A frame assembly and climbing device and hoisting robot

Abstract

This application discloses a frame assembly, a climbing device, and a hoisting robot. The hoisting robot includes a tower column, a base frame, and at least two climbing devices as described above. The frame assembly includes a crossbeam, longitudinal beams, and a support assembly, with the length direction of the crossbeams as the first direction. Crossbeams are respectively provided at both ends of the longitudinal beams, and the longitudinal and crossbeams are fixedly connected, forming a frame structure. The support assembly is located on the crossbeams and includes support legs capable of moving along the first direction. Support legs extending from the ends of the crossbeams are provided at both ends along the first direction. During the self-climbing process of the tower column of the hoisting robot, the tower column is initially fixed. Each climbing device rises along the tower column to the height of a set floor and is supported by the extended support legs on the floor slab or wall. The climbing devices then apply force to the tower column to raise it. This operation is repeated to achieve self-climbing of the tower column of the hoisting robot. This application can be widely applied in the field of tower crane technology.

Description

Technical Field

[0001] This application relates to the field of tower crane technology, and in particular to a frame assembly, climbing device, and hoisting robot. Background Technology

[0002] In the construction of multi-story industrial projects and large-scale multi-level logistics warehouses, vertical transportation and hoisting equipment is being used extensively, especially tower crane-type hoisting robots. However, the climbing and hoisting technology of such equipment (also known as hoisting robots) still faces the following problems.

[0003] Low construction efficiency: It mainly relies on manual operation. The process of climbing stairs is complicated. The climbing mechanism and parts need to be transported vertically and moved horizontally within the floor multiple times by manual labor or other mechanical equipment. The construction labor intensity is high, multiple people need to cooperate, and it takes a long time.

[0004] Insufficient safety during the climbing process: The lifting process requires manual installation and removal of pins and repeated loosening and tightening of bolts, as well as manual operation of the lifting mechanism. The verticality adjustment deviation is large, which can easily lead to overturning accidents. At the same time, multiple people need to operate and work in different positions on the upper and lower floors, which poses safety hazards. Utility Model Content

[0005] To solve at least one of the above-mentioned technical problems, this application provides a frame assembly, a climbing device, and a hoisting robot, and the technical solution adopted is as follows.

[0006] The frame assembly provided in this application includes a crossbeam, a longitudinal beam, and a support assembly, with the length direction of the crossbeam as the first direction; the crossbeam is respectively provided at both ends of the longitudinal beam, the longitudinal beam and the crossbeam are fixedly connected, and the longitudinal beam and the crossbeam enclose to form a frame structure; the support assembly is provided on the crossbeam, and the support assembly includes a support leg that can move along the first direction, and the support leg that can extend from the end along the first direction is provided at both ends of the crossbeam.

[0007] In some embodiments of this application, the crossbeam is hollow, and both ends of the crossbeam form ports. The support assembly is disposed inside the crossbeam, and the support leg can extend from the ports of the crossbeam.

[0008] In some embodiments of this application, the support assembly is provided inside the crossbeam near the port.

[0009] In some embodiments of this application, the support assembly includes a telescopic actuator connected to the support leg and capable of driving the support leg to move in a first direction, the telescopic actuator including a hydraulic cylinder, a pneumatic cylinder, or a motor.

[0010] In some embodiments of this application, the frame assembly is fixedly provided with a base, which is used to connect to the bottom of the tower column.

[0011] In some embodiments of this application, the outer wall of the base is provided with at least two connecting sleeves, and the base is connected to the tower column through a connector that passes through the connecting sleeves.

[0012] The climbing device provided in this application is mounted on a tower column. The climbing device includes at least two climbing drive components and a frame assembly as described above. The climbing drive components are disposed on the frame assembly and provide power for the movement of the climbing device relative to the tower column.

[0013] In some embodiments of this application, the climbing drive assembly includes a gear for meshing with a rack on the tower column, and the climbing drive assembly drives the climbing device to move relative to the tower column in a gear-rack meshing transmission manner.

[0014] In some embodiments of this application, the crossbeam and / or the longitudinal beam are provided with rolling contact elements, and the climbing device contacts the tower column through the rolling contact elements when it moves relative to the tower column.

[0015] The hoisting robot provided in this application includes a tower column, a base frame, and at least two climbing devices as described above. The base frame includes the frame assembly as described above and is disposed at the bottom of the tower column. The climbing devices are sleeved on the tower column and are distributed at intervals along the length of the tower column.

