Heavy-load lifting device for mobile robot

Abstract

The utility model belongs to the technical field of building construction equipment, and provides a mobile robot heavy load lifting device which comprises an AGV trolley. The multiple lifting oil cylinders are vertically and fixedly connected to the top face of the AGV trolley, hydraulic oil supply assemblies are communicated among the multiple lifting oil cylinders, and the hydraulic oil supply assemblies are arranged on the AGV trolley; the supporting assemblies are arranged on the two opposite side walls of the AGV, each supporting assembly comprises a connecting rod horizontally and fixedly connected to the side wall of the AGV, a horizontal moving part is arranged at the bottom of each connecting rod, an auxiliary supporting mechanism is arranged at the bottom of each horizontal moving part, and the horizontal moving parts are used for adjusting the distance between the auxiliary supporting mechanisms and the AGV. The auxiliary supporting mechanisms communicate with the hydraulic oil supply assembly. The scaffold can replace a transmission scaffold to support reinforced concrete in building construction.

Description

Technical Field

[0001] The utility model belongs to the technical field of building construction equipment, and in particular relates to a heavy-load lifting device for a mobile robot. Background Art

[0002] The construction industry is one of the development directions of robot applications. Although there are many mechanical equipment involved in construction, the main process of forming building components is still manual, with low efficiency and long cycle. Therefore, intelligent equipment has broad development space in the construction industry.

[0003] At present, most of my country's construction industry is still using traditional support formwork construction technology. This leads to large material loss and serious waste of resources. This traditional support system not only has a small bearing capacity, requires a lot of labor for erection, has poor working conditions on the work surface, and uses a large amount of building materials per unit area, but also affects the quality and safety of the project to a certain extent. Moreover, compared with advanced scaffolding structures, the formwork scaffolding technology is less systematic, especially the lack of coordination between architectural design departments, construction units and formwork scaffolding and other equipment suppliers, and the inability to conduct systematic research on design, construction and formwork scaffolding equipment, which also causes a certain waste of resources.

[0004] Therefore, there is an urgent need for a mobile robot heavy-load lifting device that can replace traditional scaffolding to support reinforced concrete. Utility Model Content

[0005] The utility model aims to provide a mobile robot heavy-load lifting device to solve the above-mentioned problem and achieve the purpose of supporting reinforced concrete in place of a transmission scaffold in building construction.

[0006] To achieve the above purpose, the utility model provides the following solution: a heavy-load lifting device for a mobile robot, comprising:

[0007] AGV car;

[0008] A plurality of lifting cylinders, wherein the plurality of lifting cylinders are vertically fixedly connected to the top surface of the AGV trolley, and a hydraulic oil supply assembly is connected between the plurality of lifting cylinders, and the hydraulic oil supply assembly is arranged on the AGV trolley;

[0009] A plurality of support assemblies, wherein the plurality of support assemblies are arranged on two opposite side walls of the AGV trolley, wherein the support assemblies include a connecting rod horizontally fixedly connected to the side wall of the AGV trolley, a horizontal moving part is arranged at the bottom of the connecting rod, an auxiliary support mechanism is arranged at the bottom of the horizontal moving part, and the horizontal moving part is used to adjust the distance between the auxiliary support mechanism and the AGV trolley, and the plurality of auxiliary support mechanisms are respectively connected to the hydraulic oil supply assembly.

[0010] Preferably, the hydraulic oil supply assembly includes an oil pump fixedly connected to the AGV trolley, the oil pump is connected to a first oil circuit component and a second oil circuit component through a reversing valve, a number of the lifting cylinders are connected to the oil pump through the first oil circuit component, and a number of the auxiliary support mechanisms are connected to the oil pump through the second oil circuit component.

[0011] Preferably, the first oil circuit component includes a plurality of first oil pipes, one ends of the plurality of first oil pipes are respectively connected to the plurality of lifting cylinders, the other ends of the plurality of first oil pipes are respectively connected to the oil pumps, and the plurality of first oil pipes are respectively connected to a first solenoid valve and a check valve.

