Intelligently-controlled automatic trolley and control system of trolley

Abstract

The invention discloses an intelligent control automatic trolley and a control system thereof, the intelligent control automatic trolley comprises an XY-axis movement mechanism, the automatic trolley further comprises a Z-axis movement mechanism, the Z-axis movement mechanism is installed on a Y-axis movable underframe and is provided with a Z-axis power source and a Z-axis movable frame in driving connection with the Z-axis power source, the XY-axis movement mechanism realizes horizontal two-dimensional movement of the trolley, and the Z-axis movable frame is provided with a Z-axis movable frame in driving connection with the Z-axis power source. The Z-axis movement mechanism controls vertical lifting; the clamping assembly clamps and fixes the prefabricated wall, the detection device detects the inclination angle, and the adjusting mechanism is combined with the inclination angle detection device to ensure that the angle of the wall is correct. And the control system takes a main control center as a core, is electrically connected with each power source and the detection device, and intelligently regulates and controls each mechanism to act according to detection data through the prefabricated wall Z-direction vertical angle and horizontal angle regulating mechanism. According to the invention, the full-automatic process of clamping, fixing, leveling and mounting of the prefabricated wall is realized, and the device has the advantages of high mounting precision, high efficiency improvement, high universality and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of building construction automation equipment, and in particular to an intelligently controlled automated trolley and a control system of the trolley. Background Art

[0002] At a time when building industrialization is developing rapidly, prefabricated walls are widely used in prefabricated buildings due to their advantages such as high construction efficiency and stable quality. However, there are still many technical bottlenecks in the current prefabricated wall installation process. Traditional installation methods mostly rely on manual work with cranes or forklifts. The accuracy of manual measurement and positioning during the installation process is low, and the flatness and verticality of the wall are difficult to guarantee, resulting in gaps and misalignment at the joints, which seriously affects the overall structural strength and aesthetics of the building. At the same time, manual operation is labor-intensive, and operators need to work for a long time at high altitudes or in a small space. There are prominent safety hazards, and the installation efficiency is low, which makes it difficult to meet the needs of large-scale industrialized construction. Although some existing automated installation equipment can reduce manual dependence to a certain extent, they have defects such as complex structure, high cost, and poor versatility. For example, the equipment is not adaptable enough to prefabricated walls of different specifications, lacks a real-time feedback adjustment mechanism, and cannot dynamically adjust the installation parameters according to the actual state of the wall, resulting in problems such as wall damage and substandard installation accuracy during the installation process.

[0003] like Figure 2 As shown, Figure 2 It is a prefabricated wall 9 required for the Shenzhen Metro construction project. The upper area of the back side 91 of the prefabricated wall 9 has a convex rafter 92. The lower surface of the convex rafter 92 is an inclined surface, and the upper surface has two planes, forming a step between the two planes. Two hanging rings 94 are installed on the top surface 93 of the prefabricated wall.

[0004] The prefabricated walls 9 need to be installed side by side on the construction piles of the subway. If manual alignment is adopted, a large amount of manpower and material resources will be consumed, and manual operation will have potential safety hazards.

[0005] Therefore, developing an automated installation equipment that can achieve precise positioning, intelligent adjustment, and high versatility has become a key technical issue that needs to be urgently solved in the field of prefabricated buildings. Summary of the invention

[0006] In view of the deficiencies in the prior art, the technical problem to be solved by the present invention is to provide an intelligently controlled automated trolley and a control system for the trolley. The purpose of the present invention is to achieve high-precision installation of prefabricated walls in multiple dimensions such as flatness, verticality, and horizontality through the coordinated work of a multi-dimensional intelligent detection device and an automated adjustment mechanism, ensure that the wall installation error is controlled within a very small range, and improve the overall quality of prefabricated buildings.

[0007] To solve the above technical problems, the present invention is implemented through the following solutions: An intelligent controlled automated trolley of the present invention includes an XY-axis movement mechanism. The top layer of the XY-axis movement mechanism is a Y-axis movable chassis. The automated trolley further includes a Z-axis movement mechanism, which is installed on the Y-axis movable chassis and has a Z-axis power source and a Z-axis movable frame drivenly connected to the Z-axis power source. A support girder is installed on the Z-axis movable frame. The center of the support girder is installed on the Z-axis movable frame through a hinge seat with a bearing. The support girder can swing in the X, Y, and Z axes with the bearing as the fulcrum. Two sets of support seats are installed on the support girder, and the two sets of support seats are equidistantly arranged with the bearing as the center; The automated trolley further includes: Two sets of first automatic angle adjustment parts, which are symmetrically installed on both sides of the Y-axis movable chassis. The first automatic angle adjustment part has a pressing mechanism capable of pressing against the lower area of the back surface of the precast wall and a first clamping mechanism capable of clamping the lower area of the front surface of the precast wall. The pressing mechanism has a pressing part and a first power part drivenly connected to the pressing part. The pressing part has a first detection device for detecting whether the lower area of the back surface of the precast wall is in a vertical plane. The first clamping mechanism has a first clamping part and a second power part drivenly connected to the first clamping part; Two sets of second automatic angle adjustment parts, which have a second detection device for detecting whether the upper area of the back surface of the precast wall is in a vertical plane and a second clamping mechanism capable of clamping the upper area of the front surface of the precast wall. The second detection device is installed on the Z-axis movable frame. The two sets of second clamping mechanisms are symmetrically installed at both ends of the support girder. The second clamping mechanism has a second clamping part and a fourth power part drivenly connected to the second clamping part; Two sets of pressing mechanisms, which are installed on the two sets of support seats one by one. It has a pressing part and a fifth power part for driving the pressing part to move. The pressing end of the pressing part has a level detection device for detecting whether the upper surface of the protruding rafter of the precast wall is in a horizontal position; Two sets of diagonal bracing mechanisms, which have a free support part that presses against the lower inclined surface of the protruding rafter and can swing and a locking part connecting the free support part. The free support part is fixed to the support girder, and the locking part is installed on the support seat; Two sets of tie rod support mechanisms, which are installed on the two sets of support seats one by one. It has a horizontal connecting member and an adjusting structure for adjusting the horizontal locking member; There are two sets of horizontal angle adjustment mechanisms, and the two sets of horizontal angle adjustment mechanisms are installed on the two sets of support seats one-to-one on the side. The horizontal angle adjustment mechanism has a Z-axis power unit fixed to the support seat, a Z-axis drive shaft drivingly connected to the Z-axis power unit, and a horizontal adjustment unit installed at the lower end of the Z-axis drive shaft. The horizontal adjustment unit abuts against the beam of the Z-axis movable frame.

