An intelligently controlled automated trolley and its control system

Abstract

The present invention discloses an intelligently controlled automated trolley and a control system for the trolley, comprising an XY-axis motion mechanism. The automated trolley further comprises a Z-axis motion mechanism, which is installed on a Y-axis movable chassis and has a Z-axis power source and a Z-axis movable frame connected to the Z-axis power source. The XY-axis motion mechanism realizes horizontal two-dimensional movement of the trolley, and the Z-axis motion mechanism controls vertical lifting; the clamping assembly realizes clamping and fixing of prefabricated walls, the detection device realizes tilt angle detection, and the adjustment mechanism is combined with the tilt angle detection device to ensure that the wall angle is correct. The control system is centered on a main control center and is electrically connected to each power source and detection device. Through the prefabricated wall Z-direction vertical angle and horizontal angle adjustment mechanism, the actions of each mechanism are intelligently regulated according to the detection data. The present invention realizes a fully automated process of prefabricated walls from clamping and fixing, leveling to installation, and has the advantages of high installation accuracy, high efficiency improvement, and strong versatility.

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 for the trolley. Background Art

[0002] With the rapid development of building industrialization, 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 installation of prefabricated walls. Traditional installation methods mostly rely on manual labor with cranes or forklifts. The accuracy of manual measurement and positioning during the installation process is low, and the flatness and verticality of the walls are difficult to ensure. This leads to problems such as gaps and misalignment at the joints, seriously affecting the overall structural strength and aesthetics of the building. At the same time, manual operation is labor-intensive, and workers need to work for long periods of time at high altitudes or in confined spaces. This poses prominent safety risks and low installation efficiency, making it difficult to meet the needs of large-scale industrialized construction.

[0003] While some existing automated installation equipment can reduce manual labor to a certain extent, it suffers from complex structures, high costs, and poor versatility. For example, the equipment lacks adaptability to prefabricated walls of varying specifications and lacks a real-time feedback mechanism, making it impossible to dynamically adjust installation parameters based on the actual condition of the wall. This can easily lead to problems such as wall damage and substandard installation accuracy during installation.

[0004] like Figure 2 As shown, Figure 2 This 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 its 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.

[0005] The prefabricated walls 9 need to be installed side by side on the construction piles of the subway. If manual alignment is used, it will consume a lot of manpower and material resources, and manual operation will have safety risks.

[0006] 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

[0007] In response to the shortcomings of the existing technology, the present invention aims to provide an intelligently controlled automated trolley and its control system. The purpose of the present invention is to achieve high-precision installation of prefabricated walls in multiple dimensions, such as flatness, verticality, and horizontality, by synergizing a multi-dimensional intelligent detection device with an automated adjustment mechanism. This ensures that wall installation errors are kept to a minimum, thereby improving the overall quality of prefabricated buildings.

[0008] To solve the above technical problems, the present invention is implemented through the following solutions: an intelligently controlled automated trolley of the present invention includes an XY-axis motion mechanism, the top layer of the XY-axis motion mechanism is a Y-axis movable chassis, the automated trolley also includes a Z-axis motion mechanism, the Z-axis motion mechanism is installed on the Y-axis movable chassis, and has a Z-axis power source and a Z-axis movable frame driven by the Z-axis power source, the Z-axis movable frame is installed with a support beam, the center of the support beam is installed on the Z-axis movable frame through an articulated seat with a bearing, the support beam can swing in the three axes of X, Y, and Z with the bearing as the fulcrum, the support beam is installed with two groups of support seats, and the two groups of support seats are equidistantly arranged with the bearing as the center;

[0009] The automated trolley further comprises:

[0010] The first automatic angle adjustment unit is provided with two groups, and the two groups of the first automatic angle adjustment units are symmetrically installed on both sides of the Y-axis movable chassis. The first automatic angle adjustment unit has a clamping mechanism capable of pressing against the lower area of ​​the back of the prefabricated wall and a first clamping mechanism capable of clamping the lower area of ​​the front of the prefabricated wall. The clamping mechanism has a clamping portion and a first power portion driven by the clamping portion. The clamping portion has a first detection device for detecting whether the lower area of ​​the back of the prefabricated wall is in a vertical plane. The first clamping mechanism has a first clamping portion and a second power portion driven by the first clamping portion.

[0011] The second automatic angle adjustment unit is provided with two groups, each of which has a second detection device for detecting whether the upper area of ​​the back side of the prefabricated wall is in a vertical plane and a second clamping mechanism capable of clamping the upper area of ​​the front side of the prefabricated wall. The second detection device is mounted on the Z-axis movable frame, and the two groups of the second clamping mechanisms are symmetrically mounted on the two end portions of the supporting beam. The second clamping mechanism includes a second clamping portion and a fourth power portion drivingly connected to the second clamping portion.

[0012] The clamping mechanism is provided with two groups, and the two groups of clamping mechanisms are installed one-to-one on the two groups of support seats. The two groups of clamping mechanisms have a clamping part and a fifth power part that drives the clamping part to move. The pressing end of the clamping part has a level detection device for detecting whether the upper surface of the protruding rafter of the prefabricated wall is in a horizontal position;

[0013] Two diagonal bracing mechanisms are provided, each comprising a swingable free supporting portion pressed against the lower slope of the convex rafter and a locking portion connected to the free supporting portion, the free supporting portion being fixed to the supporting beam, and the locking portion being mounted on the supporting seat;

[0014] The pull rod support mechanism is provided with two groups, and the two groups of pull rod support mechanisms are installed one-to-one on the two groups of support seats, and have a horizontal connecting member and an adjustment structure for adjusting the horizontal locking member;

[0015] The horizontal angle adjustment mechanism is provided with two groups, and the two groups of horizontal angle adjustment mechanisms are installed one-to-one on the sides of the two groups of support seats. The horizontal angle adjustment mechanism has a Z-axis power unit fixed to the support seat, a Z-axis drive shaft driven by the Z-axis power unit, and a horizontal adjustment part installed at the lower end of the Z-axis drive shaft, and the horizontal adjustment part abuts against the beam body of the Z-axis movable frame.