[0012] Preferably, the second oil circuit component includes a plurality of second oil pipes, one ends of the plurality of second oil pipes are respectively connected to the plurality of auxiliary support mechanisms, the other ends of the plurality of second oil pipes are respectively connected to the oil pumps, and the plurality of second oil pipes are respectively connected to second solenoid valves.

[0013] Preferably, the horizontal moving member includes a slide rail fixedly connected to the bottom of the connecting rod, a slider is slidably connected to the slide rail, a rack slides through the slider, both ends of the rack are respectively fixedly connected to two opposite inner walls of the slide rail, a commutator is fixedly connected to the slider, the input shaft and output shaft of the commutator are respectively transmission-connected to a motor and a gear, and the gear is meshed with the rack.

[0014] Preferably, the auxiliary support mechanism includes a support cylinder, which is vertically fixedly connected to the bottom of the sliding block, and is connected to the oil pump through the second oil pipe. The telescopic end of the support cylinder is fixedly connected to a support member, and the support member is arranged corresponding to the ground.

[0015] Preferably, the support member includes a fixed plate fixedly connected to the fixed end of the support cylinder, two groups of guide rods are vertically slidably connected to the fixed plate, a support plate is fixedly connected between the bottom ends of the two groups of guide rods, and the support plate is transmission-connected to the telescopic end of the support cylinder.

[0016] Compared with the prior art, the utility model has the following advantages and technical effects: the main function of the AGV trolley is to travel to the working position on the construction site; the main function of the lifting cylinder is to replace the traditional scaffolding to support the reinforced concrete structure; the main function of the hydraulic oil supply component is to drive several lifting cylinders or several auxiliary support mechanisms to operate; the main function of the horizontal moving component is to adjust the horizontal distance between the auxiliary support mechanism and the AGV trolley; the main function of the auxiliary support mechanism is to support the AGV trolley after the AGV trolley arrives at the work site. On the whole, the utility model can replace the traditional scaffolding support, solve the comprehensive problems of the traditional formwork support, and has the advantages of flexible use, convenience, high efficiency, etc. It can realize a new concrete construction process and greatly improve efficiency and safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of the lifting device of the utility model;

[0019] Figure 2 for Figure 1 A partial enlarged view in FIG.

[0020] Figure 3 This is a front view of the lifting device of the utility model;

[0021] Figure 4 for Figure 3 A partial enlarged view of B in FIG.

[0022] Figure 5 It is a top sectional view of the horizontal moving member of the utility model;

[0023] Figure 6 It is a schematic diagram of the hydraulic oil supply assembly of the utility model;

[0024] Among them, 1. AGV trolley; 2. lifting cylinder; 3. connecting rod; 4. oil pump; 5. first oil pipe; 6. first solenoid valve; 7. second oil pipe; 8. second solenoid valve; 9. reversing valve; 10. slide rail; 11. slider; 12. motor; 13. gear; 14. rack; 15. commutator; 16. supporting cylinder; 17. fixing plate; 18. guide rod; 19. supporting plate; 20. check valve; 21. oil tank; 22. inclination sensor. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0027] Reference Figure 1-Figure 6 The utility model provides a heavy-load lifting device for a mobile robot, comprising:

[0028] AGV car 1;

[0029] A plurality of lifting cylinders 2, the plurality of lifting cylinders 2 are vertically fixedly connected to the top surface of the AGV trolley 1, a hydraulic oil supply assembly is connected between the plurality of lifting cylinders 2, and the hydraulic oil supply assembly is arranged on the AGV trolley 1;

[0030] A plurality of support components are arranged on two opposite side walls of the AGV trolley 1, and the support components include a connecting rod 3 horizontally fixedly connected to the side wall of the AGV trolley 1, a horizontal moving part is arranged at the bottom of the connecting rod 3, and an auxiliary support mechanism is arranged at the bottom of the horizontal moving part, and the horizontal moving part is used to adjust the distance between the auxiliary support mechanism and the AGV trolley 1, and the plurality of auxiliary support mechanisms are respectively connected to the hydraulic oil supply components.

