Assembly type composite plate installation device and construction method

Abstract

The present invention provides an assembled composite board installation device and construction method, including an automatic moving trolley for driving a moving device, a lifting and supporting mechanism is arranged on the top of the automatic moving trolley for supporting the composite board from the bottom, a positioning system is arranged on the top of the lifting and supporting mechanism for locating the center position of the composite board, and a posture adjustment mechanism is arranged on the lifting end of the lifting and supporting mechanism for adjusting the installation posture of the composite board before the lifting and supporting mechanism supports it. The purpose of automatic and precise installation of composite boards is achieved, the number of construction personnel in the installation process is greatly reduced, and the work of the crane during the installation process is effectively simplified. The crane can carry out the lifting work of the next composite board during the precise installation of the composite board, which greatly improves the installation efficiency of the composite board.

Description

Technical Field

[0001] The invention relates to the field of composite board construction, and in particular to an assembled composite board installation device and a construction method. Background Art

[0002] In the traditional installation process of composite panels, the composite panels to be installed are first lifted by a tower crane, and struts are set under the four corners of the composite panels. The construction workers stand on the beam-column structure of the floor and move the composite panels to the designated position through manual guidance. The tower crane then slowly descends, and the construction workers assist in adjusting the position of the composite panels until they are caught by the struts below. However, the accuracy of this installation method is low. In order to improve the installation efficiency, the composite panels are usually made smaller so that they can be completely erected on the vertical poles. Since there is a gap between the composite panels and the wall columns, it is necessary to first set up a template between the composite panels and the wall columns, and then pour cement mortar to fill these gaps, and finally pour concrete on the floor surface of the composite panels. The ideal state of this installation method is that the two ends of the composite panels are directly erected on the beams or columns, and the contact surface width is about 1 cm, thus avoiding the tedious steps of template construction and cement mortar pouring. However, due to the accuracy limitations of the traditional installation process, it is difficult to achieve such installation position accuracy requirements. In addition, the process of manually adjusting the horizontal position of the composite plate takes a long time, which reduces the overall work efficiency and also requires a long time to occupy the tower crane, which does not meet the requirements of rapid construction. Therefore, an assembled composite plate installation device and construction method are proposed to solve the above problems. Summary of the invention

[0003] The main purpose of the present invention is to provide an assembled composite plate installation device and construction method to solve the problem that the process of manually assisted adjustment of the horizontal position of the composite plate is time-consuming, reducing the overall work efficiency, and also requires a long time to occupy the tower crane, which does not meet the requirements of rapid construction.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: an assembled composite plate installation device, including an automatic moving trolley for driving the device to move, a lifting and supporting mechanism is arranged on the top of the automatic moving trolley, for supporting the composite plate from the bottom, a positioning system is arranged on the top of the lifting and supporting mechanism, for locating the center position of the composite plate, and a posture adjustment mechanism is arranged on the lifting end of the lifting and supporting mechanism, for adjusting the installation posture of the composite plate before the lifting and supporting mechanism supports it.

[0005] In a preferred embodiment, the lifting and supporting mechanism includes a lifting and supporting mechanism fixedly mounted on the top of the automatic moving vehicle, and a lifting and supporting assembly that can be lifted and lowered on the lifting and supporting mechanism.

[0006] In the preferred embodiment, the lifting support mechanism includes an outer sleeve arranged on the top of the automatic moving trolley, the top of the outer sleeve is open, and a plurality of lifting grooves distributed at equal distances are arranged on the side wall surface, and a plurality of lifting cylinders corresponding to the lifting grooves are arranged on the bottom of the side of the outer sleeve;

[0007] The lifting support assembly includes a lifting cylinder movably plugged into the inner part of the outer sleeve through the top opening of the outer sleeve, a plurality of push seats corresponding to the number and position of the lifting slots are fixedly arranged on the side wall at the bottom of the lifting cylinder, the ends of the push seats movably pass through the corresponding lifting slots, and the bottoms are connected to the corresponding telescopic ends of the lifting cylinders, and four support arms extending outwards are fixedly arranged at the top of the lifting cylinder at equal distances, and the four support arms are in a cross shape in a top-down view, and are used to support the laminated plate;

[0008] A reinforcing plate is fixedly arranged at the included angle between the supporting arm and the lifting cylinder.

[0009] In the preferred embodiment, the positioning system includes a mounting groove opened at the top of the lifting cylinder, a transparent reference ring is arranged at the center of the mounting groove, a transparent connecting rod connected to the inner wall of the mounting groove is arranged on the outer wall of the transparent reference ring, a visual camera with a visual axis passing through the center of the transparent reference ring is installed on the bottom wall of the mounting groove, and the visual camera is equipped with a visual recognition system;

[0010] The cross-section of the installation groove is a tapered groove that is wide at the top and narrow at the bottom, which is convenient for expanding the viewing angle range of the visual camera, and a lighting lamp is also provided inside.

[0011] In the preferred embodiment, the posture adjustment mechanism includes a lateral adjustment mechanism arranged outside the top support end of the lifting cylinder, a longitudinal adjustment mechanism arranged on the lateral adjustment mechanism and can move laterally, a vertical adjustment mechanism arranged on the longitudinal adjustment mechanism and can move longitudinally, and a rotational adjustment mechanism arranged on the vertical adjustment mechanism and can be raised and lowered. Four adjustment support parts are arranged on the top of the rotational adjustment mechanism, and the adjustment support parts are staggered with the support arms, wherein the longitudinal adjustment mechanism, the vertical adjustment mechanism and the rotational adjustment mechanism are all mounted on the outside of the lifting cylinder and are provided with space for movement and adjustment.

