data, smooth propulsion signal;

[0106] When the X-group drive unit is activated, the external drive wheel and the internal drive wheel work together to drive the transmission chain, causing the walking shoe disc to move horizontally in a predetermined direction; the displacement sensor collects displacement data in real time and feeds it back to the external main control system; the damping leveling array absorbs vibration and ensures the smooth movement of the building.

[0107] 3) The support conversion state is as follows: the walking shoe disc of the building translation walking lifting equipment of group Y falls to bear the load, and the walking shoe disc of the building translation walking lifting equipment of group X is raised and detached.

[0108] Here, the Y-group equipment is lowered to the site using a vertical hydraulic jacking device, gradually taking over the building load; after the Y-group equipment has completely taken over the building load, the X-group equipment is lifted away from the contact surface, completing the conversion of the support system. This process ensures that the building remains stably supported throughout the relocation process.

[0109] Specifically, the inputs supporting the transition state are: shift to position signal and Y-group lifting command;

[0110] Output: Support conversion completion signal, X group de-energization signal.

[0111] The Y-group vertical hydraulic jacking and drive connection device extends, and the walking shoe plate descends to the site. After the damping leveling array automatically levels itself, it gradually takes over the load. After the load transfer is completed, the X-group vertical hydraulic jacking and drive connection device retracts, and the walking shoe plate leaves the site. The entire building maintains continuous support and is not in a state of being detached.

[0112] 4) The device reset state is: the X group of drive devices drives the walking shoe disc to return to the initial position.

[0113] Here, the X group of equipment, which has been disengaged from the support, is reset to its initial position via the drive device; however, if site conditions or relocation requirements necessitate a partial reset to the zero-stroke state, the Y group of equipment remains supported, preparing for the next relocation cycle.

[0114] Specifically, the inputs for the device reset status include: a support conversion completion signal and a reset command;

[0115] Output: Reset complete signal, cycle end signal;

[0116] The X group drive unit drives the walking shoe disc to move in the opposite direction to the initial position; the Y group maintains the support state; the reset can be fully or partially zeroed according to the site conditions, to prepare for the next cycle.

[0117] Here, the device reset state can be fully or partially zeroed according to site conditions, and after reset, it directly enters the next shift cycle.

[0118] Preferably, the drive wheel state adjustment actuator is a linear hydraulic actuator, which precisely controls the meshing gap between the external drive wheel and the transmission chain through telescopic movement. In the meshing state, it ensures efficient power transmission, and in the disengaged state, it facilitates equipment maintenance.

[0119] Preferably, the building translation walking lifting device has an external enclosed shell, with heat dissipation holes and component connectors on the enclosed shell. The heat dissipation holes are used to help dissipate heat from external equipment, and the component connectors are used to fix the internal components of the drive device.

[0120] Preferably, the walking-type lifting device for building relocation has two driving modes in the plane, which can be flexibly switched according to the building relocation path and site conditions. The flexible selection of the two driving modes can improve the stability and flexibility of the building during relocation, making it particularly suitable for complex relocation paths and confined spaces. The linear movement mode is mainly used for building relocation, while the rotation mode is used to adjust the relocation orientation and overcome site obstacles.

[0121] 1) such as Figure 14As shown, in linear movement mode, the external drive wheel provides the driving force, which drives the internal drive wheel to move longitudinally along the equipment via a transmission chain. In this mode, the equipment acts as a support point for building relocation, providing stable power output and sufficient structural rigidity to ensure the stability of the superstructure during the translation process. When the equipment is in an unsupported state, this mode can also be used to quickly return the equipment's stroke to zero, preparing for the next relocation cycle. Displacement sensors monitor the equipment's displacement status in real time, coordinating with the external control system to achieve synchronous relocation of multiple devices.

[0122] Specifically, the device supports automatic switching between linear movement mode and rotation mode to adapt to different displacement path requirements:

[0123] Input for linear movement mode: linear shift command, transmission engagement signal;

[0124] Output: Linear displacement, synchronous control signal;

[0125] The external drive wheel is engaged with the transmission chain, driving the internal drive wheel to move the equipment in a longitudinal linear motion; it provides stable translational force in the supported state and achieves rapid reset in the unsupported state; the displacement sensor provides real-time feedback of displacement to ensure synchronization of multiple devices.

[0126] 2) Rotation mode such as Figure 15 As shown, the external drive wheel, connected to the structural connecting plate, serves as the rotation center and power source, enabling the overall steering of the equipment. This mode allows the equipment to flexibly adjust its displacement direction, avoid site obstacles, and can also be used for zeroing the equipment's travel. When a building needs to be steered, multiple sets of equipment can achieve coordinated steering at different angles through this mode, allowing the building to complete the steering with the theoretical minimum turning radius, greatly improving the flexibility of movement in confined spaces.

