A prefabricated wallboard hoisting and positioning device and method for fabricated buildings

Abstract

The application discloses a prefabricated wallboard hoisting positioning device and method for fabricated buildings, which comprises two automatic positioning trolleys oppositely located on the two sides of the prefabricated wallboard; the automatic positioning trolleys each comprise a walking mechanism, an upper guiding and correcting integrated mechanism, a lower positioning mechanism and a positioning control unit; the upper guiding and correcting integrated mechanism comprises an upper guiding and correcting integrated assembly, an upper transverse driving mechanism for driving the upper guiding and correcting integrated assembly to move horizontally and transversely and an upper rotating driving mechanism for driving the upper guiding and correcting integrated assembly to rotate on a vertical plane; the lower positioning mechanism comprises an X-direction positioning mechanism and a Y-direction positioning mechanism; the X-direction positioning mechanism comprises an X-direction positioning assembly and an X-direction driving mechanism; and the Y-direction positioning mechanism comprises a Y-direction positioning assembly, a lower transverse driving mechanism and a Y-direction driving mechanism. The application can automatically complete the hoisting and positioning work of the prefabricated wallboard, is favorable for improving construction efficiency and reducing safety hazards.

Description

Technical Field

[0001] This invention relates to positioning devices and methods, specifically to a prefabricated wall panel hoisting and positioning device and method for prefabricated buildings. Background Technology

[0002] Prefabricated buildings are constructed by assembling prefabricated components on-site. Because these components are made in advance according to market and user needs, they have a series of advantages, such as fast construction speed, low cost, less impact from weather conditions, labor saving, reduced workload and complexity on construction sites, and improved building quality.

[0003] In the existing hoisting construction of precast wall panels, a line is first marked at the location to be hoisted (this location has multiple vertical butt rebars) for subsequent connection. The precast wall panel is then lifted by a crane and transferred to a position directly above the location to be hoisted. The precast wall panel is then slowly lowered, guided by manual hand, and the butt holes on the bottom of the precast wall panel are aligned with the butt rebars so that the butt rebars can be inserted into the corresponding butt holes. The verticality and horizontal position of the precast wall panel are then adjusted by a retractable diagonal brace connected between the precast wall panel and the floor slab until the positioning requirements for assembly are met.

[0004] In the aforementioned hoisting operation, the guidance and positioning of the precast wall panels were mainly done manually, which was not only time-consuming and labor-intensive with low construction efficiency, but also posed safety hazards because the workers spent most of their time around the precast wall panels. Summary of the Invention

[0005] The purpose of this invention is to overcome the above-mentioned problems and provide a prefabricated wall panel hoisting and positioning device for prefabricated buildings. This device can automatically complete the hoisting and positioning of prefabricated wall panels without manual intervention, which is beneficial to improving construction efficiency and reducing safety hazards.

[0006] Another objective of this invention is to provide a method for hoisting and positioning prefabricated wall panels for prefabricated buildings.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] A precast wall panel hoisting and positioning device for prefabricated buildings includes two automatic positioning trolleys located opposite each other on both sides of the precast wall panel.

[0009] Each of the automatic positioning trolleys includes a walking mechanism and an upper guiding and correcting integrated mechanism, a lower positioning mechanism, and a positioning control unit mounted on the walking mechanism.

[0010] The upper guiding and correcting integrated mechanism includes an upper guiding and correcting integrated component, an upper transverse drive mechanism for driving the upper guiding and correcting integrated component to move horizontally, and an upper rotation drive mechanism for driving the upper guiding and correcting integrated component to rotate in a vertical plane. The upper guiding and correcting integrated component includes an integrated mounting frame and integrated rollers. The integrated mounting frame includes an inclined guide portion and a vertical guide portion, with the inclined guide portion fixedly positioned above the vertical guide portion. In the hoisting construction state, the inclined guide portions of the integrated mounting frames of the two automatic positioning trolleys form a gradually narrowing horn structure. Multiple integrated rollers are provided and rotatably mounted on the inclined guide portion and the vertical guide portion. The axis of the integrated rollers extends horizontally and is parallel to the wall surface of the precast wall panel. The driving direction of the upper transverse drive mechanism is perpendicular to the wall surface of the precast wall panel to be hoisted, and the rotation drive plane of the upper rotation drive mechanism is parallel to the driving direction of the upper transverse drive mechanism.

