Automatic laminated slab mounting device and construction method

Abstract

The invention discloses a laminated slab automatic mounting device and a construction method. The laminated slab automatic mounting device comprises a beam slab formwork, two X-axis rails are symmetrically arranged on the two sides of the beam slab formwork, sliding connecting rods are slidably connected to the tops of the two X-axis rails, two Y-axis rails are symmetrically arranged between the two sliding connecting rods, and trusses are arranged on the tops of the Y-axis rails; a mounting frame is mounted at the bottom of the Y-axis track and can slide along the Y-axis track, Z-axis hydraulic telescopic rods are arranged at the corners of the mounting frame, a rotary disc is connected to the bottom ends of the Z-axis hydraulic telescopic rods, the middle of the rotary disc is rotationally connected with the mounting frame, and a plurality of mechanical claws are arranged at the bottom of the rotary disc. And the mechanical claw is used for grabbing the laminated slab. An automatic sliding rail mechanical claw system is adopted, the manual hoisting construction period for traditional laminated slab installation is shortened, the grabbing and carrying speed is high, the movement response of all shafts is rapid, and the single-time operation circulation time is greatly shortened compared with traditional equipment.

Description

Technical Field

[0001] This invention relates to the field of composite slab installation technology, specifically to an automated composite slab installation device and construction method. Background Technology

[0002] Against the backdrop of rapid development in the construction industry, prefabricated buildings have become an important development direction in the modern construction sector due to their advantages such as high efficiency, environmental friendliness, and controllable quality. As one of the core components of prefabricated buildings, the installation quality and efficiency of composite slabs directly affect the overall structural integrity and construction progress. However, traditional composite slab construction techniques have long relied on a combination of tower crane hoisting and manual positioning, exposing a series of technical bottlenecks that urgently need to be addressed. Therefore, some new composite slab installation equipment and methods have emerged in the market.

[0003] For example, utility model patent CN119191080B discloses a hoisting device and method for composite slab construction, including a hoisting frame. The hoisting frame includes two parallel longitudinal beams and two parallel transverse beams. The two transverse beams are respectively fixed between the two longitudinal beams to form a rectangular frame that matches the size of the composite slab unit. The hoisting frame is equipped with a hoisting device and a positioning device. The hoisting device is installed on one side of the two longitudinal beams. The hoisting device includes a winding assembly and a lifting assembly. The lifting assembly is symmetrically arranged on both sides of the winding assembly. The winding assembly has two output ends. The two hoisting assemblies are driven by the output ends of the winding assembly. The positioning device is used to position the composite slab.

[0004] The composite slab construction hoisting device and hoisting method provided by the aforementioned patent can stably fix the composite slab, avoiding collisions and damage caused by unstable fixing. However, the hoisting process of this device is complicated and requires manual intervention. During the operation, the entire hoisting device and the composite slab will shake, resulting in low efficiency in hoisting the composite floor slab and ineffective safety assurance. Summary of the Invention

[0005] The purpose of this invention is to provide an automated installation device and construction method for composite slabs, aiming to improve the problems of existing hoisting devices for composite slab construction, which involve complex hoisting processes requiring manual intervention, and the shaking of the entire hoisting device and composite slab during the process, resulting in low efficiency and ineffective safety guarantees for the hoisting of composite slabs.

[0006] This invention is implemented as follows:

[0007] To achieve the above objectives, according to one aspect of the present invention, an automated installation device for composite slabs is provided, comprising a beam-slab template. Two X-axis tracks are symmetrically arranged on both sides of the beam-slab template. Sliding connecting rods are slidably connected to the tops of the two X-axis tracks. Two Y-axis tracks are symmetrically arranged between the two sliding connecting rods. Trusses are provided at the top of each Y-axis track. An installation frame is installed at the bottom of each Y-axis track. The installation frame can slide along the Y-axis track, and Z-axis hydraulic telescopic rods are provided at the corners of each installation frame. A turntable is connected to the bottom of each Z-axis hydraulic telescopic rod. The center of the turntable is rotatably connected to the installation frame. Multiple mechanical claws are provided at the bottom of the turntable for gripping the composite slab.

[0008] Furthermore, the X-axis track is I-shaped, and multiple track columns are evenly provided on the bottom surface of the X-axis track. The track columns are connected to the X-axis track by bolts. A fixing plate is provided at the bottom of the track column. Multiple reinforcing plates are provided between the fixing plate and the track column. Multiple fixing holes are provided on the fixing plate. The track column is fixed to the beam and slab template by bolts passing through the fixing holes.

[0009] Furthermore, the sliding connecting rod is provided with X-axis roller slide rails at both the front and rear ends of its bottom. The X-axis roller slide rails are engaged with and slidably connected to the X-axis track. The middle of the sliding connecting rod is provided with an X-axis slide rail servo motor for driving the X-axis roller slide rails to move on the X-axis track. Mounting holes are provided near both the front and rear ends of the sliding connecting rod.

