WO2020156560A1

WO2020156560A1 - Climbing tower crane apparatus and control method therefor, traveling crane system and fault handling method and control method therefor

Info

Publication number: WO2020156560A1
Application number: PCT/CN2020/074181
Authority: WO
Inventors: 田士川; 曲强; 谢忠浩; 陈鸣; 詹大强
Original assignee: 广东博智林机器人有限公司
Priority date: 2019-02-02
Filing date: 2020-02-03
Publication date: 2020-08-06

Abstract

A climbing tower crane apparatus (1000) and a control method therefor, a traveling crane system (200) and a fault handling method and a control method therefor. The climbing tower crane apparatus (1000) comprises a climbing frame system (100) and a traveling crane system (200), the climbing frame system (100) comprises a support column row (10) consisting of a plurality of support columns, and the support column row (10) comprises a first support column row (11) and a second support column row (12). The traveling crane system (200) comprises a first traveling crane rail (210) supported on the first support column row (11), a second traveling crane rail (220) supported on the second support column row (12), and a traveling crane cart (230) erected between the first traveling crane rail (210) and the second traveling crane rail (220). The traveling crane system (200) further comprises a traveling crane trolley (240) provided on the traveling crane cart (230), the traveling crane trolley (240) being used for externally connecting functional components (600).

Description

Climbing hoisting device and its control method, hoisting system and its fault processing method and control method

Cross references to related applications

This application is based on a Chinese patent application with an application number of 2019101080222, an application date of February 02, 2019, an application number of 2019101080326, a Chinese patent application with an application date of February 02, 2019, application number 2019101069420, and application date 2019 Chinese patent application on February 2, 2019, application number 2019101077253, Chinese patent application on February 02, 2019, application number 2019101069204, Chinese patent application on February 2, 2019, application number Chinese patent application with 2019101080311, application date of February 02, 2019, application number 2019101080735, Chinese patent application with application date of February 02, 2019, application number 2019102616190, application date of April 02, 2019 The Chinese patent application with the application number of 2019102616434, the Chinese patent application with the application date of April 02, 2019, the application number of 2019103563468, the Chinese patent application with the application date of April 29, 2019, the application number of 2019102613050, the application date It is filed for the Chinese patent application on April 2, 2019, and claims the priority of the above-mentioned Chinese patent application. The entire content of the above-mentioned Chinese patent application is hereby incorporated into this application by reference.

Technical field

The invention belongs to the field of building construction, and in particular relates to a climbing crane device and a control method thereof, a traveling crane system and a fault processing method and control method thereof.

Background technique

In the process of building construction, a line crane (crane) is generally used to lift materials to realize material handling; the climbing frame system is also one of the indispensable equipment in the construction process, and the climbing frame system can climb or descend along the building , It is a safe and reliable operation platform in construction.

The crane is generally slidably arranged on the crane to lift and transport materials; however, the existing crane support structure is an independent support structure and requires additional installation, which results in a relatively complicated and high cost of the crane support structure.

Summary of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. For this reason, the present invention proposes a climbing crane device to solve the problem of unreasonable utilization of the prior art crane structure and high cost.

The present invention also aims to provide a method for controlling the climbing crane to improve the control accuracy.

The invention also aims to provide a crane system to improve work efficiency.

The present invention also aims to provide a method for handling the failure of the crane system to efficiently handle the failure of the crane.

The climbing crane device according to the embodiment of the present invention includes: a climbing frame system and a traveling crane system. The climbing frame system includes a supporting column row composed of a plurality of supporting columns, and the supporting column row includes a first supporting column row and a first supporting column row. Two supporting column rows; the hanging system includes a first row of hanging rails supported on the first supporting column row and a second row of hanging rails supported on the second supporting column row, erected on the first Between a row of hoisting rails and the second row of hoisting rails, the hoisting cart that can move along the first row of hoisting rails and the second row of hoisting rails, the hoisting system further includes The crane is on the crane and can move along the crane, and the crane is used to connect functional components.

According to the climbing crane device of the embodiment of the present invention, the crane supporting structure can be simplified, the cost can be reduced, and the distance coordinate compensation of the crane system in the vertical direction and the horizontal direction can be effectively ensured, thereby achieving the purpose of accurate crane construction.

In some embodiments, the climbing frame system includes: a main frame structure, the main frame structure includes a front side frame and a rear side frame, the front side frame is provided with a plurality of the supporting columns to form the second A row of supporting columns, the rear frame is provided with a plurality of the supporting columns to form the second row of supporting columns; lifting rails, the lifting rails are suitable for being fixed on a building and used as the main frame Structure climbing track; lifting mechanism, the main frame structure climbs along the lifting rail through the lifting mechanism.

Specifically, a first ground support post is provided under the first row of suspension rails, a second ground support post is provided under the second row of suspension rails, and the first ground support post and the second ground support The upper ends of the supporting columns respectively support the first row of hanging rails and the second row of hanging rails, and the lower ends of the first and second ground supporting columns are respectively fixed on the ground floor or the floor of the building floor on.

Optionally, the first ground support column and the second ground support column are of adjustable length structures or are movably arranged relative to the ground.

Optionally, a plurality of the supporting columns are of adjustable length structures.

Optionally, a plurality of the support columns are of hydraulic rod type structure, and each of the support columns includes a support cylinder and a support rod, and the support cylinder is fixed to the front side frame and the rear side correspondingly On the frame, the upper part of the supporting rod body is correspondingly fixedly supported on the first row of hoisting rails and the second row of hoisting rails, and the supporting rod body can move up and down relative to the supporting cylinder.

In some embodiments, the climbing frame system further includes an anti-overturning device, the anti-overturning device includes an anti-roll bar and a clamping mechanism, the anti-roll bar is fixed on the climbing frame system, and the clamping mechanism One end is a ring part and is sleeved on the anti-roll bar, and the other end of the clamping mechanism is fixed on the building through a wall-attached support; when the climbing system climbs, the anti-roll bar passes The annular part slides upwards to prevent the climbing frame system from overturning during the sliding process.

In some embodiments, the lifting mechanism is an electric hoist, the electric hoist is connected with a cable, one end of the cable is fixed to the building through a wall-attached support, and the other end of the cable is fixed On the main frame structure.

In some embodiments, the supporting column is vertically fixed on the main frame structure, and the first row of hanging rails and the second row of hanging rails are fixed on the supporting column in a horizontal direction.

In some embodiments, the crane includes a cross beam, a first moving part and a second moving part, the cross beam is provided with a moving guide rail, and the first moving part and the second moving part are respectively arranged at On both sides of the cross beam, the first moving part and the second moving part are respectively walkably arranged on the first row of hoisting rails and the second row of hoisting rails; the hoisting trolley includes moving A trolley, and the mobile trolley is movably arranged on the moving guide rail.

In some specific embodiments, the crane truck includes a crane motor, and the crane motor is drivingly connected to at least one of the first moving part and the second moving part; the crane crane includes a dolly A motor, the trolley motor is arranged on the mobile trolley to drive the mobile trolley to walk.

In some embodiments, the first moving part and the second moving part are respectively clamped on the first row of hoisting rails and the second row of hoisting rails, and the mobile trolley is clamped on the mobile On the rail.

Optionally, the cross beam is one of a single beam form, a double beam form, or a hollow truss beam.

Further, the mobile trolley includes a car body and wheels, the cross section of the car body is an inverted U shape, the wheels are arranged on the top of the groove of the car body, and the mobile trolley rides on the cross beam , And the wheels are fitted on the moving rails.

In some embodiments, the cross beam and the first moving part are detachably connected, and the cross beam and the second moving part are detachably connected.

In some embodiments, the first row of hoisting rails includes a first rail-bearing beam and a first guide rail arranged on the first rail-bearing beam; the second row of hoisting rails includes a second rail-bearing beam and The second guide rail on the second rail beam; the first rail beam and the second rail beam are both made of I-beam or channel steel.

In some embodiments, the first row of hoisting rails, the inner side of the second row of hoisting rails, and the bottom surface of the crane are provided with a spray system, and the spray system includes a water pipe and a number of sprays. Shower head.

In some embodiments, the spacing of the shower heads is between 0.8 meters and 1.5 meters.

In some embodiments, a ceiling that can be opened or closed is provided on the outer side of the first row of hanging rails and the second row of hanging rails.

In some embodiments, the crane is provided with a safety hook, and when the crane system is working normally, the safety hook is different from the first row of crane rails and the second row of crane rails. Contact; when a height difference of 2 cm or more is generated between the first rail and the second rail, the safety hook tilts and hooks at least in the first row of hoisting rails and the second row of hoisting rails One.

In some embodiments, the crane system further includes an alarm device, and when the safety hook is tilted, the alarm device emits an alarm signal.

In some embodiments, the crane system further includes a lightning protection device, and the lightning protection device is arranged on the crane truck.

In some embodiments, a crane structure is provided on the crane trolley, and the crane structure includes a hook and a hoisting motor; the crane motor is fixedly arranged on the crane trolley and passes through iron chains. Connect with the hook.

In some embodiments, the movement direction relationship between the crane and the crane is an axial relationship of X and Y coordinates, and the functional component is a construction robot.

In some embodiments, the construction robot is a simple manipulator, a manipulator with a manipulator, or an intelligent robot with a manipulator or manipulator.

In some embodiments, the functional component is one of a rebar binding manipulator, an aluminum template installation manipulator, or a ground smoothing manipulator.

In some embodiments, the functional component is connected to the crane trolley through a connecting rod or a telescopic rod, or the functional component is directly connected to the crane trolley.

Specifically, when the telescopic rod is provided on the crane, the movement direction relationship of the crane, the crane, and the telescopic rod is the X axis, the Y axis, and the Z axis.

Specifically, the climbing crane device further includes a multifunctional mechanical arm, and the functional component is connected to the connecting rod, or the telescopic rod, or the crane trolley through the multifunctional mechanical arm. The arm can perform multi-dimensional movement in a three-dimensional space.

Specifically, when the connecting rod and the multifunctional mechanical arm are provided on the traveling trolley, the multifunctional mechanical arm may be fixed or movable up and down and/or rotatably arranged on the connecting rod .

Specifically, when the telescopic rod is provided on the crane trolley, the telescopic rod includes a rigid shaft sleeve and a telescopic member arranged in the shaft sleeve.

Specifically, when the telescopic rod is provided on the crane trolley, the telescopic rod and the crane trolley are bolted to a support on the side of the crane trolley, and the support and the crane trolley Rigid connection of steel plates for vehicles.

Specifically, a base is provided at the bottom of the telescopic rod, the base and the telescopic rod are rigidly connected by a steel plate, and the base is used to connect the multifunctional mechanical arm or the functional component.

Specifically, when the multifunctional mechanical arm is provided under the crane trolley, the upper end of the multifunctional mechanical arm is detachably connected to the crane trolley through the first connecting unit, and the multifunctional mechanical arm The lower end of the arm is detachably connected to the functional component through the second connecting unit.

Optionally, the cross-sectional dimension S of the supporting column is:

Wherein, A is: the weight of the climbing frame system; B is: the weight of the crane system; C is: the weight of the multifunctional manipulator; D is the friction force; E is the construction load; a is : Dynamic coefficient; b is: the design value of the material strength of the supporting column.

In some embodiments, when the telescopic rod is provided on the crane trolley, the telescopic rod can be telescopic in length in the vertical direction, the first connecting unit is connected to the telescopic rod, and the multifunctional The whole mechanical arm can rotate on the vertical plane of the axis of the telescopic rod.

Specifically, the multifunctional mechanical arm includes a first mechanical arm, a second mechanical arm, and a third mechanical arm; one end of the first mechanical arm is connected to the first connecting unit, and the other end is connected to the first motor shaft One end of the second mechanical arm is rotatably connected; the other end of the second mechanical arm is rotatably connected to one end of the third mechanical arm through a second motor shaft; the other end of the third mechanical arm is connected to the second Connecting unit; the axis of the first motor shaft and the axis of the second motor shaft are both horizontal.

Specifically, the multifunctional mechanical arm includes a fourth mechanical arm; one end of the fourth mechanical arm is rotatably connected to the bottom of the first mechanical arm through a third motor shaft, and the other end of the fourth mechanical arm passes through the One end of the first motor shaft and the second mechanical arm is rotatably connected; the first mechanical arm drives the fourth mechanical arm to rotate in a horizontal direction through the third motor shaft.

Specifically, the first motor shaft is connected to a first motor, the second motor shaft is connected to a second motor, and the third motor shaft is connected to a third motor; the first motor shaft, the second motor shaft, The third motor shaft can be driven synchronously or independently.

Optionally, an external port unit is provided on the side of the multifunctional mechanical arm, and the external port unit is used to communicate with an external electrical device.

Optionally, both the first connection unit and/or the second connection unit include a connection board; a wiring channel or a data interface is reserved at the center of the connection board.

Specifically, the first connection unit and/or the second connection unit is a snap connection structure, a bolt connection structure, a flange connection structure, or a slide rail connection structure.

Specifically, a first distance sensor is provided on the multifunctional mechanical arm, and the first distance sensor is used to detect the distance between the multifunctional mechanical arm and surrounding components.

Specifically, a second distance sensor is provided on the telescopic rod, and the second distance sensor is used to detect the moving distance of the telescopic rod.

In some embodiments, the climbing device further includes a control module and a power supply module; the power supply module is respectively electrically connected to the control module and the first motor, the second motor, and the third motor; the control The modules are respectively communicatively connected with the first motor, the second motor, and the third motor; the control module controls the multifunctional manipulator to reach the designated coordinates, and obtains the multi-degree-of-freedom construction range and coordinate compensation.

According to a method for controlling a climbing crane device according to an embodiment of the present invention, which is applied to the climbing crane device described in the above embodiment, the control of the crane crane system includes the following steps:

S1: Determine the horizontal movement distance of the crane system according to the movement radius of the multifunctional manipulator, record the initial position of the telescopic rod, and import the distance and initial position data into the control module;

S2: The first distance sensor on the multi-function robot arm feeds back the distance between the multi-function robot arm and surrounding components to the control module, and the control module determines whether the telescopic rod needs to move down according to the actions that the multi-function robot arm must complete;

S3: If the telescopic rod needs to move down, the control module will issue a command to the power system of the telescopic rod to move the telescopic rod downward; when the telescopic rod moves down, the second distance sensor on the telescopic rod can monitor the telescopic rod in real time Moving distance, and feedback to the control module;

S4: Repeat step S3 until the telescopic rod does not need to move downwards, and the control module issues instructions to the multifunctional robotic arm to perform other actions;

S5: After the multi-functional manipulator completes the work instruction, the first distance sensor on the multi-functional manipulator will feed back the completion status of the work surface to the control module, and the control module determines whether there is a work surface that can be completed after the telescopic rod is lowered, if it exists Steps S3, S4, and S5 are looped. If not, the control module issues an instruction to the power system of the telescopic rod to make the telescopic rod return to the initial position.

According to the control method of the climbing crane device according to the embodiment of the present invention, the vertical and horizontal coordinate compensation of the crane system can be ensured, thereby improving the working range and freedom of the multifunctional mechanical arm, thereby achieving the purpose of precise control and construction.

In some embodiments, the S3 step further includes: when the telescopic rod moves down, the multifunctional manipulator is driven to move down, and the first distance sensor on the multifunctional manipulator connects the multifunctional manipulator with surrounding components in real time. The distance is fed back to the control module, and the control module determines whether the telescopic rod needs to continue to move downwards according to the actions that the multifunctional manipulator must complete; and/or, after the S5 step, it also includes: the hoisting system moves in the horizontal direction. For the specified distance, recycle S2, S3, S4, S5 steps.

The method for controlling a climbing device according to an embodiment of the present invention is applied to the climbing device described in the foregoing embodiment, or includes the control method described in the foregoing embodiment, and the control of the climbing device includes the following steps:

Step P1: Input the planned walking route parameters and stay position parameters in the control module;

Step P2: The control module issues instructions to start the crane motor and the car motor, and the crane motor and the car motor respectively drive the crane and crane to travel according to the planned path;

Step P3: When the crane and the crane are traveling, use the sensor to monitor the position of the crane and the crane in real time and feed it back to the control module;

Step P4: The control module determines whether the crane and crane have reached the preset stop position according to the received position data of the crane and crane. When the crane and crane arrive at the preset stop When in the position, the control module issues instructions to control the motor of the cart and the motor to stop running.

According to the control method of the climbing crane device of the embodiment of the present invention, the crane system adjusts the position of the functional components by moving the crane crane and the crane trolley to make the positioning more accurate, and at the same time, the functional components are used to transport materials, which is more convenient and stable , Greatly improve work efficiency.

In some embodiments, after step P4, the following steps are further included:

Step P5: After the crane and the crane stop, the control module starts timing, and when the dwell time reaches the set dwell time, the control module issues an instruction to restart the crane motor and the carriage motor;

Step P6: The control module matches the position data information fed back by the sensor in real time with the location information of the set destination. After detecting that the crane and the crane have reached the end of the planned route, the control module issues instructions to control the motor and The trolley motor stops running.

Specifically, during the movement of the crane and the crane, the control module judges whether the crane and the crane are on the planned route according to the data fed back by the sensor, and if not, the control module controls the crane. The truck motor and the trolley motor issue instructions to drive the crane and the crane to return to the correct driving route.

Specifically, when the crane system is provided with a rectangular coordinate rod and a multi-functional mechanical arm to transport materials, the control method further includes a method of controlling the rectangular coordinate rod set on the crane trolley;

Step P7: Record the initial position of the Cartesian coordinate rod and the movement radius data of the multifunctional manipulator, and import the position data and the movement radius data of the multifunctional manipulator into the control module;

Step P8: Use the sensor on the multifunctional manipulator to collect the working distance data between the multifunctional manipulator and the material in real time, and send the working distance data to the control module;

Step P9: The control module compares the working distance data with the movement radius data, and when the movement radius data is greater than or equal to the working distance data, the control module issues instructions to the multifunctional manipulator and manipulator to execute the first work action;

Step P10: When the movement radius data is less than the working distance data, the control module sends a start signal to the power system of the rectangular coordinate rod, and the power system drives the rectangular coordinate rod to move downward, and the moving distance is a moving radius length; the control module again Compare the movement radius data and the working distance data, and execute steps P7-P9 in a loop until the control module detects that the movement radius length data is greater than or equal to the working distance data.

In some embodiments, after step P9, the control module continues to determine whether there is a second work action that needs to be performed on the rectangular coordinate rod. If there is, the control module executes step P8, steps P9 and P10 cyclically; if there is no control module, it sends a recovery The signal is given to the power system, which drives the rectangular coordinate rod to return to the initial position.

Optionally, the control method also includes a control method when the manipulator is working, including the following steps:

Step P11: Input the working coordinate position information of the manipulator into the control module, and the sensor collects the current position coordinate information of the manipulator and feeds back the position information to the control module;

Step P12: The control module calculates the movement of the manipulator on the X-axis, Y-axis and Z-axis according to the work coordinate position information and the current position coordinate information, and the control module sends control commands to the cart motor, trolley motor and telescopic rod power system;

Step P13: The control module monitors the position of the manipulator in real time according to the feedback of the first sensor, the second sensor, and the third sensor. After determining that the manipulator reaches the working position, the control module issues a work instruction to drive the manipulator to perform work actions.

The method for controlling the climbing device according to the embodiment of the present invention is applied to the climbing device described in the foregoing embodiment, or includes the control method described in the foregoing embodiment, and further includes the following steps:

Step Q1: The control module issues a command, and the climbing process starts. When the climbing frame system as a whole climbs to the predetermined position, the climbing stops. After the mechanical connection between the climbing frame system and the building is fixed manually, the lifting mechanism of the climbing frame system enters a relaxed state. Stress again.

Step Q2: Control the support columns of the first support column row and the second support column row to rise and fall to a suitable position, and install the hoisting mechanism.

According to the control method of the climbing device according to the embodiment of the present invention, the positioning is more accurate, the material grabbing is stable and accurate, and the degree of automation is high.

In some embodiments, when the climbing system climbs, if the load is overloaded, it will automatically stop; when any two lifting mechanisms of the climbing system itself have a climbing height difference of more than 2cm, the climbing system will automatically stop, and manual intervention is required after the stop. After leveling, start again.

In some embodiments, when the climbing frame system climbs, the crane system is moved to the vicinity of the first ground support column and the second ground support column. The support column is a hydraulic rod structure, which cooperates with the climbing system to provide support for it. , To reduce the upward resistance of the climbing frame system.

According to the traveling crane system of the embodiment of the present invention, the traveling crane system is a single-beam multi-body traveling crane system, which includes: a control system, a traveling crane and multiple cranes movably arranged on the traveling crane. A traveling crane; wherein the traveling crane is erected between two horizontal guide rails arranged in parallel on the climbing frame system by a cross beam, and the cross beam can move along the horizontal guide rail; the traveling crane is movable longitudinally On the beam of the crane crane, it is used to carry the crane object; the control system is respectively connected to the plurality of crane cranes in communication to control the coordinated movement to realize the crane operation or monitor the crane crane failure.

According to the crane system of the embodiment of the present invention, according to the actual crane operation needs, a crane crane combined with multiple crane trolleys can coordinate and cooperate to complete the crane operation, thereby improving the construction efficiency of the crane operation and has convenience The advantages of control, maintenance and disassembly.

In some embodiments, the trolley is provided with a telescopic rod along the vertical direction, and the telescopic rod is provided with a mechanical arm, and the mechanical arm is used to connect an end effector.

In some embodiments, the trolley is provided with an image acquisition device robot arm, the image acquisition device robot arm is provided with an image acquisition device, and the image acquisition device is electrically connected to the control system and passes The robot arm of the image acquisition device realizes multi-angle photography.

