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

Abstract

The present invention relates to a non-road-based inner track mechanical system and construction method for prefabricated building construction. The mechanical system includes: an inner track operating device; an inner track guide rail device, which includes a two-dimensional folding inner track mechanism that provides the inner track working track required for the inner track operating device to operate, and a two-dimensional guide rail support mechanism that supports the two-dimensional folding inner track mechanism, with a standard section assembly 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 a chassis 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 control and automatic 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 inner 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 inner track mechanical system for the construction of prefabricated buildings and a construction method thereof.

[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 inner track mechanical system for the construction of prefabricated buildings, comprising:

[0007] Inner track operating device;

[0008] An inner track type guide rail device, comprising a two-dimensional folding inner track mechanism for providing an inner track type working track required for the operation of the inner track operating device, and a two-dimensional guide rail support mechanism for supporting the two-dimensional folding inner 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 position sensors for detecting whether the guide rail system is fully deployed, and laser sensors for measuring and calculating the straightness of the inner 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 inner track guide device, and the completion of the construction work of the inner track working device. All the components involved here are conventional components used in the field to achieve the corresponding functions.

[0014] A second technical solution of the present invention provides a method for constructing a non-road traveling inner track mechanical system for prefabricated building construction, the method comprising a chassis standard section conveying device movement phase, an inner track guide rail device deployment phase, a mechanical hydraulic device jacking phase, an inner track operating device execution phase, and a folding and recovery phase, wherein the chassis standard section conveying device movement phase is used to transport the standard section assembly from the standard section loading position to the mechanical hydraulic device jacking position;

[0015] The deployment phase of the inner track type guide rail device is synchronized with the movement phase of the chassis standard section conveying device, wherein the chassis standard section conveying device provides the power required for the deployment of the inner track type guide rail device, 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;

[0016] 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;

[0017] The inner 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 inner track operating device moves on the inner 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 the corresponding operation.

[0018] When the inner track operating device execution phase is completed, the folding and recovery phase is started, and the inner track operating device, mechanical hydraulic device, chassis standard section conveying device, and inner track guide rail device are controlled to return to their initial state, completing a complete workflow. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic structural diagram of the non-road inner track mechanical system of the present invention in the deployed state;

[0020] Figure 2 This is a schematic diagram of the structure of the inner track operating device when it is working;

[0021] Figure 3 This is a schematic diagram of the chassis standard section conveyor when folded;

[0022] Figure 4 This is a schematic diagram of the chassis standard section conveyor when deployed;

[0023] Figure 5 This is a schematic diagram of the automatic bolt fixing structure;

[0024] Figure 6 It is a schematic diagram of the mechanical hydraulic device at work;

[0025] Figure 7 It is a structural diagram of the standard section assembly;

[0026] 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;

[0027] 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;

[0028] 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;

[0029] 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;

[0030] Figure 12 It is a schematic diagram of the main view of the auxiliary connecting part;

[0031] Figure 13 is a schematic diagram of the jacking platform;

[0032] Figure 14 It is a schematic structural diagram of the inner track type guide rail device of the present invention in a folded state;

[0033] Figure 15 Schematic diagram of the structure of the inner track type guide rail device of the present invention in the unfolded state;

[0034] Figure 16 It is a structural schematic diagram of the track structure in the square unit of the present invention;

[0035] Figure 17 is a schematic diagram of a telescopic truss structure;

[0036] Figure 18 Schematic diagram of the working principle of the truss snap-on structure;

[0037] Figure 19 This is a schematic diagram of the truss climbing crane structure;

[0038] Figure 20 Schematic diagram of the locking process of the automatic locking connector;

[0039] Figure 21 This is a structural diagram of the operating walking trolley;

[0040] Figure 22 is a schematic front view of the elastic clamping unit;

[0041] Figure 23 It is a structural diagram of the crawler moving assembly;

[0042] Figure 24 It is a main view schematic diagram of the positioning mechanism;

[0043] Figure 25 is a schematic diagram of the positioning mechanism from an upper perspective;

[0044] Figure 26 It is a structural diagram of the standard section frame;

[0045] Figure 27 It is a schematic diagram of the feeding platform and the standard section chassis;

