Fabricated building wallboard intelligent installation machine

Abstract

The application discloses an intelligent installation machine for fabricated building wallboards, and relates to the technical field of fabricated building construction equipment. The intelligent installation machine for fabricated building wallboards comprises a mechanical arm module, a walking device and a cabin mechanism; a transmission system, a power device and an intelligent control system are integrated in the cabin mechanism; the mechanical arm module comprises a single-side clamping clamping device and a four-degree-of-freedom mechanical arm, is accurate in clamping and efficient in positioning; the walking device is a rubber telescopic track chassis, which is suitable for various sites; the transmission system is a high-precision hydraulic transmission system; the power device is an electric motor and a lithium iron phosphate battery pack; the intelligent control system is high in intelligence; the application solves the problems of high manual dependence, low precision, high safety risk, low efficiency and high cost of traditional wallboard installation machines, realizes the automation, precision and intelligence of wallboard installation, fills the technical blank of special intelligent installation equipment for fabricated building wallboards and has remarkable economic benefits.

Description

Technical Field

[0001] This invention relates to the field of prefabricated building construction equipment technology, specifically to an intelligent installation machine for prefabricated building wall panels. Background Technology

[0002] Prefabricated buildings have become a development trend in the construction industry due to their advantages such as being green and environmentally friendly and having high construction efficiency. Modified wall panels, as a commonly used material for the enclosure structure of prefabricated buildings, have the characteristics of being lightweight, heat-insulating, and sound-insulating. However, the weight of a single wall panel is still relatively large, and there are many technical pain points in the installation process.

[0003] Current prefabricated wall panel installations mostly employ traditional general-purpose construction machinery supplemented by manual labor, which has the following technical drawbacks: low mechanization level; clamping devices are mostly double-sided clamping structures, hindering wall panel positioning and requiring manual calibration; and robotic arms are mostly complex six-degree-of-freedom designs, resulting in high failure rates, high costs, and poor adaptability; the walking devices are mostly wheeled or metal tracked chassis; wheeled chassis have a small ground contact area, making them prone to instability and slippage on soft soil and steep slopes, while metal tracked chassis are prone to damaging concrete floors and lack telescopic structures, leading to significant center of gravity shift issues; high reliance on manual labor, requiring three or more workers to operate the aerial work platform, resulting in high safety risks, low daily average installation area, low construction efficiency, and high overall costs.

[0004] Therefore, developing a smart installation machine for prefabricated building wall panels that is compatible with wall panels, highly automated, precise in positioning, safe and stable, and economical and environmentally friendly has become an urgent technical problem to be solved. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent installation machine for prefabricated building wall panels to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent installation machine for prefabricated building wall panels, comprising a robotic arm module, a walking device, and a cabin mechanism; the cabin mechanism integrates a transmission system, a power unit that provides power to the whole machine, and an intelligent control system; the transmission system is connected to the robotic arm module and the walking device respectively and transmits power, and the intelligent control system is electrically connected to the robotic arm module, the walking device, the transmission system, and the power unit respectively and realizes intelligent control; The robotic arm module includes a single-sided gripping device and a four-degree-of-freedom robotic arm. The single-sided gripping device is fixed to the end of the four-degree-of-freedom robotic arm. The four-degree-of-freedom robotic arm includes a main arm, a middle arm, and a secondary arm. The main arm, middle arm, and secondary arm are hinged together and driven by hydraulic cylinders. The main arm is connected to the cabin mechanism through a rotator, realizing X / Y / Z three-way translation and unidirectional rotation. The walking device is a rubber telescopic track chassis, including a chassis body, a telescopic track frame, and rubber track bodies; the telescopic track frame is connected to both sides of the chassis body, and the rubber track bodies are mounted on the telescopic track frame; The transmission system is a hydraulic transmission system; the power unit is an electric motor and a lithium iron phosphate battery pack; the intelligent control system includes a high-precision laser positioning module, an attitude sensing module, a wireless remote control module, and a safety protection module.

