Building module general assembly equipment and modular building assembly method based on general assembly equipment

Abstract

The embodiment of the invention provides building module general assembly equipment and a modular building assembly method based on the general assembly equipment, and relates to the technical field of modular assembly type buildings. And the building module final assembly equipment is used for assembling a plurality of to-be-assembled side wall plates and top plates into building modules. The building module general assembly equipment comprises a mold table, an inner container, a first clamp mechanism and a second clamp mechanism. The inner container is arranged on the mold table and comprises a positioning piece which is used for being matched with the side wall plate. The first clamp mechanisms are arranged on the two sides of the mold table in the first direction and can move in the first direction, and the first clamp mechanisms are matched with the inner container to clamp the side wall plate in the first direction. The second clamp mechanism is arranged on one side, in the second direction, of the die table, and the second clamp mechanism is matched with the inner container to clamp the side wall plate in the second direction. The first clamp mechanism and the second clamp mechanism mechanically abut against and disassemble the side wall plate, positioning does not need to be completely dependent on manual work, the assembling and disassembling efficiency is improved, and welding fire operation is not needed.

Description

Technical Field

[0001] This application relates to the field of modular prefabricated building technology. In one embodiment, it relates to building module assembly equipment and a modular building assembly method based on the assembly equipment. Background Technology

[0002] Modular prefabricated buildings refer to the process of prefabricating entire rooms into modular units that can be assembled in a factory. After multiple modular units are transported to the construction site, they are stacked and spliced ​​using reliable connection technology, which can quickly complete the overall building installation, significantly shorten the construction period, and improve on-site construction efficiency.

[0003] In existing technologies, when modular building units are prefabricated in the factory, they are positioned by manually marking lines on the mold platform, with an overhead crane supporting the wall panels, and temporary diagonal bracing is erected on the inside of the wall panels using multiple diagonal supports, based on which the wall panels are positioned.

[0004] Because existing assembly methods heavily rely on manual labor, multiple diagonal supports are welded or bolted to the ends of the bottom formwork and the sides of the concrete wall panels to fix the concrete wall panels in place on the formwork. Multiple concrete wall panels are then spliced ​​together to form a concrete module. However, the installation of diagonal supports is slow due to the large number of supports required. If welding is used, it involves open flame work, resulting in low installation accuracy and requiring repeated manual measurements and adjustments. Furthermore, disassembling the diagonal supports after assembly requires cutting, leading to low installation and disassembly efficiency. Summary of the Invention

[0005] To address the aforementioned problems, the present invention aims to provide building module assembly equipment and a modular building assembly method based on the assembly equipment, thereby resolving the technical issues described above.

[0006] In a first aspect, embodiments of the present invention provide a building module assembly device for assembling multiple side wall panels and top panels to be assembled into a building module, comprising: mold table; The inner liner is disposed on the mold table and includes a positioning element for fitting with the side wall panel; The first clamping mechanism is disposed on both sides of the mold table along the first direction and is capable of moving along the first direction. The first clamping mechanism cooperates with the inner liner to clamp the side wall panel along the first direction. The second clamping mechanism is disposed on one side of the mold table along the second direction. The second clamping mechanism cooperates with the inner liner to clamp the side wall panel along the second direction.

[0007] Furthermore, the first clamping mechanism includes a base frame, a transverse movement mechanism, and a fixing clamp. The base frame is fixedly disposed on both sides of the mold table along the first direction. The transverse movement mechanism is slidably disposed on the base frame along the first direction. The fixing clamp is disposed on the transverse movement mechanism. The fixing clamp includes an abutment mechanism that can extend and retract along the first direction. The abutment mechanism is used to abut against the side wall panel along the first direction.

[0008] Furthermore, the transverse mechanism is equipped with a positioning cylinder, and the fixing fixture has a positioning hole. The positioning cylinder extends and retracts through the positioning hole to fix the fixing fixture.

[0009] Furthermore, the fixing clamp also includes a first support frame, a second support frame, and a reinforcing rib connected between the first support frame and the second support frame; The first support frame is mounted on the transverse mechanism, the second support frame is vertically arranged, and the abutment mechanism is provided on the side of the second support frame away from the first support frame.

[0010] Furthermore, the building module assembly equipment also includes a robotic arm; the fixing fixture also includes a gripping head, and the robotic arm uses the gripping head to hold the fixing fixture to the target position of the traversing mechanism.

[0011] Furthermore, the second clamping mechanism includes a base and a positioning clamp. The base is fixedly disposed on one side of the mold table along the second direction, and the positioning clamp is slidably disposed on the base along the first direction. The positioning clamp includes an abutment mechanism that can extend and retract along the second direction, and the abutment mechanism is used to abut against the side wall panel along the second direction.

[0012] Furthermore, a positioning cylinder is provided on the base, and a positioning hole is provided on the positioning fixture. The positioning cylinder extends and retracts through the positioning hole to fix the positioning fixture.

[0013] Furthermore, the positioning fixture also includes a first support frame, a second support frame, and a reinforcing rib connected between the first support frame and the second support frame; The first support frame is disposed on the base, the second support frame is vertically disposed, and the abutment mechanism is disposed on the side of the second support frame opposite to the first support frame.

[0014] Furthermore, the abutment mechanism is provided at the top and middle positions of the second support frame.

[0015] Furthermore, the inner liner also includes a limiting member and a supporting body with a frame structure. Multiple positioning members are adjustablely arranged on the outer periphery of the supporting body. The positioning members extend vertically and are used to fit against the inner wall of the side wall panel. The top of the support body is adjustablely provided with a plurality of limiting members, which extend vertically and are used to fit with the top plate.

[0016] Furthermore, the support body includes a first crossbeam, and the sidewall of the first crossbeam has an adjustment groove along its length. The positioning component includes an adjusting rod and an abutting rod that are fixedly connected. The adjusting rod is connected to both ends of the abutting rod and is adjustablely inserted into the adjusting groove. The abutting rod is located outside the support body and is used to fit against the inner wall of the side wall panel.

[0017] Furthermore, the support body also includes a second crossbeam, the top wall of which has adjustment holes along its length. The limiting component includes an adjusting screw and a U-shaped component that are fixedly connected. The adjusting screw is adjustablely disposed in the adjusting hole, and the U-shaped component is used to embed the top plate positioning component.

[0018] Furthermore, the inner liner also includes an anti-tipping mechanism, which is adjustablely disposed on the top of the support body and is used to cooperate with the outer side wall of the side wall panel to apply a force toward the inner liner to the side wall panel.

[0019] Furthermore, it also includes a wall fixing mechanism, which is disposed on the mold table and located on the side of the inner liner away from the second clamping mechanism. The wall fixing mechanism is used to fix the side wall panel to be assembled to the mold table.

[0020] Furthermore, the wall fixing mechanism includes: The support frame includes a bottom and sides; A fixing member, which is fixed to the bottom of the bracket and can fix the bracket to the mold table; and A positioning component is fixedly installed on the side of the bracket and is capable of fixing the side wall panel to be assembled to the bracket.

[0021] Furthermore, the bottom of the bracket includes a base plate, the mold table has magnetic attraction properties, the fixing member includes a magnetic attracting member, the magnetic attracting member is disposed above the base plate, and can magnetically fix the bracket to the mold table.

[0022] Furthermore, the positioning component includes a positioning plate and a fastener. The positioning plate is fixedly installed on the side of the bracket. A nut matching the fastener is pre-embedded in the wall panel to be assembled. The fastener passes through the positioning plate and is fixed to the nut.

[0023] Furthermore, the positioning component also includes a pad, which protrudes from the outer side of the positioning plate and has a through hole. The fastener is sequentially inserted through the positioning plate and the through hole and fixed to the nut.

[0024] Furthermore, it also includes a ladder, which is slidably disposed on both sides of the mold table along the first direction; The ladder includes a fixedly connected support frame and a walking frame. The support frame includes a first bracket and a second bracket. The top of the first bracket is fixed to the walking frame, and the second bracket is detachably connected to the bottom of the first bracket. The bottom of the second bracket is provided with wheels.

[0025] Secondly, embodiments of the present invention also provide a modular building assembly method, implemented based on the aforementioned building module assembly equipment, the assembly method comprising: The inner liner is hoisted onto the mold platform, and the positioning components of the inner liner are adjusted to the first preset position, wherein the inner liner is adapted to the modular building. Hoist the first side wall panel onto the mold table, and adjust the inner wall of the first side wall panel to abut against the positioning component of the inner liner, wherein the first side wall panel is located on both sides of the inner liner along the first direction; Adjust the first clamping mechanism to position the first clamping mechanism on the outer wall of the corresponding first side wall panel; Hoist the second side wall panel onto the mold table, and adjust the inner wall of the second side wall panel to abut against the positioning part of the inner liner, wherein the second side wall panel is located on one side of the inner liner along the second direction; Adjust the second clamping mechanism to position it on the outer wall of the corresponding second side wall panel; After the circumferential side wall panels are positioned, the top panel is hoisted to the top of the inner liner, and the limiting components of the inner liner are adjusted to the second preset position so that the top panel is supported by the limiting components while overlapping with the circumferential side wall panels. Concrete is poured to form a modular building with the circumferential side wall panels and the roof slab.