[0046] Description of the marks in the figure:

[0047] 1- Inner track operating device, 11- Working walking trolley, 1101- Trolley positioning rod, 1102- Trolley positioning spring, 1103- First stage body, 1104- Second stage body, 1105- Track wheel, 1106- First fixing plate, 1107- Second fixing plate, 1108- Flange plate, 1109- Positioning connecting plate, 1110- Clamping connecting rod, 1111- Trolley clamping spring, 1112- Side frame, 1113- Bottom plate, 1114- First connecting rod, 1115- Second connecting rod, 1116- Top plate, 1117- Connecting spring, 12- Extendable mounting mechanism, 13- Multi-degree-of-freedom robotic arm, 14- End effector;

[0048] 2- Inner track guide rail device, 21- Square unit inner track structure, 22- Automatic locking joint, 2201- First lock seat, 2202- Second lock seat, 2203- Lock cylinder, 23- Hinge connection structure, 24- Telescopic truss structure, 2401- Triangular plane frame, 2402- Folding truss, 2403- Truss buckle structure, 2404- Truss positioning block, 25- Truss climbing crane structure, 2501- Elastic crawler track, 2502- Direction-changing crawler track bracket, 2503- Crane body, 2504- Telescopic connecting rod, 2505- Slide groove, 26- Two-dimensional guide rail support mechanism;

[0049] 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;

[0050] 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

[0051] 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.

[0052] 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.

[0053] In order to improve the construction efficiency and quality of the current construction field, the present invention provides a non-road walking inner track mechanical system for the construction of prefabricated buildings, which can be seen in Figure 1 As shown, including:

[0054] Inner track operating device 1;

[0055] The inner track type guide rail device 2 includes a two-dimensional folding inner track mechanism that provides the inner track type working track required for the inner track operating device 1 to work, and a two-dimensional guide rail support mechanism 26 that supports the two-dimensional folding inner track mechanism. The bottom of the two-dimensional guide rail support mechanism 26 is provided with a standard section assembly 35;

[0056] A mechanical hydraulic device 3 provided below the two-dimensional guide rail support mechanism 26 and used to adjust the number of stacked standard section assemblies 35;

[0057] 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.

[0058] 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;

[0059] Sensing system, including position sensors for detecting whether the guide rail system is fully deployed, and laser sensors for measuring and calculating the straightness of the inner track guide rail device;

[0060] 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 inner track guide device, and the completion of the construction work of the inner track working device. All the components involved here are conventional components used in the field to achieve the corresponding functions.

[0061] The two-dimensional folding and unfolding inner 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 20 As shown in FIG. 1 , the two-dimensional folding inner guide rail mechanism includes:

[0062] The telescopic truss structure 24 disposed between the two two-dimensional guide rail support mechanisms includes a plurality of triangular planar frames 2401 and a folding truss 2402 mounted between the two triangular planar frames 2401. When the folding truss 2402 is fully unfolded, the folding truss 2402 and the triangular planar frames 2401 cooperate to form a truss track along the telescopic direction of the telescopic truss structure 24.

[0063] A truss climbing vehicle structure 25 movable on the truss track;

[0064] The foldable inner track assembly arranged on the truss climbing vehicle structure 25 includes a plurality of foldable inner track units, wherein two adjacent foldable inner track units are rotatably connected to form a foldable structure that can be folded and unfolded in one dimension in the horizontal direction. The foldable inner track unit is composed of a plurality of square unit inner track structures 21 with cross-shaped inner tracks that are rotatably connected in sequence to form a foldable structure that can be folded and unfolded in two dimensions in the vertical direction. It should be pointed out that the square unit inner track structure 21 is the smallest structural unit with a cross-shaped inner track in the foldable inner track assembly, and its cross-shaped inner track can adopt a track arrangement with a T-shaped cross section, and the size and shape of all square unit inner track structures 21 are ensured to be consistent. When the foldable inner track assembly is fully unfolded, the cross-shaped inner tracks in all square unit inner track structures 21 are interconnected to form a cross-grid-shaped planar inner track mechanism.