[0008] Furthermore, the XY-axis movement mechanism includes: A moving chassis, which has a double-row X-axis guide rail; An X-axis movable chassis, slidably connected to the double-row X-axis guide rail. The X-axis movable chassis has a double-row Y-axis guide rail, and the Y-axis movable chassis is slidably connected to the double-row Y-axis guide rail; An X-axis power source, installed on the moving chassis, and the X-axis power source is drivingly connected to the X-axis movable chassis; A Y-axis power source, installed on the X-axis movable chassis, and the Y-axis power source is drivingly connected to the Y-axis movable chassis. Both the X-axis power source and the Y-axis power source are hydraulic power sources; The Z-axis power source is a hydraulic power source, which is fixed to the Y-axis movable chassis; Guides are fixed at the four corners of the Y-axis movable chassis, and the four corners of the Z-axis movable frame are connected to the upper ends of the respective guides.

[0009] Furthermore, the first clamping mechanism and the second clamping mechanism have the same structure, and the first detection device and the second detection device have the same structure.

[0010] Even further, the first power unit is a hydraulic power source, which is drivingly connected to a push rod. The push rod passes through a sleeve bracket, and the sleeve bracket is fixed to the Y-axis movable chassis. The outer end of the push rod fixes the pressing part; The first detection device includes: An installation box, fixed to the upper end of the sleeve bracket, and having a frame opening at its front end; A vertical plane detector, suspended from the frame opening by two first chain spring strips. The first chain spring strip is composed of a plurality of first spring strips connected end to end; A pusher, installed in the installation box; A first buffer horizontally arranged, one end of the first buffer is connected to the vertical plane detector, and the other end is connected to the drive shaft of the pusher.

[0011] Even further, the first clamping mechanism is arranged adjacent to the pressing mechanism. The second power unit thereon is a hydraulic power source, and the second power unit is installed on the Y-axis movable chassis through a cantilever; The first clamping part includes: A sleeve rotatably connected to the corner of the cantilever; A movable tube telescopically installed in the sleeve; A pressure rod vertically fixed to the outer end of the movable tube at one end; A pressure head fixed to one side of the outer end of the pressure rod; A hydraulic thruster provided on the barrel of the sleeve, the hydraulic thruster connects the outer end of the movable tube through a push rod, the outer end of the push rod is rotatably connected to the outer end of the movable tube, and the drive shaft of the second power unit is rotatably connected to the outer wall of the sleeve, and the connection point between the drive shaft of the second power unit and the sleeve is at a certain distance from the connection point between the sleeve and the cantilever.

[0012] Further, the fifth power unit is a hydraulic power source, which is obliquely installed on the support seat; The pressing part includes a pressing arm, which is an L-shaped structure, one end of which is rotatably connected to the support seat, and an ear plate is arranged on the outer side of the rod body connected to the support seat. The driving rod of the fifth power unit is rotatably drivingly connected to the ear plate, and the horizontal level detecting device is installed on the lower side of the outer end of the pressing arm; The horizontal level detecting device includes: A hanging support plate installed on the lower side of the end of the pressing arm; A horizontal detector suspended from the hanging support plate by four second chain spring strips, and the second chain spring strips are composed of multiple second spring strips connected end to end; A second buffer, one end of which abuts against the hanging support plate and is limited, and the second end abuts against the horizontal detector and is limited.

[0013] Further, the free support part has an inverted triangular bracket and a support plane provided at the wide end of the inverted triangular bracket. The inverted triangular bracket is rotatably connected to a regular triangular bracket, and the regular triangular bracket is fixed to the support seat; The locking part includes a locking rod, one end of which is rotatably connected to the inverted triangular bracket, and the other end is provided with a long threaded section, and the long threaded section is adjustably connected to the support seat by a screw.

[0014] Further, the adjusting structure includes A first triangular profile installed on the support seat; A second triangular profile installed on the support seat, and the second triangular profile is arranged above the first triangular profile; An L-shaped frame, and the outer corner point at the corner is rotatably connected to the second triangular profile; The first adjusting rod, the first end of the first adjusting rod has a threaded section, and the threaded section is connected to the first triangular profile through a screw. The second end of the first adjusting rod is rotatably connected to the first outer end of the L-shaped frame; The second adjusting rod, the first end of the second adjusting rod is rotatably connected to the second outer end of the L-shaped frame, and its second end is connected with a lifting arm, and the lifting arm can reach and hold the lifting ring of the precast wall.

[0015] Furthermore, the XY-axis movement mechanism is provided with a plurality of cameras for detecting whether the precast wall is aligned.