[0031] The main function of the AGV trolley 1 is to travel to the working position at the construction site; the main function of the lifting cylinder 2 is to support the reinforced concrete structure instead of the traditional scaffolding; the main function of the hydraulic oil supply component is to drive the operation of several lifting cylinders 2 or several auxiliary support mechanisms; the main function of the horizontal movement component is to adjust the horizontal distance between the auxiliary support mechanism and the AGV trolley 1; the main function of the auxiliary support mechanism is to support the AGV trolley 1 after the AGV trolley 1 arrives at the working place. On the whole, the utility model can replace the traditional scaffolding support, solve the comprehensive problems of the traditional formwork support, and has the advantages of flexible use, convenience, high efficiency, etc. It can realize a new concrete construction process and greatly improve efficiency and safety.

[0032] To further optimize the solution, the hydraulic oil supply assembly includes an oil pump 4 fixedly connected to the AGV trolley 1, the oil pump 4 is connected to the first oil circuit component and the second oil circuit component through the reversing valve 9, a number of lifting cylinders 2 are connected to the oil pump 4 through the first oil circuit component, and a number of auxiliary support mechanisms are connected to the oil pump 4 through the second oil circuit component.

[0033] like Figure 6 As shown, the main function of the reversing valve 9 is to control the oil pump 4 to supply oil to the first oil circuit component or to supply oil to the second oil circuit component.

[0034] According to a further optimized solution, an oil tank 21 is fixedly connected to the AGV trolley 1 , and an oil inlet of the oil pump 4 is connected to the oil tank 21 .

[0035] To further optimize the solution, the first oil circuit includes a plurality of first oil pipes 5, one ends of the plurality of first oil pipes 5 are respectively connected to a plurality of lifting cylinders 2, the other ends of the plurality of first oil pipes 5 are respectively connected to the oil pump 4, and the plurality of first oil pipes 5 are respectively connected to a first solenoid valve 6 and a check valve 20.

[0036] like Figure 1 , Figure 3 As shown, the lifting cylinder 2 uses a multi-stage cylinder with a maximum lifting weight of 10 tons and can be adjusted to a height of 3-7 meters in the vertical direction. Six sets of lifting cylinders 2 are vertically fixedly connected to the AGV trolley 1.

[0037] When the lifting cylinder 2 needs to be lifted to a certain height, the hydraulic oil can be supplied to the lifting cylinder 2 by starting the oil pump 4, so that the telescopic end of the lifting cylinder 2 is extended until it is extended to a predetermined height. Since the bottom surface of the building structure to be supported during the construction process is not necessarily a plane, but can be an inclined plane or an irregular plane, the telescopic ends of the six groups of lifting cylinders 2 need to be extended to different heights. At this time, the amount of hydraulic oil introduced into the corresponding lifting cylinders 2 can be controlled by controlling the opening and closing of the six groups of first solenoid valves 6 respectively, thereby realizing independent flexible control of each lifting cylinder 2.

[0038] As a further optimization scheme, a magnetostrictive travel sensor (not shown in the figure) is built into the lifting cylinder 2 to accurately measure the extension height of the lifting cylinder 2.

[0039] like Figure 6 As shown, since reinforced concrete and its formwork are heavy and need to be supported for a long time for maintenance, a check valve 20 is set in the first oil pipe 5. After the oil pump 4 stops running and the oil pressure is removed, the oil pressure is still maintained in the lifting cylinder and the heavy objects can still be supported, thereby avoiding the waste of electricity caused by the operation of the oil pump 4.

[0040] To further optimize the solution, a tilt sensor 22 is fixedly connected to the lifting cylinder 2. The tilt sensor 22 can monitor in real time whether the lifting cylinder 2 is in a vertical state during the supporting process.

[0041] To further optimize the solution, the second oil circuit includes a plurality of second oil pipes 7, one ends of the plurality of second oil pipes 7 are respectively connected to a plurality of auxiliary support mechanisms, the other ends of the plurality of second oil pipes 7 are respectively connected to the oil pump 4, and the plurality of second oil pipes 7 are respectively connected to a second solenoid valve 8.