[0065] For more specific implementation, please refer to Figure 16As shown in FIG. 1 , rotation within the foldable inner track assembly is achieved via a hinge connection structure 23. The hinge connection structure 23 comprises a frame hinge and a leaf hinge, each fixedly mounted on the two square unit inner track structures 21. The frame hinge and leaf hinge are rotatably connected via a hinge pin. Furthermore, the rotation axis of the hinge pin is the intersection axis of the contacting side surfaces of the two adjacent square unit inner track structures 21. This ensures that, after the rotation and locking steps are completed, there is theoretically no gap between adjacent modules, ensuring continuity after the track is spliced.

[0066] In a more specific embodiment, an automatic locking joint 22 is provided between any two adjacent square unit internal track structures 21 after full deployment, and adjacent square unit internal track structures 21 within the same set of foldable internal track units are rotatably connected via a hinge connection structure 23. It should be noted that when the overall mechanism is in the folded state, the square unit internal track structures 21 adhere to the principle of a Z-shaped folding scheme with the same surfaces AA and BB facing each other. When the overall mechanism is in the deployed working state, the square unit internal track structures 21 adhere to the principle of the normal vector of plane A pointing vertically upward and the normal vector of plane B pointing vertically downward. That is, when the hinge connection structures 23 are arranged crosswise on the AA and BB surfaces (the two surfaces are arranged opposite each other), the automatic locking joints 22 are also provided on the opposing surfaces of the hinge connection structures 23.

[0067] For more specific implementation, please refer to Figure 20As shown in the figure, the automatic locking joint 22 includes a lock core 2203, and a first lock seat 2201 and a second lock seat 2202 respectively fixed on the two square unit inner track structures 21, the lock core 2203 is I-shaped, and one end of the lock core 2203 is rotatably connected to the first lock seat 2201, and the second lock seat 2202 is composed of two spaced triangular plates parallel to the rotation direction of the lock core 2203, with one side of the triangular plate facing the first lock seat 2201 as the first side, and the other side facing away from the first lock seat 2201 as the second side. When the two square unit inner track structures 21 are relatively unfolded, the other end of the lock core 2203 slides along the first side of the triangular plate until it completely crosses the first side and is buckled on the second side. At this time, the first lock seat 2201 and the second lock seat 2202 are locked by the lock core 2203. Here, the triangle plate in the second lock seat 2202 can be a right triangle, an acute triangle, or an obtuse triangle. It does not necessarily have to be a strictly triangular shape, but can be roughly this shape. For example, the intersection of the first side and the second side can be rounded to facilitate the transition of the lock core 2203 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 track structure 21 within the square unit is also provided with an unlocking power component that can cause the lock core 2203 to exit the second lock seat 2202, such as an electromagnet device controlled by a relay. In this way, after the track mechanism is fully unfolded and the predetermined working goal is achieved, this unlocking power component can be activated to complete the unlocking action.

[0068] For more specific implementation, please refer to Figure 17 As shown in FIG. 1 , the folding truss 2402 includes three sets of folding links, corresponding to the three end corners of the triangular planar frame 2401. Each set of folding links consists of two mutually hinged diagonal links, each of which is also hinged to the triangular planar frame 2401. Automatic locking structures (similar to automatic locking joints 22) are provided at the hinge points between the diagonal links and the triangular planar frame 2401, as well as at the hinge points between the two diagonal links. When the two diagonal links are parallel, the automatic locking structures secure the two diagonal links as a single member. The rotation direction of each set of folding links can be limited to only allow the diagonal links to fold inward.

[0069] For more specific implementation, please refer to Figure 18As shown in FIG. 1 , a truss snap-fit ​​structure 2403 is further provided on the two-dimensional track support mechanism, and a truss positioning block 2404 for supporting the truss snap-fit ​​structure 2403 is further provided on the outer surface of the triangular plane frame 2401. When the telescopic truss structure 24 in the telescopic state is extended and unfolded on the movable column structure, the truss snap-fit ​​structure 2403 supports the truss positioning block 2404, so that only one section of the folding truss 2402 in the contracted state is unfolded at the same time. The truss snap-in structure 2403 can adopt an electric telescopic structure installed on the movable column structure, and it is located on the stroke when the truss positioning block 2404 is extended outward. In this way, when the truss snap-in structure 2403 extends outward, it can block the truss positioning block 2404, so that the two are relative positioned in the expansion direction. When the truss snap-in structure 2403 retracts inward, it will avoid the truss positioning block 2404, so that the triangular plane frame 2401 and the folding truss 2402 can be smoothly expanded. In this way, by controlling the truss snap-in structure 2403 to continuously extend and retract, it is possible to control the expansion of only one section of the folding truss 2402 in the contracted state at the same time.