[0016] A control system of a trolley according to the present invention, the control system includes a main control center, and the main control center is respectively electrically connected to each power source, the first detection device, the second detection device, the level detection device, and the horizontal angle adjustment mechanism; The control system includes a precast wall alignment adjustment method, and the alignment adjustment method includes a precast wall Z-direction level adjustment method and a precast wall horizontal detection method; The precast wall Z-direction verticality adjustment method is to detect in real time whether the back surface of the precast wall is in a vertical state through the first detection device and the second detection device; When the first detection device and the second detection device detect that the back surface and the front surface of the precast wall are not in a vertical state and detect the deviation angle, the first detection device and the second detection device generate signals and send them to the main control center; The main control center controls the cooperation of each power source on the first automatic angle adjustment part and the second automatic angle adjustment part according to the received first signal, and uses the gravity of the precast wall to make the back surface and the front surface of the precast wall reach a vertical state; The precast wall horizontal detection method is to detect in real time whether the upper surface of the convex rafter is in a horizontal state through the level detection device; When the level detection device detects that the upper surface of the convex rafter is not in a horizontal state, the second signal generated by it is sent to the main control center; The main control center controls the angle of the support girder by controlling the horizontal angle adjustment mechanism according to the received second signal, and further controls the upper surface of the convex rafter of the precast wall to reach a horizontal state.

[0017] Compared with the prior art, the beneficial effects of the present invention are: 1. The present invention can install with high precision: through the real-time monitoring of the first detection device, the second detection device and the level detection device, combined with the intelligent control of the main control center, the flatness, verticality and levelness of the precast wall can be accurately controlled, and the installation quality of the prefabricated building can be significantly improved. 2. The present invention enables high-efficiency automation: realizing the full-process automation of precast wall installation. Compared with traditional manual installation, the installation time of a single wall is shortened, the installation efficiency is greatly improved, and the construction period is shortened. At the same time, manual operations are reduced, the risk of working at heights is lowered, and the safety of construction workers is ensured. 3. The present invention has strong versatility and adaptability: the mechanical structure is designed flexibly, the clamping mechanism has a wide adaptation range, and can adapt to precast walls of different thicknesses and heights; the diagonal bracing mechanism and the tie rod bracing mechanism can adjust the support angle and position according to the actual situation of the wall, enhancing the adaptability of the equipment to different working conditions. 4. The present invention has intelligent control and feedback functions: the main control center quickly analyzes and adjusts the actions of each power source according to the data real-time feedback by the detection device, realizing the adaptive control of the installation process. When the wall is detected to be tilted, the system quickly calculates the adjustment parameters and drives the angle adjustment mechanism to automatically complete the wall correction, improving the installation accuracy and reliability. 5. The present invention can reduce costs: the high-efficiency operation and low failure rate of the equipment effectively reduce the labor cost and equipment maintenance cost. At the same time, the high-precision installation avoids material waste caused by rework, and the comprehensive economic benefit is significantly improved. Description of the Drawings

[0018] Figure 1 It is the overall machine drawing of the automatic trolley of the present invention.

[0019] Figure 2 It is the structure drawing of the precast wall of the present invention.

[0020] Figure 3 It is the structure drawing of the first automatic angle adjustment part of the present invention.

[0021] Figure 4 It is the structure drawing of the first automatic angle adjustment part of the present invention from the first perspective.

[0022] Figure 5 It is the structure drawing of the pressing part of the present invention.

[0023] Figure 6 It is the structure drawing of the first automatic angle adjustment part of the present invention from the second perspective.

[0024] Figure 7 It is the structure drawing of the first automatic angle adjustment part of the present invention from the third perspective.

[0025] Figure 8 It is the structure drawing of the first automatic angle adjustment part of the present invention after clamping.

[0026] Figure 9 It is the installation distribution drawing of each camera of the present invention.

[0027] Figure 10 It is the structure drawing of the second clamping mechanism of the present invention clamping the precast wall.

[0028] Figure 11 This is the installation structure diagram of the second detection device, the pull rod support mechanism and the pressing mechanism of the present invention.

[0029] Figure 12 This is the structure diagram of the pressing mechanism of the present invention.

[0030] Figure 13 This is the structure diagram of the spirit level detection device of the present invention.

[0031] Figure 14 This is the installation structure diagram of the pull rod support mechanism of the present invention.

[0032] Figure 15 This is the installation structure of the support girder and the support base of the present invention.

[0033] Figure 16 This is the installation structure diagram of the horizontal angle adjustment mechanism of the present invention.

[0034] Reference numerals in the drawings: moving chassis 1, X-axis movable chassis 2, X-axis power source 3, Z-axis movable frame 5, second clamping mechanism 6, pull rod support mechanism 7, Z-axis power source 8, precast wall 9, pressing mechanism 10, lateral positioning rod 11, Y-axis movable chassis 12, support girder 13, horizontal angle adjustment mechanism 14, support base 15, second detection device 17, camera 21, abutting mechanism 41, first clamping mechanism 42, second triangular profile 72, free support part 73, locking part 74, first triangular profile 75, first adjusting rod 76, second adjusting rod 77, back surface of precast wall 91, convex rafter 92, lifting ring 94, pressing arm 103, spirit level detection device 104, Z-axis power part 141, Z-axis drive shaft 142, horizontal adjustment part 143, push rod 412, first detection device 413, abutting part 414, cantilever 421, hydraulic pusher 422, pressure rod 424, pressing head 423, movable tube 425, top push rod 426, sleeve 427, suspension support plate 1041, second buffer 1042, second chain spring strip 1043, spirit level detector 1044, installation box 4131, first buffer 4132, first chain spring strip 4133, vertical plane detector 4134, pusher 4135. Detailed implementation manners