[0011] The lower positioning mechanism includes an X-axis positioning mechanism and a Y-axis positioning mechanism; the X-axis positioning mechanism includes an X-axis positioning component and an X-axis drive mechanism for driving the X-axis positioning component to move in the X direction. The X-axis positioning component includes an X-axis positioning frame and X-axis rollers. The X-axis positioning frame is arranged laterally. Multiple X-axis rollers are provided and rotatably mounted on the X-axis positioning frame. The axis of the X-axis rollers extends horizontally and is parallel to the wall surface of the precast wall panel. The driving direction of the X-axis drive mechanism is perpendicular to the wall surface of the precast wall panel to be hoisted.

[0012] The Y-axis positioning mechanism includes a Y-axis positioning component, a lower lateral drive mechanism for driving the Y-axis positioning component to move laterally, and a Y-axis drive mechanism. The Y-axis positioning component includes a Y-axis positioning frame and a Y-axis roller. The Y-axis positioning frame is longitudinally arranged and perpendicular to the wall surface of the precast wall panel. The Y-axis roller is rotatably mounted on the end of the Y-axis positioning frame near the precast wall panel, and the axis of the Y-axis roller extends vertically. The driving direction of the lower lateral drive mechanism is perpendicular to the wall surface of the precast wall panel to be hoisted. The Y-axis drive mechanism is used to drive the Y-axis roller to rotate.

[0013] The positioning control unit includes a vision sensor, a verticality sensor, and a positioning controller. The positioning controller is electrically connected to the vision sensor, the verticality sensor, the upper guidance and correction integrated mechanism, and the lower positioning mechanism, respectively. The vision sensor is used to acquire images of the chalk lines on the floor. The verticality sensor is used to detect the verticality of the precast wall panels.

[0014] In a preferred embodiment of the present invention, the walking mechanism includes a frame, a wheel frame, a walking wheel, a steering drive mechanism, and a walking drive mechanism; the wheel frame is rotatably connected to the lower part of the frame and connected to the steering drive mechanism; the walking wheel is rotatably connected to the wheel frame and connected to the walking drive mechanism.

[0015] Furthermore, the steering drive mechanism includes a steering drive motor and a steering transmission assembly, wherein the steering transmission assembly includes multiple sets of components connected between two adjacent wheel frames.

[0016] Furthermore, the walking drive mechanism includes a walking drive motor, the output shaft of which is connected to the walking wheel.

[0017] In a preferred embodiment of the present invention, the integrated roller, the inclined guide, and the vertical guide are each provided in two sets to guide the precast wall panel in a balanced manner.

[0018] In a preferred embodiment of the present invention, the upper lateral drive mechanism includes an upper lateral drive motor and an upper lateral transmission assembly, wherein the upper lateral drive motor is fixedly mounted on the frame of the traveling mechanism; the upper lateral transmission assembly includes an upper lateral gear and an upper lateral rack; and the upper rotary drive mechanism is mounted on the upper lateral rack.

[0019] Furthermore, the upper rotation drive mechanism includes an upper rotation drive motor, the output shaft of which is connected to the integrated mounting bracket.

[0020] In a preferred embodiment of the present invention, the X-axis drive mechanism includes an X-axis drive motor and an X-axis transmission assembly, wherein the X-axis drive motor is fixedly mounted on the frame of the traveling mechanism; the X-axis transmission assembly includes an X-axis gear and an X-axis rack; and the X-axis positioning frame and the lower lateral drive mechanism are mounted on the X-axis rack.

[0021] Furthermore, the X-axis positioning mechanism also includes a lower rotation drive mechanism, which includes a lower rotation drive motor. The output shaft of the lower rotation drive motor is connected to the X-axis positioning frame. With the above structure, if the precast wall panel is tilted, the lower rotation drive motor drives the X-axis positioning frame to tilt in the corresponding direction, thereby straightening the precast wall panel.

