Automatic equipment and method for quick mounting and positioning of prefabricated wall panel

Abstract

The invention discloses automatic equipment and a method for quickly installing and positioning a prefabricated wallboard, and the automatic equipment is characterized in that a base lifting bracket is arranged on a base in a lifting manner; the leveling mechanism is used for adjusting the lifting bracket to a horizontal state; the inner backup plate is arranged on the lifting bracket and is used for providing a positioning reference for the inner side surface of the prefabricated wallboard; the transverse telescopic mechanism is arranged on the lifting support and can do transverse telescopic motion; the front-back telescopic mechanism is arranged on the transverse telescopic mechanism and can do front-back telescopic motion, and an outer backup plate is arranged on the front-back telescopic mechanism; and the inner backup plate and the outer backup plate are configured to be capable of cooperatively clamping and positioning the prefabricated wall panel. According to the four-point leveling system, the wallboard supporting frame can be automatically adjusted to be in the horizontal state, a high-precision vertical positioning backup plate is provided for the inner side of the prefabricated wallboard, and positioning of the inner side of the prefabricated wallboard is facilitated.

Description

Technical Field

[0001] The present invention is applied to the field of prefabricated building construction. Specifically, the present invention discloses an automated equipment and method for rapid installation and positioning of precast wall panels. Background Art

[0002] Due to its significant advantages such as high efficiency, high quality, and environmental friendliness, prefabricated buildings have gradually become the development trend of the construction industry. However, during the on-site installation process of precast wall panels, many technical problems still need to be solved urgently.

[0003] Traditional methods for installing precast wall panels usually require precise positioning first and then adjustment of their verticality. This process is not only cumbersome but also takes a large amount of construction time. During construction, tools such as "angle brackets" are mainly relied on to position precast wall panels, and diagonal bracing tools are used to adjust the verticality of the wall panels. This method has obvious limitations: since diagonal braces need to be installed on both the upper and lower parts of the precast wall panel, the number of diagonal braces is relatively large, which not only increases the complexity of construction but also significantly reduces construction efficiency. In addition, when adjusting the verticality of the wall panel, it is often difficult to coordinate multiple upper and lower diagonal braces, further increasing the adjustment difficulty and thus affecting the overall installation efficiency.

[0004] More importantly, there are usually no effective support measures on the outer side of precast wall panels, and construction workers have to rely on cables for manual pulling to maintain the stability of the wall panels. This practice not only increases the labor intensity of workers but also brings relatively high safety risks. Especially during high-altitude operations, improper fixing and operation of cables may lead to serious safety accidents.

[0005] At the same time, the installation process of precast wall panels currently mainly relies on manual operation, lacking corresponding automated installation equipment, resulting in a relatively backward construction form and being difficult to meet the requirements of modern building industrialization and intelligentization.

[0006] The Chinese invention patent discloses an installation positioning and formwork layout device for precast wall panels of prefabricated buildings and an installation positioning and formwork layout device for precast wall panels of prefabricated buildings and a construction method. Although these technical solutions also aim to solve the installation problems of precast wall panels, these solutions usually use a single device for clamping and fixing or positioning adjustment of precast wall panels. However, these existing technologies still have certain limitations in terms of structural design, operation coordination, and automation level, and have not fully and effectively solved all the problems brought by traditional installation methods. For example, there is still room for further improvement in achieving efficient collaborative operation, simplifying the operation process, and completely eliminating the lower diagonal braces to improve installation efficiency and safety.

[0007] Therefore, there is an urgent need to develop a more advanced, efficient and safe automated equipment and method to overcome the problems existing in the existing precast wall panel installation technology, such as cumbersome positioning, difficult adjustment, dependence on manual labor, high safety risks and low automation level. Summary of the Invention

[0008] To solve the above technical problems, the present invention provides an automated equipment for rapid installation and positioning of precast wall panels, including a base lifting bracket that is liftably arranged on the base; a leveling mechanism for adjusting the lifting bracket to a horizontal state; an inner backing plate arranged on the lifting bracket for providing a positioning reference for the inner side of the precast wall panel; a lateral telescopic mechanism arranged on the lifting bracket that can perform lateral telescopic movement; a front-back telescopic mechanism arranged on the lateral telescopic mechanism that can perform front-back telescopic movement, and an outer backing plate is arranged on the front-back telescopic mechanism; wherein, the inner backing plate and the outer backing plate are configured to be able to cooperate to clamp and position the precast wall panel.

[0009] As a preferred solution, the automated equipment further includes a traveling mechanism, and the traveling mechanism includes at least two traveling legs arranged at the bottom of the base and at least two leg lifting oil cylinders for driving the telescopic movement of the traveling legs, so as to realize the switching between the traveling mode and the stationary mode of the automated equipment.

