Vertical precast component positioning and installation system and installation method

Abstract

This application relates to the field of building construction technology and discloses a vertical precast component positioning and installation system and method. The system includes a moving load-bearing mechanism, a component clamping and flipping mechanism, and a rebar correction and positioning mechanism. The component clamping and flipping mechanism clamps the vertical precast component and drives it from a horizontal transport state to an upright installation state. The rebar correction and positioning mechanism is used to position and correct the upper end of the exposed section of the pre-embedded rebar at the installation location. The rebar correction and positioning mechanism includes a correction bracket and multiple correction claws. In the retracted state, the correction bracket can be inserted into the installation area through the gap between adjacent pre-embedded rebars from one side. In the open state, the multiple correction claws respectively clamp the upper end of the corresponding exposed section of the pre-embedded rebar. After correction is completed, the component clamping and flipping mechanism drives the vertical precast component to descend, aligning the bottom precast hole with the pre-embedded rebar and fitting it in place for installation. This application can improve the hole alignment accuracy and construction efficiency of precast component installation.

Description

Technical Field

[0001] This application relates to the field of building construction technology, and in particular to a vertical precast component positioning and installation system and installation method. Background Technology

[0002] With the development of prefabricated building construction technology, prefabricated columns and other vertical prefabricated components are widely used in industrial and civil buildings, municipal engineering, and underground structure construction due to their advantages such as short on-site construction cycle, stable component quality, and high assembly efficiency. These types of vertical prefabricated components are usually long and heavy. During construction and installation, the components need to be transported to the installation location, and the bottom connection parts of the components need to be matched with the corresponding connection parts on the foundation, floor slab, or other supporting structures to complete the placement and installation of the vertical prefabricated components.

[0003] Currently, the installation of vertical precast components typically relies on cranes, hoists, or other vertical lifting equipment. During construction, the vertical precast components are first hoisted to the vicinity of the installation area using hoisting equipment. Then, construction personnel work together to adjust the position, orientation, and bottom connection points of the components to ensure that the precast holes, sleeves, or other connecting structures at the bottom of the components correspond to the exposed embedded steel bars or other connectors at the installation location. The components are then slowly lowered to the installation position, and temporary fixing and subsequent connection work are carried out after the components are in place.

[0004] However, in actual construction, the exposed embedded steel bars at the installation location often exhibit slight positional deviations at their upper ends due to construction errors, tying deviations, or the influence of concrete pouring. For vertical precast components with multiple pre-drilled holes or connecting holes at the bottom, if the position of the top of each embedded steel bar is inconsistent with the distribution of the pre-drilled holes at the bottom of the component, problems such as difficulty in aligning the top of the steel bar with the pre-drilled holes, local collisions, or even failure to fit smoothly can easily occur during the component's lowering process. This necessitates repeated adjustments to the component's position and posture by construction personnel, and, if necessary, manual correction of the embedded steel bars. This not only results in low construction efficiency and high labor intensity but also makes it difficult to guarantee installation accuracy. Furthermore, in some construction scenarios, there are also issues such as limited working space, difficulties in arranging hoisting equipment, and inconvenience in observing the bottom connection area, further increasing the difficulty of installing vertical precast components. Summary of the Invention

[0005] To solve or improve the above problems, this application provides a vertical precast component positioning and installation system and installation method.

[0006] This application provides a vertical precast component positioning and installation system, which adopts the following technical solution: A vertical precast component positioning and installation system, including: Mobile support mechanism, used to support and move the entire installation system; A component clamping and flipping mechanism is provided on the mobile bearing mechanism for clamping vertical prefabricated components and driving the vertical prefabricated components from a horizontal transportation state to an upright installation state. A rebar correction and positioning mechanism is installed on the movable bearing mechanism and cooperates with the component clamping and flipping mechanism. It is used to position and correct the upper end of the exposed section of the pre-embedded rebar at the installation position so that the upper end of the exposed section of the pre-embedded rebar corresponds to the distribution position of the pre-cast holes at the bottom of the vertical precast component. The component clamping and flipping mechanism is also used to drive the vertical precast component to descend after the rebar correction and positioning mechanism completes the positioning and correction of the upper end of the exposed section of the pre-embedded rebar, so that the precast hole at the bottom of the vertical precast component is aligned with the upper end of the exposed section of the pre-embedded rebar after positioning and correction, and then fitted and installed.

[0007] Furthermore, the component clamping and flipping mechanism includes a support frame, a lifting frame, a flipping frame, and multiple clamping arms. The support frame is mounted on the movable support mechanism, the lifting frame is vertically lifted and lowered on the support frame, the flipping frame is rotatably mounted on the lifting frame, and the multiple clamping arms are spaced apart on the flipping frame for clamping the vertical prefabricated component.

[0008] Furthermore, the rebar correction and positioning mechanism includes a correction bracket, multiple correction grippers, and a displacement driving assembly. The correction bracket is movably mounted on the tilting frame, and the displacement driving assembly is used to drive the correction bracket to shift relative to the tilting frame. The correction bracket has a retracted state and an open state. In the retracted state, the correction bracket is closed so that it passes through the gap between adjacent pre-embedded steel bars from one side and is inserted into the installation area. In the open state, the correction bracket is unfolded so that the multiple correction claws can respectively correspond to the upper end of the exposed section of the pre-embedded steel bar. Multiple correction grippers are disposed on the correction bracket to clamp and position the upper end of the exposed section of the pre-embedded steel bar corresponding to the correction.