In some embodiments, at least one end of the crane trolley is provided with a sensor, and the sensor is used to detect the distance of the adjacent crane trolley so as to limit the operation of the adjacent crane trolley.

In some embodiments, a guide rail driver and a hoist are also provided on the crane; the guide rail driver is fixedly arranged on the preset flange of the robot arm of the crane and communicates with the control via a flat cable The system is electrically connected; the guide rail drive is used to drive the wheels of the crane trolley to slide on the guide rails of the crane; the hoist is fixedly arranged on the preset flange of the mechanical arm and is connected with Wire rope hoist.

In some embodiments, a guide rail drive is provided on the crane; the guide rail drivers on the crane and the crane are both three-in-one reducers.

In some embodiments, the crane system further includes a navigation system, which is communicatively connected with the control system; the navigation system establishes three-dimensional coordinates to plan the travel path of the crane trolley.

In some embodiments, the navigation system is also in communication connection with the crane; the navigation system plans the travel path of the crane by establishing three-dimensional coordinates.

In some embodiments, the crane system further includes a fault handling module, which is communicatively connected with the control system; the fault handling module is used to monitor the working status of the robot arm on the crane, and When the robot arm fails, the robot arm is transferred to the maintenance position by the crane trolley.

In some embodiments, the control system includes an image processing module configured to detect the working state of the end effector according to the image provided by the image acquisition device on the crane trolley.

The method for troubleshooting a crane system according to an embodiment of the present invention is applied to the crane system described in the above embodiment, and the method includes: controlling each of the one or more crane trolleys by the control system During the coordinated execution of the designated crane operation, monitor the working status of each crane trolley in the crane system; if the crane system determines that any crane trolley is faulty during the execution of the designated crane operation, Then determine the fault type of the fault; based on the fault type, use a preset processing method to process the fault.

According to the fault handling method of the crane system of the embodiment of the present invention, based on the control method provided by the present invention, the working area is determined respectively for the crane trolley on the crane crane through the three-dimensional coordinate system, and the crane crane and the crane crane are accurately formed The walking path of the trolley to perform the set process operation on the target building. It can also detect obstacles through sensors during the execution process to prevent collisions during driving movement and affect the crane operation, and perform quality inspection on the crane operation through the image acquisition device. In addition, the present invention also provides a method for handling failures of the hoisting system, setting different handling methods for different types and levels of faults, so as to efficiently process the possible failures in the hoisting system, and then efficiently completing the designated hoisting operation.

In some embodiments, using a preset processing method to process the fault based on the fault type includes: if it is determined that the fault is a driving fault, recording the current status of the crane trolley where the fault has occurred After the status information, a serious alarm message is sent and the first preset processing action is executed; if it is judged that the fault is an end effector type fault, a general alarm message is sent, and the second preset processing action is executed.

In some embodiments, the driving fault includes: a fault that the crane trolley cannot travel; the end effector fault includes: communication fault, signal loss and/or component damage.

In some embodiments, the executing the first preset processing action includes: switching the crane trolley to a preset standby position, while using other idle crane trolleys to replace the crane trolley to continue the operation; The second preset processing action includes: repairing the faulty crane trolley according to the alarm priority and restarting it.

In some embodiments, the repairing the faulty travel trolley according to the alarm priority includes: resetting the end effector of the malfunctioning travel trolley according to the alarm priority; and/or resetting the faulty travel The crane trolley moves to the preset maintenance position for inspection and repair.

In some embodiments, the method includes during normal operation: receiving, through the control system, an operation instruction for a single-beam and multi-carbody hoisting system to perform a specified hoisting operation on a target building from a remote control terminal; based on the The operation instruction moves the crane trolley in the crane system to the operation area of the target building; select one or more crane trolleys in the crane system, and control the one or more crane cranes The trolley performs the specified crane operation in cooperation.

In some embodiments, the moving the crane truck in the crane system to the operation area of the target building based on the operation instruction includes: constructing a three-dimensional coordinate system by means of laser navigation, and responding to the operation instruction Analyze and determine the operation area where the specified hoisting operation is performed on the target building; determine the first traveling path of the hoisting cart and/or the hoisting operation based on the three-dimensional coordinate system and the operation area The second traveling path of the trolley; according to the first traveling path and/or the second traveling path, the crane and/or the crane traveling are controlled to move.

The method for controlling the crane system according to the embodiment of the present invention is applied to the crane system described in the above embodiment, or includes the method for troubleshooting the crane system described above, and the control of the crane system includes the following steps: The control module receives an operation instruction for the single-beam and multi-car body hoisting system to perform a specified hoisting operation on the target building from the remote control terminal; based on the operation instruction, the hoisting crane in the hoisting system is moved to The operation area of the target building; one or more crane trolleys are selected in the crane system, and the designated crane operation is performed by controlling the one or more crane trolleys.

According to the control method of the crane system according to the embodiment of the present invention, based on the control method provided by the present invention, the working areas are respectively determined for the crane trolley on the crane crane through a three-dimensional coordinate system, and the crane crane and the crane crane are accurately formed The walking path in order to perform the set process operation on the target building.

In some embodiments, the construction of a three-dimensional coordinate system by means of laser navigation includes: taking the moving direction of the crane on the crane as the X-axis, and the moving direction of the crane as the Y-axis. The movement direction of the rod is the Z axis to construct a three-dimensional coordinate system; when the crane and the crane are both at the origin position, a laser beam is emitted to determine the origin coordinates.

In some embodiments, the determining the first traveling path of the crane and/or the second traveling path of the crane based on the three-dimensional coordinate system and the work area includes: based on the The three-dimensional coordinate system respectively determines the direction of the crane and the displacement parameters of each crane in the X-axis direction and the Y-axis direction relative to the work area, and generates the first traveling path of the crane And/or the second walking path of each of the crane trolleys.

In some embodiments, the selecting one or more crane trolleys in the crane system, and controlling the one or more crane trolleys to perform the designated crane operation in coordination includes: One or more crane trolleys are selected in the hoisting system, and at least one end effector for each crane trolley to perform the specified hoisting operation is determined based on the operation instruction; the corresponding robot arm of each crane trolley is automatically grasped The end effector of, coordinated to execute the specified hoisting operation.

In some embodiments, the step of automatically grabbing the corresponding end effector by the robotic arms of each row of crane trolleys, and after performing the designated row crane operation in coordination, further includes: acquiring the row crane through the image acquisition device Continuous first image data of multiple angles when the trolley executes the designated hoisting operation time; based on the first image data, coordinate the order of each of the hoisting trolleys to execute the designated hoisting operation.

In some embodiments, the step of automatically grabbing the corresponding end effector by the robotic arms of the crane trolleys, and after the coordinated execution of the designated crane operation, further includes: acquiring the plurality of end effectors through the image acquisition device The second image data of the hoisting trolley after the execution of the specified hoisting operation is completed; detecting based on the second image data to determine whether the completion status of the specified hoisting operation meets the preset standard; If the completion status of the hoisting operation meets the preset standard, the next hoisting operation is continued; if the completion status of the designated hoisting operation does not meet the preset standard, the designated hoisting operation is executed again.

In some embodiments, the method further includes: if during the execution of the designated crane operation, a sensor installed on any one of the cranes detects that the distance from the crane is less than the expected If the neighboring crane trolley with a distance is set, the operation of the crane or the neighboring crane is stopped.

In some embodiments, the control method further includes: if during the execution of the designated crane operation, a sensor installed on any one of the cranes detects that the crane has contacted other cranes. The anti-collision device controls the crane trolley or other crane trolleys to run in the direction opposite to the original running direction.

The traveling crane system according to the embodiment of the present invention includes: a plurality of traveling crane units and a control module that controls the operation of the plurality of traveling crane units; wherein, each traveling crane unit includes a traveling crane and a movable crane. One or more crane trolleys arranged on the crane; the crane crane in each crane unit includes two horizontal guide rails arranged in parallel on the climbing frame and two horizontal guide rails A crossbeam that can move along a horizontal guide rail; the crane trolley in the crane unit is movably arranged on the crossbeam of the crane crane in the longitudinal direction.

According to the crane system of the embodiment of the present invention, the working area is reasonably allocated to each crane crane through the three-dimensional coordinate system, and the working path of each crane crane and crane crane is formed accurately, so as to execute the set process for the target building operation.

In some embodiments, the trolley is provided with a telescopic rod in a vertical direction, the telescopic rod is provided with a mechanical arm, and the trolley is connected to an end effector through the mechanical arm.

In some embodiments, the traveling trolley is further provided with an image acquisition device robot arm, the image acquisition device robot arm is provided with an image acquisition device, and the image acquisition device is electrically connected to the control module.

In some embodiments, the crane trolley is also provided with a sensor manipulator arm, and a sensor is provided on the sensor manipulator arm, and the sensor is electrically connected to the control module and used to detect obstacles.

In some embodiments, guide rail drives are provided on the crane and the crane respectively; the guide rail drivers on the crane and the crane are respectively connected to the control module in communication.

The method for controlling a crane system according to an embodiment of the present invention is applied to the crane system described in the above embodiment, and the method includes: receiving input from a remote control terminal through the control module to perform a specified crane operation on a target building Operation instruction; based on the operation instruction, select one or more hoisting units in the hoisting system to allocate the work area when performing the specified hoisting operation; move each hoisting unit to the corresponding work area , Controlling the row crane units to cooperate to complete the designated row crane operation.

According to the control method of the crane system according to the embodiment of the present invention, based on the control method provided by the present invention, the working area is allocated to each crane in a three-dimensional coordinate system, and the working path of each crane and crane is accurately formed. To perform the set process operations on the target building. It can also detect obstacles through sensors during the execution process to prevent collisions during driving movement and affect the crane operation, and perform quality inspection on the crane operation through the image acquisition device. In addition, the present invention also provides a fault processing method for the multi-row crane system, which sets different processing methods for different types and levels of faults, so as to efficiently process the possible faults in the multi-row crane system, thereby efficiently completing the designation Hanging operations.

In some embodiments, the selecting one or more hoisting units in the hoisting system based on the operation instruction to allocate the working area when the designated hoisting operation is executed includes: constructing a three-dimensional system through laser navigation Coordinate system; analyze the operating instructions, use a preset allocation method based on the three-dimensional coordinate system to allocate respective work areas for each of the row crane units and plan the walking path of each row crane unit.

In some embodiments, the analyzing the operating instructions, using a preset allocation method based on the three-dimensional coordinate system to allocate respective working areas for each of the row crane units and plan the walking path of each row crane unit includes: Analyze the operating instructions to determine the working area of each crane unit; use laser navigation based on the X-axis and Y-axis coordinates continuously output from the three-dimensional coordinate system as the target of the crane and crane Position, and continuously move to obtain the walking path of the crane and the crane.

In some embodiments, the moving each of the row hoisting units to a corresponding work area, and controlling the row hoisting units to cooperatively complete the designated hoisting operation includes: lifting each of the row hoisting units according to the walking path The cranes and cranes of the unit are moved to the corresponding work areas; the coordinated movement of the cranes is controlled to complete the specified crane operation; wherein the coordinated cranes on the multiple cranes are controlled When the movement completes the designated crane operation, each of the crane cranes is independently controlled or the multiple crane cranes are jointly controlled.

In some embodiments, the controlling the coordinated movement of the crane trolley to complete the designated crane operation includes: for any crane unit, based on the work area of the crane unit being the one in the crane unit The crane trolley determines at least one end effector when performing the specified crane operation; by controlling the robot arm of the crane trolley on each of the crane cranes to automatically grab the corresponding end effector, and execute the Specify the crane operation.

In some embodiments, the step of controlling the robot arm of the crane trolley on each of the cranes to automatically grab the corresponding end effector and perform the specified crane operation in coordination further includes: using the image The acquisition device acquires the continuous first image data of multiple angles of the crane trolley when the specified crane operation is performed; based on the first image data, coordinate the execution of the crane trolleys on the cranes The sequence of the specified row hoisting operations.

In some embodiments, after controlling the robot arm of the crane trolley on each crane to automatically grab the corresponding end effector and perform the specified crane operation in coordination, the method further includes: The image acquisition device acquires the second image data of the crane trolley after the specified crane operation is completed; performs detection based on the second image data to determine whether the completion status of the specified crane operation meets a preset standard ; If the completion status of the designated line hoisting operation meets the preset standard, continue to execute the next line hoisting operation; if the completion status of the designated line hoisting operation does not meet the preset standard, then the designated line hoisting operation is re-executed .

In some embodiments, the control method further includes: if during the execution of the designated crane operation, a sensor provided on any one of the cranes detects that the distance from the crane is less than a preset For obstacles in the distance, the preset obstacle avoidance action is executed.

The traveling crane system according to the embodiment of the present invention includes a multi-head mechanical arm, which includes: a connecting piece for installing the multi-head mechanical arm; a rotating flange rotatably arranged on the connecting piece; and a rotating motor arranged on the connecting piece. The connecting piece is used to drive the rotating flange to rotate; a plurality of single mechanical arms, the plurality of single mechanical arms do not interfere with each other and are telescopically fixed on the rotating flange, and can follow The rotating flange rotates.

The hoisting system according to the embodiment of the present invention can effectively improve the efficiency of existing building hoisting operations, reduce construction errors and operating costs; it can be directly applied in the existing hoisting system, and has a reasonable structure, easy disassembly and assembly, and low maintenance cost , And not easy to damage the advantages.

In some embodiments, the rotating flange is rotatably arranged on the connecting member in a horizontal direction; the plurality of single mechanical arms are arranged on the bottom surface of the rotating flange, and can rotate with the The flange rotates in the horizontal direction.

In some embodiments, the rotating flange is rotatably arranged on the connecting member in the vertical direction; the plurality of single mechanical arms are circumferentially arranged on the rotating flange, and can be arranged at any time. The rotating flange rotates in the vertical direction.

In some embodiments, the rotating flange includes two disk surfaces and a connecting arm connected between the two disk surfaces, the plurality of single mechanical arms are arranged in the circumferential direction of the connecting arm, and the rotating motor is arranged at all On one side of the rotating flange, the rotating flange is driven to rotate in the vertical direction; an annular cavity is formed between the inner surfaces of the two disk surfaces, and the plurality of single mechanical arms are telescopically arranged in the annular cavity Inside, when it needs to work, the single mechanical arm extends out of the ring cavity, and when it does not need to work, the single mechanical arm retracts into the ring cavity.

In some embodiments, the annular cavity is divided into a plurality of grooves, and the plurality of grooves correspond to the plurality of single robot arms one to one, so that the robot arms do not interfere with each other.

In some embodiments, the plurality of single robotic arms are equidistantly mounted on the connecting arm.

In some embodiments, the connecting member is a frame rod, the lower end of which is in an inverted U shape, so that the rotating flange can be pivotably clamped in the inverted U-shaped bracket; the rotating motor is arranged in The frame rod drives the rotating flange to rotate in a vertical direction.

In some embodiments, the plurality of single robot arms are all multi-axis robot arms, and each of the multi-axis robot arms is connected to the rotating flange through a first joint shaft arm; the first joint shaft arm There is a preset angle between the central axis of and the radial direction of the rotating flange.

In some embodiments, the traveling crane system includes a combined arm, the combined arm includes a telescopic rod and the multi-head robotic arm, and the multi-head robotic arm is provided on the telescopic rod through the connecting member.

In some embodiments, the traveling crane system includes a traveling crane, a traveling crane, and the combined arm. The traveling crane is slidably arranged on the traveling crane; the combined arm is passed through a telescopic rod. It is arranged on the crane trolley and reciprocates with the crane trolley.

The control method of the crane system according to the above embodiment includes the following processes: control the crane trolley to slide on the crane; after the crane trolley reaches the designated position, control the telescopic rod to expand and contract; when the telescopic rod is extended to After the height is preset, it controls the expansion and contraction of the single robotic arm that needs to be operated; controls the rotating motor to drive the rotating flange to rotate to a preset angle, so that the single robotic arm corresponding to the rotation angle of the rotating flange extends outward.

The control method of the crane system according to the embodiment of the present invention can effectively improve the crane operation efficiency of existing buildings, reduce construction errors and operating costs; it can be directly applied to the existing crane system, has a reasonable structure, is easy to disassemble, and The advantages of low maintenance cost and not easy to damage.

In some embodiments, when multiple single robotic arms are required to operate, the rotating motor controls the multiple single robotic arms to extend and cooperate.

In some embodiments, when multiple single robotic arms extend and perform work operations at the same time, the priority among the multiple single robotic arms is first determined; among them, the single robotic arm with the highest priority is the single robotic arm with the largest bearing capacity.

The additional aspects and advantages of the present invention will be partly given in the following description, and part of them will become obvious from the following description, or be understood through the practice of the present invention.

Description of the drawings

The above and/or additional aspects and advantages of the present invention will become obvious and easy to understand from the description of the embodiments in conjunction with the following drawings, in which:

Fig. 1 is a schematic diagram of an optional climbing device of the present invention during construction.

Figure 2 is a schematic diagram of an optional climbing device of the present invention.

Fig. 3 is a schematic diagram of another optional climbing device of the present invention.

Fig. 4 is an enlarged view of a screenshot of the first row of hoisting rails referred to at A in Fig. 2 (the brackets indicate the corresponding structure of the second row of hoisting rails).

Figure 5 is a partially enlarged schematic diagram of the optional crane trolley of the present invention.

Figure 6 is a schematic diagram of the optional climbing frame system of the present invention on a building.

Fig. 7 is a schematic diagram of the connection of an optional multifunctional mechanical arm of the present invention.

Figure 8 is a perspective view of an optional multifunctional mechanical arm of the present invention.

Figure 9 is a front view of an optional multifunctional mechanical arm of the present invention.

Figure 10 is a side view of an optional multifunctional mechanical arm of the present invention.

Figure 11 is a top view of an optional multifunctional mechanical arm of the present invention.

Figure 12 is a bottom view of an optional multifunctional mechanical arm of the present invention.

Figure 13 is a schematic diagram of the optional multifunctional mechanical arm of the present invention rotating in a vertical plane.

Figure 14 is a schematic diagram of the optional multifunctional mechanical arm rotating around the motor shaft of the present invention.

Fig. 15 is a schematic view of the structure of the preferred spray part and ceiling part of the present invention.

Fig. 16 is a schematic flow chart of the climbing control method of the optional climbing frame system of the present invention.

Fig. 17 is a schematic flowchart of an optional method for controlling the traveling of a crane and a crane according to the present invention.

Fig. 18 is a schematic diagram of an optional control flow of the telescopic rod of the present invention.

Figure 19 is a schematic diagram of the force transmission mode of the climbing device.

Figure 20 is a schematic structural diagram of a single-beam climbing device.

Figure 21 is a schematic structural diagram of another single-beam climbing device.

Figure 22 is a schematic diagram of the control flow of a single-beam climbing device.

Fig. 23 is a schematic diagram of the control flow of another single-beam climbing device.

Figure 24 is a schematic diagram of the structure of a multi-row crane system.

Figure 25 is a schematic diagram of another multi-row crane system structure.

Figure 26 is a schematic diagram of the control flow of a multi-row crane system.

Figure 27 is a schematic diagram of the control flow of another multi-row crane system.

Fig. 28 is an overall schematic diagram of a climbing device according to an embodiment.

Fig. 29 is a schematic diagram of the structure of the climbing device provided in Fig. 28.

Fig. 30 is a schematic structural diagram of the climbing device provided in Fig. 28 (horizontal guide rail is not included).

Fig. 31 is an overall schematic diagram of a climbing device of another embodiment.

Fig. 32 is a schematic structural diagram of the climbing device provided in Fig. 31.

Figure 33 is a schematic structural diagram of the climbing device provided in Figure 31 (without horizontal guide rails).

Fig. 34 is a schematic diagram of the structure connection between the telescopic rod and the mechanical arm provided in Fig. 31.

Figure 35 is an overall front view of the climbing device provided in Figure 31.

Figure 36 is a front view of the structure of the climbing device provided in Figure 31.

Fig. 37 is an overall side view of the climbing device provided in Fig. 31.

Figure 38 is a front view (including horizontal guide rails) of a climbing device structure provided in Figure 31.

Fig. 39 is a cross-sectional view of Fig. 37 along the F-F direction.

Figure 40 is a schematic diagram of the structure of the climbing device in Figure 39.

Figure 41 is a schematic diagram of the structure connection between the telescopic rod and the mechanical arm in Figure 39.

Reference signs:

Climbing device 1000, building 2000,

Climbing frame system 100,

Supporting column 1, supporting column row 10, first supporting column row 11, second supporting column row 12,

Main frame structure 2, front side frame 21, rear side frame 22, inner vertical rod 202, outer vertical rod 203, cross rod 204, web rod 205, horizontal support structure 206, sealing flap 207, upper hanging point 213, lower hanging point 214, scaffolding board 217, protective outer net 218, working layer guardrail 219,

Lifting rail 3.

Lifting mechanism 4, electric hoist 41, cable 42,

The first ground support column 51, the second ground support column 52,

Anti-overturning device 6, anti-falling device 65, anti-falling bar 651,

Attached wall support 7.

