Non-road outer track mechanical system and construction method for prefabricated building construction

Abstract

The present invention relates to a non-road-based external track mechanical system and construction method for prefabricated building construction, comprising: an external track operating device; an external track guide rail device, comprising a two-dimensional folding external track mechanism that provides the external track operating track required for the external track operating device; and a two-dimensional guide rail support mechanism that supports the two-dimensional folding external track mechanism, with standard section assemblies provided at the bottom of the two-dimensional guide rail support mechanism; a mechanical hydraulic device disposed below the two-dimensional guide rail support mechanism and used to adjust the number of standard section assemblies stacked; and an undercarriage standard section conveying device for conveying standard section assemblies to or from the working position of the mechanical hydraulic device. Compared with the existing technology, the present invention can meet the purpose of remote-controlled and automated construction of prefabricated buildings such as prefabricated concrete structures, prefabricated steel structures, and prefabricated wooden structures.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent construction machinery and equipment for civil engineering, and relates to a non-road traveling outer track machinery system and a construction method for the construction of prefabricated buildings. Background Art

[0002] Prefabricated buildings, as a construction method that facilitates rapid construction, improve work efficiency and intelligent construction while maintaining the technical level and project quality of the construction industry, and are expected to become the dominant construction method in the future. The steel structure framework, which serves as the foothold for various actuators during the construction process, still relies on manual construction using scaffolding and tower cranes. This is time-consuming, labor-intensive, and poses safety and pollution risks. The construction framework only supports the work of a single or small number of single-function robotic arm actuators, resulting in independent workspaces, which is not conducive to collaborative construction with robotic systems and the advancement of unmanned and intelligent construction.

[0003] Chinese patent CN109879175B proposes a method of connecting to a supporting column and crawling on a building, using a crane trolley and a small car on a track to cooperate with a robotic arm to complete the transportation of construction materials. It can only crawl on the basis of an existing building frame structure and cannot climb and work autonomously from the ground. Only one robotic arm can work simultaneously for each transportation. At the same time, Chinese patent CN210286518U proposes a control scheme for arranging and controlling multiple crane trolleys on a single beam. It can only operate in one direction and there is interference during the movement process. Chinese patent CN 212176541 U also proposes a high-rise building platform that can climb autonomously. It can only climb on the surface of an existing building. The crane structure installed above the platform can only be further constructed manually by traditional methods. In addition, Chinese patent CN208056658U provides a new aerial building construction machine solution that can start from the lower floor, but cannot move horizontally to the next construction site. Summary of the Invention

[0004] The purpose of the present invention is to provide a non-road traveling outer track mechanical system and construction method for the construction of prefabricated buildings.

[0005] The purpose of the present invention can be achieved by the following technical solutions:

[0006] One of the technical solutions of the present invention provides a non-road outer track mechanical system for the construction of prefabricated buildings, comprising:

[0007] Outer track operating device;

[0008] An outer track type guide rail device, comprising a two-dimensional folding outer track mechanism for providing an outer track type working track required for the operation of the outer track operating device, and a two-dimensional guide rail support mechanism for supporting the two-dimensional folding outer track mechanism, wherein a standard section assembly is provided at the bottom of the two-dimensional guide rail support mechanism;

[0009] A mechanical hydraulic device provided below the two-dimensional guide rail support mechanism and used to adjust the number of stacked standard section components;

[0010] And a chassis standard section conveying device for conveying the standard section assembly to the working position of the mechanical hydraulic device or conveying it out of the mechanical hydraulic device.

[0011] In addition, the mechanical system of the present invention may further include: a hoisting device for suspending and lifting the prefabricated building components and related assembly parts;

[0012] Sensing system, including a position sensor for detecting whether the guide rail system is fully deployed, and a laser sensor for measuring and calculating the straightness of the outer track guide rail device;

[0013] And a control system is used to control the operation of the above-mentioned devices, including the movement and positioning of the chassis standard section conveyor device, the lifting and raising of the mechanical hydraulic device, the folding and unfolding of the outer track guide device, and the completion of the construction work of the outer track working device. All the components involved here are conventional components used in the field to achieve the corresponding functions.

[0014] Furthermore, the two-dimensional folding outer guide rail mechanism includes a plurality of outer rail unit structures arranged on the two-dimensional guide rail support mechanism, an automatic locking joint arranged between two adjacent outer rail unit structures and used to lock them, and a cross-rail reversing structure connecting two outer rail unit structures located in different directions. The two adjacent outer rail unit structures in the same direction are rotatably connected by a hinge connection structure.

[0015] Furthermore, the cross-track reversing structure includes a mounting base, and a first cross-track, a second cross-track and a reversing track arranged on the mounting base, the first cross-track and the second cross-track are respectively rotatably connected to the outer track unit structures in different directions, the reversing track is rotatably mounted on the mounting base, and is located at the intersection of the first cross-track and the second cross-track, and the reversing track is connected to the first cross-track or the second cross-track by rotating the reversing track.

[0016] More preferably, a direction-changing power unit is provided on the mounting base, and the direction-changing power unit is connected to the reversing track via a direction-changing shaft.

[0017] More preferably, the parts of the first cross track and the second cross track that contact the reversing track are arc-shaped, and the arc-shaped contact parts of the first cross track and the second cross track are located on the same circumference line with the rotation center of the reversing track as the center of the circle.

[0018] Furthermore, the mechanical hydraulic device includes a lifting frame supporting the two-dimensional guide rail support mechanism, a feeding platform for horizontally conveying standard section components, a lifting platform installed on the lifting frame and used to lift the standard section components, an auxiliary platform provided on the lifting frame, and a force conversion support mechanism located on the top of the lifting frame and used to carry the standard section components delivered by the lifting platform.

[0019] The standard section assembly includes a standard section frame, and at least one spring-loaded connector and at least one hook connector respectively installed at the top and bottom of the standard section frame, the hook connector includes a hook mounting seat, and a hook rod slidably arranged on the hook mounting seat along the vertical direction, the hook rod is also sleeved with a first reset elastic member that applies an upward elastic force thereto, the spring-loaded connector includes a spring-loaded mounting seat, and a spring member slidably arranged on the spring-loaded mounting seat along the horizontal direction, a second reset elastic member is also provided between the spring member and the spring member to cause the spring member to pop outward, the spring member has a spring protrusion that can buckle the bottom of the hook rod, when the upper and lower standard section assemblies are connected to each other, the hook rod on the upper standard section assembly is pressed down to the buckling position by the auxiliary platform, and the spring member on the lower standard section assembly pops outward, so that the spring protrusion buckles the hook rod.

[0020] Furthermore, the bottom area of ​​the lifting frame is also provided with a standard section underframe that can receive the standard section assembly.

[0021] Furthermore, the standard section frame includes a plurality of standard section columns that are arranged side by side at intervals along the circumferential direction and fixedly connected to each other. The top of each standard section column is provided with a top boss, and the bottom is processed with a bottom groove for the top boss to be embedded.

[0022] Furthermore, the jacking platform includes a jacking jack fixed on the lifting frame, a flange platform fixedly connected to the hydraulic rod of the jacking jack, and a spring-loaded connection structure installed on the flange platform and used for detachably connecting the hook connector at the bottom of the standard section assembly. A guide boss that can be embedded in the standard section frame is also provided in the middle area of ​​the top of the flange platform.

[0023] Furthermore, the auxiliary platform includes an auxiliary jack mounted on the lifting frame, an auxiliary frame fixed to the auxiliary jack and slidably mounted on the lifting frame, and an auxiliary connecting member provided on the auxiliary frame. The auxiliary connecting member includes an auxiliary mounting seat, two auxiliary sliders that slide along the auxiliary mounting seat and can move relatively closer or farther away, and auxiliary claws respectively connected to the two auxiliary sliders. More preferably, a third resetting elastic member is provided between the two auxiliary sliders to force them to move relatively apart. The auxiliary mounting seat is also provided with an electromagnet located between the two auxiliary sliders. When the electromagnet is energized, the two auxiliary sliders, under the action of the electromagnet's magnetic force, drive the auxiliary claws to move relatively closer together, overcoming the action of the third resetting elastic member.

[0024] Furthermore, the force conversion support mechanism includes a conversion jack installed on the top of the lifting frame, and a pair of conversion beams slidingly cooperated with the lifting frame. The conversion jack is connected to the conversion beam and drives the conversion beam to slide on the lifting frame and move relatively closer or farther away. When the standard section assembly is driven by the jacking platform to a position higher than the conversion beam, the conversion jack approaches and clamps the standard section assembly relatively, thereby realizing the force conversion of supporting the standard section assembly.

[0025] Furthermore, the chassis standard section conveying device includes a movable chassis mechanism supporting the mechanical hydraulic device, a foldable guide rail arranged between the two mechanical hydraulic devices, and a standard section transport trolley that can move back and forth on the unfolded foldable guide rail. The movable chassis mechanism includes a walkable chassis, a walking wheel assembly installed on the bottom end surface of the walkable chassis, and an automatic bolt fixing structure arranged on the walkable chassis and used to fix it to the construction ground.

[0026] Furthermore, the automatic bolt fixing structure includes a driving motor, a bolt seat sleeve, a track sleeve, a connecting bolt and a bolt slider, wherein the driving motor is fixed on the walkable chassis, and the output end of the driving motor is connected to the bolt seat sleeve, the track sleeve is fixed to the walkable chassis around the bolt seat sleeve, a spiral lifting track is processed on the inner wall surface of the track sleeve, and a guide hole in the vertical direction is processed on the bolt seat sleeve. The bolt slider is placed in the bolt seat sleeve, and a protrusion extending out of the guide hole and matching the spiral lifting track is also processed on the side of the bolt slider. The top of the connecting bolt is fixedly connected to the bolt slider, and the bottom extends out of the track sleeve.