[0016] Furthermore, the XY axis motion mechanism includes:

[0017] A movable chassis having a double-row X-axis guide rail;

[0018] An X-axis movable chassis is slidably connected to a double-row X-axis guide rail. The X-axis movable chassis has a double-row Y-axis guide rail. The Y-axis movable chassis is slidably connected to the double-row Y-axis guide rail.

[0019] An X-axis power source is installed on the movable chassis, and the X-axis power source is driven and connected to the X-axis movable chassis;

[0020] A Y-axis power source is installed on the X-axis movable chassis, the Y-axis power source is driven and connected to the Y-axis movable chassis, and the X-axis power source and the Y-axis power source are both hydraulic power sources;

[0021] The Z-axis power source is a hydraulic power source, which is fixed to the Y-axis movable chassis;

[0022] The four corners of the Y-axis movable base frame are all fixed with guides, and the four corners of the Z-axis movable frame are connected to the upper ends of the guides.

[0023] 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.

[0024] Furthermore, the first power unit is a hydraulic power source, which is driven by a push rod, the push rod is inserted into a sleeve bracket, the sleeve bracket is fixed to the Y-axis movable chassis, and the outer end of the push rod is fixed to the abutting portion;

[0025] The first detection device comprises:

[0026] The mounting box is fixed to the upper end of the sleeve bracket, and a frame opening is provided at the front end thereof;

[0027] A vertical surface detector is suspended from the frame opening by two first chain spring bars, wherein the first chain spring bar is composed of a plurality of first spring bars connected end to end;

[0028] a propeller, mounted on the mounting box;

[0029] A first buffer is arranged horizontally, one end of the first buffer is connected to the vertical surface detector, and the other end is connected to the driving shaft of the propeller.

[0030] Furthermore, the first clamping mechanism is provided on the adjacent side of the pressing mechanism, and the second power unit thereon is a hydraulic power source, and the second power unit is mounted on the Y-axis movable chassis via a cantilever;

[0031] The first clamping portion includes:

[0032] A sleeve rotatably connected to the cantilever corner;

[0033] a movable tube retractably mounted on the sleeve;

[0034] A pressure rod with one end vertically fixed to the outer end of the movable tube;

[0035] A pressure head fixed to one side of the outer end of the pressure rod;

[0036] A hydraulic thruster is provided on the sleeve body, and the hydraulic thruster is connected to the outer end of the movable tube through a push rod. The outer end of the push rod and the outer end of the movable tube are rotatably connected. The driving shaft of the second power unit is rotatably connected to the outer cylinder wall of the sleeve, and the connection point between the driving shaft of the second power unit and the sleeve is at a certain distance from the connection point between the sleeve and the cantilever.

[0037] Furthermore, the fifth power unit is a hydraulic power source, which is obliquely mounted on the support seat;

[0038] The pressing part includes a pressing arm, which is an L-shaped structure, one end of which is rotatably connected to the support base, and the outer side of the rod body of the pressing arm connected to the support base is provided with an ear plate, the driving rod of the fifth power unit is rotatably connected to the ear plate, and the lower side of the outer end of the pressing arm is installed with the level detection device;

[0039] The level meter detection device comprises:

[0040] A hanging bracket plate is installed on the lower side of the end of the pressing arm;

[0041] The level detector is suspended on the suspension bracket plate via four second chain spring bars, wherein the second chain spring bar is composed of a plurality of second spring bars connected end to end;

[0042] The second buffer has one end abutting against the suspension bracket plate and being limited, and a second end abutting against the level detector and being limited.

[0043] Furthermore, the free support portion has an inverted triangle bracket and a support plane provided at the wide end of the inverted triangle bracket, the inverted triangle bracket is rotatably connected to an equilateral triangle bracket, and the equilateral triangle bracket is fixed to the support base;

[0044] The locking portion includes a locking rod, one end of which is rotatably connected to the inverted triangle bracket, and the other end of which is provided with a long threaded section, which is adjustably connected to the support seat through a screw.

[0045] Furthermore, the regulating structure includes

[0046] a first triangular profile mounted on the support seat;

[0047] a second triangular profile mounted on the support base, wherein the second triangular profile is disposed above the first triangular profile;

[0048] The L-shaped frame has an outer corner point at a corner rotatably connected to the second triangular profile;

[0049] a first adjusting rod, wherein a first end of the first adjusting rod has a threaded section connected to the first triangular profile by a screw, and a second end of the first adjusting rod is rotatably connected to the first outer end of the L-shaped frame;

[0050] A second adjusting rod, wherein the first end of the second adjusting rod is rotatably connected to the second outer end of the L-shaped frame, and the second end of the second adjusting rod is connected to a hanging arm, and the hanging arm can reach and hang the hanging ring of the prefabricated wall.

[0051] Furthermore, the XY axis motion mechanism is provided with a plurality of cameras for detecting whether the prefabricated walls are aligned.