[0010] As a preferred solution, the leveling mechanism includes at least one leveling oil cylinder and a biaxial inclination sensor; the leveling oil cylinder is connected between the base and the lifting bracket, and the biaxial inclination sensor is arranged on the lifting bracket and used to detect its horizontal state to control the action of the leveling oil cylinder.

[0011] As a preferred solution, the lifting bracket includes a lifting inner lining frame, and a lifting sleeve that is slidably matched with the lifting inner lining frame is arranged on the base; the inner backing plate is fixedly arranged on the middle plate of the lifting bracket.

[0012] As a preferred solution, the lateral telescopic mechanism includes a lateral telescopic frame and a lateral telescopic oil cylinder; the lateral telescopic frame is slidably connected to a lateral telescopic sleeve frame on the lifting bracket, and the lateral telescopic oil cylinder is used to drive the lateral telescopic frame to perform lateral telescopic movement relative to the lifting bracket.

[0013] As a preferred solution, the front-back telescopic mechanism includes a front-back telescopic frame and a front-back telescopic oil cylinder; the front-back telescopic frame is slidably connected to a front-back telescopic sleeve on the lateral telescopic frame, the outer backing plate is arranged on the front-back telescopic frame, and the front-back telescopic oil cylinder is used to drive the front-back telescopic frame to perform front-back telescopic movement relative to the lateral telescopic frame.

[0014] On the other hand, the present invention also provides an automated method for rapid installation and positioning of precast wall panels. Two sets of the automated equipment described in any one of the above are used for collaborative operation, including the following steps:

[0015] (a) Position and fix the two sets of automated equipment on the two sides of the floor slab at the position where the precast wall panel is to be installed respectively, and use the leveling mechanism of each set of automated equipment to adjust the respective lifting brackets to a horizontal state;

[0016] (b) Lift and install the precast wall panel so that its inner side is initially in contact with the inner backing plates of the two sets of automated equipment and aligned with the predetermined installation reference line;

[0017] (c) Operate the lateral telescopic mechanism and / or the front-back telescopic mechanism of the two sets of automated equipment to make the respective outer backing plates abut against the outer side of the precast wall panel, thereby clamping and fixing the precast wall panel between the inner backing plate and the outer backing plate and achieving its vertical positioning;

[0018] (d) Install diagonal braces at the upper part of the precast wall panel for temporary fixation;

[0019] (e) Loosen and remove the two sets of automated equipment.

[0020] As a preferred solution, before step (a), it further includes: using the traveling mechanisms of the two sets of automated equipment to move the equipment to the predetermined installation position, and then retracting the traveling legs to make the base land on the ground.

[0021] As a preferred solution, in step (a), after adjusting the lifting brackets to a horizontal state and before lifting and installing the precast wall panel in step (b), operate the lateral telescopic oil cylinder and the front-back telescopic oil cylinder to extend to the maximum state so that the inner backing plates form the reference line for the inner side installation of the precast wall panel.

[0022] As a preferred solution, in steps (a) to (c), the corresponding operation steps of the two sets of automated equipment are carried out synchronously to ensure the collaborative and stable installation of the precast wall panel.

[0023] The beneficial effects of the present invention are as follows: The automated equipment of the present invention is equipped with a leveling mechanism (such as a biaxial inclination sensor and a leveling oil cylinder), which can automatically and accurately adjust the inner backing plate serving as the installation reference to a horizontal state. This provides a high-precision vertical positioning reference for the inner side of the precast wall panel, ensures the verticality of the wall panel installation, and solves the problems of difficult verticality adjustment and low precision in the traditional method.

[0024] Furthermore, the present invention can quickly complete the precise positioning and vertical correction of prefabricated wall panels by using the coordinated clamping effect of the inner and outer support plates through the collaborative operation of two automated equipment. During the installation process, only diagonal braces need to be installed on the upper part of the wall panel for temporary fixation, completely eliminating the cumbersome lower diagonal braces and repeated vertical adjustment procedures in the traditional installation method, greatly simplifying the construction process, shortening the installation time of a single wall panel, and thus significantly improving the overall construction efficiency;

[0025] Furthermore, the automated equipment of the present invention mechanically clamps and fixes the prefabricated wall panels, replacing the dangerous manual cable pulling operations in traditional construction, effectively avoiding safety accidents that may be caused by high-altitude operations. At the same time, automated and mechanized operations greatly reduce the physical labor intensity of workers and improve the working environment;

[0026] Furthermore, the equipment of the present invention has a lifting and walking function, which can easily switch between the walking mode and the static working mode on the same floor, and is convenient for rapid movement to the next installation point. At the same time, through the adjustment of the lateral telescopic mechanism and the front and rear telescopic mechanism, the equipment can meet the installation requirements of prefabricated wall panels of different sizes and has good on-site adaptability;

[0027] Furthermore, the present invention uses two automated equipment to collaboratively support and position the prefabricated wall panels from both sides, so that the force on the wall panels is more uniform and stable, avoiding the tilt or displacement that may be caused by single-point support or asymmetric support, thereby effectively ensuring the installation quality and stability of the prefabricated wall panels. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments disclosed in the present invention, the drawings of the embodiments will be briefly introduced below. These drawings are only used for illustrative purposes and are not intended to limit the protection scope of the present invention.