[0012] In the preferred embodiment, the lateral adjustment mechanism includes a support platform fixedly mounted on the outside of the lifting cylinder, lateral sliding support rods are symmetrically fixedly mounted on two lateral edges of the top of the support platform, and a lateral adjustment oil cylinder corresponding to the lateral sliding support rod is arranged at the bottom;

[0013] The longitudinal adjustment mechanism includes a transverse moving frame sleeved on the outside of the lifting cylinder, transverse sliding sleeves corresponding to the transverse sliding support rods are fixedly arranged at the two transverse edges of the bottom of the transverse moving frame, and transverse push plates are also arranged at the ends of the two edges, the transverse sliding sleeves are slidably sleeved on the outside of the corresponding transverse sliding support rods, the telescopic end of the transverse adjustment oil cylinder is connected to the corresponding transverse push plate, the longitudinal sliding support rods are symmetrically arranged at the two longitudinal edges of the transverse moving frame, an extension platform is arranged on the outside of the longitudinal sliding support rod, the extension platform is connected to the transverse moving frame, and a longitudinal adjustment oil cylinder is arranged on the top;

[0014] The vertical adjustment mechanism includes a longitudinal moving frame sleeved on the outside of the lifting cylinder, longitudinal sliding sleeves corresponding to the longitudinal sliding support rods are fixedly arranged at the two longitudinal edges of the bottom of the longitudinal moving frame, and longitudinal push plates are also arranged on the sides of the ends of the two edges, the longitudinal sliding sleeves are slidably sleeved on the corresponding longitudinal sliding support rods, the telescopic end of the longitudinal adjustment cylinder is connected to the corresponding longitudinal push plate, and lifting cylinders are arranged at the four corners of the top of the longitudinal moving frame;

[0015] The rotary adjustment mechanism comprises a rotary adjustment seat fixedly mounted on the telescopic ends of the four lifting cylinders, a rotary adjustment ring rotatably mounted on the top of the rotary adjustment seat, four adjustment support parts equidistantly fixedly mounted on the rotary adjustment ring, an L-shaped support frame disposed at the bottom of the rotary adjustment seat, a driving motor disposed on the L-shaped support frame, a transmission gear disposed at the output end of the driving motor, and a rotary gear ring meshing with the transmission gear disposed on the outside of the rotary adjustment ring;

[0016] The adjustment support part comprises an L-shaped top support frame fixedly arranged on the top of the rotating adjustment ring. The L-shaped top support frame is arranged on the top of the rotating adjustment ring in a sideways shape, and a stiffening plate is arranged at the corner of the L-shaped top support frame.

[0017] In the preferred embodiment, it also includes a center of gravity adjustment mechanism arranged on the automatic moving vehicle;

[0018] The center of gravity adjustment mechanism includes a center of gravity rotation offset mechanism arranged on the top of the automatic moving vehicle, and a plurality of sliding counterweight parts arranged on the top of the automatic moving vehicle around the center of gravity rotation offset mechanism. The sliding counterweight parts can change their position by connecting with the rotating end of the center of gravity rotation offset mechanism, thereby changing the center of gravity state.

[0019] In the preferred embodiment, the center of gravity rotation offset mechanism includes a rotating support ring fixedly arranged on the top of the automatic moving trolley, the rotating support ring is sleeved on the outside of the lifting and lowering support mechanism, a rotating transmission ring is rotatably arranged on the top of the rotating support ring, a rotating driven gear ring is arranged on the inner wall surface of the rotating support ring, and a transmission motor located in the rotating support ring is also arranged on the top of the automatic moving trolley, and a driving gear meshing with the rotating driven gear ring is installed at the output end of the transmission motor;

[0020] The sliding counterweight part includes a counterweight block which is slidably arranged on the top of the automatic moving trolley and rotates around the center of gravity. A clamp for clamping the rotating transmission ring is arranged on the top side of the counterweight block. The cross section of the clamp is in a sideways L shape. A clamping cylinder is penetrated on the side plate of the clamp. A clamping sheet is installed on the telescopic end of the clamping cylinder through the side plate of the clamp.

[0021] The top of the automatic moving trolley is provided with a plurality of annular slide rails surrounding the center of gravity adjustment mechanism inside, the bottom of the counterweight block is provided with a slide groove slidably connected to the annular slide rails, and a plurality of ball bearings are provided on the top wall of the slide groove.

[0022] The method includes:

[0023] S1. Hoist the device to the lower floor of the installation position of the composite board, and set a marking line on the floor corresponding to the central axis of the composite board installed continuously. The support rods of the composite board are located on both sides of the marking line, and the installation position mark corresponding to the center point of each composite board is set on the marking line. Then move the device to the installation position mark of the first composite board, and make sure that the automatic moving trolley has recognized the marking line;

[0024] S2. Mark the cross center line at the bottom of the composite plate, and then use the tower crane to lead the composite plate to the top of the device. At this time, the lifting and supporting mechanism of the device lifts the end of the lifting cylinder and the support arm to the top of the installation position of the composite plate, and lifts the adjustment support part of the posture adjustment mechanism to the top of the support arm to receive the composite plate. After the tower crane puts the composite plate on the adjustment support part, it releases the connection with the composite plate and starts the lifting work of the next composite plate;

[0025] S3, identify the cross center line at the bottom of the laminated plate through the positioning system, judge the circumferential posture and center point deviation of the laminated plate, and use the posture adjustment mechanism to adjust the horizontal and vertical movement and the circumferential posture rotation, so that the posture of the laminated plate meets the installation requirements, and then lower the adjustment support part to make the laminated plate fall on the support arm. If the deviation between the posture of the laminated plate and the installation requirements is too large, multiple adjustments can be made. After the laminated plate falls on the support arm, it is lifted up again by the adjustment support part and adjusted until it meets the installation requirements;

[0026] S4, then lower the lifting cylinder to stably erect the composite plate on the edge of the beam-column structure and the support rod, and continue to lower the lifting cylinder to separate it from the composite plate, completing the installation of the composite plate, and the device moves along the marking line to the next installation position mark;

[0027] S5. Repeat steps S2-S4 until all the composite panels in the area are installed.