[0009] Furthermore, the correction bracket includes: spindle; Two sliders are slidably mounted on the main shaft; A sliding drive assembly for driving the two sliders to move closer to or further away from each other; Two sets of hinge rods are symmetrically arranged on both sides of the main shaft. Each of the aforementioned hinge rod groups includes: A secondary rod, which is arranged parallel to the main shaft; Two hinge rods are respectively disposed at both ends of the auxiliary rod, one end of each hinge rod is hinged to both ends of the auxiliary rod, and the other end is hinged to the two sliders respectively; A telescopic rod is disposed between the main shaft and the auxiliary rod. The telescopic rod is perpendicular to the main shaft, with one end connected to the main shaft and the other end connected to the auxiliary rod, so that the auxiliary rod can move closer to or away from the main shaft in a direction perpendicular to the main shaft. When the sliding drive assembly drives the two sliders to move closer to or further away from each other, the hinge rod drives the auxiliary rod to move closer to or further away from the main shaft, thereby realizing the contraction and opening of the correction bracket.

[0010] Furthermore, the correction bracket also includes a camera assembly, which is mounted on the slider.

[0011] Furthermore, the correction gripper includes a clamping base, a fixed clamp, a movable clamp, and a lever. The fixed clamp is fixedly mounted on the clamping base, and the movable clamp is movably mounted on the clamping base and can move closer to or further away from the fixed clamp. Positioning grooves for embedding and positioning pre-embedded reinforcing bars are provided on opposite sides of both the fixed clamp and the movable clamp. The lever is rotatably connected to the end of the fixed clamp away from the clamping base and is used to move the pre-embedded reinforcing bar into the range of the positioning groove, so that the pre-embedded reinforcing bar is clamped and positioned by the fixed clamp and the movable clamp.

[0012] Furthermore, the correction gripper is mounted on the corresponding hinge or auxiliary rod, and a steering assembly is provided between the correction gripper and the correction bracket. The steering assembly includes a steering bracket, a steering motor, and a steering seat. The steering bracket is fixedly mounted on the corresponding hinge or auxiliary rod, and the steering seat is rotatably mounted on the steering bracket. The correction gripper is fixedly mounted on the steering seat, and the steering motor is used to drive the steering seat to rotate, thereby causing the correction gripper to switch between the avoidance position when the correction bracket retracts and the working position when clamping the pre-embedded steel bar.

[0013] Furthermore, the displacement drive assembly includes a lifting seat, a lateral telescopic drive component, and a vertical telescopic drive component. The lifting seat is raised and lowered on the tilting frame via the vertical telescopic drive component. The correction bracket is movably mounted on the lifting seat laterally along the direction perpendicular to the length of the pre-embedded rebar via the lateral telescopic drive component. The lateral telescopic drive component is used to drive the correction bracket to move laterally, and the vertical telescopic drive component is used to drive the lifting seat to move vertically.

[0014] Furthermore, the lifting frame is provided with a guide block, which fits against the guide block when the tilting frame rotates to a vertical position, thereby limiting the tilting frame.

[0015] This application also discloses a method for installing vertical precast components, including the following steps: S1. The vertical prefabricated component is clamped by the component clamping and flipping mechanism, and the vertical prefabricated component is driven to change from a horizontal transportation state to a vertical installation state. S2. Drive the rebar correction and positioning mechanism to approach the exposed section of the pre-embedded rebar at the installation position, and make the correction bracket in a retracted state, so that it can be inserted into the installation area through the gap between adjacent pre-embedded rebars from one side. S3. Drive the correction bracket from the contracted state to the open state, and use multiple correction claws to clamp and position the upper end of the corresponding pre-embedded steel bar exposed section for correction. S4. After completing the positioning and correction at the upper end of the exposed section of the pre-embedded steel bar, drive the steel bar correction and positioning mechanism to move out of the installation area. S5. Drive the component clamping and flipping mechanism to lower the vertical precast component, so that the precast hole at the bottom of the vertical precast component is aligned with the upper end of the exposed section of the pre-embedded steel bar after positioning and correction, and then sleeved and installed.