[0007] As a preferred technical solution of the present invention, the single-sided clamping device includes a gripper part, an anti-slip pad, a translation mechanism and a rotary cylinder, wherein the rotary cylinder drives the gripper part to achieve 360-degree rotation without dead angles. The gripper part consists of a main clamping plate and U-shaped grippers extending from both sides thereon; a telescopic component is connected between the extended side of the main clamping plate and the anti-slip pad; the main clamping plate is connected to a translation mechanism via a rotary cylinder; the gripper part can slide along the translation mechanism via the rotary cylinder.

[0008] As a preferred embodiment of the present invention, the robotic arm module, walking device, transmission system and power device can all be independently disassembled, repaired and replaced.

[0009] As a preferred embodiment of the present invention, the telescopic assembly includes a telescopic device mounted on the main clamping plate, a connecting plate installed between the telescopic device and the anti-slip pad, and buffer components evenly and equidistantly arranged between the connecting plate and the anti-slip pad. The buffer assembly includes a bottom shell with a fixed connecting plate, a pressure sensor is provided at the bottom of the bottom shell, a connecting piece with a fixed anti-slip pad is provided at the port of the bottom shell, and a spring is connected between the connecting piece and the pressure sensor.

[0010] As a preferred embodiment of the present invention, the auxiliary boom includes auxiliary boom A and auxiliary boom B, which are hinged together and driven by a hydraulic cylinder, and the auxiliary boom B is fixedly connected to a boom joint. The auxiliary arm A and the arm joint are respectively hinged to the translation mechanism.

[0011] As a preferred technical solution of the present invention, the telescopic track frame is a double-layer sliding frame structure, including an inner fixed frame and an outer telescopic frame. The inner fixed frame is fixedly connected to the chassis body, and a transverse hydraulic cylinder is connected between the outer telescopic frame and the inner fixed frame. The outer telescopic frame is driven by the transverse hydraulic cylinder to achieve transverse expansion. The bottom of the outer telescopic frame is provided with wheel grooves at equal intervals, and wheel arms are inserted into the wheel grooves. The wheel arms are hinged to the wheel grooves through torsion spring shafts. A caster wheel is fixedly connected to the lower outer end of the wheel arm. The inner fixed frame and the outer telescopic frame are together fitted with a track cover for installing the rubber track body, and the track cover is fixedly connected to the inner fixed frame; the inner side of the track cover is fixedly connected with blocks that are adapted to the insertion wheel groove at equal intervals.

[0012] As a preferred embodiment of the present invention, the cabin structure includes a bottom plate and a cabin shell; The bottom plate is mounted on the chassis body of the walking device; the cabin is fixedly fastened to the bottom plate; A telescopic rod is installed on the rear side of the upper surface of the base plate, and the output end of the telescopic rod is fixedly connected to a water tank shell that is adapted to fit the cabin shell.

[0013] Compared with the prior art, the beneficial effects of the present invention are: (1) A prefabricated building wall panel intelligent installation machine adopts a customized single-sided clamping device with a large contact area, adjustable clamping pressure, and 360-degree rotation without dead angle. The wall panel can be positioned without manual assistance, which improves the clamping and transfer efficiency compared with double-sided clamping. The wall panel is undamaged, slips without damage, and has small dimensional deviation. Combined with the minimalist design of the four-degree-of-freedom robotic arm, the procedure is simplified and the failure rate is reduced while meeting the construction accuracy, effectively reducing the cost.

[0014] (2) A prefabricated building wall panel intelligent installation machine with rubber telescopic track chassis achieves dual innovation. The telescopic structure increases the ground contact area, solves the problems of chassis instability and center of gravity shift, and the rubber track body avoids damage to the concrete floor. It can adapt to various construction sites such as flat concrete, soft soil, gravel, and steep slopes. It can turn around on the spot and adapt to the narrow characteristics of building construction sites.

[0015] (3) A kind of intelligent installation machine for prefabricated building wall panels, which only requires two operators to complete the work, reduces the dependence on manual labor compared with traditional construction, eliminates the safety risks of aerial work platform assistance, increases the average daily installation area, greatly improves construction efficiency and reduces overall costs.