[0028] In the preferred solution, the specific identification method of the positioning system in step S3 includes:

[0029] S31, image acquisition, using a visual camera to acquire an image including the cross centerline intersection and the transparent reference ring 303;

[0030] S32, feature extraction, using a threshold segmentation method to extract the location of the intersection of the cross center lines;

[0031] The position of the cross centerline is extracted using the Hough line transformation method;

[0032] The center position of the transparent reference ring is extracted using edge detection and Hough transform methods;

[0033] The position of the preset diameter of the transparent reference ring is extracted using edge detection and Hough line transformation methods;

[0034] S33, deviation calculation, calculating the deviation between the coordinates (xA, yA) of the intersection point of the cross center line in the image and the coordinates (xB, yB) of the center of the transparent reference ring;

[0035] Calculate the directional deviation between the cross center line and the preset diameter of the transparent reference ring, and obtain the directional deviation by calculating the angle between the two straight lines;

[0036] S34, position and direction adjustment, adjusting the position of the target point according to the center deviation value until the deviation value is close to zero;

[0037] Adjust the direction of the target point according to the direction deviation value until the deviation value is close to zero;

[0038] S35, closed-loop control, continuously repeating steps S31-S34 until the intersection of the cross centerline is aligned with the center of the transparent reference ring, and the cross centerline is aligned with the preset diameter of the transparent reference ring.

[0039] The present invention provides an assembled composite plate installation device and a construction method. The installation device can be used to support the composite plate in advance before installation by using a lifting and supporting mechanism, and the positioning system and the posture adjustment mechanism thereon can be used to complete the posture adjustment of the composite plate to meet the installation posture requirements, and finally the composite plate can be dropped to the installation location. At the same time, by setting the device on an automatic moving trolley, the automatic movement of the automatic moving trolley can be used to achieve the installation of continuous composite plates. At the same time, when adjusting the posture of the composite plate, there is no need to move the automatic moving trolley, which effectively guarantees the installation accuracy and achieves the purpose of automated and precise installation of the composite plate, greatly reducing the number of construction personnel in the installation process, and effectively simplifying the work of the tower crane during the installation process. The tower crane can perform the hoisting work of the next composite plate during the precise installation of the composite plate, which greatly improves the installation efficiency of the composite plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0041] Figure 1 It is the overall structure diagram of the present invention;

[0042] Figure 2 This is an exploded structural diagram of the lifting and supporting mechanism of the present invention;

[0043] Figure 3 It is a half-section structural diagram of the positioning system of the present invention;

[0044] Figure 4 It is an exploded structural diagram of the posture adjustment mechanism of the present invention;

[0045] Figure 5 The present invention Figure 4 Another perspective structural diagram;

[0046] Figure 6 This is an exploded structural diagram of the center of gravity adjustment mechanism of the present invention;

[0047] Figure 7 It is a structural diagram of the sliding counterweight portion of the present invention;

[0048] Figure 8 It is a top view of the structure of the laminated board of the present invention;

[0049] In the figure: automatic moving trolley 1; lifting and supporting mechanism 2; lifting supporting mechanism 201; outer sleeve 2010; lifting slot 2011; lifting cylinder 2012; lifting and supporting assembly 202; lifting cylinder 2020; pushing seat 2021; support arm 2022; reinforcing plate 2023; positioning system 3; mounting slot 301; transparent connecting rod 302; transparent reference ring 303; visual camera 304; lighting lamp 305; posture adjustment mechanism 4; lateral adjustment mechanism 41; support table 410; lateral sliding support rod 411; lateral adjustment cylinder 412; longitudinal adjustment mechanism 42; lateral moving frame 420; lateral sliding sleeve 421; lateral pushing plate 422; extension table 423; longitudinal adjustment cylinder 424; longitudinal Sliding support rod 425; vertical adjustment mechanism 43; longitudinal movable frame 430; longitudinal sliding sleeve 431; longitudinal push plate 432; lifting cylinder 433; rotation adjustment mechanism 44; rotation adjustment seat 440; rotating adjustment ring 441; L-shaped support frame 442; driving motor 443; transmission gear 444; rotating gear ring 445; adjustment support part 45; L-shaped top support frame 450; stiffening plate 451; center of gravity adjustment mechanism 5; rotating support ring 501; rotating transmission ring 503; rotating driven gear ring 504; sliding counterweight part 505; counterweight block 5050; clamp 5051; clamping cylinder 5052; clamping plate 5053; slide groove 5054; ball 5055; driving gear 506; transmission motor 507. DETAILED DESCRIPTION

[0050] Example 1

[0051] like Figure 1-5 As shown, an assembled composite board installation device includes an automatic moving trolley 1 for driving a device to move, a lifting and supporting mechanism 2 is arranged on the top of the automatic moving trolley 1 for supporting the composite board from the bottom, a positioning system 3 is arranged on the top of the lifting and supporting mechanism 2 for locating the center position of the composite board, and a posture adjustment mechanism 4 is arranged on the lifting end of the lifting and supporting mechanism 2 for adjusting the installation posture of the composite board before the lifting and supporting mechanism 2 supports it.

[0052] In a preferred embodiment, the automatic moving vehicle 1 can be an RGV vehicle or an AGV vehicle. In this embodiment, the AGV vehicle is preferred.

[0053] In the preferred embodiment, the lifting and supporting mechanism 2 includes a lifting and supporting mechanism 201 fixedly mounted on the top of the automatic moving vehicle 1 , and a lifting and supporting assembly 202 that can be lifted and lowered on the lifting and supporting mechanism 201 .

