WO2023070257A1 - 一种智能吊装机器人 - Google Patents

一种智能吊装机器人 Download PDF

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Publication number
WO2023070257A1
WO2023070257A1 PCT/CN2021/126055 CN2021126055W WO2023070257A1 WO 2023070257 A1 WO2023070257 A1 WO 2023070257A1 CN 2021126055 W CN2021126055 W CN 2021126055W WO 2023070257 A1 WO2023070257 A1 WO 2023070257A1
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WO
WIPO (PCT)
Prior art keywords
tower body
walking
self
intelligent
stop
Prior art date
Application number
PCT/CN2021/126055
Other languages
English (en)
French (fr)
Inventor
王龙
何涛
李汉广
陈臻颖
范凯基
曹嘉利
郑创斌
赵文雁
叶文建
Original Assignee
广州五羊建设机械有限公司
广州建筑湾区智造科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 广州五羊建设机械有限公司, 广州建筑湾区智造科技有限公司 filed Critical 广州五羊建设机械有限公司
Priority to CN202180019673.XA priority Critical patent/CN116348408A/zh
Priority to PCT/CN2021/126055 priority patent/WO2023070257A1/zh
Publication of WO2023070257A1 publication Critical patent/WO2023070257A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/20—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes with supporting couples provided by walls of buildings or like structures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/18—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes
    • B66C23/26—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes specially adapted for use in particular purposes for use on building sites; constructed, e.g. with separable parts, to facilitate rapid assembly or dismantling, for operation at successively higher levels, for transport by road or rail
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • B66C23/62—Constructional features or details

Definitions

  • the present application relates to the technical field of construction machinery, in particular to an intelligent hoisting robot.
  • the horizontal and vertical structures of multi-high-rise concrete factory buildings are relatively regular, with the characteristics of modularization, standardization, and generalization, and have favorable conditions for the promotion and implementation of prefabricated buildings.
  • it is necessary to explore the prefabricated multi-high-rise concrete plant structure system that conforms to the characteristics of industrialized construction, and actively practice the new development concept of "innovative, coordinated, green, open and shared".
  • the inventor believes that there are defects: the use of prefabricated construction methods has high requirements for on-site hoisting machinery, and may greatly increase the construction cost, which further makes it difficult for prefabricated construction methods to be used in industrial upstairs concrete workshop projects. Promote apps.
  • the present application provides an intelligent hoisting robot to solve or at least partially alleviate at least some of the problems in the prior art.
  • An intelligent hoisting robot provided by the application adopts the following technical scheme:
  • An intelligent hoisting robot comprising a first tower body, the bottom of the first tower body is detachably connected to the floor through a temporary fixing mechanism; a self-elevating device connected to the main body of the tower crane, and the self-elevating device is slidably socketed through the lifting mechanism On the outer wall of the first tower body, the self-elevating device is provided with a stop safety mechanism that limits the sliding of the first tower body; the walking device is used to adjust the movement and fixation of the self-elevating device, and the walking device is movably arranged on the The bottom of the self-elevating device; the load-bearing mechanism, which is used to guide the movement of the walking device and is detachably installed on the beam body or floor of the factory building, and the load-bearing mechanism is movably connected with the running device.
  • the traveling device includes: a traveling chassis, the traveling chassis is connected to the bottom end of the self-elevating device; a traveling mechanism, the traveling mechanism is rotatably connected to the bottom of the traveling chassis and The lifting device travels; the regulating mechanism is used to regulate the walking of the traveling mechanism.
  • the traveling mechanism includes: several rotating shafts, and several rotating shafts are connected to the bottom of the traveling chassis; wheels with a wheel frame, and the wheel frame is rotatably connected to the end of the rotating shaft away from the traveling chassis through an adjustment mechanism .
  • the adjustment mechanism includes: a limit assembly, which is arranged on the running gear and is used to limit the steering of the running gear; a regulating assembly, which is arranged on the running gear and is used to control the walking Agency walking.
  • the limit assembly includes: a limit seat, which is rotatably connected to the running mechanism; a stopper, which is detachably arranged on the limit seat and used to limit the limit The rotation between the seat and the walking mechanism.
  • the regulating assembly includes: a driving member, which is used to drive the traveling mechanism; a locking component, which is movably connected with the load-bearing mechanism and used to limit the walking of the traveling mechanism; a sensor, The sensor is arranged on the driving part and is used to regulate the opening and closing of the driving part; the remote control part, the remote control part shares signals with the sensor and is used to control the walking of the running mechanism.
  • the load-bearing mechanism includes at least two groups as follows, each group includes: a movable conversion beam, which is detachably connected to the beam body of the plant; and a track, which is detachably connected to On the top of the movable transfer beam, the traveling mechanism is slidably connected to the track, and the locking part is movably connected to the track.
  • the self-elevating device includes: a second tower body, the second tower body is slidably socketed on the outer wall of the first tower body through a lifting mechanism, the bottom end of the second tower body is connected to the walking chassis connection; a fixing component, the fixing component is used for fastening the second tower body and the traveling underframe; a ballast component, the ballast component is used for fastening the second tower body and is detachably installed on the traveling support.
  • the lifting mechanism includes: a support assembly, the support assembly is detachably installed inside the first tower body; a jacking cylinder, one end of the jacking cylinder is connected to the support assembly, and the other end is connected to the second The bottom of the top of the second tower body; the traveling underframe is movably connected with a fastening assembly for limiting the sliding of the second tower body.
  • the stop safety mechanism includes: a stop bar, the stop bar is arranged on the first tower body; a stop hook matched with the stop bar, the stop hook is rotatably connected to the walking bottom The top of the frame; the side of the stop hook away from the ditch abuts against the walking chassis, and the other side is connected with the stop bar lock.
  • Fig. 1 shows a schematic structural diagram of an example of an intelligent hoisting robot according to some embodiments of the present application.
  • Fig. 2 shows a schematic diagram of the state of the intelligent hoisting robot ascending the stairs by itself according to some embodiments of the present application.
  • Fig. 3 shows a schematic diagram of a state where the intelligent hoisting robot completes going upstairs according to some embodiments of the present application.
  • Fig. 4 shows a schematic diagram of the connection between the traveling device and the jack-up device according to some embodiments of the present application.
  • Fig. 5 shows a schematic structural diagram of an example of a walking device according to some embodiments of the present application.
  • FIG. 6 shows an enlarged view of part A in FIG. 1 .
  • Fig. 7 shows an example diagram of an intelligent hoisting robot turning and moving according to some embodiments of the present application.
  • Fig. 8 shows an example diagram of the horizontal movement operation of the intelligent hoisting robot according to some embodiments of the present application.
  • Fig. 9 shows a schematic structural diagram of an example of a jack-up device in a lifting state according to some embodiments of the present application.
  • FIG. 10 shows an enlarged view of part B in FIG. 9 .
  • FIG. 11 shows an enlarged view of part C in FIG. 9 .
  • FIG. 12 shows an enlarged view of part D in FIG. 9 .
  • Fig. 13 shows an example diagram of the open and closed state of the fastening assembly according to some embodiments of the present application.
  • FIG. 14 shows an enlarged view of part E in FIG. 9 .
  • the term “comprising” and variations thereof are to be read as open-ended terms meaning “including but not limited to”.
  • the term “based on” is to be read as “based at least in part on”.
  • the terms “one embodiment” and “an embodiment” are to be read as “at least one embodiment.”
  • the term “another embodiment” should be understood as “at least one other embodiment”.
  • the terms “first”, “second”, etc. may refer to different or the same object. Other definitions, both express and implied, may be contained below. Definitions of terms are consistent throughout the specification, unless the context clearly dictates otherwise.
  • the assembly-type construction method Due to the weight of the hoisting unit and the hoisting radius of the existing related technologies, the assembly-type construction method has high requirements for on-site hoisting machinery, and often requires the deployment of multiple large-scale tower cranes, or the use of large-scale truck cranes and crawler cranes.
  • the cost is high and unavoidable This has brought about a substantial increase in construction costs, making it difficult to popularize and apply prefabricated construction methods in industrial upstairs concrete plant projects, or a large number of industrial upstairs concrete plant construction projects may still adopt labor-intensive and extensive cast-in-place construction modes , resulting in low efficiency.
  • the application provides an intelligent hoisting robot.
  • some example embodiments of the present application will be described with reference to FIGS. 1-14 . It should be noted that, in the following description, the present application is applied to a multi-story concrete factory building construction project. However, the scope of the present application is not limited thereto, and any intelligent hoisting robot that can be used as described herein falls within the scope of the present application.