[0027] Furthermore, the outer track operating device includes an operating walking trolley that can move on the outer track type working track, an extendable mounting mechanism arranged on the operating walking trolley and can be extended and retracted in the vertical direction, a multi-degree-of-freedom robotic arm installed on the extendable mounting mechanism, and an end effector arranged on the multi-degree-of-freedom robotic arm. The operating walking trolley includes a motion support mechanism that can be movably mounted on the outer track type working track, a trolley clamping mechanism installed on the motion support mechanism, and a trolley positioning mechanism movably arranged on the motion support mechanism, and the extendable mounting mechanism is fixedly connected to the motion support mechanism.

[0028] Furthermore, the trolley clamping mechanism includes an elastic clamping unit rotatably connected to the motion support mechanism, and a ball installed on the elastic clamping unit. When the elastic clamping unit is rotated to a vertical position on the motion support mechanism, the elastic clamping unit is in a compressed state, and the ball presses against and rolls in contact with the lower surface of the outer track-type working track.

[0029] A second technical solution of the present invention provides a method for constructing a non-road traveling outer track mechanical system for prefabricated building construction, the method comprising a chassis standard section conveying device movement stage, an outer track guide rail device deployment stage, a mechanical hydraulic device jacking stage, an outer track operating device execution stage, and a folding and recovery stage, wherein the chassis standard section conveying device movement stage is used to transport the standard section assembly from the standard section loading position to the mechanical hydraulic device jacking position;

[0030] The outer track guide rail device deployment phase is synchronized with the chassis standard section conveying device movement phase, wherein the chassis standard section conveying device provides the outer track guide rail device with the power required for deployment, so that the two-dimensional track deployment mechanism sequentially leaves the two-dimensional guide rail support mechanism in the transverse and longitudinal two-dimensional planes and is deployed and fixed;

[0031] The mechanical hydraulic device is used in the lifting stage to extend the standard section assembly transported by the chassis standard section conveying device to the standard section assembly at the bottom of the two-dimensional guide rail support mechanism for assembly;

[0032] The outer track operating device execution phase is carried out after the mechanical hydraulic device jacking phase is completed. At this time, the standard section assembly at the bottom of the two-dimensional guide rail support mechanism is assembled. The outer track operating device moves on the outer track type working track formed after the two-dimensional track deployment mechanism is fully deployed, and controls the end effector it carries to operate and perform corresponding operations.

[0033] When the outer track operating device execution phase is completed, the folding and recovery phase is started, and the outer track operating device, mechanical hydraulic device, chassis standard section conveying device, and outer track guide rail device are controlled to return to their initial state, completing a complete workflow. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 Schematic diagram of the structure of the non-road outer track mechanical system of the present invention in a retracted state;

[0035] Figure 2 Schematic diagram of the structure of the non-road outer track mechanical system of the present invention in the deployed state;

[0036] Figure 3 This is a schematic diagram of the chassis standard section conveyor when folded;

[0037] Figure 4 This is a schematic diagram of the chassis standard section conveyor when deployed;

[0038] Figure 5 This is a schematic diagram of the automatic bolt fixing structure;

[0039] Figure 6 It is a schematic diagram of the mechanical hydraulic device at work;

[0040] Figure 7 It is a structural diagram of the standard section assembly;

[0041] Figure 8 Schematic diagram of the hook link member on the hook link member when it is retracted, wherein the left figure is a partially cutaway schematic diagram of the hook link member at this time, and the right figure is an axonometric schematic diagram of the hook link member at this time;

[0042] Figure 9 Schematic diagram of a hook link member on a hook link member when the hook link member is extended, wherein the left figure is a partially cutaway schematic diagram of the hook link member at this time, and the right figure is an axonometric schematic diagram of the hook link member at this time;

[0043] Figure 10 Schematic diagram of a snap-on connector, wherein the left figure is a cross-sectional diagram and the right figure is an axonometric diagram;

[0044] Figure 11 Schematic diagram of a spring fastener, wherein the left figure is a cross-sectional schematic diagram and the right figure is an axonometric schematic diagram;

[0045] Figure 12 It is a schematic diagram of the main view of the auxiliary connecting part;

[0046] Figure 13 is a schematic diagram of the jacking platform;

[0047] Figure 14 Schematic diagram of the structure of the outer track type guide rail device of the present invention in the folded state;

[0048] Figure 15Schematic diagram of the structure of the outer track type guide rail device of the present invention in the unfolded state;

[0049] Figure 16 It is a structural schematic diagram of the cross-track reversing structure of the present invention;

[0050] Figure 17 It is a schematic diagram of the minimum unit of the two outer track unit structure in a folded and unfolded manner;

[0051] Figure 18 Schematic diagram of the locking process of the automatic locking connector;

[0052] Figure 19 It is a structural schematic diagram of the outer track operating device;

[0053] Figure 20 It is a structural diagram of the standard section frame;

[0054] Figure 21 It is a schematic diagram of the feeding platform and the standard section chassis;

[0055] Description of the marks in the figure:

[0056] 1-External track operating device, 11-Working walking trolley, 1101-Trolley track wheel, 1102-Trolley body, 1103-Ball bearing, 1104-Clamping rod, 1105-First connecting frame, 1106-Body fixing plate, 1107-Trolley positioning spring, 1108-Location rod, 1109-Trolley travel gear, 1110-Trolley fixing rod, 1111-Second connecting frame, 1112-Trolley clamping spring, 12-Extendable mounting mechanism, 13-Multi-degree-of-freedom robotic arm, 14-End effector;

[0057] 2-External track guide rail device, 21-External track unit structure, 2101-Fixed pin connection structure, 22-Automatic locking joint, 221-First lock seat, 222-Second lock seat, 223-Lock cylinder, 23-Hinge connection structure, 231-Frame hinge, 232-Sash hinge, 233-Hinge pin, 24-Cross track reversing structure, 241-First cross track, 242-Reversing track, 243-Direction changing power unit, 244-Mounting base, 245-Second cross track, 25-Two-dimensional guide rail support mechanism;

[0058] 3-Mechanical hydraulic device, 31-Lifting frame, 32-Force conversion support mechanism, 321-Conversion jack, 322-Conversion beam, 3221-Semicircular groove, 3222-Middle support platform; 33-Auxiliary platform, 331-Auxiliary frame, 332-Auxiliary connecting piece, 3321-Auxiliary mounting seat, 3322-Auxiliary claw, 3323-Third reset elastic member, 3324-Auxiliary slider, 3325-Electromagnet, 333-Auxiliary guide wheel, 334-Auxiliary jack; 34-Feed platform, 341-Feed slide, 342-Feed jack, 343-Location boss; 35-Standard section assembly, 351-Standard section frame, 3511-Standard section column, 3512-Top boss, 3513-Location ear plate, 3514-Guide ear Plate, 3515-side groove, 352-hook connector, 3521-outer cone ring, 3522-inner cone ring, 3523-hook rod, 35231-hook rod first boss, 35232-hook rod second boss, 3524-first reset elastic member, 3525-limiting nut, 3526-adjusting nut, 353-spring connector, 3531-spring mounting seat, 3532-spring member, 35321-spring first boss, 35322-spring second boss, 35323-wedge boss, 3533-second reset elastic member; 36-lifting platform, 361-lifting jack, 362-flange platform, 363-guide boss; 37-standard section chassis, 371-chassis main column, 372-auxiliary column, 373-chassis crossbeam;

[0059] 4-Chassis standard section conveying device, 41-foldable guide rail, 410-I-beam guide rail, 412-hinge mechanism; 42-transport trolley, 43-movable chassis mechanism; 430-travelable chassis; 4301-driving wheel; 4302-travel motor; 4303-universal wheel; 4304-shock-absorbing spring; 431-bolt automatic fixing structure; 4311-connecting bolt; 4312-bolt seat sleeve; 4313-track sleeve; 4314-spiral lifting track, 4315-bolt slider. DETAILED DESCRIPTION

[0060] The present invention is described in detail below with reference to the accompanying drawings and specific embodiments. This embodiment is implemented based on the technical solution of the present invention, and provides a detailed implementation method and specific operation process, but the protection scope of the present invention is not limited to the following embodiments.

[0061] In the following implementation methods or examples, if there is no special description of the functional components or structures, it means that they are all conventional components or conventional structures adopted in the field to achieve the corresponding functions, and if there is no special description of the processing process, it means that they are all conventional processing processes adopted in the field to achieve their purposes.

[0062] In order to improve the construction efficiency and quality of the current construction field, the present invention provides a non-road walking outer track mechanical system for the construction of prefabricated buildings, which can be seen in Figures 1 to 2 As shown, including:

[0063] Outer track operating device 1;

[0064] The outer track type guide rail device 2 includes a two-dimensional folding outer track mechanism that provides the outer track type working track required for the outer track operating device 1 to work, and a two-dimensional guide rail support mechanism 25 that supports the two-dimensional folding outer track mechanism. The bottom of the two-dimensional guide rail support mechanism 25 is provided with a standard section assembly 35;

[0065] A mechanical hydraulic device 3 provided below the two-dimensional guide rail support mechanism 25 and used to adjust the number of stacked standard section assemblies 35;

[0066] And a chassis standard section conveying device 4 for conveying the standard section assembly 35 from the working position of the mechanical hydraulic device 3 or conveying it out from the mechanical hydraulic device 3.