[0010] Furthermore, each of the top corners of the mounting frame is equipped with a Y-axis roller slide rail, which is connected to the Y-axis track; symmetrical Y-axis slide rail servo motors are provided on both sides of the top of the mounting frame, which drive the Y-axis roller slide rails; a Z-axis hydraulic telescopic rod servo motor is provided in the middle of the top of the mounting frame, which drives the Z-axis hydraulic telescopic rod; each bottom end of the Z-axis hydraulic telescopic rod is provided with a pair of limiting plates, and a connecting shaft is provided between the two limiting plates, which is used for inserting the output end of the Z-axis hydraulic telescopic rod into the inside of the turntable.

[0011] Furthermore, a rotary motor is provided at the center of the top of the turntable, and multiple mechanical claw control mechanisms are provided on the upper surface of the turntable to control the operation of each mechanical claw; an annular mounting groove is provided on the edge of the upper surface of the turntable for connecting with the Z-axis hydraulic telescopic rod, and the limiting plate and connecting shaft are engaged in the mounting groove and the output end of the Z-axis hydraulic telescopic rod is fixed by bolts; a rotating part is provided in the center of the bottom surface of the turntable, and multiple guide grooves are provided on the bottom surface of the rotating part, each guide groove is equipped with a mechanical claw, and multiple distance sensors are provided on the bottom surface of the turntable.

[0012] Furthermore, it also includes an intelligent control system, which is electrically connected to each component. The intelligent control system integrates an MCU control module, which processes various data of the entire intelligent control system. The MCU control module is connected to a servo motor drive module, a hydraulic control module, a data acquisition module, a power supply module, and a communication module. The servo motor drive module controls the operation of each servo motor in the entire device. The hydraulic control module controls the extension and retraction of the Z-axis hydraulic telescopic rod. The data acquisition module works with a distance sensor to collect the distance between the turntable and the stacked plate. The power supply module supplies power to all components of the entire device. The communication module enables remote monitoring and command transmission.

[0013] According to a second aspect of the present invention, the present invention provides a construction method for an automated installation device for composite slabs, the specific steps of which are as follows:

[0014] S100. Measure and lay out the lines to determine the position of the track columns, and begin installation and adjustment of verticality and horizontality to ensure support stability;

[0015] S200: Install the X-axis track on the top of the track column and fix it with high-strength bolts; install the X-axis roller slide rail on the X-axis track and connect it to the X-axis roller slide rail servo motor;

[0016] S300. Install the Y-axis rail on the X-axis roller slide rail and fix the truss to increase the strength of the Y-axis rail; install the mounting bracket on the Y-axis rail and connect the Y-axis roller slide rail at the top of the mounting bracket to the Y-axis rail; then electrically connect the Y-axis roller slide rail to the Y-axis slide rail servo motor.

[0017] S400: Install a Z-axis hydraulic telescopic rod at the bottom of the Y-axis roller slide rail, and control the lifting and lowering of the Z-axis hydraulic telescopic rod through the Z-axis hydraulic telescopic rod servo motor.

[0018] S500: A turntable is installed at the bottom of the Z-axis hydraulic telescopic rod to ensure that the mechanical gripper can rotate omnidirectionally in the horizontal plane; a mechanical gripper is installed below the turntable, and a distance sensor is installed below the turntable to detect the position and attitude of the stacked plate in real time.

[0019] S600 connects all components requiring electrical control to the intelligent control system, which then controls the entire equipment to clamp and install composite floor slabs.

[0020] Furthermore, in step S600, the specific process of the intelligent control system controlling the operation of the entire device is as follows:

[0021] S610. Determine the installation location of the composite slab according to construction requirements, and plan the installation path according to the installation location of the composite slab.

[0022] S620 controls multiple axes to perform coordinated motion. The X-axis slide rail servo motor and the Y-axis slide rail servo motor drive the corresponding X-axis roller slide rail and Y-axis roller slide rail respectively, causing the mechanical gripper to move horizontally to the target area. Then, the Z-axis hydraulic telescopic rod adjusts the height of the mechanical gripper, and the turntable rotates to the target angle.

[0023] S630 controls the extension and retraction of the Z-axis hydraulic telescopic rod and the movement of the mechanical claw to achieve the gripping and lifting of the composite plate;

[0024] The S640 and various pressure sensors are installed at different locations on the installation device. The intelligent control system monitors the load, hydraulic pressure and sensor status of each axis in real time. When the threshold is exceeded, an alarm is triggered and the operation is suspended. A daily operation log is generated to record displacement data, grasping efficiency and fault events.

[0025] Furthermore, in step S610, the specific process for planning the installation position of the composite slab is as follows:

[0026] S611. Input the floor plan layout, dimensions, and number of the composite slabs into the central control unit.