[0042] A further optimized solution is that the horizontal moving part includes a slide rail 10 fixedly connected to the bottom of the connecting rod 3, a slider 11 is slidably connected inside the slide rail 10, a rack 14 slides through the slider 11, two ends of the rack 14 are respectively fixedly connected to two opposite inner walls of the slide rail 10, a commutator 15 is fixedly connected to the slider 11, the input shaft and output shaft of the commutator 15 are respectively transmission-connected to the motor 12 and the gear 13, and the gear 13 is meshed with the rack 14.

[0043] like Figure 2 , Figure 4-Figure 5 As shown, three groups of horizontal moving components are respectively arranged on both sides of the AGV trolley 1. According to the ground conditions of the working position of the AGV trolley 1, six groups of motors 12 are respectively controlled to operate. When the motor 12 operates, the gear 13 is driven to rotate through the commutator 15. When the gear 13 rotates, it pushes the slider 11 to adjust its position in the slide rail 10 through the meshing with the rack 14, thereby driving the auxiliary support mechanism to adjust to correspond to the flat ground. The motor 12 can realize the horizontal distance adjustment of 0-1 meter between the auxiliary support mechanism and the AGV trolley 1.

[0044] To further optimize the solution, the auxiliary support mechanism includes a support cylinder 16, which is vertically fixedly connected to the bottom of the slider 11. The support cylinder 16 is connected to the oil pump 4 through the second oil pipe 7. The telescopic end of the support cylinder 16 is fixedly connected to a support member, and the support member is arranged corresponding to the ground.

[0045] A further optimized solution is that the support member includes a fixed plate 17 fixedly connected to the fixed end of the support cylinder 16, two groups of guide rods 18 are vertically slidably connected to the fixed plate 17, a support plate 19 is fixedly connected between the bottom ends of the two groups of guide rods 18, and the support plate 19 is transmission-connected to the telescopic end of the support cylinder 16.

[0046] like Figure 2 As shown, the maximum lifting weight of the supporting oil cylinder 16 is 10 tons, and it can meet the adjustment of 0-0.5 meters in the vertical direction.

[0047] like Figure 6 As shown, after the support members are adjusted to a position suitable for support by controlling the six groups of motors 12 respectively, the reversing valve 9 and each second solenoid valve 8 are controlled to extend the six groups of support cylinders 16, push the support plate 19 to contact the ground, and continue to extend the telescopic end of the support cylinder 16, so that the six groups of support cylinders 16 lift the AGV trolley 1 to ensure the stability of the support process.

[0048] like Figure 2 As shown, the main function of the guide rod 18 is to limit the movement of the support plate 19 so that the support plate 19 can move smoothly.

[0049] To further optimize the solution, a control system (not shown in the figure) is set in the AGV trolley 1. The control system is electrically connected to the oil pump 4, a plurality of first solenoid valves 6, a plurality of second solenoid valves 8, a reversing valve 9, a plurality of motors 12, a plurality of magnetostrictive sensors and a plurality of inclination sensors 22, and can be remotely and intelligently controlled by the host computer to achieve fully automatic operation. The electronic control system adopts an independent network design and is connected to the dispatching system via Ethernet. Data is exchanged with the on-site controller at the construction site through RS485 bus communication. This control system provides one-button centralized control, which can realize remote control of the equipment operation status; realize data interaction with the on-site controller, and can also be manually controlled by the staff on-site using a handheld box.

[0050] The working process of this embodiment is as follows: by remote control or on-site manual control, the AGV trolley is moved to the working position, and the control system controls the motors 12 to adjust the supporting cylinders 16 to a suitable supporting position. After that, the control system controls the reversing valve 9 to change direction, controls the oil pump 4 to operate, supplies hydraulic oil to each supporting cylinder 16, supports the AGV trolley 1 to a suitable height, and controls the extension length of each supporting cylinder 16 by controlling each second solenoid valve 8, so that the AGV trolley remains horizontal. After that, the control system controls the reversing valve 9 to change direction, and then supplies hydraulic oil to each lifting cylinder 2 through the oil pump 4, so that each lifting cylinder 2 is extended to the working height according to a predetermined length, thereby providing a support structure for the subsequent splicing of concrete formwork.