[0067] In addition, the mechanical system of the present invention may further include: a hoisting device for suspending and lifting the prefabricated building components and related assembly parts;

[0068] Sensing system, including a position sensor for detecting whether the guide rail system is fully deployed, and a laser sensor for measuring and calculating the straightness of the outer track guide rail device;

[0069] And a control system is used to control the operation of the above-mentioned devices, including the movement and positioning of the chassis standard section conveyor device, the lifting and raising of the mechanical hydraulic device, the folding and unfolding of the outer track guide device, and the completion of the construction work of the outer track working device. All the components involved here are conventional components used in the field to achieve the corresponding functions.

[0070] The two-dimensional folding and unfolding outer guide rail mechanism of the present invention has the function of two-dimensional folding and unfolding of the track and autonomous reversing of the track intersection, which meets the requirements that the track mechanism can be folded into a small structure during transportation, unfolded two-dimensionally in the working state, and the track trolley can move without interference. For some specific embodiments, please refer to Figures 14 to 18As shown in FIG. 1 , the two-dimensional folding outer guide rail mechanism includes a plurality of outer track unit structures 21 arranged on a two-dimensional guide rail support mechanism 25, an automatic locking joint 22 arranged between two adjacent outer track unit structures 21 and used to lock them, and a cross-track reversing structure 24 connecting two outer track unit structures 21 located in different directions. The two outer track unit structures 21 adjacent in the same direction are rotatably connected by a hinge connection structure 23. The two outer track unit structures 21 adjacent in the same direction are rotatably connected by a hinge connection structure 23, and the hinge connection structure 23 is arranged on the opposite side of the corresponding automatic locking structure. The present invention uses a hinge connection structure 23 to enable the two outer track unit structures 21 adjacent in the same direction to be rotatably connected. In this way, all the outer track unit structures 21 can be conveniently folded up during transportation and storage. The folded state varies depending on the number of outer track unit structures 21, such as a V-shape or a Z-shape.

[0071] In a more specific embodiment, the automatic locking joint 22 includes a lock core 223, and a first lock seat 221 and a second lock seat 222 respectively fixed on the two outer track unit structures 21, the lock core 223 is I-shaped, and one end of the lock core 223 is rotatably connected to the first lock seat 221, and the second lock seat 222 is composed of two spaced triangular plates parallel to the rotation direction of the lock core 223, with one side of the triangular plate facing the first lock seat 221 as the first side, and the other side facing away from the first lock seat 221 as the second side. When the two outer track unit structures 21 are relatively unfolded, the other end of the lock core 223 slides along the first side of the triangular plate until it completely crosses the first side and is inverted on the second side. At this time, the first lock seat 221 and the second lock seat 222 are locked by the lock core 223. Here, the triangle plate in the second lock seat 222 can be a right triangle, an acute triangle, or an obtuse triangle. It does not necessarily have to be a strict triangle, but can be roughly this shape. For example, the intersection of its first side and second side can be rounded to facilitate the transition of the lock core 223 along the first side and the second side. At the same time, to improve the locking effect, the second side can also have a smooth groove. In addition, as needed, the outer track unit structure 21 is also provided with an unlocking power component that can cause the lock core 223 to exit the second lock seat 222, such as an electromagnet 3325 device controlled by a relay. In this way, after the track mechanism is fully unfolded and the predetermined working target is achieved, this unlocking power component can be activated to complete the unlocking action. In addition, more preferably, a torsion spring structure is also provided between the lock core 223 and the first lock seat 221, so that the lock core 223 is pressed toward the second lock seat 222.

[0072] In a more specific embodiment, the cross-track reversing structure 24 includes a mounting base 244, and a first cross-track 241, a second cross-track 245, and a reversing track 242 disposed on the mounting base 244. The first cross-track 241 and the second cross-track 245 are respectively rotatably connected to the outer track unit structure 21 in different directions. The reversing track 242 is rotatably mounted on the mounting base 244 and is located at the intersection of the first cross-track 241 and the second cross-track 245. By rotating the reversing track 242, the reversing track 242 is connected to the first cross-track 241 or the second cross-track 245. Depending on different needs, one first cross-track 241 and one second cross-track 245 can be provided, or two opposite each other, so that the cross-track reversing structure 24 is arranged in an L-shape, a T-shape, or a cross shape. Here, it should be noted that the cross-section of the reversing track 242 is completely matched with the outer track working track. When reversing is required, the trolley first moves to the reversing track 242 through the outer track unit structure 21 in one direction, and then the reversing track 242 changes direction to connect with the outer track unit structure 21 in the other direction. The trolley then moves out of the reversing track 242 to complete the change of direction.

[0073] More preferably, a direction-changing power unit 243 is provided on the mounting base 244 , and the direction-changing power unit 243 is connected to the direction-changing track 242 via a direction-changing shaft.

[0074] More preferably, the parts of the first cross track 241 and the second cross track 245 that contact the reversing track 242 are arc-shaped, and the arc-shaped contact parts of the first cross track 241 and the second cross track 245 are located on the same circular line with the rotation center of the reversing track 242 as the center.

[0075] In the present invention, the two-dimensional guide rail support mechanism 25 includes a column connection structure, a support and storage structure, and has the functions of fixing with the column, storing the non-working state rail, and supporting the working state rail. It can be specifically arranged on the mechanical hydraulic device 3.

[0076] In some specific embodiments, please refer to Figures 6 to 13 As shown in FIG. 1 , the mechanical hydraulic device 3 includes a lifting frame 31 supporting the two-dimensional guide rail support mechanism 25, a feeding platform 34 for horizontally transporting the standard section assembly 35, a lifting platform 36 installed on the lifting frame 31 and used to lift the standard section assembly 35, an auxiliary platform 33 provided on the lifting frame 31, and a force conversion support mechanism 32 located on the top of the lifting frame 31 and used to carry the standard section assembly 35 delivered by the lifting platform 36.

[0077] The standard section assembly 35 includes a standard section frame 351, and at least one snap connector 353 and at least one hook connector 352 respectively mounted on the top and bottom of the standard section frame 351, the hook connector 352 includes a hook mounting seat, and a hook rod 3523 slidably arranged on the hook mounting seat in a vertical direction, the hook rod 3523 is also provided with a first reset elastic member 3524 that applies an upward elastic force thereto, the snap connector 353 includes a snap mounting seat 3531, and a snap mounted on the snap mounting seat 3531 in a horizontal direction. Part 3532, a second reset elastic part 3533 is provided between the spring fastener 3532 and the spring fastener mounting seat 3531 to make the spring fastener 3532 pop outward, and the spring fastener 3532 has a spring fastener protrusion (i.e., the spring fastener second protrusion 35322) that can buckle the bottom of the hook rod 3523. When the upper and lower standard section assemblies 35 are connected to each other, the hook rod 3523 on the upper standard section assembly 35 is pressed down to the buckled position by the auxiliary platform 33, and the spring fastener 3532 on the lower standard section assembly 35 pops outward, so that the spring fastener protrusion buckles the hook rod 3523.

[0078] In a more specific embodiment, the bottom area of ​​the lifting frame 31 is further provided with a standard section base frame 37 capable of receiving the standard section assembly 35. The standard section base frame 37 can be composed of a main base frame column 371 and a plurality of auxiliary columns 372 arranged side by side. The auxiliary columns 372 are further provided with independent snap-on connectors 353 that mate with the hook connectors 352 at the bottom of the standard section assembly 35. The tops of the auxiliary columns 372 are also provided with corresponding top bosses 3512. A base frame crossbeam 373 is also provided at the tops of the main base frame columns 371 and the auxiliary columns 372.

[0079] In a more specific embodiment, the standard section frame 351 includes a plurality of standard section columns 3511 arranged side by side along the circumference and fixedly connected to each other. Different standard section columns can be connected to form an integral frame through top and bottom crossbeams. The top of each standard section column 3511 is provided with a top boss 3512, and the bottom is processed with a bottom groove for the top boss 3512 to be embedded. In addition, the side of the bottom groove is also provided with a side groove 3515 to facilitate the clamping between the bottom groove and the top boss 3512 and other structures, thereby reducing the matching gap between the two. At the same time, the side of the standard section column 3511 is also provided with a guide ear plate 3514 and a positioning ear plate 3513 for guiding and fixing the hook connector 352 and the spring connector 353.

[0080] In a more specific embodiment, the hook connector 352 further includes an inner conical ring 3522 that fits over the bottom of the standard section column 3511, and an outer conical ring 3521 that fits over and slidably engages with the inner conical ring 3522. A slot is provided along the sidewall of the inner conical ring 3522 along its axial direction. The outer conical ring 3521 and the inner conical ring 3522 have the same taper, and the hook mounting seat is provided on the outer conical ring 3521. When the inner conical ring 3522 and the outer conical ring 3521 interact and press together, the inner conical ring 3522 is pressed against the top boss 3512 of the standard section column 3511 of the second section, thereby achieving a locking connection and reducing structural gaps.

[0081] In a more specific embodiment, the hook mounting seat is machined with a hook mounting groove along the vertical direction, and the sidewalls of the hook mounting groove are also provided with a hook slot hole along the direction thereof. The hook rod 3523 is slidably arranged in the hook mounting groove. The top of the hook rod 3523 is also provided with a first hook rod boss 35231 that extends out of the hook slot hole, and the bottom of the hook rod 3523 is also provided with a second hook rod boss 35232 that protrudes laterally and forms a hook-shaped structure. Preferably, an adjustment nut 3526 and a limit nut 3525 are respectively threaded into the bottom and top of the hook mounting groove. The central threaded hole of the adjustment nut 3526 allows the hook rod 3523 to extend. The adjustment nut 3526 can change the compression amount of the first reset elastic member 3524 by changing its screwing depth, thereby changing the reset force of the hook rod 3523.