  • FIG. 1 shows a schematic diagram of an example structure of an intelligent hoisting robot according to some embodiments of the present application.
  • the intelligent hoisting robot includes a first tower body 1, a self-elevating device 2, a walking device 3 and a load-bearing mechanism; wherein the bottom of the first tower body 1 is detachably connected to the building through a temporary fixing mechanism On the surface, the first tower body 1 can be temporarily fixed by the temporary fixing mechanism; the top of the self-elevating device 2 is connected to the main body of the tower crane 20, and the self-elevating device 2 is slidably socketed on the outer wall of the first tower body 1 through the lifting mechanism, and automatically
  • the lifting device 2 is provided with a stop safety mechanism that limits the sliding of the first tower body 1;
  • the running device 3 is movably arranged at the bottom of the self-elevating device 2, and is used to adjust the moving and fixed running device 3 of the self-elevating device 2; the load-
  • Fig. 2 shows a schematic diagram of the state of the intelligent hoisting robot climbing upstairs according to some embodiments of the present application
  • Fig. 3 shows a schematic diagram of the state of the intelligent hoisting robot completing the upstairs according to some embodiments of the present application.
  • the intelligent hoisting robot restricts the sliding of the first tower body 1 through the stop safety mechanism, and then installs the load-bearing mechanism on the bottom floor, and the walking device 3 passes through the guide of the load-bearing mechanism.
  • the intelligent hoisting robot to move horizontally; then when turning the direction, first remove the load-bearing mechanism and install it in the direction after turning, then use the lifting mechanism to make the walking device 3 self-lift, then change the direction of the walking device 3, and then pass the lifting mechanism Make the walking device 3 fall back and reset and limit the sliding of the first tower body 1 through the stop safety mechanism, so that the intelligent hoisting robot can turn horizontally and move the work through the load-bearing mechanism.
  • the secondary beam and floor slab between the last columns are reserved for the passage of the intelligent hoisting robot to self-elevate upstairs, and the first tower body 1 is supported on the floor by a temporary fixing mechanism.
  • the self-elevating device is lifted in the pre-reserved passage through the lifting mechanism, and the load-bearing mechanism placed in the predetermined position near the passage is installed on the beam body of the factory building, and the walking device 3 is further flexibly connected to the reserved passage.
  • the load-bearing mechanism at the top is then released from the limitation of the temporary fixing mechanism, and the first tower body 1 is lifted and reset by the lifting mechanism, and then the sliding of the first tower body 1 is limited by the stop safety mechanism, and finally the hoisting robot is lifted by the walking device 3 Mobile work can be done on this level.
  • an intelligent hoisting robot includes a first tower body 1, a self-elevating device 2 connected to the tower crane main body 20, a walking device 3, and a load-bearing mechanism; the intelligent hoisting robot or its structures include some or all of the following embodiments technical characteristics. It can be understood that the intelligent hoisting robot includes but is not limited to the tower crane body, the self-elevating device 2 and the traveling device 3 and so on. Through the cooperation of the tower crane body, self-elevating device 2 and running device 3, a single piece of equipment can achieve full coverage of floor hoisting operations, and further achieve the functions of self-elevating upstairs and horizontal self-moving along the floor.
  • Fig. 4 is a schematic diagram of the connection between the traveling device and the jack-up device according to some embodiments of the present application.
  • the traveling device 3 includes a traveling chassis 31 , a traveling mechanism and an adjusting mechanism.
  • the traveling underframe 31 adopts an assembled space truss structure, and the external dimensions of the traveling underframe 31 are designed according to the column distance of the plant layout.
  • the top of the walking underframe 31 is connected to the bottom of the self-elevating device 2, and the traveling underframe 31 rises and falls together with the self-elevating device 2, and the center of the walking underframe 31 is provided with a cavity 310 for the first tower body 1 to pass through.
  • a stop safety mechanism is provided on the edge of the cavity 310 at the top of the traveling chassis 31 to limit the sliding of the first tower body 1 into the cavity 310 .
  • the bottom of the walking underframe 31 is rotatably connected with the running gear, wherein the running gear is used to make the self-elevating device 2 walk in the horizontal direction.
  • Fig. 5 is a schematic structural diagram of an example of a walking device according to some embodiments of the present application.
  • the traveling mechanism includes wheels 32 and rotating shafts 313; wherein, at least four mounting seats 314 corresponding to the rotating shafts 313 are fixed on the bottom of the traveling chassis 31 and are arranged in a rectangular shape.
  • Seat 314 can adopt bolt to be fixed on the bottom of walking underframe 31.
  • the wheel 32 is covered with a wheel frame 321, one end of the rotating shaft 313 is fixed on the mounting seat 314, and the other end is rotatably connected to the wheel frame 321 through an adjustment mechanism, and the wheel 32 is rollingly connected with the load-bearing mechanism to make the walking chassis 31 walking by load-bearing mechanism.
  • Fig. 6 is an enlarged view of part A in Fig. 1 .
  • the load-bearing mechanism includes at least two groups as follows, each group includes a movable conversion beam 331 and a track 33; wherein, the movable conversion beam 331 adopts "H" steel, and the movable conversion The beam 331 is detachably supported on the beam body of the factory building through embedded parts or bolts.
  • Fig. 7 is an example diagram of the horizontal movement operation of the hoisting robot according to some embodiments of the present application. Referring to Fig.
  • the beam body of the plant includes several pairs of first frame beams 100 and several pairs of second frame beams 101, wherein the arrangement and installation direction of each pair of first frame beams 100 is the intelligent lifting robot
  • the moving direction is the same, every pair of second frame beams 101 is perpendicular to the installation direction (i.e. the moving direction of the intelligent hoisting robot), and every pair of first frame beams 100 and every pair of second frame beams 101 roughly form a rectangle.
  • a secondary beam is arranged between the two second frame beams 101 , and the arrangement direction of the secondary beam and the second frame beam 101 is the same.
  • the first frame beam 100 and the second frame beam 101 are reinforced concrete beams, and the movable conversion beam 331 is easily supported on the first frame beam 100,
  • the track 33 adopts a steel rail, and the track 33 is detachably fixed to the movable conversion beam 331 through a pressure plate or a high-strength bolt, and the wheels 32 are rollingly connected to the track 33 to drive the movement of the walking chassis 31. walk.
  • Fig. 8 shows an example diagram of the horizontal movement operation of the intelligent hoisting robot according to some embodiments of the present application.
  • the movable transfer beam 331 and the track 33 on it can be set according to the structural layout of the factory building and the installation plan. Sequence a group of movable conversion beams 331 and tracks 33, use the intelligent hoisting robot to lift and undertake the installation of the mobile conversion beams 331 and tracks 33 under them, so that they can be reused alternately.
  • the adjustment mechanism includes a limit assembly and a control assembly; wherein, the limit assembly is used to limit the steering of the running mechanism.
  • the limit assembly includes a limit member and a stop member, wherein one end of the limit seat 312 is rotatably connected to an end of the rotating shaft 313 away from the mounting seat 314, and the other end is fixed on the top of the wheel frame 321; the stop member includes a stop pin 315,
  • the rotating shaft 313 is provided with a pair of through holes 316 that are compatible with the stop pins 315 and connected;
  • the through hole 316 of the seat In at least one embodiment, at least two pairs of through holes 316 of the limit seat 312 are arranged in a cross at an interval of 90 degrees. Such a design method can facilitate the turning of the wheel 32 to 90 degrees.
  • the through hole 316 of the limit seat is convenient to make the hoisting robot turn to the mobile operation.
  • the regulating assembly is used to control the walking of the traveling mechanism, and the regulating assembly includes a driving member 322 , a locking component, a sensor and a remote control component.
  • the driving part 322 can adopt a motor
  • the driving part 322 is installed on the side wall of the wheel frame 321
  • the driving part 322 is fixedly connected with the wheel 32
  • the driving part 322 drives the wheel 32 to roll on the track 33.
  • the walking of the wheel 32 is limited by the locking part;
  • the rail clamp 323 limits the rolling of the wheel 32 through its own nut and the track 33; in addition, by adjusting the nut, the rail clamp 323 rolls along with the wheel 32, which can increase the safety and stability of the intelligent hoisting robot during walking. sex.
  • the above rail clamp 323 is an exemplary description, and the rail clamp 323 can also be electric.
  • a sensor is provided on the driver 322, and the sensor is used to regulate the start and stop of the driver 322.