[0070] For more specific implementation, please refer to Figure 19As shown in Figures 2 and 3, the truss climbing vehicle structure 25 includes a climbing vehicle platform, a vehicle assembly mounted at the bottom of the climbing vehicle platform and movably disposed on the truss track, and a telescopic connecting rod 2504 disposed on the climbing vehicle platform and used to connect to the foldable inner track assembly. The climbing vehicle platform is also provided with a support plate for supporting the unfolded foldable inner track assembly. More preferably, the vehicle assembly includes a vehicle body 2503 fixedly connected to the climbing vehicle platform, two sets of direction-changing crawler brackets 2502 rotatably mounted on the vehicle body 2503 and respectively located above and below the truss track, driving wheels disposed on the direction-changing crawler brackets 2502, and elastic crawlers 2501 mounted on the direction-changing crawler brackets 2502 and driven for rotation by the driving wheels. When the vehicle assembly is arranged on the truss track, the elastic crawlers 2501 on the two sets of direction-changing crawler brackets 2502 clamp and frictionally contact the upper and lower surfaces of the truss track. In addition, the two sets of changeable track brackets 2502 are also equipped with spring structures that press them against the truss track. In this way, when the elastic track 2501 is driven by the running wheels to move along the truss track (i.e., the folding truss 2402, etc.), when encountering obstacles or uneven surfaces, the two sets of changeable track brackets 2502 can rotate on the traveling body 2503, achieving relative expansion between the two, thereby enabling the obstacle to be overcome. If needed, each set of changeable track brackets 2502 can be composed of multiple changeable track support rods that are rotatably mounted side by side on the traveling body 2503. More preferably, the climbing traveling platform is further provided with a slide 2505 in the vertical direction, and the telescopic connecting rod 2504 is installed in the slide 2505. The telescopic connecting rod 2504 can passively move up and down in the slide groove 2505, and can adopt a telescopic structure such as a hydraulic cylinder to achieve horizontal extension and retraction. In addition, a groove structure is provided on its top that can connect to the square unit inner track structure 21 to complete the connection with the inner track type working track body, thereby serving as the power system for unfolding the target foldable inner track component.

[0071] 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 26, a feeding platform 34 for horizontally transporting the standard section assembly 35, a lifting platform 36 installed on the lifting frame 31 and used for lifting 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 for carrying the standard section assembly 35 delivered by the lifting platform 36.

[0072] 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.

[0073] 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.

[0074] For more specific implementation, please refer to Figure 26 As shown in FIG. 1 , the standard section frame 351 includes a plurality of standard section columns 3511 arranged side by side along the circumferential direction and fixedly connected to each other. Different standard section columns can be connected to form an integral frame through top crossbeams and bottom crossbeams, respectively. A top boss 3512 is provided on the top of each standard section column 3511, and a bottom groove is processed on the bottom for the top boss 3512 to be embedded in. In addition, side grooves 3515 are provided on the side of the bottom groove to facilitate the tightening between the bottom groove and the top boss 3512 and other structures, thereby reducing the matching gap between the two. At the same time, guide ear plates 3514 and positioning ear plates 3513 are provided on the side of the standard section column 3511 for guiding and fixing the hook connector 352 and the snap connector 353.

[0075] For more specific implementation, please refer to Figure 8 and Figure 9As shown in FIG. 1 , the hook connector 352 further includes an inner conical ring 3522 that is sleeved on the bottom of the standard section column 3511, and an outer conical ring 3521 that is sleeved on and slidably engaged with the inner conical ring 3522. A slot is provided along the axial direction of the sidewall of the inner conical ring 3522. 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.

[0076] 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.

[0077] For more specific implementation, please refer to Figures 10 and 11 As shown in the figures, 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.