[0027] S612: The distance sensor scans the construction area, generates three-dimensional point cloud data, and identifies the installation location coordinates;

[0028] S613, The central control unit calculates the optimal path and assigns X / Y / Z axis movement commands and turntable rotation angles.

[0029] Furthermore, the specific process for grasping the composite plate in step S630 is as follows:

[0030] S631: The distance sensor provides real-time feedback on position deviation and dynamically corrects the mechanical gripper's posture.

[0031] S632: The mechanical gripper performs the grasping action, and the hydraulic system ensures that the clamping force is controllable;

[0032] S633. Transport the composite slab to the designated location according to the planned path and complete the release operation.

[0033] Compared with the prior art, the beneficial effects of the present invention are:

[0034] 1. This invention adopts an automated sliding rail mechanical claw system, which shortens the traditional manual hoisting construction period for composite slab installation. It has a fast gripping and handling speed, rapid response of each axis movement, and a significantly shorter single operation cycle time compared to traditional equipment. It can complete the installation of a large number of composite slabs in a short time, improve construction efficiency, and speed up project progress.

[0035] 2. This invention uses advanced sensors and motion control algorithms, achieving a positioning accuracy of ±5mm. It can accurately place the composite plate in the predetermined position, ensuring the accuracy of the installation position, reducing subsequent adjustment work caused by position deviation, and improving the overall installation quality.

[0036] 3. This invention adopts a modular design to adapt to composite plates of different specifications, shapes and materials, meet diverse construction needs, and enhance the versatility and flexibility of the equipment.

[0037] 4. This invention employs an intelligent control system that monitors the equipment's operating status, the stacking plate's gripping status, and the installation position in real time. It promptly alarms and automatically adjusts when abnormalities occur, ensuring a stable and reliable operation. It can also feed data back to the control system for optimization and analysis.

[0038] 5. This invention can automatically complete the entire process from grabbing the composite plate to installation according to a preset program, reducing manual intervention, reducing labor intensity, avoiding operational errors caused by human factors, and improving operational safety. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0040] Figure 2 This is a schematic diagram of the X-axis track of the present invention;

[0041] Figure 3 This is a schematic diagram of the sliding connecting rod of the present invention;

[0042] Figure 4 This is a schematic diagram of the Y-axis track of the present invention;

[0043] Figure 5 This is a schematic diagram of the mounting bracket of the present invention;

[0044] Figure 6 This is a schematic diagram of the turntable of the present invention from a front-end oblique downward view;

[0045] Figure 7 This is a schematic diagram of the turntable of the present invention from a front-end oblique tilting angle;

[0046] Figure 8 This is a structural block diagram of the intelligent control system of the present invention;

[0047] Figure 9 This is a flowchart of the construction method of the present invention.

[0048] In the diagram: 1. Beam and slab formwork; 2. X-axis track; 21. Track column; 22. Fixing plate; 23. Fixing hole; 24. Reinforcing plate; 3. Sliding connecting rod; 31. X-axis slide rail servo motor; 32. Mounting hole; 33. X-axis roller slide rail; 4. Y-axis track; 41. Truss; 5. Mounting bracket; 51. Y-axis roller slide rail; 52. Z-axis hydraulic telescopic rod; 53. Limiting plate; 54. Connecting shaft; 55. Y-axis slide rail servo motor; 56. Z-axis hydraulic telescopic rod servo motor; 6. Turntable; 61. Rotary motor; 62. Mechanical claw control mechanism; 63. Mounting slot; 64. Rotating part; 65. Guide slot; 66. Mechanical claw; 67. Distance sensor. Detailed Implementation

[0049] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] The following description, in conjunction with the accompanying drawings and specific embodiments, provides further details:

[0051] Example 1

[0052] like Figure 1 and Figure 4As shown, an automated installation device for composite slabs includes a beam-slab template 1, which supports the composite slabs and facilitates the subsequent pouring of beams and floor slabs. Two X-axis tracks 2 are symmetrically arranged on both sides of the beam-slab template 1, along which the entire device moves. Sliding connecting rods 3 are slidably connected to the top of the two X-axis tracks 2, and two Y-axis tracks 4 are symmetrically arranged between the two sliding connecting rods 3. Each Y-axis track 4 has a truss 41 at its top. The sliding connecting rods 3 cooperate with the two Y-axis tracks 4 to allow them to move back and forth along the X-axis tracks 2. A mounting frame 5 is installed at the bottom of the Y-axis tracks 4, which can slide along the Y-axis tracks 4. The mounting frame 5 facilitates the installation of various components for gripping the composite slabs and also allows for easy movement back and forth on the Y-axis tracks 4. The truss 41 enhances the strength of the Y-axis tracks 4, ensuring their stable use. Furthermore, each corner of the mounting frame 5 is equipped with a Z-axis hydraulic telescopic rod 52. The bottom end of the Z-axis hydraulic telescopic rod 52 is connected to a turntable 6. The middle part of the turntable 6 is rotatably connected to the mounting frame 5. The bottom of the turntable 6 is equipped with multiple mechanical claws 66. The mechanical claws 66 are used to grip the laminated plate. The Z-axis hydraulic telescopic rod 52 is used to drive the turntable 6 to move up and down, thereby facilitating the gripping and lifting of the laminated plate with the mechanical claws 66, and facilitating the movement of the laminated plate to the installation position.