[0082] In a more specific embodiment, the snap-on mounting seat 3531 is processed with a snap-on groove along the horizontal direction, and the snap-on member 3532 is slidably installed in the snap-on groove through structures such as the snap-on first boss 35321. The snap-on member 3532 is processed with a snap-on slot that passes through vertically and can allow the bottom of the hook rod 3523 to extend into. The snap-on protrusion (i.e., the snap-on second boss 35322) is provided on the side wall of the snap-on slot, and the second reset elastic member 3533 is provided between the inward end of the snap-on member 3532 and the snap-on mounting seat 3531, and the outward end of the snap-on member 3532 is provided with a wedge-shaped boss 35323.

[0083] In a more specific embodiment, the jacking platform 36 includes a jacking jack 361 fixed on the lifting frame 31, a flange platform 362 fixedly connected to the hydraulic rod of the jacking jack 361, and a spring-loaded connection structure installed on the flange platform 362 and used for detachably connecting the hook connector 352 at the bottom of the standard section assembly 35. A guide boss 363 that can be embedded in the standard section frame 351 is also provided in the middle area at the top of the flange platform 362.

[0084] In a more specific embodiment, the auxiliary platform 33 includes an auxiliary jack 334 mounted on the lifting frame 31, an auxiliary frame 331 fixedly mounted and slidably mounted on the lifting frame 31 along with the auxiliary jack 334, and an auxiliary connector 332 disposed on the auxiliary frame 331. The auxiliary connector 332 includes an auxiliary mounting seat 3321, two auxiliary sliders 3324 that slide along the auxiliary mounting seat 3321 and can move toward or away from each other, and auxiliary claws 3322 respectively connected to the two auxiliary sliders 3324. More preferably, a third resetting elastic member 3323 is provided between the two auxiliary sliders 3324 to force them to move relative to each other. The auxiliary mounting seat 3321 is also provided with an electromagnet 3325 located between the two auxiliary sliders 3324. When the electromagnet 3325 is energized, the magnetic force of the electromagnet 3325 causes the two auxiliary sliders 3324 to drive the auxiliary claws 3322 toward each other, overcoming the action of the third resetting elastic member 3323. The auxiliary frame 331 is slidably engaged with the lifting frame 31 via the auxiliary guide wheel 333 .

[0085] In a more specific embodiment, the force conversion support mechanism 32 includes a conversion jack 321 installed on the top of the lifting frame, and a pair of conversion beams 322 slidingly cooperated with the lifting frame. The conversion jack 321 is connected to the conversion beam 322, and drives the conversion beam 322 to slide on the lifting frame and move relatively closer or farther away. When the standard section assembly 35 is driven by the jacking platform 36 to a position higher than the conversion beam 322, the conversion jack 321 is relatively close to and clamps the standard section assembly 35, thereby realizing the force conversion of supporting the standard section assembly 35.

[0086] In a more specific embodiment, the feed platform 34 includes a feed base, a feed slide 341 mounted on the feed base along a horizontal direction, and a feed jack 342 mounted on the feed base and connected to the feed slide 341. The feed slide 341 is also provided with several positioning bosses 343 for positioning and placing the standard section assembly 35.

[0087] In some specific embodiments, please refer to Figures 3 to 5As shown in FIG. 1 , the chassis standard section conveying device 4 includes a movable chassis mechanism 43 supporting the mechanical hydraulic device 3, a foldable guide rail 41 arranged between the two mechanical hydraulic devices 3, and a standard section transport trolley 42 that can move back and forth on the unfolded foldable guide rail 41. The movable chassis mechanism 43 includes a walkable chassis 430, a walking wheel assembly installed on the bottom end surface of the walkable chassis 430, and a bolt automatic fixing structure 431 provided on the walkable chassis 430 and used to fix it to the construction ground. The folding method of the foldable guide rail 41 can refer to the two-dimensional guide rail support mechanism 25, and the specific structure can also be similar to its outer track type working track.

[0088] In a more specific embodiment, the automatic bolt fixing structure 431 includes a driving motor, a bolt seat sleeve 4312, a track sleeve 4313, a connecting bolt 4311 and a bolt slider 4315, wherein the driving motor is fixed on the walkable chassis 430, and the output end of the driving motor is connected to the bolt seat sleeve 4312, the track sleeve 4313 is fixed to the walkable chassis 430 around the bolt seat sleeve 4312, a spiral lifting track 4314 is processed on the inner wall surface of the track sleeve 4313, the bolt seat sleeve 4312 is processed with a guide hole in the vertical direction, the bolt slider 4315 is placed in the bolt seat sleeve 4312, and a protrusion that extends out of the guide hole and matches the spiral lifting track 4314 is also processed on the side of the bolt slider 4315. The top of the connecting bolt 4311 is fixedly connected to the bolt slider 4315, and the bottom extends out of the track sleeve 4313. Through the rotation of the bolt seat sleeve 4312, the bolt slider 4315 rises along the track sleeve 4313, thereby driving the connecting bolt 4311 into the ground. In the process of the driving motor driving the bolt seat sleeve 4312 to rotate, the bolt slider 4315 is driven by the bolt seat sleeve 4312 to perform linear motion while also performing rotational motion along the spiral track of the track sleeve 4313, thereby driving the connecting bolt 4311 to rotate and drive it into the construction ground. The use of the structure to complete the fixation to the ground does not require additional manual installation of fixing bolts, which saves time and effort and is safe and reliable. More preferably, the walking wheel assembly includes a driving wheel 4301 and a driven wheel, the driving wheel 4301 is driven to rotate by the walking motor 4302, the driven wheel is a universal wheel 4303, and a shock-absorbing spring 4304 is also provided between the driven wheel and the walkable chassis 430.

[0089] In a more specific embodiment, in addition to the transport trolley 42 body that can move back and forth on the foldable guide rail 41, the transport trolley 42 body can also be provided with a plurality of positioning protrusions for positioning the standard section assembly 35. The structure of the transport trolley 42 body can adopt a trolley structure commonly used in the art that can move on, for example, an I-beam track.

[0090] In some specific embodiments, please refer to Figure 19 As shown in the figures, the outer track working device 1 includes an operating walking trolley 11 that can move on the outer track working track, an extendable mounting mechanism 12 arranged on the operating walking trolley 11 and extendable in the vertical direction, a multi-degree-of-freedom robotic arm 13 installed on the extendable mounting mechanism 12, and an end effector 14 arranged on the multi-degree-of-freedom robotic arm 13. The operating walking trolley 11 includes a motion support mechanism that can be movably mounted on the outer track working track, a trolley clamping mechanism installed on the motion support mechanism, and a trolley positioning mechanism movably arranged on the motion support mechanism. The extendable mounting mechanism 12 is fixedly connected to the motion support mechanism.

[0091] In a more specific embodiment, the trolley clamping mechanism includes an elastic clamping unit that is rotatably connected to the motion support mechanism, and a ball 1103 installed on the elastic clamping unit. When the elastic clamping unit is rotated to a vertical position on the motion support mechanism, the elastic clamping unit is in a compressed state, and the ball 1103 is pressed against and rolls in contact with the lower surface of the outer track-type working track. More preferably, the motion support mechanism includes a trolley body 1102 symmetrically assembled from two groups of U-shaped brackets, and a trolley track wheel 1101 installed at the free end of each group of U-shaped brackets and rolling in contact with the outer I-beam track. Even more preferably, a trolley travel gear 1109 is installed at the free end of the U-shaped bracket, the trolley track wheel 1101 is sleeved on the trolley travel gear 1109, and the inner surface of the trolley track wheel 1101 is meshed with the trolley travel gear 1109. The trolley can be provided with multiple travel gears 1109, and the trolley track wheels 1101 are mounted on the trolley travel gears 1109 and driven by them to achieve travel on the track. Due to the provision of the trolley track wheels 1101, the contact area between the travel trolley and the track can be increased, thereby improving its travel stability. In addition, at least one of the trolley travel gears 1109 is a driving gear, that is, it actively rotates to achieve the driving function. At the same time, the two sets of U-shaped brackets can be assembled between the body fixing plate 1106 and the trolley fixing rod 1110.

[0092] More preferably, a first connecting frame 1105 is fixedly provided on the motion support mechanism, and the elastic clamping unit includes a clamping bracket rotatably connected to the connecting frame, a clamping rod 1104 slidably arranged on the clamping bracket along the vertical direction, and a trolley clamping spring 1112 mounted on the clamping rod 1104, the two ends of the trolley clamping spring 1112 respectively abut against the ball 1103 and the clamping bracket, and the ball 1103 is rotatably installed on the end of the clamping rod 1104. Here, by processing a hole on the top of the clamping bracket for the bottom end of the clamping rod 1104 to match and pass through, the sliding connection between the clamping rod 1104 and the clamping bracket is achieved. Similarly, the trolley positioning rod 1108 and the positioning bracket can also adopt a similar structure. When the clamping bracket drives the clamping rod 1104 to rotate to a position perpendicular to the lower surface of the track, the ball 1103 contacts the lower surface of the track. At this time, the trolley clamping spring 1112 is in a compressed state, and the bottom of the clamping rod 1104 partially extends below the hole of the clamping bracket.

[0093] In a more specific embodiment, a second connecting frame 1111 is further fixedly provided on the motion support mechanism, and the positioning mechanism includes a positioning bracket rotatably mounted on the second connecting frame 1111, a positioning rod 1108 slidably arranged on the positioning bracket in a vertical direction, a hemispherical positioning block fixed to the head of the positioning rod 1108, and a trolley positioning spring 1107 sleeved on the positioning rod 1108, the two ends of the trolley positioning spring 1107 respectively abut against the positioning block and the second connecting frame 1111, and a positioning hole for the positioning block to slide into is further provided at the positioning point. When the positioning rod 1108 is rotated to a vertical state, the positioning spring is in a compressed state, the hemispherical positioning block on the top of the positioning rod 1108 generates pressure on the track and is placed in the positioning hole corresponding to the track. When it is in the hole position, the trolley is in a positioning state.