[0026] Furthermore, the first clamping mechanism includes a base frame, a transverse movement mechanism, and a fixing clamp. The base frame is fixedly disposed on both sides of the mold table along the first direction. The transverse movement mechanism is slidably disposed on the base frame along the first direction. The fixing clamp is disposed on the transverse movement mechanism. The fixing clamp includes an abutment mechanism that can extend and retract along the first direction. The adjustment of the first clamping mechanism to position the first clamping mechanism on the outer wall of the corresponding first side wall panel includes: The adjusting transverse movement mechanism slides relative to the base frame in a first direction to pre-press the bottom of the first side wall panel; The fixed fixture is set at the target position of the transverse mechanism, and the positioning cylinder of the transverse mechanism positions the fixed fixture by telescopic movement. Adjust the abutment mechanism on the fixing fixture to extend and retract in the first direction so that the extension end of the abutment mechanism abuts against the outer wall of the first side wall panel.

[0027] Furthermore, the second clamping mechanism includes a base and a positioning clamp. The base is fixedly disposed on one side of the mold table along the second direction, and the positioning clamp is slidably disposed on the base along the first direction. The positioning clamp includes an abutment mechanism that can extend and retract along the second direction, and the abutment mechanism is used to abut against the second side wall panel along the second direction. The adjustment of the second clamping mechanism to position the second clamping mechanism on the outer wall of the corresponding second side wall panel includes: Adjust the position of the fixing clamp relative to the base so that the fixing clamp corresponds to the position of the second side wall panel; Adjust the abutment mechanism to extend and retract in the second direction so that the extension end of the abutment mechanism abuts against the outer wall of the second side wall panel.

[0028] Furthermore, the final assembly equipment also includes a wall fixing mechanism, which includes a bracket, a fixing component, and a positioning component. The bracket is fixedly mounted on the mold table by the fixing component, and the positioning component is fixedly installed on the side of the bracket and can fix the side wall panel to be assembled to the bracket. Before hoisting the top plate to the top of the inner liner after the circumferential side wall panels have been positioned, the following steps are also included: The wall fixing mechanism is hoisted to the mold table at the third preset position on the side of the inner liner away from the second clamping mechanism. The third side wall panel is hoisted and erected on the mold table, and the side of the third side wall panel is fixedly connected to the wall fixing mechanism.

[0029] Furthermore, the pouring of concrete to form a modular building with the circumferential side wall panels and the top slab includes: After the first side wall panel, the second side wall panel, and the top slab are assembled, concrete is poured. After the concrete has solidified for the preset time, remove the first and second clamping mechanisms; adjust the positioning parts of the inner liner to separate from the side wall panels; The modular building is hoisted and removed from the formwork.

[0030] This application has the following beneficial effects: In the solution provided by the first aspect of the present invention, an inner liner is provided within the mold platform, and the positioning components of the inner liner are adjusted to fit the side wall panels of the building module unit to be assembled. The inner liner abuts against the inner side of the side wall panel, and then the first clamping mechanism abuts against the side wall panel from the outside. Through the cooperation of the inner liner and the first clamping mechanism, the side wall panels on both sides in the first direction are vertically fixed to the target position on the mold platform. For the side wall panel at the end in the second direction, the inner liner and the second clamping mechanism cooperate to vertically fix the side wall panel. In addition, the hoisting of the inner liner and the side wall panels can be carried out using existing overhead cranes in the workshop. The abutment of the side wall panels by the first and second clamping mechanisms is a mechanized action, which does not require complete manual positioning, thereby improving assembly efficiency and eliminating the need for welding or hot work. Furthermore, after the building module unit is assembled, the clamping mechanism is removed, and the entire unit is directly hoisted by the overhead crane, greatly improving disassembly efficiency.

[0031] In the second aspect of the present invention, the modular building assembly method involves hoisting the inner liner onto a formwork platform. The inner liner abuts against the first and second side wall panels from the inside. Adjusting the first and second clamping mechanisms on the outside of the side wall panels allows them to abut against the outer walls of the side wall panels circumferentially, enabling rapid positioning of the side walls. After the top plate is hoisted into place, concrete is poured to fix the side wall panels and top plate into a single structure. When disassembly is required, only the circumferential first and second clamping mechanisms need to be removed. The entire modular unit can then be directly hoisted using an overhead crane, facilitating assembly and disassembly, improving efficiency, and automating the assembly process. Attached Figure Description

[0032] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0033] Figure 1 This diagram illustrates the structure of a building module assembly equipment provided in an embodiment of the present invention. Figure 2 This diagram illustrates the structure of the modular assembly equipment provided in this embodiment of the invention, showing the cooperation between the mold platform, inner liner, first clamping mechanism, and second clamping mechanism. Figure 3 This diagram shows a structural schematic of the inner liner in the building module assembly equipment provided in an embodiment of the present invention; Figure 4 This diagram shows a structural schematic of the first clamping mechanism in the building module assembly equipment provided in an embodiment of the present invention; Figure 5 This shows a schematic diagram of the transverse movement mechanism in the first clamping mechanism provided in an embodiment of the present invention; Figure 6 This diagram shows a structural schematic of the fixing clamp in the first clamping mechanism provided in an embodiment of the present invention; Figure 7 A schematic diagram of the structure of the second clamping mechanism provided in an embodiment of the present invention is shown; Figure 8 This diagram illustrates the structural design of the wall fixing mechanism, the mold platform, and the third side wall panel provided in an embodiment of the present invention. Figure 9 A schematic diagram of the first structure of the wall fixing mechanism provided in an embodiment of the present invention is shown; Figure 10 A schematic diagram of the second structure of the wall fixing mechanism provided in an embodiment of the present invention is shown; Figure 11 This invention provides a schematic diagram of the wall fixing mechanism for fixing a third side wall panel according to an embodiment of the invention. Figure 12 A schematic flowchart of the modular building assembly method provided in an embodiment of the present invention is shown.

[0034] Icons: 100 - Assembly equipment; 001 - First side wall panel; 003 - Second side wall panel; 005 - Third side wall panel; 007 - First direction; 009 - Second direction; 010 - Mold table; 020 - Inner liner; 021 - Support body; 023 - Positioning component; 025 - Limiting component; 027 - Anti-tipping mechanism; 030 - First clamping mechanism; 031 - Base frame; 033 - Lateral movement mechanism; 035 - Fixing clamp; 040-Second clamping mechanism; 041-Base; 043-Positioning clamp; 0450-Abutting mechanism; 0452-First support frame; 0454-Second support frame; 0456-Reinforcing rib; 0458-Positioning cylinder; 050-Wall fixing mechanism; 052-Bracket; 054-Fixed component; 056-Positioning assembly; 0562-Positioning plate; 0564-Padded block; 060-Robot arm; 070-Ladder. Detailed Implementation

[0035] To make the technical solutions and advantages of the embodiments of this application clearer, the exemplary embodiments of this application will be described in further detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not an exhaustive list of all embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other.

[0036] In the description of this invention, it should be understood that the terms "vertical," "horizontal," "inner," "outer," "upper," "lower," "front," "rear," "left," "right," "center," "longitudinal," "transverse," "length," "width," and "thickness," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] 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 connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] This application provides a building module assembly device for assembling multiple side wall panels and top panels into a building module. Please refer to... Figure 1 The diagram shown is a structural schematic of the building module assembly equipment 100.

[0040] The building module assembly equipment 100 may include a mold table 010, an inner liner 020, a first clamping mechanism 030, and a second clamping mechanism 040.

[0041] The formwork platform 010 is fixedly located at the factory assembly station to provide a flat assembly platform for building module assembly. This formwork platform can be designed to protrude from the ground to facilitate the positioning and assembly of each side wall panel and the subsequent hoisting of the overall building module.

[0042] The inner liner 020 is set on the mold table 010. The inner liner can adopt an integrated structure and can be hoisted to the target position on the mold table by means of hoisting.

[0043] The inner liner 020 may include a positioning element 023. During assembly, the position of the positioning element 023 can be adjusted so that the inner liner can be adapted to the side wall panel of the building module to be assembled, that is, the inner liner 020 can abut against the inner side wall of the side wall panel.

[0044] Along the first direction 007 of the mold table 010, the first clamping mechanism 030 is disposed on both sides of the mold table 010. The first clamping mechanism 030 corresponds to the inner liner 020. During assembly, the inner liner 020 abuts against the inner wall of the side wall panel, and the first clamping mechanism 030 abuts against the outer wall of the side wall panel. In other words, the first clamping mechanism 030 can be adjusted in position along the first direction 007. Before the side wall panel is placed or before it is hoisted, the first clamping mechanism 030 is in its initial position. After the side wall panel is hoisted to the target position on the mold table, the first clamping mechanism 030 is controlled to move along the first direction 007, so that the first clamping mechanism 030 can abut against the outer wall of the side wall panel. That is, the first clamping mechanism and the inner liner cooperate to abut and clamp the side wall panel from both sides along the first direction, so that the side wall panel can stand stably on the mold table without shifting position or tipping over.