[0016] In summary, this application includes at least one of the following beneficial technical effects: 1. This application establishes an integrated installation system for precast components by setting up a mobile bearing mechanism, a component clamping and flipping mechanism, and a rebar correction and positioning mechanism. This system integrates transportation, posture conversion, positioning and correction of the top of the embedded rebar, and lowering and connecting the components for installation. It solves the problems in the prior art where the installation of vertical precast components relies on repeated coordination between hoisting equipment and manual labor, the embedded rebar is difficult to align accurately with the bottom precast hole, and the installation efficiency is low. This system improves the installation accuracy and efficiency of precast components. 2. This application solves the problem in the prior art that the positioning mechanism is difficult to enter and difficult to achieve multi-point synchronous positioning in areas with densely distributed steel bars. In the contracted state, the positioning bracket can be inserted into the installation area through the gap between adjacent pre-embedded steel bars from one side. In the open state, it drives multiple correction claws to correspond to the upper end of the exposed section of the pre-embedded steel bar. This achieves the effect of taking into account both insertion passability and multi-point correction positioning capability. 3. This application sets up a correction bracket deployment and retraction structure formed by the main shaft, slider, hinge rod group and telescopic rod, so that the correction bracket can switch between a small insertion size and a deployment and positioning state. This solves the problems of large space occupation, unclear deployment path and difficulty in adapting to the gap entry requirements of pre-embedded steel bars in the prior art correction mechanism, and achieves the effect of compact structure, stable deployment and easy engineering implementation. 4. This application solves the problems in the prior art where the top of the rebar is not easily guided into the clamping position and the clamp easily interferes with the pre-embedded rebar during the insertion phase, by setting up a correction gripper including a fixed gripper, a movable gripper, a positioning groove, and a lever, and by setting a steering component between the correction gripper and the correction bracket, so that the pre-embedded rebar can be guided and clamped in position. Moreover, the correction gripper switches positions between the retraction insertion phase and the clamping working phase. This solves the problems in the prior art where the top of the rebar is not easily guided into the clamping position and the clamp is easily interfered with by the pre-embedded rebar during the insertion phase, thereby improving the accuracy of the correction and positioning of the top of the rebar and reducing the space occupied during the insertion phase. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of an embodiment of this application.

[0019] Figure 2 This is a schematic diagram of the rebar correction and positioning mechanism according to an embodiment of this application.

[0020] Figure 3 This is a schematic diagram of the structure of the correction bracket according to an embodiment of this application.

[0021] Figure 4 This is a schematic diagram of the structure of the shift driving component according to an embodiment of this application.

[0022] Figure 5 This is a schematic diagram of the corrective gripper structure according to an embodiment of this application.

[0023] Figure 6 This is a schematic diagram of the open state of the correction gripper in an embodiment of this application.

[0024] Reference numerals: 1. Moving load-bearing mechanism; 2. Component clamping and flipping mechanism; 21. Load-bearing frame; 22. Lifting frame; 221. Guide block; 23. Flipping frame; 24. Clamping arm; 3. Precast component; 4. Rebar correction and positioning mechanism; 41. Correction bracket; 411. Main shaft; 412. Slider; 413. Secondary rod; 414. Hinge rod; 415. Telescopic rod; 42. Correction gripper; 421. Clamping seat; 422. Fixed chuck; 423. Movable chuck; 424. Lever; 425. Positioning groove; 43. Displacement drive assembly; 431. Lifting seat; 432. Lateral telescopic drive component; 433. Vertical telescopic drive component; 44. Steering assembly; 441. Steering bracket; 442. Steering motor; 443. Steering seat. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0026] This application discloses a vertical precast component positioning and installation system and method. The precast component in this embodiment is a vertical precast component with multiple exposed embedded reinforcing bars at the installation location. The bottom of the precast component has precast holes that mate with the embedded reinforcing bars. During installation, the upper end of the exposed section of the embedded reinforcing bars is first positioned and corrected before the precast component is lowered and fitted onto the embedded reinforcing bars, thus improving the problem of misalignment between the precast holes at the bottom of the precast component and the embedded reinforcing bars.

[0027] like Figure 1 As shown, the vertical precast component positioning and installation system includes a mobile support mechanism 1, a component clamping and flipping mechanism 2, and a rebar correction and positioning mechanism 4. The mobile support mechanism 1 is used to support and move the entire installation system; the component clamping and flipping mechanism 2 is set on the mobile support mechanism 1 and is used to clamp the precast component 3 and drive the precast component 3 from a horizontal transportation state to a vertical installation state; the rebar correction and positioning mechanism 4 is set on the mobile support mechanism 1 and cooperates with the component clamping and flipping mechanism 2 to position and correct the upper end of the exposed section of the pre-embedded rebar at the installation position, so that the upper end of the exposed section of the pre-embedded rebar corresponds to the distribution position of the precast holes at the bottom of the precast component 3.

[0028] Specifically, the mobile support mechanism 1 can be a wheeled mobile chassis, a tracked mobile chassis, or an engineering vehicle chassis. The mobile support mechanism 1 includes a support platform for mounting the component clamping and tilting mechanism 2, and the support platform can be a plate-shaped, frame-shaped, or box-shaped structure. To improve load-bearing stability, the mobile support mechanism 1 can be equipped with outriggers, counterweights, or locking devices to maintain stability during the tilting, positioning, and lowering of the precast component 3.

[0029] Furthermore, the component clamping and tilting mechanism 2 includes a support frame 21, a lifting frame 22, a tilting frame 23, and multiple clamping arms 24. The support frame 21 is mounted on the movable support mechanism 1 and serves as the basic support structure for the component clamping and tilting mechanism 2. The support frame 21 can be in the form of a vertical frame, including vertically arranged columns and crossbeams connected between the columns, to form a support frame for the vertical movement of the lifting frame 22.

[0030] Specifically, the lifting frame 22 is vertically raised and lowered on the support frame 21. The lifting frame 22 can be a plate frame, a portal frame, or a rectangular frame structure. The lifting frame 22 and the support frame 21 can be guided and fitted together by slide rails, slide grooves, guide columns, or rollers. The lifting frame 22 can be driven to rise and fall by a hydraulic cylinder, an electric push rod, a screw lifting mechanism, or a chain lifting mechanism to adjust the height of the tilting frame 23 and the prefabricated component 3.