  • the sensor adopts a displacement sensor (not shown in the figure), and the remote control component Including a remote controller, the remote controller and the sensor share signals, and the walking of the wheels 32 can be remotely controlled through the remote controller.
  • Fig. 9 is a schematic structural diagram of an example of a jack-up device in a lifting state according to some embodiments of the present application.
  • the first tower body 1 adopts a metal structure, and the first tower body 1 is assembled from a base section 11 and a modular standard section 12; the base section 11 is fixedly connected to the standard section
  • the bottom of 12 and the bottom of foundation section 11 are detachably connected with a temporary fixing mechanism, and the temporary fixing mechanism is detachably connected to the floor.
  • the temporary fixing mechanism includes a temporary backing beam 17, and the temporary backing beam 17 is temporarily fixed to the floor by bolts, thereby facilitating the fixing of the first tower body 1 .
  • FIG. 10 is an enlarged view of part B in FIG. 9 .
  • the stop safety mechanism includes a stop hook 311; the stop bar 13 is installed at the bottom of the foundation section 11 or the cross bar at the bottom of the foundation section 11 close to the stop safety mechanism is used as a stop.
  • Moving bar 13 one end of stop hook 311 away from the mouth of the hook rotates upwards and is hinged on the edge of the cavity 310 at the top of the chassis 31 for walking.
  • One side of the tower abuts against the walking bracket, and the other side is locked and connected with the stop rod 13.
  • the setting of the stop hook 311 limits the sliding of the first tower body 1 under the action of its own gravity, thereby facilitating the horizontal lifting of the hoisting robot. walk.
  • the jack-up device 2 includes a second tower body 21 , a fixing component and a ballast component.
  • the second tower body 21 is assembled by modularized standard sections 12, the top of the second tower body 21 is connected with the main body of the tower crane 20, the bottom end of the second tower body 21 is connected with the cavity of the traveling chassis 31
  • the edges of the hole 310 are fixedly connected by high-strength bolts;
  • the main body of the tower crane 20 includes but is not limited to a slewing device, a jib, a lifting device, a luffing device, an adjustable counterweight, and the like.
  • the top of the second tower body 21 is provided with a connecting frame, the top of the connecting frame is fixed with an upper base 212, and the second tower body 21 is provided with a passage for the first tower body 1 to slide right below the upper base 212, and the second tower body 21 Slidingly socketed on the outer wall of the first tower body 1 through the lifting mechanism.
  • Fig. 11 is an enlarged view of part C in Fig. 9 .
  • the support assembly includes jacking beams 18 and at least two sets of lower bases 16, at least two sets of lower bases 16 are arranged up and down along the extending direction of the first tower itself, each set of lower bases 16 There are at least two bases 16 , each set of lower bases 16 is arranged on opposite sides along the horizontal diagonal direction of the standard section 12 of the first tower body 1 , and a jacking beam 18 is detachably connected between the two opposite lower bases 16 .
  • Fig. 12 is an enlarged view of part D in Fig. 9 .
  • the lifting mechanism includes a jacking cylinder 14 and a support assembly; one end of the jacking cylinder 14 is fixed to the support assembly, and the other end is fixed to the upper base 212, and the second tower body 21 is controlled by the expansion and contraction of the jacking cylinder 14.
  • the range of the maximum extension cylinder length of the jacking cylinder 14 is 8m-12m; it should be noted that the second tower body 21 is a holding mechanism during the operation of the intelligent hoisting robot, and the first tower body 1 is used as a self-elevating Support structure and guide mechanism when working upstairs.
  • Fig. 13 shows an example diagram of the open and closed state of the fastening assembly according to some embodiments of the present application.
  • the traveling underframe 31 is movably connected with a fastening assembly, and the fastening assembly is used to restrict the second tower body 21 from sliding downward.
  • the fastening assembly is used to restrict the second tower body 21 from sliding downward.
  • the fastening assembly includes several fastening blocks 317 and some fastening seats 213; the fastening seats 213 are grouped up and down along the extension direction of the first tower body 1 and arranged at predetermined heights, and the top of the fastening seats 213 is provided with fastening blocks 317 is compatible with the card slot 214; the fastening block 317 is rotatably connected to the walking chassis 31, and the same side of both ends of the fastening block 317 is provided with chamfers.
  • the fastening block 317 is set One side of the chamfer has a predetermined distance from the first tower body 1, and the other side abuts against the inner wall of the cavity 310 of the traveling underframe 31.
  • the setting of the chamfer can reduce the fastening block 317 touching the first tower during the sliding process.
  • the body of the tower affects the possibility of the intelligent robot climbing the building.
  • the fastening block 317 is rotated and snapped into the slot 214 of the fastening block 317, and the side of the fastening block 317 away from the chamfering is simultaneously abutted against On the bottom of the traveling underframe 31 and the draw-in groove 214 to limit the sliding of the second tower body 21 .
  • the supporting assembly includes a jacking beam 18 and two sets of lower bases 16, and the two sets of lower bases 16 are arranged up and down along the extending direction of the first tower itself, and each set of lower bases 16 includes at least two, and each set of lower bases 16 is arranged on opposite sides along the horizontal diagonal direction of the standard section 12 of the first tower body 1 , and a jacking beam 18 is detachably connected between the two opposite lower bases 16 .
  • the fastening blocks 317 are arranged in two groups, and each group includes two fastening blocks 317, and the two groups of fastening blocks 317 are respectively arranged on opposite sides of the walking chassis 31 along the direction perpendicular to the extension of the first tower body 1; 213 is arranged in two groups and grouped up and down at predetermined heights along the extension direction of the first tower body 1, each group includes four fastening seats 213, and each group of fastening seats 213 is arranged along the circumference of the first tower body 1 in a matrix arranged.
  • the intelligent hoisting robot adopts the retracting cylinder of the jacking beam 18 from the lower base 16 at the bottom through the jacking cylinder. Work and be installed on the higher lower base 16 of height.
  • the specific operation is as follows, with reference to Fig. 9 and Fig.
  • FIG. 14 is an enlarged view of part E in FIG. 9 .
  • the bottom of the jacking cylinder 14 is fixed to the jacking beam 18, and the operating end of the jacking cylinder 14 is fixed to the upper base 212; in at least one embodiment, the support assembly is also Including several rollers 15; the second tower body 21 is provided with at least two groups of rollers 15 up and down along its own extension direction, and each group includes eight rollers 15, and eight rollers 15 are formed in pairs along the inner circumference of the second tower body 21.
  • Matrix distribution when the second tower body 21 is raised and lowered, the rollers 15 slide along the extension direction of the first tower body 1 so that the sliding between the first tower body 1 and the second tower body 21 is smooth, and the height of the second tower body 21 is increased. Anti-overturning stability.
  • the self-elevating device 2 and the running device 3 cooperate to adjust the steering of the running device 3 .
  • the stop hook 311 can be released first from the limit of the stop bar 13 of the first tower body 1, then the first tower body 1 is fixed to the floor or frame beam through the temporary pad beam 17, and then the second tower body 1 is fixed by the jacking cylinder 14.
  • the tower body 21 rises to a predetermined height, and then the wheel 32 is rotated to a predetermined angle and the through hole 316 of the limit seat 312 is aligned with the through hole 316 of the rotating shaft 313, and the stop pin 315 is simultaneously installed on the limit seat 312 and the through hole 316 of the rotating shaft 313.
  • Body 1 is promoted and reset, and then the stop hook 311 limits the sliding of the second tower body 21, and the hoisting robot can turn to the horizontal movement operation.
  • the intelligent hoisting robot sets two sets of movable conversion beams 331 and its paired rails 33, and first lifts a group of movable transfer beams 331 and its paired rails 33 to the floor to be completed near the predetermined installation position and does not affect the predetermined channel for the intelligent hoisting robot to ascend upstairs, then remove the restriction of the first tower body 1 by the stop hook 311 on the walking chassis 31, and make the first tower body 1 pass through the temporary pad
  • the beam 17 is supported on the floor, and then the nut of the rail clamp 323 is manipulated to separate the wheel 32 from the track 33 .
  • the fixing part includes several diagonal braces 22 arranged along the circumference of the second tower body 21, one end of the diagonal braces 22 is fixed to the second tower body 21, and the other end is fixed to the second tower body.
  • walking underframe 31 In at least one embodiment, at least four diagonal braces 22 are arranged between the walking underframe 31 and the outer tower body. It can also be in other shapes, and accordingly, an adaptive design can be made according to the actual size and installation.
