A laying system and method for the application of an insulating layer

Abstract

The application discloses a kind of for thermal insulation layer construction's paving system and method, wherein system includes mobile suspension device, wall paving device and coordination control subsystem;Mobile suspension device includes mobile chassis mechanism, suspension drive mechanism, stable support mechanism and two suspension steel wires;Wall paving device includes storage conveying mechanism, adhesive smearing mechanism and facade paving mechanism.The paving system and method utilize mobile chassis mechanism can carry suspension drive mechanism and stable support mechanism on the top of wall body horizontal movement, to realize on vertical wall large-area whole paving of thermal insulation board, effectively improve construction efficiency, without the participation of personnel too much, and have good construction safety;Using the division of labor and cooperation of storage conveying mechanism, adhesive smearing mechanism and facade paving mechanism, the continuous automatic construction of the conveying, gluing and paving of thermal insulation board can be realized, effectively improve the paving efficiency of thermal insulation board.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of construction outer wall construction technology, in particular, a kind of for the laying system and method of thermal insulation layer construction. BACKGROUND

[0002] With the need of building energy conservation and environmental protection, insulation layer will be added in building outer wall, which is composed of various insulation boards, used for building insulation. The insulation board is usually made of polystyrene resin as raw material plus other raw materials and additives, by heating and mixing while injecting catalyst, then extruding and forming into a hard rectangular foam plastic board.

[0003] Currently, the laying of insulation board in building outer wall is usually done manually. Workers stand on scaffolding, apply adhesive at the position to be laid, then take an insulation board placed on the scaffolding, and press the insulation board to the sticking position. In high-rise building construction, this manual scaffolding construction method is low in efficiency and has certain safety risks. SUMMARY

[0004] The present application aims to provide a laying system and method for thermal insulation layer construction, which can realize efficient overall construction of insulation board in high-rise building outer wall and has high safety.

[0005] Technical solution: The laying system for thermal insulation layer construction comprises a mobile suspension device, a wall laying device and a coordinated control subsystem. The mobile suspension device comprises a mobile chassis mechanism, a suspension driving mechanism, a stable support mechanism and two suspension steel wires. The wall laying device comprises a storage and conveying mechanism, an adhesive applying mechanism and a vertical laying mechanism.

[0006] The suspension driving mechanism and the stable support mechanism are both installed on the mobile chassis mechanism, which carries the suspension driving mechanism and the stable support mechanism to move along the top edge of the wall. The stable support mechanism is supported between the vertical wall of the wall and the mobile chassis mechanism. The suspension driving mechanism is used to control the winding and unwinding of one end of the two suspension steel wires. The other end of the two suspension steel wires is fixed on the storage and conveying mechanism, which is used to store and convey the insulation board upward. The adhesive applying mechanism is installed on the storage and conveying mechanism, which is used to apply adhesive to the upper side of the insulation board conveyed upward by the storage and conveying mechanism and push it horizontally. The vertical laying mechanism is installed on the vertical side of the storage and conveying mechanism, which is used to suck the insulation board applied and pushed by the adhesive applying mechanism and lay it vertically on the vertical wall of the wall. The coordinated control subsystem is used to coordinate and control the mobile chassis mechanism, the suspension driving mechanism, the stable support mechanism, the storage and conveying mechanism, the adhesive applying mechanism and the vertical laying mechanism.

[0007] Further, the mobile chassis mechanism comprises a rectangular support chassis, a counterweight box, four omnidirectional mobile units and two mobile drive units; the four omnidirectional mobile units are respectively installed on the four peripheral edges of the rectangular support chassis, for horizontally moving and supporting the four sides of the rectangular support chassis; the counterweight box is fixed on the rectangular support chassis; the two mobile drive units are respectively installed at the right side and the rear side of the rectangular support chassis, for respectively driving and controlling the omnidirectional mobile units at the right side and the rear side; the two mobile drive units are driven and controlled by the coordinated control subsystem.

[0008] Further, the suspension driving mechanism comprises two winding cantilever branches; the winding cantilever branch comprises a steel rope winding unit, a front end support unit and an extension cantilever unit; the steel rope winding unit is installed on the mobile chassis mechanism, for winding and unwinding control of one end of the suspension steel wire rope; the rear end of the extension cantilever unit is swingingly hinged on the steel rope winding unit, and the front end is provided with a front end pulley for rotating and supporting the suspension steel wire rope, and the cantilever distance of the front end pulley is adjustable; the upper end of the front end support unit is swingingly hinged on the extension cantilever unit, and the lower end is swingingly hinged on the mobile chassis mechanism, and the support height of the front end support unit is adjustable.

[0009] Further, the stable support mechanism comprises a distance adjusting unit, an upper end support roller, a distance detection sensor, a height detection sensor and a height adjusting unit; the distance adjusting unit is installed on the mobile chassis mechanism, the height adjusting unit is installed on the distance adjusting unit, the distance detection sensor, the height detection sensor and the upper end support roller are all installed on the height adjusting unit, the distance between the height adjusting unit and the vertical wall surface of the wall body is adjusted by the distance adjusting unit, the support height of the upper end support roller is adjusted by the height adjusting unit, the distance between the upper end support roller and the vertical wall surface of the wall body is detected by the distance detection sensor, and the height of the top of the vertical wall surface of the wall body is detected by the height detection sensor; the distance detection sensor, the height detection sensor, the distance adjusting unit and the height adjusting unit are driven and controlled by the coordinated control subsystem.

[0010] Further, the storage conveying mechanism comprises a storage box, a lifting conveying unit, a suspension frame and a facade support unit; the suspension frame is fixedly installed above the storage box, and the lower ends of the two suspension steel wire ropes are fixed on the suspension frame; the lifting conveying unit is installed in the storage box, for stacking and layering the heat insulation boards, and horizontally lifting and conveying the heat insulation boards one by one to the top opening outside of the storage box; the facade support unit is installed on the vertical side of the storage box, for supporting on the vertical wall surface of the wall body; the lifting conveying unit is driven and controlled by the coordinated control system.

[0011] Furthermore, the adhesive application mechanism includes a rectangular frame, a horizontal pushing unit, an adhesive storage tank, a dispensing unit, and a vibrating application unit. The rectangular frame is fixedly installed on top of the storage and conveying mechanism. The adhesive storage tank is installed on the rectangular frame and is used to store the adhesive to be applied. The dispensing unit is installed at the outlet below the adhesive storage tank and is used to evenly release the adhesive onto the upper side of the insulation board below. The horizontal pushing unit is installed on the rectangular frame and is used to horizontally push the insulation board onto the vertical paving mechanism. The vibrating application unit is installed on the dispensing unit and is used to evenly apply the adhesive released by the dispensing unit. The horizontal pushing unit, the vibrating application unit, and the dispensing unit are all driven and controlled by a coordinated control system.

[0012] Furthermore, the facade tiling mechanism includes a horizontal movement drive unit, a vertical movement drive unit, a swing drive unit, a suction unit, and a lifting drive unit. The vertical movement drive unit is fixedly installed on the vertical side of the storage and conveying mechanism, the horizontal movement drive unit is installed on the vertical movement drive unit, the swing drive unit is installed on the horizontal movement drive unit, the lifting drive unit is installed on the swing drive unit, and the suction unit is installed on the lifting drive unit. The vertical movement drive unit drives the horizontal movement drive unit to move longitudinally, the horizontal movement drive unit drives the swing drive unit to move laterally, the swing drive unit drives the lifting drive unit to swing from the horizontal state to the vertical state, and the lifting drive unit drives the suction unit to move up and down in the vertical state. The horizontal movement drive unit, the vertical movement drive unit, the swing drive unit, and the lifting drive unit are all driven and controlled by a coordinated control system.

[0013] Furthermore, the facade paving mechanism also includes a telescopic drive unit and a position detection unit; the telescopic drive unit is installed on the lateral drive unit, and the position detection unit is installed on the telescopic end of the telescopic drive unit; the lateral drive unit drives the telescopic drive unit to move laterally together with the swing drive unit, the telescopic drive unit adjusts the distance between the position detection unit and the vertical wall surface, and the position detection unit detects the distance to the paved insulation board; both the telescopic drive unit and the position detection unit are driven and controlled by a coordination control system.

[0014] Furthermore, the oscillating drive unit includes an oscillating drive motor, an oscillating support base, a laying vibrator, and an oscillating drive base; the oscillating support base is mounted on the transverse drive unit, and the lifting drive unit is mounted on the oscillating drive base; an oscillating drive shaft is fixedly mounted on the oscillating drive base, and the oscillating drive shaft is hinged and oscillatingly mounted on the oscillating support base; an oscillating drive worm gear is fixedly mounted on the oscillating drive shaft, and an oscillating drive worm gear meshing with the oscillating drive worm gear is rotatably mounted on the oscillating support base; the oscillating drive motor is used to drive the oscillating drive worm gear to rotate; the laying vibrator is mounted on the oscillating drive base; both the oscillating drive motor and the laying vibrator are driven and controlled by a coordinated control system.