[0022] In a preferred embodiment of the present invention, two sets of the Y-axis positioning frame and the Y-axis rollers are provided to drive the precast wall panel in a balanced manner.

[0023] Furthermore, the lower lateral drive mechanism includes a lower lateral drive motor and a lower lateral transmission assembly. The lower lateral drive motor is fixedly mounted on the frame of the traveling mechanism. The lower lateral transmission assembly includes a synchronous transmission plate, a lower lateral gear, and a lower lateral rack. The middle part of the synchronous transmission plate is hinged to the lower lateral rack, and both ends of the synchronous transmission plate are respectively connected to the Y-axis positioning frame.

[0024] Furthermore, the lower lateral drive mechanism also includes an adaptive clamping structure, which comprises an adaptive clamping mounting plate and an adaptive clamping spring. The adaptive clamping mounting plate is fixedly disposed in front of the synchronous transmission plate, and the adaptive clamping spring is disposed between the synchronous transmission plate and the adaptive clamping mounting plate. This structure adaptively provides elastic compressive force to the Y-axis rollers, thereby stably clamping the precast wall panel in place to drive its longitudinal movement—a very ingenious design.

[0025] Furthermore, the synchronous transmission plate and the Y-axis positioning frame are connected by a relatively movable structure, which includes an elongated hole and a fixed post. The elongated hole is disposed on the synchronous transmission plate, and the fixed post is fixedly disposed on the Y-axis positioning frame and extends into the elongated hole.

[0026] In a preferred embodiment of the present invention, the Y-axis drive mechanism includes a Y-axis drive motor, the output shaft of which is connected to a Y-axis roller.

[0027] A method for hoisting and positioning prefabricated wall panels for prefabricated buildings includes the following steps:

[0028] Two automatic positioning trolleys move to the two sides of the position to be lifted, where there are marked lines, including horizontal and vertical lines.

[0029] The precast wall panel is lifted by a crane and moved directly above the position to be lifted, and then the precast wall panel is slowly lowered.

[0030] When the precast wall panel approaches the integrated mounting frame of the two automatic positioning trolleys, the integrated roller on the inclined guide part of the corresponding integrated mounting frame will initially guide the precast wall panel, so that the precast wall panel slowly moves between the integrated rollers of the vertical guide part of the two integrated mounting frames, and completes the initial positioning operation.

[0031] The precast wall panel continues to move downwards along the vertical guide section. After it falls between the X-axis rollers of the two automatic positioning trolleys, before or simultaneously, an image of the longitudinal line of the floor is acquired by a vision sensor and transmitted to the positioning controller. The positioning controller calculates the horizontal distance between the X-axis roller and the longitudinal line based on the image, which is the horizontal distance that the X-axis roller needs to move. The positioning controller sends a corresponding command to the X-axis drive mechanism of the downward positioning mechanism. The X-axis drive mechanism drives the X-axis positioning frame and the X-axis roller to move a specified distance in the direction of the precast wall panel. At this time, the X-axis roller is in the accurate position, and further guides the precast wall panel in the horizontal direction, completing the horizontal positioning operation.

[0032] The visual sensor identifies the longitudinal distance between the precast wall panel and the horizontal chalk line. The positioning controller sends corresponding instructions to the lower horizontal drive mechanism and the Y-axis drive mechanism of the lower positioning mechanism. First, the lower horizontal drive mechanism drives the Y-axis positioning frame and the Y-axis roller to move laterally closer to the precast wall panel until the precast wall panel is sandwiched between the Y-axis rollers of the two automatic positioning trolleys. Then, the Y-axis drive mechanism drives the Y-axis roller to rotate, driving the precast wall panel to be corrected in the corresponding direction, thus completing the longitudinal positioning operation.

[0033] After the precast wall panel is placed on the ground, the verticality of the precast wall panel is detected by a verticality sensor. If the verticality is not equal to 90°, the positioning controller sends corresponding instructions to the upper horizontal drive mechanism and the upper rotary drive mechanism of the upper guide and correction integrated mechanism corresponding to the acute angle. First, the upper rotary drive mechanism drives the integrated mounting frame to swing, so that the integrated roller at the corner tends to the precast wall panel. Then, the upper horizontal drive mechanism drives the integrated mounting frame and the integrated roller to approach the precast wall panel. Then, the integrated roller pushes the upper end of the precast wall panel to swing to the other side until the verticality is equal to 90°, thus completing the correction operation of the precast wall panel.