[0031] Furthermore, the tilting frame 23 is rotatably mounted on the lifting frame 22. The tilting frame 23 can be a long strip frame, a rectangular frame, or a plate-like structure, and its length direction is adapted to the length direction of the precast component 3. The tilting frame 23 is rotatably connected to the lifting frame 22 through a rotating shaft, bearing seat, or hinge seat, allowing the tilting frame 23 to rotate relative to the lifting frame 22. Thus, the tilting frame 23 can drive the clamped precast component 3 from a horizontal transport state to an upright installation state.

[0032] In addition, multiple clamping arms 24 are spaced apart on the flipping frame 23 for clamping the prefabricated component 3. The multiple clamping arms 24 can be arranged spaced apart along the length of the flipping frame 23 to clamp different height regions of the prefabricated component 3 respectively. The clamping arms 24 can be block-shaped clamping arms, plate-shaped clamping arms, or arm-shaped structures with clamping surfaces. Preferably, the clamping arm 24 includes a fixed clamping part and a movable clamping part, the movable clamping part being able to move closer to or further away from the fixed clamping part to achieve clamping and releasing of the prefabricated component 3. An elastic pad, rubber pad, or anti-slip pad can be provided on the side of the clamping arm 24 that contacts the prefabricated component 3 to increase the contact area and reduce damage to the surface of the prefabricated component 3.

[0033] To improve the positioning stability of the tilting frame 23 in a vertical position, a guide block 221 is provided on the lifting frame 22. The guide block 221 can be block-shaped, wedge-shaped, or a limiting block with a guide slope. The guide block 221 is located on the lifting frame 22 near the end point of rotation of the tilting frame 23. When the tilting frame 23 rotates to a vertical position, the tilting frame 23 comes into contact with the guide block 221 to limit the tilting frame 23. Preferably, the guide block 221 has a limiting surface or guide surface on the side facing the tilting frame 23, so that the tilting frame 23 can gradually come into contact with the guide block 221 as it approaches a vertical position, thereby improving the stability of the tilting frame 23 in an upright installation state.

[0034] like Figure 2 As shown, the rebar alignment and positioning mechanism 4 includes an alignment bracket 41, multiple alignment grippers 42, and a displacement drive assembly 43. The alignment bracket 41 carries the multiple alignment grippers 42 and drives them into or out of the installation area. The multiple alignment grippers 42 clamp and position the upper end of the exposed section of the corresponding pre-embedded rebar for alignment correction. The displacement drive assembly 43 drives the alignment bracket 41 to shift relative to the flipping frame 23, allowing the alignment bracket 41 to move closer to or further away from the area where the pre-embedded rebar is located.

[0035] Specifically, the alignment bracket 41 has a retracted state and an open state. In the retracted state, the alignment bracket 41 closes up, allowing it to pass through the gap between adjacent embedded reinforcing bars and be inserted into the installation area from one side. Here, the alignment bracket 41 is not inserted from above the embedded reinforcing bars downwards, but rather from one side of the area where the embedded reinforcing bars are arranged, with the entry direction approximately perpendicular to the length direction of the embedded reinforcing bars. Thus, even with a large number of embedded reinforcing bars and limited spacing, the alignment bracket 41 can still enter the installation area with minimal space occupation.

[0036] Furthermore, in the open state, the correction bracket 41 unfolds so that multiple correction grippers 42 can respectively correspond to the upper ends of the exposed sections of the pre-embedded reinforcing bars. After the correction grippers 42 correspond to the pre-embedded reinforcing bars, they can clamp and perform small-range positioning correction on the upper ends of the exposed sections of the pre-embedded reinforcing bars, so that the position of the upper ends of the exposed sections of the pre-embedded reinforcing bars corresponds to the distribution position of the pre-cast holes at the bottom of the precast component 3. Thus, the correction bracket 41 can meet the insertion gap requirements in the contracted state and form a multi-point correction and positioning capability in the open state.

[0037] like Figure 3 As shown, the alignment bracket 41 includes a main shaft 411, two sliders 412, a sliding drive assembly, and two sets of hinged rods. The main shaft 411 is the central support component of the alignment bracket 41, and can be a straight rod, a rectangular tube, or a strip beam. The main shaft 411 extends along the insertion direction of the alignment bracket 41 and is used to mount the two sliders 412 and the two sets of hinged rods.

[0038] Specifically, two sliders 412 are slidably mounted on the main shaft 411. The main shaft 411 may be equipped with a groove, slide rail, or guide rod, and the sliders 412 are correspondingly equipped with sliding parts that cooperate with the groove, slide rail, or guide rod, allowing the two sliders 412 to slide along the length of the main shaft 411. The two sliders 412 respectively serve as the inner movable connection points of the hinge rod assembly, used to drive the hinge rod assembly to retract or extend.