[0045] The side wall panels on both sides of the mold table 010 in the first direction 007 can be first side wall panels 001, both of which are fixed by the first clamping mechanism 030 in conjunction with the inner liner 020. When there are multiple first side wall panels 001, the multiple first side wall panels are spliced ​​together in sequence, and each first side wall panel is fixed by the first clamping mechanism and the inner liner.

[0046] Along the second direction 009 of the mold table 010, a second clamping mechanism 040 is disposed on one side of the mold table 010, corresponding to the inner liner 020. During assembly, the inner liner 020 abuts against the inner wall of the second side wall panel 003, and the second clamping mechanism 040 abuts against the outer wall of the second side wall panel 003. In other words, the second clamping mechanism 040 can be adjusted along the second direction 009, that is, the second clamping mechanism 040 and the inner liner 020 cooperate to clamp the second side wall panel 003 from both sides along the second direction 009, so that the second side wall panel can stand stably on the mold table without shifting position or tipping over.

[0047] In one embodiment, please refer to Figure 2 The building module includes a first side wall panel 001 disposed on both sides of the inner liner along a first direction 007, a second side wall panel 003 disposed on one side of the inner liner along a second direction 009, and a third side wall panel 005 disposed on the other side of the inner liner along a second direction 009.

[0048] The inner liner 020 is located on the mold platform 010 and within the building module unit. The inner liner 020 supports and abuts against both the first side wall panel 001 and the second side wall panel 003 from the inside. The first clamping mechanism 030 abuts against the first side wall panel 001 from the outside, and the second clamping mechanism 040 abuts against the second side wall panel 003 from the outside. Through the cooperation of the inner liner 020 and the first clamping mechanism 030, and the cooperation of the inner liner 020 and the second clamping mechanism 040, the first side wall panel 001 and the second side wall panel 003 are stably erected and sequentially assembled.

[0049] The assembly equipment utilizes mechanization in many parts. For example, an overhead crane in the factory hoists the inner liner, first side wall panel, second side wall panel, and third side wall panel to the target position. The side wall panels are clamped and positioned by controlling the telescopic movements of the first and second clamping mechanisms. Reducing manual assembly work not only improves assembly and disassembly efficiency but also enhances assembly accuracy, facilitating automated production.

[0050] The following is a detailed description of the building module assembly equipment provided in the embodiments of this application.

[0051] Please refer to Figure 3 The diagram shown is a structural schematic of the inner liner 020.

[0052] In one embodiment, the inner liner may be an integral structure, which may include a support body 021, a positioning element 023, and a limiting element 025. The support body 0212 may be a frame structure, for example, a rectangular frame that matches the internal space of the building module.

[0053] Multiple positioning elements 023 are adjustablely disposed on the outer periphery of the support body 021. The positioning elements 023 extend vertically and can be designed as strips for fitting against the inner wall of the side wall panel. Multiple limiting elements 025 are adjustablely disposed on the top of the support body 021. The limiting elements 025 extend vertically and can be adjusted in the height direction for abutting against the top plate of the building module.

[0054] Please continue to refer to Figure 3 The support body 021 may include multiple first horizontal beams and multiple first vertical beams, which are spliced ​​together to form a frame structure. The first vertical beams serve as support legs on the mold platform. The first horizontal beams are used to install positioning components 023, and the positioning components 023 can be adjusted in position on the first horizontal beams.

[0055] In one embodiment, an adjustment groove is formed on the side wall of the first crossbeam along its length. The adjustment groove can be formed on a single long bar along its length, or two long bars can be arranged side by side at intervals, with the adjustment groove formed between the two long bars.

[0056] The positioning component 023 may include an adjusting rod and an abutment rod that are fixedly connected. The abutment rod may be a slender rod-shaped structure, with the adjusting rod connected to both ends of the abutment rod and located on the same side, forming a π-shaped structure. During installation, the adjusting rod of the positioning component 023 is inserted into the first crossbeams at the top and bottom of the support body 021, and its relative position on the first crossbeam is adjusted as needed. Once the relative position of the positioning component on the first crossbeam is determined, the distance between the abutment rod and the first crossbeam is adjusted, i.e., the depth to which the adjusting rod is inserted into the adjusting groove, so that the abutment rod is located outside the support body and can fit against the inner wall of the side wall panel.

[0057] In one embodiment, the support body 021 further includes a second crossbeam located at the top of the support body. The second crossbeam can span two opposing first crossbeams. An adjustment hole is formed at the top of the second crossbeam, which can be formed along the length direction of the second crossbeam. A limiting member 025 is adjustablely disposed on the second crossbeam along the height direction for adjusting the height position of the limiting member.

[0058] In one embodiment, the limiting member 025 may include an adjusting screw and a U-shaped member fixedly connected together. The end of the adjusting screw is fixedly connected to the bottom of the U-shaped member, and the adjusting screw is adjustablely disposed in the adjusting hole of the second crossbeam. In one embodiment, the adjusting hole may be configured as a threaded hole structure, and the adjusting screw is threadedly connected to the threaded hole, so that the height of the U-shaped member can be adjusted by screwing.

[0059] Once the U-shaped components are adjusted to the correct height, all the U-shaped components of the limiting components must be the same height, and the U-shaped components in the same row must face the same direction to ensure that multiple limiting components in the same column are aligned in a straight line. During assembly, the U-shaped components of multiple limiting components in the same column are used to embed the top plate positioning components. In other words, before installing the top plate of the building module, top plate positioning components need to be embedded in the limiting components, with multiple top plate positioning components on the same plane. Then, the top plate is hoisted above the top plate positioning components, and the height of the limiting components is adjusted so that the top plate can overlap with the side wall panels.

[0060] After the side wall panels are hoisted onto the mold platform 010, only the inner liner 020 provides support for the side wall panels, making them prone to tipping over. In one embodiment, the inner liner 020 may further include an anti-tipping mechanism 027. The anti-tipping mechanism 027 is adjustablely disposed on the top of the support body 021 and is used to engage with the outer side wall of the side wall panel. An outward-facing anti-tipping mechanism 027 is provided on the top of the inner liner 020. The anti-tipping mechanism is designed in the shape of a hook, hooking onto the outer side of the top of the side wall panel and applying a force towards the inner liner to the side wall panel, preventing the side wall panel from tipping over outward.

[0061] In one embodiment, the anti-tipping mechanism 027 can adopt an inverted U-shaped structure, and the anti-tipping mechanism can include a hook frame and an anti-tipping hook. An adjustment groove can be provided on the first crossbeam, and the hook frame is adjustablely disposed in the adjustment groove for adjusting the installation position of the anti-tipping mechanism. The mounting end of the anti-tipping hook passes through the hook frame so that the hook protrudes outward, making it convenient for the opposite side wall panel to be hooked from the top.

[0062] Please refer to Figure 4 The diagram shown is a structural schematic of the first clamping mechanism 030.

[0063] In one embodiment, the first clamping mechanism 030 may include a base frame 031, a transverse mechanism 033, and a fixing clamp 035.

[0064] The base frame 031 is fixedly mounted on both sides of the mold table 010 along the first direction 007, and is fixed to the ground as a support platform. A transverse movement mechanism 033 is slidably mounted on the base frame 031 along the first direction 007. A slidable transmission mechanism is provided on the top of the transverse movement mechanism 033 and the base frame 031, allowing the transverse movement mechanism 033 to slide relative to the base frame 031 along the first direction 007 under the action of the transmission mechanism. A fixing clamp 035 is mounted on the transverse movement mechanism 033, and its position relative to the transverse movement mechanism 033 remains unchanged. The fixing clamp 035 includes an abutment mechanism 0450 that can extend and retract along the first direction 007, and the abutment mechanism 0450 is used to abut against the side wall panel along the first direction 007.

[0065] The inner liner 020 is located on the mold table 010, and the base frame 031 is located on both sides of the mold table along the first direction. When the side wall panel is hoisted onto the mold table, the inner liner 020 contacts the inner wall of the side wall panel, and the transverse movement mechanism 033 is controlled to slide relative to the base frame along the first direction to initially position the bottom of the side wall panel. The fixing clamp 035 is set at the upper end of the transverse movement mechanism, and the abutment mechanism 0450 of the fixing clamp 035 is controlled to slide along the first direction 007 to abut against the outer side of the side wall panel. By abutting against the side wall panel through the multiple abutment mechanisms on the fixing clamp, the side wall panel is vertically fixed, and then the anti-tipping mechanism of the inner liner is removed.

[0066] In one embodiment, reference Figure 5 and Figure 6 , Figure 5 The diagram shown is a structural schematic of the transverse movement mechanism 033. Figure 6 The diagram shown is a structural schematic of the fixing fixture 035.