[0016] This application has at least the following beneficial effects: During the self-climbing process of the crane's tower column, the tower column is supported and fixed in place by the base frame. Each climbing device rises sequentially along the tower column to the height of a set floor and is supported by its extended support legs on the floor slab or wall. The climbing devices then apply force to the tower column to raise it. This operation is repeated, enabling the crane's tower column to self-climb, replacing the climbing method that requires multiple people to operate up and down floors and work in a cross-operation manner, thus improving efficiency and reducing safety hazards. This application can be widely applied in the field of tower crane technology.

[0017] 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

[0018] 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.

[0019] Figure 1 This is a structural diagram of a hoisting robot.

[0020] Figure 2 This is a structural diagram of the base frame. The X-axis direction is the first direction, and the Y-axis direction is the second direction.

[0021] Figure 3 This is an exploded view of the base frame.

[0022] Figure 4 This is a structural diagram of the climbing device. The X-axis direction is the first direction, and the Y-axis direction is the second direction.

[0023] Figure 5 This is an exploded view of the climbing device.

[0024] Figure 6 A structural diagram showing the climbing device fitted onto the tower column.

[0025] Figure 7 This is a schematic diagram illustrating the process of a tower column climbing to the next floor.

[0026] Reference numerals: 1100, tower column; 1101, rack; 1200, base frame; 1201, base; 1202, connecting sleeve; 1300, climbing device; 1301, climbing drive assembly; 1302, gear; 1303, rolling contact element; 1400, slewing assembly; 1500, boom assembly; 2101, crossbeam; 2102, longitudinal beam; 2201, support leg; 2202, telescopic actuator. Detailed Implementation

[0027] The following is combined Figures 1 to 7 The embodiments of this application are described in detail below, 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] This application relates to a lifting robot, which includes a tower column 1100, a base frame 1200, and at least two climbing devices 1300. The base frame 1200 is disposed at the bottom of the tower column 1100, and the climbing devices 1300 are sleeved on the tower column 1100 and spaced apart along the length of the tower column 1100. The climbing devices 1300 can move relative to the tower column 1100 along its length, thereby achieving both the lifting and lowering of the climbing devices 1300 and the tower column 1100.

[0033] The lifting process of the tower column 1100 is described using a hoisting robot with two climbing devices 1300 as an example. The two climbing devices 1300 are referred to as the first climbing device 1300 and the second climbing device 1300, respectively.

[0034] In the initial state, the base frame 1200 is located at the ground or at the height of the Kth floor, the first climbing device 1300 is located at the height of the Nth floor and is fixed to the Nth floor, and the second climbing device 1300 is located at the height of the N+Mth floor and is fixed to the N+Mth floor. Wherein, N≥2, M≥1, and K<N.

[0035] Step S-1: The second climbing device 1300 is released from the N+M floor and moves upward along the tower column 1100 to the height of the N+M+1 floor and is fixed at the N+M+1 floor.

[0036] Step S-2: The first climbing device 1300 is released from the Nth floor and moves upward along the tower column 1100 to the height of the N+1th floor and is fixed on the N+1th floor.

[0037] Step S-3: The first climbing device 1300 and the second climbing device 1300 are activated, causing the tower column 1100 to rise to the height of one floor.

[0038] It should be noted that repeating steps S-1 to S-3 will enable the self-climbing of tower column 1100.

[0039] Furthermore, when the base frame 1200 is suspended at a height, the base frame 1200 can be fixed at the height of the floor it is on to reinforce the stability of the tower column 1100. And when one of the climbing devices 1300 moves along the tower column 1100, the other climbing devices 1300 are fixed at the height of the floor they are on and fix the tower column 1100 to reinforce the stability of the tower column 1100.

[0040] The lifting robot can climb itself without disassembly and reassembly or manual handling, making it convenient and fast.

[0041] It should be noted that both the base frame 1200 and the climbing device 1300 have a frame assembly.

[0042] In some implementations, the tower column 1100 is configured as a square tube structure.

[0043] Furthermore, for ease of transportation and installation, the tower column 1100 is configured as a series of standard sections that can be spliced ​​together. Specifically, adjacent standard sections are fixedly connected by connecting sleeves 1202 and bolts that pass through the connecting sleeves 1202.

[0044] Understandably, the lifting robot also includes a slewing assembly 1400 and a boom assembly 1500, with the boom assembly 1500 mounted on top of the tower 1100 via the slewing assembly 1400.

[0045] In some examples, the slewing assembly 1400 includes a lower support, an upper support, and a slewing bearing structure. The lower support is fixedly connected to the top of the tower column 1100, the upper support is connected to the lower support via the slewing bearing structure, and the boom assembly 1500 is fixedly connected to the upper support to enable the boom assembly 1500 to rotate.

[0046] In some examples, the boom assembly 1500 includes a lifting boom and a counterweight boom, which are integrated and fixedly mounted on the upper support.