[0015] The present invention also provides a method for laying a laying system for thermal insulation layer construction, comprising the following steps:

[0016] Step 1: Transport the mobile suspension device to the top of the wall, then fix the lower ends of the two suspension steel wire ropes to the storage and conveying mechanism, and then stack the insulation boards in the storage and conveying mechanism.

[0017] Step 2: The coordination and control system drives the mobile suspension device according to the loaded location information to be paved, and suspends the storage and conveying mechanism upward to the location to be paved.

[0018] Step 3: The coordination and control system drives the storage and conveying mechanism to horizontally convey an insulation board upwards. Then, the adhesive application mechanism is driven and controlled to push the conveyed insulation board and apply adhesive, so that the applied insulation board is placed on the suction unit of the facade laying mechanism.

[0019] Step 4: The coordinated control system drives the telescopic drive unit and the position detection unit of the facade paving mechanism to detect the boundary distance of the paving position. Then, based on the detected boundary distance, the horizontal drive unit, the vertical drive unit, the swing drive unit, and the lifting drive unit are coordinated and driven to vertically transport the insulation board adsorbed on the suction unit to the pre-paving position. At the pre-paving position, the distance between the insulation board and the vertical wall is less than the thickness of the insulation board and greater than the paving distance threshold. The distance between the insulation board and the vertical boundary of the paving position is within the horizontal distance threshold. The distance between the insulation board and the horizontal boundary of the paving position is within the vertical distance threshold.

[0020] Step 5: The coordination and control system drives the horizontal movement drive unit and the lifting drive unit of the facade laying mechanism to move the insulation board from the pre-laying position to the position to be laid. The horizontal movement of the suction unit is greater than the horizontal distance threshold, and the vertical movement of the suction unit is greater than the vertical distance threshold. This causes the insulation board to be laid to be blocked and slide relative to the suction unit when it moves to the horizontal and vertical boundaries of the position to be laid. Then, the longitudinal movement drive unit and the swing drive unit are driven to vibrately press the insulation board onto the vertical wall surface at the position to be laid.

[0021] Step 6: The coordination and control system determines whether there are still unlaid insulation boards in the storage and conveying mechanism. If there are still unlaid insulation boards, it determines whether the wall tiling device has risen to the top of the vertical wall. If it has risen to the top, it proceeds to step 8. If it has not risen to the top, the coordination and control system loads the next tiling position information in the same column and returns to step 2. If there are no unlaid insulation boards, it proceeds to step 7.

[0022] Step 7: The coordination control system drives the mobile suspension device to lower the storage conveying mechanism to the ground. After the operator loads the insulation board into the storage conveying mechanism, the coordination control system drives the mobile suspension device to suspend the storage conveying mechanism back to the position before lowering it, and then returns to step 6.

[0023] Step 8: The coordination and control system drives the mobile suspension device to move the storage and conveying mechanism to the bottom of the next column on the vertical wall surface, where the tiling position is to be laid, and then returns to step 2.

[0024] Compared with existing technologies, the advantages of this invention are as follows: The mobile chassis mechanism enables the suspension drive mechanism and the stabilizing support mechanism to move horizontally at the top of the wall, thereby achieving large-area overall installation of insulation boards on vertical walls, effectively improving construction efficiency without requiring excessive personnel intervention. It boasts a high degree of automation and good construction safety. The suspension drive mechanism, stabilizing support mechanism, and two suspension steel cables enable stable lifting and lowering of the wall installation device. The collaborative work of the storage and conveying mechanism, adhesive application mechanism, and vertical installation mechanism allows for continuous and automatic construction of insulation board delivery, adhesive application, and installation, exhibiting good automation and collaborative performance and effectively improving the efficiency of insulation board installation. Attached Figure Description

[0025] Figure 1 This is a right view of the mounting structure of the present invention;

[0026] Figure 2 This is a front view of the overall structure of the present invention;

[0027] Figure 3 This is a partial cross-sectional schematic diagram of the wall tiling device of the present invention;

[0028] Figure 4 This is a right-side structural schematic diagram of the facade paving mechanism of the present invention;

[0029] Figure 5 This is a front view structural diagram of the facade paving mechanism of the present invention;

[0030] Figure 6 This is a partial cross-sectional schematic diagram of the mobile suspension device of the present invention;

[0031] Figure 7 This is a partial cross-sectional schematic diagram of the adhesive application mechanism of the present invention;

[0032] Figure 8 This is a schematic diagram of the control circuit structure of the present invention. Detailed Implementation

[0033] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the embodiments described.

[0034] Example 1:

[0035] like Figures 1-8 As shown, the paving system for thermal insulation layer construction disclosed in this invention includes: a mobile suspension device, a wall paving device, and a coordination control subsystem; the mobile suspension device includes a mobile chassis mechanism, a suspension drive mechanism, a stabilizing support mechanism, and two suspension steel wire ropes 102; the wall paving device includes a storage and conveying mechanism, an adhesive application mechanism, and a vertical paving mechanism.

[0036] Both the suspension drive mechanism and the stabilizing support mechanism are mounted on the mobile chassis mechanism. The mobile chassis mechanism carries the suspension drive mechanism and the stabilizing support mechanism to move along the top edge of the wall 136. The stabilizing support mechanism supports the vertical wall surface of the wall 136 between the mobile chassis mechanism and the wall 136. The suspension drive mechanism is used to control the winding and unwinding of one end of the two suspension steel wire ropes 102. The other ends of the two suspension steel wire ropes 102 are fixed to the storage and conveying mechanism, which is used for horizontal storage and upward conveying of the insulation board 12. An adhesive application mechanism is also included. The system is installed on the storage and conveying mechanism to apply adhesive to the upper side of the insulation board 12 conveyed upward by the storage and conveying mechanism and to push it horizontally; the vertical wall covering mechanism is installed on the vertical side of the storage and conveying mechanism to pick up the insulation board 12 applied and pushed by the adhesive application mechanism and to vertically cover the insulation board 12 onto the vertical wall surface of the wall 136; the coordination control subsystem is used to coordinate and drive the mobile chassis mechanism, the suspension drive mechanism, the stabilizing support mechanism, the storage and conveying mechanism, the adhesive application mechanism, and the vertical wall covering mechanism.

[0037] The mobile chassis mechanism can support the suspension drive mechanism and the stabilizing support mechanism to move horizontally at the top of the wall 136, thereby enabling large-area overall installation of insulation boards 12 on the vertical wall surface. This effectively improves construction efficiency without requiring excessive personnel intervention, resulting in a high degree of automation and good construction safety. The suspension drive mechanism, the stabilizing support mechanism, and the two suspension steel cables 102 enable stable lifting and lowering of the wall installation device. The stabilizing support mechanism effectively enhances the translational stability and suspension safety of the mobile chassis mechanism. The collaborative work of the storage and conveying mechanism, the adhesive application mechanism, and the vertical installation mechanism enables continuous and automatic construction of the insulation board 12, including conveying, applying adhesive, and installation. This demonstrates good automation and collaboration, effectively improving the installation efficiency of the insulation board 12.

[0038] Furthermore, the coordinated drive control includes a mobile control terminal 78 and a fixed control terminal 120; the fixed control terminal 120 is mounted on the counterweight box 101 of the suspension lifting mechanism via a bracket 119; the mobile control terminal 78 is fixedly mounted on the horizontal beam 95 of the storage and conveying mechanism; the mobile control terminal 78 has a keypad panel on its exterior and a controller, a wireless communication module, a paving vibration drive circuit, a pump drive circuit, a telescopic drive circuit, a swing drive circuit, a stirring drive circuit, a lifting drive circuit, a pushing drive circuit, a lateral movement drive circuit, a longitudinal movement drive circuit, a smearing vibration circuit, and a release drive circuit on its interior; the fixed control terminal 120 has a display screen and a... The main button panel internally houses a main wireless communication module, a movement drive circuit, a height adjustment circuit, a distance adjustment circuit, and a suspension drive circuit. The slave controller is electrically connected to the slave button panel, the slave wireless communication module, the laying vibration drive circuit, the pump drive circuit, the telescopic drive circuit, the swing drive circuit, the stirring drive circuit, the lifting drive circuit, the raising drive circuit, the pushing drive circuit, the lateral movement drive circuit, the longitudinal movement drive circuit, the spreading vibration circuit, and the release drive circuit. The main controller is electrically connected to the display screen, the main button panel, the main wireless communication module, the movement drive circuit, the height adjustment circuit, the distance adjustment circuit, and the suspension drive circuit. The main wireless communication module and the slave wireless communication module are wirelessly connected. The main and slave button panels facilitate temporary operations such as start, pause, and stop. The display screen shows images captured by camera 27, allowing operators to monitor the laying status of the insulation board 12. The wireless communication module and the slave wireless communication module enable signal transmission between the main and slave controllers.