[0052] A control system for a trolley of the present invention includes a main control center, which establishes electrical signal connections with each power source, a first detection device, a second detection device, a level detection device, and a horizontal angle adjustment mechanism;

[0053] The control system includes a prefabricated wall alignment adjustment method, which includes a prefabricated wall Z-direction horizontality adjustment method and a prefabricated wall horizontality detection method;

[0054] The Z-direction verticality adjustment method of the prefabricated wall is to detect in real time whether the back of the prefabricated wall is in a vertical state by a first detection device and a second detection device;

[0055] When the first detection device and the second detection device detect that the back surface and the front surface of the prefabricated wall are not in a vertical state and detect the deviation angle, the first detection device and the second detection device generate a signal and send it to the main control center;

[0056] The main control center controls the power sources of the first automatic angle adjustment unit and the second automatic angle adjustment unit to cooperate with each other according to the received first signal, and utilizes the gravity of the prefabricated wall to make the back side and the front side of the prefabricated wall reach a vertical state;

[0057] The prefabricated wall level detection method is to detect in real time whether the upper surface of the protruding rafter is in a horizontal state by using a level detection device;

[0058] 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 the level detection device is sent to the main control center;

[0059] The main control center adjusts the angle of the supporting beam by controlling the horizontal angle adjustment mechanism according to the received second signal, thereby controlling the upper surface of the protruding rafter of the prefabricated wall to reach a horizontal state.

[0060] Compared with the prior art, the present invention has the following beneficial effects:

[0061] 1. The present invention enables high-precision installation: through real-time monitoring by the first detection device, the second detection device, and the level detection device, combined with intelligent regulation by the main control center, the flatness, verticality, and horizontality of the prefabricated wall can be accurately controlled, significantly improving the installation quality of the prefabricated building.

[0062] 2. This invention is highly automated: it automates the entire prefabricated wall installation process. Compared to traditional manual installation, it reduces the time required to install a single wall, significantly improving installation efficiency and shortening the construction period. It also reduces manual labor, lowers the risk of working at height, and ensures the safety of construction workers.

[0063] 3. The present invention has strong versatility and adaptability: the mechanical structure design is flexible, the clamping mechanism has a wide range of adaptability, and can adapt to prefabricated walls of different thicknesses and heights; the diagonal bracing mechanism and the pull rod support mechanism can adjust the support angle and position according to the actual situation of the wall, enhancing the equipment's adaptability to different working conditions.

[0064] 4. The present invention features intelligent control and feedback: The main control center rapidly analyzes and adjusts the operation of each power source based on real-time data from the detection device, achieving adaptive control of the installation process. When a tilted wall is detected, the system rapidly calculates adjustment parameters and activates the angle adjustment mechanism to automatically correct the wall, improving installation accuracy and reliability.

[0065] 5. The present invention can reduce costs: the efficient operation and low failure rate of the equipment effectively reduce labor costs and equipment maintenance costs. At the same time, high-precision installation avoids material waste caused by rework, and the overall economic benefits are significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] Figure 1 This is a diagram of the entire automated trolley of the present invention.

[0067] Figure 2 It is a structural diagram of the prefabricated wall of the present invention.

[0068] Figure 3 This is a structural diagram of the first automatic angle adjustment unit of the present invention.

[0069] Figure 4 This is a first viewing angle structural diagram of the first automatic angle adjustment unit of the present invention.

[0070] Figure 5 It is a structural diagram of the abutting portion of the present invention.

[0071] Figure 6 This is a second viewing angle structural diagram of the first automatic angle adjustment unit of the present invention.

[0072] Figure 7 This is a third viewing angle structural diagram of the first automatic angle adjustment unit of the present invention.

[0073] Figure 8 This is a structural diagram of the first automatic angle adjustment part of the present invention after being clamped.

[0074] Figure 9 This is the installation distribution diagram of each camera of the present invention.

[0075] Figure 10 This is a structural diagram of the second clamping mechanism of the present invention clamping a prefabricated wall.

[0076] Figure 11 This is an installation structure diagram of the second detection device, the pull rod support mechanism and the pressing mechanism of the present invention.

[0077] Figure 12 It is a structural diagram of the clamping mechanism of the present invention.

[0078] Figure 13 It is a structural diagram of the level detection device of the present invention.

[0079] Figure 14 This is a diagram of the installation structure of the pull rod support mechanism of the present invention.

[0080] Figure 15 The invention provides an installation structure for the support beam and the support seat.

[0081] Figure 16 This is a diagram of the installation structure of the horizontal angle adjustment mechanism of the present invention.

[0082] : Symbols in the accompanying drawings: mobile 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, prefabricated wall 9, clamping mechanism 10, lateral positioning rod 11, Y-axis movable chassis 12, supporting beam 13, horizontal angle adjustment mechanism 14, support seat 15, second detection device 17, camera 21, tightening mechanism 41, first clamping mechanism 42, second triangular profile 72, free support portion 73, locking portion 74, first triangular profile 75, first adjusting rod 76, second adjusting rod 77, back side of prefabricated wall 91, protruding rafter 92, lifting ring 94, clamping arm 103, spirit level Detection device 104, Z-axis power unit 141, Z-axis drive shaft 142, horizontal adjustment unit 143, push rod 412, first detection device 413, tightening unit 414, cantilever 421, hydraulic thruster 422, pressure rod 424, pressure head 423, movable tube 425, push rod 426, sleeve 427, suspension bracket plate 1041, second buffer 1042, second chain spring bar 1043, level detector 1044, mounting box 4131, first buffer 4132, first chain spring bar 4133, vertical surface detector 4134, thruster 4135. DETAILED DESCRIPTION