[0078] For more specific implementation, please refer to Figure 13As shown in the figures, 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 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 of ​​the top of the flange platform 362.

[0079] For more specific implementation, please refer to Figure 12 As shown in FIG. 1 , 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 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 the two auxiliary sliders 3324 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 two auxiliary sliders 3324 drive the auxiliary claws 3322 to move relative to each other under 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 .

[0080] For more specific implementation, please refer to Figure 6 As shown in the figures, 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 matched 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 relatively approach or move 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.

[0081] For more specific implementation, please refer to Figure 27 As shown in the figures, the feed platform 34 includes a feed base, a feed slide 341 mounted on the feed base for sliding in 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 a number of positioning bosses 343 for positioning and placing the standard section assembly 35.

[0082] In some specific embodiments, please refer to 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 26, and the specific structure can also be similar to its inner track type working track.

[0083] 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.

[0084] 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.

[0085] In some specific embodiments, please refer to Figure 2 ,as well as Figures 21 to 25 As shown in the figures, the inner track operating device includes an operating walking trolley movable on the inner track working track, an extendable mounting mechanism provided on the operating walking trolley and extendable 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 trolley support mechanism provided on the inner track working track, a universal moving mechanism respectively installed around the trolley support mechanism, and a trolley positioning mechanism movably installed on the trolley support mechanism.

[0086] For more specific implementation, please refer to Figure 21 As shown in Figures 1 and 2, the trolley support mechanism includes a first-stage car body 1103 and a second-stage car body 1104, respectively located above and below the surface of the inner track-type working track, and a car side frame 1112 arranged around the first-stage car body 1103 and the second-stage car body 1104. More preferably, an elastic clamping assembly is further provided between the first-stage car body 1103 and the second-stage car body 1104, the elastic clamping assembly including a clamping connecting rod 1110 having a telescopic function and connecting the first-stage car body 1103 and the second-stage car body 1104 at both ends, and a trolley clamping spring 1111 sleeved on the clamping connecting rod 1110, the two ends of the trolley clamping spring 1111 being fixedly connected to the upper end and the lower end of the clamping connecting rod 1110, respectively. Here, the telescopic function of the clamping connecting rod 1110 can be achieved by adopting a telescopic rod structural design itself, or an avoidance hole for the end of the clamping connecting rod 1110 to pass through can be processed on the first-level body 1103 or the second-level body 1104 to achieve a similar telescopic function. By pulling the first-level body 1103 and the second-level body 1104 close to each other through the trolley clamping spring 1111 in a stretched state to clamp the upper and lower surfaces close to the track, a close fit between the crawler moving assembly of the walking trolley and the track is achieved. Note that this "clamping state" will not affect the walking of the trolley on the track, but is only for improving the stability of the trolley when walking.

[0087] For more specific implementation, please refer to Figure 23As shown in FIG. 1 , the universal motion mechanism comprises tracked moving assemblies arranged around the vehicle side frame 1112 in four directions: front, back, left, and right. The tracked moving assemblies include a track frame rotatably connected to the vehicle side frame 1112, and a plurality of track wheels 1105 equidistantly arranged around the track frame. The track wheels 1105 move in the same direction as their arrangement and are preferably perpendicular to the rotation direction of the track frame. Five track wheels 1105 can be evenly spaced. The track frame is rotatably connected to the vehicle side frame 1112. This allows the track wheels 1105 on two sets of tracked moving assemblies in one direction to move the trolley along the track, while the track frames and vehicle side frame 1112 rotate to prevent the track wheels 1105 on the other set of tracked moving assemblies from obstructing the trolley's movement. Furthermore, when the trolley changes direction on the track, the equidistantly arranged track wheels 1105 can adapt to the rotating track frame to adjust to the track surface. The crawler frame can be assembled by two flange plates 1108 and a connecting plate located between the two flange plates 1108. Here, the two flange plates 1108 are further provided with a first fixing plate 1106 and a second fixing plate 1107 to facilitate installation with the first and second car bodies 1103 and 1104.