[0094] In addition, in a more specific embodiment, the extendable mounting mechanism 12 can adopt the ball 1103 screw rod structure commonly used in this field to realize the up and down lifting functions, and the end actuator 14 can have various existing operation actuators such as suction cup type, clamp type, hook type, spray type, etc. as needed to meet the operation functions such as clamping, sucking, turning, twisting, pushing, and pulling.

[0095] The above embodiments may be implemented individually or in any combination of two or more.

[0096] The above implementation is described in more detail below with reference to specific examples.

[0097] Example 1:

[0098] In order to improve the construction efficiency and quality of the current construction field, this embodiment provides a non-road walking outer track mechanical system for the construction of prefabricated buildings, which can be seen in Figures 1 to 2 As shown, including:

[0099] Outer track operating device 1;

[0100] The outer track type guide rail device 2 includes a two-dimensional folding outer track mechanism that provides the outer track type working track required for the outer track operating device 1 to work, and a two-dimensional guide rail support mechanism 25 that supports the two-dimensional folding outer track mechanism. The bottom of the two-dimensional guide rail support mechanism 25 is provided with a standard section assembly 35;

[0101] A mechanical hydraulic device 3 provided below the two-dimensional guide rail support mechanism 25 and used to adjust the number of stacked standard section assemblies 35;

[0102] And a chassis standard section conveying device 4 for conveying the standard section assembly 35 from the working position of the mechanical hydraulic device 3 or conveying it out from the mechanical hydraulic device 3.

[0103] The two-dimensional folding and unfolding outer guide rail mechanism in this embodiment has the function of two-dimensional folding and unfolding of the track and autonomous reversing of the track intersection, which meets the requirements of the track mechanism being folded into a small structure during transportation, being unfolded two-dimensionally in the working state, and the track trolley moving without interference. For some specific implementations, please refer to Figures 14 to 18 As shown in FIG. 1 , the two-dimensional folding outer guide rail mechanism includes a plurality of outer track unit structures 21 arranged on a two-dimensional guide rail support mechanism 25, an automatic locking joint 22 arranged between two adjacent outer track unit structures 21 and used to lock them, and a cross-track reversing structure 24 connecting two outer track unit structures 21 located in different directions. The two outer track unit structures 21 adjacent in the same direction are rotatably connected by a hinge connection structure 23. The two outer track unit structures 21 adjacent in the same direction are rotatably connected by a hinge connection structure 23, and the hinge connection structure 23 is arranged on the opposite side of the corresponding automatic locking structure. In this embodiment, the hinge connection structure 23 is used to make the two outer track unit structures 21 adjacent in the same direction rotatably connected. In this way, all the outer track unit structures 21 can be conveniently folded up during transportation and storage. The folded state varies according to the number of outer track unit structures 21, such as a V-shape or a Z-shape. The outer track unit structure 21 in this embodiment can be an I-beam track unit structure.

[0104] The automatic locking joint 22 includes a lock core 223, and a first lock seat 221 and a second lock seat 222 respectively fixed on the two outer track unit structures 21. The lock core 223 is I-shaped, and one end of the lock core 223 is rotatably connected to the first lock seat 221. The second lock seat 222 is composed of two spaced triangle plates parallel to the rotation direction of the lock core 223, with one side of the triangle plate facing the first lock seat 221 as the first side, and the other side facing away from the first lock seat 221 as the second side. When the two outer track unit structures 21 are relatively unfolded, the other end of the lock core 223 slides along the first side of the triangle plate until it completely crosses the first side and is inverted on the second side. At this time, the first lock seat 221 and the second lock seat 222 are locked by the lock core 223. Here, the triangle plate in the second lock seat 222 can be a right triangle, an acute triangle, or an obtuse triangle. It does not necessarily have to be a strict triangle shape, but can be roughly this shape. For example, the intersection of its first side and second side can be rounded to facilitate the transition of the lock core 223 along the first side and the second side. At the same time, to improve the locking effect, the second side can also have a smooth groove. In addition, as needed, the outer track unit structure 21 is also provided with an unlocking power component that can cause the lock core 223 to exit the second lock seat 222, such as an electromagnet 3325 device controlled by a relay. In this way, after the track mechanism is fully unfolded and the predetermined working target is achieved, this unlocking power component can be activated to complete the unlocking action. In addition, more preferably, a torsion spring structure is also provided between the lock core 223 and the first lock seat 221 to press the lock core 223 toward the second lock seat 222.

[0105] The cross-track reversing structure 24 includes a mounting base 244, and a first cross-track 241, a second cross-track 245, and a reversing track 242 disposed on the mounting base 244. The first cross-track 241 and the second cross-track 245 are respectively rotatably connected to the outer track unit structure 21 in different directions. The reversing track 242 is rotatably mounted on the mounting base 244 and is located at the intersection of the first cross-track 241 and the second cross-track 245. By rotating the reversing track 242, the reversing track 242 is connected to the first cross-track 241 or the second cross-track 245. Depending on different needs, one first cross-track 241 and one second cross-track 245 can be provided, or two opposite each other, so that the cross-track reversing structure 24 is arranged in an L-shape, a T-shape, or a cross shape. Here, it should be noted that the cross-section of the reversing track 242 is completely matched with the outer track working track. When reversing is required, the trolley first moves to the reversing track 242 through the outer track unit structure 21 in one direction, and then the reversing track 242 changes direction to connect with the outer track unit structure 21 in the other direction. The trolley then moves out of the reversing track 242 to complete the change of direction.

[0106] A direction-changing power unit 243 is provided on the mounting base 244 , and the direction-changing power unit 243 is connected to the direction-changing track 242 via a direction-changing shaft.

[0107] The portions of the first cross track 241 and the second cross track 245 that contact the reversing track 242 are arc-shaped, and the arc-shaped contact portions of the first cross track 241 and the second cross track 245 are located on the same circumference line with the rotation center of the reversing track 242 as the center.

[0108] In this embodiment, the two-dimensional guide rail support mechanism 25 includes a column connection structure, a support and storage structure, and has the functions of fixing with the column, storing the non-working state rail, and supporting the working state rail. It can be specifically arranged on the mechanical hydraulic device 3.

[0109] Please see again Figures 6 to 13 As shown in FIG. 1 , the mechanical hydraulic device 3 includes a lifting frame 31 supporting the two-dimensional guide rail support mechanism 25, a feeding platform 34 for horizontally transporting the standard section assembly 35, a lifting platform 36 installed on the lifting frame 31 and used to lift the standard section assembly 35, an auxiliary platform 33 provided on the lifting frame 31, and a force conversion support mechanism 32 located on the top of the lifting frame 31 and used to carry the standard section assembly 35 delivered by the lifting platform 36.

[0110] The standard section assembly 35 includes a standard section frame 351, and at least one snap connector 353 and at least one hook connector 352 respectively mounted on the top and bottom of the standard section frame 351. The hook connector 352 includes a hook mounting seat and a hook rod 3523 slidably arranged on the hook mounting seat in the vertical direction. The hook rod 3523 is also provided with a first reset elastic member 3524 that applies an upward elastic force thereto. The snap connector 353 includes a snap mounting seat 3531 and a snap mounting seat 3531 slidably mounted on the snap mounting seat 3531 in the horizontal direction. The spring fastener 3532 is provided with a second reset elastic member 3533 between the spring fastener 3532 and the spring fastener mounting seat 3531, which makes the spring fastener 3532 pop outward. The spring fastener 3532 has a spring fastener protrusion that can buckle the bottom of the hook rod 3523. When the upper and lower standard section assemblies 35 are connected to each other, the hook rod 3523 on the upper standard section assembly 35 is pressed down to the buckling position by the auxiliary platform 33, and the spring fastener 3532 on the lower standard section assembly 35 pops outward, so that the spring fastener protrusion buckles the hook rod 3523.

[0111] The bottom area of ​​the lifting frame 31 is also provided with a standard section chassis 37 that can accommodate the standard section assembly 35. The standard section chassis 37 can be composed of a chassis main column 371 and a plurality of auxiliary columns 372 arranged side by side. The auxiliary columns 372 are also provided with independent snap-on connectors 353 that match the hook connectors 352 at the bottom of the standard section assembly 35. At the same time, the tops of the auxiliary columns 372 are also provided with corresponding top bosses 3512. A chassis crossbeam 373 is also provided on the tops of the chassis main columns 371 and the auxiliary columns 372.

[0112] The standard section frame 351 includes several standard section columns 3511 arranged side by side along the circumference and fixedly connected to each other. Different standard section columns can be connected to form an integral frame via top and bottom crossbeams. The top of each standard section column 3511 is provided with a top boss 3512, and the bottom is processed with a bottom groove for the top boss 3512 to be embedded. In addition, the side of the bottom groove is also provided with side grooves 3515 to facilitate the grip between the bottom groove and the top boss 3512 and other structures, thereby reducing the matching gap between the two. At the same time, the side of the standard section column 3511 is also provided with a guide ear plate 3514 and a positioning ear plate 3513 for guiding and fixing the hook connector 352 and the spring connector 353.

[0113] The hook connector 352 also includes an inner tapered ring 3522 that fits over the bottom of the standard section column 3511, and an outer tapered ring 3521 that fits over and slidably engages with the inner tapered ring 3522. The inner tapered ring 3522 has a slot along its axial direction on its sidewall. The outer tapered ring 3521 and the inner tapered ring 3522 have the same taper, and a hook mounting seat is provided on the outer tapered ring 3521. When the inner tapered ring 3522 and the outer tapered ring 3521 interact and press together, the inner tapered ring 3522 is pressed against the top boss 3512 of the standard section column 3511 of the second section, achieving a locking connection and reducing structural gaps.