[0083] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions 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 precise definition of the scope of protection of the present invention. Obviously, the embodiments described in the present invention are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0084] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0085] Example 1: The specific structure of the present invention is as follows:

[0086] Please refer to the attached Figure 1-16, an intelligently controlled automated trolley of the present invention includes an XY-axis motion mechanism, the top layer of the XY-axis motion mechanism is a Y-axis movable base frame 12, and the automated trolley also includes a Z-axis motion mechanism, which is installed on the Y-axis movable base frame 12, and has a Z-axis power source 8 and a Z-axis movable frame 5 driven and connected to the Z-axis power source 8, and the Z-axis movable frame 5 is installed with a supporting beam 13, and the center of the supporting beam 13 is installed on the Z-axis movable frame 5 through a hinge seat with a bearing, and the supporting beam 13 can swing in the three axes of X, Y, and Z with the bearing as the fulcrum, and the supporting beam 13 is installed with two groups of support seats 15, and the two groups of support seats 15 are equidistantly arranged with the bearing as the center; a Y-axis track will be laid at the construction site, and sliders are provided at the four corners of the XY-axis motion mechanism, each slider is arranged in the Y-axis, and each slider is slidably connected to the Y-axis track.

[0087] The automated trolley further comprises:

[0088] The first automatic angle adjustment unit is provided with two groups. The two groups of the first automatic angle adjustment units are symmetrically installed on both sides of the Y-axis movable chassis 12. The first automatic angle adjustment unit has a clamping mechanism 41 that can press against the lower area of ​​the back surface 91 of the prefabricated wall and a first clamping mechanism 42 that can clamp the lower area of ​​the front surface of the prefabricated wall. The clamping mechanism 41 has a clamping portion 414 and a first power portion driven by the clamping portion 414. The clamping portion 414 has a first detection device 413 that detects whether the lower area of ​​the back surface 91 of the prefabricated wall is in a vertical plane. The first clamping mechanism 42 has a first clamping portion and a second power portion driven by the first clamping portion.

[0089] The second automatic angle adjustment unit is provided with two groups, each of which has a second detection device 17 for detecting whether the upper area of ​​the back surface 91 of the prefabricated wall is in a vertical plane and a second clamping mechanism 6 capable of clamping the upper area of ​​the front surface of the prefabricated wall. The second detection device 17 is mounted on the Z-axis movable frame 5. The two groups of the second clamping mechanisms 6 are symmetrically mounted on the two end portions of the support beam 13. The second clamping mechanism 6 has a second clamping portion and a fourth power portion drivingly connected to the second clamping portion.

[0090] The clamping mechanism 10 is provided with two groups, and the two groups of clamping mechanisms 10 are mounted one-to-one on the two groups of support seats 15. The clamping mechanism 10 comprises a clamping portion and a fifth power portion for driving the clamping portion to move. The clamping end of the clamping portion has a level detection device 104 for detecting whether the upper surface of the protruding rafter 92 of the prefabricated wall 9 is in a horizontal position.

[0091] There are two diagonal bracing mechanisms, each comprising a free support portion 73 that is pressed against the lower slope of the convex rafter 92 and can swing, and a locking portion 74 connected to the free support portion 73. The free support portion 73 is fixed to the support beam 13, and the locking portion 74 is mounted on the support seat 15.

[0092] The pull rod support mechanism 7 is provided with two groups, and the two groups of pull rod support mechanisms 7 are installed one-to-one on the two groups of support seats 15, and have an upward pulling member and an adjustment structure for adjusting the height of the end of the upward pulling member;

[0093] Two horizontal angle adjustment mechanisms 14 are provided, one for each side mounted on the two support bases 15. Each horizontal angle adjustment mechanism 14 comprises a Z-axis power unit 141 fixed to the support base 15, a Z-axis drive shaft 142 drivingly connected to the Z-axis power unit 141, and a horizontal adjustment unit 143 mounted at the lower end of the Z-axis drive shaft 142. The horizontal adjustment unit 143 abuts against the beam of the Z-axis movable frame 5. The Z-axis power unit 141 is a hydraulic power source.

[0094] A preferred technical solution of this embodiment: the XY axis motion mechanism includes:

[0095] A movable chassis 1 having a double-row X-axis guide rail;

[0096] The X-axis movable chassis 2 is slidably connected to the double-row X-axis guide rails. The X-axis movable chassis 2 has a double-row Y-axis guide rail. The Y-axis movable chassis 12 is slidably connected to the double-row Y-axis guide rails.

[0097] An X-axis power source 3 is installed on the movable chassis 1, and the X-axis power source 3 is driven and connected to the X-axis movable chassis 2;

[0098] A Y-axis power source is installed on the X-axis movable chassis 2, and the Y-axis power source is driven and 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;

[0099] The Z-axis power source 8 is a hydraulic power source, which is fixed to the Y-axis movable chassis 12;

[0100] Guides are fixed on the four corners of the Y-axis movable base frame 12, and the four corners of the Z-axis movable frame 5 are connected to the upper ends of the guides.

[0101] 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.

[0102] A preferred technical solution of this embodiment: the first power part 411 is a hydraulic power source, which is driven by a push rod 412. The push rod 412 is inserted into a sleeve bracket, which is fixed to the Y-axis movable chassis 12. The outer end of the push rod 412 is fixed to the pressing part 414.