Hanging system 200,

The first row of hanging rails 210, the first rail beam 211, the first rail 212, the horizontal rail 20,

The second row of hanging rail 220, the second rail beam 221, the second guide rail 222,

Crane crane 230, cross beam 231, moving guide rail 232, crane motor 233, first moving part 234, second moving part 235,

Crane trolley 240, mobile trolley 241, car body 2411, wheels 2412,

Crane structure 250, hook 251, lifting motor 252, iron chain 253,

Connecting rod 260,

Telescopic rod 270, support 273, base 274,

Robot arm 28, multi-function robot arm 280, first robot arm 281, second robot arm 282, third robot arm 283, fourth robot arm 284, first motor shaft 2851, second motor shaft 2861

The first connection unit 291, the second connection unit 292, the external port unit 293, the wiring channel or data interface 294, the bolt hole 295,

08. Multi-head robotic arm; 081, rotating flange; 082, single robotic arm; 0821, first single robotic arm; 0822, second single robotic arm; 0823, third single robotic arm; 083, rotating motor; 084, Disk surface; 085, frame rod; 086, ring cavity; functional parts 600,

detailed description

The embodiments of the present invention are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary, and are only used to explain the present invention, but should not be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "inner", "outer", "axial", "radial", "circumferential", etc. are based on the accompanying drawings. The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a reference to the present invention. limits. In addition, the features defined with "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that the terms "installation", "connection" and "connection" should be understood in a broad sense unless otherwise clearly specified and limited. For example, they can be fixed or detachable. Connected or integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components. For those of ordinary skill in the art, the specific meaning of the above-mentioned terms in the present invention can be understood in specific situations.

The structure of the climbing device 1000 according to the embodiment of the present invention will be described below with reference to FIGS. 1 to 15.

The climbing crane device 1000 according to the embodiment of the present invention, as shown in FIG. 1, includes a climbing frame system 100 and a crane system 200. The climbing frame system 100 is set on the ground floor or floor of a building 2000, and the crane system 200 It is set on the climbing frame system 100 through the supporting column 1.

In some embodiments, the climbing frame system 100 can be used independently of the crane system 200, that is, the climbing frame system 100 may not be provided with the crane system 200. The climbing frame system 100 serves as a working platform for construction machinery and drives the entire Construction machinery lifting. The climbing frame system 100 is used to set up around the building 2000. According to requirements, for example, when the wall of the building 2000 needs to be repaired, the climbing frame system 100 can be set on only one, two, or three sides of the building 2000, or in the building A climbing frame system 100 is provided on all outer surfaces of the object 2000. The climbing frame system 100 is usually customized or selected according to the length of the building 2000. The climbing frame system 100 surrounding the building 2000 may be an integral climbing frame. As shown in FIG. 1, an integral climbing frame structure surrounding the building 2000 is shown. The climbing frame system 100 surrounding the building 2000 can also be divided into multiple climbing frame units. For example, when only one side of a certain building 2000 needs to be provided with the climbing frame system 100, multiple climbing frame units can be used on this surface to form a climbing frame system. 100. Although each climbing frame unit can be lifted and lowered independently, multiple climbing frame units need to be operated cooperatively in actual construction. For example, on a building 2000, only one climbing frame unit can be used on its longitudinal plane, and multiple climbing frame units can be used in combination along the horizontal direction on its horizontal plane, that is, multiple climbing frame units are operated in a coordinated manner. For example, in the height direction, the climbing frame system 100 can be divided into multiple climbing frame units, and the multiple climbing frame units are operated in coordination.

In some embodiments, as shown in FIG. 6, the climbing frame system 100 includes: a main frame structure 2, a lifting rail 3 and a lifting mechanism 4. The lifting rail 3 is suitable for being fixed on the building 2000 and used as a track for the main frame structure 2 to climb. The main frame structure 2 climbs along the lifting rail 3 through the lifting mechanism 4.

Figure 6 shows that the climbing frame system 100 is provided with a multi-layer structure. Taking the bottom layer as an example, it includes: an inner vertical rod 202, an outer vertical rod 203, a cross rod 204, and a horizontal support structure 206 (longitudinal rod). The crossbar 204 connects the inner vertical rod 202 and the outer vertical rod 203, and the horizontal support structure 206 (longitudinal rod) connects the horizontal rod 204 in the longitudinal direction. The horizontal support structure 206 is composed of the inner and outer

vertical rods

202 and 203, the horizontal rod 204, and the horizontal support structure 206 ( The longitudinal rods) form a rectangular frame structure. The bottom of the rectangular frame structure can be laid with a scaffold board 217, and a reinforcing web rod 205 is also provided. In addition, a sealing flap 207, a working layer guardrail 219, and a protective outer net 218 can be provided.

The lifting rail 3 is used as the overall climbing track of the climbing frame system 100, and the combined steel material of channel steel and round steel can be selected. The lifting rail 3 is fixed on the building 2000 with a bolt structure, so that the climbing frame system 100 is realized by the lifting rail 3. Swipe up and down.

In some specific embodiments, as shown in FIG. 5, the lifting mechanism 4 is an electric hoist 41, and the electric hoist 41 is connected with a cable 42. One end of the cable 42 is fixed on the wall of the building 2000 through the wall-attached support 7. The other end of the cable 42 is fixed to the main frame structure 2.

Optionally, part of the wall-attached support 7 is provided with an upper hanging point 213, the bottom of the climbing frame system 100 is correspondingly provided with a lower hanging point 214, and a cable 42 is provided between the upper hanging point 213 and the lower hanging point 214. The cable 42 can be The lifting and lowering are carried out by a lifting mechanism 4 such as an electric hoist 41 or a hydraulic press.

Optionally, as shown in FIG. 6, the present invention is also provided with a friction type anti-dropping device 65, which includes an anti-dropping bar 651, which is used to frictionally support the climbing frame system 100 when the climbing frame system 100 falls to slow down Fall down until the fall stops.

In addition, the present invention also provides a wall-attached support 7 as a connecting member between the climbing frame system 100 and the building 2000, which plays a role of unloading and preventing overturning, and a combined steel material of channel steel and round steel can be selected. The wall-attached support 7 is generally connected to the shear wall mechanically, and can also be mechanically connected to the floor slab.

Further, in order to ensure the stability of the climbing frame system 100, the climbing frame system 100 may also be provided with an anti-overturning device 6. The anti-overturning device 6 includes an anti-roll bar and a clamping mechanism, and the anti-roll bar is fixed on certain structures of the climbing frame system 100 (for example, the main frame structure 2, the supporting column 1, etc.). One end of the clamping mechanism is an annular part and is sleeved on the anti-roll bar, and the other end of the clamping mechanism is fixed on the building 2000 through the wall-attached support 7. When the climbing frame system 100 climbs, the anti-roll bar slides upward through the ring portion to prevent the climbing frame system 100 from overturning during the sliding process.

In some embodiments, as shown in FIGS. 1 to 3, the crane system 200 includes a first row of crane rails 210, a second row of crane rails 220, a crane 230 and a crane 240, and the crane 230 Set up between the first row of hoisting rails 210 and the second row of hoisting rails 220, the hoisting cart 230 can move along the first row of hoisting rails 210 and the second row of hoisting rails 220 to adjust the lateral distance of the hoisting system 200 in construction . The crane trolley 240 is installed on the crane 230 and can reciprocate along the surface of the crane 230.

Specifically, the crane trolley 240 can slide along the inner surface or the outer surface of the crane 230 to adjust the longitudinal distance of the crane system 200; using the above solution, the crane system 200 is installed on the climbing frame system 100 In this way, the climbing frame system 100 can be reasonably used to support the crane, which saves costs, and the structure has high stability and is convenient for construction operations.

In the present invention, the crane 230 that can move on the guide rail of the crane system 200 and the crane trolley 240 that can move on the beam 231 are arranged, and the wire rope electric hoist on the crane trolley 240 realizes the flexible lifting of materials in space. The effect, and the positioning effect is good.

As shown in Figures 2 and 3, the first row of hoisting rails 210 is supported on the first supporting column row 11, the second row of hoisting rails 220 is supported on the second supporting column row 12, and the crane 230 is erected on the first row of supporting columns. Between the hoisting rail 210 and the second hoisting rail 220, the hoisting cart 230 can move along the first hoisting rail 210 and the second hoisting rail 220, and the hoisting trolley 240 is arranged on the hoisting hoist 230. The crane trolley 240 moves along the crane 230, and the crane trolley 240 is used to connect the functional component 600.

Specifically, the first row of hoisting rails 210 and the second row of hoisting rails 220 are arranged in parallel, and the hoisting trolley 240 can run in a direction perpendicular to the first row of hoisting rails 210 and the second row of hoisting rails 220. Through the above arrangement, it is feasible to realize the overall horizontal movement of the crane 230, and the crane 240 realizes longitudinal movement. In combination with the climbing frame system 100 described later, the crane 240 can realize three-dimensional omnidirectional movement.

Each supporting column row 10 includes a plurality of supporting columns 1, and the supporting columns 1 are fixedly arranged on an intermediate floor of the floor under construction along the vertical direction, so that the entire climbing device can be supported by the ground and the building Function to improve stability.

In some embodiments, as shown in FIGS. 1 to 3, the crane 230 includes a beam 231, a first moving part 234, and a second moving part 235. The beam 231 is provided with a moving guide 232, and the first moving part 234 The second moving part 235 and the second moving part 235 are respectively disposed on both sides of the cross beam 231, and the first moving part 234 and the second moving part 235 are respectively disposed on the first row of hanging rails 210 and the second row of hanging rails 220 to be walkable. The crane trolley 240 includes a mobile trolley 241, and the mobile trolley 241 is disposed on the movable guide rail 232 so as to walk. Optionally, a first wheel and a second wheel are installed at the front and rear ends of the cross beam 231, and the first wheel and the second wheel constitute a first moving part 234 and a second moving part 235 respectively.

In some embodiments, the crane 230 includes a crane motor 233, which is drivingly connected to the first moving part 234 and/or to the second moving part 235. The crane car 240 includes a car motor, and the car motor is arranged on the mobile car 241 to drive the mobile car 241 to walk. The trolley motor 233 and the trolley motor are three-in-one motors. The three-in-one motor is also called three-in-one reducer. It is a component that integrates the functions of reducer, motor and brake. The more optional position for the trolley motor is to set it in the car. Inside the body 2411.

The cart motor 233 drives the first moving part 234 to move the first moving part 234 and the second moving part 235 along the first row of hoisting rails 210 and the second row of hoisting rails 220.

Specifically, the first moving part 234 and the second moving part 235 are respectively clamped on the first row of hoisting rails 210 and the second row of hoisting rails 220, and the moving trolley 241 is clamped on the moving guide rail 232.

The moving trolley 241 is clamped on the moving guide rail 232, and the moving trolley 241 is driven by the trolley motor so that the moving trolley 241 can move along the moving guide rail 232.

Optionally, the cross beam 231 is a steel frame made of section steel. The two ends of the steel frame are respectively provided with a first moving part 234 and a second moving part 235. The first moving part 234 and the second moving part 235 may be pulleys or sliding wheels. Blocks, the first moving part 234 and the second moving part 235 have the function of mutually adapting and sliding with the first row of hoisting rails 210 and the second row of hoisting rails 220, which facilitates the horizontal sliding adjustment of the hoisting cart 230.

In order to adapt to various building construction scenarios and increase the application range of the crane device, the cross beam 231 is in one of a single beam form, a double beam form or a hollow truss beam. The length of the beam 231 can be adjusted arbitrarily according to the width of the track.

In some embodiments, as shown in FIGS. 3 and 5, the crane trolley 240 is mounted on the crane 230. This connection method makes the movement of the crane trolley 240 more stable and prevents the overturning.

Specifically, the mobile trolley 241 includes a car body 2411 and wheels 2412. The cross section of the car body 2411 is inverted U-shaped. The wheels 2412 are arranged on the top of the groove of the car body 2411. The mobile trolley 241 rides on the cross beam 231, and the wheels 2412 Fits on the moving guide 232. The movement of the mobile trolley 241 on the cross beam 231 is more stable, and it will not fall off.

Optionally, the cross beam 231 and the first moving part 234 are detachably connected, and the cross beam 231 and the second moving part 235 are detachably connected. The cross beam 231 is provided with a movable guide 232, the first wheel and the second wheel connected at both ends of the cross beam 231 can be disassembled and replaced with a new cross beam 231. The length of the cross beam 231 can be customized according to the requirements in the construction process.

In some embodiments, as shown in FIG. 4, the first row of hanging rails 210 includes a first rail beam 211 and a first guide rail 212 provided on the first rail beam 211; the second row of hanging rails 220 includes a second rail The supporting rail beam 221 and the second guide rail 222 arranged on the second supporting rail beam 221; the first supporting rail beam 211 and the second supporting rail beam 221 are both made of I-beam or channel steel.

In some embodiments, the first row of hoisting rails 210, the inner side of the second row of hoisting rails 220, and the bottom surface of the crane 230 are provided with a spray system 410, and the spray system 410 includes a water pipe 411 and a number of spray heads. 412. In order to make building construction more convenient, a spray system 410 is provided on the inner side of the crane rail and the bottom surface of the beam 231.

Optionally, the spacing of the shower heads 412 is between 0.8 meters and 1.5 meters. The sprinkler system 410 helps to replenish water during construction, making construction more convenient.

In some embodiments, a ceiling 420 that can be opened or closed is provided on the outer side of the guide rail of the traveling crane system 200. Optionally, a ceiling 420 that can be opened or closed is provided on the outer side of the first row of hanging rails 210 and the second row of hanging rails 220.

In order to increase the safety performance of the crane system 200, the crane 230 is provided with a safety hook, for example, a safety hook is provided on the beam 231. When the crane system 200 is working normally, the safety hooks are not in contact with the first crane rail 210 and the second crane rail 220. When a height difference of 2 cm or more occurs between the first rail 212 and the second rail 222, the safety hook inclines and hooks at least one of the first row of suspension rails 210 and the second row of suspension rails 220.

Optionally, the crane system 200 further includes an alarm device, and when the safety hook is tilted, the alarm device sends out an alarm signal.

In some embodiments, the crane system 200 further includes a lightning protection device, and the lightning protection device is arranged on the crane truck 230.

In some embodiments, as shown in FIG. 2, a crane structure 250 is provided on the crane 240. The crane structure 250 includes a hook 251 and a lifting motor 252, and the hook 251 is connected to the lifting motor 252 to achieve more Flexible lifting. The hoisting motor 252 is fixedly arranged on the hoisting trolley 240, and can slide back and forth with the hoisting trolley 240, and is connected to the hook 251 through an iron chain 253, so that the hoisting motor 252 can drive the hook 251 to move up and down, thereby achieving The hook 251 is used for construction work, especially for lifting materials. A more optional embodiment is that the hook 251 and the lifting motor 252 are replaced by a wire electric hoist. The crane structure 250 is used to lift the materials to realize the vertical transportation of the materials, and the movement of the crane 230 and the crane 240 can realize the movement of the materials on the plane, so that the position of the material transportation is more accurate.

In some embodiments, the movement direction relationship between the crane 230 and the crane 240 is an axial relationship of X and Y coordinates, and the movement direction of the crane 230 and the movement direction of the crane 240 are perpendicular to each other, thereby achieving Adjust the distance on the horizontal coordinate system.

In some embodiments, the functional component 600 can be used for crane construction, and can be connected to a construction robot according to different purposes. The construction robot is a simple manipulator or a manipulator with a manipulator arm or an intelligent robot with a manipulator arm and a manipulator. The construction robot can also adopt the robot structure disclosed in the prior art, such as a leveling robot, a smoothing robot, and a lashing robot. , Grabbing robot, scraping robot, etc.

In some embodiments, the functional component 600 is one of a steel bar binding manipulator, an aluminum template installation manipulator, or a ground smoothing manipulator. The robot can be a leveling robot, a smoothing robot, a lashing robot, a grasping robot, a leveling robot, etc.

In some embodiments, as shown in FIG. 3, the functional component 600 is connected to the crane trolley 240 via a connecting rod 260.

In some embodiments, as shown in FIG. 2, the functional component 600 is connected to the crane trolley 240 via a telescopic rod 270. Specifically, the telescopic rod 270 is telescopic in the vertical direction, and the telescopic rod 270 is a rectangular coordinate rod, which has a coordinate compensation function.

Specifically, in order to make the material transportation more stable and the position more precise, the crane 240 is provided with a telescopic rod 270 that can be vertically extended. The upper end of the telescopic rod 270 is fixed on the mobile trolley 241, and a manipulator is connected under the telescopic rod 270 Or directly connect the functional component 600. The telescopic rod 270 is provided with a scale line, and the manipulator is used to transport materials more stably. The manipulator is connected through the telescopic rod 270 to fine-tune the moving distance of the material in the vertical direction to make the material transportation position more accurate. ·

There are many ways for the crane 240 of the present invention to connect the functional components 600:

In some embodiments, the traveling trolley 240 is provided with a connecting rod 260, and the functional component 600 is directly connected to the connecting rod 260, or the functional component 600 is connected to the connecting rod 260 through a multifunctional mechanical arm 280.

In some embodiments, the crane 240 is provided with a telescopic rod 270, and the functional component 600 is directly connected to the telescopic rod 270, or the functional component 600 is connected to the telescopic rod 270 through a multifunctional mechanical arm 280.

In some embodiments, the traveling trolley 240 is provided with a connecting rod 260 and a multifunctional mechanical arm 280, and the multifunctional mechanical arm 280 can be fixed or movable up and down and/or rotatably arranged on the connecting rod 260.

In some embodiments, a telescopic rod 270 and a multifunctional mechanical arm 280 are provided on the traveling trolley 240. A vertical telescopic rod 270 is provided on the crane 240. The lower end of the telescopic rod 270 is detachably connected to the multifunctional mechanical arm 280, and the lower end of the multifunctional mechanical arm 280 is used to detachably connect the functional component 600.

In some other embodiments, the connecting rod 260 and the telescopic rod 270 are eliminated, and the functional component 600 is directly connected to the crane 240.

For example, the crane 240 is connected to the multifunctional mechanical arm 280, and the lower end of the multifunctional mechanical arm 280 is detachably connected to the construction robot.

For example, the trolley 240 is connected to the telescopic rod 270, the lower end of the telescopic rod 270 is connected to the multifunctional mechanical arm 280, and the lower end of the multifunctional mechanical arm 280 is detachably connected to the construction robot.

In some embodiments, the upper end of the multifunctional robot arm 280 is connected to the crane 240 through the first connecting unit 291, and the lower end of the multifunctional robot arm 280 is connected to the functional component 600 through the second connecting unit 292.

The first connecting unit 291 installs the main unit of the multifunctional robot arm 280 on the crane system 200, thereby realizing the modular connection and installation of the robot arm and the crane system 200; the second connecting unit 292 is externally connected to the functional component 600. The functional component 600 can be used for crane construction, and can be externally connected to a construction robot according to different purposes. The second connection unit 292 also enables the modular connection and installation between the mechanical arm and the functional component 600; the above-mentioned mechanical arm solution allows The hoisting system 200 can be externally connected to the functional component 600 during construction, thereby improving work efficiency, expanding the application range of the crane, reducing the amount of labor, and reducing the construction cost.

In an optional embodiment, a telescopic rod 270 is provided on the traveling trolley 240. The telescopic rod 270 can be vertically telescopic. The lower end of the telescopic rod 270 is connected to the multifunctional mechanical arm 280 with the functional component 600 or its lower end. Connect the functional component 600; by adopting the above solution, the movement of the crane 230 and the crane 240 and the vertical movement of the telescopic rod 270 are used to adjust the spatial position of the functional component 600, so that the positioning of the functional component 600 is more Accurate, while using the functional parts 600 to transport materials, it is more convenient and stable. In this way, the coordinate compensation of the construction position of the multifunctional manipulator 280, the larger space of the movement range, and the lifting of more dimensions are further realized; the telescopic rod 270 is detachably connected to the first connecting unit 291, so that the telescopic rod 270 needs to be installed with a robot. Or the multifunctional robotic arm 280 can be easily disassembled and replaced; specifically, the telescopic rod 270 and the multifunctional robotic arm 280 are connected by a snap connection or a bolt connection, a flange connection or a sliding rail connection, so as to be detachable connection. The multifunctional mechanical arm 280 is connected to robots with different functions and functions through the second connection unit 292 interface to perform construction.

The functional component 600 can be connected to the crane trolley 240 through a telescopic rod 270, the functional component 600 and the telescopic rod 270 can be directly connected, or can be connected through a multifunctional robotic arm 280; the functional component 600 can be connected to the crane trolley through a connecting rod 260 240 is connected, the functional component 600 and the connecting rod 260 can be directly connected, or can be connected through a multifunctional mechanical arm 280. The functional component 600 is in a detachable connection relationship with the multifunctional mechanical arm 280, the telescopic rod 270, and the connecting rod 260.

The movement directions of the crane 230, the crane 240, and the telescopic rod 270 are the X-axis, Y-axis, and Z-axis directions, so that the crane system 200 can realize the X-axis, Y-axis, and Z-axis during operation. Adjustment compensation in the direction of each dimension. The multifunctional robotic arm 280 can perform multi-dimensional movement in a three-dimensional space. The multifunctional robotic arm 280 can rotate on the vertical plane of the axis of the telescopic rod 270 as a whole; or, the multifunctional robotic arm 280 includes a plurality of motor shafts, and the multifunctional robotic arm 280 rotates around the axis of the motor shafts; specifically, the multifunctional The manipulator 280 includes multiple manipulator arms, each of which rotates around the vertical axis of the adjacent manipulator axis, and the rotation axes of the multiple manipulator arms are not on the same straight line, which can realize multi-directional, multi-dimensional, and multi-degree of freedom The construction space and coordinate compensation; further, multiple mechanical arms are connected by motor shaft rotation to realize the rotation of different dimensions and different directions between each mechanical arm; further, multiple mechanical arms are connected by motor shaft transmission, Each mechanical arm rotates around the axis of the motor shaft, and the axis of the motor shaft and the mechanical arm are perpendicular to each other.