[0035] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention. Obviously, the embodiments described herein are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0036] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0037] Embodiment 1: The specific structure of the present invention is as follows: Please refer to the attached Figures 1-16 , an automated trolley with intelligent control of the present invention includes an XY-axis movement mechanism. The top layer of the XY-axis movement mechanism is a Y-axis movable chassis 12. The automated trolley further includes a Z-axis movement mechanism, which is installed on the Y-axis movable chassis 12 and has a Z-axis power source 8 and a Z-axis movable frame 5 drivenly connected to the Z-axis power source 8. A support girder 13 is installed on the Z-axis movable frame 5. The center of the support girder 13 is installed on the Z-axis movable frame 5 through a hinge seat with bearings. The support girder 13 can swing in all three XYZ axes with the bearings as the fulcrum. Two sets of support seats 15 are installed on the support girder 13. The two sets of support seats 15 are equidistantly arranged with the bearings as the center; Y-axis tracks will be laid at the construction site. Sliders are provided at the four corners of the XY-axis movement mechanism. Each slider is arranged in the Y-axis direction, and each slider is slidably connected to the Y-axis track.

[0038] The automated trolley further includes: The first automatic angle adjustment part, with two sets, is symmetrically installed on both sides of the Y-axis movable chassis 12. The first automatic angle adjustment part has a pressing mechanism 41 that can press against the lower area of the back surface 91 of the precast wall and a first clamping mechanism 42 that can clamp the lower area of the front surface of the precast wall. The pressing mechanism 41 has a pressing part 414 and a first power part drivenly connected to the pressing part 414. The pressing part 414 has a first detection device 413 for detecting whether the lower area of the back surface 91 of the precast wall is in a vertical plane. The first clamping mechanism 42 has a first clamping part and a second power part drivenly connected to the first clamping part; There are two sets of second automatic angle adjustment parts, each of which has a second detection device 17 for detecting whether the upper area of the back surface 91 of the precast wall is in a vertical plane and a second clamping mechanism 6 capable of clamping the upper area of the front surface of the precast wall. The second detection device 17 is installed on the Z-axis movable frame 5, and the two sets of second clamping mechanisms 6 are symmetrically installed at both ends of the support girder 13. The second clamping mechanism 6 has a second clamping part and a fourth power part drivingly connected to the second clamping part; There are two sets of pressing mechanisms 10, and the two sets of pressing mechanisms 10 are installed on the two sets of support seats 15 one by one. It has a pressing part and a fifth power part for driving the movement of the pressing part. The pressing end of the pressing part has a level detection device 104 for detecting whether the upper surface of the protruding rafter 92 of the precast wall 9 is in a horizontal position; There are two sets of diagonal bracing mechanisms. The diagonal bracing mechanism has a free support part 73 that abuts against the lower inclined surface of the protruding rafter 92 and can swing and a locking part 74 connecting the free support part 73. The free support part 73 is fixed to the support girder 13, and the locking part 74 is installed on the support seat 15; There are two sets of tie rod support mechanisms 7, and the two sets of tie rod support mechanisms 7 are installed on the two sets of support seats 15 one by one. It has an upward pulling member and an adjustment structure for adjusting the height of the end of the upward pulling member; There are two sets of horizontal angle adjustment mechanisms 14, and the two sets of horizontal angle adjustment mechanisms 14 are laterally installed on the two sets of support seats 15 one by one. The horizontal angle adjustment mechanism 14 has a Z-axis power part 141 fixed to the support seat 15, a Z-axis driving shaft 142 drivingly connected to the Z-axis power part 141, and a horizontal adjustment part 143 installed at the lower end of the Z-axis driving shaft 142. The horizontal adjustment part 143 abuts against the beam body of the Z-axis movable frame 5. The Z-axis power part 141 is a hydraulic power source.

[0039] A preferred technical solution of this embodiment: The XY-axis movement mechanism includes: A moving chassis 1, which has double-row X-axis guide rails; An X-axis movable chassis 2, which is slidably connected to the double-row X-axis guide rails. The X-axis movable chassis 2 has double-row Y-axis guide rails, and the Y-axis movable chassis 12 is slidably connected to the double-row Y-axis guide rails; An X-axis power source 3, which is installed on the moving chassis 1 and drivingly connected to the X-axis movable chassis 2; A Y-axis power source, which is installed on the X-axis movable chassis 2 and drivingly connected to the Y-axis movable chassis 12. The X-axis power source 3 and the Y-axis power source are both hydraulic power sources; The Z-axis power source 8 is a hydraulic power source and is fixed to the Y-axis movable chassis 12; Guides are fixedly provided at the four corners of the Y-axis movable chassis 12, and the four corners of the Z-axis movable frame 5 are connected to the upper ends of the respective guides.

[0040] A preferred technical solution of this embodiment: The first clamping mechanism 42 and the second clamping mechanism have the same structure, and the first detection device 413 and the second detection device have the same structure.

[0041] A preferred technical solution of this embodiment: The first power unit 411 is a hydraulic power source, which is drivingly connected to a push rod 412. The push rod 412 passes through a sleeve bracket, and this sleeve bracket is fixed to the Y-axis movable chassis 12. The outer end of the push rod 412 fixes the pressing part 414; The first detection device 413 includes: An installation box 4131, fixed to the upper end of the sleeve bracket, and a frame opening is provided at the front end thereof; A vertical plane detector 4134, suspended from the frame opening through two first chain spring strips 4133, and the first chain spring strips 4133 are composed of multiple first spring strips connected end to end; A pusher 4135, installed in the installation box 4131; A first buffer 4132 arranged horizontally, one end of the first buffer 4132 is connected to the vertical plane detector 4134, and the other end is connected to the drive shaft of the pusher 4135.