[0039] Furthermore, the mobile chassis mechanism includes a rectangular support chassis 100, a counterweight box 101, four omnidirectional moving units, and two moving drive units. The four omnidirectional moving units are respectively installed on the four edges of the rectangular support chassis 100 for horizontal movement support of the four sides of the rectangular support chassis 100. The counterweight box 101 is fixed to the rectangular support chassis 100, and its top is open for stacking counterweights. The two moving drive units are respectively installed on the right and rear sides of the rectangular support chassis 100 for driving and controlling the omnidirectional moving units on the right and rear sides respectively. Both moving drive units are driven and controlled by a coordination control subsystem. By using the counterweight box 101 to load counterweights, the stability of the rectangular support chassis 100 can be ensured, thereby ensuring the safety of the suspended wall tiling device below. The four omnidirectional moving units and the two moving drive units enable the horizontal movement of the rectangular support chassis 100, thereby meeting the need for large-scale movement of the wall tiling device on the vertical wall.

[0040] Furthermore, the omnidirectional moving unit includes a chassis support main shaft 87, three main shaft supports 129, and three omnidirectional wheels 94. The chassis support main shaft 87 is rotatably mounted on the side of the rectangular support chassis 100 via the three main shaft supports 86, and the three omnidirectional wheels 94 are all fixedly mounted on the chassis support main shaft 87. The omnidirectional wheels 94 enable omnidirectional movement, thereby allowing for translational driving of the rectangular support chassis 100 and ensuring that the moving chassis mechanism always moves smoothly against the rear side of the vertical wall, ensuring stability during the movement process.

[0041] Furthermore, the motion drive unit includes a motion drive motor 128, a motion drive worm gear 130, and a motion drive worm. The motion drive motor 128 is mounted on the side of the rectangular support chassis 100 via a motion motor mount 129. The motion drive worm gear 130 is fixedly mounted on the chassis support spindle 87. The motion drive worm is rotatably mounted on the motion motor mount 129 (not shown in the figure). The motion drive motor 128 is used to drive the motion drive worm. The main controller controls the motion drive motor 128 through the motion drive circuit. By utilizing the cooperation of the motion drive worm gear 130 and the motion drive worm, the driving and limiting of the chassis support spindle 87 can be achieved.

[0042] Furthermore, the suspension drive mechanism includes two winding cantilever branches; each winding cantilever branch includes a steel rope winding unit, a front-end support unit, and a telescopic cantilever unit; the steel rope winding unit is mounted on the mobile chassis mechanism and is used to control the winding and unwinding of one end of the suspension steel wire rope 102; the rear end of the telescopic cantilever unit is hinged to the steel rope winding unit, and the front end is provided with a front pulley 123 for rotating and supporting the suspension steel wire rope 102, and the cantilever distance of the front pulley 123 is adjustable; the upper end of the front support unit is hinged to the telescopic cantilever unit, and the lower end is hinged to the mobile chassis mechanism, and the support height of the front support unit is adjustable.

[0043] Furthermore, the steel rope winding unit includes a winding support frame 115, a winding drum 113, a suspension drive motor 117, a suspension drive worm gear 118, and a suspension drive worm 122. The winding drum 113 is rotatably mounted on the rear end of the telescopic cantilever unit via a drum support 112. The central drive shaft of the winding drum 113 is rotatably mounted on the upper end of the winding support frame 115, and the lower end of the winding support frame 115 is fixed on the rectangular support chassis 100. The suspension drive worm gear 118 is fixedly mounted on the central drive shaft of the winding drum 113, and the suspension drive worm 122 is rotatably mounted on the winding support frame 115, with the suspension drive worm gear 118 meshing with the suspension drive worm 122. The main controller drives and controls the suspension drive motor 117 via a suspension drive circuit. One end of the suspended steel wire rope 102 is fixedly wound around the winding drum 113. By utilizing the cooperation of the suspension drive worm gear 118 and the suspension drive worm 122, the rotation drive and positioning control of the winding drum 113 can be realized.

[0044] Furthermore, the telescopic cantilever unit includes a cantilever sleeve 111, a telescopic cantilever 110, and a telescopic adjusting screw 114; the rear end of the cantilever sleeve 111 is fixed on the roller support 112, the rear end of the telescopic cantilever 110 is inserted into the front end of the cantilever sleeve 111, and the front pulley 123 is rotatably mounted on the front end of the telescopic cantilever 110; the front end of the telescopic adjusting screw 114 is rotatably mounted on the telescopic rotating support 97 on the side of the telescopic cantilever 110, and the middle part of the telescopic adjusting screw 114 is threadedly screwed onto the telescopic drive support 131 on the side of the cantilever sleeve 111; the suspension wire rope 102 turns downward at the front pulley 123 and is fixed on the suspension support 81 on the suspension frame. The front pulley 123 can be used to provide steering support for the suspension wire rope 102 at the front end, reducing the resistance during lifting and winding; the telescopic adjustment screw 114 can be used to adjust the relative telescopic amount between the cantilever sleeve 111 and the telescopic cantilever 110.

[0045] Furthermore, the front-end support unit includes a front-end support tube 105, a front-end support seat 106, and a front-end support stud 108. The lower end of the front-end support tube 105 is pivotally hinged to the rectangular support base 100, the front-end support seat 106 is rotatably mounted on the upper end of the front-end support tube 105, and the lower end of the front-end support stud 108 is threadedly screwed onto the front-end support seat 106. A front-end adjustment handle 107 is provided on the side of the front-end support seat 106, and the upper end of the front-end support stud 108 is pivotally hinged to the cantilever sleeve 111 via a front-end hinge seat 109. The threaded connection between the front-end support stud 108 and the front-end support seat 106 facilitates adjustment of the front-end support height, thereby meeting the needs of on-site installation and commissioning.

[0046] Furthermore, the mobile suspension device also includes a wall extension mechanism; the wall extension mechanism includes a wall extension plate 104, a rolling support unit, a vertical sliding unit, and an elastic tensioning unit; the vertical sliding unit is mounted on a rectangular support base 100, the rear end of the elastic tensioning unit is mounted on the vertical sliding unit, and the front end of the elastic tensioning unit is pivotally hinged to the rear side of the wall extension plate 104. The vertical sliding unit drives the elastic tensioning unit to slide up and down, and the elastic tensioning unit elastically pulls the wall extension plate 104 backward; the rolling support unit is mounted on the lower side of the wall extension plate 104, and is used to roll and support the top and front side of the vertical wall surface of the wall 136, so that the wall extension plate 104 extends vertically and is set at the top and front side of the vertical wall surface of the wall 136. The rolling support unit, the vertical sliding unit, and the elastic tensioning unit can achieve stable vertical support for the wall extension plate 104, and can adaptively move as the top of the vertical wall surface of the wall 136 changes.

[0047] Furthermore, the elastic tensioning unit includes two elastic pulling branches, each including a sliding column 138, a rear sliding sleeve 103, a pulling sleeve 124, a pulling spring, and a pulling rod 125. The sliding column 138 is vertically fixedly installed on the front side of the rectangular support chassis 100. The rear sliding sleeve 103 is vertically slidably fitted onto the sliding column 138, with its rear end fixed to the rear sliding sleeve 103. The pulling spring is installed inside the rear sliding sleeve 103, and the rear end of the pulling rod 125 is inserted into the front end of the rear sliding sleeve 103. The front end of the pulling spring is fixed to the rear end of the pulling rod 125 for pulling the pulling rod 125 backward. The front end of the pulling rod 125 is horizontally swing-hinged and installed on the rear side of the wall extension plate 104. By utilizing the sliding installation of the sliding column 138 and the rear sliding sleeve 103, the wall extension plate 104 can always move along the top of the vertical wall surface of the wall 136 under the action of gravity. By utilizing the cooperation of the pulling sleeve 124, the pulling spring and the pulling rod 125, the wall extension plate 104 can achieve stable support in the vertical direction and elastic pulling backward, thereby cooperating with the rolling support unit to realize the movement of the wall extension plate 104 along the front side of the vertical wall.

[0048] Furthermore, a position detection sensor 137 is provided in the middle of the lower side of the wall extension plate 104. The main controller is electrically connected to the position detection sensor 137 and is used to detect the horizontal beam 95 of the suspension frame, thereby determining whether the wall tiling device has moved to the top position of the vertical wall.