The present invention provides a coordinate compensation unit for a hoisting system 200. The coordinate compensation unit includes a telescopic rod 270 and a multifunctional mechanical arm 280 that are detachably connected; the telescopic rod 270 can be extended and retracted in the vertical direction. The robotic arm 280 is a multifunctional robotic arm 280; as shown in Figure 13, the multifunctional robotic arm 280 can rotate 360 degrees on the vertical plane of the axis of the telescopic rod 270, that is, the entire multifunctional robotic arm 280 can rotate around the axis of the telescopic rod 270. 360-degree rotation; and the multi-functional robotic arm 280 can perform multi-dimensional movement in a three-dimensional space, so that the multi-functional robotic arm 280 can be adjusted in various directions. The rotation axis of the multi-functional robotic arm 280 is not on the same line, which improves the multi-functional robotic arm 280 range of action and degree of freedom, thereby improving the efficiency of crane construction and reducing labor costs.

Optionally, in combination with the above solution, as shown in Figures 1 to 14, in this embodiment, the multifunctional robotic arm 280 includes multiple robotic arms, and each robotic arm rotates around a vertical axis of the axis of an adjacent robotic arm, and The rotation axes of multiple manipulator arms are not on the same straight line, so that multi-directional, multi-dimensional, multi-degree-of-freedom construction space and coordinate compensation can be realized; further, multiple manipulator arms are connected by motor shaft rotation to realize each machine Rotation in different dimensions and different directions between arms.

Optionally, in combination with the above solutions, as shown in FIGS. 1 to 14, in this embodiment, the multifunctional robotic arm 280 includes multiple robotic arms, and the rotation axes of the multiple robotic arms are not on the same straight line. A plurality of mechanical arms are connected by a motor shaft transmission, and each mechanical arm rotates around the axis of the motor shaft, and the axis of the motor shaft and the mechanical arm are perpendicular to each other; specifically, the mechanical arm includes a first mechanical arm 281 and a second mechanical arm 282 And a third robotic arm 283; wherein one end of the first robotic arm 281 is connected to the first connecting unit 291, and the other end of the first robotic arm 281 is rotatably connected to one end of the second robotic arm 282 through a first motor shaft 2851; a first motor The shaft 2851 is horizontally arranged at the rotational connection of the first mechanical arm 281 and the second mechanical arm 282, and is connected in transmission with the first motor, so that the second mechanical arm 282 can rotate around the first motor shaft 2851; the second mechanical arm 282 is additionally One end is rotatably connected to one end of the third mechanical arm 283 through the second motor shaft 2861; the other end of the third mechanical arm 283 is connected to the second connection unit 292; the second motor shaft 2861 is horizontally arranged on the second mechanical arm 282 and the third mechanical arm 282 The arm 283 rotates at the connection point and is connected in transmission with the second motor, so that the third mechanical arm 283 can rotate around the second motor shaft 2861; specifically, the axes of the first motor shaft 2851 and the second motor shaft 2861 are both In the horizontal direction, the second mechanical arm 282 and the third mechanical arm 283 can be rotated vertically, that is, the first motor shaft 2851 drives the second mechanical arm 282 to rotate vertically; the second motor shaft 2861 Drive the third mechanical arm 283 to make a pendulum rotation in the vertical direction; further, the mechanical arm also includes a fourth mechanical arm 284; one end of the fourth mechanical arm 284 is drivingly connected to the bottom of the first mechanical arm 281 through the third motor shaft. The other end of the four mechanical arm 284 is rotatably connected with one end of the second mechanical arm 282 through the first motor shaft 2851; the third motor shaft is arranged on the first mechanical arm 281 and is connected in transmission with the third motor; in this way, the first mechanical arm The arm 281 drives the fourth mechanical arm 284 to rotate in the horizontal direction through the third motor shaft, that is, as shown in FIG. 13, the third motor shaft can drive the fourth mechanical arm 284 to rotate 360° on the horizontal plane, and the fourth mechanical arm 284 The second mechanical arm 282 can be driven to rotate 360° on the horizontal plane; using the above solution, each mechanical arm can be rotated in the horizontal or vertical direction under the driving action of the respective motor shafts; specifically, as shown in Figure 13, the motor The shaft can drive the manipulator arm to rotate 360° on the horizontal plane; or as shown in Figure 14, the motor shaft can drive the manipulator arm to make a pendulum rotation in the vertical direction, thereby realizing rotation in various dimensions and directions. As shown in Figure 7 to Figure 14, the three motor shafts are driven separately, the first motor shaft 2851 is connected to the first motor, the second motor shaft 2861 is connected to the second motor, and the third motor shaft is connected to the third motor; this makes the first motor The shaft 2851, the second motor shaft 2861, and the third motor shaft can be driven synchronously or independently, so as to achieve respective angle and spatial rotation.

Optionally, in combination with the above solution, as shown in FIGS. 1 to 14, in this embodiment, the telescopic rod 270 is a rectangular coordinate rod, which has the function of coordinate compensation and can directly install the robot; in this embodiment , The first connecting unit 291 of a multifunctional manipulator 280 is connected through a telescopic rod 270, so as to further realize the coordinate compensation of the construction position of the multifunctional manipulator 280, a larger space of activities, and more dimensions of lifting; telescopic rod 270 It can be detachably connected to the first connecting unit 291, so that the telescopic rod 270 can be easily disassembled and replaced when a robot or manipulator needs to be installed; specifically, the telescopic rod 270 and the multifunctional manipulator 280 are connected by a clip or through a bolt The connection is either through a flange connection or through a slide rail, so as to realize a detachable connection.

Using the above coordinate compensation unit for the crane system 200 can ensure the vertical and horizontal coordinate compensation of the crane system 200, thereby improving the working range and freedom of the multifunctional robotic arm 280; the solution provided by the present invention is detected by sensors The specific movement information of the multifunctional mechanical arm 280 and the telescopic rod 270 is fed back to the control module, so as to achieve the purpose of precise control and construction. It solves one of the problems of low construction efficiency, high cost, small operation range and poor degree of freedom in the existing crane construction.

Optionally, the telescopic rod 270 may be an electric telescopic rod, a pneumatic telescopic rod and a hydraulic telescopic rod. The telescopic rod 270 includes a rigid shaft sleeve and a telescopic member arranged in the shaft sleeve.

In some embodiments, when the crane 240 is provided with a telescopic rod 270, the telescopic rod 270 and the crane 240 are bolted to the support 273 on the side of the crane 240, and the support 273 and the crane 240 are made of steel plates. Rigid connection.

In some embodiments, a base 274 is provided at the bottom of the telescopic rod 270, the base 274 and the telescopic rod 270 are rigidly connected by steel plates, and the base 274 is used to connect the multifunctional mechanical arm 280 or the functional component 600.

In order to be more suitable for the transportation of various materials in construction, a support 273 is provided at the bottom end of the telescopic rod 270, and the multifunctional manipulator 280 is provided under the support 273. The multifunctional manipulator 280 and the support 273 are detachably connected by bolts. When the base 274 is directly connected to the functional component 600, the functional component 600 can be disassembled and replaced; when the base 274 is connected to the functional component 600 through the multifunctional robotic arm 280, the functional component 600 and the multifunctional robotic arm 280 are detachably connected.

The use of the above-mentioned climbing crane device 1000 can simplify the crane support structure and reduce the cost. At the same time, it can effectively ensure the vertical and horizontal distance coordinate compensation of the crane system 200, thereby increasing the working range and freedom of the multifunctional robotic arm 280, thereby To achieve the purpose of precise crane construction.

In some embodiments, an external port unit 293 is provided on the side of the multifunctional mechanical arm 280, and the external port unit 293 is used to communicate with an external electrical device. Further, the external port unit 293 is used to temporarily communicate with an external electrical device; the external electrical device is a detector or an encoder; the detector or code can detect or temporarily adjust the robotic arm, or it can be connected to the data of a larger device Ports, such as trowels, aluminum mold mounting machines and other end machines.

In some embodiments, the first connection unit 291 and/or the second connection unit 292 are connection boards; a wiring channel or data interface 294 is reserved at the center of the connection board. Specifically, bolt holes 295 are respectively provided around the connecting plate, so that the connection can be modularly connected and installed with external equipment or construction robots through the bolt holes 295; specifically, a wiring channel or data is reserved at the center of the connecting plate The interface 294, in this way, enables the connection unit to communicate or electrically connect with external devices through the wiring channel or the data interface 294, thereby realizing power supply and communication control connection.

In some embodiments, the climbing device 1000 further includes a control module and a power module; the power module is respectively connected with the control module and the first motor that drives the first motor shaft 2851 of the manipulator main unit and the second motor that drives the second motor shaft 2861. The motor and the third motor that drives the third motor shaft are electrically connected; the control module is respectively communicatively connected with the first motor, the second motor, and the third motor; the control module controls the multifunctional manipulator 280 to reach the specified coordinates and obtain multiple degrees of freedom construction Scope and coordinate compensation; using the above-mentioned scheme, it is possible to realize the multi-freedom and multi-directional precise location construction of the crane arm with high efficiency.

In some embodiments, the multifunctional robotic arm 280 is provided with a first distance sensor, and the first distance sensor is used to detect the distance between the multifunctional robotic arm 280 and surrounding components.

In some embodiments, the telescopic rod 270 is provided with a second distance sensor, and the second distance sensor is used to detect the moving distance of the telescopic rod 270.

The innovative discovery of the present invention shows that in the construction process, if the climbing frame system 100 is purely used, the crane system 200 is purely used, or both are used but only simply perform their respective functions, the functions are relatively single. However, if the two are effectively combined and used together, the cost 1+1 is less than 2 and the effect 1+1 is greater than 2, which helps to meet the requirements of building construction with high load-bearing capacity, strong space adjustment flexibility, and accurate positioning requirements. Requirements. The construction system is provided with a supporting column 1 to realize the combination of the climbing frame system 100 and the crane system 200.

In some embodiments, the climbing frame system 100 includes a supporting column row 10 composed of a plurality of supporting columns 1, and the supporting column row 10 includes a first supporting column row 11 and a second supporting column row 12. The first supporting column row 11 and the second supporting column row 12 are arranged in the front-to-back direction. A first row of hanging rails 210 is supported above the first supporting column row 11, and a second row of hanging rails is supported above the second supporting column row 12 220, so as to ensure the support strength. The inner side of the main frame structure 2 is provided with supporting columns 1. In FIG. 1, the supporting columns 1 are fixed on the front and rear opposite sides of the main frame structure 2.

The solution adopted in this embodiment is to fix the support column 1 on the climbing frame system 100 and combine it with the climbing frame system 100 to play a supporting role, avoiding additional support rods to strengthen the supporting crane system 200. While ensuring the support strength, it can reduce the cost of climbing cranes and simplify the crane support structure; further, the first row of hoisting rails 210 and the second row of hoisting rails 220 are respectively fixed on the top of the vertical pole in the horizontal direction, thereby realizing the The horizontal sliding adjustment of the crane 230.

The supporting column row 10 is higher than the floor under construction or the ground floor. Specifically, the supporting column row 10 is two stories higher than the floor under construction or the ground floor. Further, the supporting column row 10 is at least two stories higher than the floor under construction or the ground floor.

The main frame structure 2 includes a front frame 21 and a rear frame 22. The front frame 21 is provided with a plurality of supporting columns 1 to form a first supporting column row 11, and the rear frame 22 is provided with a plurality of supporting columns 1 to form The second supporting column row 12. In order to better support the combination of the crane system 200 and the climbing frame system 100, the support column 1 can be optionally designed to be higher than the height of the main frame structure 2, namely the first row of crane rails 210 and the second row of crane rails 220. A certain height above the main frame structure 2.

The supporting column 1 is vertically fixed on a certain intermediate floor of the floor under construction, so that the entire climbing structure can use the ground and the building to play a supporting role and improve the stability.

In some embodiments, as shown in FIG. 2, a first ground support column 51 is provided below the first row of suspension rails 210, a second ground support column 52 is provided below the second row of suspension rails 220, and the first ground support The upper ends of the column 51 and the second ground support column 52 respectively support the first row of suspension rails 210 and the second row of suspension rails 220. The lower ends of the first ground support column 51 and the second ground support column 52 are respectively fixedly arranged on the ground floor or building Floor on the ground. The vertical support force of the first support column 1 and the second support column 1 can directly act on the ground floor or the floor of the floor under construction, so that the support column 1 supports the crane system 200 more stable.

Figure 19 shows the force transmission path of the climbing frame system 100. In order to ensure that the supporting column 1 can stably support the traveling crane system 200, the structural design of the supporting column 1 is required at the beginning of the design, especially the supporting column 1 is used for lateral support Specifically, the cross-sectional dimension S of the support column 1 is:

Among them, A is: the weight of the climbing frame system 100; B is the weight of the traveling crane system 200; C is the weight of the multifunctional robotic arm 280; D is the friction force; E is the construction load; a is the dynamic coefficient; b is : The design value of the material strength of the supporting column 1; according to the above-mentioned design of the supporting column 1, the supporting column 1 can effectively support the traveling crane system 200, and the strength is relatively reliable.

Optionally, first ground support columns 51 are provided on both sides of the first support column row 11 below the first row of hanging rails 210, and first ground support columns 51 are provided below the second row of hanging rails 220 on both sides of the second support column row 12 The second ground support column 52 directly supports the ground support column on the ground to better bear the force. When the weight of the object hoisted by the crane system 200 is relatively large, the multiple support columns 1 provided on the climbing frame system 100 need to bear too much weight. For this reason, arranging ground support columns on both sides of the lower two crane rails can greatly ensure the safety of the crane work and realize the perfect combination with the climbing frame system 100.

Optionally, the first ground support post 51 and the second ground support post 52 are both length-adjustable structures or movable along the ground to satisfy the effects of bearing force and flexible position adjustment at the same time. At least one first ground support column 51 and at least one second ground support column 52 supporting the first row of suspension rails 210 and the second row of suspension rails 220, the upper ends of the first ground support columns 51 and the second ground support columns 52 support the first The crane rail 210 and the second crane rail 220 have their lower ends fixed on the ground or the building 2000, and can optionally be fixed on the ground. The first ground support column 51 and the second ground support column 52 are not fixedly connected to the climbing frame system 100, and are used to cooperate with the first support column row 11 and the second support column row 12 to support the first row of crane rails 210 and the second row of cranes. The rail 220, the first ground support post 51 and the second ground support post 52 are arranged in an adjustable length structure. The supporting rails of the first and second

ground support columns

51 and 52 can bear part of the weight of the first row of suspension rails 210 and the second row of suspension rails 220 to reduce the pressure of the first and second support columns 1.

Optionally, the first ground support column 51 and the second ground support column 52 are arranged close to the two ends of the rail. Optionally, there are two first ground support columns 51 and two second ground support columns 52, which are supported on the rack Near the four ends of the track. When the bearing capacity is large, the number of the first ground support pillars 51 and the second ground support pillars 52 can be increased accordingly.

Optionally, the plurality of support columns 1 are of adjustable length structures, so as to better realize the precise positioning and smooth movement of the climbing frame system 100 and the overall construction system. The present invention connects the climbing frame system 100 and the traveling crane through the supporting column 1, so that the traveling crane can climb with the climbing of the climbing frame system 100, and the supporting column 1 can be configured as a liftable structure to further enable the traveling crane to be opposite at the same time. Lifting and lowering the climbing frame system 100 facilitates its working mode.

In some specific embodiments, the multiple support columns 1 are all hydraulic rod structures, and each support column 1 includes a support cylinder and a support rod. The support cylinder is fixed on the main frame structure 2 of the climbing frame system 100 and supports The rod body can move up and down relative to the supporting cylinder. If the supporting cylinder is fixed on the front frame 21 and the rear frame 22, the upper part of the supporting rod is fixed and supported on the first row of hoisting rails 210 and the second row of hoisting rails 220, and the supporting rod can move up and down relative to the supporting cylinder. . Through the above arrangement, it is convenient for the crane system 200 to be adjusted vertically.

In some embodiments, the supporting column 1 is fixed to the main frame structure 2 in a vertical direction, and the first row of hanging rails 210 and the second row of hanging rails 220 are fixed to the supporting column 1 in a horizontal direction. The supporting column rows 10 are respectively arranged side by side in the vertical direction, so as to support the crane system 200 device.

The present invention also provides a method for controlling a climbing crane, which is applied to the aforementioned climbing crane 100. The control of the climbing device includes the following steps:

S1: Determine the distance of each movement of the crane system 200 in the horizontal direction according to the movement radius of the multifunctional manipulator 280, record the initial position of the telescopic rod 270, and import the distance and initial position data into the control module;

S2: The first distance sensor on the multifunctional manipulator 280 feeds back the distance between the multifunctional manipulator 280 and surrounding components to the control module, and the control module determines whether the telescopic rod 270 needs to be moved downwards according to the actions that the multifunctional manipulator 280 must complete mobile;

S3: If the telescopic rod 270 needs to move downwards, the control module issues an instruction to the power system of the telescopic rod 270 to move the telescopic rod 270 downward; when the telescopic rod 270 moves downward, the second distance sensor on the telescopic rod 270 It can monitor the moving distance of the telescopic rod 270 in real time and feed it back to the control module;

S4: Repeat step S3 until the telescopic rod 270 does not need to move downwards, and the control module issues instructions to the multifunctional robotic arm 280 to perform other actions;

S5: After the multifunctional manipulator 280 completes the work instruction, the first distance sensor on the multifunctional manipulator 280 will feed back the completion of the work surface to the control module, and the control module determines whether there is a work surface that can be completed after the telescopic rod 270 is lowered If it exists, the steps S3, S4, and S5 are repeated. If it does not exist, the control module issues an instruction to the power system of the telescopic rod 270 to return the telescopic rod 270 to the initial position.

Optionally, in combination with the above solution, in this embodiment, step S3 further includes: while the telescopic rod 270 moves down, the multifunctional manipulator 280 is driven to move down, and the first distance sensor on the multifunctional manipulator 280 is real-time The distance between the multifunctional manipulator 280 and the surrounding components is fed back to the control module, and the control module determines whether the telescopic rod 270 needs to continue to move downward according to the actions that the multifunctional manipulator 280 must complete.

Optionally, in combination with the above solution, in this embodiment, after step S5, the method further includes: moving the hoisting system 200 in the horizontal direction by a distance specified in step S1, and recirculating steps S2, S3, S4, and S5.

The above-mentioned control method can ensure the vertical and horizontal coordinate compensation of the traveling crane system 200, thereby improving the working range and freedom of the multifunctional manipulator 280; the solution provided by the present invention detects the multifunctional manipulator 280 and the telescopic rod through sensors The specific movement information of the 270 is fed back to the control module to achieve the purpose of precise control and construction.

The present invention also provides another method for controlling the climbing device, which is applied to the aforementioned climbing device 100. The climbing device can complete the transportation of materials on the plane, as shown in Figure 17, including the following steps:

Step P2: The control module issues instructions to start the cart motor 233 and the cart motor, and the cart motor 233 and the cart motor respectively drive the crane 230 and the crane 240 to follow the planned path;

Step P3: When the crane 230 and the crane 240 are walking, the position of the crane 230 and the crane 240 is monitored in real time using sensors and fed back to the control module;

Step P4: The control module determines whether the crane 230 and the crane 240 have reached the preset stop position according to the received position data information of the crane 230 and the crane 240, when the crane 230 and the crane 240 When the trolley 240 reaches the preset stop position, the control module issues instructions to control the trolley motor 233 and the trolley motor to stop running.

Optionally, in this embodiment, after step P4, the following steps are further included:

Step P5: After the crane 230 and the crane 240 stop, the control module starts timing. When the dwell time reaches the set dwell time, the control module issues instructions to restart the crane motor 233 and the carriage motor;

Step P6: The control module matches the position data information fed back by the sensor in real time with the location information of the set destination. When the crane 230 and the crane 240 are detected to reach the end of the planned route, the control module issues instructions to control the crane The motor 233 and the trolley motor stop running.

Optionally, in the embodiment, during the movement of the crane 230 and the crane 240, the control module determines whether the crane 230 and the crane 240 are on the planned route according to the data fed back by the sensor, if not Then the control module issues instructions to the trolley motor 233 and the trolley motor to drive the crane 230 and the crane 240 to return to the correct driving route.

Optionally, in this embodiment with reference to FIG. 18, when the functional component 600 needs to be used to transport materials, the control method further includes a control method of the telescopic rod 270 provided on the crane 240;

Step P7: Record the initial position of the telescopic rod 270 and the movement radius data of the multifunctional manipulator 280, and import the position data and the movement radius data of the multifunctional manipulator 280 into the control module;

Step P8: Use the sensor on the multifunctional manipulator 280 to collect the working distance data of the multifunctional manipulator 280 and the material in real time, and send the working distance data to the control module;

Step P9: The control module compares the working distance data with the movement radius data. When the movement radius data is greater than or equal to the working distance data, the control module issues an instruction to the multifunctional manipulator 280 and the functional component 600 to execute the first work action;

Step P10: When the movement radius data is less than the working distance data, the control module sends a start signal to the telescopic rod 270 power system, and the power system drives the rectangular coordinate rod to move downward, and the moving distance is a movement radius length; the control module compares the movement radius again Data and working distance data, and repeat step P4 until the control module detects that the movement radius length data is greater than or equal to the working distance data.

Optionally, in this embodiment, after step P9, the control module continues to determine whether there is a second work action that needs to be performed by the telescopic rod 270. If there is, the control module cyclically executes steps P8, P9, and P10; if there is no control The module sends a restoration signal to the power system of the rectangular coordinate rod, and the rectangular coordinate rod power system drives the rectangular coordinate rod to return to the initial position.

In combination with the structure of the climbing device 1000 in the above embodiment of the present invention, the present invention also provides a method for controlling the climbing device.