[0053] like Figure 2 As shown, the X-axis track 2 is I-shaped, and multiple track columns 21 are evenly distributed on the bottom surface of the X-axis track 2. The track columns 21 facilitate the erection of the entire installation device, making the entire installation device convenient to use. The track columns 21 are connected to the X-axis track 2 by bolts. The bottom end of the track column 21 is provided with a fixing plate 22. Multiple reinforcing plates 24 are provided between the fixing plate 22 and the track column 21. The fixing plate 22 is provided with multiple fixing holes 23. The track column 21 is fixed to the beam and slab template 1 by bolts passing through the fixing holes 23, ensuring that the track column 21 is stably connected to the beam and slab template 1, facilitating the stable use of the track column 21.

[0054] like Figure 3 As shown, the sliding connecting rod 3 has X-axis roller slide rails 33 at both the front and rear ends of its bottom. The X-axis roller slide rails 33 engage with and slide on the X-axis rail 2. The sliding connecting rod 3 has an X-axis slide rail servo motor 31 in the middle, which drives the X-axis roller slide rails 33 to move on the X-axis rail 2, making it easy to control the sliding connecting rod 3 to move back and forth on the X-axis rail 2. The sliding connecting rod 3 has mounting holes 32 near both the front and rear ends. The mounting holes 32 facilitate the installation of the Y-axis rail 4, making it easy to fix and use the Y-axis rail 4. The Y-axis rail 4 can be fixed by bolts or clamps when inserted into the mounting holes 32. It is important to note that welding is not allowed, otherwise it will be impossible to disassemble the entire equipment after construction is completed.

[0055] like Figure 5As shown, the mounting frame 5 is equipped with Y-axis roller slide rails 51 at the top corners, and the Y-axis roller slide rails 51 are connected to the Y-axis track 4; Y-axis slide rail servo motors 55 are symmetrically arranged on both sides of the top of the mounting frame 5. The Y-axis slide rail servo motors 55 are used to drive the Y-axis roller slide rails 51, which facilitates the back-and-forth movement of the mounting frame 5 along the Y-axis track 4. This, together with the X-axis track 2, allows the mechanical claw 66 to grasp the laminated plate in the entire area where the equipment is located, which is convenient for grasping and installing the laminated plate; a Z-axis hydraulic extension is provided at the top center of the mounting frame 5. The Z-axis hydraulic telescopic rod servo motor 56 drives the Z-axis hydraulic telescopic rod 52. Each Z-axis hydraulic telescopic rod 52 has a pair of limit plates 53 at its bottom end. A connecting shaft 54 ​​is provided between the two limit plates 53. The connecting shaft 54 ​​is used for inserting the output end of the Z-axis hydraulic telescopic rod 52 into the inside of the turntable 6. The two limit plates 53 are designed to allow the top limit plate 53 to press against the upper surface of the turntable 6, while the bottom limit plate 53 is engaged with the inside of the turntable 6, facilitating a stable connection between the hydraulic telescopic rod and the turntable 6.

[0056] like Figure 6 and Figure 7 As shown, a rotary motor 61 is located at the center of the top of the turntable 6. Multiple mechanical claws 66 are mounted on the upper surface of the turntable 6, controlled by a mechanism 62, which controls the operation of each mechanical claw 66. An annular mounting groove 63 is located at the edge of the upper surface of the turntable 6, for connection to the Z-axis hydraulic telescopic rod 52. A limiting plate 53 engages with the connecting shaft 54 ​​and is inserted into the mounting groove 63, with bolts securing the output end of the Z-axis hydraulic telescopic rod 52. A rotating part 64 is located in the center of the bottom surface of the turntable 6, driven by the rotary motor 61. Multiple guide grooves 65 are located on the bottom surface of the rotating part 64, each containing a mechanical claw 66. Multiple distance sensors 67 are located on the bottom surface of the turntable 6. The mechanical claw 66 control mechanism 62 controls the mechanical claws 66 to move along the guide grooves 65, facilitating the gripping and fixing of the stacked plate and ensuring its stability. The distance sensors 67 measure the distance from the sensor to the stacked plate, helping to determine if the stacked plate is stable.