[0067] Multiple positioning cylinders 0458 are provided at the end of the transverse mechanism 033. A positioning hole is provided at the lower part of the fixing fixture 035. When the fixing fixture 035 is mounted on the transverse mechanism 033, the telescopic ends of the positioning cylinders 0458 should be aligned with the positioning holes of the fixing fixture 035. Through the telescopic movement of the positioning cylinders 0458, the telescopic ends pass through the positioning holes, thereby fixing the fixing fixture 035.

[0068] In one embodiment, the fixing fixture can be disposed on a fixing platform outside the mold table, and the building module assembly equipment can further include a robotic arm 060. Please refer to... Figure 2 The robotic arm 060 can move on the motion table and is used to grasp the fixing fixture 035 and place it onto the target position of the transverse mechanism 033. The robotic arm can grasp a corresponding number of fixing fixtures onto the transverse mechanism at the target position according to the needs of the building module, and use the fixing fixtures to fix the side wall panels. After assembly and concrete pouring, the robotic arm 060 removes the fixing fixture 035 from the transverse mechanism 033, and the transverse mechanism 033 moves in the opposite direction, thus quickly disassembling the first fixture mechanism 030.

[0069] In other optional embodiments, please refer to Figure 6 The fixing clamp 035 may further include a first support frame 0452, a second support frame 0454 fixedly connected, and a reinforcing rib 0456 connected between the first support frame 0452 and the second support frame 0454. The first support frame 0452 is disposed on the transverse moving mechanism 033, the second support frame 0454 is vertically disposed, and the second support frame is approximately perpendicular to the first support frame. The reinforcing rib 0456 is provided between the second support frame and the first support frame to enhance the stability and strength of the fixing clamp.

[0070] A gripping head matching the robotic arm 060 is provided on the side of the second support frame 0454 near the first support frame 0452, facilitating the robotic arm to grasp the fixing fixture 035. An abutment mechanism 0450 is provided on the side of the second support frame 0454 opposite to the first support frame 0452. The abutment mechanism 0450 can be extended and adjusted along the first direction 007 to abut against the outer wall of the side wall panel.

[0071] In one embodiment, a fixing fixture may be provided with multiple abutment mechanisms, which are spaced apart along the lateral and / or longitudinal directions. By abutting the side wall panels at multiple points, the stability of the rear wall panel can be improved.

[0072] Multiple abutment mechanisms can also be simultaneously installed at the top and middle positions of the second support frame. This application does not limit this, and the specific arrangement depends on actual needs.

[0073] In one embodiment, multiple first clamping mechanisms can be provided, and two or more fixed clamps can be provided on the transverse movement mechanism of one first clamping mechanism. Specifically, it is determined according to the width and position of the side wall panel.

[0074] For designs where some side wall panels have protruding reinforcing bars on their outer surface, and the fixing clamps cannot directly abut against the side wall panels, a long abutment bar can be installed at a suitable position on the outer surface of the side wall panel. The long abutment bar should avoid the protruding reinforcing bars, and its height should be higher than the protruding reinforcing bars. Then, the fixing clamp of the first clamping mechanism presses the abutment mechanism against the long abutment bar, indirectly transferring the abutment force to the side wall panel through the long abutment bar, thus achieving vertical fixation of the side wall panel.

[0075] For fixing the second side wall panel 003, a second clamping mechanism 040 and an inner liner 020 can be used to abut against the second side wall panel from the outer wall and inner wall of the second side wall panel 003, respectively, to achieve vertical fixing.

[0076] The structure of the second clamping mechanism 040 will be described in detail below.

[0077] Please refer to Figure 7 The diagram shown is a structural schematic of the second clamping mechanism 040.

[0078] In one embodiment, the second clamping mechanism 040 may include a base 041 and a positioning clamp 043. The base 041 is fixedly disposed on one side of the mold table 010 along the second direction 009, and the positioning clamp 043 is slidably disposed on the base 041 along the first direction 007. The base 041 is a frame support structure, and the height of the base may be the same as the height of the base frame of the first clamping mechanism. The base is used to support the positioning clamp.

[0079] In one embodiment, a positioning cylinder 0458 can be provided on the base 041. When the positioning fixture 043 is placed on the base 041, the position of the positioning fixture 043 can be fixed by the positioning cylinder 0458.

[0080] To facilitate the positioning fixture in fixing the second side wall panels at different positions and with different widths, the positioning fixture and the base can be configured to have an adjustable structure.

[0081] In one embodiment, a groove can be formed on the base 041 along a first direction, and the positioning clamp 043 can slide on the base along the first direction 007. The fixed position of the positioning clamp 043 is adjusted according to the actual width and specific installation position of the second side wall panel 003.

[0082] Once the position of the positioning clamp 043 relative to the base 041 is determined, the position of the positioning clamp 043 can be adjusted along the second direction 009 so that the positioning clamp 043 abuts against the outer wall of the second side wall panel 003.

[0083] In one embodiment, the positioning fixture 043 may include an abutment mechanism 0450, which is capable of telescopic movement along a second direction 009, thereby abutting the second side wall panel 003 along the second direction 009 through the telescopic movement.

[0084] In one embodiment, when the positioning clamp 043 is fixed to the positioning cylinder 0458, a positioning hole can be opened at the corresponding position of the positioning clamp to facilitate a secure fixation. When the positioning clamp is placed on the base and the position is adjusted to the correct position, the positioning cylinder is controlled to extend, and the telescopic end of the positioning cylinder passes through the positioning hole of the positioning clamp to fix the positioning clamp.

[0085] Of course, in one embodiment, the positioning cylinder can also be designed so that its extended telescopic end is located above one of the connecting rods of the positioning clamp, and it presses the connecting rod from top to bottom, that is, it presses the positioning clamp from top to bottom to fix the positioning clamp.

[0086] This application does not limit the fixing method of the positioning fixture in the first and second clamping mechanisms mentioned above; the specific method depends on the actual needs.

[0087] The structure of the positioning clamp 043 in the second clamping mechanism 040 can be the same as the structure of the fixing clamp 035 in the first clamping mechanism 030. For example, both can include a first support frame 0452, a second support frame 0454, and a reinforcing rib 0456 connecting the first and second support frames. The first support frame is a bottom frame, mounted on a base. The second support frame is vertically connected to one end of the first support frame, forming a right-angle structure. The inner sides of the first and second support frames are connected by reinforcing ribs, forming a triangular structure. The abutment mechanism can be located on the side of the second support frame opposite to the first support frame.

[0088] The abutment mechanism 0450 may include a threaded rod threadedly connected to the second support frame and an abutment block at its end. The distance between the abutment block and the outer wall of the second side wall panel can be adjusted by turning the threaded rod.

[0089] To achieve a more stable abutment effect by abutting the second side wall panel 003 at multiple points, in one embodiment, abutment mechanisms are provided at the top and middle positions of the second support frame.

[0090] Different building modules have different design structures. In the case where a third side wall panel 005 is provided on the side opposite to the second side wall panel in the building module unit side wall panel, in order to fix the third side wall panel 005, in one embodiment, the building module assembly equipment may also include a wall fixing mechanism 050.

[0091] Please refer to Figure 8 The above is a structural schematic diagram of the wall fixing mechanism. The wall fixing mechanism 050 is disposed on the mold table 010 and is located on the side of the inner liner 020 away from the second clamping mechanism 040.

[0092] The wall fixing mechanism 050 is used to fix the wall panel to the mold platform 010. The third side wall panel to be assembled is hoisted onto the mold platform 010 and then abuts against the wall fixing mechanism 050, and is then fixed to the wall fixing mechanism 050. That is, the side wall panel to be assembled is directly or indirectly fixed to the mold platform through the wall fixing mechanism, and there is no need to use welding to fix the wall fixing mechanism to the mold platform and the side wall panel, which facilitates installation and disassembly and improves assembly efficiency.

[0093] Please refer to Figure 8 The diagram shown is a structural schematic of the wall fixing mechanism 050.

[0094] The wall fixing mechanism 050 may include a bracket 052, a fastener 054, and a positioning component 056. The bracket 052 may be a frame structure, including a bottom and sides. The bottom and sides are defined with reference to its orientation in the installation and use state; when the bracket is in use, the structure at the bottom is the bottom, and the structure in the circumferential direction is the side. The fastener 054 is fixed to the bottom of the bracket 052, and the positioning component 056 is fixedly installed on the side of the bracket 052.

[0095] The fastener 054, located at the bottom of the bracket 052, secures both the bracket 052 and the mold table 010. In other words, the fastener 054 ensures that the bracket 052 and the mold table 010 are in a relatively fixed state. The positioning component 056 is installed on the side of the bracket 052 for connecting with the side wall panel to be assembled and fixed, thus ensuring that the side wall panel is in a relatively fixed state relative to the bracket.