[0042] A preferred technical solution of this embodiment: The first clamping mechanism 42 is arranged adjacent to the pressing mechanism 41, and the second power unit 428 thereon is a hydraulic power source, and the second power unit 428 is installed on the Y-axis movable chassis 12 through a cantilever 421; The first clamping part includes: A sleeve 427 hinged at the corner of the cantilever 421; A movable tube 425 telescopically installed in the sleeve 427; A pressure rod 424 vertically fixed to the outer end of the movable tube 425 at one end; A pressure head 423 fixed to one side of the outer end of the pressure rod 424; A hydraulic pusher 422 arranged on the barrel of the sleeve 427. The hydraulic pusher 422 is connected to the outer end of the movable tube 425 through a top push rod 426, and the outer end of the top push rod 426 is hinged to the outer end of the movable tube 425. The drive shaft of the second power unit 428 is hinged to the outer barrel wall of the sleeve 427, and the connection point between the drive shaft of the second power unit 428 and the sleeve 427 is at a certain distance from the connection point between the sleeve 427 and the cantilever 421.

[0043] A preferred technical solution of this embodiment: The fifth power unit 101 is a hydraulic power source, which is obliquely installed on the support base 15; The pressing part includes a pressing arm 103, which is an L-shaped structure. One end of the pressing arm 103 is hinged to the support base 15. On the outer side of the rod body of the pressing arm 103 connected to the support base 15, there is an ear plate. The driving rod 102 of the fifth power unit 101 drives and is hinged to the ear plate. The horizontal instrument detection device 104 is installed on the lower side of the outer end of the pressing arm 103; The horizontal instrument detection device 104 includes: A hanging support plate 1041, which is installed on the lower side of the end of the pressing arm 103; A horizontal detector 1044, which is suspended from the hanging support plate 1041 by four second chain spring strips 1043. The second chain spring strips 1043 are composed of multiple second spring strips connected end to end; A second buffer 1042, one end of which abuts against the hanging support plate 1041 and is limited, and the second end of which abuts against the horizontal detector 1044 and is limited.

[0044] A preferred technical solution of this embodiment: The free support part 73 has an inverted triangular bracket and a support plane provided at the wide end of the inverted triangular bracket. The inverted triangular bracket is hinged to an equilateral triangular bracket, and the equilateral triangular bracket is fixed to the support base 15; The locking part 74 includes a locking rod. One end of the locking rod is hinged to the inverted triangular bracket, and the other end is provided with a long threaded section, which is adjustably connected to the support base 15 by a screw.

[0045] A preferred technical solution of this embodiment: The adjusting structure includes A first triangular profile 75 installed on the support base 15; A second triangular profile 72 installed on the support base 15. The second triangular profile 72 is arranged above the first triangular profile 75; An L-shaped frame, the outer corner point at the corner is hinged to the second triangular profile 72; A first adjusting rod 76. The first end of the first adjusting rod 76 has a threaded section, which is connected to the first triangular profile 75 by a screw. The second end of the first adjusting rod 76 is hinged to the first outer end of the L-shaped frame; A second adjusting rod 77. The first end of the second adjusting rod 77 is hinged to the second outer end of the L-shaped frame, and the second end is connected with a lifting arm, and the lifting arm can reach and lift the lifting ring 94 of the precast wall 9.

[0046] A preferred technical solution of this embodiment: The XY-axis movement mechanism is provided with a plurality of cameras 21 for detecting whether the precast wall 9 is aligned.

[0047] Embodiment 2: Working process of the wall fixing and adjusting mechanism: First automatic angle adjustment part: The first power part 411 serves as a hydraulic power source and is connected to the push rod 412 through a hydraulic pipeline. When it is necessary to press against the lower area of the back of the precast wall, the main control center controls the first power part 411 to output hydraulic power, pushing the push rod 412 to move forward, so that the pressing end at the front end of the mounting box 4131 approaches the wall. At this time, the vertical plane detector 4134 is suspended from the frame opening through two first chain spring strips 4133. When contacting the back of the wall, the first chain spring strips 4133 can adaptively fit the wall surface. If the back of the wall is not in a vertical plane, the signal detected by the vertical plane detector 4134 will be fed back to the main control center. At the same time, the second power part 428 of the first clamping mechanism 42 drives the sleeve 427 to rotate, adjusts the angle of the pressure rod 424, and then pushes the top push rod 426 through the hydraulic thruster 422, so that the movable tube 425 extends out, driving the pressure head 423 to clamp the lower area of the front of the precast wall. Second automatic angle adjustment part: The first clamping mechanism 42 and the second clamping mechanism have the same structure and the same working principle. The first detection device 413 and the second detection device have the same structure and the same working principle. After the Z-axis movable frame 5 rises to an appropriate height, the second clamping mechanism, under the control of the main control center, performs a clamping operation on the upper area of the back and the upper area of the front of the precast wall, and cooperates with the first automatic angle adjustment part to firmly clamp the precast wall 9.