[0029] Figure 1 It is a schematic diagram of the axonometric structure of an automated device for rapid installation and positioning of prefabricated wall panels provided by an embodiment of the present invention;

[0030] Figure 2 yes Figure 1 A front view structural diagram of the automation equipment shown;

[0031] Figure 3 yes Figure 1 A schematic diagram of the structure of the automation equipment shown in FIG.

[0032] Figure 4 yes Figure 1 A schematic diagram of the axonometric structure of the base part of the automation equipment shown;

[0033] Figure 5 yes Figure 1Axonometric structural schematic diagram of the lifting support part in the shown automated equipment;

[0034] Figure 6 is Figure 1 Axonometric structural schematic diagram of the horizontal telescopic frame part in the shown automated equipment;

[0035] Figure 7 is Figure 1 Axonometric structural schematic diagram of the front - rear telescopic frame part in the shown automated equipment;

[0036] Figure 8 Schematic diagram of the lifting action of the walking leg of the automated equipment provided by the embodiment of the present invention;

[0037] Figure 9 Schematic diagram of the leveling action of the automated equipment provided by the embodiment of the present invention;

[0038] Figure 10 Schematic diagram of the horizontal telescopic action of the automated equipment provided by the embodiment of the present invention;

[0039] Figure 11 Schematic diagram of the front - rear telescopic action of the automated equipment provided by the embodiment of the present invention;

[0040] Figure 12 Schematic diagram of step one in the precast wall panel installation method provided by the embodiment of the present invention;

[0041] Figure 13 Axonometric schematic diagram of step two in the precast wall panel installation method provided by the embodiment of the present invention;

[0042] Figure 14 Planar schematic diagram of step two in the precast wall panel installation method provided by the embodiment of the present invention;

[0043] Figure 15 Planar schematic diagram of step three in the precast wall panel installation method provided by the embodiment of the present invention;

[0044] Figure 16 Planar schematic diagram of step four in the precast wall panel installation method provided by the embodiment of the present invention;

[0045] Figure 17 Axonometric schematic diagram of step five in the precast wall panel installation method provided by the embodiment of the present invention.

[0046] Description of the reference numerals: 1 - base; 101 - bottom plate; 1011 - fixing hole; 102 - lifting sleeve; 1021 - leveling lower ear plate; 103 - traveling leg sleeve; 1031 - bottom plate lifting oil cylinder ear plate; 2 - traveling leg; 3 - leg lifting oil cylinder; 4 - lifting bracket; 401 - middle plate; 402 - lifting inner lining frame; 4021 - leveling upper ear plate; 403 - transverse telescopic sleeve frame; 4031 - transverse telescopic right ear plate; 404 - inner support plate; 405 - rib plate; 5 - leveling oil cylinder; 6 - dual-axis inclination sensor; 7 - transverse telescopic frame; 701 - transverse telescopic inner lining frame; 7011 - transverse telescopic left ear plate; 702 - front and rear telescopic sleeve; 7021 - front and rear telescopic rear ear plate; 8 - transverse telescopic oil cylinder; 9 - front and rear telescopic frame; 901 - front and rear telescopic inner lining frame; 9011 - front and rear telescopic front ear plate; 902 - outer support plate; 10 - front and rear telescopic oil cylinder; 11 - floor slab; 12 - expansion bolt; 13 - precast wall panel; 14 - diagonal brace. Detailed implementation manners

[0047] The technical solutions (including the preferred technical solutions) of the present invention will be further described in detail below by way of the accompanying drawings and by listing some alternative embodiments of the present invention. Obviously, the described embodiments 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 fall within the scope of protection of the present invention.

[0048] Embodiment 1

[0049] This embodiment provides the detailed structure and working principle of an automated equipment for the rapid installation and positioning of precast wall panels. Referring to Figures 1 to 7 , the automated equipment is exquisitely designed and integrates a variety of mechanical transmission and sensing control units, aiming to achieve high-precision positioning, efficient operation and high safety guarantee during the installation process of precast wall panels.