[0049] Furthermore, the rolling support unit includes two front support rollers 85 and two top support rollers 126; the two top support rollers 126 are rotatably mounted on the rear side of the wall extension plate 104 for supporting movement on the top of the vertical wall; the two front support rollers 85 are mounted on the front side of the wall extension plate 104 via two L-shaped axles 116 for supporting movement on the front side of the vertical wall.

[0050] Furthermore, the stabilizing support mechanism includes a distance adjustment unit, an upper support roller 134, a distance detection sensor 133, a height detection sensor 121, and a height adjustment unit. The distance adjustment unit is mounted on the mobile chassis mechanism, and the height adjustment unit is mounted on the distance adjustment unit. The distance detection sensor 133, the height detection sensor 121, and the upper support roller 134 are all mounted on the height adjustment unit. The distance adjustment unit adjusts the distance between the height adjustment unit and the vertical wall surface of the wall 136, and the height adjustment unit adjusts the support height of the upper support roller 134. The distance detection sensor 133 detects the distance between the upper support roller 134 and the vertical wall surface of the wall 136, and the height detection sensor 121 detects the top height of the vertical wall surface of the wall 136. The distance detection sensor 133, the height detection sensor 121, the distance adjustment unit, and the height adjustment unit are all driven and controlled by the main controller of the coordinated control subsystem. The distance adjustment unit can adjust the spacing based on the detection results of the distance detection sensor 133, so that the upper support roller 134 is always in close contact with the rear side of the vertical wall 136. The height detection sensor 121 can detect the distance to the top of the vertical wall 136, so that the height adjustment unit can adjust the walking height of the support roller 134 to always be lower than the top of the vertical wall, ensuring the stable support state of the support roller 134 and enhancing the stability of the rectangular support chassis 100.

[0051] Furthermore, the distance adjustment unit includes a distance adjustment motor 88, a distance adjustment seat 89, a movable adjustment seat 90, and a distance adjustment screw. The distance adjustment seat 89 is longitudinally mounted on the middle of the front side of the movable chassis mechanism. A distance adjustment T-shaped groove is longitudinally provided on the upper side of the distance adjustment seat 89. The distance adjustment screw is rotatably mounted in the distance adjustment T-shaped groove. The movable adjustment seat 90 is slidably mounted on the distance adjustment T-shaped groove, and the distance adjustment screw is threadedly screwed onto the movable adjustment seat 90. The distance adjustment motor 88 drives the distance adjustment screw to rotate. The coordination control subsystem is used to drive and control the distance adjustment motor 88. The height adjustment unit is mounted on the movable adjustment seat 90, meaning the main controller drives and controls the distance adjustment motor 88 through the distance adjustment circuit. By utilizing the cooperation of the distance adjustment T-shaped groove, the movable adjustment seat 90, and the distance adjustment screw, stable distance adjustment can be achieved.

[0052] Furthermore, the height adjustment unit includes a height adjustment screw 135, a height adjustment seat 91, a roller mounting seat 132, and a height adjustment motor 93. The height adjustment seat 91 is vertically fixed on the movable adjustment seat 90, and a triangular rib plate 98 is provided at the fixed installation position. A height adjustment T-slot is vertically provided on the front side of the height adjustment seat 91. The height adjustment screw 135 is rotatably and vertically installed in the height adjustment T-slot. The roller mounting seat 132 is slidably installed on the height adjustment T-slot. The height adjustment screw 135 is threadedly screwed onto the roller mounting seat 132. The upper support roller 134 is installed on the roller mounting seat 132. The height adjustment motor 93 is used to drive the height adjustment screw 135 to rotate. The height adjustment motor 93 is driven and controlled by the coordination control subsystem, that is, the main controller drives and controls the height adjustment motor 93 through the height adjustment circuit. By utilizing the height adjustment T-slot, height adjustment screw 135, and roller mounting base 132, stable height adjustment can be achieved; and by utilizing the upper support roller 134, stable support can be achieved while the rectangular support chassis 100 moves.

[0053] Furthermore, the distance detection sensor 133 is installed on the side of the upper support roller 134 to measure the distance between the upper support roller 134 and the vertical wall surface of the wall 136; the height detection sensor 121 is installed on the top of the height adjustment seat 91 via the cantilever rod 92 to measure the distance to the top of the vertical wall surface of the wall 136 below; the main controller is electrically connected to the distance detection sensor 133 and the height detection sensor 121.

[0054] Furthermore, the storage and conveying mechanism includes a storage box 1, a lifting and conveying unit, a suspension frame, and a facade support unit; the suspension frame is fixedly installed above the storage box 1, and the lower ends of the two suspension steel wire ropes 102 are fixed to the suspension frame; the lifting and conveying unit is installed inside the storage box 1 for stacking and placing each insulation board 12, and lifting and conveying each insulation board 12 horizontally to the top opening of the storage box 1; the facade support unit is installed on the vertical side of the storage box 1 for supporting the vertical wall surface of the wall 136; the lifting and conveying unit is driven and controlled by a coordination control system; a stacking window is provided on the right side of the storage box 1, and a door panel 2 is hinged to the stacking window, with a handle 3 provided on the door panel 2. The facade support unit can maintain the distance from the vertical wall during the lifting and lowering movement of the storage box 1, thereby ensuring the flatness of the facade laying mechanism when laying the insulation board 12; the lifting and conveying unit can convey the insulation board 12 upward one by one, thereby facilitating the application of adhesive by the adhesive application mechanism and horizontal pushing; the hinged door panel 2 can be easily opened to place the insulation board 12 on the lifting tray 8 of the rear lifting and conveying unit.

[0055] Furthermore, the suspension frame includes two side suspension brackets 77 and a horizontal beam 95; the two side suspension brackets 77 are vertically installed on the upper side of the storage box 1, and the two ends of the horizontal beam 95 are respectively fixedly installed on the upper ends of the two side suspension brackets 77; an upper support internal threaded pipe 80 is provided at the upper end of each of the two side suspension brackets 77, and an upper support threaded post 82 is threadedly installed at the pipe opening of the upper support internal threaded pipe 80. An upper support universal wheel 83 is installed on the outer end of the upper support threaded post 82 for rolling support on the vertical wall surface of the wall 136; an upper adjustment seat 84 is threadedly installed on the upper support threaded post 82, and the upper adjustment seat 84 presses against the pipe opening of the upper support internal threaded pipe 80; an adjustment handle 96 is provided on the side of the upper adjustment seat 84. The suspension frame enhances stability during suspension; the upper support threaded tube 80, upper support threaded column 82, upper adjustment seat 84, and upper support caster wheel 83 work together to adjust the distance between the suspension frame and the vertical wall, thereby ensuring the stability of the upper part of the storage and conveying mechanism.

[0056] Furthermore, an inclination sensor 79, electrically connected to the controller, is installed on the horizontal beam 95 of the suspension frame. The inclination sensor 79 can detect whether the left and right ends of the horizontal beam 95 are at the same height, and accordingly the main controller controls the suspension drive motors 117 of the two steel rope winding units separately through the suspension drive circuit, thereby realizing inclination adjustment and ensuring the neatness of the insulation board 12.

[0057] Furthermore, the facade support unit includes a facade support column 10 and facade support casters 11. One end of the facade support column 10 is fixed to the rear side of the storage box 1, and the facade support casters 11 are rotatably mounted on the other end of the facade support column 10 for support on the vertical wall surface of the wall 136. The cooperation of the facade support column 10 and the facade support casters 11 enhances the stability of the lower part of the storage conveying mechanism.

[0058] Furthermore, the lifting and conveying unit includes a lifting strip seat 4, a lifting drive motor 5, a lifting drive base 7, a lifting distance sensor 6, and a lifting pallet 8; the lifting strip seat 4 is vertically arranged on the front inner wall of the storage box 1, and a lifting T-shaped groove is vertically arranged on the lifting strip seat 4, within which a lifting drive screw is rotatably arranged; the lifting drive base 7 is slidably mounted on the lifting T-shaped groove, and the lifting drive screw is threadedly screwed onto the lifting drive base 7; the lifting drive motor 5 is used to drive the lifting drive screw to rotate; from the controller The lifting drive motor 5 is driven and controlled by the lifting drive circuit; the lifting tray 8 is horizontally mounted on the lifting drive seat 7 for stacking the insulation boards 12 to be laid; a tray reinforcing rib 9 is provided at the mounting location of the lifting tray 8; the lifting distance sensor 6 is installed on the bottom inner wall of the storage box 1 and electrically connected to the slave controller for detecting the height of the lifting tray 8; two limit bars 127 are vertically installed on the left and right inner walls of the storage box 1 to limit the front and rear sides of the insulation boards 12 inside the storage box 1. The lifting drive seat 7 and the lifting T-slot are slidably engaged to achieve stable lifting and lowering of the lifting tray 8; the lifting distance sensor 6 can detect the height of the lifting tray 8 and feed it back to the slave controller, which then uses the lifting drive circuit to precisely drive and control the lifting drive motor 5.