[0054] Among them, the lifting support mechanism 201 includes an outer sleeve 2010 arranged on the top of the automatic moving vehicle 1, the top of the outer sleeve 2010 is open, and a plurality of equally distributed lifting grooves 2011 are arranged on the side wall surface, and a plurality of lifting cylinders 2012 corresponding to the lifting grooves 2011 are arranged on the bottom of the side of the outer sleeve 2010.

[0055] The lifting and supporting assembly 202 includes a lifting cylinder 2020 which is movably connected to the interior of the outer sleeve 2010 through the top opening of the outer sleeve, and a plurality of pushing seats 2021 corresponding to the number and position of the lifting grooves 2011 are fixedly arranged on the side wall at the bottom of the lifting cylinder 2020, and the ends of the pushing seats 2021 are movably passed through the corresponding lifting grooves 2011, and the bottoms are connected to the telescopic ends of the corresponding lifting cylinders 2012, and four outwardly extending support arms 2022 are fixedly arranged at equal distances at the top of the lifting cylinder 2020, and the four support arms 2022 are cross-shaped in a top-down view, and are used to support the composite plates.

[0056] It should be noted that a reinforcing plate 2023 is fixedly provided at the angle between the support arm 2022 and the lifting cylinder 2020 .

[0057] In this embodiment, the number of the lifting slots 2011, the lifting cylinders 2012 and the pushing seats 2021 are all four, and the three corresponding ones are located on the same axis.

[0058] When in use, the lifting cylinder 2020 can be lifted and lowered on the top of the outer sleeve 2010 through the synchronous lifting of the four lifting cylinders 2012, so that the support arm 2022 at the end of the lifting cylinder 2020 can be lifted to above the installation position of the composite plate, and before the composite plate is installed, it is supported from below, thereby facilitating adjustments before installation. There is no need for continuous lifting by the crane, so that the crane can lift the next composite plate, effectively improving the installation efficiency.

[0059] In the preferred embodiment, the positioning system 3 includes a mounting groove 301 opened at the top of the lifting cylinder 2020, a transparent reference ring 303 is arranged at the center of the mounting groove 301, and a transparent connecting rod 302 connected to the inner wall of the mounting groove 301 is arranged on the outer wall surface of the transparent reference ring 303. The transparent reference ring 303 and the transparent connecting rod 302 are both made of polycarbonate transparent material, and the two are integrally formed. A visual camera 304 with a visual axis passing through the center of the transparent reference ring 303 is installed on the bottom wall of the mounting groove 301, and the visual camera 304 is equipped with a visual recognition system.

[0060] When in use, by setting a target point at the center of the bottom of the overlapping plate, the offset between the transparent reference ring 303 and the target point can be identified by the visual camera 304, and then the support position between the overlapping plate and the top of the lifting cylinder 2020 can be known.

[0061] The cross section of the installation groove 301 is a tapered groove that is wide at the top and narrow at the bottom, so as to expand the viewing angle of the visual camera 304 , and an illumination lamp 305 is also arranged inside the groove.

[0062] In the preferred embodiment, the posture adjustment mechanism 4 includes a transverse adjustment mechanism 41 arranged outside the top support end of the lifting cylinder 2020, a longitudinal adjustment mechanism 42 arranged on the transverse adjustment mechanism 41 and can be moved laterally, a vertical adjustment mechanism 43 arranged on the longitudinal adjustment mechanism 42 and can be moved longitudinally, and a rotation adjustment mechanism 44 arranged on the vertical adjustment mechanism 43 and can be raised and lowered. Four adjustment support parts 45 are arranged on the top of the rotation adjustment mechanism 44, and the adjustment support parts 45 are staggered with the support arm 2022, wherein the longitudinal adjustment mechanism 42, the vertical adjustment mechanism 43 and the rotation adjustment mechanism 44 are all mounted on the outside of the lifting cylinder 2020 and are provided with space for movement and adjustment.

[0063] It should be noted that when the four adjustment support parts 45 are at the bottom, their top surfaces are lower than the top surfaces of the support arms 2022. In addition, when the lifting cylinder 2020 is about to reach the lowest position, the lateral adjustment mechanism 41 is located above the lifting cylinder 2020 to avoid affecting the normal lifting of the lifting cylinder 2020.

[0064] When in use, the four adjustment support parts 45 can be raised to the top of the support arm 2022 through the vertical adjustment mechanism 43, and support the superimposed plate. Then, the adjustment of the superimposed plate in the horizontal and vertical directions can be realized through the adjustment of the transverse adjustment mechanism 41 and the longitudinal adjustment mechanism 42. The center of the superimposed plate is made to coincide with the top center of the lifting cylinder 2020 in cooperation with the positioning system 3. In addition, the circumferential posture of the superimposed plate can be adjusted through the rotation adjustment mechanism 44 to meet the installation posture, and then the lifting and supporting mechanism 2 can be cooperated to realize the automatic adjustment and installation of the superimposed plate.

[0065] Among them, the lateral adjustment mechanism 41 includes a support platform 410 fixed on the outside of the lifting cylinder 2020, and lateral sliding support rods 411 are symmetrically fixed at the two lateral edges of the top of the support platform 410, and a lateral adjustment cylinder 412 corresponding to the lateral sliding support rod 411 is arranged at the bottom.

[0066] The longitudinal adjustment mechanism 42 includes a transverse moving frame 420 which is sleeved on the outside of the lifting cylinder 2020. Transverse sliding sleeves 421 corresponding to the transverse sliding support rod 411 are fixed at the two transverse edges of the bottom of the transverse moving frame 420, and transverse pushing plates 422 are also provided at the ends of the two edges. The transverse sliding sleeves 421 are slidably sleeved on the outside of the corresponding transverse sliding support rod 411. The telescopic end of the transverse adjustment cylinder 412 is connected to the corresponding transverse pushing plate 422. Longitudinal sliding support rods 425 are symmetrically arranged at the two longitudinal edges of the transverse moving frame 420. An extension platform 423 is arranged on the outer side of the longitudinal sliding support rod 425. The extension platform 423 is connected to the transverse moving frame 420, and a longitudinal adjustment cylinder 424 is arranged on the top thereof.