Refer to Figure 16 to explain the working process of the climbing frame system 100 including: the system is initialized, the system is self-checked, the judgment result is normal, if not, the shutdown alarm; if it is, the load is detected; if overloaded, the shutdown alarm; not overloaded , The climbing frame system 100 climbs, and the machine position detection is performed at the same time. If each machine position is greater than 2 cm, it will be manually leveled to determine whether it has reached the designated position, and if it arrives, it will be terminated. specific:

The climbing frame system 100 controls the climbing through a dedicated control module. When the control module issues a command, the climbing frame system 100 on the single building 2000 is lifted. The lifting power can come from an electric hoist 41 and a chain or hydraulic lifting device. When the climbing frame system 100 as a whole climbs to a predetermined position, the climbing automatically stops. After the mechanical connection between the climbing frame system 100 and the stairs is manually fixed, the lifting mechanism 4 of the climbing frame system 100 enters a relaxed state and no longer receives any force.

Optionally, when the climbing frame system 100 climbs, the crane system 200 is moved to the vicinity of the first ground support column 51 and the second ground support column 52, and the first ground support column 51 and the second ground support column 52 may be selected as The hydraulic rod structure cooperates with the climbing frame system 100 to provide support for the climbing frame system 100 and reduces the upward resistance of the climbing frame system 100.

When the climbing frame system 100 is climbing, if the load is overloaded, it will automatically stop. When the climbing height difference of any two lifting mechanisms 4 of the climbing frame system 100 itself exceeds 2 cm, the climbing frame system 100 automatically stops. When the height difference between the two ends of the crane system 200 exceeds 2 cm, the climbing frame system 100 automatically stops. After the machine stops, manual intervention is required for leveling, and the machine starts again.

Each complete climbing height is the floor height of the main building. For example, the floor height of the building body is 3m, and the climbing frame system 100 has a complete overall climbing height of 3m each time.

The climbing frame system 100 can climb synchronously as a whole, and can also be lifted independently with 4 positions of each lifting mechanism, or can be synchronously lifted in any combination.

When the climbing frame system 100 rises to the designated position, the crane system 200 can be controlled, the height of the supporting column 1 can be adjusted, and the crane system 200 can be installed on the crane slide rail to simultaneously construct the roof of the building. At the same time, all floors were constructed.

In the present invention, the control methods provided by the above different embodiments can be adaptively combined and applied to the same embodiment. In addition, the combined action of the multifunctional robotic arm 280 and the telescopic rod 270 greatly increases the superiority of our climbing crane 1000 combination, and greatly increases the dimension of control.

In some embodiments, the building construction system further includes a control module, a position memory, and several sensors. The sensors are used to sense the position coordinates of the crane 230, the crane 240, and the construction robot.

An optional implementation example of the control method of a construction system of the present invention is as follows. The control method includes a method for controlling the vertical movement of the climbing frame system 100, a method for controlling the movement of the crane 230 and the crane 240, and telescopic A control method for a control party in which the rod 270 telescopes vertically and a construction robot.

As shown in FIG. 16, the climbing frame system 100 controls the climbing through a dedicated control module. When the control module issues an instruction, the climbing frame system 100 on the single building performs the lifting. When the climbing frame system 100 as a whole climbs to a predetermined position, the climbing automatically stops. After the mechanical connection between the climbing frame system 100 and the stairs is manually fixed, the lifting mechanism 4 of the climbing frame system 100 enters a relaxed state and no longer receives any force.

When the climbing frame system 100 is climbing, if the load is overloaded, it will automatically stop. When the height difference between the front and rear sides reaches 2 cm, the climbing frame system 100 will automatically stop; after the stop, manual intervention and leveling are required, and the machine will start again.

As shown in FIG. 17, the method of controlling the movement of the crane 230 and the crane 240 includes the following steps:

Step Q3: Input the planned walking route parameters and stay position parameters in the control module;

Step Q4: The control module issues instructions to start the cart motor 233 and the cart motor. The cart motor 233 and the cart motor respectively drive the crane 230 and the crane 240 to travel according to the planned path;

Step Q5: When the crane 230 and the crane 240 are walking, the position of the crane 230 and the crane 240 is monitored by sensors in real time and fed back to the control module;

Step Q6: The control module determines whether the crane 230 and the crane 240 have reached the preset stop position according to the received position data information of the crane 230 and the crane 240, when the crane 230 and the crane 240 When the trolley 240 reaches the preset stop position, the control module issues instructions to control the trolley motor 233 and the trolley motor to stop running.

Optionally, after step Q6, the following steps are further included:

Step Q7: After the crane 230 and the crane 240 stop, the control module starts timing. When the dwell time reaches the set dwell time, the control module issues an instruction to restart the crane motor 233 and the carriage motor;

Step Q8: The control module matches the position data information fed back by the sensor in real time with the location information of the set destination. After detecting that the crane 230 and the crane 240 have reached the end of the planned route, the control module issues instructions to control the crane The motor 233 and the trolley motor stop running.

Optionally, during the movement of the crane 230 and the crane 240, the control module judges whether the crane 230 and the crane 240 are on the planned route according to the data fed back by the sensor, and if not, the control module checks The trolley motor 233 and the trolley motor issue instructions to drive the crane 230 and the crane 240 to return to the correct driving route.

As shown in FIG. 18, optionally, the control method further includes a method for controlling the telescopic rod 270 provided on the crane 240, which includes the following steps:

Step Q9: Record the initial position of the telescopic rod 270 and the movement radius data of the multifunctional manipulator 280, and import the position data and the movement radius data of the multifunctional manipulator 280 into the control module;

Step Q10: Use the fourth sensor to collect the working distance data between the multifunctional manipulator 280 and the material in real time, and send the working distance data to the control module;

Step Q11: The control module compares the working distance data with the movement radius data. When the movement radius data is greater than or equal to the working distance data, the control module issues instructions to the multifunctional manipulator 280 and the construction robot to execute the first work action;

Step Q12: When the movement radius data is less than the working distance data, the control module sends a start signal to the telescopic rod 270 power system, and the telescopic rod 270 power system drives the telescopic rod 270 to move downwards, and the moving distance is a movement radius length; the control module again Compare the movement radius data and the working distance data, and execute steps P7-P9 in a loop until the control module detects that the movement radius length data is greater than or equal to the working distance data.

Optionally, after step Q11, the control module continues to determine whether there is a second work action that needs to be performed by the telescopic rod 270. If there is, the control module cyclically executes step Q10, step Q11 and step Q12; if there is no control module, it sends a restoration signal to The power system of the telescopic rod 270, the power system of the telescopic rod 270 drives the telescopic rod 270 to return to the initial position.

Optionally, the control method also includes a control method for the construction robot during operation, including the following steps:

Step Q13: Input the working coordinate position information of the construction robot into the control module, and the sensor collects the current position coordinate information of the construction robot, and feeds back the position information to the control module;

Step Q14: The control module calculates the amount of movement of the construction robot on the X-axis, Y-axis and Z-axis according to the work coordinate position information and the current position coordinate information, and the control module sends control commands to the cart motor 233, the cart motor and the telescopic rod 270 power system;

Step Q15: The control module monitors the position of the construction robot in real time based on the feedback of the first sensor, the second sensor, and the third sensor. After confirming that the construction robot reaches the working position, the control module issues work instructions to drive the construction robot to execute Work action. The first sensor is used to monitor the position of the crane 230, the second sensor is used to monitor the position of the crane 240, and the third sensor is used to monitor the position of the construction robot; the first, second, and third sensors are real-time Feedback monitoring results to the control module.

The multifunctional mechanical arm 280 provided by the present invention can be connected to the construction robot according to different implementation purposes, and specifically includes:

When the construction layer needs to install the aluminum mold, the second connecting unit 292 can be connected to the aluminum mold grabbing robot, and feedback the position information to the control of the crane-trolley-telescopic rod 270-manipulator through the positioning system of the external construction robot. In the module, the aluminum mold is transported to the required position and stayed by calculating the required moving coordinates, and the aluminum mold is installed by manual or other mechanical equipment; this transportation and positioning function greatly reduces the physical consumption of workers in handling the aluminum mold. Improved labor safety, while precise positioning improves the quality and speed of aluminum mold installation;

When the construction layer needs to carry out the rebar lashing work, the second connecting unit 292 can be connected with the rebar lashing robot, through the external recognition device on the construction robot, feedback the coordinate information to the crane-trolley-telescopic pole 270-control module, through calculation Move the coordinates and the multi-functional mechanical arm 280 rotation angle, drag the lashing equipment to the designated work area to bind the steel bar lashing point. The lashing equipment can be used to rotate the second motor shaft 2861 to fix the horizontal slab reinforcement and the vertical wall column. Banding the tendons, saving labor through automatic tying;

When the construction layer needs to reach the concrete cloth, the second connection unit 292 can be connected with a grabbing robot to grab and tow the front hose of the distributor to realize the movement of the construction plane; calculate the cloth amount before construction or other equipment Measure the concrete pouring height, input or real-time feedback movement instructions to the cranes and trolleys in advance to achieve precise distribution of the pouring area;

When the construction layer needs to go to the concrete leveling and leveling stage, the second connection unit 292 can be connected with a leveling robot and a leveling robot, and feedback information to the crane-trolley through the vertical positioning device of the external construction robot. The telescopic rod 270-the control module of the robotic arm controls the expansion and contraction of the telescopic rod 270 to ensure the stable vertical coordinates of the leveling and smoothing robot, thereby ensuring the quality of the concrete leveling and leveling, saving manpower and improving the level of concrete It is convenient for the subsequent installation of aluminum mold support and floor tiles and floor paving;

When using the above-mentioned external construction robot for construction, it is necessary to ensure a certain vertical coordinate and absolute horizontal movement. In addition to the feedback control information of the vertical coordinate positioning device of the construction robot to the control module, it is also necessary to control the first motor shaft 2851 and the first motor shaft 2851. The two motor shafts 2861 rotate at the same angle to ensure the levelness of the second connection unit 292, thereby ensuring the level of the external construction robot; in addition to the vertical positioning system of the construction robot itself, the multi-functional manipulator 280 can also pass through the multi-interface device External positioning construction robot or self-integration of this type of construction robot.

The adoption of the above technical solutions enables the crane to realize precise spatial positioning of the functional components 600 according to actual operation requirements while realizing the transportation of materials, so as to improve work efficiency and reduce construction costs when transporting materials. At the same time, the multifunctional manipulator 280 provided by the present invention can replace an external manipulator, and the construction by the manipulator has better accuracy and stability.

20-23, the embodiment of the present invention also provides a crane system 200, the crane system 200 is a single-beam multi-body crane system 200, see Figure 20-21, the embodiment of the present invention The provided crane system 200 may include: crane crane 230, one or more crane cranes 240 arranged on crane crane 230, and control modules, where Figure 21 shows one crane crane 230 arranged on A crane trolley 240, the crane system 200 shown in FIG. 20 is a crane crane 230 including a plurality of crane trolleys 240; among them, the crane system 200 includes two horizontal guide rails 20 arranged in parallel on the climbing frame system 100 , Are the first rail 212 and the second rail 222, respectively. The crane 230 includes a cross beam 231 that is erected between two horizontal rails 20 and can move along the horizontal rails 20.

Specifically, two ends of the crane truck 230 are equipped with wheels, and the wheels are clamped on the horizontal guide rails 20 on the rail beam. The guide rail driver is directly connected with the wheels. When the guide rail driver is activated, the wheels of the crane are driven to drive the crane truck 230. Lateral movement, so as to adjust the position of the crane 230 in the lateral direction. When the crane 230 needs to stop running, the guide rail drive has its own brake to stop the crane 230, and the end of the crane 230 is equipped with a guide Wheels prevent sideslip.

A plurality of crane trolleys 240 are movably arranged on the beam 231 of the crane crane 230 in the longitudinal direction, and are used for carrying and moving the crane object. The crane object in this embodiment may include a gripper, a tool quick change device, and spray coating. An end effector such as a gun may also be based on the different object objects acquired during different hoisting operations acquired by the end effector.

In addition, a plurality of crane trolleys 240 are respectively connected to the control module in communication, and are controlled to coordinate movement to realize the crane operation. At the same time, faults can be monitored and troubleshooting can be performed.

Further, the movement direction of the crane 230 and the movement direction of the crane 240 are perpendicular to each other, so that the crane 230 and the crane 240 can be in a two-dimensional direction (which can be understood as Plane X/Y direction) to realize the crane operation, the moving direction of the crane 230 can adjust the working path of the crane 240 in the horizontal position, and the moving direction of the crane 240 can adjust the working path in the longitudinal position Further, in order to achieve a more efficient crane operation, the various crane trolleys 240 are jointly controlled and coordinated to move according to a predetermined walking path to realize the crane operation; of course, each crane trolley 240 can also be based on a predetermined walking path It is independently controlled and coordinated to realize the hoisting operation; using the above-mentioned hoisting crane design, through the coordination of multiple hoisting cranes, a variety of hoisting operations can be realized, and the hoisting operation efficiency is improved.

The crane 240 is provided with a telescopic rod 270 along the vertical direction; at the bottom of the telescopic rod 270 is provided a robot arm 28, which is a multi-axis robot arm, and the robot arm 28 is used to connect the end effector and the end effector It can be a manipulator or other equipment according to actual hoisting operation needs; it should be noted that the manipulator 28 can replace different end effectors according to the connection part at the bottom of the manipulator 28.

The embodiment of the present invention also provides a method for controlling the structure of the crane system 200 based on the above embodiment. Referring to FIG. 22, it can be seen that the method for controlling the crane system provided by the embodiment of the present invention may include:

In step R301, an operation instruction for the single-beam and multi-carbody hoisting system 200 inputted by the remote control terminal to perform a specified hoisting operation on the target building is received through the control module. The remote control terminal is a remote terminal that controls the crane system 200, such as a mobile terminal or a fixed terminal. The remote control terminal can input corresponding operation instructions according to different processes of different buildings. For example, steel bar lashing, steel bar layout, wall panel transportation, wall panel installation, aluminum mold transportation, aluminum mold installation, concrete cloth, concrete wiping are all based on different process commands. When the crane system 200 receives the control instructions for different processes, Can run automatically. If you choose floor lashing, the crane cart 240 will arrive at the designated location to switch the steel bar lashing device and then automatically perform the lashing operation in the designated area. If you choose to move, the trolley will switch to a gripper to help people carry heavy objects. The specific functions that need to be implemented can be passed Implementation of pre-written programs and designed actuators.

In step R302, the crane 230 in the crane system 200 is moved to the work area of the target building based on the above operation instruction.

After receiving the operation instruction from the remote control terminal, the crane system 200 can analyze and determine the corresponding process type to perform intelligent construction. Since the crane system 200 provided in this embodiment is provided with a plurality of crane trolleys 240 on the crane 230, it is further possible to construct a three-dimensional coordinate system through laser navigation, and analyze and analyze the above-mentioned operation instructions. Determine the work area for the specified hoisting operation on the target building, and determine the first travel path of the crane 230 and/or the second travel path of the multiple cranes 240 based on the three-dimensional coordinate system and the work area. The path and/or the second walking path control the crane truck 230 and/or the crane truck 240 to move, and then the multiple crane trucks 240 work together to complete the steel bar binding, steel bar layout, wall board transportation, wall board installation, Transportation of aluminum molds, installation of aluminum molds, concrete cloth, and concrete wiping are all designated for hoisting operations.

As mentioned above, one or more crane trolleys 240 are movably arranged on the crane 230; and the crane 240 is provided with a telescopic rod 270 in the vertical direction, and the telescopic rod 270 is provided with a mechanical arm 28, The end effector can be connected through the robot arm 28. Therefore, when constructing a three-dimensional coordinate system, the movement direction of the crane 240 on the crane 230 can be the X axis, the movement direction of the crane 230 is the Y axis, and the movement direction of the lifting rod is the Z axis. Construct a three-dimensional coordinate system; when the crane 230 and the crane 240 are both at the origin position, a laser beam is emitted to determine the origin coordinates. Optionally, when determining the first travel path of the crane 230 and/or the second travel path of the crane 240, the direction of the crane 230 and the direction of each crane 240 can be determined based on the three-dimensional coordinate system. The axis direction and the Y axis direction are relative to the displacement parameters of the corresponding work area, and the first travel path of the crane 230 and/or the second travel path of each row of the crane 240 are generated. That is, by continuously outputting the X and Y axis coordinates as the target position continuous movement in the three-dimensional coordinate system, the traveling path of the traveling crane 230 and the traveling crane 240 in the traveling crane system 200 can be obtained. Among them, the X axis of the trolley movement, the Y axis of the cart movement, plus the Z axis direction of the ascending and shrinking rod, form a three-dimensional coordinate system; when both the large and small cars are at the origin position, a laser beam is emitted to determine the origin coordinates, in any plane In the position, we can know the coordinates of (X, Y) through laser navigation, and the coordinates of the Z axis are determined by the offset of the lifting rod relative to the origin.

In step R303, multiple cranes 240 are selected in the crane system 200, and the cranes 240 among the multiple cranes 240 are controlled to perform the designated crane operation in coordination.

Further, in the above step R30, multiple cranes 240 are selected in the crane system 200, and at least one end effector for each crane car 240 to perform the specified crane operation is determined based on the above operation instruction; the machinery of each crane car 240 is The arm 28 automatically grabs the corresponding end effector, and cooperatively executes the above specified hoisting operation 3 may include:.

In the embodiment of the present invention, by constructing a three-dimensional coordinate system, the working paths of the crane 230 and the crane 240 are determined and navigated, and the crane 230 and the crane 240 can be controlled to accurately move to the operation area of the target building. A plurality of crane trolleys 240 cooperate to efficiently complete the designated crane operation, which is more efficient than the traditional scheme, and makes full use of existing resources to avoid waste of resources.

Optionally, in the crane system 200 provided by the embodiment of the present invention, the crane car 240 is also provided with an image acquisition device robot arm, the image acquisition device robot arm is equipped with an image acquisition device, and the image acquisition device is electrically connected to the control module ; When the robot arm 28 of the crane trolley 240 is controlled to automatically grab the corresponding end effector to perform the specified crane operation, the image acquisition device can be used to obtain multiple angles of the crane trolley 240 during the specified crane operation time The continuous first image data; based on the first image data, coordinate the cranes 240 on the cranes 230 to execute the specified crane operation sequence. The number of image acquisition devices preferably 3D smart cameras can also be adjusted according to different requirements.

During the working process of the crane trolley 240, the image acquisition device can also be used to take pictures and detect the execution order of the robot arms 28 on each crane trolley 240 to ensure the smooth progress of the process and prevent the mutual interference between the two robot arms 28 , Affecting the job process. For example, for wall column rebar tying operations, two robot arms 28 of crane trolley 240 are required to work together. At this time, the program calls two cars A and B to respectively grab the required actuators, A gripper B welder, After the preparation work is completed, first car A will grab the steel bar and attach it. Car B will perform flash butt welding after waiting for confirmation. If there is interference between the two arms, then B must wait for the work of A to complete before proceeding. If there is no interference between the two arms, then B can move to the welding waiting position at the same time to reduce the working cycle.

In addition to the above introduction, the embodiment of the present invention can also obtain the second image data of the crane truck 240 after the execution of the specified crane operation is completed through the image acquisition device; perform detection based on the second image data to determine the specified crane operation Whether the completion status meets the preset standard; if the completion status of the designated hoisting operation meets the preset standard, the next hoisting operation will continue; if the completion status of the designated hoisting operation does not meet the preset standard, the designated hoisting operation will be executed again operation.

Taking steel tying as an example, the second image data can be judged whether the operation meets the standard in two ways. The first one is to shoot once before tying and once after tying, and judge whether it is tied or not tied based on the difference between the two images; the second is to obtain a classifier based on SVM algorithm training to classify whether it is tied or not. In the embodiment of the present invention, the image data before and after the execution of the specified hoisting job can be obtained by the image acquisition device, and it is judged whether the specified hoisting job is completed by the difference of the two sets of image data before and after. It is also possible to pre-train the classifier, obtain image data after the specified hoisting job is executed, and input it into the pre-trained classifier to determine whether the image data is the image data after the specified hoisting job is successfully executed. In actual applications, it may be There are other judgment methods, and the specific image processing method may be determined based on the construction process, which is not limited by the present invention. Among them, multiple image acquisition devices may preferably be independently provided. Specifically, multiple smart cameras may be used to adapt multiple cranes 240. By adopting the above method, the process corresponding to the crane operation can be judged, and at the same time, functions such as quality inspection can be achieved.

The crane 240 provided by the embodiment of the present invention is also provided with a sensor manipulator arm, and a sensor is provided on the sensor manipulator. If the specified crane operation is executed, it is detected by any sensor provided on the crane 240 If there is a neighboring crane 240 whose distance from the row of cranes 240 is less than the preset distance, the running of the row of cranes 240 or the adjacent crane 240 is stopped. The sensor is preferably a distance sensor. In other words, a distance sensor can be set on any crane trolley 240 to detect the distance to other crane trolleys 240. It is assumed that the trolley 240 in the line may be detected by sensors that may be with other crane trolleys 240 during operation. When a collision is sent, one of the crane trolleys 240 is moved in the opposite direction. The preset distance can be set according to different application requirements, which is not limited in the present invention.

Further, in the solution provided by the embodiment of the present invention, if during the execution of the specified hoisting operation, the sensor provided on any hoisting trolley 240 detects that the hoisting trolley 240 is in contact with the collision avoidance device of the other hoisting trolley 240 , The crane trolley 240 or other crane trolleys 240 are controlled to run in the opposite direction of their original running direction.

Different failures may occur when the control module of the crane system 200 controls the cranes 240 to perform crane operations. For example, when the control module controls the robot arms 28 of two cranes 240 to work together, this When the program calls the two cars A/B to grab the required actuators, the A gripper and the B welder, after the preparation work is completed, the A car first grabs the rebar to fit. However, a failure may occur during the execution of work by A and the work cannot be completed normally. At this time, the control module will detect the failure of the A car and perform the troubleshooting.