[0034] Compared with the prior art, the present invention has the following advantages:

[0035] 1. The precast wall panel hoisting and positioning device of the present invention can automatically complete the hoisting and positioning of precast wall panels without manual intervention, which is conducive to improving construction efficiency and reducing safety hazards.

[0036] 2. First, the precast wall panel is initially guided and positioned by the upper guiding and correcting integrated mechanism, and then the final horizontal and vertical positioning operation is completed by the lower positioning mechanism, which can make the precast wall panel accurately hoisted into the designated position.

[0037] 3. The precast wall panel is swung and adjusted by the integrated roller of the upper guide and correction mechanism against the upper end until the verticality is equal to 90°. The correction operation of the precast wall panel can be completed automatically, which is very convenient. Attached Figure Description

[0038] Figure 1 This is a three-dimensional structural diagram of the prefabricated wall panel hoisting and positioning device for prefabricated buildings according to the present invention.

[0039] Figure 2-3 These are side views of the prefabricated wall panel hoisting and positioning device for prefabricated buildings according to the present invention under two different working conditions.

[0040] Figure 4 This is a three-dimensional structural diagram of the automatic positioning vehicle of the present invention.

[0041] Figure 5 for Figure 4 A magnified view of X in the image. Detailed Implementation

[0042] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0043] See Figure 1-4 The prefabricated wall panel hoisting and positioning device for prefabricated buildings in this embodiment includes two automatic positioning trolleys located opposite each other on both sides of the prefabricated wall panel a; each automatic positioning trolley includes a walking mechanism and an upper guiding and correcting integrated mechanism, a lower positioning mechanism, and a positioning control unit disposed on the walking mechanism.

[0044] The walking mechanism includes a frame 1, a wheel frame 2, a walking wheel 3, a steering drive mechanism, and a walking drive mechanism; the wheel frame 2 is rotatably connected to the lower part of the frame 1 and is connected to the steering drive mechanism; the walking wheel 3 is rotatably connected to the wheel frame 2 and is connected to the walking drive mechanism.

[0045] Furthermore, the steering drive mechanism includes a steering drive motor 4 and a steering transmission assembly. The steering transmission assembly includes multiple sets of components connected between two adjacent wheel frames 2. The specific structure can be found in the prior art.

[0046] Furthermore, the walking drive mechanism includes a walking drive motor 5, the output shaft of which is connected to the walking wheel 3.

[0047] See Figure 1-4 The upper guiding and correcting integrated mechanism includes an upper guiding and correcting integrated component, an upper transverse driving mechanism for driving the upper guiding and correcting integrated component to move horizontally, and an upper rotation driving mechanism for driving the upper guiding and correcting integrated component to rotate in a vertical plane. The upper guiding and correcting integrated component includes an integrated mounting frame 6 and integrated rollers 7. The integrated mounting frame 6 includes an inclined guide part and a vertical guide part, with the inclined guide part fixedly disposed above the vertical guide part. In the hoisting construction state, the inclined guide parts of the integrated mounting frames 6 of the two automatic positioning trolleys form a gradually narrowing horn structure. Multiple integrated rollers 7 are provided and rotatably disposed on the inclined guide part and the vertical guide part. The axis of the integrated rollers 7 extends horizontally and is parallel to the wall surface of the precast wall panel a. The driving direction of the upper transverse driving mechanism is perpendicular to the wall surface of the precast wall panel a to be hoisted, and the rotation driving plane of the upper rotation driving mechanism is parallel to the driving direction of the upper transverse driving mechanism.

[0048] Furthermore, the integrated roller 7, the inclined guide, and the vertical guide are all provided in two sets to guide the precast wall panel a in a balanced manner.

[0049] See Figure 1-4The upper lateral drive mechanism includes an upper lateral drive motor and an upper lateral transmission assembly. The upper lateral drive motor is fixedly mounted on the frame 1 of the walking mechanism. The upper lateral transmission assembly includes an upper lateral gear and an upper lateral rack 8. The upper rotary drive mechanism is mounted on the upper lateral rack 8.