[0067] When in use, by extending and retracting the lateral adjustment cylinder 412, the lateral moving frame 420 can slide through the sliding of the lateral sliding sleeve 421 on the lateral sliding support rod 411, thereby driving the mechanism thereon to move laterally, achieving the effect of lateral adjustment.

[0068] The vertical adjustment mechanism 43 includes a longitudinal movable frame 430 mounted on the outside of the lifting cylinder 2020. Longitudinal sliding sleeves 431 corresponding to the longitudinal sliding support rod 425 are fixed at the two longitudinal edges of the bottom of the longitudinal movable frame 430, and longitudinal pushing plates 432 are also arranged on the sides of the ends at the two edges. The longitudinal sliding sleeves 431 are slidably mounted on the corresponding longitudinal sliding support rod 425, the telescopic end of the longitudinal adjustment cylinder 424 is connected to the corresponding longitudinal pushing plate 432, and lifting cylinders 433 are arranged at the four corners of the top of the longitudinal movable frame 430.

[0069] When in use, by longitudinally adjusting the extension and retraction of the oil cylinder 424, the longitudinal movable frame 430 can slide through the sliding of the longitudinal sliding sleeve 431 on the longitudinal sliding support rod 425, thereby driving the mechanism thereon to move longitudinally, achieving the effect of longitudinal adjustment.

[0070] It should be noted that when the longitudinal adjustment cylinder 424 and the telescopic end of the longitudinal adjustment cylinder 424 extend half of the stroke, the longitudinal moving frame 430 and the transverse moving frame 420 are both located in the middle position.

[0071] The rotation adjustment mechanism 44 includes a rotation adjustment seat 440 fixedly mounted on the telescopic ends of the four lifting cylinders 433, a rotation adjustment ring 441 is rotatably arranged on the top of the rotation adjustment seat 440, four adjustment support parts 45 are equidistantly fixed on the rotation adjustment ring 441, an L-shaped support frame 442 is arranged at the bottom of the rotation adjustment seat 440, a drive motor 443 is arranged on the L-shaped support frame 442, a transmission gear 444 is arranged at the output end of the drive motor 443, and a rotation gear ring 445 meshing with the transmission gear 444 is fixedly mounted on the outside of the rotation adjustment ring 441.

[0072] When in use, through the drive of the driving motor 443 and the transmission relationship between the transmission gear 444 and the rotating gear ring 445, the rotating adjustment ring 441 can be rotated on the rotating adjustment seat 440, thereby driving the four adjustment support parts 45 to rotate, thereby adjusting the circumferential posture of the overlapping plates thereon.

[0073] It should be noted that the spaces in the centers of the transverse moving frame 420 , the longitudinal moving frame 430 , the rotation adjustment seat 440 and the rotating adjustment ring 441 all meet the requirements for their movement outside the lifting cylinder 2020 .

[0074] The adjustment support part 45 includes an L-shaped top support frame 450 fixed on the top of the rotating adjustment ring 441. The L-shaped top support frame 450 is arranged on the top of the rotating adjustment ring 441 in a sideways shape, and a stiffening plate 451 is arranged at its corner. The L-shaped design can effectively increase the contact area with the overlapping plate.

[0075] Example 2

[0076] Further illustrate with reference to Example 1, Figure 1 and Figure 6 The structure shown, in order to prevent the center of gravity of the device from shifting after the overlapping plates are adjusted, also includes a center of gravity adjustment mechanism 5 arranged on the automatic moving vehicle 1 in this embodiment.

[0077] In the preferred embodiment, the center of gravity adjustment mechanism 5 includes a center of gravity rotation offset mechanism arranged on the top of the automatic moving vehicle 1, and a plurality of sliding counterweight parts 505 movably arranged on the top of the automatic moving vehicle 1 around the center of gravity rotation offset mechanism. The sliding counterweight part 505 can change its position by connecting with the rotating end of the center of gravity rotation offset mechanism, thereby changing the center of gravity state. In this embodiment, the number of the sliding counterweight parts 505 is four. In the initial state, the four sliding counterweight parts 505 are equidistantly arranged around the outside of the center of gravity rotation offset mechanism.

[0078] In the preferred embodiment, the center of gravity rotation offset mechanism includes a rotating support ring 501 fixedly arranged on the top of the automatic moving trolley 1, the rotating support ring 501 is mounted on the outside of the lifting and supporting mechanism 2, a rotating transmission ring 503 is rotatably arranged on the top of the rotating support ring 501, a rotating driven gear ring 504 is arranged on the inner wall surface of the rotating support ring 501, and a transmission motor 507 located in the rotating support ring 501 is also arranged on the top of the automatic moving trolley 1, and a driving gear 506 meshing with the rotating driven gear ring 504 is installed on the output end of the transmission motor 507.

[0079] When in use, the rotating transmission ring 503 can be rotated on the top of the rotating support ring 501 through the driving of the transmission motor 507 and the meshing transmission relationship between the rotating driven gear ring 504 and the driving gear 506 .

[0080] In the preferred embodiment, the sliding counterweight portion 505 includes a counterweight block 5050 that is slidably arranged on the top of the automatic moving vehicle 1 and rotates around the center of gravity. A clamp 5051 that clamps the rotating transmission ring 503 is arranged on the top side of the counterweight block 5050. The cross-section of the clamp 5051 is in an inverted L-shape. A clamping cylinder 5052 is penetrated through the side plate of the clamp 5051. The telescopic end of the clamping cylinder 5052 passes through the side plate of the clamp 5051 and is equipped with a clamping plate 5053.