  • the traveling underframe 31 , the outer tower body and the diagonal brace 22 between them form a solid whole, which increases the stability of the second tower body 21 during the moving process.
  • the ballast parts include a ballast block 23, the ballast block 23 adopts a concrete block or a metal block, and the ballast block 23 is set on the walking platform by using the main body of the tower crane 20 or a car crane.
  • the weight block 23 increases the anti-overturning stability and safety of the intelligent hoisting robot during the operation of the intelligent hoisting robot, and the weight block 23 enables the intelligent hoisting robot to work stably.
  • a method for using an intelligent hoisting robot includes the following steps: installation, use, disassembly, and the like.
  • movable transfer beams 331 are first installed along the walking route of the intelligent hoisting robot by tower crane or automobile crane, each group includes two movable transfer beams 331 arranged in parallel, and two adjacent groups of transfer beams 331
  • the movable conversion beam 331 should be connected end to end and detachably installed on the top of the second frame beam 101 through the arrangement of embedded parts. Then the track 33 for the intelligent tower crane robot to walk is set on the mobile conversion beam 331, the track 33 adopts a steel rail, and the track 33 and the mobile conversion beam 331 are fixed together by pressing plates or high-strength bolts.
  • the first tower body 1 of the intelligent hoisting robot is temporarily fixed on the floor through the temporary pad beam 17, and the assembly of the first tower body 1 is completed by using a tower crane or a truck crane, and the jacking cylinder 14, the jacking beam 18 and the first tower body are completed.
  • the connection between tower body 1 is installed.
  • the main body 20 of the tower crane is a conventional configuration, and will not be repeated here.
  • the first tower body 1, the second tower body 21 and the jacking cylinder 14 are assembled into a whole on the ground by using a tower crane or a car, and then hoisted to the walking chassis 31 to complete the second tower body 21 is fixed with the connection of walking underframe 31.
  • the second tower body 21 is used as a load-bearing structure, and the first tower body 1 is stored on the top of the walking chassis 31 using a stop safety mechanism.
  • the stop hook 311 on the top of the traveling underframe 31 is connected to the lock of the stop bar 13 of the first tower body 1 to limit the sliding of the first tower body 1 and make the first tower body 1 at a predetermined height. And higher than the walking underframe 31 to facilitate the walking of the intelligent hoisting robot in the later stage.
  • the steering of the intelligent hoisting robot is completed through the cooperation of the self-elevating device 2 and the walking device 3 .
  • first remove the restriction of the stop safety mechanism on the walking chassis 31 to the first tower body 1 use the jacking oil cylinder 14 to control the first tower body 1 to slide downward, and then make the first tower body 1 support Temporarily fix on the temporary pad beam 17; open the rail clamp 323 again, utilize the self-elevating function of the intelligent hoisting robot to separate the walking device 3 from the track 33 and raise the predetermined height, and move the mobile conversion beam at the bottom of the intelligent hoisting robot 331 and the track 33 on it are dismantled and turned to 90° to lay the turned track 33, and then the intelligent hoisting robot is manipulated to make the walking device 3 also turn to 90°, and fall back to be connected to the turned track 33 for installation, and then the follow-up sequence can be carried out walking and hoisting operations.
  • the hoisting operation of the intelligent hoisting robot along the floor plane According to the hoisting progress of the intelligent hoisting robot, the intelligent hoisting robot itself is used to complete the longitudinal (laying direction along the mobile transition beam 331 and the track 33) through the alternate removal and laying of at least two groups of mobile conversion beams 331 and tracks 33 laid above. ) for walking and hoisting work.