[0050] The core main structure of the automated equipment includes a base 1, a traveling mechanism, a lifting bracket 4, a leveling mechanism, an inner support plate 404, a transverse telescopic mechanism and a front and rear telescopic mechanism. First of all, the base 1 constitutes the bearing foundation of the entire equipment. As Figure 4 shown, it is mainly composed of a sturdy bottom plate 101, usually made of high-strength steel by welding or integral casting to ensure sufficient stiffness and stability. The area of the bottom plate 101 is designed to consider the overall weight distribution of the equipment and the reaction force during operation, ensuring stable support under various working conditions. On the bottom plate 101, a number of fixing holes 1011 are preset. These fixing holes are used when the equipment enters the static working mode, through expansion bolts 12 (such as Figure 12As shown in the figure, it is firmly anchored to the floor slab 11 to prevent displacement or shaking during the operation, providing a solid foundation for subsequent precise positioning.

[0051] The traveling mechanism is integrated below the base 1, endowing the equipment with the ability to move freely within the construction floor. This traveling mechanism mainly includes at least two, usually four symmetrically distributed traveling legs 2 and leg lifting cylinders 3 that drive these traveling legs 2 to perform lifting actions. As Figure 1 and Figure 8 shown, wear-resistant and flexible-steering traveling wheels (details not shown in the figure but are conventional configurations) are usually installed at the lower ends of the traveling legs 2, enabling the equipment to be manually pushed or easily moved by a small traction device in the traveling mode. Each traveling leg 2 is connected to a leg lifting cylinder 3. One end of the cylinder body of this cylinder is hinged to a specific structure of the base 1, such as an ear plate or a connecting seat provided on the lower surface of the bottom plate 101, and the other end of the piston rod is connected to the upper part of the traveling leg 2. When the equipment needs to be moved, the operation control system makes the piston rod of the leg lifting cylinder 3 extend, pushing the traveling leg 2 downward, thereby lifting the entire base 1 together with the components carried thereon off the ground. At this time, the equipment relies on the traveling wheels to contact the ground and enters the traveling mode. Workers can conveniently push the equipment to the installation position of the next precast wall panel. When the equipment reaches the designated working position, the leg lifting cylinder 3 is operated in reverse to make its piston rod retract, and the traveling leg 2 is lifted accordingly until the bottom plate 101 of the base 1 lands steadily on the floor slab 11. At this time, the equipment enters the static mode and is ready for anchoring and subsequent operations. This switching between the traveling and static modes greatly improves the transfer efficiency and operation flexibility of the equipment.

[0052] Above the base 1, a lifting bracket 4 is provided in a liftable manner. The lifting bracket 4 is a key structure for carrying the core components for precast wall panel positioning. Its lifting function enables the equipment to adapt to operation requirements at different heights or adjust the height of the positioning reference under specific circumstances. As Figure 4 and Figure 5 shown, at least one, usually two or four symmetrically distributed lifting sleeves 102 are provided on the base 1, and the lifting bracket 4 includes lifting inner liners 402 that are slidably matched with them. The lifting sleeves 102 can be understood as guide rails, providing precise guidance for the vertical movement of the lifting inner liners 402. Low-friction pairs such as linear bearings and sliding bushings can be used between the lifting inner liners 402 and the lifting sleeves 102 to reduce the lifting resistance and ensure smooth movement. The lifting action of the lifting bracket 4 is usually driven by an independent hydraulic cylinder or an electric push rod (the driving method is not clearly shown in the figure but is a conventional implementation means), and the control system can precisely control the vertical position of the lifting bracket 4 as needed.

[0053] The leveling mechanism is the core unit to ensure the vertical installation accuracy of precast wall panels. Its function is to accurately adjust the lifting bracket 4 (especially the installation base surface of the inner support plate 404 carried thereon) to a horizontal state. This leveling mechanism mainly includes at least one, usually two or more leveling cylinders 5 and a high-precision biaxial inclination sensor 6. As Figure 1 and Figure 5 shown, the biaxial inclination sensor 6 is installed on a plane of the middle plate 401 of the lifting bracket 4 or the lifting inner lining 402 that can represent the overall attitude, and real-time monitors the inclination angles of the lifting bracket 4 in two mutually perpendicular horizontal axial directions. The leveling cylinder 5 is cleverly connected between the base 1 and the lifting bracket 4. For example, one end of the cylinder body of the leveling cylinder 5 can be hinged on the lower leveling ear plate 1021 of the base 1, and the other end of its piston rod is hinged on the upper leveling ear plate 4021 of the lifting bracket 4. When the biaxial inclination sensor 6 detects that the lifting bracket 4 is inclined, it will feedback the inclination angle and direction signals to the control system. The control system, according to the preset leveling logic (such as the "center point remains unchanged" leveling strategy, that is, taking a certain geometric center of the lifting bracket as the benchmark for adjustment to avoid excessive overall displacement during the adjustment process), precisely controls the piston rods of each leveling cylinder 5 to perform small extending or retracting actions, so as to offset the inclination until the reading of the biaxial inclination sensor 6 shows that the lifting bracket 4 has reached a completely horizontal state (for example, the inclination angle is within the allowable minimum error range). This closed-loop controlled leveling method can automatically compensate for the influence caused by uneven floors or installation errors of the equipment itself, and provide an absolutely reliable horizontal benchmark for the subsequent vertical positioning of precast wall panels.