[0114] The hook mounting seat is machined with a hook mounting groove running in a vertical direction. The sidewalls of the hook mounting groove are also provided with hook slots running along the groove. The hook rod 3523 is slidably mounted in the hook mounting groove. The top of the hook rod 3523 is also provided with a first hook rod boss 35231 that extends out of the hook slot. The bottom of the hook rod 3523 is also provided with a second hook rod boss 35232 that protrudes laterally and forms a hook-shaped structure. Preferably, an adjustment nut 3526 and a limit nut 3525 are respectively threaded into the bottom and top of the hook mounting groove. The central threaded hole of the adjustment nut 3526 allows the hook rod 3523 to extend. The adjustment nut 3526 can change the compression of the first reset elastic member 3524 by changing its screwing depth, thereby changing the reset force of the hook rod 3523.

[0115] The snap-on mounting seat 3531 is machined with a snap-on groove along the horizontal direction, and a snap-on member 3532 is slidably mounted in the snap-on groove through structures such as the snap-on first boss. The snap-on member 3532 is machined with a snap-on slot that passes through vertically and allows the bottom of the hook rod 3523 to extend into. A snap-on protrusion (i.e., the snap-on second boss) is provided on the side wall of the snap-on slot. A second reset elastic member 3533 is provided between the inward end of the snap-on member 3532 and the snap-on mounting seat 3531, and a wedge-shaped boss 35323 is provided at the outward end of the snap-on member 3532.

[0116] The jacking platform 36 includes a jacking jack 361 fixed on the lifting frame 31, a flange platform 362 fixedly connected to the hydraulic rod of the jacking jack 361, and a spring-loaded connection structure installed on the flange platform 362 and used to detachably connect the hook connector 352 at the bottom of the standard section assembly 35. A guide boss 363 that can be embedded in the standard section frame 351 is also provided in the middle area of ​​the top of the flange platform 362.

[0117] The auxiliary platform 33 includes an auxiliary jack 334 mounted on the lifting frame 31, an auxiliary frame 331 fixedly and slidably mounted on the lifting frame 31 along with the auxiliary jack 334, and an auxiliary connecting member 332 disposed on the auxiliary frame 331. The auxiliary connecting member 332 includes an auxiliary mounting seat 3321, two auxiliary sliders 3324 that slide along the auxiliary mounting seat 3321 and can move toward or away from each other, and auxiliary claws 3322 respectively connected to the two auxiliary sliders 3324. More preferably, a third resetting elastic member 3323 is provided between the two auxiliary sliders 3324 to force them to move relative to each other. The auxiliary mounting seat 3321 is also provided with an electromagnet 3325 located between the two auxiliary sliders 3324. When the electromagnet 3325 is energized, the magnetic force of the electromagnet 3325 causes the two auxiliary sliders 3324 to drive the auxiliary claws 3322 toward each other, overcoming the action of the third resetting elastic member 3323.

[0118] The force conversion support mechanism 32 includes a conversion jack 321 installed on the top of the lifting frame, and a pair of conversion beams 322 that slide with the lifting frame. The conversion jack 321 is connected to the conversion beam 322, and drives the conversion beam 322 to slide on the lifting frame and move relatively close or away. When the standard section assembly 35 is driven by the jacking platform 36 to a position higher than the conversion beam 322, the conversion jack 321 approaches relatively and clamps the standard section assembly 35, thereby realizing the force conversion of supporting the standard section assembly 35.

[0119] The feed platform 34 includes a feed base, a feed slide 341 mounted on the feed base for sliding along the horizontal direction, and a feed jack 342 mounted on the feed base and connected to the feed slide 341. The feed slide 341 is also provided with several positioning bosses 343 for positioning and placing the standard section assembly 35.

[0120] Please see again Figures 3 to 5 As shown in FIG. 1 , the chassis standard section conveying device 4 includes a movable chassis mechanism 43 supporting the mechanical hydraulic device 3, a foldable guide rail 41 arranged between the two mechanical hydraulic devices 3, and a standard section transport trolley 42 that can move back and forth on the unfolded foldable guide rail 41. The movable chassis mechanism 43 includes a walkable chassis 430, a walking wheel assembly installed on the bottom end surface of the walkable chassis 430, and a bolt automatic fixing structure 431 provided on the walkable chassis 430 and used to fix it to the construction ground. The folding method of the foldable guide rail 41 can refer to the two-dimensional guide rail support mechanism 25, and the specific structure can also be similar to its outer track type working track.

[0121] The automatic bolt fixing structure 431 includes a driving motor, a bolt seat sleeve 4312, a track sleeve 4313, a connecting bolt and a bolt slider 4315, wherein the driving motor is fixed on the walkable chassis 430, and the output end of the driving motor is connected to the bolt seat sleeve 4312, the track sleeve 4313 is fixed on the walkable chassis 430 around the bolt seat sleeve 4312, a spiral lifting track 4314 is processed on the inner wall surface of the track sleeve 4313, and a guide hole in the vertical direction is processed on the bolt seat sleeve 4312. The bolt slider 4315 is placed in the bolt seat sleeve 4312, and a protrusion extending out of the guide hole and matching the spiral lifting track 4314 is also processed on the side of the bolt slider 4315. The top of the connecting bolt 4311 is fixedly connected to the bolt slider 4315, and the bottom extends out of the track sleeve 4313. Through the rotation of the bolt seat sleeve 4312, the bolt slider 4315 rises along the track sleeve 4313, thereby driving the connecting bolt 4311 into the ground. In the process of the driving motor driving the bolt seat sleeve 4312 to rotate, the bolt slider 4315 is driven by the bolt seat sleeve 4312 to perform linear motion while also performing rotational motion along the spiral track of the track sleeve 4313, thereby driving the connecting bolt 4311 to rotate and drive it into the construction ground. The structure is used to complete the fixation to the ground, and there is no need for manual installation of additional fixing bolts, which saves time and effort and is safe and reliable. More preferably, the walking wheel assembly includes a driving wheel 4301 and a driven wheel. The driving wheel 4301 is driven to rotate by the walking motor 4302, and the driven wheel is a universal wheel 4303. A shock-absorbing spring 4304 is also provided between the driven wheel and the walkable chassis 430.

[0122] In addition to the transport trolley 42 body that can move back and forth on the foldable guide rail 41, the transport trolley 42 body can also be provided with a number of positioning protrusions for positioning the standard section assembly 35. The structure of the transport trolley 42 body can adopt a trolley structure commonly used in the art that can move on, for example, an I-beam track.

[0123] Please see again Figure 19 As shown in the figures, the outer track working device 1 includes an operating walking trolley 11 which can move on the outer track type working track, an extendable mounting mechanism 12 which is arranged on the operating walking trolley 11 and can be extended and retracted in the vertical direction, a multi-degree-of-freedom robot arm 13 installed on the extendable mounting mechanism 12, and an end effector 14 arranged on the multi-degree-of-freedom robot arm 13. The operating walking trolley 11 includes a motion support mechanism which can be movably mounted on the outer track type working track, a trolley clamping mechanism installed on the motion support mechanism, and a trolley positioning mechanism which is movably arranged on the motion support mechanism. The extendable mounting mechanism 12 is fixedly connected to the motion support mechanism.

[0124] The trolley clamping mechanism includes an elastic clamping unit that is rotatably connected to the motion support mechanism, and a ball 1103 installed on the elastic clamping unit. When the elastic clamping unit is rotated to a vertical position on the motion support mechanism, the elastic clamping unit is in a compressed state, and the ball 1103 is pressed against and rolling contact with the lower surface of the outer track-type working track. More preferably, the motion support mechanism includes a trolley body 1102 symmetrically assembled from two groups of U-shaped brackets, and a trolley track wheel 1101 installed at the free end of each group of U-shaped brackets and rolling contact with the outer I-beam track. Even more preferably, a trolley travel gear 1109 is installed at the free end of the U-shaped bracket, and the trolley track wheel 1101 is sleeved on the trolley travel gear 1109, and the inner surface of the trolley track wheel 1101 is meshed with the trolley travel gear 1109. There can be several trolley traveling gears 1109, and the trolley track wheels 1101 are mounted on the trolley traveling gears 1109 and driven thereby to realize walking on the track. Due to the setting of the trolley track wheels 1101, the contact area between the traveling trolley and the track can be increased, thereby improving its walking stability. In addition, at least one of the trolley traveling gears 1109 is a driving gear, that is, it actively rotates to realize the driving function.

[0125] A first connecting frame 1105 is also fixedly provided on the motion support mechanism. The elastic clamping unit includes a clamping bracket rotatably connected to the connecting frame, a clamping rod 1104 slidingly arranged on the clamping bracket along the vertical direction, and a trolley clamping spring 1112 sleeved on the clamping rod 1104. The two ends of the trolley clamping spring 1112 respectively resist the ball 1103 and the clamping bracket, and the ball 1103 is rotatably installed on the end of the clamping rod 1104. Here, by processing a hole on the top of the clamping bracket for the bottom end of the clamping rod 1104 to match and pass through, the sliding connection between the clamping rod 1104 and the clamping bracket is achieved. Similarly, the trolley positioning rod 1108 and the positioning bracket can also adopt a similar structure. When the clamping bracket drives the clamping rod 1104 to rotate to a position perpendicular to the lower surface of the track, the ball 1103 contacts the lower surface of the track. At this time, the trolley clamping spring 1112 is in a compressed state, and the bottom of the clamping rod 1104 partially extends below the hole of the clamping bracket.