[0050] Furthermore, the upper rotation drive mechanism includes an upper rotation drive motor 9, the output shaft of which is connected to the integrated mounting bracket 6.

[0051] See Figure 1-4 The lower positioning mechanism includes an X-axis positioning mechanism and a Y-axis positioning mechanism; the X-axis positioning mechanism includes an X-axis positioning component and an X-axis driving mechanism for driving the X-axis positioning component to move in the X direction. The X-axis positioning component includes an X-axis positioning frame 10 and X-axis rollers 11. The X-axis positioning frame 10 is arranged laterally. Multiple X-axis rollers 11 are provided and rotatably mounted on the X-axis positioning frame 10. The axis of the X-axis rollers 11 extends horizontally and is parallel to the wall surface of the precast wall panel a. The driving direction of the X-axis driving mechanism is perpendicular to the wall surface of the precast wall panel a to be hoisted.

[0052] The X-axis drive mechanism includes an X-axis drive motor 12 and an X-axis transmission assembly. The X-axis drive motor 12 is fixedly mounted on the frame 1 of the walking mechanism. The X-axis transmission assembly includes an X-axis gear and an X-axis rack 13. The X-axis positioning frame 10 and the lower lateral drive mechanism are mounted on the X-axis rack 13.

[0053] Furthermore, the X-axis positioning mechanism also includes a lower rotation drive mechanism, which includes a lower rotation drive motor 14. The output shaft of the lower rotation drive motor 14 is connected to the X-axis positioning frame 10. With the above structure, if the precast wall panel a is tilted, the lower rotation drive motor 14 drives the X-axis positioning frame 10 to tilt in the corresponding direction, thereby straightening the precast wall panel a.

[0054] See Figure 1-4 The Y-axis positioning mechanism includes a Y-axis positioning component, a lower lateral drive mechanism for driving the Y-axis positioning component to move laterally, and a Y-axis drive mechanism. The Y-axis positioning component includes a Y-axis positioning frame 15 and a Y-axis roller 16. The Y-axis positioning frame 15 is arranged longitudinally and is perpendicular to the wall surface of the precast wall panel a. The Y-axis roller 16 is rotatably mounted on the end of the Y-axis positioning frame 15 near the precast wall panel a, and the axis of the Y-axis roller 16 extends vertically. The driving direction of the lower lateral drive mechanism is perpendicular to the wall surface of the precast wall panel a to be hoisted. The Y-axis drive mechanism is used to drive the Y-axis roller 16 to rotate.

[0055] The Y-axis positioning frame 15 and the Y-axis roller 16 are each provided in two sets to drive the prefabricated wall panel a in a balanced manner.

[0056] Furthermore, the lower lateral drive mechanism includes a lower lateral drive motor 17 and a lower lateral transmission assembly. The lower lateral drive motor 17 is fixedly mounted on the frame 1 of the traveling mechanism. The lower lateral transmission assembly includes a synchronous transmission plate 18, a lower lateral gear, and a lower lateral rack 19. The middle part of the synchronous transmission plate 18 is hinged to the lower lateral rack 19, and both ends of the synchronous transmission plate 18 are respectively connected to the Y-axis positioning frame 15.

[0057] See Figure 5 The lower lateral drive mechanism also includes an adaptive clamping structure, which comprises an adaptive clamping mounting plate 20 and an adaptive clamping spring 21. The adaptive clamping mounting plate 20 is fixedly disposed in front of the synchronous transmission plate 18, and the adaptive clamping spring 21 is disposed between the synchronous transmission plate 18 and the adaptive clamping mounting plate 20. Through this structure, an elastic compressive force can be adaptively provided to the Y-axis roller 16, thereby stably clamping the precast wall panel a in place, so as to drive the precast wall panel a to move longitudinally, which is quite ingenious.

[0058] See Figure 4 The synchronous transmission plate 18 and the Y-axis positioning frame 15 are connected by a relatively movable structure, which includes an elongated hole and a fixed post. The elongated hole is disposed on the synchronous transmission plate 18, and the fixed post is fixedly disposed on the Y-axis positioning frame 15 and extends into the elongated hole.