[0054] The inner support plate 404 is firmly installed on the lifting bracket 4, usually fixed on the front surface (the side facing the installation side of the precast wall panel) of the middle plate 401 of the lifting bracket 4. As Figure 5 shown, the inner support plate 404 has a flat, smooth and large enough contact surface, which directly constitutes the preliminary positioning benchmark for the inner side surface of the precast wall panel 13. Since the lifting bracket 4 has been accurately adjusted to a horizontal state by the leveling mechanism, the working surface of the inner support plate 404 is an accurate vertical plane in an ideal situation. When the precast wall panel 13 is hoisted in place, its inner side surface will first contact this inner support plate 404 and perform preliminary leveling and alignment along its surface. Reinforcing structures such as rib plates 405 can also be provided on the lifting bracket 4 to ensure that the inner support plate 404 has sufficient stiffness and stability when bearing the lateral pressure of the precast wall panel and will not deform.

[0055] The transverse telescoping mechanism is arranged on the lifting bracket 4 and is used to realize the telescoping adjustment of a part of the working components of the equipment (mainly the subsequent front-back telescoping mechanism and the outer support plate 902) in the direction parallel to the working surface of the inner support plate 404 (that is, transversely). As Figure 5 and Figure 6As shown, a horizontally telescopic sleeve 403 is provided on the lifting bracket 4, and the main body of the horizontally telescopic mechanism is the horizontally telescopic frame 7, which is slidably engaged with the horizontally telescopic sleeve 403. For example, the horizontally telescopic frame 7 may include a horizontally telescopic inner lining frame 701, which slides inside the horizontally telescopic sleeve 403. The driving force for this horizontal telescopic movement is the horizontally telescopic oil cylinder 8. One end of the horizontally telescopic oil cylinder 8 is connected to a fixed point on the lifting bracket 4 (such as the right ear plate 4031 for horizontal telescoping), and the other end is connected to the corresponding connection point on the horizontally telescopic frame 7 (such as the left ear plate 7011 for horizontal telescoping). By controlling the telescoping of the horizontally telescopic oil cylinder 8, the horizontally telescopic frame 7 together with the components carried thereon can be moved in the horizontal direction. This function is mainly used after initially setting the inner lining plate 404 as the installation reference line on the inner side of the wall panel (for example, by extending both the horizontally telescopic oil cylinder 8 and the subsequent front-back telescopic oil cylinder 10 to their maximum states, so that the edge or specific marking line of the inner lining plate 404 aligns with the installation ink line on the floor), or in some special cases, for fine-tuning the horizontal position of the outer clamping components.

[0056] The front-back telescopic mechanism is installed on the horizontally telescopic frame 7, and its main function is to drive the outer lining plate 902 to perform telescopic movement in the direction perpendicular to the working surface of the inner lining plate 404 (i.e., the front-back direction, corresponding to the thickness direction of the precast wall panel), so as to realize the clamping and release of the precast wall panel 13. As Figure 6 and Figure 7 shown, a front-back telescopic sleeve 702 is provided on the horizontally telescopic frame 7, and the main body of the front-back telescopic mechanism is the front-back telescopic frame 9, which is slidably engaged with the front-back telescopic sleeve 702. For example, the front-back telescopic frame 9 may include a front-back telescopic inner lining frame 901, which slides inside the front-back telescopic sleeve 702. The outer lining plate 902 is firmly installed at the front end of the front-back telescopic frame 9, and its working surface is opposite to the working surface of the inner lining plate 404. The driving force for this front-back telescopic movement is the front-back telescopic oil cylinder 10. One end of the front-back telescopic oil cylinder 10 is connected to a fixed point on the horizontally telescopic frame 7 (such as the rear ear plate 7021 for front-back telescoping), and the other end is connected to the corresponding connection point on the front-back telescopic frame 9 (such as the front ear plate 9011 for front-back telescoping). After the inner side of the precast wall panel 13 leans against the inner lining plate 404, the control system drives the front-back telescopic oil cylinder 10 to extend, so that the front-back telescopic frame 9 together with the outer lining plate 902 thereon moves forward until the outer lining plate 902 closely adheres to and presses against the outer side of the precast wall panel 13. Since the inner lining plate 404 has ensured the vertical reference on the inner side of the wall panel, the coordinated clamping effect of the inner and outer lining plates not only firmly fixes the precast wall panel 13, but more importantly, it forces the precast wall panel 13 to be in an accurate vertical state as a whole. After the diagonal brace 14 is installed on the upper part of the precast wall panel 13 (as Figure 17 shown), then operate the front-back telescopic oil cylinder 10 in the reverse direction to make it retract, and the outer lining plate 902 retracts, then the clamping of the precast wall panel 13 can be released.