[0096] In other words, during the assembly of the modular building unit, the bracket 052 is vertically positioned at a predetermined location on the mold platform 010, and the fastener 054 is fixed to the bottom of the bracket 052. Simultaneously, the bracket 052 is fixedly connected to the mold platform 010 via the fastener 054, thus achieving fixed installation of the bracket. The side wall panel to be assembled is hoisted onto the mold platform, and the side wall panel abuts against the positioning component 056 on the bracket 052. The positioning component 056 then fixes the side wall panel to be assembled to the bracket 052. That is, the side wall panel to be assembled increases its vertical stability by abutting against the bracket 052, and the fixed connection via the positioning component 056 ensures that the third side wall panel 005, the bracket 052, and the mold platform 010 are all relatively fixed, forming a stable overall structure.

[0097] Furthermore, to improve the ease of installation and disassembly of the bracket and the mold, as well as the assembly efficiency, the bracket and the mold can be fixed using magnetic attraction.

[0098] In one embodiment, please refer to Figure 9 The base of the bracket may include a base plate, and the mold platform may be designed to be made of a magnetic material, such as stainless steel or iron. Simultaneously, the fixing components may be designed as magnetic components capable of adhering to the mold platform.

[0099] During installation, bracket 052 is vertically placed on the mold table, and the magnetic chuck is placed on the base plate of the bracket. By controlling the thickness of the base plate, the magnetic chuck can magnetically fix both the base plate of the bracket and the mold table, thus achieving a fixed connection between the bracket and the mold table.

[0100] The magnetic component can be made of magnets, and the bracket can be made of materials with magnetic properties such as stainless steel, iron, and copper, or materials without magnetic properties such as wood and hard plastic. As long as the thickness of the bracket base plate and the magnetic force of the magnetic component are controlled, magnetic fixation can be achieved.

[0101] This magnetic fixing method is quick, easy to operate, and provides a stable structure after fixing.

[0102] Of course, to further facilitate disassembly after the modular building unit is assembled, the magnetic connector can also be an electromagnet. When the electromagnet is energized, it magnetically attracts and fixes itself to the mold platform, firmly placing the bracket on the platform. When disassembly is required after assembly, the electromagnet is de-energized, the magnetic force disappears, and the operator can easily remove the electromagnet and then disassemble the bracket. This convenient operation satisfies both the purpose of easy installation and easy disassembly.

[0103] Based on the above scheme, in order to further improve the magnetic attraction and stability of the fastener and the mold table, the bottom of the bracket may also include a frame. The frame is located in the circumference of the base plate, and the base plate is concave relative to the frame, so that the frame and the base plate can form an accommodating cavity structure.

[0104] The magnetic component can be embedded in the receiving cavity, and will not deviate from its original positioning position due to accidental collision or contact.

[0105] In addition, the shape of the magnetic chuck can be designed to fit the shape of the receiving cavity.

[0106] When the bottom of the bracket is made of magnetically conductive materials such as stainless steel or iron, the magnetic components can be magnetically fixed to the bracket through multiple sides and the bottom surface, which can further improve the magnetic attraction between the magnetic components and the bracket, thereby improving the stability of the bracket and the mold table after assembly.

[0107] Of course, it should be noted that the thickness of the base plate should be calculated according to the required magnetic attraction force to obtain the preset thickness of the base plate. The thickness of the base plate should be within the preset thickness range, or the thickness of the base plate should be less than the preset thickness to meet the magnetic attraction force requirements.

[0108] When the base plate of the support is made of wood, hard plastic or other materials, as long as the thickness of the base plate is guaranteed, the magnetic components will attract the mold table through the base plate and generate the required magnetic force.

[0109] This application does not limit the material of the bracket and the bracket base plate. Magnetic or non-magnetic materials can be used, depending on the actual needs, as long as the magnetic components can magnetically fix the bracket to the mold table.

[0110] In alternative embodiments, the fasteners may also be made of non-magnetic materials. For example, the fasteners bolt the bracket to the mold base. By pre-embedding nuts in the mold base, the fasteners pass through the base plate of the bracket and are threaded into the nuts. Multiple fasteners are used to bolt the bracket to the mold base.

[0111] Positioning component 056 is installed on the side of bracket 052 for fixing to the side wall panel to be assembled and fixed. Nuts are pre-embedded in the side wall panel to be assembled and fixed. Since the side wall panel to be assembled and fixed includes a first structure with a flat wall surface and a second structure with an outward protrusion on the outer side of the wall surface, the structure of the positioning component has been specifically designed for different wall panel structures.

[0112] The following is a detailed introduction using the example of a flat wall surface for assembling and fixing wall panels.

[0113] Please continue to refer to Figure 8 and Figure 9In one embodiment, the positioning component 056 may include a positioning plate 0562 and fasteners.

[0114] Positioning plate 0562 can be a plate-like structure that matches the side of the bracket. Positioning plate 0562 is fixedly installed on the side of the bracket. The positioning plate can be made of the same material as the bracket, such as stainless steel. Stainless steel positioning plates can be welded to the side of the bracket frame, so that the positioning plate protrudes from the outer surface of the bracket frame. Alternatively, stainless steel positioning plates can be welded into the bracket frame, so that the outer surface of the positioning plate is flush with the outer surface of the bracket frame. The outer surface of the positioning plate facilitates abutment and fit with the side wall panel to be assembled and fixed, providing strong support for the side wall panel to be assembled and fixed.

[0115] Nuts are pre-embedded in the side wall panels to be assembled and fixed, and the fasteners are compatible with the specifications of the pre-embedded nuts. Please refer to... Figure 8 During installation, the side wall panel to be assembled and fixed is hoisted onto the formwork and abuts against the positioning plate 0562. The fixing end of the fastener passes through the positioning plate 0562 and is fixed with the pre-embedded nut bolt in the side wall panel to be assembled and fixed.

[0116] In an alternative embodiment, multiple nuts are pre-embedded in the horizontal and vertical directions of the side wall panel to be assembled and fixed.

[0117] Multiple corresponding through holes are made on the positioning plate 0562. After multiple fasteners pass through the through holes on the positioning plate 0562, they are bolted to the nuts at the corresponding positions.

[0118] Furthermore, multiple positioning plates 0562 can be set vertically on the bracket. The side wall panel to be assembled and fixed is fixed to the bracket through multiple positioning plates, and each positioning plate is fixed to the bracket through multiple fasteners.

[0119] The number of positioning plates is not limited and can be calculated based on the height of the bracket and the stable installation requirements of the side wall panels to be assembled and fixed.

[0120] When there are multiple positioning plates, the multiple positioning plates 0562 are arranged sequentially and at intervals along the vertical direction of the bracket on the side of the bracket. Moreover, the outer surfaces of the multiple positioning plates are located on the same vertical plane, and this vertical plane can be perpendicular to the horizontal plane where the mold table is located.

[0121] It is understandable that when the side wall panel to be assembled and fixed is not vertical after forming, but rather concave or convex at a certain angle to the horizontal plane, the support can be designed as a corresponding frustum structure.

[0122] For example, when the support structure is designed as a hollow, truncated pyramid with a large bottom and a small top, the modular units that match this structure, once formed, will result in an outwardly expanding, sloping wall structure. Conversely, when the support structure is designed as a hollow, truncated pyramid with a small bottom and a large top, the modular units that match this structure, once formed, will result in an inwardly contracting, sloping wall structure.

[0123] Understandably, for conventional modular buildings, the support frame adopts a rectangular frame structure, and the walls of the modular units formed with the support frame are perpendicular to the horizontal plane.

[0124] By fixing positioning plates to the outside of the bracket, fasteners pass through the positioning plates and are bolted to the nuts pre-embedded in the wall panel to be assembled. The bracket is designed as a hollow frame structure, which facilitates manual fixing and disassembly of the fasteners. Furthermore, the connection of multiple positioning plates and multiple fasteners provides sufficient tightening force, ensuring that the bracket supports the wall panel to be assembled while also providing sufficient connection force through the positioning components, thus meeting the requirements for the vertical stability of the wall panel to be assembled.

[0125] The following is a detailed introduction using the example of a side wall panel to be assembled and fixed having an outward protrusion structure on the outer side of the wall.

[0126] Please refer to Figure 10 and Figure 11 In one embodiment, when multiple protruding structures are provided on the outer side surface of the side wall panel to be assembled and fixed along the lateral direction, the positioning plate mentioned above will be limited by the protruding structures and thus cannot fit and support the outer side surface of the wall panel to be assembled and fixed.

[0127] In one embodiment, the positioning component may further include a pad 0564 in addition to the structure described above.

[0128] The pad 0564 protrudes from the outer side of the positioning plate 0562. A through hole is formed on the upper side of the pad 0564, and the axis of the through hole is perpendicular to the outer side of the wall. During installation, the pad 0564 is offset from the protruding structure on the wall, and the end face of the pad 0564 can abut against the outer side of the wall. Fasteners are sequentially inserted through the through holes of the positioning plate 0562 and the pad 0564 and then bolted to the pre-embedded nuts in the wall.