[0048] Pressing mechanism 10: The fifth power part 101 is obliquely installed on the support base 15, and its driving rod 102 is hinged to the ear plate of the pressing arm 103. When it is necessary to detect and adjust the levelness of the upper surface of the protruding rafter 92 of the precast wall, the main control center controls the fifth power part 101 to drive the pressing arm 103 to rotate, so that the level detector device 104 approaches the protruding rafter 92. The horizontal detector 1044 is suspended from the suspension support plate 1041 through four second chain spring strips 1043 and can flexibly fit the surface of the protruding rafter. If it is detected that it is not level, the lateral positioning rod 11 can be manually adjusted, or the main control center can control the relevant power source to fine-tune according to the detection data until the upper surface of the protruding rafter 92 reaches a level state. Diagonal bracing mechanism: The inverted triangular bracket of the free support part 73 can swing around the connection point with the regular triangular bracket. After the precast wall is clamped and fixed, the angle of the inverted triangular bracket is adjusted manually or automatically so that its supporting plane abuts against the lower inclined surface of the protruding rafter 92. Then, the locking rod of the locking part 74 is tightened and adjusted by screws, so that the diagonal bracing mechanism firmly supports the precast wall and enhances the stability during the installation process. Tie rod support mechanism 7: The first triangular profile 75 and the second triangular profile 72 installed on the support base 15 provide support for the adjustment structure. When it is necessary to assist in positioning the precast wall, by rotating the first adjusting rod 76, the threaded section of which is screwed with the screw of the first triangular profile 75, the angle of the L-shaped frame is adjusted, and then the second adjusting rod 77 is adjusted to lift the boom until the boom reaches and holds the lifting ring 94 of the precast wall 9. By adjusting the two adjusting rods, the height of the end of the upward pulling member can be accurately controlled to assist in completing the wall positioning.

[0049] Embodiment 3: A control system for a trolley according to the present invention, the control system includes a main control center, and the main control center is respectively electrically connected to each power source, the first detection device, the second detection device, the level detection device 104, and the horizontal angle adjustment mechanism 14; The control system includes a precast wall alignment adjustment method, and the alignment adjustment method includes a precast wall Z-direction flatness adjustment method and a precast wall horizontal detection method; The precast wall Z-direction flatness adjustment method is to detect in real time whether the back surface 91 of the precast wall is in a vertical plane state through the first detection device and the second detection device; When the first detection device and the second detection device detect that the back surface 91 of the precast wall and the front surface of the precast wall are not in a vertical plane state and detect the deviation angle, the first detection device and the second detection device generate signals and send them to the main control center; The main control center, according to the received first signal, controls the cooperation of each power source on the first automatic clamping assembly and the second automatic clamping assembly, and utilizes the gravity of the precast wall 9 to make the back surface 91 of the precast wall and the front surface of the precast wall reach a vertical plane state; The precast wall horizontal detection method is to detect in real time whether the upper surface of the convex rafter 92 is in a horizontal state through the level detection device 104; When the level detection device 104 detects that the upper surface of the convex rafter 92 is not in a horizontal state, the generated second signal is sent to the main control center; The main control center, according to the received second signal, adjusts the angle of the support girder 13 by controlling the horizontal angle adjustment mechanism 14, thereby controlling the upper surface of the convex rafter of the precast wall 9 to reach a horizontal state.

[0050] Specific implementation of the control system, hardware connection and signal transmission. The main control center establishes electrical signal connections with the X-axis power source 3, Y-axis power source, Z-axis power source 8, first power unit 411, second power unit 428, third power unit, fourth power unit, and fifth power unit 101 through dedicated data lines to achieve precise control of each power source. At the same time, the main control center is connected to the first detection device (vertical plane detector 4134, thruster 4135, etc.), second detection device, and level detection device 104 (level detector 1044, etc.) to receive the wall state data feedback by each detection device in real time. In addition, multiple cameras 21 set on the XY-axis moving mechanism also communicate with the main control center, which is used to assist in detecting the position and alignment of the precast wall. Method for adjusting the Z-direction flatness of the precast wall: The first detection device and the second detection device detect the flatness state of the back surface 91 of the precast wall in real time. When the vertical plane detector 4134 and the corresponding detection elements in the second detection device detect that there is a deviation angle between the back surface of the wall and the vertical plane, the angle deviation data is immediately converted into an electrical signal and sent to the main control center. After receiving the signal, the main control center calculates the adjustment parameters required for each power source of the first automatic angle adjustment unit and the second automatic angle adjustment unit based on a preset control algorithm, such as the hydraulic output of the first power unit 411, second power unit 428, third power unit, and fourth power unit. Subsequently, the main control center sends instructions to each power source to coordinate the actions of the pressing part 414, first clamping part, and second clamping part, so that the back surface 91 and the front surface of the precast wall gradually reach the vertical plane state. During the process, the detection device continuously feeds back data until the deviation is within the allowable range. Method for detecting the level of the precast wall: The level detector 1044 of the level detection device 104 detects the horizontal condition of the upper surface of the convex rafter 92 in real time. When it detects non-levelness, the level detector 1044 transmits the data to the main control center. The main control center issues a control signal to the horizontal angle adjustment mechanism 14 according to a preset program, and drives the Z-axis drive shaft 142 to fine-tune by controlling the Z-axis power unit 141, thereby driving the support girder 13 to swing until the level detection device 104 detects that the upper surface of the convex rafter 92 is in a horizontal state.

[0051] In summary, the present invention can achieve high-precision installation: Through the real-time monitoring of the first detection device, second detection device, and level detection device, combined with the intelligent control of the main control center, it can accurately control the flatness, verticality, and levelness of the precast wall, significantly improving the installation quality of the prefabricated building. The present invention can achieve high-efficiency automation: It realizes the full-process automation of precast wall installation. Compared with traditional manual installation, the installation time of a single wall is shortened, the installation efficiency is greatly improved, and the construction period is shortened. At the same time, the manual operation is reduced, the risk of high-altitude operation is reduced, and the safety of construction personnel is guaranteed. The present invention has strong versatility and adaptability: the mechanical structure is designed flexibly, the clamping mechanism has a wide range of adaptability, and can adapt to precast walls with different thicknesses and heights; the diagonal bracing mechanism and the tie rod bracing mechanism can adjust the support angle and position according to the actual situation of the wall, enhancing the adaptability of the equipment to different working conditions. The present invention has intelligent control and feedback functions: the main control center quickly analyzes and adjusts the actions of each power source according to the data real-time feedback by the detection device, realizing adaptive control during the installation process. When the wall is detected to be tilted, the system quickly calculates the adjustment parameters and drives the angle adjustment mechanism to automatically complete the wall correction, improving the installation accuracy and reliability. The present invention can reduce costs: the efficient operation and low failure rate of the equipment effectively reduce the labor cost and equipment maintenance cost. At the same time, the high-precision installation avoids material waste caused by rework, and the comprehensive economic benefit is significantly improved.