[0059] Furthermore, the adhesive application mechanism includes a rectangular frame, a horizontal pushing unit, an adhesive storage tank, a dispensing unit, and a vibrating application unit. The rectangular frame is fixedly installed on the top of the storage and conveying mechanism. The adhesive storage tank is installed on the rectangular frame and is used to store the adhesive to be applied. The dispensing unit is installed at the outlet below the adhesive storage tank and is used to evenly release the adhesive onto the upper side of the insulation board 12 below. The horizontal pushing unit is installed on the rectangular frame and is used to horizontally push the insulation board 12 onto the vertical paving mechanism. The vibrating application unit is installed on the dispensing unit and is used to evenly apply the adhesive released by the dispensing unit. The horizontal pushing unit, the vibrating application unit, and the dispensing unit are all driven and controlled by a coordinated control system. The discharge unit can release adhesive onto the upper side of the insulation board 12, and under the pushing action of the horizontal pushing unit, the insulation board 12 can be horizontally pushed onto the vertical laying mechanism while the adhesive is being released, so that the suction unit can reliably adsorb the insulation board 12; the vibration coating unit can evenly coat the adhesive released by the discharge unit, thereby ensuring the quality of adhesive coating on the insulation board 12.

[0060] Furthermore, the rectangular frame includes a rectangular border 54 and four supporting columns 53; the rectangular border 54 is horizontally supported on the upper side of the storage box 1 by the four supporting columns 53. The support by the supporting columns 53 allows the rectangular border 54 to be moved away from the upper side of the storage box 1, thereby facilitating the application of adhesive to the upper side of the insulation board 12.

[0061] Furthermore, the adhesive storage tank includes a strip-shaped tank body 64 and at least one agitator 65; a storage port 66 is provided above the strip-shaped tank body 64; the agitators 65 are distributed on the strip-shaped tank body 64 for agitating the adhesive inside the strip-shaped tank body 64; the bottom front and rear sides 61 of the strip-shaped tank body 64 are relatively tapered and connected to the upper side of the horizontally arranged release cylinder 68 below through a strip-shaped conveying channel 62; the left and right sides of the strip-shaped tank body 64 are fixedly mounted on a rectangular frame 54; the controller drives the agitator drive motor of the agitator 65 through a stirring drive circuit. The agitator 65 agitates the adhesive inside the strip-shaped tank body 64, thereby effectively maintaining the uniformity of the adhesive.

[0062] Furthermore, the horizontal pushing unit includes a push drive motor 56, two push drive screws 58, a synchronous push chain 52, two push C-shaped seats 55, a push strip plate 50, a blocking beam 67, and two L-shaped push rods 51; the two push C-shaped seats 55 are respectively snapped onto the left and right side frames of the rectangular frame 54, and each of the push C-shaped seats 55 has a support roller 57 rotatably mounted on its upper and lower sides for rotatably supporting the upper and lower sides of the frame; the two push drive screws 58 are respectively rotatably mounted on the left and right side frames of the rectangular frame 54; each of the two push C-shaped seats 55 is provided with a push drive support 59, and the two push drive screws 58 are respectively threadedly screwed onto the two push drive supports 59; the push drive motor 56... One of the push drive screws 58 is driven to rotate by a sprocket drive structure. Both push drive screws 58 are equipped with a push synchronization sprocket 60 at their ends. The two push synchronization sprockets 60 are driven to rotate synchronously by a synchronous push chain 52. The push drive motor 56 is driven to rotate by the controller through the push drive circuit. Two L-shaped push rods 51 are respectively installed on the lower side of two push C-shaped seats 55. The left and right ends of the push strip plate 50 are respectively installed on the cantilevered ends of the two L-shaped push rods 51. The blocking beam 67 is horizontally arranged on the top rear side of the storage box 1. The front side of the blocking beam 67 is close to the rear side of the stacked insulation board 12. The upper side of the blocking beam 67 is lower than the lower side of the uppermost insulation board 12 and higher than the lower side of the second layer of insulation board 12. The push C-shaped seat 55 and the support roller 57 can be movably mounted on the frame of the rectangular frame 54, thereby achieving stable horizontal pushing of the push strip plate 50; the push synchronous sprocket and the synchronous push chain 52 can achieve synchronous rotation drive of the two push drive screws 58; the cooperation of the two L-shaped push rods 51 with the push strip plate 50 can achieve independent horizontal pushing of the single layer insulation board 12 without collision with the adhesive application mechanism; the blocking beam 67 can block and limit the second layer insulation board 12, thereby preventing the second layer insulation board 12 from moving along with the uppermost insulation board 12 when it is pushed, and providing transition support between the second layer insulation board 12 and the front side of the rectangular box 44 of the suction unit.

[0063] Furthermore, the discharge unit includes a release drive motor 135, a release cylinder 68, and a release roller 69; a discharge strip window is provided on the lower side of the release cylinder 68; the release roller 69 is installed laterally and rotatably inside the release cylinder 68, and is located between the strip conveying channel 62 and the discharge strip window; a scraping protrusion 63 is provided on the surface of the release roller 69, which is used to scrape the adhesive from the strip conveying channel 62 to the discharge strip window, and the scraping protrusion 63 is close to the inner wall of the release cylinder 68, and then released from the discharge strip window onto the upper side of the insulation board 12; the release drive motor 135 is used to drive the release roller 69 to rotate, and the release drive motor 135 is driven and controlled by the controller through the release drive circuit. By utilizing the release cylinder 68 and the release roller 69, uniform and controllable release of adhesive can be achieved. By utilizing the scraping protrusions 63 provided on the surface of the release roller 69, adhesive can be uniformly scraped from the strip conveying channel 62 to the discharge strip window, thereby achieving the release of adhesive.

[0064] Furthermore, the vibratory coating unit includes a strip connecting plate 74, a coating pressure plate 75, and a coating vibrator 76. A rearwardly extending side baffle 70 is provided on both the left and right sides of the release cylinder 68. The upper ends of the left and right sides of the strip connecting plate 74 are respectively hinged to the upper parts of the two side baffles 70. The front side of the coating pressure plate 75 is hung and hinged to the rear side of the strip connecting plate 74. A suspension rod 71 is provided between the side baffles 70 and the bottom of the strip box 64, and a cantilever support rod 72 is provided on the suspension rod 71. A suspension tension spring 73 is installed at the end of the cantilever support rod 72, and the lower end of the suspension tension spring 73 is fixed to the coating pressure plate 75. The coating vibrator 76 is fixedly installed in the middle of the upper side of the coating pressure plate 75, and the coating vibration drive motor of the coating vibrator 76 is driven to rotate by the controller through the coating vibration drive circuit. A vibratory application unit is constructed using a strip connecting plate 74, an application pressure plate 75, and an application vibrator 76. The strip connecting plate 74 first smooths the strip of adhesive, and then the application vibrator 76 and the application pressure plate 75 work together to vibrate and press the smoothed adhesive, which enhances the uniformity of the adhesive application and the bonding strength between the adhesive and the insulation board 12. Two side baffles 70 enable the strip connecting plate 74 to be hinged and limit the application range on the left and right sides. The suspension link 71 enhances the stability of the release cylinder 68 and the side baffles 70. The cantilever support rod 72 and the suspension spring 73 work together to elastically lift the application pressure plate 75, so that after the upper layer of insulation board 12 is horizontally pushed, the application pressure plate 75 is lifted, making it easy to push the strip plate 50 back to the starting position without being blocked.

[0065] Furthermore, the facade tiling mechanism includes a horizontal movement drive unit, a vertical movement drive unit, a swing drive unit, a suction unit, and a lifting drive unit. The vertical movement drive unit is fixedly installed on the vertical side of the storage and conveying mechanism, the horizontal movement drive unit is installed on the vertical movement drive unit, the swing drive unit is installed on the horizontal movement drive unit, the lifting drive unit is installed on the swing drive unit, and the suction unit is installed on the lifting drive unit. The vertical movement drive unit drives the horizontal movement drive unit to move longitudinally, the horizontal movement drive unit drives the swing drive unit to move laterally, the swing drive unit drives the lifting drive unit to swing from the horizontal state to the vertical state, and the lifting drive unit drives the suction unit to move up and down in the vertical state. The horizontal movement drive unit, the vertical movement drive unit, the swing drive unit, and the lifting drive unit are all driven and controlled by a coordinated control system. The swing drive unit can switch the state of the suction unit, realizing the conversion between horizontal suction state and vertical laying state. In the horizontal suction state, the suction unit can block and limit the lower insulation board 12 to prevent linkage when the upper insulation board 12 is pushed horizontally, ensuring the stability of the lower insulation board 12 and preparing for the application of adhesive to the lower insulation board 12. The horizontal movement drive unit, vertical movement drive unit and lifting drive unit can realize the spatial position adjustment of the suction unit, thereby realizing the precise position adjustment of the insulation board 12.