[0129] When there is an outward protruding structure on the outer side of the wall, a pad 0564 that can be offset from the position of the outward protruding structure is also set on the positioning plate 0562. The end face of the pad abuts against the outer side of the wall, and then the fasteners are fixed to the pre-embedded nuts in the wall by passing through the positioning plate and the pad in sequence.

[0130] In this embodiment, the pad can be a cylindrical structure or a square column structure, etc. This application does not limit the structure of the pad. Furthermore, the pad can be fixed to the positioning plate by bolts or welding. This application does not limit this method.

[0131] In other optional embodiments, the number of pads can be multiple, with multiple pads spaced apart, forming a clearance space between adjacent pads. The clearance space is used to cooperate with the protruding structure of the wall panel to be assembled and fixed.

[0132] Multiple pads can be arranged sequentially at intervals along a preset direction to form a multi-row, multi-column pad assembly. The clearance space between adjacent pads can be adapted to the protruding structure of the wall. That is, the protruding structure of the wall is located within the clearance space and will not cause structural interference to the protruding structure on the outside of the wall. It can also satisfy the purpose of fitting and supporting the end face of the pad with the outer surface of the wall.

[0133] It is understood that in other embodiments, the multiple pads may not be arranged in a preset manner, as long as all pads can be staggered from the protruding structure on the outside of the wall. This application does not limit this, and the design and arrangement are based on actual needs.

[0134] Of course, in addition to the positioning components of the two structures mentioned above, the same wall fixing mechanism can also simultaneously include positioning components of both structures. When positioning components of both structures are simultaneously installed on the wall fixing mechanism, the positioning components of the two structures should not be located on the same side of the bracket. That is, the positioning component of the first structure is installed on one or two sides of the bracket, and the positioning component of the second structure can be installed on the remaining sides. This wall fixing mechanism can simultaneously meet the needs of two different wall panel structures to be assembled and fixed. During installation, the bracket side that is compatible with the wall structure is selected for installation according to the requirements of the wall structure.

[0135] In summary, the wall fixing mechanism provided in this application uses fasteners to fix the bracket onto the mold platform, thus fixing the bracket relative to the mold platform. The wall panel to be assembled is hoisted onto the mold platform and positioned on one side of the bracket. A positioning component then fixes the wall panel to the bracket, securing it relative to the bracket and achieving fixation between the wall panel and the mold platform. This structure eliminates the need for welding and repeated manual measurement and adjustment, improving assembly efficiency and accuracy. By using magnetic components on the bracket base and a magnetically-material mold platform, the bracket and mold platform are fixed magnetically, further improving assembly efficiency and simplifying installation. Furthermore, by using a positioning plate on the side of the bracket, for flat wall panels, after hoisting the wall panel onto the mold platform and fitting it against the positioning plate, fasteners are inserted through the positioning plate and fixed to the pre-embedded nuts in the wall panel. The wall is vertically fixed to the side of the bracket via a threaded connection, eliminating the need for welding and facilitating installation and disassembly, thus improving assembly efficiency. By protruding pads on the outer side of the positioning plate, a clearance space is formed between multiple pads for wall panels with protruding steel bars on the surface to be assembled and fixed. This space is used to avoid the steel bars on the wall panels to be assembled and fixed, while also allowing the wall panels to be assembled and fixed to fit against the pads. Then, fasteners pass through the positioning plate and the pads and are fixedly connected to the nuts pre-embedded in the wall panels to be assembled and fixed.

[0136] To facilitate operation of the mechanism located high on the top of the building module's top plate, in one embodiment, such as... Figure 1 The building module assembly equipment may also include ladder 070.

[0137] Two ladders 070 can be provided, with each ladder 070 positioned on either side of the mold table 010 along the first direction 007, and the ladders 070 located outside the first clamping mechanism 030. This allows operators to easily climb to a certain height for work.

[0138] To facilitate the assembly of building modules of different widths, in one embodiment, the ladder can be designed as a sliding structure. For example, the ladder can be slidably set on both sides of the mold platform. When the position of the ladder needs to be adjusted, the ladder is pushed to slide along a first direction. When it slides into place, the running wheels of the ladder are locked.

[0139] In one embodiment, the ladder may include a fixedly connected support frame and a walking frame. The support frame supports the walking frame, which facilitates operator movement at height. The support frame can be designed as an adjustable structure for different working heights. For example, the support frame may include a first support and a second support, with the top of the first support fixedly connected to the walking frame, and the second support detachably connected to the bottom of the first support, the second support having wheels at its bottom.

[0140] When the operating position is different, the working height of the support frame can be changed by replacing the second bracket with one of different heights.

[0141] The modular assembly equipment 100 provided in this application embodiment can fix the first side wall panel 001 through the cooperation of the first clamping mechanism 030 and the inner liner 020, and fix the second side wall panel 003 through the cooperation of the second clamping mechanism 040 and the inner liner 020. The wall fixing mechanism 050 can fix the third side wall panel 005, which is opposite to the second side wall panel 003, so that multiple side wall panels form a complete side wall. Then, the top plate is supported by the limiting member 025 of the inner liner 020, and the overlapping position of the top plate and the side wall panels is adapted by adjusting the height of the limiting member 025. Both the first clamping mechanism 030 and the second clamping mechanism 040 can be quickly installed and adjusted by a robotic arm. The inner liner and the wall fixing mechanism are easy to adjust and do not require repeated measurement and adjustment, which greatly improves the installation and disassembly efficiency and is conducive to improving automation.

[0142] This application also provides a modular building assembly method based on the above-mentioned building module assembly equipment. Please refer to [link / reference]. Figure 12 The diagram shown is a flowchart of the assembly method.

[0143] S010, hoist the inner liner onto the mold platform, and adjust the positioning parts of the inner liner to the first preset position, wherein the inner liner is adapted to the modular building unit.

[0144] Select an inner liner of appropriate size and specifications based on the modular building unit to be assembled, and hoist the inner liner to a suitable position on the formwork platform using an overhead crane. The inner liner can be a one-piece structure. Based on the side wall panel dimensions of the modular building unit to be assembled, determine the adjustment positions of the inner liner positioning components. Adjust the positioning components of the inner liner based on the determined adjustment positions so that the positioning components on both sides of the inner liner along the first direction are adjusted to the first preset position.

[0145] S020, hoist the first side wall panel onto the mold table, and adjust the inner wall of the first side wall panel to abut against the positioning part of the inner liner, wherein the first side wall panel is located on both sides of the inner liner along the first direction.

[0146] Once the position of the inner liner is determined, the abutment position of the positioning component on the inner liner is also determined. Then, the first side wall panels are hoisted onto the mold table one by one, and the first side wall panels are made to stand upright on the mold table, with the inner wall of the first side wall panel abutting against the positioning component.

[0147] In one embodiment, an overhead crane can be used to hoist the first side wall panel. After the overhead crane hoists one first side wall panel to the target position on the formwork, the first side wall panel can be disassembled to prepare for hoisting the second first side wall panel. Alternatively, the overhead crane can be used to support the first side wall panel to prevent it from tipping over outwards.

[0148] In one embodiment, to prevent the first side wall panel from tipping over, an anti-tipping mechanism on the top of the inner liner can be used to hook the first side wall panel for temporary fixation.

[0149] S030, Adjust the first clamping mechanism so that the first clamping mechanism positions the outer wall of the corresponding first side wall panel.

[0150] After the first side wall panel is hoisted to the target position on the mold table, the first clamping mechanism is adjusted so that the lateral movement mechanism of the first clamping mechanism slides relative to the base frame in the first direction toward the first side wall panel. After sliding to the target position, the abutment mechanism of the fixing clamp is controlled to abut against the outer side wall of the first side wall panel.

[0151] The first side wall panel is erected and fixed using the above method. After the crane hoists the second first side wall panel onto the mold table and assembles it with the first first side wall panel, this step is used to adjust the movement of the first clamping mechanism to clamp the corresponding first side wall panel.

[0152] Understandably, the first side wall panel can be fixed using multiple first clamping mechanisms. These multiple first clamping mechanisms can be used by a robotic arm to pick up and fix the clamps one by one to the target position, and the robotic arm can adjust the abutment mechanism one by one. After the first first side wall panel is fixed, the second first side wall panel is hoisted and then clamped and fixed. This process is repeated until all the first side wall panels are fixed.

[0153] S040, hoist the second side wall panel onto the mold platform, and adjust the inner wall of the second side wall panel to abut against the positioning part of the inner liner, wherein the second side wall panel is located on one side of the inner liner along the second direction.

[0154] The second side wall panel is located between two parallel first side wall panels. The second side wall panel is hoisted to the target position on the mold table. After determining the position between the second side wall panel and the adjacent first side wall panel, they are spliced ​​together. The extension and retraction distance of the positioning component of the inner liner along the second direction is adjusted so that the positioning component in the second direction can abut against the inner wall of the second side wall panel.