The embodiment of the present invention also provides a fault handling method for the single-beam multi-car body hoisting system 200. The fault handling method can be controlled separately or as a part of the above-mentioned operation control method. Processing control module. As shown in FIG. 23, the fault processing method of the single-beam and multi-body crane system 200 provided by the embodiment of the present invention may include:

Step R401, in the process of controlling one or more crane trolleys 240 to coordinately execute the designated crane operation by the control module, monitor the working status of each crane trolley 240 in the crane system 200;

In step R402, if the crane system 200 determines that any crane trolley 240 has a fault during the execution of the specified crane operation, then the fault type of the above-mentioned failure is determined;

In step R403, a preset processing method is adopted to process the above-mentioned fault based on the fault type.

During the automatic operation of the crane system 200, if it is a simple fault, a fault message will be sent to notify the maintenance personnel to perform maintenance. If a serious fault will affect the normal operation of a single crane, other processing will be automatically performed. By adopting different treatment measures for different types of failures, it is possible to handle the failures in time while ensuring the normal execution of the specified hoisting operations of the hoisting system 200.

Optionally, the above step R403 may further include: if it is determined that the above fault is a driving type fault, recording the current status information of the traveling crane 240 where the fault has occurred, sending a serious alarm message, and executing the first preset processing action; If the fault is an end effector fault, a general alarm message is sent, and the second preset processing action is executed. Driving faults can include the failure of the crane 240 to travel, that is, the failure of the servo motor with the actuator or the failure of the mechanical failure to travel; the end effector faults can include: communication failure, signal loss and/or component damage And so on, is the equipment that realizes the specific process, such as the trouble of the trowel.

In addition, the embodiment of the present invention adopts a hierarchical alarm system for faults, and takes different processing actions for different alarm messages. Performing the first preset processing action for the severe alarm information may include: switching the crane trolley 240 to the preset standby position, and at the same time, use other idle crane trolley 240 to replace the crane trolley 240 to continue the operation. For example: the existing two cars A and B are working at the same time. When the robot arm 28 of car B fails, the servo-controlled car A and car B are combined to virtually merge into car AB for synchronous walking, and car B is raised and contracted to avoid interference , Then call the idle C car to take over the B car and AB car to work together.

The second preset processing action performed for the general alarm information may include: repairing the faulty crane 240 according to the alarm priority and restarting it. For example, the end effector of the faulty crane 240 can be reset according to the alarm priority; and/or the faulty crane 240 can be moved to the preset maintenance position for inspection and repair, thereby determining whether to switch the end effector .

Faults can be divided into simple faults, general faults and/or serious faults through the time of troubleshooting and serious faults; simple faults include faults that can be restored to normal working conditions after resetting and restarting operations; general faults include: signal loss or wiring Faults, etc.; serious faults include: mechanical collision or electrical damage, etc. By overhauling according to the alarm priority, serious faults are dealt with first, thereby preventing the faulty driving from causing serious impact on the entire crane operation.

As mentioned above, for some failures, the current status information of the crane 240 with the fault can be recorded. The status information may include: the working status, process information, and driving position of the crane 240 with the fault. After recording the status information of the faulty crane car 240, it can be returned to the remote control terminal for visual display to facilitate the staff to view; if the faulty vehicle cannot work immediately, wait for other vehicles to complete their work at this time, then switch the other vehicles to the faulty vehicle pointer , To take over the working state when the faulty vehicle stopped, and continue to work, thereby ensuring the smooth progress of the designated crane operation by the crane system 200.

The embodiment of the present invention provides an efficient control method and a fault handling method for a single beam and multiple car bodies. Based on the control method provided by the embodiment of the present invention, the three-dimensional coordinate system is respectively the traveling crane 240 on the traveling crane 230 Determine the working area, and accurately form the walking path of the crane 230 and the crane 240 to perform the set process operations on the target building. It can also detect obstacles through sensors during the execution process to prevent collisions during driving movement and affect the crane operation, and perform quality inspection on the crane operation through the image acquisition device. In addition, the embodiment of the present invention also provides a method for handling failures of the hoisting system 200, and setting different handling methods for different types and levels of faults, so as to efficiently handle the possible failures in the hoisting system 200, and thus efficiently Complete the specified hoisting operation.

With reference to Figures 24-27, an embodiment of the present invention provides a crane system 200. The crane system 200 may include a plurality of crane units and a control module for controlling the operation of the crane units. Each crane unit may include: a crane 230 and one or more cranes 240 that are movably arranged on the crane 230. In the crane system 200 shown in FIG. 24, there are multiple cranes. A crane trolley 240 is provided on each of the cranes 230, and a crane trolley 230 in the crane system 200 shown in FIG. 25 is provided with a plurality of crane trolleys 240. Wherein, the traveling crane system 200 includes two horizontal guide rails 20 arranged in parallel on the climbing frame system 100, which are a first guide rail 212 and a second guide rail 222, respectively. Each crane 230 includes a cross beam 231 that is erected between two horizontal rails 20 and can move along the horizontal rails 20. The crane trolley 240 in the crane unit is movably arranged on the cross beam 231 of the crane 230 in the longitudinal direction for carrying the crane object. The hoisting objects in this embodiment can be end effectors including grippers, quick tool changers, spray guns, etc., or they can be different items that need to be obtained for different hoisting operations based on the end effectors. Object etc.

Specifically, two ends of the crane truck 230 are equipped with wheels, and the wheels are clamped on the horizontal guide rails 20 on the rail beam. The guide rail driver is directly connected with the wheels. When the guide rail driver is activated, the wheels of the crane are driven to drive the crane truck 230. Lateral movement, when the crane 230 needs to stop running, the guide rail driver has its own brake to stop the crane, and the end of the crane 230 is equipped with guide wheels to prevent sideslip.

The movement direction of the crane 230 and the movement direction of the crane 240 are perpendicular to each other, so that the crane 230 and the crane 240 can be in a two-dimensional direction (which can be understood as plane X/ Y direction) to realize the hoisting operation. The crane 240 is provided with a telescopic rod 270 in the vertical direction; specifically, the telescopic rod 270 is fixedly arranged on the preset flange of the mechanical arm 28 in the vertical direction by high-strength bolts; and is provided at the bottom of the telescopic rod 270 There is a robotic arm 28, which is a multi-axis robotic arm 28, and the robotic arm 28 is used to connect an end effector. The end effector can be a manipulator or other equipment according to the actual needs of hoisting operations.

Both the crane truck 230 and the crane truck 240 may be provided with guide rail drives, which are respectively connected to the control module in communication. The guide rail driver of the crane 240 is fixed on the body of the crane 240 and is electrically connected to the control module through a flat cable; the guide driver is used to drive the wheels of the crane 240 to slide on the guide rail of the crane 230; In this embodiment, a telescopic rod 270 is provided on the crane trolley 240 to adjust the working space of the crane 240 in the vertical direction (which can be understood as the plane Z direction).

In this embodiment, the crane system 200 mainly includes two crane cranes 230; the two crane cranes 230 are the first crane crane 230 and the second crane crane 230; and each crane crane 230 The first crane trolley 240 is provided on the trolley 230 respectively. This implementation mainly considers the actual needs of the crane operation. Generally, the crane truck 230 can be designed with two or three more reasonable. Too much design will directly affect the crane operation and increase the system control burden.

The embodiment of the present invention provides a method for controlling the traveling crane system 200, which is applied to the traveling crane system 200 as shown in FIG. 24 and FIG. 25. Referring to FIG. 26, it can be seen that the coordinated control method of the crane system 200 provided by the embodiment of the present invention may include:

Step M301: Receive an operation instruction input from the remote control terminal to perform a specified hoisting operation on the target building through the control module. Among them, the remote control terminal is a remote terminal that controls the crane system 200, such as a mobile terminal or a fixed terminal. The remote control terminal can input corresponding operation instructions according to different processes of different buildings. For example, steel bar lashing, steel bar layout, wall panel transportation, wall panel installation, aluminum mold transportation, aluminum mold installation, concrete cloth, concrete wiping are all based on different process commands. When the crane system 200 receives the control instructions for different processes, Can run automatically.

In step M302, one or more hoisting units are selected in the hoisting system 200 based on the above-mentioned operation instructions to allocate the working area when the hoisting operation is specified.

After receiving the operation instruction from the remote control terminal, the crane system 200 can analyze and determine the corresponding process type to perform intelligent construction. Since the traveling crane system 200 provided in this embodiment includes multiple traveling cranes, further, a three-dimensional coordinate system can be constructed by means of laser navigation, and after analyzing the operation instructions, a preset allocation method is adopted based on the three-dimensional coordinate system Each crane unit is assigned its own working area and the travel path of the crane unit is planned, and then a plurality of crane trucks 230 work together to complete the designated crane operation.

As mentioned above, each crane unit includes a crane 230 and one or more cranes 240 movably arranged on the crane 230; and the crane 240 is provided with a telescopic rod along the vertical direction. 270, the telescopic rod 270 is provided with a mechanical arm 28, through which the end effector can be connected. Therefore, when constructing a three-dimensional coordinate system, the movement direction of the crane 240 on the crane 230 can be the X axis, the movement direction of the crane 230 is the Y axis, and the movement direction of the lifting rod is the Z axis. Construct a three-dimensional coordinate system; when the crane 230 and the crane 240 are both at the origin position, a laser beam is emitted to determine the origin coordinates. Among them, when using the preset allocation method to allocate the work area for each row of hoisting units, it can be divided manually or automatically according to the type of process or navigation algorithm. In manual division, the working area of each row of cranes 230 is divided by the remote control terminal, and the automatic division can be in some processes, such as the floor steel banding, smoothing process, etc., to divide the floor into multiple areas, or It is divided by other methods such as simple division of the visual judgment area. After dividing the work area for each row of cranes 230, the working path can be planned for each row of cranes 230, that is, the X-axis and Y-axis coordinates continuously output based on the three-dimensional coordinate system are used as the crane 230 and the row of cranes through laser navigation. The target position of the crane 240 is continuously moved to obtain the walking paths of the crane 230 and the crane 240.

In step M303, each row hoisting unit is moved to a corresponding work area, and each row hoisting unit is controlled to cooperate to complete the above-mentioned designated row hoisting operation.

Further, the above step M303 may include: moving the crane truck 230 and the crane car 240 in each crane unit to the corresponding work area according to the walking path; controlling the crane cranes on the multiple crane cranes 230 240 coordinated movement to complete the designated hoisting operation. When controlling the coordinated movement of the crane trolley 240 on the multiple crane cranes 230 to complete the specified crane operation, for any crane unit, the crane trolley 240 in each crane unit can be determined and executed based on the working area of the crane unit At least one end effector for the designated hoisting operation; the robot arm 28 of the hoisting trolley 240 on each hoisting trolley 230 is controlled to automatically grab the corresponding end effector to perform the designated hoisting operation in coordination. Wherein, when the crane trolleys 240 on the multiple cranes 230 are controlled to move in coordination to complete the designated crane operation, each crane 230 can be independently controlled or the multiple cranes 230 can be jointly controlled.

In this embodiment, the working area of the crane 230 and the path to the working area can be determined based on the three-dimensional coordinate system. Specifically, the target positions of the crane 230 and the crane 240 can be determined based on the three-dimensional coordinate system to quickly generate the walking path. , And then accurately move to the corresponding work area.

Optionally, in the traveling crane system 200 provided by the embodiment of the present invention, the traveling trolley 240 is further provided with an image capture device manipulator 28, and the image capture device manipulator 28 is provided with an image capture device, the image capture device and the control module Electrical connection; by controlling the robot arm 28 of the crane trolley 240 to automatically grab the corresponding end effector to perform the designated crane operation, the image acquisition device can be used to obtain the number of the crane car 240 when the designated crane operation time is executed. Continuous first image data of three angles; based on the first image data, coordinate the cranes 240 on the cranes 230 to execute the specified crane operation sequence. The number of image acquisition devices, preferably 3D smart camera devices, can also be adjusted according to different requirements. During the working process of the crane trolley 240, the image acquisition device can also be used to take pictures and detect the execution order of the robot arms 28 on each crane trolley 240, to ensure the smooth progress of the process and prevent the two robot arms 28 from interacting with each other. Interference, affecting the operation process. For example, for wall column rebar tying operations, two robot arms 28 of crane trolley 240 are required to work together. At this time, the program calls two cars A and B to respectively grab the required actuators, A gripper B welder, After the preparation work is completed, first car A will grab the steel bar and attach it. Car B will perform flash butt welding after waiting for confirmation. If there is interference between the two arms, then B must wait for the work of A to complete before proceeding. If there is no interference between the two arms, then B can move to the welding waiting position at the same time to reduce the working cycle.

In addition to the above introduction, the embodiment of the present invention can also use the image acquisition device to obtain the second image data of the crane car 240 after the execution of the specified crane operation is completed; perform detection based on the second image data to determine the specified crane operation Whether the completion status of the specified hoisting operation meets the preset standard; if the completion status of the specified hoisting operation meets the preset standard, the next hoisting operation will continue; if the completion status of the specified hoisting operation does not meet the preset standard, the specified hoisting operation will be executed again Lifting operations.

Taking steel tying as an example, the second image data can be judged whether the operation meets the standard in two ways. The first one is to shoot once before tying and once after tying, and judge whether it is tied or not tied based on the difference between the two images; the second is to obtain a classifier based on SVM algorithm training to classify whether it is tied or not. In the embodiment of the present invention, the image data before and after the execution of the specified hoisting job can be obtained by the image acquisition device, and it is judged whether the specified hoisting job is completed by the difference of the two sets of image data before and after. It is also possible to pre-train the classifier, obtain image data after the specified hoisting job is executed, and input it into the pre-trained classifier to determine whether the image data is the image data after the specified hoisting job is successfully executed. In actual applications, it may be There are other judgment methods, and the specific image processing method may be determined based on the construction process, which is not limited by the present invention. Among them, the above method can be used to judge the process corresponding to the crane operation, and at the same time, it can also achieve quality inspection and other functions.

In the traveling crane system 200 provided by the embodiment of the present invention, the traveling crane 240 is also provided with a sensor manipulator, and the sensor manipulator is equipped with a sensor. If the specified traveling operation is executed, it is installed on any traveling crane 240 If the sensor detects that there is an obstacle that is less than the preset distance from the row of cranes 240, the preset obstacle avoidance action is executed. The sensor is preferably a laser sensor. That is to say, a sensor can be installed on any crane 240 to detect obstacles. Assuming that the crane 240 detects that it may collide with the obstacle through the sensor during operation, the preset avoidance can be executed. Obstacle actions, such as raising the telescopic rod 270 to cross the obstacle.

Different failures may occur during the hoisting operation of the hoisting system 200. For example, when the control module controls the robot arms 28 of two hoisting trolleys 240 to work together, the program calls A/B two cars Grasp the required actuators, A gripper and B welder. After the preparation work is completed, the A car first grabs the steel bar and attaches it. However, a failure may occur during the execution of work by A and the work cannot be completed normally. At this time, the control module will detect the failure of the A car and perform the troubleshooting.

The embodiment of the present invention also provides a fault handling method based on the above-mentioned crane system 200, which is applied to the crane system 200 according to any one of the above-mentioned embodiments, and can be controlled separately or as a part of the above-mentioned operation control method. As shown in FIG. 27, the fault handling method of the crane system 200 provided by the embodiment of the present invention may include:

Step M401, monitoring the working status of each row hoisting unit while the control module moves each row hoisting unit to the corresponding work area and controlling each row hoisting unit to coordinate to complete the designated hoisting operation;

In step M402, if the crane system 200 determines that any crane trolley 240 has a fault during the execution of the specified crane operation, then the fault type of the above-mentioned fault is judged;

In step M403, a preset processing method is adopted to process the above-mentioned fault based on the fault type.

As mentioned in the above embodiment, the control module mainly controls the crane trolley 240 in each row crane unit to perform the specified crane operation. Therefore, when detecting the working status of each row crane unit, the crane trolley in each row crane unit can be monitored first. 240 working status.

Optionally, the above step M403 may further include: if it is determined that the above fault is a driving type fault, recording the current status information of the traveling crane 240 where the fault has occurred, sending a serious alarm message, and executing the first preset processing action; If the fault is an end effector fault, a general alarm message is sent, and the second preset processing action is executed. Driving faults can include the failure of the crane 240 to travel, that is, the failure of the servo motor with the actuator or the failure of the mechanical failure to travel; the end effector faults can include: communication failure, signal loss and/or component damage And so on, is the equipment that realizes the specific process, such as the trouble of the trowel.

In addition, the embodiment of the present invention adopts a hierarchical alarm system for faults, and takes different processing actions for different alarm messages. Performing the first preset processing action for the severe alarm information may include: switching the crane trolley 240 to the preset standby position, and at the same time, use other idle crane trolley 240 to replace the crane trolley 240 to continue the operation. The second preset processing action performed for the general alarm information may include: repairing the faulty crane 240 according to the alarm priority and restarting it. For example, the end effector of the faulty crane 240 can be reset according to the alarm priority; and/or the faulty crane 240 can be moved to the preset maintenance position for inspection and repair, and then it is determined whether to switch the end effector .

The embodiment of the present invention provides a crane system 200 and its control method and fault handling method. Based on the control method provided by the embodiment of the present invention, the work area of each crane truck 230 is reasonably allocated through a three-dimensional coordinate system, and each line is accurately formed. The working paths of the crane 230 and the crane 240 are used to perform the set process operation on the target building. It can also detect obstacles through sensors during the execution process to prevent collisions during driving movement and affect the crane operation, and perform quality inspection on the crane operation through the image acquisition device. In addition, the embodiment of the present invention also provides a method for handling failures of the hoisting system 200, and setting different handling methods for different types and levels of faults, so as to efficiently handle the possible failures in the hoisting system 200, and thus efficiently Complete the specified hoisting operation.

In the instructions provided here, a lot of specific details are explained. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and technologies are not shown in detail so as not to obscure the understanding of this specification.

Similarly, it should be understood that in order to simplify the present disclosure and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, Figure, or its description. However, the disclosed method should not be construed as reflecting the intention that the claimed invention requires more features than those explicitly stated in each claim. More precisely, as reflected in the following claims, the inventive aspect lies in less than all the features of a single embodiment previously disclosed. Therefore, the claims following the specific embodiment are thus explicitly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.

Referring now to Figs. 28-41, a crane system 200 provided by the present invention includes a multi-head robotic arm 08, which includes:

Connector, which is used to install multi-head robotic arm 08;

The rotating flange can be rotatably set on the connecting piece;

The rotating motor is arranged on the connecting piece and is used to drive the rotating flange to rotate;

A plurality of single mechanical arms 082 are arranged on the rotating flange without interfering with each other and can be telescopically arranged, and can rotate with the rotating flange.

The embodiments of the present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Figures 30 to 41, the present invention provides a multi-head mechanical arm 08, which includes a connecting piece, a rotating flange 081, a rotating motor 083, and a plurality of single mechanical arms 082; wherein the connecting piece is mainly used to install the multi-head machine Arm 08, such as mounting the multi-head robotic arm on the crane 240 or telescopic rod 270; the rotating flange 081 can be rotatably arranged on the connecting piece to drive multiple single robotic arms 082 to rotate according to different robotic arms 28 Make selection; specifically, the rotating motor 083 is arranged on the connecting piece, the rotating motor 083 is mainly used to drive the rotating flange 081 to rotate, and the rotating flange 081 drives the single mechanical arm 082 to rotate, thereby performing optional operations; further, Multiple single robotic arms 082 are arranged on the rotating flange 081 without interfering with each other and telescopically, and can rotate with the rotating flange 081 to adapt to actual operation requirements; using the above scheme, in construction projects, Using multiple single robotic arms 082 to work alone or in coordination, instead of multiple mechanical equipment or multiple workers working together, to avoid errors caused by the cooperation of multiple mechanical equipment or multiple workers; and also by rotating flange 081 It can protect the single robotic arm 082. The application of the multi-headed robotic arm 08 can not only ensure the quality of the project, improve the operating efficiency, but also extend the service life of the equipment.

Preferably, in combination with the above solution, as shown in FIGS. 28 to 30, in this embodiment, the rotating flange 081 is rotatably arranged on the connecting piece in the horizontal direction, and specifically may be arranged at the end of the connecting piece; The mechanical arm 082 is set on the bottom surface of the rotating flange 081, and can be rotated in the horizontal direction with the rotating flange 081, so as to adapt to the single mechanical arm 082 to operate according to actual operation requirements; further, the connecting piece can be a connecting rod Or the connecting plate, its main function is to fix the rotating flange 081 to the hoisting trolley 240 or the telescopic rod 270 of the hoisting system 200, and can also be used to install and fix the rotating electric machine 083; specifically, the rotating electric machine 083 is used To control the rotation of the rotating flange 081, and then switch the single mechanical arm 082.

Preferably, in combination with the above solution, as shown in Figures 31 to 41, in this embodiment, the rotating flange 081 is rotatably arranged on the connecting member in the vertical direction, and a plurality of single mechanical arms 082 are circumferentially arranged on the rotating The flange 081 can be rotated in the vertical direction with the rotating flange 081; the rotating motor 083 is arranged on the connecting piece to drive the rotating flange 081 to rotate in the vertical direction; further, a plurality of single The mechanical arm 082 is uniformly and telescopically arranged in the rotating flange 081 to achieve a concealed closure and avoid pollution or other collisions when the single mechanical arm 082 is not working.