[0016] (4) A prefabricated building wall panel intelligent installation machine, wherein a telescopic rod is installed on the rear side of the upper surface of the base plate, and the output end of the telescopic rod is fixedly connected to a water tank shell that is adapted to the embedded cabin shell. The water tank shell can be extended to the outside of the cabin shell by the telescopic rod. By filling the water tank shell with water to increase the counterweight, the lever arm can be adjusted by the telescopic rod, thereby improving the balance during operation.

[0017] (5) A prefabricated building wall panel intelligent installation machine, which automatically adjusts the extension and retraction of the telescopic components by an intelligent control system to achieve flexible and controllable intelligent clamping, upgrades the clamping from passive protection to active adaptive adjustment, greatly improves the stability and accuracy of the clamping process, and the buffer components and anti-slip pads work together to form a dual function of flexible buffer protection and anti-slip fixation, which not only ensures that the wall panel does not slip or shift during the clamping process, but also effectively absorbs the vibration and impact during the transportation process, further improving the safety of wall panel clamping and transportation and reducing construction losses.

[0018] (6) A prefabricated building wall panel intelligent installation machine, the walking device adopts a double-layer sliding frame structure with track housing, block and universal wheel linkage design. On the one hand, the inner fixed frame and track housing fix the bearing rubber track body, and completely decouple the lateral expansion action of the outer telescopic frame from the walking path of the rubber track body. This fundamentally avoids lateral compression and shear wear of the rubber track body during the expansion process, and effectively ensures the service life and walking stability of the rubber track body.

[0019] (7) A prefabricated building wall panel intelligent installation machine, through the linkage limit of the stop block and the wheel arm and the torsion spring shaft, can initially store the wheel arm and the universal wheel in the wheel groove, without occupying space and without interfering with the normal walking of the track. When the outer telescopic frame expands laterally, the stop block automatically releases the restriction on the wheel arm. The wheel arm swings down autonomously under the action of the torsion spring shaft so that the universal wheel can be supported on the ground. The expansion and auxiliary support of the walking device can be completed simultaneously without additional drive, which greatly improves the overall stability and anti-overturning performance of the chassis body after expansion. At the same time, the universal wheel can adapt to various ground conditions, reduce the friction resistance during the telescopic and walking process. The overall structure is compact and the limit is reliable. While realizing the adaptive adjustment of the chassis body width, it also takes into account the structural rationality and reliability of the walking device. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a schematic diagram of the single-sided clamping and holding device of the present invention; Figure 3 This is a schematic diagram of the telescopic component of the present invention; Figure 4 This is a schematic diagram of the buffer component of the present invention; Figure 5 This is a schematic diagram of the four-degree-of-freedom robotic arm of the present invention; Figure 6 This is a schematic diagram of the walking device of the present invention; Figure 7 This is a schematic diagram of the retractable track frame of the present invention; Figure 8 This is a schematic diagram of the base plate of the present invention.