[0127] Input for rotation mode: steering command, rotation center signal;

[0128] Output: Steering angle and attitude adjustment signals;

[0129] With the external drive wheel at the connection point of the structural connecting plate as the rotation center, the drive wheel group drives the entire equipment to deflect around the center, achieving in-situ turning; multiple devices can work together to set any rotation center, achieving the minimum turning radius of the building and avoiding site obstacles.

[0130] In detail, during rotation mode, the built-in drive wheel, which is fixedly connected to the structural connecting plate, serves as a fixed rotation center, maintaining a fixed position. The external drive wheel outputs torque, which drives another built-in drive wheel to move tangentially along the circumference via a transmission chain. Under the constraint of the fixed rotation center, the drive wheel assembly, consisting of the external drive wheel, the built-in drive wheel, and the transmission chain, drives the entire equipment to deflect in place around the rotation center. The displacement sensor detects the steering angle in real time and feeds it back to the external control system. The drive wheel state adjustment actuator adjusts the transmission engagement state according to the feedback signal from the external control system, achieving precise steering control.

[0131] More preferably, the rotation mode supports freely setting the rotation center, and multiple devices working together can achieve the minimum turning radius of the building for relocation in narrow spaces and complex paths.

[0132] When using this equipment to relocate existing buildings, the stress distribution below the center of the vertical projection plane of the chassis, varying with depth, is as follows:

[0133]

[0134] In the formula, This refers to the magnitude of the stress borne by the structure beneath the chassis surface; The vertical force transmitted by the equipment taking into account the dynamic effects; The length of the chassis surface; The width of the chassis surface; The Poisson's ratio is used for the structure; it can be taken as 0.3 for plain concrete structures and 0.2 for reinforced concrete structures. This is a size correction factor, which can be taken as 0.2; The depth distribution coefficient is calculated using the following formula:

[0135]

[0136] In the formula, The distance from the stress calculation point to the chassis surface can be taken as [value missing] for simplified calculation. .

[0137] The vertical force transmitted by the equipment considering dynamic effects is calculated according to the following formula:

[0138]

[0139] In the formula, To transmit vertical forces to equipment calculated using static calculation methods, the forces are calculated based on the mass and stiffness distribution of the superstructure, which can be estimated using the finite element method or mass distribution. This is the speed sensitivity coefficient, which can be determined according to the site conditions. The better the flatness of the site, the smaller the value should be, with a range of 0.4 to 0.6. The falling speed of the equipment's walking shoe disc, in m / s; The characteristic value of the falling velocity can be taken as 0.1 m / s; t is the falling time of the equipment, which should preferably be based on actual measured data, or 0.5 s if no actual measured data is available. The damping and leveling buffer coefficient is calculated according to the following formula:

[0140]

[0141] In the formula, The reference value for the damping alignment and leveling buffer coefficient is 0.6; β is the damping coupling coefficient, which is determined according to the applicable conditions of the equipment. The better the equipment condition, the smaller the value should be, with a range of 1.0 to 3.0. The system equivalent damping ratio, which takes into account the damping ratios of equipment, superstructure, and site, should be based on actual on-site measurements. If no data is available, 0.15 can be used. The angle of inclination of the field.

[0142] The walking lifting device of the present invention consists of three core components: walking shoe plate, driving device and structural connecting plate. It adopts a modular design concept and can be flexibly combined and configured according to the weight of the building to be moved and the site conditions.

[0143] As a key load-bearing component of the equipment, the walking shoe chassis is made of wear-resistant material and equipped with a quick-change mechanism for easy maintenance and replacement during relocation operations. Above the chassis is a damping leveling array consisting of multiple hydraulic damping jacks, providing both cushioning and automatic leveling functions to effectively absorb dynamic loads during relocation. A vertical hydraulic lifting device works in conjunction with a displacement sensor to achieve precise height adjustment and real-time displacement monitoring. The installation and connection fixture incorporates a universal ball joint structure, allowing the equipment to adapt to relocation sites with varying slopes.

[0144] The drive unit adopts a composite power system design, consisting of an external drive wheel, an internal drive wheel, and a transmission chain. The external drive wheel serves as the power source, significantly improving the equipment's rigidity and dynamic stability. The drive wheel state adjustment actuator can quickly switch the meshing state of the transmission chain, enabling work mode switching and equipment maintenance.

[0145] As a key force-transmitting component, the structural connecting plate is made of high-strength materials and can effectively transfer the load from the superstructure to the drive unit. This component, through its standardized interface design, can be quickly assembled with drive units of different specifications and structural fixtures on the building.