[0057] When preparing to operate a single automated equipment, first, the equipment is moved to a position near the predetermined location through the traveling mechanism, and then the base 1 is lowered and fixed with expansion bolts 12. Next, the leveling mechanism is activated to make the lifting bracket 4 horizontal. Subsequently, according to the reference line for wall panel installation, the horizontal telescopic cylinder 8 and the front-back telescopic cylinder 10 are operated to align the edge or specific mark of the inner backing plate 404 with the reference line (for example, as described in step (1) of the technical disclosure document, "extend the horizontal telescopic cylinder 8 and the front-back telescopic cylinder 10 to the maximum state to make the inner backing plate 404 flush with the inner installation reference line of the precast wall panel 13"). At this time, the inner backing plate 404 of a single equipment provides an accurate inner positioning surface for the precast wall panel 13 to be installed.

[0058] The automated equipment described in this embodiment realizes effective control of key links such as positioning, leveling, and clamping during the installation of precast wall panels through the precise cooperation and automated control of each mechanism, laying a solid foundation for subsequent collaborative operations. Its structural design fully considers operation convenience, positioning accuracy, and operation safety, representing an important technological progress in the field of prefabricated building construction.

[0059] Embodiment 2

[0060] This embodiment details an automated method for collaborative operation using two automated equipments for rapid installation and positioning of precast wall panels as described in Embodiment 1 to complete the installation of a precast wall panel 13. This method gives full play to the various functions of the automated equipment and realizes efficient, precise, and safe wall panel installation. Refer to Figures 1 to 17 。

[0061] First, before the formal installation of the precast wall panel 13, a series of preparatory work needs to be carried out. The construction workers accurately mark the installation position lines of the precast wall panel 13 on the floor slab 11 according to the construction drawings and construction plan, including the edge lines and thickness lines of the wall panel. At the same time, determine the anchoring points of the two automated equipments. These two automated equipments will be located at a certain distance outside both ends of the length direction of the precast wall panel 13 to be installed respectively, and the distance between them should be slightly greater than the actual length of the precast wall panel 13 to ensure sufficient operating space during the hoisting and positioning of the wall panel and enable the inner backing plates 404 of the two equipments to effectively support and position both ends of the wall panel.

[0062] After the preparatory work is ready, it enters the stage of positioning and debugging of the automated equipment, which is the refinement process of step (a) of the method of the present invention. The operator uses the traveling mechanism of each automated equipment, that is, by controlling the extension of the respective leg lifting cylinders 3, to make the traveling wheels under the traveling legs 2 touch the ground, and move the two equipments to the vicinity of the pre-planned anchoring points respectively. This moving process is as Figure 8As shown in the figure, the walking legs 2 lift the entire equipment, facilitating flexible movement on the floor slab. After reaching the predetermined position, the leg lifting cylinder 3 is operated in reverse to retract it, and the base 1 lands steadily on the floor slab 11. Subsequently, the construction workers use expansion bolts 12 to firmly anchor the two automated equipments to the floor slab 11 through the fixing holes 1011 on the base 1. The purpose of anchoring is to ensure that the equipment itself does not undergo any displacement during the subsequent wall panel clamping and positioning processes, which is a prerequisite for ensuring the installation accuracy.

[0063] After the anchoring is completed, the leveling mechanisms of the two automated equipments are activated. The dual-axis inclination sensors 6 on each equipment start to monitor the horizontal attitude of its lifting brackets 4 in real time. After the control system receives the inclination signal, according to the leveling strategy of "the center point remains stationary", it automatically controls its respective leveling cylinders 5 for precise adjustment, as Figure 9 shown in the action diagram. This process is usually automatically completed in a closed loop until the lifting brackets 4 of both equipments reach the preset horizontal accuracy requirements (for example, the inclination angle is less than 0.05 degrees). Ensuring the horizontality of the lifting brackets 4 means that the working surfaces of the inner backing plates 404 fixed thereon will form a precise vertical plane.

[0064] Next, it is necessary to set the inner installation reference line of the precast wall panel 13 formed by the inner backing plates 404 of the two equipments. According to the steps described in the technical disclosure (1) (as Figure 12 shown), the operator controls the lateral telescopic cylinders 8 and the front-back telescopic cylinders 10 of the two automated equipments to extend to the maximum state (or other preset reference extension amounts). At this time, the leading edges of the inner backing plates 404 of the two equipments or the reference lines marked thereon should precisely coincide with the inner wall panel installation lines pre-marked on the floor slab 11. This step provides a clear and accurate inner positioning reference for the precast wall panel 13 to be hoisted.