[0021] In the diagram: 1. Robotic arm module; 11. Single-sided gripping device; 111. Gripper; 112. Anti-slip pad; 113. Translation mechanism; 114. Rotary cylinder; 115. Telescopic device; 116. Connecting plate; 117. Base shell; 118. Connecting piece; 119. Spring; 12. Four-degree-of-freedom robotic arm; 121. Main arm; 122. Middle arm; 123. Secondary arm; 1231. Secondary arm A; 1232. Secondary arm B; 1233. Arm joint; 2. Walking device; 21. Chassis body; 22. Telescopic track frame; 221. Inner fixed frame; 222. Outer telescopic frame; 223. Wheel groove; 224. Wheel arm; 225. Caster wheel; 226. Track housing; 227. Stop block; 23. Rubber track body; 3. Cabin structure; 31. Bottom plate; 32. Cabin shell; 33. Telescopic rod; 34. Water tank shell. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example: Please refer to Figure 1-8 A prefabricated building wall panel intelligent installation machine includes a robotic arm module 1, a walking device 2, and a cabin mechanism 3. The cabin mechanism 3 integrates a transmission system, a power unit that provides power to the whole machine, and an intelligent control system. Each module is processed and assembled in an experimental workshop, and the whole machine is assembled after passing dimensional inspection and performance testing. The transmission system is connected to the robotic arm module 1 and the walking device 2 respectively and transmits power. The intelligent control system is electrically connected to the robotic arm module 1, the walking device 2, the transmission system, and the power unit respectively and realizes intelligent control. The robotic arm module 1 includes a single-sided gripping device 11 and a four-degree-of-freedom robotic arm 12. The single-sided gripping device 11 is fixed to the end of the four-degree-of-freedom robotic arm 12. The contact area between the gripper portion 111 of the single-sided gripping device 11 and the wall panel is ≥0.5㎡, the parallelism of the gripper portion 111 is ≤0.3mm / m, and the gripping pressure can be adjusted within the range of 0.8-1.4MPa. The four-degree-of-freedom robotic arm 12 includes a main arm 121, a middle arm 122, and a secondary arm 123. The main arm 121, the middle arm 122, and the secondary arm 123 are hinged together and driven by hydraulic cylinders. The main arm 121 is connected to the cabin mechanism 3 through a rotator, realizing X / Y / Z three-way translation and unidirectional rotation. When a single arm segment extends or retracts, it responds... The braking response time is ≤1.5s, and the full extension / retraction time of the three-section arm linkage is ≤5s; the main arm 121 of the four-degree-of-freedom robotic arm 12 has a length of 2799.6-2800mm, the middle arm 122 has a length of 2500-2500.3mm, the auxiliary arm 123 has a length of 2199.8-2200mm, the total length in the fully extended state is 7499.7-7500mm, the arm segment extension gap is 0.8-1.2mm, the rated load is 240kg, and the braking response time is ≤0.5s with no slippage when the load is 300kg in the fully extended state; the dimensional deviation of the gripper body 111 of the single-sided gripping device 11 is controlled within ±3mm, and the failure rate of the four-degree-of-freedom robotic arm 12 after 100 continuous operations is 0%; The walking device 2 is a rubber telescopic track chassis, including a chassis body 21, a telescopic track frame 22, and rubber track bodies 23; the telescopic track frame 22 is connected to both sides of the chassis body 21, and the rubber track bodies 23 are mounted on the telescopic track frame 22; the maximum telescopic stroke of the telescopic track frame 22 is ≥300mm; the chassis body 21 of the rubber telescopic track chassis has a total length of 1679.8-1680mm, a width of 1549.9-1550.3mm, and a height of 469.8-470.2mm, the parallelism of the walking side beam is ≤1.0mm, the perpendicularity of the side beam to the chassis plane is ≤0.8mm, it can smoothly pass through a 15-degree steep slope, and the failure rate is ≤0.8% after 8 hours of continuous operation; the rubber track bodies 23 of the walking device 2 do not damage the concrete floor and can turn around on the spot, making it suitable for narrow construction sites; The transmission system is a hydraulic transmission system, including a hydraulic oil tank, high-pressure hoses, hydraulic valve group, relief valve, and multi-stage hydraulic motor. The hydraulic pump power is ≥3.5KW, the system response time is ≤0.22s, the full-load pressure holding time is 30min, and the leakage is ≤0.22mL / min. The hydraulic oil tank of the hydraulic transmission system is a 100L carbon steel welded structure. The high-pressure hose has a pressure resistance rating of 31.5MPa. The multi-stage hydraulic motor has a torque of 1200N·m and a speed of 150rpm. The system working pressure is 12-15MPa under no-load and 18-22MPa under full load. The hydraulic flow rate is 25-30L / min, and the oil temperature is ≤65℃ after 50 hours of continuous operation. The hydraulic oil tank, hydraulic valve group, and multi-stage hydraulic motor of the transmission system are fixed to the chassis body 21. The high-pressure hoses are connected to the multi-stage hydraulic motor, the robotic arm module 1, and the walking device 2 respectively to realize power transmission. The power unit consists of an electric motor and a lithium iron phosphate battery pack. The electric motor and the lithium iron phosphate battery pack are connected and fixed inside the chassis body 21 of the walking device 2 to provide power for the whole machine. The electric motor output power is ≥4KW, the lithium iron phosphate battery pack is 300Ah / 48V, the range is ≥8h, and the working noise is ≤16.4dB. The electric motor is a Y132S-4 type, the operating cost of the lithium iron phosphate battery pack is 0.55 yuan / hour, and there is no exhaust emission. The intelligent control system includes a high-precision laser positioning module, an attitude sensing module, a wireless remote control module, and a safety protection module. The high-precision laser positioning module achieves a wall panel alignment deviation of ≤2mm. The safety protection module includes overload protection, emergency braking, and pressure warning functions. The intelligent control system also includes a control panel with a display screen. The wireless remote control module has a remote control distance of ≥10m and a control system response time of ≤0.5s, enabling real-time acquisition of construction data and data traceability. The high-precision laser positioning module and attitude sensing module of the intelligent control system are installed on the single-sided clamping device 11 and the four-degree-of-freedom robotic arm 12. The control panel is fixed to the operating end of the chassis body 21. The wireless remote control module is wirelessly connected to the control panel, and the safety protection module is electrically connected to each module, completing the assembly of the entire intelligent control system.