Preferably, in combination with the above solution, as shown in Figures 31 to 41, in this embodiment, the rotating flange 081 includes two disk surfaces 084 (ie, a first disk surface and a second disk surface) and a connecting plate connected between the two disk surfaces 084 Connecting arm, multiple telescopic single mechanical arms 082 are arranged in the circumferential direction of the connecting arm and can rotate with the rotation of the rotating flange 081. The rotating motor 083 is arranged on one side of the rotating flange 081 to drive the rotating flange The disc 081 rotates in the vertical direction; further, an annular cavity 086 is formed between the inner surface of the first disc surface and the inner surface of the second disc surface, and a plurality of single mechanical arms 082 are telescopically arranged in the annular cavity 086, when When the single robotic arm 082 needs to work, the single robotic arm 082 can extend out of the ring cavity 086. When the single robotic arm 082 is working, the rotating motor 083 drives the rotating flange 081 to rotate at a certain angle, and the corresponding single robotic arm 082 extends To perform work, other single robotic arms 082 may be placed in the ring cavity 086 according to the construction environment, or extended while working; when the single robotic arm 082 does not need to work, the single robotic arm 082 retracts to the ring cavity 086 Inside, it can avoid the collision of the single robot 082, which will affect the service life, and avoid the risk of confusion, collision and easy entanglement caused by the random placement of multiple single robot arms 082 on site; further, the ring cavity 086 is divided into multiple Groove, multiple grooves correspond to multiple single robot arms 082 one-to-one, so that the robot arms do not interfere with each other and are easy to hide each other.

Preferably, in combination with the above solution, as shown in Figures 31 to 41, in this embodiment, a plurality of single robotic arms 082 are equidistantly installed on the connecting arm, and each single robotic arm 082 and the connecting arm have an angle, so that each The single mechanical arms 082 can be arranged in the annular cavity 086 at a preset angle to avoid mutual influence.

Further, the plurality of single robot arms 082 are all multi-axis robot arms, and each multi-axis robot arm is connected to the rotating flange 081 through the first joint shaft arm. Optionally, the above-mentioned multi-axis robot arm is the above-mentioned multi-function robot arm 28, and in this case, the above-mentioned first joint axis arm is the first robot arm 281 described above.

There is a preset angle between the central axis of the first-section shaft arm and the radial direction of the rotating flange 081, so that each single mechanical arm 082 does not interfere with each other when contracted into the annular cavity 086; further, the rotating flange 081 is Disc structure; specifically, the single-manipulator 082 includes three, and the three single-manipulator arms 082 are respectively uniformly arranged on the rotating flange 081. The design of the three single-manipulator arms 082 is relatively more in the selection of general construction conditions reasonable.

Preferably, in combination with the above solution, as shown in Figures 31 to 41, in this embodiment, the connecting member is a frame rod 085, the lower end of the frame rod 085 is in an inverted U shape, so that the rotating flange 081 can be pivotally clamped Set in the inverted U-shaped bracket; the rotating motor 083 is fixed on the frame rod 085 to drive the rotating flange 081 to rotate in the vertical direction; specifically, the rotating flange 081 and the frame rod 085 are connected by bolts, each Both the robot arm 082 and the rotating flange 081 are connected by bolts, and the rotating motor 083 and the rotating flange 081 are connected by bolts; in this embodiment, the frame rod 085 is used as the connecting member to facilitate the installation and connection of the multi-head robot arm 08 At the same time, it can be easily rotated, and the single mechanical arm 082 can be hidden in the rotating flange 081.

Correspondingly, in combination with the above solution, as shown in FIGS. 28 to 41, the present invention also provides a combined arm, including a telescopic rod 270 and a multi-head robotic arm; wherein, the multi-head robotic arm is the above-mentioned multi-head robotic arm 08 The multi-head mechanical arm 08 is set on the telescopic rod 270 through the connecting piece, so that the crane trolley 240 is controlled to the preset position by the crane system 200, and then the combined arm is further controlled by the telescopic rod 270 to perform operations; further, the telescopic rod 270 It can be directly integrated with the crane trolley through the flange, and the flange is sleeved on the crane trolley, that is, the flange is directly combined with the telescopic rod 270, which can increase the telescopic distance of the telescopic rod 270.

Correspondingly, in combination with the above solution, as shown in FIGS. 28 to 41, the present invention also provides a crane system 200, which is applied to a building crane; the crane system 200 includes a crane crane 25, a crane car 240, and Combination arm; the combination arm is the combination arm described above.

The present invention also provides a climbing crane device 1000, and the above-mentioned crane crane system 200 can be installed on the climbing frame system 100. The climbing frame 100 can also be fixedly installed on the building 2000; the top of the climbing frame 100 is provided with a horizontal guide rail 20, the crane truck 230 is slidably arranged on the horizontal guide rail 20 along the lateral direction; the crane crane 240 can be slid vertically and vertically It is installed on the crane truck 230 for adjusting the lateral distance of the crane system 200.

Specifically, the combined arm is set on the crane trolley 240 through the telescopic rod 270 and reciprocates with the crane 240; the crane trolley 240 is slidably arranged on the horizontal guide rail 20 of the crane 230 through pulleys.

Using the above solution, by designing the shape of the rotating flange 081 as a disc structure with an annular cavity 086, a plurality of single mechanical arms 082 are respectively installed equidistantly in the annular cavity 086 of the rotating flange 081. The flange 081 is installed on the side of the rotating motor 083. The rotating motor 083 is used to control the rotation of the flange 081, which is more conducive to controlling the switching of the single robotic arm 082, so that the single robotic arm 082 can work alone or in cooperation. The single mechanical arm 082 can be placed in the ring cavity 086 when it is idle to avoid damage due to bumps; the structure is relatively simple and reasonable, and convenient for maintenance and replacement.

Correspondingly, in combination with the above solution, as shown in Figures 28 to 39, the present invention also provides a control method for applying the crane system as described above, which generally includes the following process: Command and control the crane car 240 and the crane crane 230 Slide up

After the crane 240 reaches the designated position, the telescopic rod 270 is controlled for telescopic adjustment;

When the telescopic rod 270 telescopes to a preset height, it controls the extension of the single robotic arm 082 that needs to be operated;

The rotating motor 083 drives the rotating flange 081 to rotate to a preset angle, so that the single mechanical arm 082 corresponding to the rotating angle of the rotating flange 081 is extended to operate.

The above-mentioned preset height is set according to the working position of the work object, and the preset angle is set according to the working process requirements of the single robotic arm 082. In addition, when multiple single robotic arms 082 are required to operate, the rotating motor 083 controls multiple single robotic arms 082 to extend and work in coordination; each single robotic arm 082 can be controlled to operate a process, and each process can be completed separately, mutually Without interference, the single robot arm 082 has a higher utilization rate, and the working efficiency of the multi-head robot arm 08 is improved.

In this way, through the adjustment of the telescopic rod 270 and the multi-head mechanical arm 08, it is possible to flexibly achieve greater height, greater angle, and more processes.

Preferably, when multiple single robotic arms 082 are required to extend and work together, the priority among multiple single robotic arms 082 can also be determined first; among them, the single robotic arm 082 with the highest priority is the single robotic arm 082 with the largest bearing capacity. ; Specifically, when judging the process type or priority between multiple single robot arms 082, the operation needs to be based on the single robot arm 082 with the largest bearing capacity, and the priority is set to the vertical card position (vertical to the telescopic rod 270 , The bottom card position), so that the single robotic arm 082 has a better load-bearing effect, and improves the stability and safety of multiple single robotic arms 082; specifically, in the actual operation process, take steel engineering as an example. In the construction of the structural layer, the steel reinforcement project includes steel transportation, reinforcement layout and reinforcement binding. In this way, multiple, for example, three single mechanical arms 082 with corresponding functions can be installed in the rotating flange 081. The crane arms can be adjusted during transportation. When deploying, call out the lay-up robotic arm, and call out the lashing robotic arm during lashing; at the same time, when implementing one of the processes, the rotating flange 081 can be used to protect other single robotic arms 082 from being affected.

The scheme provided by the present invention can effectively improve the efficiency of existing building hoisting operations, reduce construction errors and operating costs; it can be directly applied in the existing hoisting system, has reasonable structure, convenient disassembly and assembly, low maintenance cost, and is not easy The advantages of damage.

In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific feature, structure, material or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention . In this specification, the schematic representation of the above-mentioned terms does not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and modifications can be made to these embodiments without departing from the principle and purpose of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

A climbing crane device, which is characterized by comprising: a climbing frame system and a traveling crane system. The climbing frame system includes a supporting column row composed of a plurality of supporting columns, and the supporting column row includes a first supporting column row and a first supporting column row. Two supporting column rows;

The hoisting system includes a first row of hoisting rails supported on the first row of supporting columns and a second row of hoisting rails supported on the second row of supporting columns, erected on the first row of hoisting rails, and Between the second row of hoisting rails and capable of moving along the first row of hoisting rails and the second row of hoisting rails, the hoisting system further includes a hoisting system arranged on the hoisting hoist A crane trolley that can move along the crane, and the crane trolley is used to connect functional components.
The climbing crane device according to claim 1, wherein the climbing frame system comprises:

A main frame structure, the main frame structure includes a front side frame and a rear side frame, the front side frame is provided with a plurality of the supporting columns to form the first supporting column row, and the rear side frame is provided with A plurality of said supporting uprights to form said second supporting upright row;

Lifting guide rail, said lifting guide rail is suitable for being fixed on a building and used as a track for climbing of said main frame structure;

Lifting mechanism, the main frame structure climbs up along the lifting guide rail through the lifting mechanism.
The climbing crane device according to claim 2, wherein a first ground support column is provided below the first row of hanging rails, and a second ground support column is provided below the second row of hanging rails. The upper ends of the first ground support column and the second ground support column respectively support the first row of suspension rails and the second row of suspension rails. The lower ends are respectively fixed on the ground floor or building floor.
The climbing device according to claim 3, wherein the first ground support column and the second ground support column are both of an adjustable length structure or are movably arranged relative to the ground.
The climbing device according to any one of claims 1 to 4, wherein a plurality of the supporting uprights are of an adjustable length structure.
The climbing device according to any one of claims 2-4, wherein a plurality of the support columns are of hydraulic rod type structure, and each of the support columns includes a support cylinder and a support rod, so The supporting cylinder body is fixed on the front side frame and the rear side frame correspondingly, and the upper part of the supporting rod body is correspondingly fixedly supported on the first row of hoisting rails and the second row of hoisting rails. The rod body can move up and down relative to the supporting cylinder.
The climbing device according to any one of claims 1-6, wherein the climbing frame system further comprises an anti-overturning device, the anti-overturning device comprises an anti-roll bar and a clamping mechanism, the anti-overturning device The rod is fixed on the climbing frame system, one end of the clamping mechanism is an annular part and is sleeved on the anti-roll bar, and the other end of the clamping mechanism is fixed on the building through a wall-attached support; When the climbing frame system climbs, the anti-roll bar slides upward through the ring portion, and prevents the climbing frame system from overturning during the sliding process.
The climbing device according to any one of claims 2-4, wherein the lifting mechanism is an electric hoist, the electric hoist is connected with a cable, and one end of the cable is fixed by a wall-attached support On the building, the other end of the cable is fixed to the main frame structure.
The climbing device according to any one of claims 2-4, wherein the supporting column is vertically fixed on the main frame structure, and the first row of hoisting rails and the second row of The hanging rail is fixed on the support column along the horizontal direction.
The climbing crane according to any one of claims 1-9, wherein the crane truck comprises a beam, a first moving part and a second moving part, and a moving guide rail is provided on the beam, so The first moving part and the second moving part are respectively arranged on both sides of the cross beam, and the first moving part and the second moving part are respectively walkably arranged on the first row of hanging rails and the On the second row of crane rails; the crane trolley includes a mobile trolley, and the mobile trolley is walkably arranged on the moving guide rail.
The climbing crane device according to claim 10, wherein the crane crane comprises a crane motor, and the crane motor is drivingly connected to at least one of the first moving part and the second moving part The line crane trolley includes a trolley motor, and the trolley motor is arranged on the mobile trolley to drive the mobile trolley to walk.
The climbing crane according to claim 10 or 11, wherein the first moving part and the second moving part are respectively clamped on the first row of hoisting rails and the second row of hoisting rails , The moving trolley is clamped on the moving guide rail.
The climbing device according to any one of claims 10-12, wherein the beam is one of a single beam form, a double beam form, or a hollow truss beam.
The climbing crane device according to any one of claims 10-13, wherein the mobile trolley comprises a vehicle body and wheels, the cross section of the vehicle body is inverted U-shaped, and the wheels are arranged on the vehicle body. At the top of the groove of the body, the mobile trolley rides on the cross beam, and the wheels are fitted on the moving guide rail.
The climbing device according to any one of claims 10-14, wherein the cross beam and the first moving part are detachably connected, and the cross beam and the second moving part are detachably connected. It is a detachable connection.
The climbing hoist device according to any one of claims 1-15, wherein the first row of hoisting rails comprises a first rail supporting beam and a first guide rail provided on the first rail supporting beam; The second row of suspension rails includes a second rail-bearing beam and a second guide rail arranged on the second rail-bearing beam; both the first rail-bearing beam and the second rail-bearing beam are made of I-beams Or made of channel steel.
The climbing crane according to any one of claims 1-16, wherein the first row of crane rails, the inner side of the second row of crane rails, and the bottom surface of the crane crane are provided with The spray system includes a water pipe and several spray heads.
The climbing device according to claim 17, wherein the distance between the spray heads is between 0.8 meters and 1.5 meters.
The climbing device according to any one of claims 1-18, wherein a ceiling that can be opened or closed is provided on the outer side of the first row of hoisting rails and the second row of hoisting rails.
The climbing crane device according to claim 16, wherein the crane is provided with a safety hook, and when the crane system is working normally, the safety hook and the first crane rail, The second row of hoisting rails are not in contact; when a height difference of 2 cm or more occurs between the first rail and the second rail, the safety hook is inclined and hooks the first row of hoisting rails and At least one of the second row of hanging rails.
22. The climbing crane device of claim 20, wherein the traveling crane system further comprises an alarm device, and when the safety hook is tilted, the alarm device sends out an alarm signal.
The climbing crane according to any one of claims 1-21, wherein the crane system further comprises a lightning protection device, and the lightning protection device is arranged on the crane crane.
The climbing device according to any one of claims 1-22, wherein a crane structure is provided on the crane trolley, and the crane structure includes a hook and a lifting motor; The motor is fixedly arranged on the crane trolley and connected with the hook through an iron chain.
The climbing crane device according to any one of claims 1-23, wherein the movement direction relationship between the crane and the crane is an axial relationship of X and Y coordinates, and the functional component Robot for construction.
The climbing device according to claim 24, wherein the construction robot is a simple manipulator, a manipulator with a manipulator, or an intelligent robot with a manipulator and a manipulator.
The climbing device according to any one of claims 1-25, wherein the functional component is one of a steel bar binding manipulator, an aluminum template installation manipulator or a ground smoothing manipulator.
The climbing device according to any one of claims 1-26, wherein the functional component is connected to the crane trolley via a connecting rod or a telescopic rod, or the functional component is directly connected to the crane On the crane trolley.
The climbing crane device according to claim 27, wherein when the telescopic rod is provided on the crane, the movement direction relationship of the crane, the crane, and the telescopic rod is X axis, Y axis, Z axis direction.
The climbing device according to claim 27 or 28, further comprising a multifunctional mechanical arm, and the functional component is connected to the connecting rod, or the telescopic rod, or the connecting rod through the multifunctional mechanical arm. On the walking crane, the multifunctional mechanical arm can perform multi-dimensional movement in a three-dimensional space.
The climbing crane device according to claim 29, wherein when the connecting rod and the multifunctional mechanical arm are provided on the crane trolley, the multifunctional mechanical arm can be fixed or movable up and down and /Or rotatably arranged on the connecting rod.
The climbing crane according to any one of claims 27-30, wherein when the telescopic rod is provided on the crane trolley, the telescopic rod includes a rigid shaft sleeve and is arranged in the shaft sleeve Of retractable parts.
The climbing crane device according to any one of claims 27-31, wherein when the telescopic rod is provided on the crane trolley, the telescopic rod and the crane trolley pass through the crane The support on the side of the crane trolley is connected by bolts, and the support and the crane trolley are rigidly connected with steel plates.
The traveling crane system according to claim 29, wherein a base is provided at the bottom of the telescopic rod, and the base and the telescopic rod are rigidly connected by steel plates, and the base is used to connect the multifunctional mechanical arm or the telescopic rod.述Functional components.
The climbing crane device according to claim 29, characterized in that, when the multifunctional mechanical arm is provided under the crane trolley, the upper end of the multifunctional mechanical arm is detachably connected to On the crane trolley, the lower end of the multifunctional mechanical arm is detachably connected to the functional component through a second connecting unit.
The climbing device according to claim 29, wherein the cross-sectional dimension S of the supporting column is:

Wherein, A is: the weight of the climbing frame system; B is: the weight of the crane system; C is: the weight of the multifunctional manipulator; D is the friction force; E is the construction load; a is : Dynamic coefficient; b is: the design value of the material strength of the supporting column.
The climbing device according to claim 33, wherein when the telescopic rod is provided on the crane trolley, the telescopic rod can be extended and retracted in the vertical direction, and the first connecting unit is connected to the On the telescopic rod, the multifunctional mechanical arm as a whole can rotate on the vertical plane of the axis of the telescopic rod.
The climbing and hoisting device according to claim 33, wherein the multifunctional mechanical arm includes a first mechanical arm, a second mechanical arm, and a third mechanical arm; one end of the first mechanical arm is connected to the first Unit connection, the other end of which is rotatably connected to one end of the second mechanical arm through a first motor shaft; the other end of the second mechanical arm is rotatably connected to one end of the third mechanical arm through a second motor shaft; The other end of the third mechanical arm is connected to the second connecting unit; the axis of the first motor shaft and the axis of the second motor shaft are both horizontal.
The climbing device according to claim 37, wherein the multifunctional mechanical arm comprises a fourth mechanical arm; one end of the fourth mechanical arm is rotatably connected to the bottom of the first mechanical arm through a third motor shaft , The other end of the fourth mechanical arm is rotatably connected to one end of the second mechanical arm through the first motor shaft; the first mechanical arm drives the fourth mechanical arm to move horizontally through the third motor shaft Direction rotation.
The climbing device according to claim 38, wherein the first motor shaft is connected to a first motor, the second motor shaft is connected to a second motor, and the third motor shaft is connected to a third motor; The first motor shaft, the second motor shaft, and the third motor shaft can be driven synchronously or independently.
The climbing and hoisting device according to claim 29, wherein an external port unit is provided on the side of the multifunctional mechanical arm, and the external port unit is used to communicate with an external electrical device.
The climbing and hoisting device according to claim 33, wherein the first connecting unit and/or the second connecting unit both include a connecting plate; a wiring channel or data is reserved at the center of the connecting plate. interface.
The climbing device according to claim 33, wherein the first connection unit and/or the second connection unit is a snap connection structure, a bolt connection structure, a flange connection structure, or a slide rail connection structure.
The climbing device according to claim 29, wherein a first distance sensor is provided on the multifunctional mechanical arm, and the first distance sensor is used to detect the distance between the multifunctional mechanical arm and surrounding components. .
The climbing device according to any one of claims 27-43, wherein a second distance sensor is provided on the telescopic rod, and the second distance sensor is used to detect the moving distance of the telescopic rod .
The climbing device according to claim 38 or 39, further comprising a control module and a power supply module; the power supply module is connected to the control module and the first motor, the second motor, and the The third motor is electrically connected; the control module is respectively communicatively connected with the first motor, the second motor, and the third motor; the control module controls the multifunctional manipulator to reach the designated coordinates and obtains Freedom construction range and coordinate compensation.
A method for controlling a climbing crane, applied to the climbing crane according to any one of claims 29-45, wherein the control of the crane system includes the following steps:

S1: Determine the horizontal movement distance of the crane system according to the movement radius of the multifunctional robotic arm, record the initial position of the telescopic rod, and import the distance and initial position data into the control module;

S2: The first distance sensor on the multi-function robot arm feeds back the distance between the multi-function robot arm and surrounding components to the control module, and the control module determines whether the telescopic rod needs to move down according to the actions that the multi-function robot arm must complete;

S3: If the telescopic rod needs to move down, the control module will issue a command to the power system of the telescopic rod to move the telescopic rod downward; when the telescopic rod moves down, the second distance sensor on the telescopic rod can monitor the telescopic rod in real time Moving distance, and feedback to the control module;

S4: Repeat step S3 until the telescopic rod does not need to move downwards, and the control module issues instructions to the multifunctional robotic arm to perform other actions;

S5: After the multi-functional manipulator completes the work instruction, the first distance sensor on the multi-functional manipulator will feed back the completion status of the work surface to the control module, and the control module determines whether there is a work surface that can be completed after the telescopic rod is lowered, if it exists Steps S3, S4, and S5 are looped. If not, the control module issues an instruction to the power system of the telescopic rod to make the telescopic rod return to the initial position.
The control method of the climbing and hoisting device according to claim 46, wherein the step S3 further comprises: while the telescopic rod moves down, the multifunctional manipulator is driven to move down, and the first distance on the multifunctional manipulator is The sensor feeds back the distance between the multifunctional manipulator and surrounding components to the control module in real time, and the control module determines whether the telescopic rod needs to continue to move downward according to the actions that the multifunctional manipulator must complete; and/or, the step S5 also includes : The crane system moves the distance specified in step S1 in the horizontal direction, and recycles steps S2, S3, S4, and S5.
A method for controlling a climbing crane, applied to the climbing crane according to any one of claims 11-45, or comprising the control method according to any one of claims 46 or 47, characterized in that: The control of the climbing device includes the following steps:

Step P1: Input the planned walking route parameters and stay position parameters in the control module;

Step P2: The control module issues instructions to start the crane motor and the car motor, and the crane motor and the car motor respectively drive the crane and crane to travel according to the planned path;

Step P3: When the crane and the crane are traveling, use the sensor to monitor the position of the crane and the crane in real time and feed it back to the control module;

