CN110512879A - A prefabricated building existing wall panel butt seam device - Google Patents

Abstract

The invention belongs to the technical field of construction engineering, and in particular relates to an assembly-type building wall panel joint seam device, which includes an actuator, a lifting mechanism, a displacement mechanism, a rotation mechanism and a walking mechanism, wherein the actuator includes an upper connecting frame, Mechanical arm, two-way hydraulic cylinder, first manipulator and smooth rod, the lifting mechanism includes lifting plate, screw transmission parts, moving slide plate and polished rod, and the displacement mechanism includes sliding platform, ball nut, motor, screw and hydraulic cylinder, The rotating mechanism includes a rotating bracket, a slewing bearing, a gear transmission part, a base and an arc guide rail, and the running mechanism includes a chassis and wheels. The base of the rotating mechanism is installed above the chassis, and the wheels are installed below the chassis. The invention provides a seam-jointing device for pre-installed building wallboards with high assembly operation precision, high construction safety factor and high degree of mechanical automation.

Description

A prefabricated building existing wall panel butt seam device

technical field

The invention belongs to the technical field of construction engineering, and in particular relates to a device for facing seams of prefabricated building wallboards.

Background technique

The prefabricated building is a new construction mode that adopts "factory production-site installation". Compared with the traditional "cast-in-place" construction, prefabricated buildings can shorten the construction period, reduce construction waste, and improve construction quality. It is an effective means to solve the large-scale urbanization construction in my country. The application of robot technology to prefabricated buildings can not only improve construction efficiency and quality, but also realize intelligent and digital construction. This is not only in line with the "Made in China 2025" strategy, but also in line with the direction of innovation in the construction industry. Therefore, prefabricated construction robot technology has been listed as a major development technology by various countries, and has become a symbol of whether a country's construction industry technology is advanced.

Nowadays, in the construction process of prefabricated buildings, for the seam process of wall panels, a tower crane is required to hoist the wall panels to the corresponding position, and then manually assist the alignment and positioning, and then put down the wall panels to measure and adjust the position of the wall panels. This method is entirely assisted by manual alignment, and the error is difficult to guarantee; moreover, the wall panels are bulky and heavy, and the edges of the wall panels and hoisting steel wires are rough and sharp, and work at high altitudes, which brings great hidden dangers to the safety of construction workers. For this reason, it is an urgent problem to be solved in this field to provide an assembled wall panel seaming device with high assembly operation precision, high construction safety factor and high degree of mechanical automation.

Contents of the invention

The main purpose of the present invention is to solve the problems existing in the prior art, and to provide a seam-jointing device for pre-installed building wall panels with high assembly operation precision, high construction safety factor and high degree of mechanical automation.

The technical problem solved by the present invention is realized by the following technical solutions: a device for seam-jointing of prefabricated building existing wall panels, including an executive mechanism, a lifting mechanism, a displacement mechanism, a rotating mechanism and a walking mechanism, wherein,

The actuator includes an upper connecting frame, a mechanical arm, a two-way hydraulic cylinder, a first manipulator and a smooth rod. The two ends of the mechanical arm are respectively connected to the two-way hydraulic cylinder, and the other end of the mechanical arm is equipped with a first manipulator. ;

The lifting mechanism includes a lifting plate, a screw transmission part, a moving slide plate and a polished rod. The smooth rods of the actuator are installed symmetrically in the middle of both sides of the lifting plate. A screw transmission part is arranged in the middle of the lifting plate, and the bottom of the screw transmission part is fixed. On the moving slide, the four corners of the lifting plate are respectively fitted on the polished rods on the upper part of the moving slide, and the moving slide is slidably connected to the displacement mechanism;

The displacement mechanism includes a sliding platform, a ball nut, a motor, a lead screw and a hydraulic cylinder. The upper part of the sliding platform is slidably connected to the mobile slide plate of the lifting mechanism. The sliding platform is sleeved on the ball nut, and the ball nut is sleeved Set on the lead screw connected by the motor through a coupling, hydraulic cylinders are symmetrically installed on both sides of the sliding platform along the sliding direction of the moving slide, and the hydraulic cylinder is connected to the outside of the corresponding moving slide, and the bottom of the sliding platform is slidably connected to the on the rotating mechanism;

The rotating mechanism includes a rotating bracket, a slewing bearing, a gear transmission part, a base and an arc guide rail. The upper part of the rotating bracket is slidably connected to the sliding platform of the displacement mechanism. The gear transmission parts are connected and arranged on the base, the edge bottom of the rotating bracket is slidably arranged on the arc guide rail of the base, and the base is installed on the walking mechanism;

The traveling mechanism includes a chassis and wheels, the base of the rotating mechanism is installed above the chassis, and the wheels are installed below the chassis.