[0024] The single-sided clamping device 11 includes a gripper 111, an anti-slip pad 112, a translation mechanism 113, and a rotary cylinder 114. The anti-slip pad 112 has a thickness of 9.9-10mm, the translation mechanism 113 has a stroke of 400mm, and the rotary cylinder 114 drives the gripper 111 to achieve a 360-degree rotation without dead angles. The gripper part 111 consists of a main clamping plate and U-shaped grippers extending from both sides thereon; a telescopic component is connected between the extended side of the main clamping plate and the anti-slip pad 112; the main clamping plate is connected to the translation mechanism 113 via a rotary cylinder 114; the gripper part 111 can slide along the translation mechanism 114 via the rotary cylinder 114.

[0025] The intelligent installation machinery for prefabricated building wall panels is modularly designed. The robotic arm module 1, walking device 2, transmission system and power unit can all be independently disassembled, repaired and replaced, and it is compatible with various prefabricated wall panels with a length of 6m and a thickness of 200mm.

[0026] The telescopic assembly includes a telescopic member 115 mounted on the main clamping plate, a connecting plate 116 installed between the telescopic member 115 and the anti-slip pad 112, and buffer components evenly and equidistantly arranged between the connecting plate 116 and the anti-slip pad 112. The buffer assembly includes a base shell 117 with a fixed connecting plate 116. A pressure sensor is installed at the bottom of the base shell 117, and a connecting piece 118 with a fixed anti-slip pad 112 is installed at the port of the base shell 117. A spring 119 connects the connecting piece 118 and the pressure sensor. The buffer assembly can adaptively expand and contract according to the flatness of the wall panel surface, allowing the anti-slip pad 112 to fit against the wall panel surface and disperse the clamping pressure. The pressure sensor detects the contact pressure between the anti-slip pad 112 and the wall panel in real time. When the local pressure exceeds the threshold, the intelligent control system automatically adjusts the expansion and contraction of the expansion assembly to achieve flexible clamping, adapting to the brittle and easily damaged characteristics of the wall panel. The buffer assembly and the anti-slip pad 112 form a dual function of flexible protection and anti-slip fixation, improving the safety of clamping.

[0027] The auxiliary boom 123 includes auxiliary boom A1231 and auxiliary boom B1232. The auxiliary boom A1231 and auxiliary boom B1232 are hinged together and driven by a hydraulic cylinder. The auxiliary boom B1232 is fixedly connected to the boom joint 1233. The auxiliary arm A1231 and the arm joint 1233 are respectively hinged to the translation mechanism 113.