[0126] A second connecting frame 1111 is also fixedly provided on the motion support mechanism. The positioning mechanism includes a positioning bracket rotatably mounted on the second connecting frame 1111, a positioning rod 1108 slidably provided on the positioning bracket in a vertical direction, a hemispherical positioning block fixed to the head of the positioning rod 1108, and a trolley positioning spring 1107 sleeved on the positioning rod 1108. The two ends of the trolley positioning spring 1107 respectively abut the positioning block and the second connecting frame 1111. A positioning hole is provided at the positioning point for the positioning block to slide into. When the positioning rod 1108 is rotated to a vertical position, the positioning spring is in a compressed state, and the hemispherical positioning block on the top of the positioning rod 1108 exerts pressure on the track and is placed in the corresponding positioning hole of the track. When it is in the hole position, the trolley is in a positioned state.

[0127] In addition, the extendable mounting mechanism 12 can adopt the ball 1103 screw rod structure commonly used in this field to realize the up and down lifting functions. The end actuator 14 can have various existing operation actuators such as suction cup type, clamp type, hook type, spray type, etc. as needed to meet the operation functions of clamping, sucking, turning, twisting, pushing, and pulling.

[0128] Example 2:

[0129] Based on Example 1, this example provides a method for constructing a non-road traveling outer track mechanical system for prefabricated building construction, which can decompose the construction workflow into the following steps: a movement phase of the chassis standard section conveying device 4, an unfolding phase of the outer track guide rail device 2, a lifting phase of the mechanical hydraulic device 3, an execution phase of the outer track operating device 1, and a folding and recovery phase;

[0130] The method for constructing the chassis standard section conveyor 4 movement stage includes the following steps:

[0131] Step S1: The construction of the building site, including the foundation, has been completed. The sensor system is deployed to detect and establish a digital construction scene of the site. The target walking route parameters and the reference parameters of the stop position are input into the controller through the relevant spatial positioning device (this step can be conventional technology in the art).

[0132] Step S2: The controller issues a command to activate the travel wheel assembly in the travelable chassis 430, which travels along a planned path or a pre-designed track; the travel wheel assembly relies on the automatically fixable movable chassis mechanism 43, and in the track folded state, travels to the predetermined construction site via the movable chassis mechanism 43;

[0133] Step S3: The foldable guide rail 41 is unfolded at the construction site via the movable chassis mechanism 43. During the unfolding process, the automatic locking joints 22 on the foldable guide rail 41 cooperate to achieve track locking, thereby supporting the unfolded foldable guide rail 41.

[0134] Step S4: After the foldable guide rail 41 is unfolded, the movable chassis mechanism 43 is moved to a predetermined position through spatial positioning. The position of the movable chassis mechanism 43 is monitored in real time by a sensing system and fed back to the control system. Prefabricated high-strength connecting bolts 4311 are driven into the ground through the automatic bolt fixing structure 431 on the movable chassis mechanism 43. The connecting bolts 4311 cooperate with the prefabricated bolt holes in the ground to secure the entire device to the ground, and then proceed to the next step of construction.

[0135] Step S5: The standard section transport trolley 42 moves to a predetermined position on the unfolded foldable guide rail 41, and the standard section assembly 35 is installed on the standard section transport trolley 42. The standard section transport trolley 42 with the standard section assembly moves along the track to the lifting frame 31 area at both ends of the track, and then cooperates with the feeding platform 34 to transport the standard section assembly 35 to the working area of ​​the jacking platform 36;

[0136] Step S6: After the standard section assembly 35 is transported, the standard section transport trolley 42 returns to the standard section loading position and repeats the next standard section transport operation.

[0137] After step S6, the control method for the track system deployment stage is also included. The steps of this stage are performed simultaneously with the above steps S3 and S4, and the following steps are included:

[0138] The construction method of the outer track type guide rail device 2 in the deployment stage, which controls the two-dimensional deployment of the outer track type working track, includes the following steps:

[0139] Step S7: The control system is activated by an electrical signal, and the movable chassis mechanism 43 provides the necessary power to deploy the outer track-type guide rail assembly 2. The two-dimensional folding outer guide rail mechanism of the outer track structure sequentially leaves the two-dimensional guide rail support mechanism 25 and deploys in the transverse and longitudinal two-dimensional planes. The sensing system detects the straightness and other characteristics of the two-dimensional folding outer guide rail mechanism and provides feedback to the control system. The control system sends an electrical signal to the movable chassis mechanism 43 in real time to adjust its driving speed.

[0140] Step S8: After the I-beam structure of the two-dimensional folding outer guide rail mechanism reaches a predetermined position, the auxiliary structure (including the automatic locking joint 22, etc.) automatically completes the fixation and locking of the I-beam rails. The auxiliary structure also acts as an auxiliary support mechanism to provide support for the guide rail system and ensure straightness by manually inserting a fixing pin structure into the guide rail system (i.e., locking is performed by inserting a fixing pin between two adjacent outer track unit structures 21).

[0141] After step S8, the control method of the mechanical hydraulic device 3 during the jacking phase is further included, including the following steps:

[0142] Step S9: The sensors at the connection bolts 4311 detect that they have been fixed to the ground, and the sensors at the unfolding rails detect that the two-dimensional folding outer guide rail mechanism has completed the unfolding and locking steps, and then the next step of the column jacking stage can be entered;

[0143] Step S10: The sensing system detects whether a standard section structure is loaded on each loading platform (i.e., the standard section transport trolley 42), and reminds the construction personnel to load the standard section structure on the standard section transport trolley 42. The control system controls the transport of the standard section assembly 35 to the loading platform (i.e., the feed platform 34) of the mechanical hydraulic device 3 through an electrical signal, and the standard section transport trolley 42 returns to its initial position.

[0144] Step S11: The sensing system detects the loading situation on the feeding platform 34, and the control system sends an electrical signal to control the jacking power element (i.e., the jacking jack 361) to jack up the standard section assembly 35 on the loading platform. The standard section assembly 35 is autonomously connected and locked with the spring connector 353 on the jacking platform 36 through the hook connector 352. The jacking jack 361 continues to jack up to a predetermined position. At this time, the standard section assembly 35 delivered to the position has been connected with the standard section assembly 35 on the two-dimensional track support mechanism above (through the hook connector 352 and the spring connector 353). The specific connection process is as follows: the auxiliary claw 3322 that moves into position moves closer and presses the first hook rod boss 35231 on the standard section assembly 35, so that the hook rod 3523 is pressed down and extended, and connected with the spring connector 353;

[0145] Step S12: The control system sends an electrical signal according to the signal of the sensor system to control the operation of the force conversion support mechanism 32, and the conversion jack 321 drives the conversion beam 322 to move closer to clamp the standard section assembly 35 at a predetermined position. At the same time, the auxiliary claw 3322 on the auxiliary platform 33 also rises with the auxiliary jack 334 to a position flush with the snap connector 353 on the jacking platform 36. Then, the auxiliary claw 3322 is controlled to move closer so that the wedge-shaped boss 35323 on the snap connector 353 is pressed back. In this way, the hook connector 352 at the bottom of the standard section assembly 35 is disconnected from the snap connector 353 on the jacking platform 36, and the jacking platform 36 descends and returns to the initial jacking position, completing the jacking process of one standard section height.

[0146] Step S13: Repeat the above steps S9 to S12 to realize the automatic jacking operation of N standard section assemblies 35, where N is an integer not less than 2; the sensing system detects the height of the two-dimensional folding outer guide rail mechanism and the foundation, and the control system terminates the system jacking stage after reaching the predetermined working height; in order to better maintain the stability of the entire system, the above-mentioned stacked standard section assemblies 35 can also be transferred from the conversion beam 322 to the standard section chassis 37 below and fixed through the jacking platform 36, thereby achieving force system conversion, and realizing that the gravity of the standard section is first converted from the conversion beam 322 to the main column and the jacking jack 361, and then converted to the standard section chassis 37.

[0147] After step S13, the method for constructing the working system execution phase also includes the following steps:

[0148] Step S14: The control system inputs reference parameters such as target walking route parameters, stop position positioning, and path planning into the controller through the digital construction scene of the site and related spatial positioning devices; manually installs a suitable working walking vehicle 11 at a predetermined position in the outer track-type working track, and suspends a multi-degree-of-freedom robotic arm 13 with an end effector 14 for power initialization, and communicates with the control system and sensor system through wireless transmission.

[0149] Step S15: The control system sends an electrical signal to control the lifting system to suspend and lift the building prefabricated parts and related assembly parts to a position that can be reached by the robotic arm; the control system sends a command to start the working walking trolley 11 to achieve omnidirectional movement on the track according to the planned path, ensuring that there is no interference between the working walking trolleys 11.

[0150] Step S16: The sensing system measures the real-time position of the working walking trolley 11 and detects and feeds back the position parameters. The control system determines whether the working walking trolley 11 has reached the preset stop position based on the received position parameter information of the working walking trolley 11; when the working walking trolley 11 reaches the preset stop position, the control system sends an electrical signal to control the working walking trolley 11 to stop running. At the same time, the trolley positioning mechanism on the working walking trolley 11 cooperates with the outer track type working track for positioning and fixing; the control system sends instructions to control the operation of the motors of the multi-degree-of-freedom robotic arm 13 and the end effector 14 and other structures according to the pre-input work content to complete the working functions such as clamping, sucking, turning, twisting, pushing and pulling.