[0065] After the above preparations are completed, it enters the hoisting and preliminary positioning stage of the precast wall panel 13, which is step (b) of the method of the present invention. Using a tower crane or other lifting equipment, the precast wall panel 13 is slowly hoisted between the two automated equipments and the height is gradually reduced. During the hoisting process, a special person is required to command to ensure the wall panel is stable and avoid collisions. When the bottom of the precast wall panel 13 approaches the installation position of the floor slab 11, its attitude is adjusted so that its inner side (i.e., the inner wall surface of the future room) slowly and parallelly approaches the inner backing plates 404 with the reference set on the two automated equipments. Finally, the inner side of the precast wall panel 13 should achieve a preliminary and uniform fit with the surfaces of the inner backing plates 404 of the two equipments, as Figure 13 and Figure 14 shown. At this time, the inner position of the precast wall panel 13 is basically determined, and due to the perpendicularity of the inner backing plates 404, the wall panel already has a certain perpendicularity in the initial state.

[0066] This is immediately followed by the crucial clamping and vertical fine positioning stage, corresponding to step (c) of the method of the present invention. After the precast wall panel 13 is initially fitted with the inner backing plate 404, the operator starts the front and rear telescopic mechanisms of the two automated devices synchronously or sequentially (preferably synchronously to ensure uniform force) through the control system. Specifically, the front and rear telescopic oil cylinders 10 of each device (as shown in their telescopic actions) start to extend. As the piston rods of the front and rear telescopic oil cylinders 10 extend, the front and rear telescopic frames 9 connected thereto and the outer backing plate 902 fixed to the front end thereof will move forward, gradually approaching and finally pressing against the outer side of the precast wall panel 13. Since the inner backing plate 404 provides a stable inner vertical reference, when the outer backing plate 902 applies pressure from the outside, the precast wall panel 13 is firmly clamped between the inner and outer backing plates. This clamping process not only fixes the wall panel, but more importantly, it utilizes the parallelism of the inner and outer backing plates and the precise verticality of the inner backing plate to automatically adjust the precast wall panel 13 to a completely vertical state without the need for additional manual verticality measurement and adjustment. At the same time, as needed, the lateral telescopic oil cylinder 8 (as shown in its telescopic action, which is usually a retraction action at this time) can be operated to tighten the lifting bracket 4 (together with the inner backing plate 404) and the outer backing plate 902 towards the center line direction of the precast wall panel, further ensuring the stability of the clamping and the accuracy of the wall panel position, as shown in. During the entire clamping and positioning process, the actions of the two devices should be coordinated, and the applied clamping force should be appropriate and balanced to avoid damaging the wall panel. Figure 11 Figure 10 Figure 15

[0067] When the precast wall panel 13 is accurately and firmly clamped and positioned in a vertical state by the two automated devices, it enters the temporary fixing stage, corresponding to step (d) of the method of the present invention. At this time, the construction personnel can install at least one diagonal brace 14 on the upper part of the precast wall panel 13, as shown in. One end of the diagonal brace 14 is connected to a preset connection point on the upper part of the precast wall panel 13 or fixed by a special fixture, and the other end is fixed to the floor slab 11 or an adjacent installed structure. Since the automated devices have ensured the verticality and stability of the wall panel, only the upper diagonal brace needs to be installed at this time to meet the requirements of temporary fixing, completely eliminating the step of installing diagonal braces at the lower part of the wall panel in the traditional process, greatly simplifying the operation and saving materials and working hours. Figure 17

[0068] ​​​​After the installation of the upper diagonal bracing is completed and its firmness and effectiveness are confirmed, the automated equipment can be released, corresponding to step (e) of the method of the present invention. The operator uses the control system to retract the front and rear telescopic cylinders 10 of the two automated equipment, and the outer support plate 902 retracts accordingly, releasing the clamping force on the outer side of the precast wall panel 13. Subsequently, if necessary, the lateral telescopic cylinder 8 can also be operated to move the entire clamping component laterally by a certain distance to create space for the removal of the equipment. At this time, the precast wall panel 13 is stabilized at the designed position by relying on the upper diagonal bracing and its own gravity. Subsequently, processes such as wall panel joint treatment and grouting can be carried out.

[0069] After the wall panel is completely fixed (for example, the grouting material reaches the strength), or before starting the installation of the next wall panel, the expansion bolts 12 that anchor the two automated equipment can be removed, and the traveling mechanism can be started again to move the equipment to a new working position, repeating the above installation process.

[0070] The automated installation method described in this embodiment realizes a high degree of automation and precision in the installation process of precast wall panels through the intelligent collaborative operation of two automated equipment. It not only greatly improves the construction efficiency, reduces the dependence on workers' skills and labor intensity, but more importantly, replaces the cumbersome manual adjustment with precise mechanical positioning, ensures the installation quality, and significantly improves the construction safety by canceling the lower diagonal bracing and reducing the high-risk manual pulling operation. This method is particularly suitable for large-scale and standardized prefabricated building projects and has broad application prospects.