[0028] The telescopic track frame 22 is a double-layer sliding frame structure, including an inner fixed frame 221 and an outer telescopic frame 222. The inner fixed frame 221 is fixedly connected to the chassis body 21. A transverse hydraulic cylinder is connected between the outer telescopic frame 222 and the inner fixed frame 221. The outer telescopic frame 222 is driven by the transverse hydraulic cylinder to achieve transverse expansion. The bottom of the outer telescopic frame 222 is provided with wheel grooves 223 evenly spaced. Wheel arms 224 are inserted into the wheel grooves 223 and are hinged to the wheel grooves 223 by a torsion spring shaft. A caster wheel 225 is fixedly connected to the lower side of the outer end of the wheel arm 224. The inner fixed frame 221 and the outer telescopic frame 222 are together fitted with a track cover 226 for installing the rubber track body 23. The track cover 226 is fixed to the inner fixed frame 221. The inner side of the track cover 226 is evenly and uniformly fixed with blocks 227 that are adapted to the insertion groove 223. Initially, the outer telescopic frame 222 is retracted into the track cover 226, and the blocks 227 block the wheel arm 224 to keep it horizontal. When the outer telescopic frame 222 expands, the blocks 227 gradually lose their function of blocking the wheel arm 224.

[0029] The cabin structure 3 includes a bottom plate 31 and a cabin shell 32; The bottom plate 31 is mounted on the chassis body 21 of the walking device 2; the hull 32 is fixedly fastened to the bottom plate 31; A telescopic rod 33 is installed on the rear side of the upper surface of the base plate 31, and the output end of the telescopic rod 33 is fixedly connected to a water tank shell 34 that is adapted to fit the interlocking shell 32.

[0030] The working principle of this invention is as follows: The operator issues a command through the wireless remote control module, and the intelligent control system drives the walking device 2 to move to the wall panel storage position. The four-degree-of-freedom robotic arm 12 is adjusted to the grasping posture, and the gripper 111 of the single-sided gripping device 11 is attached to the side of the wall panel. The telescopic component drives the anti-slip pad 112 to clamp the wall panel. The clamping pressure is adjusted to 1.2MPa to complete the wall panel grasping. The grasping completion time is 2.4s, with no slippage or damage. By incorporating a buffer component, the device can adaptively extend and retract according to the actual flatness of the wall panel surface, ensuring full contact between the anti-slip pad 112 and the wall panel surface. This effectively disperses clamping pressure, preventing indentations, cracks, or even damage to the wall panel surface caused by localized stress concentration. This significantly improves the clamping protection effect for brittle and fragile wall panels. Simultaneously, a pressure sensor monitors the contact pressure between the anti-slip pad 112 and the wall panel in real time. When the local pressure exceeds the safety threshold, the intelligent control system automatically adjusts the extension and retraction of the expansion component, achieving flexible and controllable intelligent clamping. This upgrades clamping from passive protection to active adaptive adjustment, greatly improving the stability and accuracy of the clamping process. Furthermore, the buffer component and the anti-slip pad 112 work together to form a dual function of flexible buffering protection and anti-slip fixation. This ensures that the wall panel does not slip or shift during clamping and effectively absorbs vibration and impact during transport, further improving the safety of wall panel clamping and transport and reducing construction losses.