[0039] Furthermore, the sliding drive assembly is used to drive the two sliders 412 to move closer to or further away from each other. The sliding drive assembly can be a bidirectional lead screw mechanism, a rack and pinion mechanism, a synchronous belt mechanism, a hydraulic cylinder, an electric push rod, or a linear motor. Preferably, when the sliding drive assembly adopts a bidirectional lead screw mechanism, the two sliders 412 are respectively connected to the threaded sections with opposite directions of rotation on the bidirectional lead screw. When the bidirectional lead screw rotates, the two sliders 412 can move closer to or further away from each other synchronously, so that the unfolding action of both ends of the correction bracket 41 remains coordinated.

[0040] In addition, two sets of hinged rods are symmetrically arranged on both sides of the main shaft 411. Each set of hinged rods includes a secondary rod 413, two hinge rods 414, and a telescopic rod 415. The secondary rod 413 is arranged parallel to the main shaft 411. The secondary rod 413 can be a straight rod, a rectangular tube, or a strip beam. It is used to form the outer support edge of the correction bracket 41 after it is deployed, and to provide an installation base for the correction gripper 42 on the corresponding side.

[0041] Specifically, two hinge rods 414 are respectively disposed at both ends of the auxiliary rod 413. The hinge rod 414 can be a strip-shaped rod structure, with one end hinged to the end of the auxiliary rod 413 and the other end hinged to the corresponding slider 412. The two hinge rods 414, the two sliders 412, and the auxiliary rod 413 together form a deformable linkage support structure. When the two sliders 412 move along the main shaft 411, the tilt angle of the hinge rod 414 changes accordingly, causing the auxiliary rod 413 to move closer to or further away from the main shaft 411.

[0042] Furthermore, a telescopic rod 415 is disposed between the main shaft 411 and the auxiliary rod 413. The telescopic rod 415 is perpendicular to the main shaft 411, with one end connected to the main shaft 411 and the other end connected to the auxiliary rod 413. The telescopic rod 415 can be a sleeve-type telescopic rod 415, a guide telescopic rod 415, or a telescopic support rod with a limiting structure. The telescopic rod 415 is used to guide and support the auxiliary rod 413 as it moves closer to or further away from the main shaft 411, enabling the auxiliary rod 413 to move smoothly in a direction perpendicular to the main shaft 411 and reducing the sway of the auxiliary rod 413.

[0043] When the sliding drive assembly moves the two sliders 412 closer to each other, the two hinge rods 414 drive the auxiliary rod 413 closer to the main shaft 411, and the alignment bracket 41 gradually retracts; when the sliding drive assembly moves the two sliders 412 away from each other, the two hinge rods 414 drive the auxiliary rod 413 away from the main shaft 411, and the alignment bracket 41 gradually opens. Thus, through the cooperation of the main shaft 411, sliders 412, hinge rod assembly and telescopic rod 415, the alignment bracket 41 can stably switch between the retracted state and the open state, ensuring both the compactness of the insertion process and the multi-point positioning capability after opening.

[0044] To facilitate observation of the position of the upper end of the exposed section of the embedded rebar, the alignment bracket 41 also includes a camera assembly mounted on the slider 412. The camera assembly may include a camera, a supplementary light, and a protective housing. The camera assembly moves with the slider 412 to capture images of the upper end of the exposed section of the embedded rebar and the area near the alignment clamp 42. Thus, the operator can determine the relative position between the alignment bracket 41 and the embedded rebar based on the images, and it can also provide image information to the automatic control system.

[0045] like Figure 4As shown, the shifting drive assembly 43 includes a lifting base 431, a lateral telescopic drive component 432, and a vertical telescopic drive component 433. The lifting base 431 can be a block-shaped base, a plate-shaped base, or a frame-shaped base, used to connect the alignment bracket 41 and the tilting frame 23. The lifting base 431 is raised and lowered on the tilting frame 23 via the vertical telescopic drive component 433. The vertical telescopic drive component 433 can be a hydraulic cylinder, an electric push rod, a pneumatic cylinder, or a screw lifting mechanism, with one end connected to the tilting frame 23 and the other end connected to the lifting base 431 to drive the lifting base 431 to move vertically.

[0046] Furthermore, the alignment bracket 41 is movably mounted on the lifting base 431 laterally via a lateral telescopic drive component 432. The lateral telescopic drive component 432 can be a hydraulic cylinder, an electric push rod, a pneumatic cylinder, or a linear slide. One end of the drive component is connected to the lifting base 431, and the other end is connected to the alignment bracket 41, driving the alignment bracket 41 to move laterally. Here, "lateral" refers to a direction approximately perpendicular to the length of the embedded reinforcing bar. Through the cooperation of the lateral telescopic drive component 432 and the vertical telescopic drive component 433, the alignment bracket 41 can approach the exposed section of the embedded reinforcing bar and, after completing the positioning and alignment, can exit the installation area, thereby avoiding the descent path of the precast component 3.

[0047] like Figure 5 and Figure 6 As shown, the alignment gripper 42 includes a gripper base 421, a fixed gripper 422, a movable gripper 423, and a lever 424. The gripper base 421 is the basic mounting component of the alignment gripper 42 and can be a block-shaped base, a plate-shaped base, or a connecting base with mounting holes. The gripper base 421 is used to mount the fixed gripper 422 and the movable gripper 423 and is connected to the alignment bracket 41 through the steering assembly 44.