[0057] Example 2

[0058] like Figure 1 and Figure 4As shown, an automated installation device for composite slabs includes a beam-slab template 1, which supports the composite slabs and facilitates the subsequent pouring of beams and floor slabs. Two X-axis tracks 2 are symmetrically arranged on both sides of the beam-slab template 1, along which the entire device moves. Sliding connecting rods 3 are slidably connected to the top of the two X-axis tracks 2, and two Y-axis tracks 4 are symmetrically arranged between the two sliding connecting rods 3. Each Y-axis track 4 has a truss 41 at its top. The sliding connecting rods 3 cooperate with the two Y-axis tracks 4 to allow them to move back and forth along the X-axis tracks 2. A mounting frame 5 is installed at the bottom of the Y-axis tracks 4, which can slide along the Y-axis tracks 4. The mounting frame 5 facilitates the installation of various components for gripping the composite slabs and also allows for easy movement back and forth on the Y-axis tracks 4. The truss 41 enhances the strength of the Y-axis tracks 4, ensuring their stable use. Furthermore, each corner of the mounting frame 5 is equipped with a Z-axis hydraulic telescopic rod 52. The bottom end of the Z-axis hydraulic telescopic rod 52 is connected to a turntable 6. The middle part of the turntable 6 is rotatably connected to the mounting frame 5. The bottom of the turntable 6 is equipped with multiple mechanical claws 66. The mechanical claws 66 are used to grip the laminated plate. The Z-axis hydraulic telescopic rod 52 is used to drive the turntable 6 to move up and down, thereby facilitating the gripping and lifting of the laminated plate with the mechanical claws 66, and facilitating the movement of the laminated plate to the installation position.

[0059] like Figure 2 As shown, the X-axis track 2 is I-shaped, and multiple track columns 21 are evenly distributed on the bottom surface of the X-axis track 2. The track columns 21 facilitate the erection of the entire installation device, making the entire installation device convenient to use. The track columns 21 are connected to the X-axis track 2 by bolts. The bottom end of the track column 21 is provided with a fixing plate 22. Multiple reinforcing plates 24 are provided between the fixing plate 22 and the track column 21. The fixing plate 22 is provided with multiple fixing holes 23. The track column 21 is fixed to the beam and slab template 1 by bolts passing through the fixing holes 23, ensuring that the track column 21 is stably connected to the beam and slab template 1, facilitating the stable use of the track column 21.

[0060] like Figure 3 As shown, the sliding connecting rod 3 has X-axis roller slide rails 33 at both the front and rear ends of its bottom. The X-axis roller slide rails 33 engage with and slide on the X-axis rail 2. The sliding connecting rod 3 has an X-axis slide rail servo motor 31 in the middle, which drives the X-axis roller slide rails 33 to move on the X-axis rail 2, making it easy to control the sliding connecting rod 3 to move back and forth on the X-axis rail 2. The sliding connecting rod 3 has mounting holes 32 near both the front and rear ends. The mounting holes 32 facilitate the installation of the Y-axis rail 4, making it easy to fix and use the Y-axis rail 4. The Y-axis rail 4 can be fixed by bolts or clamps when inserted into the mounting holes 32. It is important to note that welding is not allowed, otherwise it will be impossible to disassemble the entire equipment after construction is completed.

[0061] like Figure 5As shown, the mounting frame 5 is equipped with Y-axis roller slide rails 51 at the top corners, and the Y-axis roller slide rails 51 are connected to the Y-axis track 4; Y-axis slide rail servo motors 55 are symmetrically arranged on both sides of the top of the mounting frame 5. The Y-axis slide rail servo motors 55 are used to drive the Y-axis roller slide rails 51, which facilitates the back-and-forth movement of the mounting frame 5 along the Y-axis track 4. This, together with the X-axis track 2, allows the mechanical claw 66 to grasp the laminated plate in the entire area where the equipment is located, which is convenient for grasping and installing the laminated plate; a Z-axis hydraulic extension is provided at the top center of the mounting frame 5. The Z-axis hydraulic telescopic rod servo motor 56 drives the Z-axis hydraulic telescopic rod 52. Each Z-axis hydraulic telescopic rod 52 has a pair of limit plates 53 at its bottom end. A connecting shaft 54 ​​is provided between the two limit plates 53. The connecting shaft 54 ​​is used for inserting the output end of the Z-axis hydraulic telescopic rod 52 into the inside of the turntable 6. The two limit plates 53 are designed to allow the top limit plate 53 to press against the upper surface of the turntable 6, while the bottom limit plate 53 is engaged with the inside of the turntable 6, facilitating a stable connection between the hydraulic telescopic rod and the turntable 6.