[0031] The power unit provides power to the hydraulic transmission system. The multi-stage hydraulic motor drives the four-degree-of-freedom robotic arm 12 to complete the X / Y / Z three-axis translation and rotation movements, and transfer the wall panel to the installation position. The rubber telescopic track chassis of the walking device 2 adjusts the extension stroke according to the construction site to ensure the stability of the center of gravity of the whole machine. During the transfer, the attitude sensing module monitors the attitude of the wall panel in real time to ensure no shaking or tilting. The walking device 2 adopts a double-layer sliding frame structure in conjunction with the track housing 226, the stop block 227 and the universal wheel 225. On the one hand, the inner fixed frame 221 and the track housing 226 fix the rubber track body 23, and completely decouple the lateral expansion action of the outer telescopic frame 222 from the walking path of the rubber track body 23. This fundamentally avoids lateral compression and shear wear on the rubber track body 23 during the expansion process, and effectively ensures the service life and walking stability of the rubber track body. On the other hand, through the linkage and limiting of the stop block 227 with the wheel arm 224 and the torsion spring shaft, the wheel arm 224 and the universal wheel 225 can be horizontally stored in the wheel groove 223 in the initial state, without occupying space and without interfering with the normal movement of the track. When the outer telescopic frame 222 expands laterally, the stop block 227 automatically releases the blocking restriction on the wheel arm 224. Under the action of the torsion spring shaft, the wheel arm 224 swings down autonomously, allowing the universal wheel 225 to land and support. The expansion and auxiliary support of the walking device 2 can be completed simultaneously without additional drive, which greatly improves the overall stability and anti-overturning performance of the chassis body 21 after expansion. At the same time, the universal wheel 225 can adapt to various ground conditions, reducing frictional resistance during telescopic and walking processes. The overall structure is compact and the limiting is reliable. While realizing the adaptive adjustment of the width of the chassis body 21, it also takes into account the structural rationality and reliability of the walking device 2.

[0032] The high-precision laser positioning module accurately positions the wall panel installation location. The intelligent control system adjusts the posture of the four-degree-of-freedom robotic arm 12 and the single-sided clamping device 11 according to the positioning data, so as to achieve fine adjustment of the horizontal and verticality of the wall panel with an alignment deviation of 1.5mm and a verticality deviation of 2mm, without the need for manual assistance. After the wall panel is precisely aligned, the translation mechanism 113 of the single-sided clamping device 11 completes the left and right fine adjustment of the wall panel, so as to achieve tight splicing of the wall panel's concave and convex grooves (gap ≤ 0.5mm). After the operator completes the wall panel fixing and reinforcement, the single-sided clamping device 11 is released, the four-degree-of-freedom robotic arm 12 is reset, and the installation of a single wall panel is completed. The walking device 2 moves to the next wall panel storage location and repeats the above steps to achieve continuous automated installation of the wall panels.

[0033] The intelligent prefabricated building wall panel installation machine of this invention can realize the fully automated operation of wall panel installation, requiring only two operators. The average daily installation area is 39.5㎡, which is 29.2% higher than that of traditional machinery. The installation cost is 48.42 yuan / ㎡, which is 32.1% lower than that of traditional construction. The wall panel alignment deviation is ≤2mm, the verticality deviation is ≤3mm, and the splicing gap is ≤0.5mm, meeting the requirements of high-quality projects. The machine operates stably without jamming or failure, can adapt to various construction sites, and has no safety accidents during construction, resulting in significant economic and social benefits.

[0034] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A prefabricated building wall panel intelligent installation machine, comprising a robotic arm module (1), a walking device (2), and a cabin mechanism (3); the cabin mechanism (3) integrates a transmission system, a power unit providing power to the whole machine, and an intelligent control system; characterized in that: The transmission system is connected to the robotic arm module (1) and the walking device (2) respectively and transmits power. The intelligent control system is electrically connected to the robotic arm module (1), the walking device (2), the transmission system and the power device respectively and realizes intelligent control. The robotic arm module (1) includes a single-sided gripping device (11) and a four-degree-of-freedom robotic arm (12). The single-sided gripping device (11) is fixed to the end of the four-degree-of-freedom robotic arm (12). The four-degree-of-freedom robotic arm (12) includes a main arm (121), a middle arm (122), and a secondary arm (123). The main arm (121), the middle arm (122), and the secondary arm (123) are hinged together and driven by hydraulic cylinders. The main arm (121) is connected to the cabin mechanism (3) through a rotator to realize X / Y / Z three-way translation and unidirectional rotation. The walking device (2) is a rubber telescopic track chassis, including a chassis body (21), a telescopic track frame (22) and a rubber track body (23); the two sides of the chassis body (21) are connected to the telescopic track frame (22), and the rubber track body (23) is fitted on the telescopic track frame (22). The transmission system is a hydraulic transmission system; the power unit is an electric motor and a lithium iron phosphate battery pack; the intelligent control system includes a high-precision laser positioning module, an attitude sensing module, a wireless remote control module, and a safety protection module.