[0052] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied to other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. An automated trolley with intelligent control, comprising an XY-axis motion mechanism. The top layer of the XY-axis motion mechanism is a Y-axis movable chassis (12). The automated trolley further comprises a Z-axis motion mechanism, which is installed on the Y-axis movable chassis (12) and has a Z-axis power source (8) and a Z-axis movable frame (5) drivingly connected to the Z-axis power source (8). It is characterized in that, The Z-axis movable frame (5) is installed with a support girder (13). The center of the support girder (13) is installed on the Z-axis movable frame (5) through a hinge seat with bearings. The support girder (13) can swing in the XYZ three axial directions with the bearings as the fulcrum. The support girder (13) is installed with 2 groups of support seats (15), and the 2 groups of support seats (15) are equidistantly arranged with the bearings as the center; The automated trolley further includes: The first automatic angle adjustment part, provided with 2 groups. The 2 groups of the first automatic angle adjustment parts are symmetrically installed on both sides of the Y-axis movable bottom frame (12). The first automatic angle adjustment part has a pressing mechanism (41) capable of pressing against the lower area of the back surface (91) of the precast wall and a first clamping mechanism (42) capable of clamping the lower area of the front surface of the precast wall. The pressing mechanism (41) has a pressing part (414) and a first power part drivingly connected to the pressing part (414). The pressing part (414) has a first detection device (413) for detecting whether the lower area of the back surface (91) of the precast wall is in a vertical plane. The first clamping mechanism (42) has a first clamping part and a second power part drivingly connected to the first clamping part; The second automatic angle adjustment part, provided with 2 groups. The second automatic angle adjustment part has a second detection device (17) for detecting whether the upper area of the back surface (91) of the precast wall is in a vertical plane and a second clamping mechanism (6) capable of clamping the upper area of the front surface of the precast wall. The second detection device (17) is installed on the Z-axis movable frame (5). The 2 groups of the second clamping mechanisms (6) are symmetrically installed at both ends of the support girder (13). The second clamping mechanism (6) has a second clamping part and a fourth power part drivingly connected to the second clamping part; The pressing mechanism (10), provided with 2 groups. The 2 groups of the pressing mechanisms (10) are installed on the 2 groups of support seats (15) one by one. It has a pressing part and a fifth power part driving the movement of the pressing part. The pressing end of the pressing part has a level detection device (104) for detecting whether the upper surface of the convex rafter (92) of the precast wall (9) is in a horizontal position; The diagonal bracing mechanism, provided with 2 groups. The diagonal bracing mechanism has a free support part (73) that abuts against the lower inclined surface of the convex rafter (92) and can swing and a locking part (74) connecting the free support part (73). The free support part (73) is fixed to the support girder (13), and the locking part (74) is installed on the support seat (15); The tie rod support mechanism (7), provided with 2 groups. The 2 groups of the tie rod support mechanisms (7) are installed on the 2 groups of support seats (15) one by one. It has a horizontal connecting member and an adjusting structure for adjusting the horizontal locking member; There are two sets of horizontal angle adjustment mechanisms (14). The two sets of horizontal angle adjustment mechanisms (14) are installed on the two sets of support seats (15) one by one on the side. The horizontal angle adjustment mechanism (14) has a Z-axis power unit (141) fixed to the support seat (15), a Z-axis drive shaft (142) drivingly connected to the Z-axis power unit (141), and a horizontal adjustment unit (143) installed at the lower end of the Z-axis drive shaft (142). The horizontal adjustment unit (143) abuts against the beam body of the Z-axis movable frame (5).

2. The automated trolley with intelligent control according to claim 1, wherein The XY-axis movement mechanism includes: A moving chassis (1), which has double-row X-axis guide rails; An X-axis movable chassis (2), slidably connected to the double-row X-axis guide rails. The X-axis movable chassis (2) has double-row Y-axis guide rails, and the Y-axis movable chassis (12) is slidably connected to the double-row Y-axis guide rails; An X-axis power source (3), installed on the moving chassis (1), and the X-axis power source (3) is drivingly connected to the X-axis movable chassis (2); A Y-axis power source, installed on the X-axis movable chassis (2), and the Y-axis power source is drivingly connected to the Y-axis movable chassis (12). The X-axis power source (3) and the Y-axis power source are both hydraulic power sources; The Z-axis power source (8) is a hydraulic power source and is fixed to the Y-axis movable chassis (12); Guides are fixed at the four corners of the Y-axis movable chassis (12), and the four corners of the Z-axis movable frame (5) are connected to the upper ends of the respective guides.

3. The automated trolley with intelligent control according to claim 1, characterized in that, The first clamping mechanism (42) and the second clamping mechanism have the same structure, and the first detection device (413) and the second detection device have the same structure.