[0048] Specifically, the fixed chuck 422 is fixedly mounted on the clamping base 421. The fixed chuck 422 can be a block-shaped, fork-shaped, or component with a clamping surface, with its side facing the movable chuck 423 forming a clamping side. The movable chuck 423 is movably mounted on the clamping base 421 and can move closer to or further away from the fixed chuck 422. The movable chuck 423 can be connected to the clamping base 421 via a guide rail slider 412, a slide rail slider 412, or a hinged connecting rod, and can be driven to move by a small cylinder, an electric push rod, a hydraulic cylinder, or a lead screw mechanism.

[0049] Furthermore, both the fixed clamp 422 and the movable clamp 423 have positioning grooves 425 on their opposite sides for embedding and positioning the pre-embedded reinforcing bars. The positioning grooves 425 can be arc-shaped grooves, V-shaped grooves, or recesses adapted to the outer diameter of the pre-embedded reinforcing bars. The two positioning grooves 425 are arranged opposite each other, and when the movable clamp 423 approaches the fixed clamp 422, the two positioning grooves 425 together form a clamping space for accommodating and limiting the pre-embedded reinforcing bars. Thus, the upper end of the exposed section of the pre-embedded reinforcing bar can be clamped and constrained between the fixed clamp 422 and the movable clamp 423.

[0050] Additionally, the lever 424 is rotatably connected to the end of the fixed clamp 422 away from the clamp seat 421. The lever 424 can be a slender rod, a bent rod, or a lever-shaped structure with a guide surface. One end of the lever 424 is hinged to the fixed clamp 422, and the other end extends towards the area where the embedded rebar can enter. When the correction jaw 42 approaches the embedded rebar, the lever 424 can first contact the embedded rebar, and as the correction jaw 42 continues to approach or the lever 424 rotates, it will push the embedded rebar into the positioning groove 425. Thus, the lever 424 can assist the embedded rebar in entering the clamping area between the fixed clamp 422 and the movable clamp 423, improving the reliability of rebar introduction and clamping positioning.

[0051] On the other hand, a steering assembly 44 is provided between the correction gripper 42 and the correction bracket 41. The steering assembly 44 includes a steering bracket 441, a steering motor 442, and a steering seat 443. The steering bracket 441 is fixedly mounted on the corresponding hinge rod 414 or auxiliary rod 413. The steering bracket 441 can be a plate-shaped bracket, a U-shaped bracket, or a block-shaped bracket, used to provide a mounting base for the steering seat 443. The steering seat 443 is rotatably mounted on the steering bracket 441 and can be connected to the steering bracket 441 via a rotating shaft, pin, or bearing. The correction gripper 42 is fixedly mounted on the steering seat 443, enabling the correction gripper 42 to rotate synchronously with the steering seat 443.

[0052] Furthermore, the steering motor 442 is used to drive the steering seat 443 to rotate. The steering motor 442 can be fixed near the steering bracket 441 or the steering seat 443 and is connected to the steering seat 443 via a coupling, gear pair, or reduction mechanism. When the steering motor 442 drives the steering seat 443 to rotate, it can drive the correction gripper 42 to switch between the avoidance position when the correction bracket 41 is retracted and the working position when clamping the pre-embedded steel bar. Specifically, when the correction bracket 41 is retracted, the correction gripper 42 is in the avoidance position to reduce the lateral space occupied; when the correction bracket 41 is open and needs to clamp the pre-embedded steel bar, the correction gripper 42 switches to the working position, so that the fixed clamp 422, the movable clamp 423, and the lever 424 face the upper end of the corresponding exposed section of the pre-embedded steel bar.

[0053] Based on the above structure, the rebar alignment and positioning mechanism 4’s shrinking, inserting, opening, clamping, and withdrawing actions are coordinated with the component clamping and flipping mechanism 2’s flipping and lowering actions to form the following installation process.

[0054] This application also discloses a method for installing vertical prefabricated components using the above-mentioned vertical prefabricated component positioning and installation system, the method comprising the following steps: S1. The prefabricated component 3 is clamped by the component clamping and flipping mechanism 2, and the prefabricated component 3 is driven to change from a horizontal transportation state to a vertical installation state.

[0055] Specifically, after the mobile support mechanism 1 moves to the material picking position of the precast component 3, the component clamping and flipping mechanism 2 clamps the precast component 3 through multiple clamping arms 24, keeping the precast component 3 relatively fixed to the flipping frame 23. Subsequently, the mobile support mechanism 1 transports the precast component 3 to the vicinity of the installation position, the lifting frame 22 adjusts its height according to the installation height, and the flipping frame 23 rotates relative to the lifting frame 22, changing the precast component 3 from a horizontal transportation state to an upright installation state. When the flipping frame 23 rotates to the vertical state, the flipping frame 23 engages and limits its position with the guide block 221 to improve the stability of the precast component 3 in the upright installation state.

[0056] S2. Drive the reinforcing bar correction and positioning mechanism 4 to the exposed section of the pre-embedded reinforcing bar at the installation position, and put the correction bracket 41 in a retracted state, so that it can be inserted into the installation area through the gap between adjacent pre-embedded reinforcing bars from one side of the pre-embedded reinforcing bar.