[0146] The device realizes the continuous displacement of a building through grouped alternating operations. During the displacement cycle, the device groups alternately complete the actions of support conversion, building displacement, and device reset. Through the flexible switching between two planar driving modes, both the linear translation of the building and precise steering can be achieved. In the linear movement mode, the external driving wheels drive the transmission chain to realize the longitudinal movement of the device; in the rotation mode, with the driving wheel connected to the structural connection disk as the rotation center, the overall steering of the device is realized. Multiple devices cooperate through an external control system, enabling the building to complete steering with the theoretically minimum turning radius, which is particularly suitable for complex displacement paths in narrow sites.

[0147] Through the innovatively designed dual-mode drive system, intelligent leveling array, and universal connection mechanism, the present invention achieves precise control of multiple degrees of freedom during the building displacement process. In particular, the modular design and array-style flexible layout of the present invention solve the technical problems of building steering and complex path displacement in narrow spaces, providing a more efficient and safer solution for building protection projects in urban renewal. The walking-type displacement device proposed by the present invention can be arranged in an array, which is particularly suitable for the construction environment of existing building translation with flexible displacement paths, narrow sites, or uneven slopes.

[0148] The present invention can solve the problems of insufficient displacement accuracy and adaptability in the prior art. Especially for the application requirements of the overall displacement and position adjustment of existing buildings in urban renewal, the device design of the present invention can adapt to the displacement environment of complex or limited spaces, and through its walking-type displacement function, achieve precise jacking and translation of the building, while effectively ensuring the displacement quality and improving the displacement efficiency. In addition, the present invention also aims to reduce the dynamic impact on the building structure and displacement site during the displacement process through the cooperative control method配套 with the device, protect the integrity of the existing building, and achieve safer and more efficient urban renewal and building displacement. This innovative technical means will provide important technical support for building translation projects, especially in the urban central areas with complex displacement paths, limited sites, and high requirements for displacement accuracy.

[0149] The technical effects of the present invention are specifically as follows:

[0150] (1) Through the coordinated action of the adjustable chassis surface of the walking shoe plate and the damping leveling array, high-adaptability contact between the device and the displacement site is achieved, solving the problem of uneven force transmission caused by uneven ground in traditional translation devices, and significantly improving the stability during the building displacement process.

[0151] (2) The integrated design of the vertical hydraulic jacking device and the drive connection device enables the device to have the ability to quickly switch the support state, solving the technical problem of low support conversion efficiency in traditional translation devices, and greatly shortening the building displacement cycle.

[0152] (3) The spatial positioning function of the displacement sensor, together with the external control system, enables precise synchronization of multi-device collaborative operation, and solves the risk of building structure damage caused by asynchronous operation during the translation of large buildings.

[0153] (4) The built-in universal ball joint installation and connection tooling enables the equipment to adapt to any slope site. Combined with the multi-dimensional buffer function of the damping leveling array, it effectively solves the problem of discontinuous force transmission path of traditional equipment under complex terrain conditions.

[0154] (5) The collaborative working mode of the dual drive wheel system (external drive wheel and internal drive wheel) not only ensures the large tonnage load requirement during the translation process, but also provides the flexibility of self-propelled positioning of the equipment, thus solving the contradiction that traditional equipment cannot balance rigidity and mobility.

[0155] (6) The drive wheel state adjustment actuator realizes the rapid engagement and disengagement of the transmission chain, which not only ensures reliable transmission in the working state, but also facilitates equipment maintenance and repair, solving the technical problem of difficult maintenance of traditional translation equipment.

[0156] (7) The working mode of alternating support of equipment groups realizes the continuous advancement of building translation, and solves the problems of traditional translation equipment requiring a large translation backstage and discontinuous advancement.

[0157] (8) The flexible switching between the two driving modes (linear movement mode and rotation mode) in the plane enables the equipment to ensure the stability of the straight translation of the building and to achieve precise turning under complex paths, thus solving the problem of turning the building in a narrow space.

[0158] (9) The modular array arrangement of the equipment and the function of flexibly adjusting the turning angle can realize the free setting of the rotation center during the building relocation process, breaking through the limitation of the minimum turning radius of traditional translation equipment, and is particularly suitable for engineering environments with limited space.

[0159] (10) The design of the damping leveling array of the walking shoe disc of this equipment can reduce the impact of dynamic load during the building relocation process and effectively protect the building structure and site safety.

[0160] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0161] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0162] Obviously, those skilled in the art can make various modifications and variations to the invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the invention and their equivalents, the invention is also intended to include these modifications and variations.