[0059] See Figure 1-4 The Y-axis drive mechanism includes a Y-axis drive motor 22, the output shaft of which is connected to the Y-axis roller 16.

[0060] Specifically, the positioning control unit of this embodiment includes a vision sensor, a verticality sensor, and a positioning controller. The positioning controller is electrically connected to the vision sensor, the verticality sensor, the upper guidance and correction integrated mechanism, and the lower positioning mechanism, respectively. The vision sensor is used to acquire images of the chalk lines on the floor. The verticality sensor is used to detect the verticality of the precast wall panel a. Specifically, the vision sensor, the verticality sensor, and the positioning controller of this embodiment all refer to the prior art.

[0061] See Figure 1-4 The method for hoisting and positioning prefabricated wall panels for prefabricated buildings in this embodiment includes the following steps:

[0062] Two automatic positioning trolleys move to the two sides of the position to be hoisted, where there are marked lines, including horizontal and vertical lines.

[0063] The precast wall panel a is lifted by a crane and transferred to a position directly above the location to be installed, and then the precast wall panel a is slowly lowered.

[0064] When the precast wall panel a approaches the integrated mounting frame 6 of the two automatic positioning trolleys, the integrated roller 7 on the inclined guide part of the corresponding integrated mounting frame 6 provides initial guidance for the precast wall panel a, so that the precast wall panel a slowly moves between the integrated roller 7 on the vertical guide part of the two integrated mounting frames 6, thus completing the initial positioning operation.

[0065] Precast wall panel a continues to move downwards along the vertical guide section. After it falls between the X-axis rollers 11 of the two automatic positioning trolleys, before or simultaneously, an image of the longitudinal line of the floor is acquired by a vision sensor and transmitted to the positioning controller. The positioning controller calculates the horizontal distance between the X-axis roller 11 and the longitudinal line based on the image, which is the required horizontal distance for the X-axis roller 11 to move. The positioning controller sends a corresponding command to the X-axis drive mechanism of the downward positioning mechanism, which drives the X-axis positioning frame 10 and the X-axis roller 11 to move a specified distance in the direction of the precast wall panel a. At this time, the X-axis roller 11 is in the accurate position, and further guides the precast wall panel a in the horizontal direction, completing the horizontal positioning operation.

[0066] The visual sensor identifies the longitudinal distance between the precast wall panel a and the horizontal chalk line. The positioning controller sends corresponding instructions to the lower horizontal drive mechanism and the Y-axis drive mechanism of the lower positioning mechanism. First, the lower horizontal drive mechanism drives the Y-axis positioning frame 15 and the Y-axis roller 16 to move laterally closer to the precast wall panel a until the precast wall panel a is sandwiched between the two Y-axis rollers 16 of the automatic positioning trolley. Then, the Y-axis drive mechanism drives the Y-axis roller 16 to rotate, driving the precast wall panel a to be corrected in the corresponding direction, thus completing the longitudinal positioning operation.

[0067] After precast wall panel a is placed on the ground, the verticality of precast wall panel a is detected by a verticality sensor. If the verticality is not equal to 90°, the positioning controller sends corresponding instructions to the upper transverse drive mechanism and upper rotary drive mechanism of the upper guide and correction integrated mechanism corresponding to the acute angle. First, the upper rotary drive mechanism drives the integrated mounting frame 6 to swing, so that the integrated roller 7 at the corner tends towards the precast wall panel a. Figure 3 Then, the integrated mounting bracket 6 and the integrated roller 7 are driven by the upper horizontal drive mechanism to approach the precast wall panel a. Then, the integrated roller 7 pushes the upper end of the precast wall panel a to swing to the other side until the verticality is equal to 90°, thus completing the correction operation of the precast wall panel a.