[0066] Furthermore, the longitudinal drive unit includes a longitudinal drive motor 16, a longitudinal strip seat 14, a longitudinal support seat 17, and a longitudinal drive screw 48. The front end of the longitudinal strip seat 14 is vertically fixed at the center of the rear side of the storage box 1, and a triangular rib plate 15 is provided at the installation position of the longitudinal strip seat 14. A longitudinal T-shaped groove is longitudinally provided on the longitudinal strip seat 14, and the longitudinal support seat 17 is movably installed on the longitudinal T-shaped groove. The longitudinal drive screw 48 is rotatably installed in the longitudinal T-shaped groove, and the longitudinal drive motor 16 drives the longitudinal drive screw 48 to rotate through a gear transmission structure. The longitudinal drive screw 48 is threaded through and screwed onto the longitudinal strip seat 14. The controller drives and controls the longitudinal drive motor 16 through the longitudinal drive circuit. The longitudinal drive screw 48 can drive the longitudinal support seat 17 longitudinally, thereby meeting the needs of longitudinal displacement and laying and pressing.

[0067] Furthermore, the transverse drive unit includes a transverse strip base 20, a transverse drive screw, a transverse drive seat 24, and a transverse drive motor 21; a snap-fit ​​slot is longitudinally provided in the middle of the lower side of the transverse strip base 20, and the transverse strip base 20 is snapped onto the upper side of the longitudinal support seat 17 through the snap-fit ​​slot; snap-fit ​​strip grooves 18 are provided on both the left and right sides of the longitudinal support seat 17, and snap-fit ​​protrusions 47 are provided on the edge of the snap-fit ​​slots, which slide and snap into the snap-fit ​​strip grooves 18; a transverse T-shaped groove is provided laterally on the upper side of the transverse strip base 20; the transverse drive screw is rotatably installed. Within the transverse T-slot, the transverse drive motor 21 is used to rotate the transverse drive screw. The controller controls the transverse drive motor 21 through the transverse drive circuit. The transverse drive seat 24 is slidably mounted on the transverse T-slot, and the transverse drive screw is threadedly mounted on the transverse drive seat 24. A limit block 19 is provided at both the front and rear ends of the longitudinal support seat 17, and the transverse strip seat 20 is located between the two limit blocks 19. A pressure sensor 22 is provided on the rear side of the front limit block 19, and the controller is electrically connected to the pressure sensor 22. The pressure sensor 22 can detect the longitudinal thrust applied by the longitudinal drive unit to the transverse drive unit, thereby ensuring the laying and pressing strength of the insulation board 12; the cooperation between the snap-fit ​​strip groove 18 and the snap-fit ​​protrusion 47 can enhance the installation stability of the transverse strip seat 20; the two limit blocks 19 can limit the longitudinal sliding of the transverse strip seat 20 to prevent excessive displacement between the longitudinal support seat 17 and the transverse strip seat 20; the cooperation between the transverse drive screw and the transverse drive seat 24 can achieve precise control of the transverse displacement.

[0068] Furthermore, the facade paving mechanism also includes a telescopic drive unit and a position detection unit. The telescopic drive unit is mounted on the lateral drive unit, and the position detection unit is mounted on the telescopic end of the telescopic drive unit. The lateral drive unit drives the telescopic drive unit to move laterally together with the swing drive unit. The telescopic drive unit adjusts the distance between the position detection unit and the vertical wall surface of the wall 136. The position detection unit detects the distance to the already paved insulation board 12. Both the telescopic drive unit and the position detection unit are driven and controlled by a coordinated control system. The telescopic drive unit can adjust the position of the position detection unit, thereby moving the position detection unit to the detection position for proximity distance detection, ensuring the accuracy of the insulation board 12 paving. After the detection is completed, the position detection unit is retracted so as not to affect the placement and paving of the next insulation board 12.

[0069] Furthermore, the telescopic drive unit includes a telescopic drive motor 26, a telescopic drive screw 28, a telescopic sliding seat 30, and a cantilevered strip seat 29. One end of the cantilevered strip seat 29 is fixedly mounted on the transverse drive seat 24, and the telescopic sliding seat 30 is slidably mounted on the transverse drive seat 24. A telescopic drive support is provided on the telescopic sliding seat 30, and the telescopic drive screw 28 is threadedly screwed onto the telescopic drive support. The telescopic drive motor 26 drives the telescopic drive screw 28 to rotate. The controller drives the telescopic drive motor 26 to rotate through the telescopic drive circuit. A camera 27 is mounted above the cantilevered strip seat 29, and the controller is electrically connected to the camera 27 to acquire images of the insulation board 12 being laid. By utilizing the cooperation between the telescopic sliding seat 30 and the cantilevered strip seat 29, stable position adjustment of the position detection unit can be achieved.

[0070] Furthermore, the position detection unit includes a sensor mounting base and side distance sensors 31 disposed on the left, right, lower, and rear sides of the sensor mounting base; the sensor mounting base is fixedly mounted on the rear end of the telescopic sliding base 30; the controller is electrically connected to the four side distance sensors 31. By using the side distance sensors 31 disposed on the left, right, lower, and rear sides, distance measurement in the corresponding directions is achieved, thereby allowing the insulation board 12 to be laid to the corresponding position.

[0071] Furthermore, the swing drive unit includes a swing drive motor 23, a swing support 25, a laying vibrator 45, and a swing drive base 34; the swing support 25 is mounted on the transverse drive unit, and the lifting drive unit is mounted on the swing drive base 34; a swing drive shaft is fixedly mounted on the swing drive base 34, and the swing drive shaft is hingedly mounted on the swing support 25; a swing drive worm gear 33 is fixedly mounted on the swing drive shaft, and a swing drive worm 32 that meshes with the swing drive worm gear 33 is rotatably mounted on the swing support 25; the swing drive motor 23 is used to drive the swing drive worm 32 to rotate; the laying vibrator 45 is mounted on the swing drive base 34; both the swing drive motor 23 and the laying vibrator 45 are driven and controlled by a coordinated control system, with the controller driving and controlling the swing drive motor 23 through the swing drive circuit, and the controller driving and controlling the laying vibration drive motor of the laying vibrator 45 through the laying vibration drive circuit. By utilizing the cooperation between the swing drive worm gear 33 and the swing drive worm 32, the swing position adjustment and positioning of the swing drive seat 34 can be realized; by using the laying vibrator 45, vibration can be performed after laying and positioning, which can enhance the adhesion between the adhesive and the wall surface and ensure the laying strength of the insulation board 12.

[0072] Furthermore, the suction unit includes a rectangular box 44 and a flexible hose 35; a vacuum pump 13 is installed on the storage and conveying mechanism; various suction holes are evenly distributed on the upper side of the rectangular box 44; the air inlet of the vacuum pump 13 is connected to the suction pipe 36 on the side of the rectangular box 44 through the flexible hose 35; the vacuum pump 13 is driven and controlled by a coordinated control system; the controller drives and controls the vacuum pump drive motor through the pump drive circuit. The various suction holes distributed on the upper side of the rectangular box 44 can stably adsorb the insulation board 12, thereby ensuring the stability of the insulation board 12 during transportation.

[0073] Furthermore, the lifting drive unit includes a lifting drive motor 46, a transmission shaft 49, two drive gears, two drive racks 43, and a U-shaped support plate 37; the U-shaped support plate 37 is mounted on the swing drive seat 34, and the transmission shaft 49 is rotatably mounted on the back of the U-shaped support plate 37; the lifting drive motor 46 is used to drive and control the transmission shaft 49, and the controller drives and controls the lifting drive motor 46 through the lifting drive circuit; a drive strip groove 42 is provided along the length direction on both the left and right sides of the rectangular box 44; the U-shaped support plate 37 is fastened to the rectangular box 44 from the lower side, and lifting support rollers 38 that support the movement within the drive strip grooves 42 are rotatably mounted on both ends of the U-shaped support plate 37; two... Drive racks 43 are respectively installed in drive rack grooves 42 on both sides. Lifting drive gears are rotatably installed on both sides of the U-shaped support plate 37, and the lifting drive gears mesh with the drive racks 43 at the corresponding positions. A lifting guide rod 41 with a T-shaped cross section is provided on the lower side of the rectangular box 44 along the lifting direction. A lifting guide seat is provided in the U-shaped support plate 37, and a lifting guide T-shaped groove that slides with the lifting guide rod 41 is provided on the lifting guide seat. A lifting transmission gear 39 is fixedly installed at both ends of the transmission shaft 49. A transmission external gear 40 is fixedly installed on the outer side of the U-shaped support plate 37 coaxially with the lifting drive gear. The transmission external gear 40 and the corresponding lifting transmission gear 39 are rotated and transmitted through the lifting transmission chain 99. The sliding cooperation between the lifting guide seat and the lifting guide rod 41 can enhance the stability of the lifting and moving of the rectangular box 44; the cooperation between the lifting support roller 38 and the drive strip groove 42 can realize the moving support between the U-shaped support plate 37 and the rectangular box 44, thereby reducing the resistance of lifting; the cooperation between the drive rack 43 and the lifting drive gear can realize the lifting drive; the lifting drive motor 46 is a dual-shaft head reduction motor.