[0103] The first detection device 413 includes:

[0104] The mounting box 4131 is fixed to the upper end of the sleeve bracket, and a frame opening is provided at the front end thereof;

[0105] The vertical surface detector 4134 is suspended from the frame opening by two first chain spring bars 4133 , wherein the first chain spring bar 4133 is composed of multiple first spring bars connected end to end;

[0106] The propeller 4135 is installed in the installation box 4131;

[0107] The first buffer 4132 is arranged horizontally, and one end of the first buffer 4132 is connected to the vertical surface detector 4134, and the other end is connected to the driving shaft of the propeller 4135.

[0108] A preferred technical solution of this embodiment: the first clamping mechanism 42 is provided 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 mounted on the Y-axis movable chassis 12 via a cantilever 421 ;

[0109] The first clamping portion includes:

[0110] A sleeve 427 hinged to the corner of the cantilever 421;

[0111] A movable tube 425 retractably mounted on the sleeve 427;

[0112] A pressure rod 424 with one end vertically fixed to the outer end of the movable tube 425;

[0113] A pressure head 423 fixed to one side of the outer end of the pressure rod 424;

[0114] A hydraulic thruster 422 is mounted on the sleeve 427 and is connected to the outer end of the movable tube 425 via a push rod 426. The outer end of the push rod 426 is hingedly connected to the outer end of the movable tube 425. The drive shaft of the second power unit 428 is hingedly connected to the outer wall of the sleeve 427, and the connection point between the drive shaft of the second power unit 428 and the sleeve 427 is a certain distance away from the connection point between the sleeve 427 and the cantilever 421.

[0115] A preferred technical solution of this embodiment: the fifth power unit 101 is a hydraulic power source, which is obliquely mounted on the support seat 15;

[0116] The pressing portion includes a pressing arm 103, which is an L-shaped structure, one end of which is hinged to the support base 15. The pressing arm 103 has an outer side of a rod body connected to the support base 15, and a lug is provided. The driving rod 102 of the fifth power unit 101 drives and hinges the lug. The level detection device 104 is installed on the lower side of the outer end of the pressing arm 103;

[0117] The level meter detection device 104 includes:

[0118] A suspension bracket plate 1041 is installed on the lower side of the end of the clamping arm 103;

[0119] The level detector 1044 is suspended on the suspension bracket plate 1041 via four second chain spring bars 1043 , wherein the second chain spring bar 1043 is composed of multiple second spring bars connected end to end;

[0120] The second buffer 1042 has one end abutting against the suspension bracket plate 1041 and being restricted, and a second end abutting against the level detector 1044 and being restricted.

[0121] A preferred technical solution of this embodiment: the free support portion 73 has an inverted triangle bracket and a support plane provided at the wide end of the inverted triangle bracket, the inverted triangle bracket is hinged to an equilateral triangle bracket, and the equilateral triangle bracket is fixed to the support base 15;

[0122] The locking portion 74 includes a locking rod, one end of which is hinged to the inverted triangle bracket, and the other end of which is provided with a long threaded section, which is adjustably connected to the support base 15 via a screw.

[0123] A preferred technical solution of this embodiment: the regulating structure includes

[0124] A first triangular profile 75 mounted on the support base 15;

[0125] A second triangular profile 72 mounted on the support base 15 , wherein the second triangular profile 72 is disposed above the first triangular profile 75 ;

[0126] The outer corner point of the L-shaped frame is hinged to the second triangular profile 72;

[0127] a first adjusting rod 76 , wherein a first end of the first adjusting rod 76 has a threaded section connected to the first triangular profile 75 via a screw, and a second end of the first adjusting rod 76 is hinged to the first outer end of the L-shaped frame;

[0128] The second adjusting rod 77 has a first end hinged to the second outer end of the L-shaped frame, and a second end connected to a hanging arm, which can reach and hang the hanging ring 94 of the prefabricated wall 9.

[0129] A preferred technical solution of this embodiment: the XY axis motion mechanism is provided with a plurality of cameras 21 for detecting whether the prefabricated walls 9 are aligned.

[0130] Example 2:

[0131] The wall fixing and adjustment mechanism operates as follows: First, the automatic angle adjustment section: The first power unit 411 serves as a hydraulic power source and is connected to the push rod 412 via a hydraulic pipeline. When the lower area of ​​the back of the prefabricated wall needs to be pressed against the wall, the main control center controls the first power unit 411 to output hydraulic power, pushing the push rod 412 forward, bringing the front end of the mounting box 4131 closer to the wall. At this point, the vertical plane detector 4134 is suspended from the frame opening via two first chain springs 4133. When in contact with the back of the wall, the first chain springs 4133 adapt to the wall surface. If the back of the wall is not in a vertical plane, the signal detected by the vertical plane detector 4134 is fed back to the main control center. Simultaneously, the second power unit 428 of the first clamping mechanism 42 drives the sleeve 427 to rotate, adjusting the angle of the push rod 424. The hydraulic thruster 422 then pushes the push rod 426, extending the movable tube 425 and driving the pressure head 423 to clamp against the lower area of ​​the front of the prefabricated wall.

[0132] Second Automatic Angle Adjustment Unit: The first clamping mechanism 42 and the second clamping mechanism have the same structure and operate in the same principle. The first detection device 413 and the second detection device have the same structure and operate in the same principle. When the Z-axis movable frame 5 rises to the appropriate height, the second clamping mechanism, under the control of the main control center, clamps the upper rear and front areas of the prefabricated wall, cooperating with the first automatic angle adjustment unit to securely hold the prefabricated wall 9.