[0047] It should be noted that the hoisting robot also includes a control system, which can send commands to control the hoisting robot's self-climbing and hoisting operations.

[0048] Other components and operations of the hoisting robot are already described in the relevant art for those skilled in the art, and will not be described in detail here. The following will introduce the structure of the frame assembly, the base frame 1200 and the climbing device 1300.

[0049] This application relates to a frame assembly, which includes a crossbeam 2101 and a longitudinal beam 2102. Crossbeams 2101 are respectively provided at both ends of the longitudinal beam 2102, and the longitudinal beam 2102 and the crossbeams 2101 are fixedly connected. The longitudinal beam 2102 and the crossbeams 2101 together form a frame structure. The frame assembly can be fitted onto the outer side of the tower column 1100 so that the climbing device 1300 can be fitted onto the outer side of the tower column 1100.

[0050] Specifically, there are two crossbeams 2101 and two longitudinal beams 2102. The two crossbeams 2101 and the two longitudinal beams 2102 are connected to each other to form a rectangular frame structure. The two ends of the longitudinal beams 2102 are fixedly connected to the sides of the two crossbeams 2101 respectively.

[0051] Furthermore, the frame assembly includes a support component disposed on the crossbeam 2101. The support component is used to fix the base frame 1200 or the climbing device 1300 at the height of the floor. Specifically, the support component includes support legs 2201. Both ends of the crossbeam 2101 are provided with support legs 2201 that can extend from the ends. The support body is used to fix and connect to the wall or floor slab of the floor, thereby fixing the base frame 1200 or the climbing device 1300.

[0052] It should be noted that the length direction of the crossbeam 2101 is taken as the first direction, and the length direction of the longitudinal beam 2102 is taken as the second direction. The support leg 2201 can move along the first direction, and the support leg 2201 can extend from the end of the crossbeam 2101 along the first direction.

[0053] In some embodiments, both ends of the crossbeam 2101 are provided with extendable support legs 2201.

[0054] Furthermore, the crossbeam 2101 is provided with two support components, each of which is equipped with a support leg 2201. Specifically, the support component includes a telescopic actuator 2202, which is connected to the support leg 2201 and can drive the support leg 2201 to move along a first direction.

[0055] In some examples, the telescopic actuator 2202 includes a hydraulic cylinder that hydraulically drives the support leg 2201 to move.

[0056] Understandably, the telescopic actuator 2202 can also be replaced by a cylinder or an electric motor.

[0057] Regarding the support components, at least one alternative configuration is available: the crossbeam 2101 is equipped with a support component, and the support component is configured with two support legs 2201.

[0058] In some embodiments, the crossbeam 2101 is hollow, and the support assembly is disposed inside the crossbeam 2101.

[0059] Furthermore, the crossbeam 2101 has a through structure inside, and both ends of the crossbeam 2101 have ports. The support leg 2201 can extend from the port of the crossbeam 2101, and the cross-sectional shape of the support leg 2201 is compatible with that of the crossbeam 2101.

[0060] Specifically, both the crossbeam 2101 and the support leg 2201 are made of square steel pipes. The support leg 2201 is inserted into the crossbeam 2101, and the telescopic end of the telescopic actuator 2202 extends into the support leg 2201.

[0061] This application relates to a climbing device 1300, which is mounted on a tower column 1100. The climbing device 1300 includes a frame assembly, the structure of which is as described above. The climbing device 1300 is mounted on the tower column 1100 via the frame assembly.

[0062] Furthermore, the climbing device 1300 includes at least two climbing drive assemblies 1301, which are disposed in the frame assembly and provide power for the movement of the climbing device 1300 relative to the tower column 1100. Driven by the climbing drive assemblies 1301, the climbing device 1300 can move up and down along the tower column 1100, or the tower column 1100 can move up and down.

[0063] In some embodiments, the climbing drive assembly 1301 drives the climbing device 1300 to move between the tower column 1100 via a rack and pinion transmission.

[0064] Specifically, the climbing drive assembly 1301 is disposed on the crossbeam 2101 or the longitudinal beam 2102. The climbing drive assembly 1301 includes a gear 1302, and a rack 1101 is disposed on the tower column 1100. The rack 1101 extends along the length direction of the tower column 1100, and the gear 1302 is used to mesh with the rack 1101 on the tower column 1100.

[0065] Understandably, the climbing drive assembly 1301 has an electric motor or hydraulic motor for driving the rotation of the gear 1302. When the tower column 1100 is fixed, the gear 1302 rotates, and the climbing device 1300 moves along the tower column 1100. When the climbing device 1300 is fixed, the gear 1302 rotates, and the tower column 1100 moves.