[0074] The method for laying a laying system for thermal insulation layer construction disclosed in this invention includes the following steps:

[0075] Step 1: Transport the mobile suspension device to the top of the wall 136, fill the counterweight box 101 with counterweight blocks, fix the lower ends of the two suspension steel wire ropes 102 to the suspension frame of the storage and conveying mechanism, and then stack the insulation boards 12 in layers in the storage and conveying mechanism. The workers first complete the manual laying of the insulation boards 12 at the starting position.

[0076] Step 2: The coordination and control system drives the mobile suspension device according to the loaded position information to be laid. That is, the main controller drives the suspension drive motor 118 through the suspension drive circuit to suspend the storage and conveying mechanism upward to the position to be laid.

[0077] Step 3: The coordinated control system drives the storage and conveying mechanism. Specifically, the slave controller drives the lifting drive motor 5 through the lifting drive circuit, while the lifting distance sensor 6 detects the lifting height to ensure lifting accuracy. An insulation board 12 is then horizontally conveyed upwards. Next, the adhesive application mechanism is driven to push the conveyed insulation board 12 and apply adhesive, so that the applied insulation board 12 is placed on the suction unit of the facade laying mechanism. Specifically, the slave controller coordinates the stirring drive motor, translation drive motor 59, release drive motor 135, push drive motor 56, and application vibration drive motor of the stirrer 65 and the application vibration drive motor of the application vibrator 76 through the stirring drive circuit, release drive circuit, push drive circuit, and application vibration drive circuit.

[0078] Step 4: The coordinated control system drives the telescopic drive unit and position detection unit of the facade paving mechanism. Specifically, the slave controller drives the telescopic drive motor 26 via the telescopic drive circuit. This allows the side distance sensors 31 to detect the boundary distance of the paving position. Based on the detected boundary distance, the controller coordinates the drive of the lateral movement drive unit, longitudinal movement drive unit, swing drive unit, and lifting drive unit. This is achieved by the slave controller controlling the lateral movement drive motor 21 and the longitudinal movement drive motor 22 via the lateral movement drive circuit, longitudinal movement drive circuit, swing drive circuit, and lifting drive circuit. 16. The swing drive motor 23 and the lifting drive motor 46 drive and control the insulation board 12 adsorbed on the suction unit to be vertically transported to the pre-laying position. At the pre-laying position, the distance between the insulation board 12 and the vertical wall is less than the thickness of the insulation board 12 and greater than the laying distance threshold. The distance between the insulation board 12 and the vertical boundary of the position to be laid is within the horizontal distance threshold. The distance between the insulation board 12 and the horizontal boundary of the position to be laid is within the vertical distance threshold. The laying distance threshold is set to 1.5-2cm, the horizontal distance threshold is set to 2-3cm, and the vertical distance threshold is set to 2-3cm.

[0079] Step 5: The coordination control system drives the horizontal movement drive unit and the lifting drive unit of the facade paving mechanism to move the insulation board 12 from the pre-paving position to the paving position. The horizontal movement of the suction unit is greater than the horizontal distance threshold, for example, the horizontal movement is set to 4cm. The vertical movement of the suction unit is greater than the vertical distance threshold, for example, the vertical movement is set to 4cm. This makes the insulation board 12 to be paved obstructed when it moves to the horizontal and vertical boundaries of the paving position and slides relative to the suction unit. This keeps the insulation board 12 to be paved and the already paved insulation board 12 in close contact at the boundary. Then, the longitudinal movement drive unit and the swing drive unit are driven to vibrately press the insulation board 12 onto the vertical wall surface at the paving position. That is, the controller drives the longitudinal movement drive motor 16 and the application vibration drive motor of the application vibrator 76 through the longitudinal movement drive circuit and the application vibration circuit.

[0080] Step 6: The coordination control system determines whether there are any unlaid insulation boards 12 in the storage and conveying mechanism. That is, the controller detects whether the lifting support plate 8 has reached the maximum lifting height through the lifting distance sensor 6. Reaching the maximum lifting height indicates that all insulation boards 12 have been laid. If there are still unlaid insulation boards 12, it is then determined whether the wall laying device has risen to the top of the vertical wall of the wall 136. That is, it is determined by whether the position detection sensor 137 detects the horizontal beam 95 of the storage and conveying mechanism. If it has risen to the top, proceed to step 8. If it has not risen to the top, the coordination control system loads the next position information to be laid in the same column and returns to step 2. If there are no unlaid insulation boards 12, proceed to step 7.

[0081] Step 7: The coordinated control system drives the mobile suspension device, that is, the main controller drives the suspension drive motor 118 through the suspension drive circuit to lower the storage conveying mechanism to the ground. After the operator loads the insulation board 12 into the storage conveying mechanism, the return operation button on the button panel is pressed to trigger the return to the original position. Then the coordinated control system drives the mobile suspension device to suspend the storage conveying mechanism to the position before it was lowered, and then returns to step 6.

[0082] Step 8: The coordinated control system drives the mobile suspension device to move the storage and conveying mechanism to the bottom of the next column of the vertical wall 136 to be paved. Specifically, the main controller drives the mobile drive motor 128 and the suspension drive motor 117 through the mobile drive circuit and the suspension drive circuit to move the rectangular support chassis 100 to the next paving position. Then, based on the detection results of the distance detection sensor 133 and the height detection sensor 121, the main controller drives the distance adjustment motor 88 and the height adjustment motor 93 through the distance adjustment circuit and the height adjustment circuit to ensure that the upper support roller 134 is supported at the upper edge of the rear side of the vertical wall, ensuring the stable support of the rectangular support chassis 100. Then, return to step 2.

[0083] Furthermore, during the entire installation process, the tilt sensor 79 detects in real time whether the left and right ends of the horizontal beam 95 are at the same height. If the height difference between the two ends is calculated to exceed 4cm, the main controller controls the suspension drive motors 117 of the two steel rope winding units separately through the suspension drive circuit, so that the height difference between the left and right ends of the horizontal beam 95 is less than 1cm, thereby achieving tilt adjustment and ensuring that the insulation board 12 is installed smoothly.

[0084] As described above, although the invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the invention itself. Various changes in form and detail may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A laying system for thermal insulation layer construction, characterized in that, It includes a mobile suspension device, a wall tiling device, and a coordination and control subsystem; the mobile suspension device includes a mobile chassis mechanism, a suspension drive mechanism, a stabilizing support mechanism, and two suspension steel wire ropes (102); the wall tiling device includes a storage and conveying mechanism, an adhesive application mechanism, and a vertical tiling mechanism. The suspension drive mechanism and the stabilizing support mechanism are both mounted on the mobile chassis mechanism. The mobile chassis mechanism carries the suspension drive mechanism and the stabilizing support mechanism to move along the top edge of the wall (136). The stabilizing support mechanism supports the vertical wall surface of the wall (136) between the mobile chassis mechanism and the wall. The suspension drive mechanism is used to control the winding and unwinding of one end of the two suspension steel wire ropes (102). The other ends of the two suspension steel wire ropes (102) are fixed to the storage and conveying mechanism, which is used for horizontal storage and upward conveying of the insulation board (12). Adhesive applicator The structure is installed on the storage and conveying mechanism for applying adhesive to the upper side of the insulation board (12) conveyed upward by the storage and conveying mechanism and for horizontally pushing it; the vertical paving mechanism is installed on the vertical side of the storage and conveying mechanism for absorbing the insulation board (12) applied and pushed by the adhesive application mechanism and vertically paving the insulation board (12) onto the vertical wall surface of the wall (136); the coordination control subsystem is used to coordinate and drive the mobile chassis mechanism, the suspension drive mechanism, the stabilization support mechanism, the storage and conveying mechanism, the adhesive application mechanism and the vertical paving mechanism. The stabilizing support mechanism includes a distance adjustment unit, an upper support roller (134), a distance detection sensor (133), a height detection sensor (121), and a height adjustment unit. The distance adjustment unit is mounted on the mobile chassis mechanism, and the height adjustment unit is mounted on the distance adjustment unit. The distance detection sensor (133), the height detection sensor (121), and the upper support roller (134) are all mounted on the height adjustment unit. The distance adjustment unit adjusts the distance between the height adjustment unit and the vertical wall surface of the wall (136), and the height adjustment unit adjusts the support height of the upper support roller (134). The distance detection sensor (133) detects the distance between the upper support roller (134) and the vertical wall surface of the wall (136), and the height detection sensor (121) detects the height of the top of the vertical wall surface of the wall (136). The distance detection sensor (133), the height detection sensor (121), the distance adjustment unit, and the height adjustment unit are all driven and controlled by the coordination control subsystem.