[0088] For more specific implementation, please refer to Figure 24As shown in FIG. 1 , the trolley positioning mechanism includes a connecting rod lifting assembly installed on the first-level vehicle body 1103, a positioning connecting plate 1109 fixed on the connecting rod lifting assembly, a trolley positioning rod 1101 rotatably arranged on the positioning connecting plate 1109, and a trolley positioning spring 1102 sleeved on the trolley positioning rod 1101. The head of the trolley positioning rod 1101 has a hemispherical positioning block, and a positioning hole for the positioning block to slide into is provided at the positioning point. 01 is the center, and two connecting springs 1117 are symmetrically provided between the positioning connecting plate 1109 and the trolley positioning rod 1101, so that the trolley positioning rod 1101 remains in a vertical state. When the trolley positioning rod 1101 is touched or squeezed by the outside world, the trolley positioning rod 1101 will overcome the elastic force of the connecting spring 1117 and deflect. When the external touch or squeezing disappears, the trolley positioning rod 1101 remains in a vertical state under the action of the connecting spring 1117, so as to slide into the positioning hole conveniently. More preferably, the connecting rod lifting assembly includes a base plate 1113, a first connecting rod 1114, a second connecting rod 1115 and a top plate 1116, the base plate 1113 is fixed on the first-level car body 1103, the first connecting rod 1114 and the second connecting rod 1115 are rotatably connected at the middle position, the base plate 1113 and the top plate 1116 are also processed with strip holes in the horizontal direction, the top end of the first connecting rod 1114 is rotatably connected to the top plate 1116, and the bottom end is provided with a first protrusion that matches and is inserted into the strip hole located in the base plate 1113, the bottom end of the second connecting rod 1115 is rotatably connected to the base plate 1113, and the top end is provided with a second protrusion that matches and is inserted into the strip hole located in the top plate 1116, and the positioning connecting plate 1109 is fixed on the top plate 1116. When the first connecting rod 1114 and the second connecting rod 1115 rotate to gradually approach the vertical direction, at this time, the first protrusion and the second protrusion will move accordingly in the bar hole (such as along the left direction in the figure), and the positioning connecting plate 1109 and the trolley positioning rod 1101 located on the top plate 1116 will rise. When the first connecting rod 1114 and the second connecting rod 1115 rotate to gradually approach the horizontal direction, the first protrusion and the second protrusion will move accordingly in the bar hole (along the right direction in the figure), and the positioning connecting plate 1109 and the trolley positioning rod 1101 located on the top plate 1116 will descend. In the above manner, the height of the trolley positioning rod 1101 can be adjusted to an appropriate position to facilitate the cooperation with the positioning holes in the inner I-beam track to achieve positioning stop at a specific position.

[0089] The above embodiments may be implemented individually or in any combination of two or more.

[0090] On the basis of the non-road inner track mechanical system for prefabricated building construction based on the above embodiment, the present invention also provides a construction method of the non-road inner track mechanical system for prefabricated building construction, which can decompose the construction workflow into the following steps: the chassis standard section conveying device 4 movement phase, the inner track guide rail device 2 deployment phase, the mechanical hydraulic device 3 jacking phase, the inner track operating device 1 execution phase, and the folding and recovery phase;

[0091] The method for constructing the chassis standard section conveyor 4 movement stage includes the following steps:

[0092] 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).

[0093] 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;

[0094] 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 2222 on the foldable guide rail 41 cooperate to achieve track locking, thereby supporting the unfolded foldable guide rail 41.

[0095] 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.

[0096] 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;

[0097] 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.

[0098] 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:

[0099] The construction method of the inner track type guide rail device 2 in the deployment phase, with the control target being the two-dimensional deployment of the inner track type working track, comprises the following steps:

[0100] Step S7: The control system is activated by an electrical signal, and the movable chassis mechanism 43 provides the necessary power to deploy the inner track-type guide rail assembly 2. The two-dimensional folding inner guide rail mechanism of the inner track structure sequentially leaves the two-dimensional guide rail support mechanism 26 and deploys in the transverse and longitudinal two-dimensional planes. The sensing system detects the straightness and other characteristics of the two-dimensional folding inner guide rail mechanism and provides feedback to the control system. The control system then sends an electrical signal to the movable chassis mechanism 43 in real time to adjust its travel speed. The folding and unfolding process of the two-dimensional folding inner guide rail mechanism is as follows: 1) the square unit inner track structure 21 is connected to the telescopic connecting rod in the truss climbing vehicle structure 25 in the one-dimensional unfolding direction through the lock core 2203 on the hinge connection structure 23 (a laterally protruding rod can also be separately provided for the telescopic connecting rod to be sleeved and fixed). The truss climbing vehicle structure 25 can realize linear motion along the truss track above the fixed truss frame; 2) according to the size of the building working range, the controller calculates the required square unit inner track structure 21 in the required one-dimensional direction as n, and the number n is an integer greater than 1. The controller controls the farthest position of the truss climbing vehicle structure 25; 3) the square unit inner track structure 21 is driven by the truss climbing vehicle structure 25 to realize one-dimensional unfolding to form a 1×n plane. The automatic locking joint 22 realizes the locking and fixation between the adjacent square unit inner track structures 21 in the one-dimensional direction; 4) The controller sends an instruction to the telescopic connecting rod above the truss climbing driving structure 25 in the second direction, connects with the specified square unit inner track structure 21, and drives the plane at a uniform speed through the driving component below to realize two-dimensional expansion; 5) After the truss climbing driving structure 25 moves to the plane fully expanded, the farthest end of the inner track plane is erected on the opposite telescopic truss frame, and the plane and the truss are manually fixed; after completing the longitudinal fixation, the independent two-dimensional expanded inner track plane that is not connected in the transverse direction is manually fixed and connected, and the continuity and linearity of the inner track are checked; the controller sends an instruction to control the telescopic connecting rod to disconnect, and all expansion work of the inner track plane is completed.

[0101] Step S8: After the I-beam structure of the two-dimensional folding inner guide rail mechanism reaches the predetermined position, the auxiliary structure (including the automatic locking joint 2222, etc.) automatically completes the fixation and locking of the I-beam rails, and manually connects and fixes the inner track type working track to the two-dimensional track support mechanism, acting as an auxiliary support mechanism to provide support for the guide rail system and ensure straightness;

[0102] After step S8, the control method of the mechanical hydraulic device 3 during the jacking phase is further included, including the following steps:

[0103] 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 inner guide rail mechanism has completed the unfolding and locking steps, and then the next step of the column jacking stage can be entered;

[0104] 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.

[0105] 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;

[0106] 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.

[0107] 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 inner 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.

[0108] After step S13, the method for constructing the working system execution phase also includes the following steps:

[0109] 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 inner track 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.

[0110] 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.

[0111] 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 inner track type working track to position and fix; 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.

[0112] After step S16, the construction method of the folding and recycling stage is further included, including the following steps:

[0113] 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;

[0114] 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 achieving the reduction in height of the inner track guide rail device 2;

[0115] Step S19: Initialize and power off the operating trolley 11 and the multi-degree-of-freedom robotic arm 13 in the inner track operating device 1, manually disassemble and recycle them;

[0116] Step S20: The control system cooperates with manual disconnection of the movable chassis mechanism 43 and the auxiliary locking structure in the inner 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.

[0117] 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 inner track mechanical system for the construction of prefabricated buildings, characterized in that: include: Inner track operating device; An inner track type guide rail device, comprising a two-dimensional folding inner track mechanism for providing an inner track type working track required for the operation of the inner track operating device, and a two-dimensional guide rail support mechanism for supporting the two-dimensional folding inner 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 inner guide rail mechanism includes: A telescopic truss structure disposed between two two-dimensional guide rail support mechanisms, comprising a plurality of triangular planar frames and a folding truss mounted between the two triangular planar frames. When the folding truss is fully unfolded, the folding truss and the triangular planar frames cooperate to form a truss track along the telescopic direction of the telescopic truss structure. A truss climbing vehicle structure movable on the truss track; A foldable inner track assembly arranged on the truss climbing vehicle structure comprises a plurality of foldable inner track units, wherein two adjacent foldable inner track units are rotatably connected to form a foldable structure that can be folded and expanded in one dimension in the transverse direction. The foldable inner track units are composed of a plurality of square unit inner track structures having cross-shaped inner tracks that are rotatably connected in sequence to form a foldable structure that can be folded and expanded in two dimensions in the longitudinal direction; The inner track working device includes an operating trolley movable on the inner track working track, an extendable mounting mechanism provided on the operating trolley and capable of extending and retracting in a vertical direction, a multi-degree-of-freedom robotic arm mounted on the extendable mounting mechanism, and an end effector arranged on the multi-degree-of-freedom robotic arm. The operating trolley includes a trolley support mechanism provided on the inner track working track, a universal moving mechanism respectively installed on the four sides of the trolley support mechanism, and a trolley positioning mechanism movably installed on the trolley support mechanism. The mechanical hydraulic device includes a lifting frame supporting the two-dimensional guide rail support mechanism, a feeding platform for horizontally transporting standard section components, a lifting platform installed on the lifting frame and used to lift the standard section components, an auxiliary platform arranged 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.