[0133] Clamping mechanism 10: The fifth power unit 101 is obliquely mounted on the support base 15, and its drive rod 102 is hinged to the lug of the clamping arm 103. When it is necessary to detect and adjust the horizontality of the upper surface of the prefabricated wall rafter 92, the main control center controls the fifth power unit 101 to drive the clamping arm 103 to rotate, so that the level detection device 104 approaches the rafter 92. The level detector 1044 is suspended from the suspension bracket plate 1041 via four second chain spring strips 1043, allowing it to flexibly fit the surface of the rafter. If unevenness is detected, 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 rafter 92 reaches a horizontal state.

[0134] Diagonal bracing mechanism: The inverted triangle bracket of the free support part 73 can swing around the connection point with the regular triangle bracket. When the prefabricated wall is clamped and fixed, the angle of the inverted triangle bracket is adjusted manually or automatically so that its supporting plane is against the lower inclined surface of the convex rafter 92. Then, the locking rod of the locking part 74 is tightened and adjusted by screws to make the diagonal bracing mechanism firmly support the prefabricated wall, thereby enhancing stability during the installation process.

[0135] Tie rod support mechanism 7: The first triangular profile 75 and the second triangular profile 72 mounted on the support base 15 provide support for the adjustment structure. When assisting in positioning the prefabricated wall, the first adjustment rod 76 is rotated, and its threaded section engages the screw of the first triangular profile 75 to adjust the angle of the L-shaped frame. The second adjustment rod 77 is then adjusted to raise or lower the boom until it reaches and engages the lifting ring 94 of the prefabricated wall 9. By adjusting the two adjustment rods, the height of the end of the upward tension member can be precisely controlled to assist in completing the wall positioning.

[0136] Example 3:

[0137] A control system for a trolley of the present invention includes a main control center, which establishes electrical signal connections with each power source, the first detection device, the second detection device, the level detection device 104, and the horizontal angle adjustment mechanism 14;

[0138] The control system includes a prefabricated wall alignment adjustment method, which includes a prefabricated wall Z-direction flatness adjustment method and a prefabricated wall horizontal detection method;

[0139] The Z-direction flatness adjustment method of the prefabricated wall is to detect in real time whether the back surface 91 of the prefabricated wall is in a vertical plane state by a first detection device and a second detection device;

[0140] When the first detection device and the second detection device detect that the back surface 91 of the prefabricated wall and the front surface of the prefabricated wall are not in a vertical plane state and detect the deviation angle, the first detection device and the second detection device generate a signal and send it to the main control center;

[0141] The main control center controls the power sources of the first automatic clamping assembly and the second automatic clamping assembly to cooperate with each other according to the received first signal, and utilizes the gravity of the prefabricated wall 9 to make the back surface 91 of the prefabricated wall and the front surface of the prefabricated wall reach a vertical plane state;

[0142] The prefabricated wall level detection method is to use a level meter detection device 104 to detect in real time whether the upper surface of the protruding rafter 92 is in a horizontal state;

[0143] When the level detection device 104 detects that the upper surface of the convex rafter 92 is not in a horizontal state, the second signal generated by the level detection device 104 is sent to the main control center;

[0144] The main control center adjusts the angle of the support beam 13 by controlling the horizontal angle adjustment mechanism 14 according to the received second signal, thereby controlling the upper surface of the protruding rafter of the prefabricated wall 9 to reach a horizontal state.

[0145] Regarding the specific implementation of the control system, including hardware connections and signal transmission, the main control center establishes electrical signal connections via dedicated data lines 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, enabling precise control of each power source. Simultaneously, the main control center is connected to the first detection device (vertical plane detector 4134, thruster 4135, etc.), the second detection device, and the level detection device 104 (level detector 1044, etc.), receiving real-time feedback from each detection device on the wall status. Furthermore, the multiple cameras 21 installed in the XY-axis motion mechanism also communicate with the main control center to assist in detecting the position and alignment of the precast walls.

[0146] Method for adjusting the Z-axis flatness of a prefabricated wall: The first and second detection devices monitor the planarity of the back surface 91 of the prefabricated wall in real time. When the vertical plane detector 4134 or the corresponding detection element in the second detection device detects an angle of deviation between the back surface of the wall and the vertical plane, the angle deviation data is immediately converted into an electrical signal and transmitted to the main control center. After receiving the signal, the main control center calculates the adjustment parameters required by 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, the second power unit 428, the third power unit, and the fourth power unit. The main control center then sends instructions to each power source to coordinately adjust the movements of the pressing unit 414, the first clamping unit, and the second clamping unit, so that the back surface 91 and the front surface of the prefabricated wall gradually reach a vertical plane state. During this process, the detection device continuously provides feedback until the deviation is within the allowable range.

[0147] Prefabricated wall leveling method: The level detector 1044 of the level detection device 104 monitors the horizontality of the upper surface of the convex rafter 92 in real time. If it detects any deviation from the horizontality, the level detector 1044 transmits the data to the main control center. The main control center, according to a preset program, sends a control signal to the horizontal angle adjustment mechanism 14, which controls the Z-axis power unit 141 to drive the Z-axis drive shaft 142 for fine adjustment, thereby driving the support beam 13 to swing until the level detection device 104 detects that the upper surface of the convex rafter 92 is horizontal.

[0148] In summary, the present invention can achieve high-precision installation: through real-time monitoring of the first detection device, the second detection device and the level detection device, combined with the intelligent regulation of the main control center, the flatness, verticality and horizontality of the prefabricated wall can be accurately controlled, significantly improving the installation quality of the prefabricated building.