[0057] Specifically, after the precast component 3 is in the upright installation state, the displacement drive assembly 43 drives the correction bracket 41 to approach the area where the exposed section of the pre-embedded rebar is located. At this time, the correction bracket 41 is in a retracted state, and multiple correction grippers 42 are switched to an avoidance position by the steering assembly 44, allowing the correction bracket 41 to pass through the gap between adjacent pre-embedded rebars from one side and insert into the installation area. The camera assembly can capture images of the upper end of the exposed section of the pre-embedded rebar to determine the relative position between the correction bracket 41 and the pre-embedded rebar.

[0058] S3. Drive the correction bracket 41 to switch from the contracted state to the open state, and use multiple correction claws 42 to clamp and position the upper end of the corresponding pre-embedded steel bar exposed section for correction.

[0059] Specifically, after the correction bracket 41 is inserted into the predetermined position, the sliding drive assembly drives the two sliders 412 to move along the main shaft 411. The two sliders 412 drive the auxiliary rod 413 away from the main shaft 411 through the hinge rod 414, causing the correction bracket 41 to switch from a retracted state to an open state. After the correction bracket 41 opens, multiple correction grippers 42 approach the upper end of the corresponding exposed section of the pre-embedded rebar. Subsequently, the steering assembly 44 drives the correction grippers 42 to switch from a clearance position to a working position, the lever 424 guides the pre-embedded rebar into the positioning groove 425, and the movable clamp 423 moves toward the fixed clamp 422, so that the upper end of the exposed section of the pre-embedded rebar is clamped and positioned for correction.

[0060] S4. After completing the positioning and correction at the upper end of the exposed section of the pre-embedded steel bar, drive the steel bar correction and positioning mechanism 4 to move out of the installation area.

[0061] Specifically, after completing the positioning and correction, the movable clamp 423 moves away from the fixed clamp 422, causing the correction claw 42 to release its grip on the embedded steel bar; the steering component 44 drives the correction claw 42 to switch to an avoidance position. Subsequently, the sliding drive component drives the correction bracket 41 from the open state back to the retracted state, and the displacement drive component 43 then drives the correction bracket 41 out of the installation area. Preferably, the lateral telescopic drive component 432 first drives the correction bracket 41 laterally away from the area where the embedded steel bar is located, and the vertical telescopic drive component 433 then drives the lifting seat 431 to move vertically to avoid the descent path of the precast component 3.

[0062] S5. The driving component clamping and flipping mechanism 2 drives the precast component 3 to descend, so that the precast hole at the bottom of the precast component 3 is aligned with the upper end of the exposed section of the pre-embedded steel bar after positioning and correction, and then they are fitted together for installation.

[0063] Specifically, after the rebar alignment and positioning mechanism 4 exits the installation area, the component clamping and flipping mechanism 2 continues to clamp the precast component 3 and drives it to descend. Since the upper end of the exposed section of the embedded rebar has been positioned and corrected, the precast hole at the bottom of the precast component 3 can be aligned and fitted with the upper end of the corresponding exposed section of the embedded rebar. After the precast component 3 descends to the designed installation position, temporary support and fixation can be performed. Then, the clamping arm 24 is released from clamping the precast component 3, and subsequent grouting or connection construction can proceed.

[0064] Through the above-described embodiments, this application can clamp and position the upper end of the pre-embedded steel bar and correct its deviation within a small range when there is a small positional deviation at the upper end of the exposed section of the pre-embedded steel bar, so that it corresponds to the pre-cast hole at the bottom of the precast component 3. At the same time, the contraction and opening structure of the correction bracket 41 ensures that the steel bar correction and positioning mechanism 4 can enter and unfold in the area of ​​dense steel bars, and the turning component 44 of the correction claw 42 reduces spatial interference during the insertion stage, thereby improving the alignment accuracy and construction efficiency during the installation of the precast component 3.

[0065] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vertical prefabricated component positioning and installation system, characterized in that, include: Mobile support mechanism, used to support and move the entire installation system; A component clamping and flipping mechanism is provided on the mobile bearing mechanism for clamping vertical prefabricated components and driving the vertical prefabricated components from a horizontal transportation state to an upright installation state. A rebar correction and positioning mechanism is installed on the movable bearing mechanism and cooperates with the component clamping and flipping mechanism. It is used to position and correct the upper end of the exposed section of the pre-embedded rebar at the installation position so that the upper end of the exposed section of the pre-embedded rebar corresponds to the distribution position of the pre-cast holes at the bottom of the vertical precast component. The component clamping and flipping mechanism is also used to drive the vertical precast component to descend after the rebar correction and positioning mechanism completes the positioning and correction of the upper end of the exposed section of the pre-embedded rebar, so that the precast hole at the bottom of the vertical precast component is aligned with the upper end of the exposed section of the pre-embedded rebar after positioning and correction, and then fitted and installed.

2. The vertical prefabricated component positioning and installation system according to claim 1, characterized in that, The component clamping and flipping mechanism includes a support frame, a lifting frame, a flipping frame, and multiple clamping arms. The support frame is mounted on the movable support mechanism. The lifting frame is vertically raised and lowered on the support frame. The flipping frame is rotatably mounted on the lifting frame. The multiple clamping arms are spaced apart on the flipping frame for clamping the vertical prefabricated component.