  • step b when the intelligent hoisting robot travels to the last column room on the floor, the prefabricated secondary beams and prefabricated laminated floor slabs between the columns will not be installed temporarily, and will be reserved as a vertical channel for the intelligent hoisting robot to self-elevate upstairs.
  • the pre-sequence mobile transfer beam 331 and its paired track 33 are hoisted to the vicinity of the planned installation position on the floor to be completed, without affecting the intelligence.
  • the hoisting robot self-elevates the passage upstairs; then removes the restriction of the stop hook 311 on the walking chassis 31 to the first tower body 1, and makes the first tower body 1 support on the floor through the temporary pad beam 17, and then manipulates the clip Rail tool 323 nuts make wheel 32 break away from track 33.
  • the lifting cylinder 14 is further used to complete the fall of the traveling device 3 and to make the wheel 32 and the track 33 be connected, and at the same time, the possibility of the wheel 32 rolling is limited by the rail clamp 323; finally , with reference to Fig.
  • the first tower body 1 is lifted and reset by the shrinking operation of the jacking cylinder 14, and the locking hook 311 is connected with the stop rod 13 to limit the sliding of the first tower body 1, and then the intelligent robot Complete self-elevating upstairs and can carry out mobile operations on subsequent construction floors.
  • the intelligent hoisting robot can reduce the possibility of generating bending moments through adjustable counterweight or temporary counterweight measures.
  • the smart hoisting robot adopts the method of passing the jacking beam 18 through the lower base 16 at the bottom
  • the shrinking cylinder operation of jacking oil cylinder is also installed on the next group of lower base 16 that height is higher. The specific operation is as follows, with reference to Fig. 9 and Fig.
  • a tower crane or a truck crane, or a pole can be used to disassemble and disassemble each assembly unit of the intelligent hoisting robot according to the principle of top-down, and dismantle the tower crane main body 20, jacking Oil cylinder 14, second tower body 21, weight block 23, traveling underframe 31, first tower body 1, movable conversion beam 331 and track 33.

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Abstract

一种智能吊装机器人，包括第一塔身（1），第一塔身（1）底部通过临时固定机构可拆卸连接于楼面；与塔吊主体（20）连接的自升装置（2），自升装置（2）通过升降机构滑动套接于第一塔身（1）外壁，自升装置（2）设有限定第一塔身（1）滑动的止动安全机构；用于调节自升装置（2）移动和固定的行走装置（3），行走装置（3）活动设置于自升装置（2）的底部；承重机构，承重机构用于导引行走装置（3）移动的且可拆卸安装于厂房的梁体或楼面，承重机构与行走装置（3）活动连接。该智能吊装机器人可自升上楼，可沿楼面水平自移，突破了传统吊装设备易受吊重和作业半径限制的技术瓶颈。

Description

一种智能吊装机器人 技术领域
本申请涉及建筑机械的技术领域，尤其是涉及一种智能吊装机器人。
背景技术
目前，多高层混凝土厂房水平及竖向结构较为规则，具有模块化、标准化、通用化特点，具有推广实施装配式的有利条件。为响应国家、各级政府大力推广装配式建筑的号召，应探索符合工业化建造特征的装配式多高层混凝土厂房结构体系，积极践行“创新协调绿色开放共享”的新发展理念。
工业上楼混凝土厂房一般跨度大、层高高，构件尺寸大、重量重，由于吊装单元重量和吊装半径的需要，现有的相关技术采用装配式建造方式，往往需要布设多台大型塔吊，或采用大型汽车吊、履带吊；或者采用现浇施工模式。
针对上述中的相关技术，发明人认为存在缺陷有：采用装配式建造方式对现场吊装机械的要求高，并且可能使建造成本大幅增加，进一步使装配式建造方式在工业上楼混凝土厂房项目中难以推广应用。
发明内容
本申请提供了一种智能吊装机器人，以解决或者至少部分上缓解现有技术中的至少部分问题。
本申请提供的一种智能吊装机器人采用如下的技术方案：
一种智能吊装机器人，包括第一塔身，所述第一塔身底部通过临时固定机构可拆卸连接于楼面；与塔吊主体连接的自升装置，所述自升装置通过升降机构滑动套接于第一塔身外壁，所述自升装置设有限定第一塔身滑动的止动安全机构；行走装置，所述行走装置用于调节自升装置移动和固定，所述行走装置活动设置于自升装置的底部；承重机构，所述承重机构用于导引行走装置移动的且可拆卸安装于厂房的梁体或楼面，所述承重机构与行走装置活动连接。
在一些实施例中，所述行走装置包括：行走底架，所述行走底架连接于自升装置的底端；行走机构，所述行走机构转动连接于行走底架的底部且用于使自升装置行走；调节机构，所述调节机构用于调节行走机构的行走。
在一些实施例中，所述行走机构包括：若干转轴，若干所述转轴连接于行走底架的底部；具有车轮架的车轮，所述车轮架通过调节机构转动连接于转轴远离行走底架的一端。
在一些实施例中，所述调节机构包括：限位组件，所述限位组件设置于行走机构且用于限定行走机构的转向；调控组件，所述调控组件设置于行走机构且用于控制行走机构的行走。
在一些实施例中，所述限位组件包括：限位座，所述限位座与行走机构转动连接；止动部件，所述止动部件可拆卸设置于限位座且用于限定限位座与行走机构之间的转动。
在一些实施例中，所述调控组件包括：驱动件，所述驱动件用于驱动行走机构的行走；锁定部件，所 述锁定部件与承重机构活动连接且用于限定行走机构的行走；传感器，所述传感器设置于驱动件且用于调控驱动件的启闭；远程遥控部件，所述远程遥控部件与传感器共享信号，且用于控制行走机构的行走。
在一些实施例中，所述承重机构包括以下至少两组，每组均包括：移动式转换梁，所述移动式转换梁可拆卸连接于厂房的梁体；轨道，所述轨道可拆卸连接于移动式转换梁顶部，所述行走机构与轨道滑动连接，所述锁定部件与轨道活动连接。
在一些实施例中，所述自升装置包括：第二塔身，所述第二塔身通过升降机构滑动套接于第一塔身外壁，所述第二塔身的底端与行走底架连接；固定组件，所述固定组件用于紧固第二塔身与行走底架；压重组件，所述压重组件用于紧固第二塔身且可拆卸安装于行走支架。
在一些实施例中，所述升降机构包括：支撑组件，所述支撑组件可拆卸安装于第一塔身内侧；顶升油缸，所述顶升油缸的一端连接于支撑组件、另一端连接于第二塔身顶端的底部；所述行走底架活动连接有用于限定第二塔身滑动的紧固组件。
在一些实施例中，止动安全机构包括：止动杆，所述止动杆设置于第一塔身；与止动杆相适配的止动钩，所述止动钩转动连接于行走底架顶部；所述止动钩远离沟口的一侧抵接于行走底架、另一侧与止动杆锁扣连接。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例的附图做简单的介绍，显而易见地，下面描述中的附图仅仅涉及本申请的一些实施例，而非对本申请的限制。