2. The laying system for thermal insulation layer construction according to claim 1, characterized in that, The mobile chassis mechanism includes a rectangular support chassis (100), a counterweight box (101), four omnidirectional moving units, and two moving drive units. The four omnidirectional moving units are respectively installed on the four edges of the rectangular support chassis (100) to provide horizontal moving support for the four sides of the rectangular support chassis (100). The counterweight box (101) is fixed on the rectangular support chassis (100). The two moving drive units are respectively installed on the right side and the rear side of the rectangular support chassis (100) to drive and control the omnidirectional moving units on the right side and the rear side respectively. Both moving drive units are driven and controlled by a coordination control subsystem.

3. The laying system for thermal insulation layer construction according to claim 1, characterized in that, The suspension drive mechanism includes two winding cantilever branches; the winding cantilever branches include a steel rope winding unit, a front end support unit, and a telescopic cantilever unit; the steel rope winding unit is installed on the mobile chassis mechanism and is used to control the winding and unwinding of one end of the suspension steel wire rope (102); the rear end of the telescopic cantilever unit is hinged to the steel rope winding unit, and the front end is provided with a front pulley (123) for rotating and supporting the suspension steel wire rope (102), and the cantilever distance of the front pulley (123) is adjustable; the upper end of the front end support unit is hinged to the telescopic cantilever unit, and the lower end is hinged to the mobile chassis mechanism, and the support height of the front end support unit is adjustable.

4. The laying system for thermal insulation layer construction according to claim 1, characterized in that, The storage and conveying mechanism includes a storage box (1), a lifting and conveying unit, a suspension frame, and a facade support unit; the suspension frame is fixedly installed above the storage box (1), and the lower ends of the two suspension steel wire ropes (102) are fixed on the suspension frame; the lifting and conveying unit is installed inside the storage box (1) for stacking and placing each insulation board (12) and lifting the insulation board (12) horizontally one by one to convey it to the top opening of the storage box (1); the facade support unit is installed on the vertical side of the storage box (1) for supporting the vertical wall surface of the wall (136); the lifting and conveying unit is driven and controlled by a coordination control system.

5. The laying system for thermal insulation layer construction according to claim 1, characterized in that, The adhesive application mechanism includes a rectangular frame, a horizontal pushing unit, an adhesive storage tank, a dispensing unit, and a vibrating application unit. The rectangular frame is fixedly installed on the top of the storage and conveying mechanism. The adhesive storage tank is installed on the rectangular frame and is used to store the adhesive to be applied. The dispensing unit is installed at the outlet below the adhesive storage tank and is used to evenly release the adhesive onto the upper side of the insulation board (12) below. The horizontal pushing unit is installed on the rectangular frame and is used to horizontally push the insulation board (12) onto the vertical paving mechanism. The vibrating application unit is installed on the dispensing unit and is used to evenly apply the adhesive released by the dispensing unit. The horizontal pushing unit, the vibrating application unit, and the dispensing unit are all driven and controlled by a coordinated control system.

6. The laying system for thermal insulation layer construction according to claim 1, characterized in that, The facade tiling mechanism includes a horizontal movement drive unit, a vertical movement drive unit, a swing drive unit, a suction unit, and a lifting drive unit; the vertical movement drive unit is fixedly installed on the vertical side of the storage and conveying mechanism, the horizontal movement drive unit is installed on the vertical movement drive unit, the swing drive unit is installed on the horizontal movement drive unit, the lifting drive unit is installed on the swing drive unit, and the suction unit is installed on the lifting drive unit. The longitudinal drive unit drives the transverse drive unit to move longitudinally, the transverse drive unit drives the swing drive unit to move laterally, the swing drive unit drives the lifting drive unit to swing from the horizontal state to the vertical state, and the lifting drive unit drives the suction unit to move up and down in the vertical state; the transverse drive unit, the longitudinal drive unit, the swing drive unit and the lifting drive unit are all driven and controlled by the coordinated control system.

7. The laying system for thermal insulation layer construction according to claim 6, characterized in that, The facade paving mechanism also includes a telescopic drive unit and a position detection unit; the telescopic drive unit is installed on the horizontal drive unit, and the position detection unit is installed on the telescopic end of the telescopic drive unit; the horizontal drive unit drives the telescopic drive unit to move horizontally together with the swing drive unit, the telescopic drive unit adjusts the distance between the position detection unit and the vertical wall surface of the wall (136), and the position detection unit performs distance detection on the paved insulation board (12); both the telescopic drive unit and the position detection unit are driven and controlled by the coordination control system.

8. The laying system for thermal insulation layer construction according to claim 6, characterized in that, The swing drive unit includes a swing drive motor (23), a swing support base (25), a laying vibrator (45), and a swing drive base (34); the swing support base (25) is mounted on the transverse drive unit, and the lifting drive unit is mounted on the swing drive base (34); a swing drive shaft is fixedly mounted on the swing drive base (34), and the swing drive shaft is hingedly mounted on the swing support base (25); a swing drive worm gear (33) is fixedly mounted on the swing drive shaft, and a swing drive worm (32) meshing with the swing drive worm gear (33) is rotatably mounted on the swing support base (25); the swing drive motor (23) is used to drive the swing drive worm (32) to rotate; the laying vibrator (45) is mounted on the swing drive base (34); the swing drive motor (23) and the laying vibrator (45) are both driven and controlled by a coordination control system.

9. A method for laying a laying system for thermal insulation layer construction according to claim 7, characterized in that, Includes the following steps: Step 1: Transport the mobile suspension device to the top of the wall (136), then fix the lower ends of the two suspension steel wire ropes (102) to the storage and conveying mechanism, and then stack the insulation boards (12) in the storage and conveying mechanism. Step 2: The coordination and control system drives the mobile suspension device according to the loaded location information to be paved, and suspends the storage and conveying mechanism upward to the location to be paved. Step 3: The coordinated control system drives the storage and conveying mechanism to horizontally convey an insulation board (12) upwards. Then, the adhesive application mechanism is driven to push the conveyed insulation board (12) and apply adhesive, so that the applied insulation board (12) is located on the suction unit of the facade laying mechanism. Step 4: The coordinated control system drives the telescopic drive unit and the position detection unit of the facade paving mechanism to detect the boundary distance of the paving position. Then, based on the detected boundary distance, the horizontal drive unit, the vertical drive unit, the swing drive unit and the lifting drive unit are coordinated and driven to vertically transport the insulation board (12) adsorbed on the suction unit to the pre-paving position. At the pre-paving position, the distance between the insulation board (12) and the vertical wall is less than the thickness of the insulation board (12) and greater than the paving distance threshold. The distance between the insulation board (12) and the vertical boundary of the paving position is within the horizontal distance threshold. The distance between the insulation board (12) and the horizontal boundary of the paving position is within the vertical distance threshold. Step 5: The coordination control system drives the horizontal movement drive unit and the lifting drive unit of the facade paving mechanism to move the insulation board (12) from the pre-paving position to the paving position. The horizontal movement of the suction unit is greater than the horizontal distance threshold, and the vertical movement of the suction unit is greater than the vertical distance threshold. This causes the insulation board (12) to be paved to be blocked and slide relative to the suction unit when it moves to the horizontal and vertical boundaries of the paving position. Then, the vertical movement drive unit and the swing drive unit are driven to vibrate and press the insulation board (12) onto the vertical wall surface at the paving position. Step 6: The coordination control system determines whether there are any unlaid insulation boards (12) in the storage and conveying mechanism. If there are any unlaid insulation boards (12), it determines whether the wall tiling device has risen to the top of the vertical wall of the wall (136). If it has risen to the top, it proceeds to step 8. If it has not risen to the top, the coordination control system loads the next tiling position information in the same column and returns to step 2. If there are no unlaid insulation boards (12), it proceeds to step 7. Step 7: The coordinated control system drives the mobile suspension device to lower the storage conveying mechanism to the ground. After the operator loads the insulation board (12) into the storage conveying mechanism, the coordinated control system drives the mobile suspension device to suspend the storage conveying mechanism to the position before it was lowered, and then returns to step 6. Step 8: The coordination and control system drives the mobile suspension device to move the storage and conveying mechanism to the bottom of the next column on the vertical wall surface of the wall (136) where it is to be laid, and then returns to step 2.

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