3. The vertical prefabricated component positioning and installation system according to claim 2, characterized in that, The rebar correction and positioning mechanism includes a correction bracket, multiple correction grippers, and a displacement driving assembly. The correction bracket is movably mounted on the tilting frame, and the displacement driving assembly is used to drive the correction bracket to shift relative to the tilting frame. The correction bracket has a retracted state and an open state. In the retracted state, the correction bracket is closed so that it passes through the gap between adjacent pre-embedded steel bars from one side and is inserted into the installation area. In the open state, the correction bracket is unfolded so that the multiple correction claws can respectively correspond to the upper end of the exposed section of the pre-embedded steel bar. Multiple correction grippers are disposed on the correction bracket to clamp and position the upper end of the exposed section of the pre-embedded steel bar corresponding to the correction.

4. The vertical prefabricated component positioning and installation system according to claim 3, characterized in that, The correction bracket includes: spindle; Two sliders are slidably mounted on the main shaft; A sliding drive assembly for driving the two sliders to move closer to or further away from each other; Two sets of hinge rods are symmetrically arranged on both sides of the main shaft; Each of the aforementioned hinge rod groups includes: A secondary rod, which is arranged parallel to the main shaft; Two hinge rods are respectively disposed at both ends of the auxiliary rod, one end of each hinge rod is hinged to both ends of the auxiliary rod, and the other end is hinged to the two sliders respectively; A telescopic rod is disposed between the main shaft and the auxiliary rod. The telescopic rod is perpendicular to the main shaft, with one end connected to the main shaft and the other end connected to the auxiliary rod, so that the auxiliary rod can move closer to or away from the main shaft in a direction perpendicular to the main shaft. When the sliding drive assembly drives the two sliders to move closer to or further away from each other, the hinge rod drives the auxiliary rod to move closer to or further away from the main shaft, thereby realizing the contraction and opening of the correction bracket.

5. The vertical prefabricated component positioning and installation system according to claim 4, characterized in that, The correction bracket also includes a camera assembly, which is mounted on the slider.

6. The vertical precast component positioning and installation system according to any one of claims 4-5, characterized in that, The correction gripper includes a clamping base, a fixed clamp, a movable clamp, and a lever. The fixed clamp is fixedly mounted on the clamping base, and the movable clamp is movably mounted on the clamping base and can move closer to or further away from the fixed clamp. Positioning grooves for embedding and positioning pre-embedded reinforcing bars are provided on opposite sides of both the fixed and movable clamps. The lever is rotatably connected to the end of the fixed clamp away from the clamping base and is used to move the pre-embedded reinforcing bar into the range of the positioning groove, so that the pre-embedded reinforcing bar is clamped and positioned by the fixed and movable clamps.

7. The vertical prefabricated component positioning and installation system according to claim 6, characterized in that, The correction gripper is mounted on the corresponding hinge or auxiliary rod. A steering assembly is provided between the correction gripper and the correction bracket. The steering assembly includes a steering bracket, a steering motor, and a steering seat. The steering bracket is fixedly mounted on the corresponding hinge or auxiliary rod. The steering seat is rotatably mounted on the steering bracket. The correction gripper is fixedly mounted on the steering seat. The steering motor is used to drive the steering seat to rotate, thereby switching the correction gripper between the avoidance position when the correction bracket retracts and the working position when clamping the pre-embedded steel bar.

8. The vertical prefabricated component positioning and installation system according to claim 3, characterized in that, The displacement drive assembly includes a lifting seat, a lateral telescopic drive component, and a vertical telescopic drive component. The lifting seat is raised and lowered on the tilting frame via the vertical telescopic drive component. The correction bracket is movably mounted on the lifting seat in a lateral direction perpendicular to the length of the pre-embedded steel bar via the lateral telescopic drive component. The lateral telescopic drive component is used to drive the correction bracket to move laterally, and the vertical telescopic drive component is used to drive the lifting seat to move vertically.

9. The vertical prefabricated component positioning and installation system according to claim 2, characterized in that, The lifting frame is equipped with a guide block, which fits against the guide block when the tilting frame rotates to a vertical position to limit the tilting frame.

10. A method for installing vertical prefabricated components using the vertical prefabricated component positioning and installation system according to any one of claims 1 to 9, characterized in that, Includes the following steps: S1. The vertical prefabricated component is clamped by the component clamping and flipping mechanism, and the vertical prefabricated component is driven to change from a horizontal transportation state to a vertical installation state. S2. Drive the rebar correction and positioning mechanism to approach the exposed section of the pre-embedded rebar at the installation position, and make the correction bracket in a retracted state, so that it can be inserted into the installation area through the gap between adjacent pre-embedded rebars from one side. S3. Drive the correction bracket from the contracted state to the open state, and use multiple correction claws to clamp and position the upper end of the corresponding pre-embedded steel bar exposed section for correction. S4. After completing the positioning and correction at the upper end of the exposed section of the pre-embedded steel bar, drive the steel bar correction and positioning mechanism to move out of the installation area; S5. Drive the component clamping and flipping mechanism to lower the vertical precast component, so that the precast hole at the bottom of the vertical precast component is aligned with the upper end of the exposed section of the pre-embedded steel bar after positioning and correction, and then sleeved and installed.

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