[0062] like Figure 6 and Figure 7 As shown, a rotary motor 61 is located at the center of the top of the turntable 6. Multiple mechanical claws 66 are mounted on the upper surface of the turntable 6, controlled by a mechanism 62, which controls the operation of each mechanical claw 66. An annular mounting groove 63 is located at the edge of the upper surface of the turntable 6, for connection to the Z-axis hydraulic telescopic rod 52. A limiting plate 53 engages with the connecting shaft 54 ​​and is inserted into the mounting groove 63, with bolts securing the output end of the Z-axis hydraulic telescopic rod 52. A rotating part 64 is located in the center of the bottom surface of the turntable 6, driven by the rotary motor 61. Multiple guide grooves 65 are located on the bottom surface of the rotating part 64, each containing a mechanical claw 66. Multiple distance sensors 67 are located on the bottom surface of the turntable 6. The mechanical claw 66 control mechanism 62 controls the mechanical claws 66 to move along the guide grooves 65, facilitating the gripping and fixing of the stacked plate and ensuring its stability. The distance sensors 67 measure the distance from the sensor to the stacked plate, helping to determine if the stacked plate is stable.

[0063] like Figure 8 As shown, it also includes an intelligent control system, which is electrically connected to each component. The intelligent control system integrates an MCU control module, which processes various data of the entire intelligent control system. The MCU control module is connected to a servo motor drive module, a hydraulic control module, a data acquisition module, a power supply module, and a communication module. The servo motor drive module is used to control the operation of each servo motor in the entire device. The hydraulic control module is used to control the extension and retraction of the Z-axis hydraulic telescopic rod 52. The data acquisition module is used to collect the distance between the turntable 6 and the stacked plate in conjunction with the distance sensor 67. The power supply module is used to supply power to all components of the entire device. The communication module is used to realize remote monitoring and command transmission.

[0064] Example 3

[0065] like Figure 9 As shown, a construction method for an automated installation device for composite slabs is described, and the specific steps of the construction method are as follows:

[0066] S100. Measure and lay out the lines to determine the position of the track column 21, and begin installation and adjustment of verticality and horizontality to ensure support stability;

[0067] S200. Install the X-axis track 2 on the top of the track column 21 and fix it with high-strength bolts; install the X-axis roller slide rail 33 on the X-axis track 2 and connect it to the servo motor of the X-axis roller slide rail 33.

[0068] S300. Install the Y-axis rail 4 on the X-axis roller slide rail 33 and fix the truss 41 to increase the strength of the Y-axis rail 4; install the mounting bracket 5 on the Y-axis rail 4 and connect the Y-axis roller slide rail 51 at the top of the mounting bracket 5 to the Y-axis rail 4; then electrically connect the Y-axis roller slide rail 51 to the Y-axis slide rail servo motor 55.

[0069] S400. Install Z-axis hydraulic telescopic rod 52 at the bottom end of Y-axis roller slide rail 51, and control the lifting and lowering of Z-axis hydraulic telescopic rod 52 by Z-axis hydraulic telescopic rod servo motor 56.

[0070] S500. Install a turntable 6 at the bottom of the Z-axis hydraulic telescopic rod 52 to ensure that the mechanical claw 66 can rotate omnidirectionally in the horizontal plane; install the mechanical claw 66 below the turntable 6 and install a distance sensor 67 below the turntable 6 to detect the position and attitude of the stacked plate in real time.

[0071] S600 connects all components requiring electrical control to the intelligent control system, which then controls the entire equipment to clamp and install the composite floor slabs. The specific workflow of the intelligent control system controlling the entire equipment is as follows:

[0072] S610. Determine the installation location of the composite slabs according to construction requirements, and plan the installation path based on the installation location of the composite slabs; the specific process for planning the installation location of the composite slabs is as follows:

[0073] S611. Input the floor plan layout, dimensions, and number of the composite slabs into the central control unit.

[0074] S612 and distance sensor 67 scan the construction area to generate three-dimensional point cloud data and identify the installation location coordinates;

[0075] S613, the central control unit calculates the optimal path and assigns X / Y / Z axis movement commands and turntable 6 rotation angle.

[0076] S620 controls multiple axes to perform coordinated motion. The X-axis slide rail servo motor 31 and the Y-axis slide rail servo motor 55 drive the corresponding X-axis roller slide rail 33 and Y-axis roller slide rail 51 respectively, causing the mechanical claw 66 to move horizontally to the target area. Then, the Z-axis hydraulic telescopic rod 52 adjusts the height of the mechanical claw 66, and the turntable 6 rotates to the target angle.

[0077] S630 controls the extension and retraction of the Z-axis hydraulic telescopic rod 52 and the movement of the mechanical gripper 66 to grasp and lift the composite plate; the specific process for grasping the composite plate is as follows:

[0078] S631, distance sensor 67 provides real-time feedback on position deviation and dynamically corrects the attitude of mechanical gripper 66; real-time acquisition of distance sensor 67 data and dynamic correction of installation position using PID algorithm, with a final positioning error ≤ ±5mm. The PID algorithm correction formula is as follows:

[0079]

[0080] Where u(t) is the control variable, e(t) is the real-time position error, and K p K i K d The proportional, integral, and differential coefficients are used to ensure that the final positioning error |e(t)| ≤ ±5mm.