图1示出了根据本申请的一些实施方式的智能吊装机器人的示例结构示意图。
图2示出了根据本申请的一些实施方式的智能吊装机器人自升上楼状态的示意图。
图3示出了根据本申请的一些实施方式的智能吊装机器人完成上楼状态的示意图。
图4示出了根据本申请的一些实施方式的行走装置与自升装置连接的示意图。
图5示出了根据本申请的一些实施方式的行走装置的示例结构示意图。
图6示出了图1中A部分的放大图。
图7示出了根据本申请的一些实施方式的智能吊装机器人转向移动作业的示例图。
图8示出了根据本申请的一些实施方式的智能吊装机器人水平移动作业的示例图。
图9示出了根据本申请的一些实施方式的自升装置处于起升状态的示例结构示意图。
图10示出了图9中B部分的放大图。
图11示出了图9中C部分的放大图。
图12示出了图9中D部分的放大图。
图13示出了根据本申请的一些实施方式的紧固组件打开与关闭状态的示例图。
图14示出了图9中E部分的放大图。
附图标记说明：100、第一框架梁；101、第二框架梁；1、第一塔身；11、基础节；12、标准节；13、止动杆；14、顶升油缸；15、滚轮；16、下底座；17、临时垫梁；18、顶升横梁；2、自升装置；20、塔吊主体；21、第二塔身；211、安装架；212、上底座；213、紧固座；214、卡槽；22、斜撑；23、压重块； 3、行走装置；31、行走底架；310、腔洞；311、止动钩；312、限位座；313、转轴；314、安装座；315、止动销；316、通孔；317、紧固块：32、车轮；321、车轮架；322、驱动件；323、夹轨器；33、轨道；331、移动式转换梁。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例的附图，对本申请实施例的技术方案进行清楚、完整地描述。显然，所描述的实施例是本申请的一部分实施例，而不是全部的实施例。基于所描述的本申请的实施例，本领域普通技术人员在无需创造性劳动的前提下所获得的所有其他实施例，都属于本申请保护的范围。
如本文所使用的，术语“包括”及其变体将被解读为意指“包括但不限于”的开放式术语。术语“基于”将被解读为“至少基于部分”。术语“一个实施方式”和“实施方式”应被理解为“至少一个实施方式”。术语“另一实施方式”应理解为“至少一个其他实施方式”。术语“第一”、“第二”等可以指代不同或相同的对象。在下面可能包含其他明确的和隐含的定义。除非上下文另外明确指出，否则术语的定义在整个说明书中是一致的。
此外，需要说明的是，在本申请的实施方式中提及的各种数值都是示例性的，本申请并不局限于此。而是可以根据实际设计需求更改这些数值，以实现基本同样的作用和效果。
现有相关技术由于吊装单元重量和吊装半径的需要，采用装配式建造方式对现场吊装机械的要求很高，往往需要布设多台大型塔吊，或采用大型汽车吊、履带吊，成本高昂，不可避免带来建造成本的大幅增加，导致装配式建造方式在工业上楼混凝土厂房项目中难以推广应用，或者大量的工业上楼混凝土厂房建设项目可能仍然采用劳动密集型的、粗放式的现浇施工模式，造成效率低下。
为此，本申请提供了一种智能吊装机器人。在下文中，将参考图1-14来描述本申请的一些示例实施方式。需要注意的是，在下文描述中，将本申请应用于多高层混凝土厂房建设项目。但是本申请的范围不局限于此，任何能够采用在此描述的智能吊装机器人均涵盖在本申请的范围内。
首先参考图1，图1示出了根据本申请的一些实施方式的智能吊装机器人示例结构的示意图。如图1所示，在一些实施例中，智能吊装机器人包括第一塔身1、自升装置2、行走装置3以及承重机构；其中第一塔身1底部通过临时固定机构可拆卸连接于楼面，通过临时固定机构可以对第一塔身1进行临时固定；自升装置2的顶部与塔吊主体20连接，且自升装置2通过升降机构滑动套接于第一塔身1外壁，且自升装置2设有限定第一塔身1滑动的止动安全机构；行走装置3活动设置于自升装置2的底部，用于调节自升装置2移动和固定的行走装置3；承重机构与行走装置3活动连接且用于导引行走装置3的移动。
图2示出了根据本申请的一些实施方式的智能吊装机器人自升上楼状态的示意图；图3示出了根据本申请的一些实施方式的智能吊装机器人完成上楼状态的示意图。在一些实施例中，在混凝土厂房建设过程中，智能吊装机器人通过止动安全机构限定第一塔身1的滑动，接着将承重机构安装于最底层的楼面，行走装置3通过承重机构的导引，使智能吊装机器人水平移动作业；然后转动方向时，先拆卸承重机构并安装于转向后的方向上，接着通过升降机构使行走装置3自升，再改变行走装置3转向，再通过升降机构使行走装置3回落复位并通过止动安全机构限定第一塔身1的滑动，使智能吊装机器人通过承重机构可以水 平转向并移动作业。
在即将完成一层厂房的吊装安装时，预留最后一个柱间的次梁、楼板暂不安装作为智能吊装机器人自升上楼的通道，先通过临时固定机构将第一塔身1支承于楼面，再通过升降机构使自升装置在预先预留的通道中自升，并将事先放置通道近旁预定位置的承重机构安装于厂房的梁体，进一步将行走装置3活动连接于预留的通道顶部的承重机构，然后解除临时固定机构的限定，且通过升降机构使第一塔身1提升复位，再通过止动安全机构限定第一塔身1的滑动，最后再通过行走装置3使吊装机器人可以在该层进行移动作业。
在一些实施例中，一种智能吊装机器人包括第一塔身1、与塔吊主体20连接的自升装置2、行走装置3以及承重机构；智能吊装机器人或其各结构包括以下部分或全部实施例的技术特征。可以理解的是，智能吊装机器人包括但不限于塔吊本体、自升装置2以及行走装置3等。通过塔吊本体、自升装置2以及行走装置3的配合，满足单台设备实现楼层吊装作业的全覆盖，进一步达到能够自升上楼以及沿楼面水平自移的作用。
图4是根据本申请的一些实施方式的行走装置与自升装置连接的示意图。在一些实施例中，如图4所示，行走装置3包括行走底架31、行走机构以及调节机构。其中，行走底架31采用装配式空间桁架结构形式，行走底架31的外形尺寸根据厂房平面布置的柱距设计。行走底架31的顶部连接于自升装置2的底端，行走底架31随着自升装置2一同升降，行走底架31的中心位置开设有供第一塔身1通过的腔洞310，在行走底架31顶部的腔洞310边沿设置止动安全机构，用于限定第一塔身1向腔洞310内滑动。行走底架31的底部与行走机构转动连接，其中，行走机构用于使自升装置2在水平方向行走。
图5是根据本申请的一些实施方式的行走装置的示例结构示意图。参考图4与图5，在一些实施例中，行走机构包括车轮32与转轴313；其中，行走底架31的底部固定有至少四个与转轴313对应的安装座314且呈矩形排布，安装座314可采用螺栓固定于行走底架31的底部。在至少一个实施方式中，车轮32包覆有车轮架321，转轴313的一端固定于安装座314、另一端通过调节机构转动连接于车轮架321，车轮32与承重机构滚动连接以使行走底架31通过承重机构行走。
图6是图1中A部分的放大图。参考图2与图6，在一些实施例中，承重机构包括以下至少两组，每组均包括移动式转换梁331与轨道33；其中，移动式转换梁331采用“H”型钢，移动式转换梁331通过预埋件或者螺栓可拆卸支承于厂房的梁体。图7是根据本申请的一些实施方式的吊装机器人水平移动作业的示例图。参考图7，在至少一个实施方式中，厂房的梁体包括若干对第一框架梁100与若干对第二框架梁101，其中，每对第一框架梁100的布置与安装方向即智能吊装机器人移动方向相同，每对第二框架梁101与安装方向(即智能吊装机器人移动方向)垂直，每对第一框架梁100与每对第二框架梁101大致形成一个矩形，另外，在每对的两根第二框架梁101之间设置次梁，次梁与第二框架梁101的布置方向相同。
参考图2与图6，在至少一个实施方式中，第一框架梁100与第二框架梁101均采用钢筋混凝土梁，通过预埋件便于将移动式转换梁331支承于第一框架梁100、第二框架梁101上；在至少一个实施方式中，轨道33采用钢轨，轨道33通过压板或高强螺栓可拆卸固定于移动式转换梁331，车轮32滚动连接于轨道33以带动行走底架31的行走。
图8示出了根据本申请的一些实施方式的智能吊装机器人水平移动作业的示例图。参考图8，移动式 转换梁331及其上的轨道33可根据厂房结构布置和安装计划情况设置，随着施工进度当智能吊装机器人行走至一组移动式转换梁331及轨道33时，拆除前序一组移动式转换梁331及轨道33，利用智能吊装机器人吊运并承接其下的移动式转换梁331及轨道33进行安装，如此交替重复使用。
在一些实施例中，参考图4，调节机构包括限位组件与调控组件；其中，限位组件用于限定行走机构的转向。限位组件包括限位件与止动部件，其中，限位座312的一端转动连接于转轴313远离安装座314的一端、另一端固定于车轮架321的顶部；止动部件包括止动销315，转轴313开设有一对与止动销315相适配且连通的通孔316；限位座312沿周向开设至少两对与转轴313一致的通孔316，止动销315滑动穿设于转轴与限位座的通孔316。在至少一个实施方式中，限位座312的至少两对通孔316间隔90度呈十字设置，这样的设计方式，可以使车轮32便于达到90度的转向，通过止动销315穿设于转轴与限位座的通孔316，进而便于使吊装机器人转向移动作业。
在一些实施例中，参考图4与图5，调控组件用于控制行走机构的行走，调控组件包括驱动件322、锁定部件、传感器以及远程遥控部件。其中，驱动件322可以采用电机，驱动件322安装于车轮架321的侧壁，且驱动件322与车轮32固定连接，驱动件322带动车轮32在轨道33上滚动。
在至少一个实施方式中，参考图4与图5，为了便于可以限定车轮32的移动，通过锁定部件限定车轮32的行走；锁定部件包括固定于车轮架321的夹轨器323，夹轨器323通过自身带有的螺母与轨道33进行固定，夹轨器323限定车轮32的滚动；另外，通过调节螺母使夹轨器323随着车轮32一起滚动，可以增加智能吊装机器人行走过程中的安全稳固性。当然，以上夹轨器323是示例性说明，夹轨器323也可采用电动式。