[0081] When in use, the clamping plate 5053 can be controlled to extend and retract on the side of the rotating transmission ring 503 by extending and retracting the clamping cylinder 5052. Therefore, when the position of the sliding counterweight part 505 needs to be adjusted, the clamping plate 5053 and the rotating transmission ring 503 can be clamped to make it rotate along with the rotation of the rotating transmission ring 503 until it rotates to the corresponding position. Then, the clamping plate 5053 can be retracted to achieve the effect of detaching from the rotating transmission ring 503.

[0082] In the preferred embodiment, a plurality of annular slide rails 502 are arranged on the top of the automatic moving vehicle 1, which surround the center of gravity adjustment mechanism 5 inside. In this embodiment, the number of the annular slide rails 502 is two, and a slide groove 5054 slidably connected to the annular slide rail 502 is arranged at the bottom of the counterweight block 5050, and a plurality of ball bearings 5055 are arranged on the top wall of the slide groove 5054 to reduce friction during sliding.

[0083] When this embodiment is in use, the four sliding weight parts 505 can be moved to the same position, so as to adjust the center of gravity offset. At the same time, when the center of gravity is not offset, the four sliding weight parts 505 can also be dispersed to different positions.

[0084] Example 3

[0085] Further illustrate with reference to Examples 1 and 2, Figure 1-7 The structure shown is a construction method of an assembled composite plate installation device, the method comprising:

[0086] S1. Hoist the device to the lower floor of the installation position of the composite plate, and set marking lines on the floor corresponding to the central axis of the continuously installed composite plates. The support rods of the composite plates are located on both sides of the marking lines, and installation position marks corresponding to the center points of each composite plate are set on the marking lines. Then move the device to the installation position mark of the first composite plate, and make sure that the automatic moving trolley 1 has recognized the marking line.

[0087] S2. Mark the cross center line at the bottom of the composite plate, and then use the tower crane to lead the composite plate to the top of the device. At this time, the lifting and supporting mechanism 2 of the device lifts the end of the lifting cylinder 2020 and the support arm 2022 to above the installation position of the composite plate, and lifts the adjustment support part 45 of the posture adjustment mechanism 4 to above the support arm 2022 to receive the composite plate. After the tower crane places the composite plate on the adjustment support part 45, it releases the connection with the composite plate and starts the lifting work of the next composite plate.

[0088] S3. Identify the cross center line at the bottom of the superimposed plate through the positioning system 3, determine the circumferential posture and center point deviation of the superimposed plate, and use the posture adjustment mechanism 4 to perform lateral and longitudinal movement adjustments and circumferential posture rotation adjustments to make the posture of the superimposed plate meet the installation requirements, and then lower the adjustment support part 45 to make the superimposed plate fall onto the support arm 2022. If the deviation between the posture of the superimposed plate and the installation requirements is too large, multiple adjustments can be made. After the superimposed plate falls onto the support arm 2022, use the adjustment support part 45 to lift it up again and adjust it until the installation requirements are met.

[0089] S4. Then, the lifting cylinder 2020 is lowered to allow the composite plate to be stably erected on the edge of the beam-column structure and the support rods. The lifting cylinder 2020 continues to descend to separate it from the composite plate, completing the installation of the composite plate. The device moves along the marking line to the next installation position mark.

[0090] S5. Repeat steps S2-S4 until all the composite panels in the area are installed.

[0091] It should be noted that after all the floor composite panels are installed, the installation device can be lifted away from the floor from the side between the floors using a tower crane, or before installing the last composite panel, it can be lifted to the upper floor using a tower crane, and the last composite panel can be installed using a tower crane.

[0092] In the preferred solution, the specific identification method of the positioning system 3 in step S3 includes:

[0093] S31 , image acquisition, using the visual camera 304 to acquire an image including the cross centerline intersection and the transparent reference ring 303 .

[0094] S32, feature extraction, using a threshold segmentation method to extract the location of the intersection of the cross center lines;

[0095] The position of the cross centerline is extracted using the Hough line transformation method;

[0096] Extract the center position of the transparent reference ring 303 using edge detection and Hough transform methods;

[0097] The position of the preset diameter of the transparent reference ring 303 is extracted using edge detection and Hough line transformation methods.

[0098] S33, deviation calculation, calculating the deviation between the coordinates (xA, yA) of the intersection point of the cross center line in the image and the coordinates (xB, yB) of the center of the transparent reference ring;

[0099] The direction deviation between the cross center line and the preset diameter of the transparent reference ring 303 is calculated, and the direction deviation is obtained by calculating the angle between the two straight lines.

[0100] S34, position and direction adjustment, adjusting the position of the target point according to the center deviation value until the deviation value is close to zero;

[0101] Adjust the direction of the target point according to the direction deviation value until the deviation value is close to zero.

[0102] S35, closed-loop control, continuously repeating steps S31-S34 until the intersection of the cross centerline is aligned with the center of the transparent reference ring 303, and the cross centerline is aligned with the preset diameter of the transparent reference ring.

[0103] It should be noted that the preset diameter is parallel to the central axis of the installed composite plate, and the coordinate deviation calculation formula is: deviation x = xA − xB; deviation y = yA − yB.

[0104] This method utilizes an installation device to achieve the purpose of automated and precise installation of composite panels, greatly reducing the number of construction personnel in the installation process, while effectively simplifying the work of the crane during the installation process. The crane can carry out the lifting work of the next composite panel during the precise installation of the composite panel, greatly improving the installation efficiency of the composite panel.