[0051] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0052] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. A mobile robot heavy load lifting device, characterized in that ,include: AGV car (1); A plurality of lifting cylinders (2), wherein the plurality of lifting cylinders (2) are vertically fixedly connected to the top surface of the AGV trolley (1), and a hydraulic oil supply assembly is connected between the plurality of lifting cylinders (2), and the hydraulic oil supply assembly is arranged on the AGV trolley (1); A plurality of support assemblies, wherein the plurality of support assemblies are arranged on two opposite side walls of the AGV trolley (1), wherein the support assemblies include a connecting rod (3) horizontally fixedly connected to the side wall of the AGV trolley (1), wherein a horizontal moving member is arranged at the bottom of the connecting rod (3), wherein an auxiliary support mechanism is arranged at the bottom of the horizontal moving member, wherein the horizontal moving member is used to adjust the distance between the auxiliary support mechanism and the AGV trolley (1), and wherein the plurality of auxiliary support mechanisms are respectively connected to the hydraulic oil supply assembly.

2. A mobile robot heavy load lifting device according to claim 1, characterized in that: The hydraulic oil supply assembly comprises an oil pump (4) fixedly connected to the AGV trolley (1); the oil pump (4) is connected to a first oil circuit component and a second oil circuit component via a reversing valve (9); a plurality of the lifting cylinders (2) are connected to the oil pump (4) via the first oil circuit component; and a plurality of the auxiliary support mechanisms are connected to the oil pump (4) via the second oil circuit component.

3. A mobile robot heavy load lifting device according to claim 2, characterized in that: The first oil circuit component comprises a plurality of first oil pipes (5), one end of each of the first oil pipes (5) is connected to the plurality of lifting cylinders (2), the other end of each of the first oil pipes (5) is connected to the oil pump (4), and the first solenoid valve (6) and the check valve (20) are connected to the plurality of first oil pipes (5).

4. A mobile robot heavy load lifting device according to claim 2, characterized in that: The second oil circuit comprises a plurality of second oil pipes (7), one end of each of the second oil pipes (7) being connected to the plurality of auxiliary support mechanisms, the other end of each of the second oil pipes (7) being connected to the oil pump (4), and each of the second oil pipes (7) being connected to a second solenoid valve (8).

5. A mobile robot heavy load lifting device according to claim 4, characterized in that: The horizontal moving member comprises a slide rail (10) fixedly connected to the bottom of the connecting rod (3), a slider (11) being slidably connected inside the slide rail (10), a rack (14) slidingly passing through the slider (11), two ends of the rack (14) being respectively fixedly connected to two opposite inner walls of the slide rail (10), a commutator (15) being fixedly connected to the slider (11), an input shaft and an output shaft of the commutator (15) being respectively transmission-connected to a motor (12) and a gear (13), and the gear (13) being meshed with the rack (14).

6. A mobile robot heavy load lifting device according to claim 5, characterized in that: The auxiliary support mechanism comprises a support cylinder (16), the support cylinder (16) is vertically fixedly connected to the bottom of the sliding block (11), the support cylinder (16) is connected to the oil pump (4) via the second oil pipe (7), and the telescopic end of the support cylinder (16) is fixedly connected to a support member, and the support member is arranged corresponding to the ground.

7. A mobile robot heavy load lifting device according to claim 6, characterized in that: The support member comprises a fixed plate (17) fixedly connected to the fixed end of the support oil cylinder (16); two groups of guide rods (18) are vertically slidably connected to the fixed plate (17); a support plate (19) is fixedly connected between the bottom ends of the two groups of guide rods (18); and the support plate (19) is transmission-connected to the telescopic end of the support oil cylinder (16).

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