[0081] S632 and mechanical gripper 66 perform the gripping action, and the hydraulic system ensures that the clamping force is controllable;

[0082] S633. Transport the composite slab to the designated location according to the planned path and complete the release operation;

[0083] The S640 and various pressure sensors are installed at different locations on the installation device. The intelligent control system monitors the load, hydraulic pressure and sensor status of each axis in real time. When the threshold is exceeded, an alarm is triggered and the operation is suspended. A daily operation log is generated to record displacement data, grasping efficiency and fault events.

[0084] In summary, compared with existing technologies, this application utilizes an automated sliding rail mechanical gripper system, which shortens the traditional manual hoisting period for composite slab installation. It features rapid gripping and handling speeds, quick response of each axis, and a significantly shorter single-cycle operation time compared to traditional equipment. This allows for the installation of a large number of composite slabs in a short time, improving construction efficiency and accelerating project progress. Employing advanced sensors and motion control algorithms, the positioning accuracy reaches ±5mm, precisely placing the composite slabs in the predetermined positions, ensuring accurate installation, reducing subsequent adjustments due to positional deviations, and improving overall installation quality. The modular design accommodates composite slabs of different specifications, shapes, and materials, meeting diverse construction needs and enhancing the equipment's versatility and flexibility. An intelligent control system monitors the equipment's operating status, composite slab gripping, and installation position in real time, promptly alarming and automatically adjusting in case of abnormalities to ensure stable and reliable operation. It also feeds data back to the control system for optimization and analysis.

[0085] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An automated installation device for composite slabs, comprising beam and slab formwork (1), characterized in that, The beam and slab template (1) is symmetrically provided with two X-axis rails (2) on both sides. The top of the two X-axis rails (2) is slidably connected with sliding connecting rods (3). Two Y-axis rails (4) are symmetrically provided between the two sliding connecting rods (3). The top of each Y-axis rail (4) is provided with a truss (41). The bottom of the Y-axis rail (4) is provided with an installation frame (5). The installation frame (5) can slide along the Y-axis rail (4). The corners of the installation frame (5) are provided with Z-axis hydraulic telescopic rods (52). The bottom of the Z-axis hydraulic telescopic rod (52) is connected with a turntable (6). The middle of the turntable (6) is rotatably connected to the installation frame (5). The bottom of the turntable (6) is provided with multiple mechanical claws (66). The mechanical claws (66) are used to grip the composite plate.

2. The automated installation device for composite slabs according to claim 1, characterized in that, The X-axis track (2) is I-shaped, and multiple track columns (21) are evenly provided on the bottom surface of the X-axis track (2). The track columns (21) are connected to the X-axis track (2) by bolts. The bottom end of the track column (21) is provided with a fixing plate (22). Multiple reinforcing plates (24) are provided between the fixing plate (22) and the track column (21). Multiple fixing holes (23) are provided on the fixing plate (22). The track column (21) is fixed to the beam and slab template (1) by bolts passing through the fixing holes (23).

3. The automated installation device for composite slabs according to claim 2, characterized in that, The sliding connecting rod (3) has X-axis roller slide rails (33) at both the front and rear ends of its bottom. The X-axis roller slide rails (33) are engaged with the X-axis track (2) and slidably connected to the X-axis track (2). The sliding connecting rod (3) has an X-axis slide rail servo motor (31) in the middle, which is used to drive the X-axis roller slide rails (33) to move on the X-axis track (2). The sliding connecting rod (3) has mounting holes (32) near both the front and rear ends.

4. The automated installation device for composite slabs according to claim 3, characterized in that, The mounting bracket (5) is provided with Y-axis roller slide rails (51) at the top corners, and the Y-axis roller slide rails (51) are connected to the Y-axis track (4); the mounting bracket (5) is provided with Y-axis slide rail servo motors (55) on both sides of the top, and the Y-axis slide rail servo motors (55) are used to drive the Y-axis roller slide rails (51); the mounting bracket (5) is provided with Z-axis hydraulic telescopic rod servo motors (56) at the top center, and the Z-axis hydraulic telescopic rod servo motors (56) are used to drive the Z-axis hydraulic telescopic rods (52); the bottom of the Z-axis hydraulic telescopic rods (52) is provided with a pair of limiting plates (53), and a connecting shaft (54) is provided between the two limiting plates (53). The connecting shaft (54) is used for the output end of the Z-axis hydraulic telescopic rods (52) to be inserted into the inside of the turntable (6).

5. The automated installation device for composite slabs according to claim 4, characterized in that, A rotary motor (61) is provided at the top center of the turntable (6). Multiple mechanical claw (66) control mechanisms (62) are provided on the upper surface of the turntable (6) to control the operation of each mechanical claw (66). An annular mounting groove (63) is provided on the edge of the upper surface of the turntable (6) for connecting with the Z-axis hydraulic telescopic rod (52). The limiting plate (53) and the connecting shaft (54) are engaged in the mounting groove (63) and the output end of the Z-axis hydraulic telescopic rod (52) is fixed by bolts. A rotating part (64) is provided in the middle of the bottom surface of the turntable (6). Multiple guide grooves (65) are provided on the bottom surface of the rotating part (64). Mechanical claws (66) are provided in each guide groove (65). Multiple distance sensors (67) are provided on the bottom surface of the turntable (6).