[0071] It is easy for those skilled in the art to understand that the above is only a preferred embodiment of the present invention and does not limit the present invention. Any modifications, combinations, substitutions, improvements, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An automated equipment for the installation and positioning of precast wall panels, characterized in that, Comprising a base (1); A lifting bracket (4), which is liftably arranged on the base (1); A leveling mechanism for adjusting the lifting bracket (4) to a horizontal state; An inner backing plate (404), which is arranged on the lifting bracket (4) and is used to provide a positioning reference for the inner side surface of the precast wall panel (13); A lateral telescopic mechanism, which is arranged on the lifting bracket (4) and can perform lateral telescopic movement; A front-back telescopic mechanism, which is arranged on the lateral telescopic mechanism and can perform front-back telescopic movement, and an outer backing plate (902) is arranged on the front-back telescopic mechanism; The inner backing plate (404) and the outer backing plate (902) cooperate to clamp and position the precast wall panel (13).

2. The automated equipment according to claim 1, wherein It further comprises a traveling mechanism, and the traveling mechanism includes at least two traveling legs (2) arranged at the bottom of the base (1) and at least two leg lifting oil cylinders (3) for driving the telescopic movement of the traveling legs (2).

3. The automated equipment according to claim 1 or 2, characterized in that, The leveling mechanism includes at least one leveling oil cylinder (5) and a biaxial inclination sensor (6); the leveling oil cylinder (5) is connected between the base (1) and the lifting bracket (4), and the biaxial inclination sensor (6) is arranged on the lifting bracket (4) and is used to detect its horizontal state to control the action of the leveling oil cylinder (5).

4. The automated equipment according to claim 1, characterized in that, The lifting bracket (4) includes a lifting inner lining frame (402), and a lifting sleeve (102) which is slidably matched with the lifting inner lining frame (402) is arranged on the base (1); the inner backing plate (404) is fixedly arranged on the middle plate (401) of the lifting bracket (4).

5. The automated equipment according to claim 1, characterized in that The lateral telescopic mechanism includes a lateral telescopic frame (7) and a lateral telescopic oil cylinder (8); the lateral telescopic frame (7) is slidably connected to a lateral telescopic sleeve frame (403) on the lifting bracket (4), and the lateral telescopic oil cylinder (8) drives the lateral telescopic frame (7) to perform lateral telescopic movement relative to the lifting bracket (4).

6. The automated equipment according to claim 5, characterized in that, The front-back telescopic mechanism includes a front-back telescopic frame (9) and a front-back telescopic oil cylinder (10); the front-back telescopic frame (9) is slidably connected to a front-back telescopic sleeve (702) on the lateral telescopic frame (7), the outer backing plate (902) is arranged on the front-back telescopic frame (9), and the front-back telescopic oil cylinder (10) drives the front-back telescopic frame (9) to perform front-back telescopic movement relative to the lateral telescopic frame (7).

7. An automated method for rapid installation and positioning of precast wall panels, characterized in that, Two sets of automated equipment as described in any one of claims 1 to 6 are used for collaborative operation. The two sets of automated equipment are respectively positioned and fixed on the two sides of the floor slab (11) at the position of the precast wall panel (13) to be installed, and the leveling mechanisms of each set of automated equipment are used to adjust their respective lifting brackets (4) to a horizontal state; hoist the precast wall panel (13) so that its inner side is initially in contact with the inner abutting plates (404) of the two sets of automated equipment and aligned with the predetermined installation reference line; operate the lateral telescopic mechanism and / or the front-back telescopic mechanism of the two sets of automated equipment to make their respective outer abutting plates (902) abut against the outer side of the precast wall panel (13), thereby clamping and fixing the precast wall panel (13) between the inner abutting plate (404) and the outer abutting plate (902), and realizing its vertical positioning; install a diagonal brace (14) at the upper part of the precast wall panel (13) for temporary fixation; loosen and remove the two sets of automated equipment.

8. The automated method according to claim 7, characterized in that, Utilize the traveling mechanisms of the two sets of automated equipment to move the equipment to the predetermined installation position, and then retract the traveling legs (2) to make the base (1) touch the ground.

9. The automated method according to claim 7 or 8, characterized in that, After adjusting the lifting bracket (4) to a horizontal state and before hoisting the precast wall panel, operate the lateral telescopic oil cylinder (8) and the front-back telescopic oil cylinder (10) to extend to the maximum state so that the inner abutting plate (404) forms the reference line for the installation on the inner side of the precast wall panel (13).

10. The automated method according to claim 7, wherein The two sets of automated equipment operate synchronously to ensure the collaborative and stable installation of the precast wall panel (13).

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