[0068] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A prefabricated wall panel hoisting and positioning device for prefabricated buildings, characterized in that, Includes two automatic positioning trolleys located opposite each other on both sides of the precast wall panel; Each of the automatic positioning trolleys includes a walking mechanism and an upper guiding and correcting integrated mechanism, a lower positioning mechanism, and a positioning control unit mounted on the walking mechanism. The upper guiding and correcting integrated mechanism includes an upper guiding and correcting integrated component, an upper transverse driving mechanism for driving the upper guiding and correcting integrated component to move horizontally and laterally, and an upper rotation driving mechanism for driving the upper guiding and correcting integrated component to rotate in a vertical plane; the driving direction of the upper transverse driving mechanism is perpendicular to the wall surface of the precast wall panel to be hoisted, and the rotation driving plane of the upper rotation driving mechanism is parallel to the driving direction of the upper transverse driving mechanism. The lower positioning mechanism includes an X-axis positioning mechanism and a Y-axis positioning mechanism; the X-axis positioning mechanism includes an X-axis positioning component and an X-axis drive mechanism for driving the X-axis positioning component to move in the X direction. The X-axis positioning component includes an X-axis positioning frame and X-axis rollers. The X-axis positioning frame is arranged laterally. Multiple X-axis rollers are provided and rotatably mounted on the X-axis positioning frame. The axis of the X-axis rollers extends horizontally and is parallel to the wall surface of the precast wall panel. The driving direction of the X-axis drive mechanism is perpendicular to the wall surface of the precast wall panel to be hoisted. The Y-axis positioning mechanism includes a Y-axis positioning component, a lower lateral drive mechanism for driving the Y-axis positioning component to move laterally, and a Y-axis drive mechanism. The Y-axis positioning component includes a Y-axis positioning frame and a Y-axis roller. The Y-axis positioning frame is longitudinally arranged and perpendicular to the wall surface of the precast wall panel. The Y-axis roller is rotatably mounted on the end of the Y-axis positioning frame near the precast wall panel, and the axis of the Y-axis roller extends vertically. The driving direction of the lower lateral drive mechanism is perpendicular to the wall surface of the precast wall panel to be hoisted. The Y-axis drive mechanism is used to drive the Y-axis roller to rotate. The Y-axis positioning frame and the Y-axis rollers are each provided in two sets; The lower lateral drive mechanism includes a lower lateral drive motor and a lower lateral transmission assembly. The lower lateral drive motor is fixedly mounted on the frame of the traveling mechanism. The lower lateral transmission assembly includes a synchronous transmission plate, a lower lateral gear, and a lower lateral rack. The middle part of the synchronous transmission plate is hinged to the lower lateral rack, and both ends of the synchronous transmission plate are respectively connected to the Y-axis positioning frame. The lower lateral drive mechanism also includes an adaptive clamping structure, which includes an adaptive clamping mounting plate and an adaptive clamping spring. The adaptive clamping mounting plate is fixedly disposed in front of the synchronous transmission plate, and the adaptive clamping spring is disposed between the synchronous transmission plate and the adaptive clamping mounting plate. The synchronous transmission plate and the Y-axis positioning frame are connected by a relatively movable structure, which includes an elongated hole and a fixed post. The elongated hole is disposed on the synchronous transmission plate, and the fixed post is fixedly disposed on the Y-axis positioning frame and extends into the elongated hole.

2. The prefabricated wall panel hoisting and positioning device for prefabricated buildings according to claim 1, characterized in that, The integrated upper guide and correction assembly includes an integrated mounting frame and integrated rollers. The integrated mounting frame includes an inclined guide section and a vertical guide section, with the inclined guide section fixedly positioned above the vertical guide section. In the hoisting construction state, the inclined guide sections of the integrated mounting frames of the two automatic positioning trolleys form a gradually narrowing horn structure. Multiple integrated rollers are provided and rotatably mounted on the inclined guide section and the vertical guide section. The axis of the integrated roller extends horizontally and is parallel to the wall surface of the precast wall panel.

3. The prefabricated wall panel hoisting and positioning device for prefabricated buildings according to claim 2, characterized in that, The upper lateral drive mechanism includes an upper lateral drive motor and an upper lateral transmission assembly. The upper lateral drive motor is fixedly mounted on the frame of the traveling mechanism. The upper lateral transmission assembly includes an upper lateral gear and an upper lateral rack. The upper rotary drive mechanism is mounted on the upper lateral rack. The upper rotation drive mechanism includes an upper rotation drive motor, the output shaft of which is connected to the integrated mounting bracket.