[0105] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. An assembled composite panel installation device, characterized in that: The invention comprises an automatic moving trolley (1) for driving a moving device, a lifting and supporting mechanism (2) being arranged on the top of the automatic moving trolley (1) for supporting a laminated plate from the bottom, a positioning system (3) being arranged on the top of the lifting and supporting mechanism (2) for locating the center position of the laminated plate, and a posture adjustment mechanism (4) being arranged on the lifting end of the lifting and supporting mechanism (2) for adjusting the installation posture of the laminated plate before the lifting and supporting mechanism (2) supports the laminated plate; The lifting and supporting mechanism (2) comprises a lifting and supporting mechanism (201) fixedly mounted on the top of the automatic moving vehicle (1), and a lifting and supporting assembly (202) liftably mounted on the lifting and supporting mechanism (201); The lifting support mechanism (201) comprises an outer sleeve (2010) arranged on the top of the automatic moving trolley (1); the top of the outer sleeve (2010) is open, and a plurality of lifting grooves (2011) are arranged at equal intervals on the side wall surface; and a plurality of lifting cylinders (2012) corresponding to the lifting grooves (2011) are arranged on the bottom of the side surface of the outer sleeve (2010); The lifting and supporting assembly (202) comprises a lifting cylinder (2020) movably plugged into the inner part of the outer sleeve (2010) through the top opening of the outer sleeve, a plurality of pushing seats (2021) corresponding in number and position to the lifting slots (211) are fixedly arranged on the side wall at the bottom of the lifting cylinder (2020), the ends of the pushing seats (2021) movably pass through the corresponding lifting slots (211), and the bottoms are connected to the telescopic ends of the corresponding lifting cylinders (2012), and four supporting arms (2022) extending outwards are fixedly arranged at equal intervals at the top of the lifting cylinder (2020), and the four supporting arms (2022) are in a cross shape when viewed from above, and are used to support the laminated plates; A reinforcing plate (223) is fixedly provided at the angle between the support arm (222) and the lifting cylinder (2020); The positioning system (3) comprises a mounting groove (301) provided at the top of the lifting cylinder (2020), a transparent reference ring (303) being provided at the center of the mounting groove (301), a transparent connecting rod (302) being provided on the outer wall surface of the transparent reference ring (303) and being connected to the inner wall of the mounting groove (301), a visual camera (304) having a visual axis passing through the center of the transparent reference ring (303) being installed on the bottom wall of the mounting groove (301), and the visual camera (304) being equipped with a visual recognition system; The cross section of the installation groove (301) is a tapered groove that is wide at the top and narrow at the bottom, so as to facilitate expanding the viewing angle range of the visual camera (304), and an illumination lamp (305) is also arranged inside the installation groove; The posture adjustment mechanism (4) comprises a lateral adjustment mechanism (41) arranged outside the top support end of the lifting cylinder (2020), a longitudinal adjustment mechanism (42) arranged on the lateral adjustment mechanism (41) and movable laterally, a vertical adjustment mechanism (43) arranged on the longitudinal adjustment mechanism (42) and movable longitudinally, and a rotation adjustment mechanism (44) arranged on the vertical adjustment mechanism (43) and movable in a lifting manner, wherein four adjustment support parts (45) are arranged on the top of the rotation adjustment mechanism (44), and the adjustment support parts (45) and the support arms (2022) are staggered, wherein the longitudinal adjustment mechanism (42), the vertical adjustment mechanism (43) and the rotation adjustment mechanism (44) are all sleeved on the outside of the lifting cylinder (2020), and are provided with a space for movement and adjustment; The lateral adjustment mechanism (41) comprises a support platform (410) fixedly mounted outside the lifting cylinder (2020), lateral sliding support rods (411) being symmetrically fixedly mounted at two lateral edges of the top of the support platform (410), and a lateral adjustment oil cylinder (412) corresponding to the lateral sliding support rod (411) being disposed at the bottom; The longitudinal adjustment mechanism (42) comprises a transverse moving frame (420) sleeved on the outside of the lifting cylinder (2020), transverse sliding sleeves (421) corresponding to the transverse sliding support rods (411) are fixedly arranged at the two transverse edges of the bottom of the transverse moving frame (420), and transverse push plates (422) are also arranged at the ends of the two edges, the transverse sliding sleeves (421) are slidably sleeved on the outside of the corresponding transverse sliding support rods (411), the telescopic end of the transverse adjustment cylinder (412) is connected to the corresponding transverse push plate (422), longitudinal sliding support rods (425) are symmetrically arranged at the two longitudinal edges of the transverse moving frame (420), an extension platform (423) is arranged on the outside of the longitudinal sliding support rods (425), the extension platform (423) is connected to the transverse moving frame (420), and a longitudinal adjustment cylinder (424) is arranged on the top of the extension platform (423); The vertical adjustment mechanism (43) comprises a longitudinal moving frame (430) sleeved on the outside of the lifting cylinder (2020), longitudinal sliding sleeves (431) corresponding to the longitudinal sliding support rod (425) are fixedly provided at the two longitudinal edges of the bottom of the longitudinal moving frame (430), and longitudinal pushing plates (432) are also provided on the sides of the ends of the two edges, the longitudinal sliding sleeves (431) are slidably sleeved on the corresponding longitudinal sliding support rod (425), the telescopic end of the longitudinal adjustment cylinder (424) is connected to the corresponding longitudinal pushing plate (432), and lifting cylinders (433) are provided at the four corners of the top of the longitudinal moving frame (430); The rotary adjustment mechanism (44) comprises a rotary adjustment seat (440) fixedly mounted on the telescopic ends of four lifting cylinders (433); a rotary adjustment ring (441) is rotatably mounted on the top of the rotary adjustment seat (440); four adjustment support parts (45) are equidistantly fixedly mounted on the rotary adjustment ring (441); an L-shaped support frame (442) is mounted on the bottom of the rotary adjustment seat (440); a driving motor (443) is mounted on the L-shaped support frame (442); a transmission gear (444) is mounted on the output end of the driving motor (443); and a rotary gear ring (445) meshing with the transmission gear (444) is fixedly mounted on the outside of the rotary adjustment ring (441); The adjustment support portion (45) comprises an L-shaped top support frame (450) fixedly arranged on the top of the rotating adjustment ring (441); the L-shaped top support frame (450) is arranged on the top of the rotating adjustment ring (441) in a sideways shape, and a stiffening plate (451) is arranged at a corner thereof.