[0155] Understandably, the same initial positioning method used for the first side wall panel can be applied to the initial positioning of the second side wall panel. For example, the top of the second side wall panel can be hooked using an anti-tipping mechanism to prevent it from tilting outwards. Alternatively, an overhead crane can be used to support the second side wall panel until it is completely secured before removing the crane.

[0156] S050, Adjust the second clamping mechanism to position the outer wall of the corresponding second side wall panel.

[0157] The second clamping mechanism abuts against the outer wall of the second side wall panel. The second clamping mechanism cooperates with the inner liner to clamp and fix the second side wall panel from both the outside and inside. The fixing method of the second clamping mechanism is basically the same as that of the first clamping mechanism described above, and will not be elaborated here.

[0158] It is understood that the assembly order of the first and second side wall panels is not limited. The first side wall panel can be assembled first, and then the second side wall panel assembled after all the first side wall panels are assembled. Alternatively, the second side wall panel can be assembled first, and then the first side panels can be assembled at both ends of the second side wall panel. Another option is to assemble the first side wall panel on one side first, then assemble the second side wall panel adjacent to the assembled first side wall panel, and finally assemble the first side wall panel on the other side. Please adjust the specific assembly according to the actual assembly requirements and process.

[0159] S060, after the circumferential side wall panels are positioned, hoist the top panel to the top of the inner liner, and adjust the limiting member of the inner liner to the second preset position so that the top panel is supported by the limiting member while overlapping with the circumferential side wall panels.

[0160] After all the circumferential side wall panels are assembled, the top panel is assembled last. During assembly, the height of the inner liner's limiting components needs to be adjusted according to the assembly position of the top panel. An overhead crane is used to hoist the top panel to the top position of the inner liner, and the top panel is controlled to fall onto the limiting components of the inner liner so that the limiting components can support the top panel. At the same time, the top panel can overlap with the already assembled circumferential side wall panels.

[0161] The position where the top panel and the side wall panel overlap is the target assembly position of the top panel. When the top panel is in this target assembly position, it is supported and abutted by the limiting parts of the inner liner to achieve the purpose of fixing.

[0162] S070, pour concrete to form a modular building with the circumferential side wall panels and the roof slab.

[0163] After the top slab and the circumferential side wall panels are spliced ​​together, the top slab and all the side wall panels are poured with concrete as a whole. After the pouring is completed and solidified, the circumferential side wall panels and the top slab can be formed into a modular building.

[0164] In one embodiment, once the modular building is completed, an overhead crane can be used to directly lift the entire module, facilitating its transfer and handling.

[0165] Before handling, the first and second clamping mechanisms on both sides of the side wall panel must be removed, and the distance between the inner liner and the side wall panel should be adjusted so that the first and second clamping mechanisms no longer abut against the side wall panel.

[0166] To facilitate the hoisting of the entire module, the positioning components of the inner liner can be adjusted inwards before hoisting, ensuring that the positioning components do not contact the side wall panels of the building module. This also eliminates friction during hoisting, which is beneficial to the overall structure and aesthetic appearance of the module.

[0167] Because the inner liner is an integral structure, the building module includes side wall panels and a top panel. During hoisting, there is no need to disassemble the inner liner. The building module can be directly hoisted away from above the inner liner without disassembly, which is convenient and greatly improves assembly efficiency.

[0168] The above S030 step can specifically include the following: S031, the adjusting transverse mechanism slides relative to the base frame in the first direction to pre-press the bottom of the first side wall panel.

[0169] The lateral movement mechanism can slide via a drive component. The lateral movement mechanism slides along the first direction on the base frame toward the first side wall panel and can contact the lower part of the first side wall panel.

[0170] S032, after the traversing mechanism moves into place, the transport fixing fixture is set at the target position of the traversing mechanism, and the positioning cylinder of the traversing mechanism moves to position the fixing fixture.

[0171] A robotic arm can be used to grip the fixed fixture. The robotic arm places the fixed fixture at the end of the transverse mechanism. Then, the positioning cylinder of the transverse mechanism is controlled to extend and retract, so that the extension and retraction end of the positioning cylinder passes through the fixed fixture, thereby positioning the fixed fixture and achieving relative fixation between the fixed fixture and the transverse mechanism.

[0172] S033, adjust the abutment mechanism on the fixing fixture to extend and retract in the first direction so that the extension end of the abutment mechanism abuts against the outer wall of the first side wall panel.

[0173] Finally, the screw of the abutment mechanism is adjusted by the robotic arm so that the abutment block of the abutment mechanism moves toward the first side wall panel in the first direction until the abutment block abuts against the outer wall of the first side wall panel.

[0174] In some embodiments, the robotic arm grasps the screw head with a gripping head, captures the position of the screw of the abutment mechanism using 3D vision, and tightens the screw by turning the screw with the screw head, pushing the abutment block to move axially and tighten against the side wall plate. The tightening information is sent to the robotic arm controller via force control feedback to indicate that the screw head has been tightened. This action is repeated for other screws until all other screws are tightened.

[0175] By adjusting the abutment mechanisms on all the fixing clamps in sequence, the first side wall panel can be positioned.

[0176] Similarly, the S050 step described above can specifically include the following: S051, Adjust the position of the fixing clamp relative to the base so that the fixing clamp corresponds to the position of the second side wall panel.

[0177] A sliding groove is provided on the base to slide along the first direction. The position of the fixing clamp is adjusted according to the position of the second side wall panel so that the fixing clamp is set at the target position of the base. The fixing clamp is positioned by the telescopic movement of the positioning cylinder on the base.

[0178] A robotic arm can be used to grip the fixed fixture, which is then placed at the end of the base. The positioning cylinder is then controlled to extend and retract, so that the extension end of the positioning cylinder passes through the fixed fixture to position it, thus fixing the fixed fixture and the base relatively.

[0179] S053, adjust the abutment mechanism on the fixing fixture to extend and retract in the second direction so that the extension end of the abutment mechanism abuts against the outer wall of the second side wall panel.

[0180] Finally, the screw of the abutment mechanism is adjusted by the robotic arm so that the abutment block of the abutment mechanism moves toward the second side wall panel in the second direction until the abutment block abuts against the outer wall of the second side wall panel.

[0181] By adjusting the abutment mechanisms on all the fixing clamps in sequence, the second side wall panel can be positioned.

[0182] In addition to the first and second side wall panels, the side wall panels of the modular building also include a third side wall panel corresponding to the second side wall panel. The third side wall panel and the second side wall panel are located on both sides of the inner liner along the second direction, respectively. The third side wall panel can be temporarily fixed during assembly using a wall fixing mechanism. That is, after the circumferential side wall panels are positioned, before the top panel is hoisted to the top of the inner liner, the third side wall panel is fixed using a wall fixing mechanism.

[0183] Specifically, the wall fixing mechanism is hoisted to the third preset position on the mold platform, and the third preset position is located on the side of the inner liner away from the second clamping mechanism; then the third side wall panel is hoisted and erected on the mold platform, and the side of the third side wall panel is fixedly connected to the wall fixing mechanism.

[0184] The bracket of the wall fixing mechanism is magnetically fixed to the mold table by the fixing component. The third side wall panel is erected on the mold table, and the side of the third side wall panel is fixed to the bracket by the positioning component, which can realize the temporary fixing of the third side wall panel.

[0185] This application presents a modular building assembly method based on modular building assembly equipment. Multiple side wall panels and a roof panel are assembled in a factory, followed by the pouring of concrete. Once the concrete has solidified, a complete modular building unit is formed. During assembly, the coordinated use of an inner liner, a first clamping mechanism, a second clamping mechanism, and a wall fixing mechanism enables rapid positioning of the side wall panels. Automation replaces the traditional manual welding of internal diagonal braces, significantly improving installation and disassembly efficiency and ensuring precise positioning and fixing of the side wall panels, thus enhancing assembly accuracy. The absence of welding and cutting during the overall assembly process also reduces operational safety risks.

[0186] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0187] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A building module assembly equipment, used to assemble multiple side wall panels and top panels to be assembled into building modules, characterized in that, include: mold table; The inner liner is disposed on the mold table and includes a positioning element for fitting with the side wall panel; The first clamping mechanism is disposed on both sides of the mold table along the first direction and is capable of moving along the first direction. The first clamping mechanism cooperates with the inner liner to clamp the side wall panel along the first direction. The second clamping mechanism is disposed on one side of the mold table along the second direction. The second clamping mechanism cooperates with the inner liner to clamp the side wall panel along the second direction.

2. The building module assembly equipment according to claim 1, characterized in that, The first clamping mechanism includes a base frame, a transverse movement mechanism, and a fixing clamp. The base frame is fixedly disposed on both sides of the mold table along the first direction. The transverse movement mechanism is slidably disposed on the base frame along the first direction. The fixing clamp is disposed on the transverse movement mechanism. The fixing clamp includes an abutment mechanism that can extend and retract along the first direction. The abutment mechanism is used to abut against the side wall panel along the first direction.