[0149] This invention is highly automated: it automates the entire prefabricated wall installation process. Compared to traditional manual installation, it reduces the time required to install a single wall, significantly improves installation efficiency, and shortens the construction period. It also reduces manual labor, lowers the risk of working at height, and ensures the safety of construction workers.

[0150] The present invention has strong versatility and adaptability: the mechanical structure design is flexible, the clamping mechanism has a wide range of adaptability, and can adapt to prefabricated walls of different thicknesses and heights; the diagonal bracing mechanism and the pull rod support mechanism can adjust the support angle and position according to the actual situation of the wall, thereby enhancing the equipment's adaptability to different working conditions.

[0151] The present invention features intelligent control and feedback: The main control center rapidly analyzes and adjusts the actions of each power source based on real-time data from the detection device, achieving adaptive control of the installation process. When a tilted wall is detected, the system quickly calculates adjustment parameters and activates the angle adjustment mechanism to automatically correct the wall, improving installation accuracy and reliability.

[0152] The present invention can reduce costs: the efficient operation and low failure rate of the equipment effectively reduce labor costs and equipment maintenance costs, while the high-precision installation avoids material waste caused by rework, and the overall economic benefits are significantly improved.

[0153] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, is also included in the patent protection scope of the present invention.

Claims

1. An intelligently controlled automated trolley, comprising an XY-axis motion mechanism, the top layer of which is a Y-axis movable base frame (12), the automated trolley further comprising a Z-axis motion mechanism, the Z-axis motion mechanism being mounted on the Y-axis movable base frame (12), the Z-axis motion mechanism having a Z-axis power source (8) and a Z-axis movable frame (5) drivingly connected to the Z-axis power source (8), characterized in that: The Z-axis movable frame (5) is equipped with a support beam (13), the center of the support beam (13) is mounted on the Z-axis movable frame (5) via a hinged seat with a bearing, the support beam (13) can swing in the three axial directions of X, Y, and Z with the bearing as a fulcrum, and the support beam (13) is equipped with two groups of support seats (15), and the two groups of support seats (15) are equidistantly arranged with the bearing as the center; The automated trolley further comprises: The first automatic angle adjustment part is provided with two groups, and the two groups of the first automatic angle adjustment parts are symmetrically installed on both sides of the Y-axis movable chassis (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 prefabricated wall and a first clamping mechanism (42) capable of clamping the lower area of ​​the front surface of the prefabricated 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 prefabricated 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 is provided with two groups, and 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 prefabricated wall is in a vertical plane and a second clamping mechanism (6) capable of clamping the upper area of ​​the front surface of the prefabricated wall, the second detection device (17) is installed on the Z-axis movable frame (5), and the two groups of the second clamping mechanisms (6) are symmetrically installed at the two end portions of the supporting beam (13), and the second clamping mechanism (6) has a second clamping part and a fourth power part drivingly connected to the second clamping part; A clamping mechanism (10) is provided with two groups, and the two groups of clamping mechanisms (10) are mounted one-to-one on the two groups of support seats (15), each comprising a clamping portion and a fifth power portion for driving the clamping portion to move, wherein the clamping end of the clamping portion has a level meter detection device (104) for detecting whether the upper surface of the convex rafter (92) of the prefabricated wall (9) is in a horizontal position; Two diagonal bracing mechanisms are provided, each comprising a free supporting portion (73) that is pressed against the lower inclined surface of the convex rafter (92) and is swingable, and a locking portion (74) connected to the free supporting portion (73), wherein the free supporting portion (73) is fixed to the supporting beam (13), and the locking portion (74) is mounted on the supporting seat (15); The pull rod support mechanism (7) is provided with two groups, and the two groups of pull rod support mechanisms (7) are installed one-to-one on the two groups of support seats (15), and have a horizontal connecting member and an adjustment structure for adjusting the horizontal connecting member; The horizontal angle adjustment mechanism (14) is provided with two groups, and the two groups of horizontal angle adjustment mechanisms (14) are installed on the two groups of support seats (15) in a one-to-one manner. The horizontal angle adjustment mechanism (14) comprises a Z-axis power unit (141) fixed to the support seat (15), a Z-axis drive shaft (142) 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), and the horizontal adjustment unit (143) abuts against the beam body of the Z-axis movable frame (5).

2. The intelligently controlled automated trolley according to claim 1, characterized in that: The XY axis motion mechanism includes: A movable chassis (1), the movable chassis (1) having a double-row X-axis guide rail; An X-axis movable chassis (2) is slidably connected to a double-row X-axis guide rail, the X-axis movable chassis (2) has a double-row Y-axis guide rail, and the Y-axis movable chassis (12) is slidably connected to the double-row Y-axis guide rail; An X-axis power source (3) is installed on the movable base frame (1), and the X-axis power source (3) is driven and connected to the X-axis movable base frame (2); A Y-axis power source is installed on the X-axis movable chassis (2), and the Y-axis power source is driven and connected to the Y-axis movable chassis (12). Both the X-axis power source (3) and the Y-axis power source are hydraulic power sources; The Z-axis power source (8) is a hydraulic power source, which is fixed to the Y-axis movable chassis (12); Guides are fixed at the four corners of the Y-axis movable base frame (12), and the four corners of the Z-axis movable frame (5) are connected to the upper ends of the guides.