2. According to claim 1, the assembly type composite plate installation device is characterized by: It also includes a center of gravity adjustment mechanism (5) arranged on the automatic moving vehicle (1); The center of gravity adjustment mechanism (5) comprises a center of gravity rotation offset mechanism arranged on the top of the automatic moving vehicle (1), and a plurality of sliding counterweights (505) arranged on the top of the automatic moving vehicle (1) so as to be movable around the center of gravity rotation offset mechanism. The sliding counterweights (505) can change their positions by being connected to the rotating ends of the center of gravity rotation offset mechanism, thereby changing the center of gravity state.

3. According to claim 2, the assembled composite plate installation device is characterized in that: The center of gravity rotation offset mechanism comprises a rotating support ring (501) fixedly arranged on the top of the automatic moving trolley (1), the rotating support ring (501) is sleeved on the outside of the lifting support mechanism (2), a rotating transmission ring (503) is rotatably arranged on the top of the rotating support ring (501), a rotating driven gear ring (504) is arranged on the inner wall surface of the rotating support ring (501), and a transmission motor (507) located inside the rotating support ring (501) is also arranged on the top of the automatic moving trolley (1), and a driving gear (506) meshing with the rotating driven gear ring (504) is installed at the output end of the transmission motor (507); The sliding counterweight part (505) comprises a counterweight block (5050) which is arranged on the top of the automatic moving vehicle (1) and rotates around the center of gravity. The counterweight block (5050) is provided with a clamp (5051) on the top side of the counterweight block (5050) for clamping the rotating transmission ring (503). The cross section of the clamp (5051) is in a sideways L-shape. A clamping oil cylinder (5052) is provided through the side plate of the clamp (5051). A clamping piece (5053) is installed on the telescopic end of the clamping oil cylinder (5052) through the side plate of the clamp (5051). The top of the automatic moving trolley (1) is provided with a plurality of annular slide rails (502) surrounding the center of gravity adjustment mechanism (5) inside, the bottom of the counterweight block (5050) is provided with a slide groove (5054) slidably connected to the annular slide rails (502), and a plurality of balls (5055) are provided on the top wall of the slide groove (5054).

4. A construction method using the assembled composite panel installation device according to any one of claims 1 to 3, characterized in that: The method includes: S1. Hoist the device to the lower floor of the installation position of the composite board, and set a marking line on the floor corresponding to the central axis of the composite board to be installed successively. The support rods of the composite board are located on both sides of the marking line, and an installation position mark corresponding to the center point of each composite board is set on the marking line. Then, move the device to the installation position mark of the first composite board, and confirm that the automatic moving trolley (1) has recognized the marking line; S2. Mark a cross centerline at the bottom of the composite plate, and then use a tower crane to lead the composite plate to the top of the device. At this time, the lifting and supporting mechanism (2) of the device lifts the end of the lifting cylinder (220) and the support arm (222) to the top of the composite plate installation position, and lifts the adjustment support part (45) of the posture adjustment mechanism (4) to the top of the support arm (222) to receive the composite plate. After the tower crane places the composite plate on the adjustment support part (45), it releases the connection with the composite plate and starts the lifting work of the next composite plate. S3, identifying the cross centerline at the bottom of the laminated plate through the positioning system (3), determining the circumferential posture and center point deviation of the laminated plate, and using the posture adjustment mechanism (4) to perform lateral and longitudinal movement adjustment and circumferential posture rotation adjustment, so that the posture of the laminated plate meets the installation requirements, and then lowering the adjustment support part (45) to make the laminated plate fall onto the support arm (222). If the deviation between the posture of the laminated plate and the installation requirements is too large, multiple adjustments can be made. After the laminated plate falls onto the support arm (222), it is lifted up again by the adjustment support part (45) and adjusted until the installation requirements are met; S4, then lowering the lifting cylinder (220) so that the composite plate is stably erected on the edge of the beam-column structure and the support rod, the lifting cylinder (220) continues to descend so that it is separated from the composite plate, and the installation of the composite plate is completed, and the device moves along the marking line to the next installation position mark; S5. Repeat steps S2-S4 until all the composite panels in the area are installed.

5. According to the construction method of the assembled composite panel installation device of claim 4, it is characterized by: include: The specific identification method of the positioning system (3) in step S3 includes: S31, image acquisition, using a visual camera (304) to acquire an image including the cross centerline intersection and the transparent reference ring (303); S32, feature extraction, using a threshold segmentation method to extract the location of the intersection of the cross center lines; The position of the cross centerline is extracted using the Hough line transformation method; extracting the center position of the transparent reference ring (303) using edge detection and Hough transform methods; Extracting the position of the preset diameter of the transparent reference ring (303) using edge detection and Hough line transformation methods; S33, deviation calculation, calculating the deviation between the coordinates (xA, yA) of the intersection point of the cross center line in the image and the coordinates (xB, yB) of the center of the transparent reference ring; Calculating the directional deviation between the cross center line and the preset diameter of the transparent reference ring (303), and obtaining the directional deviation by calculating the angle between the two straight lines; S34, position and direction adjustment, adjusting the position of the target point according to the center deviation value until the deviation value is close to zero; Adjust the direction of the target point according to the direction deviation value until the deviation value is close to zero; S35, closed loop control, continuously repeating steps S31-S34 until the intersection of the cross centerline is aligned with the center of the transparent reference ring (303), and the cross centerline is aligned with the preset diameter of the transparent reference ring.

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