4. An automated trolley with intelligent control according to claim 3, characterized in that, The first power unit (411) is a hydraulic power source, which is drivingly connected to a push rod (412). The push rod (412) passes through a sleeve bracket, and the sleeve bracket is fixed to the Y-axis movable chassis (12). The outer end of the push rod (412) fixes the abutting part (414); The first detection device (413) includes: An installation box (4131), fixed to the upper end of the sleeve bracket, and a frame opening is provided at its front end; A vertical plane detector (4134), suspended from the frame opening by two first chain spring strips (4133). The first chain spring strips (4133) are composed of multiple first spring strips connected end to end; A pusher (4135), installed in the installation box (4131); A horizontally arranged first buffer (4132), one end of the first buffer (4132) is connected to the vertical plane detector (4134), and the other end is connected to the drive shaft of the pusher (4135).

5. An automated trolley with intelligent control according to claim 3, characterized in that, The first clamping mechanism (42) is arranged adjacent to the abutting mechanism (41). The second power unit (428) thereon is a hydraulic power source, and the second power unit (428) is installed on the Y-axis movable chassis (12) through a cantilever (421); The first clamping part includes: A sleeve (427) rotatably connected to the corner of the cantilever (421); A movable tube (425) telescopically installed in the sleeve (427); A pressure rod (424) vertically fixed at one end to the outer end of the movable tube (425); A pressure head (423) fixed to one side of the outer end of the pressure rod (424); A hydraulic thruster (422) provided on the cylinder body of the sleeve (427). The hydraulic thruster (422) is connected to the outer end of the movable tube (425) through a push rod (426). The outer end of the push rod (426) is rotatably connected to the outer end of the movable tube (425). The drive shaft of the second power unit (428) is rotatably connected to the outer cylinder wall of the sleeve (427), and the connection point between the drive shaft of the second power unit (428) and the sleeve (427) is at a certain distance from the connection point between the sleeve (427) and the cantilever (421).

6. An automated trolley with intelligent control according to claim 1, characterized in that, The fifth power unit (101) is a hydraulic power source, which is obliquely installed on the support base (15); The pressing part includes a pressing arm (103). The pressing arm (103) has an L-shaped structure. One end of it is rotatably connected to the support base (15). On the outer side of the rod body where the pressing arm (103) is connected to the support base (15), there is an ear plate. The drive rod (102) of the fifth power unit (101) is rotatably drivingly connected to the ear plate. The horizontal level detecting device (104) is installed on the lower side of the outer end of the pressing arm (103); The horizontal level detecting device (104) includes: A hanging support plate (1041), installed on the lower side of the end of the pressing arm (103); A horizontal detector (1044), suspended from the hanging support plate (1041) by four second chain spring strips (1043). The second chain spring strips (1043) are composed of multiple second spring strips connected end to end; A second buffer (1042), with one end abutted and limited to the hanging support plate (1041), and its second end abutted and limited to the horizontal detector (1044).

7. An automated trolley with intelligent control according to claim 1, characterized in that, The free support part (73) has an inverted triangular bracket and a support plane provided at the wide end of the inverted triangular bracket. The inverted triangular bracket is rotatably connected to an equilateral triangular bracket, and the equilateral triangular bracket is fixed to the support base (15); The locking part (74) includes a locking rod. One end of the locking rod is rotatably connected to the inverted triangular bracket, and the other end is provided with a long threaded section, which is adjustably connected to the support base (15) by a screw; 8. An automated trolley with intelligent control according to claim 1, characterized in that, The adjusting structure includes A first triangular profile (75) installed on the support base (15); A second triangular profile (72) installed on the support base (15). The second triangular profile (72) is provided above the first triangular profile (75); An L-shaped frame, and the outer corner point at the corner is rotatably connected to the second triangular profile (72); A first adjusting rod (76). The first end of the first adjusting rod (76) has a threaded section, which is connected to the first triangular profile (75) by a screw. The second end of the first adjusting rod (76) is rotatably connected to the first outer end of the L-shaped frame; A second adjusting rod (77), a first end of the second adjusting rod (77) is rotatably connected to a second outer end of the L-shaped frame, a second end thereof is connected with a jib, and the jib can reach and lift a lifting ring (94) of the precast wall (9).

9. An automated trolley with intelligent control according to claim 1, characterized in that, The XY-axis moving mechanism is provided with a plurality of cameras (21) for detecting whether the precast wall (9) is aligned.

10. A control system for a trolley, characterized in that, Comprising the automated trolley according to any one of claims 1-9, the control system includes a main control center, and the main control center is respectively electrically connected to each power source, the first detection device, the second detection device, the spirit level detection device (104), and the horizontal angle adjustment mechanism (14); The control system includes a method for adjusting the alignment of the precast wall, and the alignment adjustment method includes a method for adjusting the Z-direction levelness of the precast wall and a method for detecting the horizontal level of the precast wall; The method for adjusting the Z-direction verticality of the precast wall is to detect in real time whether the back surface (91) of the precast wall is in a vertical state through the first detection device and the second detection device; When the first detection device and the second detection device detect that the back surface (91) of the precast wall and the front surface of the precast wall are not in a vertical state and detect the deviation angle, the first detection device and the second detection device generate signals and send them to the main control center; The main control center controls the cooperation of each power source on the first automatic angle adjustment part and the second automatic angle adjustment part according to the received first signal, and uses the gravity of the precast wall (9) to make the back surface (91) of the precast wall and the front surface of the precast wall reach a vertical state; The method for detecting the horizontal level of the precast wall is to detect in real time whether the upper surface of the lintel (92) is in a horizontal state through the spirit level detection device (104); When the spirit level detection device (104) detects that the upper surface of the lintel (92) is not in a horizontal state, the second signal generated by it is sent to the main control center; The main control center controls the angle of the support girder (13) by controlling the horizontal angle adjustment mechanism (14) according to the received second signal, and further controls the upper surface of the lintel of the precast wall (9) to reach a horizontal state.

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