2. The intelligent installation machinery for prefabricated building wall panels according to claim 1, characterized in that: The single-sided clamping device (11) includes a gripper (111), an anti-slip pad (112), a translation mechanism (113), and a rotary cylinder (114). The rotary cylinder (114) drives the gripper (111) to achieve a 360-degree rotation without dead angles. The gripper part (111) consists of a main clamping plate and U-shaped grippers extending from both sides thereon; a telescopic assembly is connected between the extended side of the main clamping plate and the anti-slip pad (112); the main clamping plate is connected to the translation mechanism (113) via a rotary cylinder (114); the gripper part (111) can slide along the translation mechanism (114) via the rotary cylinder (114).

3. The intelligent installation machinery for prefabricated building wall panels according to any one of claims 1-2, characterized in that: The robotic arm module (1), walking device (2), transmission system and power unit can all be disassembled, repaired and replaced independently.

4. The intelligent installation machinery for prefabricated building wall panels according to claim 2, characterized in that: The telescopic assembly includes a telescopic device (115) mounted on the main clamping plate, a connecting plate (116) installed between the telescopic device (115) and the anti-slip pad (112), and buffer components are evenly and equidistantly arranged between the connecting plate (116) and the anti-slip pad (112). The buffer assembly includes a bottom shell (117) with a fixed connecting plate (116), a pressure sensor is provided at the bottom of the bottom shell (117), and a connecting piece (118) with a fixed anti-slip pad (112) is provided at the port of the bottom shell (117). A spring (119) is connected between the connecting piece (118) and the pressure sensor.

5. The intelligent installation machinery for prefabricated building wall panels according to claim 2, characterized in that: The auxiliary arm (123) includes auxiliary arm A (1231) and auxiliary arm B (1232), which are hinged together and driven by a hydraulic cylinder. The auxiliary arm B (1232) is fixedly connected to an arm joint (1233). The auxiliary arm A (1231) and the arm joint (1233) are respectively hinged to the translation mechanism (113).

6. The intelligent installation machinery for prefabricated building wall panels according to claim 1, characterized in that: The telescopic track frame (22) is a double-layer sliding frame structure, including an inner fixed frame (221) and an outer telescopic frame (222). The inner fixed frame (221) is fixedly connected to the chassis body (21). A transverse hydraulic cylinder is connected between the outer telescopic frame (222) and the inner fixed frame (221). The outer telescopic frame (222) is driven by the transverse hydraulic cylinder to achieve transverse expansion. The bottom of the outer telescopic frame (222) is provided with wheel grooves (223) at equal intervals. Wheel arms (224) are inserted into the wheel grooves (223). The wheel arms (224) are hinged to the wheel grooves (223) through torsion spring shafts. A caster wheel (225) is fixedly connected to the lower side of the outer end of the wheel arm (224). The inner fixed frame (221) and the outer telescopic frame (222) are together fitted with a track cover (226) for installing the rubber track body (23), and the track cover (226) is fixedly connected to the inner fixed frame (221); the inner side of the track cover (226) is evenly and uniformly fixed with a stop (227) adapted to the insertion wheel groove (223).

7. The intelligent installation machinery for prefabricated building wall panels according to claim 1, characterized in that: The cabin structure (3) includes a bottom plate (31) and a cabin shell (32); The bottom plate (31) is mounted on the chassis body (21) of the walking device (2); the cabin (32) is fixedly fastened to the bottom plate (31); A telescopic rod (33) is installed on the rear side of the upper surface of the base plate (31), and the output end of the telescopic rod (33) is fixedly connected to a water tank shell (34) that is adapted to the embedded cabin shell (32).

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