[0151] After step S16, the construction method of the folding and recycling stage is further included, including the following steps:

[0152] Step S17: The control system sends an electrical signal to control the movable chassis mechanism 43 to release the fixed connection with the foundation structure, and controls the movable chassis mechanism 43 to move the entire frame structure out of the construction space;

[0153] Step S18: The lifting platform 36 cooperates with the auxiliary platform 33 and the force conversion support mechanism 32 to disconnect the standard section components 35 in sequence and transport them out via the standard section transport trolley 42, completing the lowering of the mechanical hydraulic device 3, the standard section disassembly, transportation and storage process, and realizing the reduction of the height of the outer track type guide rail device 2;

[0154] Step S19: Initialize and power off the operating trolley 11 and the multi-degree-of-freedom robotic arm 13 in the outer track operating device 1, manually disassemble and recycle them;

[0155] Step S20: The control system cooperates with manual disconnection of the movable chassis mechanism 43 and the auxiliary locking structure in the outer track guide device 2. The control system sends an electrical signal to control the movement of the movable chassis 430, completes the folding between the guide rails and retracts them to the original position for manual fixation, and the overall structure returns to its initial state. In summary, a complete workflow is completed.

[0156] The above description of the embodiments is intended to facilitate understanding and use of the invention by those skilled in the art. It will be apparent that those skilled in the art can readily make various modifications to these embodiments and apply the general principles described herein to other embodiments without requiring inventive effort. Therefore, the present invention is not limited to the above-described embodiments. Improvements and modifications made by those skilled in the art based on the disclosure of the present invention, without departing from the scope of the present invention, should be within the scope of protection of the present invention.

Claims

1. A non-road outer track mechanical system for the construction of prefabricated buildings, characterized in that: include: Outer track operating device; An outer track type guide rail device, comprising a two-dimensional folding outer track mechanism for providing an outer track type working track required for the operation of the outer track operating device, and a two-dimensional guide rail support mechanism for supporting the two-dimensional folding outer track mechanism, wherein a standard section assembly is provided at the bottom of the two-dimensional guide rail support mechanism; A mechanical hydraulic device provided below the two-dimensional guide rail support mechanism and used to adjust the number of stacked standard section components; and a chassis standard section conveying device for conveying the standard section assembly to or from the working position of the mechanical hydraulic device; The two-dimensional folding outer guide rail mechanism includes a plurality of outer track unit structures arranged on a two-dimensional guide rail support mechanism, an automatic locking joint arranged between two adjacent outer track unit structures and used to lock them, and a cross-track reversing structure connecting two outer track unit structures located in different directions. The two outer track unit structures adjacent to each other in the same direction are rotatably connected by a hinge connection structure. The mechanical hydraulic device includes a lifting frame supporting the two-dimensional guide rail support mechanism, a feeding platform for horizontally conveying the standard section assembly, a lifting platform installed on the lifting frame and used to lift the standard section assembly, an auxiliary platform provided on the lifting frame, and a force conversion support mechanism located on the top of the lifting frame and used to carry the standard section assembly delivered by the lifting platform; The outer track operating device includes an operating walking trolley that can move on the outer track type working track, an extendable mounting mechanism arranged on the operating walking trolley and capable of being extended and retracted in the vertical direction, a multi-degree-of-freedom robotic arm installed on the extendable mounting mechanism, and an end effector arranged on the multi-degree-of-freedom robotic arm. The operating walking trolley includes a motion support mechanism movably mounted on the outer track type working track, a trolley clamping mechanism installed on the motion support mechanism, and a trolley positioning mechanism movably arranged on the motion support mechanism, and the extendable mounting mechanism is fixedly connected to the motion support mechanism.

2. A non-road outer track mechanical system for prefabricated building construction according to claim 1, characterized in that: The cross-track reversing structure includes a mounting base, and a first cross-track, a second cross-track, and a reversing track provided on the mounting base. The first cross-track and the second cross-track are respectively rotatably connected to outer track unit structures in different directions. The reversing track is rotatably mounted on the mounting base and is located at an intersection of the first cross-track and the second cross-track. By rotating the reversing track, the reversing track is connected to the first cross-track or the second cross-track. A direction-changing power unit is provided on the mounting base, and the direction-changing power unit is connected to the direction-changing track via a direction-changing shaft; The portions of the first cross track and the second cross track that contact the reversing track are arc-shaped, and the arc-shaped contact portions of the first cross track and the second cross track are located on the same circumference line with the rotation center of the reversing track as the center of the circle.

3. A non-road outer track mechanical system for prefabricated building construction according to claim 1, characterized in that: The cam is secured to a position adjacent to the top of the cam and secured to a bottom of the cam, and the cam is secured to a position adjacent to the top of the cam and secured to a bottom of the cam. The bottom area of ​​the lifting frame is also provided with a standard section underframe which can receive the standard section assembly.

4. A non-road outer track mechanical system for prefabricated building construction according to claim 3, characterized in that: The standard section frame includes a plurality of standard section columns arranged side by side at intervals along the circumferential direction and fixedly connected to each other, each standard section column having a top boss on the top and a bottom groove on the bottom for the top boss to be embedded in; The jacking platform includes a jacking jack fixed on the lifting frame, a flange platform fixedly connected to the hydraulic rod of the jacking jack, and a snap-on connection structure installed on the flange platform and used for detachably connecting the hook connector at the bottom of the standard section assembly. A guide boss that can be embedded in the standard section frame is also provided in the middle area of ​​the top of the flange platform; The auxiliary platform includes an auxiliary jack mounted on the lifting frame, an auxiliary frame fixed to the auxiliary jack and slidably mounted on the lifting frame, and an auxiliary connecting member provided on the auxiliary frame, wherein the auxiliary connecting member includes an auxiliary mounting seat, two auxiliary sliding blocks that slide along the auxiliary mounting seat and can move relatively closer or farther away, and auxiliary claws respectively connected to the two auxiliary sliding blocks; A third resetting elastic member is provided between the two auxiliary sliders to keep the two sliders relatively apart. The auxiliary mounting seat is also provided with an electromagnet located between the two auxiliary sliders. When the electromagnet is energized, the two auxiliary sliders drive the auxiliary claws to move relatively together under the action of the third resetting elastic member under the action of the electromagnet's magnetic force, overcoming the action of the third resetting elastic member. The force conversion support mechanism includes a conversion jack installed on the top of the lifting frame, and a pair of conversion beams slidingly matched with the lifting frame. The conversion jack is connected to the conversion beam and drives the conversion beam to slide on the lifting frame and move relatively closer or farther away. When the standard section assembly is driven by the jacking platform to a position higher than the conversion beam, the conversion jack approaches and clamps the standard section assembly relatively, thereby realizing the force conversion of supporting the standard section assembly.

5. A non-road outer track mechanical system for prefabricated building construction according to claim 1, characterized in that: The chassis standard section conveying device includes a movable chassis mechanism supporting the mechanical hydraulic device, a foldable guide rail arranged between the two mechanical hydraulic devices, and a standard section transport trolley that can move back and forth on the unfolded foldable guide rail. The movable chassis mechanism includes a walkable chassis, a walking wheel assembly installed on the bottom end surface of the walkable chassis, and an automatic bolt fixing structure arranged on the walkable chassis and used to fix it to the construction ground.

6. A non-road outer track mechanical system for prefabricated building construction according to claim 5, characterized in that: The automatic bolt fixing structure includes a driving motor, a bolt seat sleeve, a track sleeve, a connecting bolt and a bolt slider, wherein the driving motor is fixed on the walkable chassis, and the output end of the driving motor is connected to the bolt seat sleeve, the track sleeve is fixed to the walkable chassis around the bolt seat sleeve, a spiral lifting track is processed on the inner wall surface of the track sleeve, and a guide hole in the vertical direction is processed on the bolt seat sleeve. The bolt slider is placed in the bolt seat sleeve, and a protrusion extending out of the guide hole and matching the spiral lifting track is also processed on the side of the bolt slider. The top of the connecting bolt is fixedly connected to the bolt slider, and the bottom extends out of the track sleeve.

7. A non-road outer track mechanical system for prefabricated building construction according to claim 1, characterized in that: The trolley clamping mechanism includes an elastic clamping unit rotatably connected to the motion support mechanism, and a ball installed on the elastic clamping unit. When the elastic clamping unit is rotated to a vertical position on the motion support mechanism, the elastic clamping unit is in a compressed state, and the ball presses against and rolls in contact with the lower surface of the outer track-type working track.

8. The method for constructing a non-road outer track mechanical system for prefabricated building construction according to any one of claims 1 to 7, characterized in that: The method includes a chassis standard section conveying device movement stage, an outer track guide rail device deployment stage, a mechanical hydraulic device lifting stage, an outer track operating device execution stage, and a folding and recovery stage, wherein the chassis standard section conveying device movement stage is used to transport the standard section assembly from the standard section loading position to the lifting position of the mechanical hydraulic device; The outer track guide rail device deployment phase is synchronized with the chassis standard section conveying device movement phase, wherein the chassis standard section conveying device provides the outer track guide rail device with the power required for deployment, so that the two-dimensional track deployment mechanism sequentially leaves the two-dimensional guide rail support mechanism in the transverse and longitudinal two-dimensional planes and is deployed and fixed; The mechanical hydraulic device is used in the lifting stage to extend the standard section assembly transported by the chassis standard section conveying device to the standard section assembly at the bottom of the two-dimensional guide rail support mechanism for assembly; The outer track operating device execution phase is carried out after the mechanical hydraulic device jacking phase is completed. At this time, the standard section assembly at the bottom of the two-dimensional guide rail support mechanism is assembled. The outer track operating device moves on the outer track type working track formed after the two-dimensional track deployment mechanism is fully deployed, and controls the end effector it carries to operate and perform corresponding operations. When the outer track operating device execution phase is completed, the folding and recovery phase is started, and the outer track operating device, mechanical hydraulic device, chassis standard section conveying device, and outer track guide rail device are controlled to return to their initial state, completing a complete workflow.

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