6. The automated installation device for composite slabs according to claim 5, characterized in that, It also includes an intelligent control system, which is electrically connected to each component. The intelligent control system integrates an MCU control module, which is used to process various data of the entire intelligent control system. The MCU control module is connected to a servo motor drive module, a hydraulic control module, a data acquisition module, a power supply module, and a communication module. The servo motor drive module is used to control the operation of each servo motor of the entire device. The hydraulic control module is used to control the extension and retraction of the Z-axis hydraulic telescopic rod (52). The data acquisition module is used to cooperate with the distance sensor (67) to collect the distance between the turntable (6) and the stacked plate. The power supply module is used to supply power to each component of the entire device. The communication module is used to realize remote monitoring and command transmission.

7. A construction method for an automated installation device for composite slabs, used in the automated installation device for composite slabs as described in claim 6, characterized in that, The specific steps of this construction method are as follows: S100. Measure and lay out the lines to determine the position of the track column (21), and begin installation and adjustment of verticality and horizontality to ensure support stability; S200. Install the X-axis track (2) on the top of the track column (21) and fix it with high-strength bolts; install the X-axis roller slide rail (33) on the X-axis track (2) and connect it to the servo motor of the X-axis roller slide rail (33); S300, Install the Y-axis rail (4) on the X-axis roller slide rail (33) and fix the truss (41) to increase the strength of the Y-axis rail (4); Install the mounting bracket (5) on the Y-axis rail (4) and connect the Y-axis roller slide rail (51) at the top of the mounting bracket (5) to the Y-axis rail (4), and then electrically connect the Y-axis roller slide rail (51) to the Y-axis slide rail servo motor (55); S400. Install Z-axis hydraulic telescopic rod (52) at the bottom of Y-axis roller slide rail (51), and control the Z-axis hydraulic telescopic rod (52) to rise and fall through Z-axis hydraulic telescopic rod servo motor (56). S500, Install a turntable (6) at the bottom of the Z-axis hydraulic telescopic rod (52) to ensure that the mechanical claw (66) can rotate in all directions on the horizontal plane; Install the mechanical claw (66) below the turntable (6) and install a distance sensor (67) below the turntable (6) to detect the position and attitude of the stacked plate in real time; S600 connects all components requiring electrical control to the intelligent control system, which then controls the entire equipment to clamp and install composite floor slabs.

8. The construction method of the automated installation device for composite slabs according to claim 7, characterized in that, In step S600, the specific process of the intelligent control system controlling the operation of the entire device is as follows: S610. Determine the installation location of the composite slab according to construction requirements, and plan the installation path according to the installation location of the composite slab. S620: Control the multi-axis to perform coordinated motion. The X-axis slide rail servo motor (31) and the Y-axis slide rail servo motor (55) drive the corresponding X-axis roller slide rail (33) and Y-axis roller slide rail (51) respectively, driving the mechanical claw (66) to move horizontally to the target area. Then the Z-axis hydraulic telescopic rod (52) adjusts the height of the mechanical claw (66), and the turntable (6) rotates to the target angle. S630 controls the extension and retraction of the Z-axis hydraulic telescopic rod (52) and the movement of the mechanical claw (66) to achieve the gripping and lifting of the composite plate; The S640 and various pressure sensors are installed at different locations on the installation device. The intelligent control system monitors the load, hydraulic pressure and sensor status of each axis in real time. When the threshold is exceeded, an alarm is triggered and the operation is suspended. A daily operation log is generated to record displacement data, grasping efficiency and fault events.

9. The construction method of the automated installation device for composite slabs according to claim 8, characterized in that, In step S610, the specific process for planning the installation location of the composite slab is as follows: S611. Input the plan layout of the composite slabs, the dimensions and numbers of the composite slabs in the central control unit; S612, Distance sensor (67) scans the construction area, generates three-dimensional point cloud data, and identifies the installation location coordinates; S613, The central control unit calculates the optimal path and assigns X / Y / Z axis movement commands and turntable (6) rotation angle.

10. The construction method of the automated installation device for composite slabs according to claim 8, characterized in that, In step S630, the specific process for grasping the composite plate is as follows: S631, The distance sensor (67) provides real-time feedback on the position deviation and dynamically corrects the attitude of the mechanical gripper (66); S632, the mechanical gripper (66) performs the gripping action, and the hydraulic system ensures that the clamping force is controllable; S633. Transport the composite slab to the designated location according to the planned path and complete the release operation.

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