[0066] It should be noted that, in order to ensure smooth relative movement between the climbing device 1300 and the tower column 1100, the climbing drive assembly 1301 is symmetrically distributed on the frame assembly.

[0067] In some embodiments, the frame assembly is provided with a rolling contact 1303, through which the climbing device 1300 contacts the tower column 1100 when moving relative to the tower column 1100, in order to reduce resistance.

[0068] Specifically, the crossbeam 2101 and the longitudinal beam 2102 are provided with rolling contact elements 1303.

[0069] Furthermore, the rolling contact 1303 is configured as a roller.

[0070] Regarding the configuration of the rolling contact 1303, at least the following alternative embodiments exist.

[0071] In some alternative embodiments, the crossbeam 2101 is provided with a rolling contact 1303.

[0072] In some alternative embodiments, the longitudinal beam 2102 is provided with a rolling contact 1303.

[0073] In some examples, in order to enable the climbing device 1300 to move smoothly relative to the tower column 1100, a guide groove is provided on the outer side of the tower column 1100. The guide groove extends along the length of the tower column 1100, and the rolling contact 1303 is provided in the guide groove, which serves as a guide.

[0074] This application relates to a chassis 1200, which includes the frame assembly as described above.

[0075] Furthermore, the frame assembly is fixedly provided with a base 1201. Specifically, the base 1201 is welded and fixed to the crossbeam 2101 and the longitudinal beam 2102. The base 1201 is used to connect to the bottom of the tower column 1100, and the base 1201 is fixedly connected to the tower column 1100.

[0076] In some embodiments, the outer side wall of the base 1201 is provided with at least two connecting sleeves 1202, the connecting sleeves 1202 are welded and fixed to the outer side wall of the base 1201, and the base 1201 is connected to the tower column 1100 through a connector that passes through the connecting sleeves 1202.

[0077] Specifically, the cross-sectional shape of the base 1201 is adapted to that of the tower column 1100. Corresponding connecting sleeves 1202 are provided on the outer surfaces of both the base 1201 and the tower column 1100, and bolts are used as the connecting components. The connecting components pass through the corresponding connecting sleeves 1202 on the base 1201 and the tower column 1100 and are locked with nuts, thereby achieving a fixed connection between the base 1201 and the tower column 1100.

[0078] 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 frame assembly, characterized in that: include The crossbeam, with its length direction as the first direction; The longitudinal beam has a crossbeam at each end, the longitudinal beam and the crossbeam are fixedly connected, and the longitudinal beam and the crossbeam together form a frame structure; A support assembly is disposed on the crossbeam, the support assembly includes a support leg that can move along a first direction, and both ends of the crossbeam are provided with the support leg that can extend from the end along the first direction.

2. The frame assembly according to claim 1, characterized in that: The crossbeam is hollow, with ports formed at both ends. The support assembly is disposed inside the crossbeam, and the support leg can extend out from the ports of the crossbeam.

3. The frame assembly according to claim 2, characterized in that: The support assembly is located inside the crossbeam near the port.

4. The frame assembly according to any one of claims 1 to 3, characterized in that: The support assembly includes a telescopic actuator connected to the support leg and capable of driving the support leg to move in a first direction. The telescopic actuator includes a hydraulic cylinder, a pneumatic cylinder, or a motor.

5. The frame assembly according to any one of claims 1 to 3, characterized in that: The frame assembly is fixedly provided with a base, which is used to connect to the bottom of the tower column.

6. The frame assembly according to claim 5, characterized in that: The outer wall of the base is provided with at least two connecting sleeves, and the base is connected to the tower column through a connector that passes through the connecting sleeves.

7. A climbing device, characterized in that: The climbing device is sleeved on the tower column, and the climbing device includes... The frame assembly as described in any one of claims 1 to 4; At least two climbing drive assemblies are disposed on the frame assembly, and the climbing drive assemblies provide power for the movement of the climbing device relative to the tower column.

8. The climbing device according to claim 7, characterized in that: The climbing drive assembly includes a gear that meshes with a rack on the tower column, and the climbing drive assembly drives the climbing device to move relative to the tower column in a gear and rack meshing transmission manner.

9. The climbing device according to claim 7 or 8, characterized in that: The crossbeam and / or the longitudinal beam are provided with rolling contact elements, and the climbing device contacts the tower column through the rolling contact elements when it moves relative to the tower column.

10. A hoisting robot, characterized in that: include Tower column; A base frame, the base frame including the frame assembly as described in claim 5 or 6, the base frame being disposed at the bottom of the tower column; At least two climbing devices as described in any one of claims 7 to 9, the climbing devices being sleeved on the tower column, the climbing devices being spaced apart along the length direction of the tower column.

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