3. The building module assembly equipment according to claim 2, characterized in that, The lateral movement mechanism is equipped with a positioning cylinder, and the fixing fixture has a positioning hole. The positioning cylinder extends and retracts through the positioning hole to fix the fixing fixture.

4. The building module assembly equipment according to claim 2, characterized in that, The fixing clamp also includes a first support frame, a second support frame, and a reinforcing rib connected between the first support frame and the second support frame; The first support frame is mounted on the transverse mechanism, the second support frame is vertically arranged, and the abutment mechanism is provided on the side of the second support frame away from the first support frame.

5. The building module assembly equipment according to claim 2, characterized in that, The building module assembly equipment also includes a robotic arm; the fixing fixture also includes a gripping head, and the robotic arm uses the gripping head to hold the fixing fixture to the target position of the traversing mechanism.

6. The building module assembly equipment according to claim 1, characterized in that, The second clamping mechanism includes a base and a positioning clamp. The base is fixedly disposed on one side of the mold table along the second direction. The positioning clamp is slidably disposed on the base along the first direction. The positioning clamp includes an abutment mechanism that can extend and retract along the second direction. The abutment mechanism is used to abut against the side wall panel along the second direction.

7. The building module assembly equipment according to claim 6, characterized in that, The base is equipped with a positioning cylinder, and the positioning fixture has a positioning hole. The positioning cylinder moves through the positioning hole to fix the positioning fixture.

8. The building module assembly equipment according to claim 6, characterized in that, The positioning fixture also includes a first support frame, a second support frame, and a reinforcing rib connected between the first support frame and the second support frame; The first support frame is disposed on the base, the second support frame is vertically disposed, and the abutment mechanism is disposed on the side of the second support frame opposite to the first support frame.

9. The building module assembly equipment according to claim 4 or 8, characterized in that, The abutment mechanism is provided at the top and middle of the second support frame.

10. The building module assembly equipment according to claim 1, characterized in that, The inner liner also includes a limiting member and a supporting body with a frame structure. Multiple positioning members are adjustablely arranged on the outer periphery of the supporting body. The positioning members extend vertically and are used to fit against the inner wall of the side wall panel. The top of the support body is adjustablely provided with a plurality of limiting members, which extend vertically and are used to fit with the top plate.

11. The building module assembly equipment according to claim 10, characterized in that, The support body includes a first crossbeam, and the side wall of the first crossbeam has an adjustment groove along its length. The positioning component includes an adjusting rod and an abutting rod that are fixedly connected. The adjusting rod is connected to both ends of the abutting rod and is adjustablely inserted into the adjusting groove. The abutting rod is located outside the support body and is used to fit against the inner wall of the side wall panel.

12. The building module assembly equipment according to claim 10, characterized in that, The support body also includes a second crossbeam, and the top wall of the second crossbeam has adjustment holes along its length. The limiting component includes an adjusting screw and a U-shaped component that are fixedly connected. The adjusting screw is adjustablely disposed in the adjusting hole, and the U-shaped component is used to embed the top plate positioning component.

13. The building module assembly equipment according to claim 10, characterized in that, The inner liner also includes an anti-tipping mechanism, which is adjustablely disposed on the top of the support body and is used to cooperate with the outer side wall of the side wall panel to apply a force toward the inner liner to the side wall panel.

14. The building module assembly equipment according to claim 1, characterized in that, It also includes a wall fixing mechanism, which is disposed on the mold table and located on the side of the inner liner away from the second clamping mechanism. The wall fixing mechanism is used to fix the third side wall panel to the mold table.

15. The building module assembly equipment according to claim 14, characterized in that, The wall fixing mechanism includes: The support frame includes a bottom and sides; A fixing member, which is fixed to the bottom of the bracket and can fix the bracket to the mold table; and A positioning component is fixedly installed on the side of the bracket and is capable of fixing the third side wall panel to the bracket.

16. The building module assembly equipment according to claim 15, characterized in that, The bottom of the bracket includes a base plate, the mold table has magnetic attraction properties, the fixing component includes a magnetic attracting component, the magnetic attracting component is disposed above the base plate, and can magnetically fix the bracket to the mold table.

17. The building module assembly equipment according to claim 15, characterized in that, The positioning component includes a positioning plate and a fastener. The positioning plate is fixedly installed on the side of the bracket. A nut matching the fastener is pre-embedded in the third side wall panel. The fastener passes through the positioning plate and is fixed to the nut.

18. The building module assembly equipment according to claim 17, characterized in that, The positioning component also includes a pad, which protrudes from the outer side of the positioning plate and has a through hole. The fastener is sequentially inserted through the positioning plate and the through hole and fixed to the nut.

19. The building module assembly equipment according to claim 1, characterized in that, It also includes ladders, which are slidably disposed on both sides of the mold table along the first direction; The ladder includes a fixedly connected support frame and a walking frame. The support frame includes a first bracket and a second bracket. The top of the first bracket is fixed to the walking frame, and the second bracket is detachably connected to the bottom of the first bracket. The bottom of the second bracket is provided with wheels.

20. A modular building assembly method, implemented based on the building module assembly equipment according to any one of claims 1-19, characterized in that, include: The inner liner is hoisted onto the mold platform, and the positioning components of the inner liner are adjusted to the first preset position, wherein the inner liner is adapted to the modular building. Hoist the first side wall panel onto the mold table, and adjust the inner wall of the first side wall panel to abut against the positioning component of the inner liner, wherein the first side wall panel is located on both sides of the inner liner along the first direction; Adjust the first clamping mechanism to position the first clamping mechanism on the outer wall of the corresponding first side wall panel; Hoist the second side wall panel onto the mold table, and adjust the inner wall of the second side wall panel to abut against the positioning part of the inner liner, wherein the second side wall panel is located on one side of the inner liner along the second direction; Adjust the second clamping mechanism to position it on the outer wall of the corresponding second side wall panel; After the circumferential side wall panels are positioned, the top panel is hoisted to the top of the inner liner, and the limiting components of the inner liner are adjusted to the second preset position so that the top panel is supported by the limiting components while overlapping with the circumferential side wall panels. Concrete is poured to form a modular building with the circumferential side wall panels and the roof slab.

21. The modular building assembly method according to claim 20, characterized in that, The first clamping mechanism includes a base frame, a transverse movement mechanism, and a fixed clamp. The base frame is fixedly disposed on both sides of the mold table along the first direction. The transverse movement mechanism is slidably disposed on the base frame along the first direction. The fixed clamp is disposed on the transverse movement mechanism. The fixed clamp includes an abutment mechanism that can extend and retract along the first direction. The adjustment of the first clamping mechanism to position the first clamping mechanism on the outer wall of the corresponding first side wall panel includes: The adjusting transverse movement mechanism slides relative to the base frame in a first direction to pre-press the bottom of the first side wall panel; The fixed fixture is set at the target position of the transverse mechanism, and the positioning cylinder of the transverse mechanism positions the fixed fixture by telescopic movement. Adjust the abutment mechanism on the fixing fixture to extend and retract in the first direction so that the extension end of the abutment mechanism abuts against the outer wall of the first side wall panel.

22. The modular building assembly method according to claim 20, characterized in that, The second clamping mechanism includes a base and a positioning clamp. The base is fixedly disposed on one side of the mold table along the second direction. The positioning clamp is slidably disposed on the base along the first direction. The positioning clamp includes an abutment mechanism that can extend and retract along the second direction. The abutment mechanism is used to abut against the second side wall panel along the second direction. The adjustment of the second clamping mechanism to position the second clamping mechanism on the outer wall of the corresponding second side wall panel includes: Adjust the position of the fixing clamp relative to the base so that the fixing clamp corresponds to the position of the second side wall panel; Adjust the abutment mechanism to extend and retract in the second direction so that the extension end of the abutment mechanism abuts against the outer wall of the second side wall panel.

23. The modular building assembly method according to claim 20, characterized in that, The final assembly equipment also includes a wall fixing mechanism, which includes a bracket, a fixing component, and a positioning component. The bracket is fixedly mounted on the mold table by the fixing component, and the positioning component is fixedly installed on the side of the bracket and can fix the side wall panel to be assembled to the bracket. Before hoisting the top plate to the top of the inner liner after the circumferential side wall panels have been positioned, the following steps are also included: The wall fixing mechanism is hoisted to the mold table at the third preset position on the side of the inner liner away from the second clamping mechanism. The third side wall panel is hoisted and erected on the mold table, and the side of the third side wall panel is fixedly connected to the wall fixing mechanism.

24. The modular building assembly method according to claim 20, characterized in that, The pouring of concrete to form a modular building with the circumferential side wall panels and the top slab includes: After the first side wall panel, the second side wall panel, and the top slab are assembled, concrete is poured. After the concrete has solidified for the preset time, remove the first and second clamping mechanisms; adjust the positioning parts of the inner liner to separate from the side wall panels; The modular building is hoisted and removed from the formwork.

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