2. A non-road inner track mechanical system for prefabricated building construction according to claim 1, characterized in that: The folding truss includes three groups of folding connecting rods arranged corresponding to the three end corners of the triangular plane frame, each group of folding connecting rods is composed of two mutually hinged diagonal rods, and the diagonal rods are also hinged to the triangular plane frame. Automatic locking structures are provided at the hinge positions of the diagonal rods and the triangular plane frame, and at the hinge positions between the two diagonal rods. When the two diagonal rods are in a parallel state, the automatic locking structures fix the two diagonal rods into the same rod. The truss climbing vehicle structure includes a climbing vehicle platform, a vehicle assembly installed at the bottom of the climbing vehicle platform and movably arranged on the truss track, and a telescopic connecting rod provided on the climbing vehicle platform and used to connect the foldable inner track assembly. The climbing vehicle platform is also provided with a support plate for supporting the unfolded foldable inner track assembly. The traveling assembly includes a traveling body fixedly connected to the climbing traveling platform, two sets of direction-changing crawler brackets rotatably mounted on the traveling body and respectively located above and below the truss track, moving wheels arranged on the direction-changing crawler brackets, and elastic crawlers sleeved on the direction-changing crawler brackets and driven to rotate by the moving wheels. When the traveling assembly is arranged on the truss track, the elastic crawlers on the two sets of direction-changing crawler brackets clamp and frictionally contact the upper and lower surfaces of the truss track. The climbing vehicle platform is further provided with a slide groove along the up and down directions, and the telescopic connecting rod is installed in the slide groove.

3. A non-road inner 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 inner 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. The non-road inner 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 inner 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. The non-road inner track mechanical system for prefabricated building construction according to claim 1, characterized in that: The trolley support mechanism includes a primary car body and a secondary car body respectively located above and below the surface of the inner track type working track, and a car side frame arranged around the primary car body and the secondary car body; The universal moving mechanism is composed of a crawler moving assembly arranged around the vehicle side frame in four directions: front, back, left, and right. The crawler moving assembly includes a crawler frame rotatably connected to the vehicle side frame, and a plurality of crawler wheels arranged at equal intervals around the crawler frame. The trolley positioning mechanism includes a connecting rod lifting assembly installed on the first-level vehicle body, a positioning connecting plate fixed on the connecting rod lifting assembly, a trolley positioning rod rotatably set on the positioning connecting plate, and a trolley positioning spring sleeved on the trolley positioning rod. The head of the trolley positioning rod has a hemispherical positioning block, and a positioning hole for the positioning block to slide into is provided at the positioning point. With the trolley positioning rod as the center, two connecting springs are symmetrically provided between the positioning connecting plate and the trolley positioning rod to keep the trolley positioning rod in a vertical state.

8. The method for constructing a non-road inner 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 inner track guide rail device deployment stage, a mechanical hydraulic device lifting stage, an inner 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 deployment phase of the inner track type guide rail device is synchronized with the movement phase of the chassis standard section conveying device, wherein the chassis standard section conveying device provides the power required for the deployment of the inner track type guide rail device, 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 inner 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 inner track operating device moves on the inner 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 the corresponding operation. When the inner track operating device execution phase is completed, the folding and recovery phase is started, and the inner track operating device, mechanical hydraulic device, chassis standard section conveying device, and inner track guide rail device are controlled to return to their initial state, completing a complete workflow.

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