3. The intelligently controlled automated trolley 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. The intelligently controlled automated trolley according to claim 3, characterized in that: The first power part (411) is a hydraulic power source, which is driven by a push rod (412). The push rod (412) is inserted into a sleeve bracket, and the sleeve bracket is fixed to the Y-axis movable base (12). The outer end of the push rod (412) is fixed to the pressing part (414). The first detection device (413) comprises: The mounting box (4131) is fixed to the upper end of the sleeve bracket, and a frame opening is provided at the front end thereof; A vertical surface detector (4134) is suspended on the frame opening via two first chain spring bars (4133), wherein the first chain spring bar (4133) is composed of a plurality of first spring bars connected end to end; A propeller (4135) is installed on the installation box (4131); A first buffer (4132) is arranged horizontally, one end of the first buffer (4132) is connected to the vertical surface detector (4134), and the other end is connected to the driving shaft of the propeller (4135).

5. The intelligently controlled automated trolley according to claim 3, characterized in that: The first clamping mechanism (42) is provided on the adjacent side of the pressing mechanism (41), and the second power unit (428) thereon is a hydraulic power source, and the second power unit (428) is mounted on the Y-axis movable chassis (12) via a cantilever (421); The first clamping portion includes: A sleeve (427) rotatably connected to a corner of the cantilever (421); A movable tube (425) telescopically mounted on the sleeve (427); A pressure rod (424) with one end vertically fixed 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) is provided on the cylinder of the sleeve (427), and the hydraulic thruster (422) is connected to the outer end of the movable tube (425) via a push rod (426), and the outer end of the push rod (426) and the outer end of the movable tube (425) are rotatably connected, and the driving 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 driving shaft of the second power unit (428) and the sleeve (427) is a certain distance away from the connection point between the sleeve (427) and the cantilever (421).

6. The intelligently controlled automated trolley according to claim 1, characterized in that: The fifth power unit (101) is a hydraulic power source, which is obliquely mounted on the support seat (15); The clamping portion includes a clamping arm (103), which is an L-shaped structure, one end of which is rotatably connected to the support seat (15), and an ear plate is provided on the outside of the rod body of the clamping arm (103) connected to the support seat (15). The driving rod (102) of the fifth power unit (101) is rotatably driven to connect to the ear plate, and the level meter detection device (104) is installed on the lower side of the outer end of the clamping arm (103); The level meter detection device (104) comprises: A hanging bracket plate (1041) is mounted on the lower side of the end of the pressing arm (103); A level detector (1044) is suspended on the suspension bracket plate (1041) via four second chain spring bars (1043), wherein the second chain spring bar (1043) is composed of a plurality of second spring bars connected end to end; The second buffer (1042) has one end abutting against the suspension bracket plate (1041) and being limited, and a second end abutting against the level detector (1044) and being limited.

7. The intelligently controlled automated trolley according to claim 1, characterized in that: The free support portion (73) comprises an inverted triangle bracket and a support plane provided at the wide end of the inverted triangle bracket, the inverted triangle bracket being rotatably connected to an equilateral triangle bracket, and the equilateral triangle bracket being fixed to the support seat (15); The locking portion (74) comprises a locking rod, one end of which is rotatably connected to the inverted triangle bracket, and the other end of which is provided with a long threaded section, which is adjustably connected to the support seat (15) via a screw.

8. The intelligently controlled automated trolley according to claim 1, characterized in that: The regulating structure includes A first triangular profile (75) mounted on the support seat (15); a second triangular profile (72) mounted on the support seat (15), wherein the second triangular profile (72) is disposed above the first triangular profile (75); The outer corner point of the L-shaped frame is rotatably connected to the second triangular profile (72); a first adjusting rod (76), wherein a first end of the first adjusting rod (76) has a threaded section, the threaded section being connected to the first triangular profile (75) via a screw, and a second end of the first adjusting rod (76) being rotatably connected to the first outer end of the L-shaped frame; A second adjusting rod (77), the first end of which is rotatably connected to the second outer end of the L-shaped frame, and the second end of which is connected to a hanging arm, wherein the hanging arm can reach and hang the hanging ring (94) of the prefabricated wall (9).

9. The intelligently controlled automated trolley according to claim 1, characterized in that: The XY axis motion mechanism is provided with a plurality of cameras (21) for detecting whether the prefabricated walls (9) are aligned.

10. A trolley control system, characterized in that: The automated trolley comprising any one of claims 1 to 9, wherein the control system comprises a main control center, the main control center establishing electrical signal connections with 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 prefabricated wall alignment adjustment method, which includes a prefabricated wall Z-direction horizontality adjustment method and a prefabricated wall horizontality detection method; The Z-direction horizontality adjustment method of the prefabricated wall comprises detecting in real time by a first detection device and a second detection device whether the back surface (91) of the prefabricated wall is in a vertical state; When the first detection device and the second detection device detect that the back surface (91) of the prefabricated wall and the front surface of the prefabricated wall are not in a vertical state and detect a deviation angle, the first detection device and the second detection device generate a signal and send it to the main control center; The main control center controls the power sources on the first automatic angle adjustment unit and the second automatic angle adjustment unit to cooperate with each other according to the received first signal, and utilizes the gravity of the prefabricated wall (9) to make the back side (91) of the prefabricated wall and the front side of the prefabricated wall reach a vertical state; The prefabricated wall level detection method is to detect in real time whether the upper surface of the convex rafter (92) is in a horizontal state through a level meter detection device (104); When the level meter detection device (104) detects that the upper surface of the convex rafter (92) is not in a horizontal state, the second signal generated by the level meter detection device (104) is sent to the main control center; The main control center adjusts the angle of the supporting beam (13) by controlling the horizontal angle adjustment mechanism (14) based on the received second signal, thereby controlling the upper surface of the convex rafter of the prefabricated wall (9) to reach a horizontal state.

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