Further, the actuator also includes a lower connection frame, a second manipulator, a smooth column and a jacking hydraulic cylinder, and the two ends of the front part of the lower connection frame are respectively symmetrically threaded on the mechanical arm, and the parts of the threaded lower connection frame The two mechanical arms are respectively connected to two ends of the two-way hydraulic cylinder, and the other end of the mechanical arm is equipped with a second manipulator. The two-way hydraulic cylinder close to the lower connecting frame is fixed on the lower part of the smooth column on the lower connecting frame. The two-way hydraulic cylinder of the connecting frame is slidingly arranged in the chute of the smooth column, the middle part of the lower connecting frame is connected to the middle part of the upper connecting frame through the lifting hydraulic cylinder, and the two ends of the rear part of the lower connecting frame are symmetrically installed on the bottom of the smooth rod respectively.

Further, the screw transmission part includes a motor, a nut, a worm wheel, a screw and a worm, the motor is installed on the lifting plate, and the middle of the lifting plate is sleeved on the nut, and the nut is connected to the worm wheel through a shaft and is all worn through the sleeve. It is arranged on the screw, the worm gear engages with the worm on the motor, and the screw is fixed on the moving slide.

Further, the mobile sliding board includes a central sliding board, side sliding boards and reinforcing boards, the central sliding board is symmetrically connected to side sliding boards on both sides, and the middle part of the central sliding board is symmetrically connected to the side sliding boards through a reinforcing board.

Further, the sliding platform includes a central platform, a connecting rod and a side platform, the central platform is sheathed on the ball nut, the two sides of the central platform are symmetrically connected to the side platforms through the connecting rod, and the central platform and the side platform are connected to each other symmetrically. The spacing corresponds to the spacing between the central slide and the side slides, the central slide is provided in the chute of the central platform, and the side slide is provided in the chute of the side platforms.

Further, the gear transmission part includes a worm gear, a motor, a worm and a gear, the worm gear meshes with the worm on the motor, and the worm gear meshes with the slewing support through a gear connected to the shaft.

Further, three support rods are provided at the bottom of the rotating bracket, and the bottom of the support rods is connected to the slider on the arc guide rail.

Further, the number of the wheels is four, and the axles of the wheels are connected to the motor through a coupling.

The beneficial effects of the present invention are:

1. The walking mechanism of this device walks to the designated position of the wall panel, and then the executive mechanism grabs the wall panel, and then the lifting mechanism, displacement mechanism and rotation mechanism adjust the position of the wall panel in sequence, so that the prefabricated holes under the wall panel are fitted with the corresponding steel bars , to realize the complete installation and positioning of the wall panel. The entire working process is completely mechanically automated, which obviously reduces the labor intensity of workers and improves the construction safety factor compared with manual operation, and the lifting mechanism, displacement mechanism and rotation mechanism sequentially adjust the angle, left and right distance, front and rear distance and up and down height of the wall panels. This multi-directional adjustment method significantly improves the accuracy of the assembly operation.

2. The actuator adjusts the distance between the first manipulator grabbing the wallboards and the distance between the second manipulator clamping the wallboards in turn, and then adjusts the distance between the first manipulator and the second manipulator according to the actual height of the wallboards. The second manipulator clamps the wallboard to ensure the stability of the first manipulator's grasping process, thereby improving the accuracy of the assembly operation.

3. The screw transmission part of the lifting mechanism runs from the middle of the lifting plate to drive the four corners of the lifting plate to rise or fall along the polished rod, and drives the lifting plate to move up and down from the middle position of the lifting plate, and the four corners of the lifting plate are set on the polished rod, which ensures that the lifting plate moves. Stability, accuracy, and thus improve the accuracy of assembly operations.