在至少一个实施方式中，为了便于控制吊装机器人的行走，在驱动件322上设置传感器，传感器用于调控驱动件322的启动与关闭，传感器采用位移传感器(图中未示出)，远程遥控部件包括遥控器，遥控器与传感器共享信号，通过遥控器即可实现远程控制车轮32的行走。
图9是根据本申请的一些实施方式的自升装置处于起升状态的示例结构示意图。在一些实施例中，参考图3与图9，第一塔身1采用金属结构，第一塔身1由基础节11和模块化的标准节12装配而成；基础节11固定连接于标准节12的底部，基础节11的底部可拆卸连接有临时固定机构，临时固定机构可拆卸连接于楼面。在至少一个实施方式中，临时固定机构包括临时垫梁17，临时垫梁17通过螺栓临时固定于楼面，进而便于对第一塔身1进行固定。
图10是图9中B部分的放大图。在一些实施例中，参考图6与图10，止动安全机构包括止动钩311；在基础节11的底部安装止动杆13或者将基础节11底部靠近止动安全机构的横杆作为止动杆13，止动钩311远离钩口的一端向上转动铰接于行走底架31顶部腔洞310的边沿，在使用时，将止动钩311朝向腔洞310转动，止动钩311远离钩口的一侧抵接于行走支架、另一侧与止动杆13锁扣连接，止动钩311的设置，限定第一塔身1在自身重力的作用下往下滑动，进而便于使吊装机器人水平行走。
在一些实施例中，自升装置2包括第二塔身21、固定组件与压重组件。参考图1与图10，第二塔身21由模块化的标准节12装配而成，第二塔身21的顶端与塔吊主体20连接，第二塔身21的底端与行走底架31腔洞310的边沿通过高强螺栓固定连接；其中塔吊主体20包括但不限于回转装置、臂架、起升装置、变幅装置、可调式配重等。由于塔吊主体20为常规配置用于吊装建筑构件，故此处不再赘述。第二塔身 21顶部设有连接架，连接架的顶部固定有上底座212，第二塔身21在上底座212的正下方设有供第一塔身1滑动的通道，第二塔身21通过升降机构滑动套接于第一塔身1的外壁。
图11是图9中C部分的放大图。参考图9与图11，在一些实施例中，支撑组件包括顶升横梁18以及至少两组下底座16，至少两组下底座16沿第一塔身自身延伸方向设有上下设置，每组下底座16至少包括两个，每组下底座16沿第一塔身1的标准节12水平对角线方向相对两侧设置，两个相对的下底座16之间可拆卸连接有顶升横梁18。图12是图9中D部分的放大图。参考图11与图12，升降机构包括顶升油缸14与支撑组件；顶升油缸14的一端固定于支撑组件、另一端固定于上底座212，通过顶升油缸14的伸缩控制第二塔身21的升降，顶升油缸14的最大伸缸长度取值范围为8m-12m；需要说明的是，在智能吊装机器人作业过程中第二塔身21是持力机构，第一塔身1作为自升上楼作业时的支承结构和导引机构。
图13示出了根据本申请的一些实施方式的紧固组件打开与关闭状态的示例图。参考图9与图13，在一些实施例中，行走底架31活动连接有紧固组件，紧固组件用于限定第二塔身21向下滑动。楼层高度超出智能吊装机器人顶升油缸14的最大伸缸行程时，紧固组件与支撑组件协同作用可以使智能机器人完成自升上楼。其中，紧固组件包括若干紧固块317与若干紧固座213；紧固座213沿第一塔身1延伸方向上下分组设置于预定的高度，紧固座213的顶部开设有与紧固块317相适配的卡槽214；紧固块317转动连接于行走底架31，紧固块317的两端的同一侧均开设有倒角，在第二塔身21滑动时，紧固块317设置倒角的一侧与第一塔身1留有预定间距、另一侧抵接于行走底架31腔洞310的内壁，倒角的设置可以减少滑动过程中紧固块317碰触到第一塔身而影响智能机器人爬楼的可能。另外，楼层高度超出智能吊装机器人顶升油缸14的最大伸缸行程时，紧固块317转动卡接于紧固块317的卡槽214，紧固块317的远离倒角的一侧同时抵接于行走底架31、卡槽214的槽底，以限定第二塔身21的下滑。
参考图9与图11，在至少一个实施方式中，支撑组件包括顶升横梁18以及两组下底座16，两组下底座16沿第一塔身自身延伸方向设有上下设置，每组下底座16至少包括两个，每组下底座16沿第一塔身1的标准节12水平对角线方向相对两侧设置，两个相对的下底座16之间可拆卸连接有顶升横梁18。紧固块317设置为两组，每组包括两个紧固块317，两组紧固块317沿垂直于第一塔身1延伸方向上分别设置于行走底架31相对两侧；紧固座213设置为两组且沿第一塔身1延伸方向上下分组设置于预定的高度，每组包括四个紧固座213，每组紧固座213沿第一塔身1周向设置且呈矩阵排布。
参考图2与图9，当楼层高度较高，超出智能吊装机器人顶升油缸14的最大伸缸行程时，智能吊装机器人采用将顶升横梁18从底部的下底座16通过顶升油缸的缩缸作业并安装于高度较高的下一组下底座16上。具体操作使用如下，参考图9与图13，首先通过顶升油缸14的伸缸作业将第二塔身21顶升至最大行程，然后转动行走底架31上的紧固块317，紧固块317远离倒角的一侧转动卡接于紧固座213的卡槽214内且同时抵接于行走底架31的顶部；参考图9与图11，自然将顶升油缸14工作时的顶升荷载转换至第一塔身1，将顶升横梁18从第一塔身1上拆除，进行顶升油缸14的缩缸作业；接着将顶升横梁18上移到下一组下底座16上并固定连接；参考图9与图13，最后解除紧固块317与紧固座213的连接，让紧固块317处于关闭状态，即紧固块317设置倒角的一侧与第一塔身1留有预定间距、另一侧抵接于行走底架31腔洞310的内壁，接着继续顶升油缸14顶升作业，即可将智能吊装机器人继续顶升至目标位置。
图14是图9中E部分的放大图。在一些实施例中，参考图12与图14，顶升油缸14的底部固定于顶 升横梁18、顶升油缸14的作动端固定于上底座212；在至少一个实施方式中，支撑组件还包括若干个滚轮15；第二塔身21沿自身延伸方向上下至少设置两组滚轮15，每组均包括八个滚轮15，八个滚轮15两两一组沿第二塔身21内周向呈矩阵分布，在第二塔身21升降时，滚轮15沿着第一塔身1延伸方向滑动以使第一塔身1与第二塔身21之间滑动顺畅，以及增加第二塔身21的抗倾覆稳定性。
在至少一个实施方式中，参考图5与图10，智能吊装机器人转向时，自升装置2与行走装置3协同作用，用于调节行走装置3的转向。可以先解除止动钩311脱离第一塔身1的止动杆13的限定，接着通过临时垫梁17将第一塔身1固定于楼面或者框架梁，再通过顶升油缸14使第二塔身21上升至预定高度，然后将车轮32转动至预定角度且将限位座312的通孔316与转轴313的通孔316对准，再使止动销315同时穿设于限位座312与转轴313的通孔316；最后通过顶升油缸14使第二塔身21下降直至车轮32与轨道33连接，在第一塔身1拆除临时垫梁17后并通过顶升油缸14使第一塔身1提升复位，接着止动钩311限定第二塔身21的滑动，吊装机器人便可以转向水平移动作业。
在至少一个实施方式中，参考图2与图3，智能吊装机器人设置两组移动式转换梁331与其配对的轨道33，先将一组移动式转换梁331与其配对的轨道33吊至即将完工楼层的预定安装位置近旁且不影响智能吊装机器人自升上楼的预定通道，接着解除行走底架31上的止动钩311对第一塔身1的限制，并使第一塔身1通过临时垫梁17支承于楼面，再操控夹轨器323螺母使车轮32与轨道33脱离。然后利用顶升油缸14使第二塔身21顶升到位，并且使车轮32上升至高于后序施工楼层轨道安装位置的预定高度，接着将吊至预定位置的另一组移动式转换梁331及其上的轨道33安装就位后，当然，另一组移动式转换梁331及其上的轨道33也可以事先进行安装固定，进一步通过顶升油缸14完成行走装置3的回落以及使车轮32与轨道33配合连接，同时通过夹轨器323限定车轮32滚动的可能；最后，参考图3，利用顶升油缸14的缩缸作业将第一塔身1提升复位，并且通过止动钩311与止动杆13锁扣连接，限定第一塔身1的滑动，进而智能机器人完成自升上楼并进行后序施工楼层的安装。
在一些实施例中，参考图1与图4，固定部件包括若干斜撑22，斜撑22沿第二塔身21周向设置，斜撑22的一端固定于第二塔身21、另一端固定于行走底架31。在至少一个实施方式中，行走底架31与外塔身之间设置至少四根斜撑22，行走底架31、外塔身以及两者之间的斜撑22整体大致呈棱台状，当然也可以是其他形状，相应地，可根据实际的尺寸以及安装作出适应性的设计。行走底架31、外塔身以及两者之间的斜撑22形成牢固的整体，使第二塔身21在移动过程中增加稳固性。
在一些实施例中，参考图1与图4，压重部件包括压重块23，压重块23采用混凝土块体或金属块体，利用塔吊主体20或者汽车吊将压重块23设置于行走底架31上，压重块23使得智能吊装机器人作业过程中增加智能吊装机器人的抗倾覆稳定性以及安全性，压重块23使得智能吊装机器人能够在稳定作业。
下面再给出智能吊装机器人具体使用方法的实施例，但可以理解的是，这些实施例不应被认为是对智能吊装机器人的唯一具体限定。
在一些实施例中，一种智能吊装机器人使用方法，包括以下步骤：安装、使用、拆卸等。
1)智能吊装机器人的安装
a.参考图1与图6，采用塔吊或汽车吊沿智能吊装机器人行走路线先安装至少两组移动式转换梁331，每组包括两根平行设置的移动式转换梁331，相邻两组的移动式转换梁331应首尾相接且通过预埋件布置 可拆卸安装于第二框架梁101的顶部。然后在移动式转换梁331上设置供智能塔吊机器人行走的轨道33，轨道33采用钢轨，轨道33与移动式转换梁331通过压板或高强螺栓固定在一起。
b.在地面上完成行走底架31和行走装置3的装配，并采用塔吊或汽车吊将其安装在轨道33上，并使车轮32架的夹轨器323与轨道33安装连接，同时利用塔吊或汽车吊将压重块23放置在行走底架31上。
c.智能吊装机器人的第一塔身1通过临时垫梁17临时固定于楼面，利用塔吊或汽车吊完成第一塔身1的装配，并完成顶升油缸14、顶升横梁18与第一塔身1之间的连接安装。
d.利用塔吊或汽车吊完成第二塔身21的装配，在行走底架31与第二塔身21之间的斜撑22等构件，使行走底架31、第二塔身21以及两者之间的斜撑22形成牢固整体，然后完成顶升油缸14与第二塔身21之间的连接安装后，并可选择地组装好上下工作平台及爬梯(图中未示出)。