Claims

1. A walking-type lifting device for building translation, characterized in that, include: Walking shoe disc, drive unit, and structural connecting disc; among which... The walking boot disc is located at the bottom of the drive unit, and the structural connecting disc is located at the top of the drive unit.

2. The walking-type lifting device for building translation as described in claim 1, characterized in that, The walking shoe includes: a chassis surface, a damping leveling array, a vertical hydraulic lifting and drive connection device, a displacement sensor, a platform plate, and mounting and connection fixtures; wherein, The damping leveling array is located above the chassis surface; A platform plate is provided on the upper part of the damping leveling array; The vertical hydraulic lifting and drive connection device is mounted on the platform plate; The installation and connection fixture is located on the top of the vertical hydraulic jacking and drive connection device. The installation and connection fixture has a built-in universal ball joint structure and is movably connected to the drive device. The displacement sensor is fixed to the side wall of the platform plate.

3. The walking-type lifting device for building translation as described in claim 2, characterized in that, The damping leveling array is composed of multiple independent hydraulic damping jacks arranged in a matrix.

4. The walking-type lifting device for building translation as described in claim 2, characterized in that, The displacement sensor is used to collect three-dimensional displacement, attitude, and speed data of the walking shoe disc in real time, and transmit them to the external central control system via wired or wireless means.

5. The walking-type lifting device for building translation as described in claim 2, characterized in that, The drive device includes: an external drive wheel, an internal drive wheel, a transmission chain, and a drive wheel state adjustment actuator, wherein... There are two built-in drive wheels, symmetrically arranged on the inner side of the transmission chain. The two built-in drive wheels are respectively engaged with the transmission chain, and one of the built-in drive wheels is fixedly connected to the structural connecting plate through a connector. There are two sets of external drive wheels, which are symmetrically arranged on the outside of the transmission chain, and work together with the internal drive wheels to form a composite drive system; The drive chain wraps around the outside of the built-in drive wheel and around the inside of the external drive wheel; The drive wheel state adjustment actuator is fixed to the drive unit housing. The output end of the drive wheel state adjustment actuator is connected to the external drive wheel. The engagement state between the external drive wheel and the transmission chain is adjusted by the extension and retraction movement: when extended, the transmission is engaged, forming a complete transmission chain; when retracted, the transmission is disengaged, the power constraint is released, and maintenance is convenient.

6. The walking-type lifting device for building translation as described in claim 1, characterized in that, The bottom of the structural connecting plate is fixedly connected to one of the built-in drive wheels of the drive device, and the top of the structural connecting plate is detachably connected to the building bottom support fixture, so as to evenly transfer the vertical load of the upper building to the drive device and the walking shoe plate.

7. The walking lifting device for building translation as described in any one of claims 1 to 6, characterized in that, The building translation walking lifting equipment adopts X and Y grouping of building translation walking lifting equipment to work alternately. One translation cycle includes four continuous states: initial support state, building displacement state, support conversion state and equipment reset state, and the building is continuously supported throughout the process.

8. The walking lifting device for building translation as described in claim 7, characterized in that, The initial support state is as follows: the walking shoe disc of the building translation walking lifting equipment of group X is grounded and supported, while the walking shoe disc of the building translation walking lifting equipment of group Y is suspended in the air; The drive unit of the X group's building translation walking lifting equipment drives its walking shoe disc to advance horizontally; The support conversion state is as follows: the walking shoe disc of the building translation walking lifting equipment of group Y falls to bear the load, and the walking shoe disc of the building translation walking lifting equipment of group X is raised and detached. The device reset state is: the X group of drive devices drives the walking shoe disc to return to the initial position.

9. The walking lifting device for building translation as described in any one of claims 1 to 6, characterized in that, The walking lifting equipment for building translation has the following driving modes in the plane: linear movement mode and rotation mode. The linear movement mode is used for building relocation, and the rotation mode is used for adjusting the relocation orientation and crossing site obstacles.

10. The walking lifting device for building translation as described in claim 9, characterized in that, In linear movement mode, the external drive wheel provides the driving force, which drives the internal drive wheel to move longitudinally along the equipment via a transmission chain; In rotation mode, the built-in drive wheel, which is fixedly connected to the structural connecting plate, serves as a fixed rotation center, maintaining a fixed position. The external drive wheel outputs torque, which drives another built-in drive wheel to move tangentially along the circumference through the transmission chain. Under the constraint of the fixed rotation center, the drive wheel group consisting of the external drive wheel, the built-in drive wheel, and the transmission chain drives the entire equipment to deflect in place around the rotation center. The displacement sensor detects the steering angle in real time and feeds it back to the external overall control system. The drive wheel state adjustment actuator adjusts the transmission engagement state according to the feedback signal from the external overall control system to achieve precise steering control.

Images