Step P4: The control module determines whether the crane and crane have reached the preset stop position according to the received position data of the crane and crane. When the crane and crane arrive at the preset stop When in the position, the control module issues instructions to control the motor of the cart and the motor to stop running.
The control method of the climbing crane device according to claim 48, characterized in that, after step P4, it further comprises the following steps:

Step P5: After the crane and the crane stop, the control module starts timing, and when the dwell time reaches the set dwell time, the control module issues an instruction to restart the crane motor and the carriage motor;

Step P6: The control module matches the position data information fed back by the sensor in real time with the location information of the set destination. After detecting that the crane and the crane have reached the end of the planned route, the control module issues instructions to control the motor and The trolley motor stops running.
The control method of the climbing crane device according to claim 49, characterized in that, during the movement of the crane and the crane, the control module judges the crane and crane according to the data fed back by the sensor Whether the trolley is on the planned route, if not, the control module issues instructions to the trolley motor and the trolley motor to drive the crane and the crane to return to the correct driving route.
The control method of the climbing crane device according to claim 50, characterized in that, when the crane system is provided with a rectangular coordinate rod and a multi-functional mechanical arm for conveying materials, the control method further comprises a rectangular coordinate rod provided on the crane trolley Control method;

Step P7: Record the initial position of the Cartesian coordinate rod and the movement radius data of the multifunctional manipulator, and import the position data and the movement radius data of the multifunctional manipulator into the control module;

Step P8: Use the sensor on the multifunctional manipulator to collect the working distance data between the multifunctional manipulator and the material in real time, and send the working distance data to the control module;

Step P9: The control module compares the working distance data with the movement radius data, and when the movement radius data is greater than or equal to the working distance data, the control module issues instructions to the multifunctional manipulator and manipulator to execute the first work action;

Step P10: When the movement radius data is less than the working distance data, the control module sends a start signal to the power system of the rectangular coordinate rod, and the power system drives the rectangular coordinate rod to move downward, and the moving distance is a moving radius length; the control module again Compare the movement radius data and the working distance data, and execute steps P7-P9 in a loop until the control module detects that the movement radius length data is greater than or equal to the working distance data.
The control method of the climbing crane device according to claim 51, wherein after step P9, the control module continues to determine whether there is a second work action that needs to be performed by the rectangular coordinate rod, and if there is, the control module performs step P8 in a loop, and step P9 And step P10; if there is no control module to send a restoration signal to the power system, the power system drives the rectangular coordinate rod to return to the initial position.
The control method of the climbing crane device according to any one of claims 48-52, wherein the control method further comprises a control method when the manipulator is working, including the following steps:

Step P11: Input the working coordinate position information of the manipulator into the control module, and the sensor collects the current position coordinate information of the manipulator and feeds back the position information to the control module;

Step P12: The control module calculates the movement of the manipulator on the X-axis, Y-axis and Z-axis according to the work coordinate position information and the current position coordinate information, and the control module sends control commands to the cart motor, trolley motor and telescopic rod power system;

Step P13: The control module monitors the position of the manipulator in real time according to the feedback of the first sensor, the second sensor, and the third sensor. After determining that the manipulator reaches the working position, the control module issues a work instruction to drive the manipulator to perform work actions.
A method for controlling a climbing crane, applied to the climbing crane according to any one of claims 1-45, or comprising the control method according to any one of claims 46-53, characterized in that: Including the following steps:

Step Q1: The control module issues a command, and the climbing process starts. When the climbing frame system as a whole climbs to the predetermined position, the climbing stops. After the mechanical connection between the climbing frame system and the building is fixed manually, the lifting mechanism of the climbing frame system enters a relaxed state. Stress again.

Step Q2: Control the support columns of the first support column row and the second support column row to rise and fall to a suitable position, and install the hoisting mechanism.
The control method of the climbing crane device according to claim 54, characterized in that when the climbing frame system climbs, if the load is overloaded, it will automatically stop; when any two lifting mechanisms of the climbing frame system itself have a climbing height difference of more than 2cm, the climbing frame The frame system automatically shuts down. After shutting down, manual intervention and leveling are required before starting again.
The control method of the climbing crane device according to claim 54, wherein when the climbing frame system climbs, the crane system is moved to the vicinity of the first ground support column and the second ground support column, and the support column is a hydraulic rod structure , The coordinated climbing frame system ascends to provide support for it, reducing the upward resistance of the climbing frame system.
A crane system, characterized in that, the crane system is a single-beam and multi-body crane system, which includes:

A control system, a row of cranes and a plurality of cranes movably arranged on the crane; wherein,

The crane is erected between two horizontal guide rails arranged in parallel on the climbing frame system through a cross beam, and the cross beam can move along the horizontal guide rail;

The crane trolley is movably arranged on the beam of the crane trolley in the longitudinal direction, and is used to carry the crane object;

The control system is respectively communicatively connected with the plurality of crane trolleys, so as to control coordinated movement to realize the crane operation or monitor the failure of the crane trolley.
The traveling crane system according to claim 57, wherein the traveling trolley is provided with a telescopic rod along the vertical direction, the telescopic rod is provided with a mechanical arm, and the mechanical arm is used to connect an end effector .
The traveling crane system according to claim 57, wherein the traveling trolley is provided with an image acquisition device robot arm, the image acquisition device robot arm is provided with an image acquisition device, and the image acquisition device is connected to the The control system is electrically connected, and multi-angle photography is realized through the robot arm of the image acquisition device.
The traveling crane system of claim 57, wherein a sensor is provided at at least one end of the traveling crane, and the sensor is used to detect the distance between the adjacent traveling cranes to limit the adjacent traveling cranes. Run.
The traveling crane system according to claim 57, wherein the traveling crane is further provided with a guide rail driver and a hoist; the guide rail driver is fixedly arranged on a preset flange of the mechanical arm of the traveling crane , And electrically connected with the control system through a flat cable; the guide rail drive is used to drive the wheels of the crane trolley to slide on the guide rails of the crane; the hoist is fixedly arranged on the mechanical arm It is installed on the flange and connected with a wire rope hoist.
The traveling crane system according to claim 61, wherein the traveling crane is provided with a guide rail drive; the rail drivers on the traveling crane and the traveling crane are both three-in-one reducers .
The crane system according to claim 57, further comprising a navigation system, the navigation system is in communication with the control system; the navigation system establishes three-dimensional coordinates to plan the travel of the crane car path.
The traveling crane system according to claim 63, wherein the navigation system is also in communication connection with the traveling crane; the navigation system plans the travel path of the traveling crane by establishing three-dimensional coordinates.
The crane system according to claim 57, further comprising a fault processing module, the fault processing module is in communication with the control system; the fault processing module is used to monitor the upper manipulator of the crane When the robot arm fails, the robot arm is transferred to the maintenance position by the crane trolley.
The crane system of claim 58, wherein the control system comprises an image processing module, and the image processing module is used to detect the terminal execution according to the image provided by the image acquisition device on the crane car The working status of the device.
A method for troubleshooting a crane system, applied to the crane system according to any one of claims 57-66, the method comprising:

In the process of controlling the cranes of the one or more cranes by the control system to coordinately perform the specified crane operation, monitoring the working status of the cranes of the crane system;

If the crane system determines that any crane trolley has a failure during the execution of the designated crane operation, then determine the fault type of the failure;

The fault is processed based on the fault type using a preset processing method.
The method for handling a fault in a crane system according to claim 67, wherein said using a preset processing method based on said fault type to process said fault comprises:

If it is judged that the fault is a driving fault, record the current status information of the crane trolley where the fault has occurred, send a serious alarm message, and execute the first preset processing action;

If it is determined that the fault is an end effector type fault, a general alarm message is sent, and the second preset processing action is executed.
The method for handling the failure of the crane system according to claim 68, wherein the driving fault includes: the failure of the crane trolley to travel;

The end effector faults include communication faults, signal loss and/or component damage.
The fault handling method of a traveling crane system according to claim 69, wherein said executing the first preset processing action comprises:

Switching the crane trolley to the preset standby position, and use other idle crane trolleys to replace the crane trolley to continue the operation;

The execution of the second preset processing action includes: repairing the faulty crane trolley according to the alarm priority, and restarting it.
The method for handling the failure of the crane system according to claim 70, wherein said repairing the crane trolley that has failed according to the alarm priority comprises:

Reset the end effector of the traveling crane that has failed according to the alarm priority; and/or

Move the broken crane to the preset maintenance position for inspection and repair.
The method for troubleshooting a traveling crane system according to any one of claims 67-71, wherein the method includes during normal operation:

Receiving, through the control system, an operation instruction for a single-beam and multi-car body hoisting system to execute a specified hoisting operation on the target building, which is input from the remote control terminal;

Moving the crane crane in the crane system to the operation area of the target building based on the operation instruction;

One or more crane trolleys are selected in the crane system, and the designated crane operation is executed cooperatively by controlling the one or more crane cranes.
The method for troubleshooting a crane system according to claim 72, wherein the moving the crane truck in the crane system to the operation area of the target building based on the operation instruction comprises:

Constructing a three-dimensional coordinate system by means of laser navigation, analyzing the operation instructions and determining the operation area for performing the specified hoisting operation on the target building;

Determining the first traveling path of the crane and/or the second traveling path of the crane based on the three-dimensional coordinate system and the work area;

Control the crane and/or crane to move according to the first walking path and/or the second walking path.
A method for controlling a crane system, applied to the crane system according to any one of claims 57-66, or includes the method for troubleshooting the crane system according to any one of claims 67-73, The control of the walking crane system includes the following steps:

Receiving, through the control module, an operation instruction for a single-beam and multi-carbody hoisting system to execute a specified hoisting operation on the target building, which is input from the remote control terminal;

Moving the crane crane in the crane system to the operation area of the target building based on the operation instruction;

One or more crane trolleys are selected in the crane system, and the designated crane operation is executed cooperatively by controlling the one or more crane cranes.
The control method of the crane system according to claim 74, wherein the moving the crane truck in the crane system to the operation area of the target building based on the operation instruction comprises:

Constructing a three-dimensional coordinate system by means of laser navigation, analyzing the operation instructions and determining the operation area for performing the specified hoisting operation on the target building;

Determining the first traveling path of the crane and/or the second traveling path of the crane based on the three-dimensional coordinate system and the work area;

Control the crane and/or crane to move according to the first walking path and/or the second walking path.
The method for controlling a traveling crane system according to claim 75, wherein said constructing a three-dimensional coordinate system by means of laser navigation comprises:

Take the moving direction of the crane trolley on the crane as the X axis, the moving direction of the crane as the Y axis, and the moving direction of the lifting rod as the Z axis to construct a three-dimensional coordinate system;

When the crane and crane are both at the origin position, a laser beam is emitted to determine the origin coordinates.
The control method of the traveling crane system according to claim 75, wherein the first traveling path of the traveling crane and/or the traveling crane is determined based on the three-dimensional coordinate system and the work area. The second walking path of the trolley includes:

Based on the three-dimensional coordinate system, the direction of the crane and the displacement parameters of each of the crane trolleys in the X-axis direction and the Y-axis direction relative to the work area are respectively determined, and the first crane carriage is generated A walking path and/or a second walking path of each of the cranes.
The control method of the crane system according to claim 74, wherein the one or more crane trolleys are selected from the crane system, and the one or more crane trolleys are controlled to perform the operation in coordination. Describe the specified hoisting operations, including:

Select one or more crane trolleys in the crane system, and determine at least one end effector for each crane trolley to perform the designated crane operation based on the operation instruction;

The corresponding end effectors are automatically grasped by the robot arms of the crane trolleys, and the designated crane operation is executed in coordination.
The control method of the crane system according to claim 78, characterized in that, after the robot arm of each crane trolley automatically grabs the corresponding end effector and executes the designated crane operation in coordination, the method further comprises :

Acquiring, by the image acquisition device, continuous first image data of multiple angles when the crane trolley executes the specified crane operation time;

Based on the first image data, coordinate the sequence of each of the cranes to execute the specified crane operation.
The control method of the crane system according to claim 78, characterized in that, after the robot arm of each crane trolley automatically grabs the corresponding end effector and executes the designated crane operation in coordination, the method further comprises :

Acquiring, by the image acquisition device, second image data of the plurality of cranes after the specified crane operation is completed;

Perform detection based on the second image data, and determine whether the completion status of the specified hoisting operation meets a preset standard;

If the completion status of the designated hoisting operation meets the preset standard, continue to execute the next hoisting operation;

If the completion status of the designated hoisting operation does not meet the preset standard, the designated hoisting operation is executed again.
The method for controlling a crane system according to any one of claims 74-80, wherein the method further comprises:

If, during the execution of the designated crane operation, a sensor installed on any one of the cranes detects that there is a nearby crane that is less than the preset distance from the crane, the station is stopped. The walking crane or the neighboring crane.
The control method of the traveling crane system according to any one of claims 74-80, further comprising:

If during the execution of the designated crane operation, the crane is detected by a sensor set on any one of the cranes to contact the collision avoidance device of other cranes, the crane is controlled Or other crane trolleys run in the opposite direction of their original running direction.
A traveling crane system, characterized by comprising: a plurality of traveling crane units and a control module that controls the operation of the plurality of traveling crane units; wherein,

Each of the crane units includes a crane and one or more cranes movably arranged on the crane;

The crane is erected between two horizontal guide rails arranged in parallel on the climbing frame system through a cross beam, and the cross beam can move along the horizontal guide rail;

The crane trolley in the crane unit is movably arranged on the beam of the crane crane in the longitudinal direction.
The traveling crane system according to claim 83, wherein the traveling crane is provided with a telescopic rod along the vertical direction, the telescopic rod is provided with a mechanical arm, and the traveling crane passes through the mechanical arm. Connect the end effector.
The traveling crane system according to claim 83, wherein the traveling crane is further provided with an image acquisition device mechanical arm, the image acquisition device mechanical arm is provided with an image acquisition device, and the image acquisition device and The control module is electrically connected.
The traveling crane system of claim 83, wherein the traveling crane is further provided with a sensor manipulator arm, the sensor manipulator arm is provided with a sensor, and the sensor is electrically connected to the control module and used For detecting obstacles.
The traveling crane system according to any one of claims 83-86, wherein the traveling crane and the traveling crane are respectively provided with guide rail drives; the traveling crane and the traveling crane The guide rail drives on the crane trolley are respectively connected in communication with the control module.
A method for controlling a crane system, characterized in that it is applied to the crane system according to any one of claims 83-87, and the method comprises:

Receiving, through the control module, an operation instruction input from the remote control terminal to perform a specified hoisting operation on the target building;

Selecting one or more hoisting units in the hoisting system based on the operation instruction to allocate a working area when the designated hoisting operation is performed;

Each of the row hoisting units is moved to a corresponding work area, and the row hoisting units are controlled to cooperate to complete the designated row hoisting operation.
The control method of the crane system according to claim 88, characterized in that, based on the operation instruction, one or more crane units are selected in the crane system to allocate the specified crane operation Work area, including:

Construct a three-dimensional coordinate system by means of laser navigation;

The operation instruction is analyzed, and a preset allocation method is adopted to allocate respective work areas for each of the crane units based on the three-dimensional coordinate system and plan the walking path of each crane unit.
The control method of the traveling crane system according to claim 88, wherein said constructing a three-dimensional coordinate system by means of laser navigation comprises:

Take the moving direction of the crane trolley on the crane as the X axis, the moving direction of the crane as the Y axis, and the moving direction of the lifting rod as the Z axis to construct a three-dimensional coordinate system;

When the crane and crane are both at the origin position, a laser beam is emitted to determine the origin coordinates.
The method for controlling a crane system according to claim 90, wherein the operation instruction is analyzed, and a preset allocation method is used to allocate respective tasks to each of the crane units based on the three-dimensional coordinate system. Area and plan the walking path of each crane unit, including:

Analyze the operation instructions to determine the working area of each of the crane units;

Through laser navigation based on the X-axis and Y-axis coordinates continuously output by the three-dimensional coordinate system as the target positions of the crane and the crane, the walking path of the crane and the crane is obtained by continuous movement.
The control method of the traveling crane system according to claim 89, wherein the moving each of the traveling crane units to a corresponding work area, and controlling the various traveling crane units to cooperate to complete the designated traveling crane operation comprises :

Move the crane and crane trolley of each crane unit to the corresponding work area according to the walking path;

Control the coordinated movement of the crane trolley to complete the designated crane operation;

Wherein, when the coordinated movement of the crane trolleys on the multiple cranes is controlled to complete the designated crane operation, the cranes are independently controlled or the multiple cranes are combined control.
The control method of the crane system according to claim 92, wherein said controlling the coordinated movement of the crane car to complete the designated crane operation comprises:

For any crane unit, determine at least one end effector for the crane trolley in the crane unit based on the working area of the crane unit when performing the specified crane operation;

By controlling the robot arm of the crane trolley on each crane to automatically grab the corresponding end effector, the designated crane operation is executed in coordination.
The control method of the traveling crane system according to claim 93, wherein the robot arm of the traveling crane on each of the traveling crane automatically grabs the corresponding end effector and executes the Designated hoisting operations also include:

Acquiring, by the image acquisition device, continuous first image data of multiple angles of the crane trolley during the execution of the designated crane operation;

Based on the first image data, coordinate the order in which the crane trolleys on the cranes execute the specified crane operation.
The control method of the traveling crane system according to claim 93, wherein the robot arm of the traveling crane on each of the traveling crane automatically grabs the corresponding end effector and executes the After specifying the hoisting operation, it also includes:

Acquiring, by the image acquisition device, second image data of the crane trolley after the specified crane operation is completed;

Perform detection based on the second image data, and determine whether the completion status of the specified hoisting operation meets a preset standard;

If the completion status of the designated hoisting operation meets the preset standard, continue to execute the next hoisting operation;

If the completion status of the designated hoisting operation does not meet the preset standard, the designated hoisting operation is executed again.
The method for controlling a crane system according to any one of claims 88-95, further comprising:

If during the execution of the designated crane operation, the presence of an obstacle that is less than the preset distance from the crane is detected by a sensor set on any one of the crane trolleys, the preset avoidance is executed Barrier action.
A traveling crane system is characterized in that it comprises a multi-head mechanical arm, which comprises:

Connectors, which are used to install multi-head robotic arms;

The rotating flange can be rotatably arranged on the connecting piece;

A rotating electric machine, arranged on the connecting piece, for driving the rotating flange to rotate;

A plurality of single mechanical arms are fixed on the rotating flange without interference with each other and telescopically, and can rotate with the rotating flange.
The traveling crane system according to claim 97, wherein the rotating flange is rotatably arranged on the connecting member in a horizontal direction; the plurality of single mechanical arms are arranged on the rotating flange The bottom surface can be rotated in the horizontal direction with the rotating flange.
The traveling crane system according to claim 97, wherein the rotating flange is rotatably arranged on the connecting member in a vertical direction; and the plurality of single mechanical arms are circumferentially arranged on the rotating On the flange, and can rotate in the vertical direction with the rotating flange.
The traveling crane system according to claim 99, wherein the rotating flange includes two disk surfaces and a connecting arm connected between the two disk surfaces, and the plurality of single mechanical arms are arranged around the connecting arm. Upward, the rotating motor is arranged on one side of the rotating flange and drives the rotating flange to rotate in the vertical direction; an annular cavity is formed between the inner surfaces of the two disk surfaces, and the plurality of single mechanical arms It is telescopically arranged in the ring cavity. When it needs to work, the single mechanical arm extends out of the ring cavity, and when it does not need to work, the single mechanical arm retracts into the ring cavity.
The traveling crane system of claim 100, wherein the ring cavity is divided into a plurality of grooves, and the plurality of grooves correspond to the plurality of single mechanical arms one to one, so that the mechanical arms are mutually Don't interfere.
The traveling crane system of claim 101, wherein the plurality of single mechanical arms are equidistantly installed on the connecting arms.
The traveling crane system according to claim 102, wherein the connecting member is a frame rod, the lower end of which is in an inverted U shape, so that the rotating flange can be pivotally clamped on the inverted U shape In the bracket; the rotating motor is arranged on the frame rod to drive the rotating flange to rotate in the vertical direction.
The traveling crane system according to any one of claims 97-103, wherein the plurality of single robot arms are all multi-axis robot arms, and each of the multi-axis robot arms passes through the first joint shaft arm and The rotating flange is connected; the central axis of the first section shaft arm has a preset angle with the radial direction of the rotating flange.
The traveling crane system according to any one of claims 97-104, comprising a combined arm, the combined arm comprising a telescopic rod and the multi-head mechanical arm, the multi-head mechanical arm passing through the connecting piece Set on the telescopic rod.
The traveling crane system of claim 105, wherein the traveling crane system comprises a traveling crane, a traveling crane and the combined arm, and the traveling crane is slidably arranged on the traveling crane On; the combined arm is set on the crane trolley through a telescopic rod, and reciprocates with the crane trolley.
A control method of a crane system according to claim 106, characterized by comprising the following processes:

Control the crane trolley to slide on the crane;

After the crane trolley reaches the designated position, control the telescopic rod to expand and contract;

When the telescopic rod telescopes to a preset height, it controls the telescope of the single robotic arm that needs to be operated;

Control the rotating motor to drive the rotating flange to rotate to a preset angle, so that the single mechanical arm corresponding to the rotating angle of the rotating flange extends outward.
The control method of the traveling crane system according to claim 107, characterized in that,

When multiple single robotic arms are required for operation, the rotating motor controls the multiple single robotic arms to extend and work together.
The control method of the traveling crane system according to claim 108, wherein:

When multiple single robotic arms extend and perform operations at the same time, the priority among multiple single robotic arms is first determined; among them, the single robotic arm with the highest priority is the single robotic arm with the largest bearing capacity.