e.在地面上组装成塔吊主体20，塔吊主体20为常规设置，此处不再赘述。
f.在行走底架31和/或工作平台上进行电控柜、以及液压泵站等的安装，电路的接驳，最后控制系统的检查，调试、试运行。
在一些实施例中，利用塔吊或汽车吊在地面上将第一塔身1、第二塔身21以及顶升油缸14拼装成整体，再吊装至行走底架31上，再完成第二塔身21与行走底架31的连接固定。
2)智能吊装机器人的使用
a.参考图9与图10，智能吊装机器人吊装作业时，第二塔身21作为持力受荷的结构，第一塔身1利用止动安全机构收纳于行走底架31的顶部，在至少一个实施方式中，通过行走底架31顶部的止动钩311与第一塔身1止动杆13的锁扣连接以限定第一塔身1的滑动，并使第一塔身1在预定高度且高于行走底架31以便于后期智能吊装机器人的行走。
参考图1与图10，在一些实施例中，智能吊装机器人的转向通过自升装置2与行走装置3的协同作用完成的。在需要转向的地方，先解除行走底架31上的止动安全机构对第一塔身1的限制，利用顶升油缸14控制第一塔身1向下滑动，接着使第一塔身1支承在临时垫梁17上并进行临时固定；再打开夹轨器323，利用智能吊装机器人的自升功能将行走装置3与轨道33脱离并上升预定的高度，将智能吊装机器人底部的移动式转换梁331及其上的轨道33拆除并转向90°铺设形成转向的轨道33，然后操控智能吊装机器人使其行走装置3也转向90°，并回落与转向后的轨道33连接安装，即可进行后序的行走行进和吊装作业。
至此，通过智能塔吊机器人在楼面的移动，可实现单台设备整个楼面吊装作业的全覆盖，突破了传统吊装设备吊重和工作半径易受限的瓶颈。
b.参考图4与图7，智能吊装机器人沿楼层平面的吊装作业。根据智能吊装机器人的吊装进度，利用智能吊装机器人本身，通过前述铺设的至少两组移动式转换梁331及轨道33的交替拆除和铺设来完成纵向(沿移动式转换梁331及轨道33的铺设方向)的行走和吊装工作。
c.智能吊装机器人的自升上楼
通过b步骤，当智能吊装机器人行进至楼层最后一个柱间时，该柱间的预制次梁和预制叠合楼板暂不安装，留作智能吊装机器人自升上楼的竖向通道。
参考图2与图6，利用智能吊装机器人拆除的前序移动式转换梁331，将前序的移动式转换梁331、与其配对的轨道33吊至即将完工楼层预定安装位置近旁，并不影响智能吊装机器人自升上楼的通道；接着 解除行走底架31上的止动钩311对第一塔身1的限制，并使第一塔身1通过临时垫梁17支承于楼面，再操控夹轨器323螺母使车轮32与轨道33脱离。参考图2与图3，然后利用顶升油缸14使第二塔身21顶升到位，并且使车轮32上升至高于后序施工楼层轨道33的预定高度，接着将吊至预定位置近旁的移动式转换梁331及其上的轨道33安装就位后，进一步通过顶升油缸14完成行走装置3的回落以及使车轮32与轨道33配合连接，同时通过夹轨器323限定车轮32滚动的可能；最后，参考图3，利用顶升油缸14的缩缸作业将第一塔身1提升复位，并且通过止动钩311与止动杆13锁扣连接，限定第一塔身1的滑动，进而智能机器人完成自升上楼并可以在后序施工楼层进行移动作业。
在一些实施例中，智能吊装机器人在自升过程中，可通过可调式配重或临时配重措施使智能吊装机器人减少产生弯矩的可能。
参考图2与图3，然后利用智能吊装机器人将前序楼层的一组移动式转换梁331及其上的轨道33吊至本楼层，前序楼层的移动式转换梁331及其上的轨道33与本楼层的移动式转换梁331及其上的轨道33进行首尾连接固定，接着将智能吊装机器人行进至下一柱间，拆除前序移动式转换梁331及其上的轨道33并承接至下一组的移动式转换梁331及其上的轨道33在后序柱间进行安装固定，并利用智能吊装机器人完成前序柱间预留竖向通道预制次梁、预制楼板的安装，然后按照b步骤，完成本楼层的吊装作业。
在一些实施例中，参考图2与图9，当楼层高度较高，超出智能吊装机器人顶升油缸14的最大伸缸行程时，智能吊装机器人采用将顶升横梁18从底部的下底座16通过顶升油缸的缩缸作业并安装于高度较高的下一组下底座16上。具体操作使用如下，参考图9与图13，首先通过顶升油缸14的伸缸作业将第二塔身21顶升至最大行程，然后转动行走底架31上的紧固块317，紧固块317远离倒角的一侧转动卡接于紧固座213的卡槽214内且同时抵接于行走底架31的顶部；参考图9与图11，自然将顶升油缸14工作时的顶升荷载转换至第一塔身1，将顶升横梁18从第一塔身1上拆除，进行顶升油缸14的缩缸作业；接着将顶升横梁18上移到下一组下底座16上并固定连接；参考图9与图13，最后解除紧固块317与紧固座213的连接，让紧固块317处于关闭状态，即紧固块317设置倒角的一侧与第一塔身1留有预定间距、另一侧抵接于行走底架31腔洞310的内壁，接着继续顶升油缸14顶升作业，即可将智能吊装机器人继续顶升至目标位置。
3)智能吊装机器人的拆卸
当智能吊装机器人完成楼面的吊装作业后，可采用塔吊或汽车吊，或者拔杆，按照自上而下的原则进行智能吊装机器人各装配单元的解体和拆卸，依次拆除塔吊主体20、顶升油缸14、第二塔身21、压重块23、行走底架31、第一塔身1、移动式转换梁331及轨道33。
以上已经描述了本申请的各实施例，上述说明是示例性的，并非穷尽性的，并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下，对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择，旨在最好地解释各实施例的原理、实际应用或对市场中的技术改进，或者使本技术领域的其他普通技术人员能理解本文披露的各实施例。
以上仅为本申请的可选实施例，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所做的任何修改、等效替换、改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种智能吊装机器人，其特征在于，包括：
    第一塔身(1)，所述第一塔身(1)底部通过临时固定机构可拆卸连接于楼面；
    与塔吊主体(20)连接的自升装置(2)，所述自升装置(2)通过升降机构滑动套接于第一塔身(1)外壁，所述自升装置设有限定第一塔身(1)滑动的止动安全机构；
    行走装置(3)，所述行走装置(3)用于调节自升装置(2)移动和固定，所述行走装置(3)活动设置于自升装置(2)的底部；
    承重机构，所述承重机构用于导引行走装置(3)移动的且可拆卸安装于厂房的梁体或楼面，所述承重机构与行走装置(3)活动连接。
  2. 根据权利要求1所述的一种智能吊装机器人，其特征在于：所述行走装置(3)包括：
    行走底架(31)，所述行走底架(31)连接于自升装置(2)的底端；
    行走机构，所述行走机构转动连接于行走底架(31)的底部且用于使自升装置(2)行走；
    调节机构，所述调节机构用于调节行走机构的行走。
  3. 根据权利要求2的所述的一种智能吊装机器人，其特征在于：所述行走机构包括：
    若干转轴(313)，若干所述转轴(313)连接于行走底架(31)的底部；
    具有车轮架(321)的车轮(32)，所述车轮架(321)通过调节机构转动连接于转轴(313)远离行走底架(31)的一端。
  4. 根据权利要求2所述的一种智能吊装机器人，其特征在于：所述调节机构包括：
    限位组件，所述限位组件设置于行走机构且用于限定行走机构的转向；
    调控组件，所述调控组件设置于行走机构且用于控制行走机构的行走。
  5. 根据权利要求3或4所述的一种智能吊装机器人，其特征在于：所述限位组件包括：
    限位座(312)，所述限位座(312)与行走机构转动连接；
    止动部件，所述止动部件可拆卸设置于限位座(312)且用于限定限位座与行走机构之间的转动。
  6. 根据权利要求3或4所述的一种智能吊装机器人，其特征在于：所述调控组件包括：
    驱动件(322)，所述驱动件(322)用于驱动行走机构的行走；
    锁定部件，所述锁定部件与承重机构活动连接且用于限定行走机构的行走；
    传感器，所述传感器设置于驱动件(322)且用于调控驱动件(322)的启闭；
    远程遥控部件，所述远程遥控部件与传感器共享信号，且用于控制行走机构的行走。
  7. 根据权利要求2所述的一种智能吊装机器人，其特征在于：所述承重机构包括以下至少两组，每组均包括：
    移动式转换梁(331)，所述移动式转换梁(331)可拆卸连接于厂房的梁体；
    轨道(33)，所述轨道(33)可拆卸连接于移动式转换梁(331)顶部，所述行走机构与轨道(33)滚动连接，所述锁定部件与轨道(33)活动连接。
  8. 根据权利要求2所述的一种智能吊装机器人，其特征在于：所述自升装置(2)包括：
    第二塔身(21)，所述第二塔身(21)通过升降机构滑动套接于第一塔身(1)外壁，所述第二塔身(21)的底端与行走底架(31)连接；
    固定组件，所述固定组件用于紧固第二塔身(21)与行走底架(31)；
    压重组件，所述压重组件用于紧固第二塔身(21)且可拆卸安装于行走支架。
  9. 根据权利要求8所述的一种智能吊装机器人，其特征在于：所述升降机构包括：
    支撑组件，所述支撑组件可拆卸安装于第一塔身(1)内侧；
    顶升油缸(14)，所述顶升油缸(14)的一端连接于支撑组件、另一端连接于第二塔身(21)顶端的底部；
    所述行走底架(31)活动连接有用于限定第二塔身(21)滑动的紧固组件。
  10. 根据权利要求2或者8所述的一种智能吊装机器人，其特征在于：
    所述第一塔身(1)包括止动杆(13)；
    止动安全机构包括与止动杆(13)相适配的止动钩(311)，所述止动钩(311)转动连接于行走底架(31)顶部；所述止动钩(311)远离沟口的一侧抵接于行走底架(31)、另一侧与止动杆(13)锁扣连接。
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