4. The prefabricated wall panel hoisting and positioning device for prefabricated buildings according to claim 1, characterized in that, The X-axis drive mechanism includes an X-axis drive motor and an X-axis transmission assembly. The X-axis drive motor is fixedly mounted on the frame of the walking mechanism. The X-axis transmission assembly includes an X-axis gear and an X-axis rack. The X-axis positioning frame and the lower lateral drive mechanism are mounted on the X-axis rack.

5. The prefabricated wall panel hoisting and positioning device for prefabricated buildings according to claim 1, characterized in that, The X-axis positioning mechanism further includes a lower rotation drive mechanism, which includes a lower rotation drive motor, and the output shaft of the lower rotation drive motor is connected to the X-axis positioning frame.

6. The prefabricated wall panel hoisting and positioning device for prefabricated buildings according to claim 1, characterized in that, The positioning control unit includes a vision sensor, a verticality sensor, and a positioning controller. The positioning controller is electrically connected to the vision sensor, the verticality sensor, the upper guidance and correction integrated mechanism, and the lower positioning mechanism, respectively. The vision sensor is used to acquire images of the chalk lines on the floor. The verticality sensor is used to detect the verticality of the precast wall panels.

7. A method for hoisting and positioning precast wall panels using the hoisting and positioning device for precast wall panels in prefabricated buildings as described in any one of claims 1-6, characterized in that, Includes the following steps: Two automatic positioning trolleys move to the two sides of the position to be lifted, where there are marked lines, including horizontal and vertical lines. The precast wall panel is lifted by a crane and moved directly above the position to be lifted, and then the precast wall panel is slowly lowered. When the precast wall panel approaches the integrated mounting frame of the two automatic positioning trolleys, the integrated roller on the inclined guide part of the corresponding integrated mounting frame will initially guide the precast wall panel, so that the precast wall panel slowly moves between the integrated rollers of the vertical guide part of the two integrated mounting frames, and completes the initial positioning operation. The precast wall panel continues to move downwards along the vertical guide section. After it falls between the X-axis rollers of the two automatic positioning trolleys, before or simultaneously, an image of the longitudinal line of the floor is acquired by a vision sensor and transmitted to the positioning controller. The positioning controller calculates the horizontal distance between the X-axis roller and the longitudinal line based on the image, which is the horizontal distance that the X-axis roller needs to move. The positioning controller sends a corresponding command to the X-axis drive mechanism of the downward positioning mechanism. The X-axis drive mechanism drives the X-axis positioning frame and the X-axis roller to move a specified distance in the direction of the precast wall panel. At this time, the X-axis roller is in the accurate position, and further guides the precast wall panel in the horizontal direction, completing the horizontal positioning operation. The visual sensor identifies the longitudinal distance between the precast wall panel and the horizontal chalk line. The positioning controller sends corresponding instructions to the lower horizontal drive mechanism and the Y-axis drive mechanism of the lower positioning mechanism. First, the lower horizontal drive mechanism drives the Y-axis positioning frame and the Y-axis roller to move laterally closer to the precast wall panel until the precast wall panel is sandwiched between the Y-axis rollers of the two automatic positioning trolleys. Then, the Y-axis drive mechanism drives the Y-axis roller to rotate, driving the precast wall panel to be corrected in the corresponding direction, thus completing the longitudinal positioning operation. After the precast wall panel is placed on the ground, the verticality of the precast wall panel is detected by a verticality sensor. If the verticality is not equal to 90°, the positioning controller sends corresponding instructions to the upper horizontal drive mechanism and the upper rotary drive mechanism of the upper guide and correction integrated mechanism corresponding to the acute angle. First, the upper rotary drive mechanism drives the integrated mounting frame to swing, so that the integrated roller at the corner tends to the precast wall panel. Then, the upper horizontal drive mechanism drives the integrated mounting frame and the integrated roller to approach the precast wall panel. Then, the integrated roller pushes the upper end of the precast wall panel to swing to the other side until the verticality is equal to 90°, thus completing the correction operation of the precast wall panel.

Images