4. The sliding platform of the displacement mechanism is threaded and fixed on the ball nut and the upper part is slidably connected to the moving skateboard. The motor drives the screw to drive the sliding platform on the ball nut to move left and right, and the hydraulic cylinder drives the moving skateboard to move back and forth along the chute on the sliding platform. The design mechanism which utilizes the sliding platform to realize left and right movement and forward and backward movement is simple and has high stability and high precision, thereby improving the precision of assembly operation.

5. The gear transmission part of the rotating mechanism drives the slewing bearing to rotate, and then drives the rotating bracket on the slewing bearing to rotate on the arc guide rail. The gear transmission part is driven by a motor to ensure the adjustment accuracy. The rotating bracket is designed on the slewing bearing and the arc guide rail to ensure It improves the stability and accuracy of rotation, thereby improving the accuracy of assembly operations.

Description of drawings

Fig. 1 is a structural schematic diagram of a device for facing seams of prefabricated building existing wallboards according to the present invention.

Fig. 2 is a structural schematic diagram of the actuator of the present invention.

Fig. 3 is a structural schematic diagram of the lifting mechanism of the present invention.

Fig. 4 is a structural schematic diagram of the screw transmission part of the lifting mechanism of the present invention.

Fig. 5 is a structural schematic diagram of the displacement mechanism of the present invention.

Fig. 6 is a structural schematic diagram of the rotating mechanism of the present invention.

Fig. 7 is a schematic structural diagram of the gear transmission part of the rotating mechanism of the present invention.

Fig. 8 is a structural schematic diagram of the walking mechanism of the present invention.

In the picture:

1. Executing mechanism 2. Lifting mechanism 3. Displacement mechanism

4. Rotating mechanism 5. Traveling mechanism 6. Upper connecting frame

7. Mechanical arm 8. Two-way hydraulic cylinder 9. First manipulator

10. Smooth rod 11. Lifting plate 12. Screw transmission parts

13. Mobile skateboard 14. Polished rod 15. Sliding platform

16. Ball nut 17. Motor 18. Coupling

19. Lead screw 20. Hydraulic cylinder 21. Swivel bracket

22. Slewing bearing 23. Gear transmission part 24. Base

25. Arc guide rail 26. Chassis 27. Wheels

28. Lower connection frame 29. Second manipulator 30. Smooth column

31. Jacking hydraulic cylinder 32. Nut 33. Worm gear

34. Screw 35. Worm 36. Central sliding plate

37. Side slide plate 38. Reinforcement plate 39. Central platform

40, connecting rod 41, side platform 42, gear

43. Support rod 44. Slide block 45. Axle

Detailed ways

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

Fig. 1 is a structural schematic diagram of a device for facing seams of prefabricated building existing wallboards according to the present invention.

Fig. 2 is a structural schematic diagram of the actuator of the present invention.

Fig. 3 is a structural schematic diagram of the lifting mechanism of the present invention.

Fig. 4 is a structural schematic diagram of the screw transmission part of the lifting mechanism of the present invention.

Fig. 5 is a structural schematic diagram of the displacement mechanism of the present invention.

Fig. 6 is a structural schematic diagram of the rotating mechanism of the present invention.

Fig. 7 is a schematic structural diagram of the gear transmission part of the rotating mechanism of the present invention.

Fig. 8 is a structural schematic diagram of the walking mechanism of the present invention.

As shown in Figures 1 to 8, the present invention provides a prefabricated construction wall panel joint seam device, including an actuator 1, a lifting mechanism 2, a displacement mechanism 3, a rotating mechanism 4 and a walking mechanism 5, wherein,

The actuator 1 includes an upper connecting frame 6, a mechanical arm 7, a two-way hydraulic cylinder 8, a first manipulator 9 and a smooth rod 10. The two mechanical arms 7 of 6 are respectively connected to the two ends of the two-way hydraulic cylinder 8, the other end of the mechanical arm 7 is equipped with the first manipulator 9, and the two ends of the rear part of the upper connecting frame 6 are respectively symmetrically arranged on the smooth rod 10, and the smooth rod 10 is installed On the lifting mechanism 2.

The actuator 1 also includes a lower connection frame 28, a second manipulator 29, a smooth column 30 and a jacking hydraulic cylinder 31. The two mechanical arms 7 are respectively connected to the two ends of the two-way hydraulic cylinder 8, the other end of the mechanical arm 7 is equipped with a second manipulator 29, and the two-way hydraulic cylinder 8 near the lower connecting frame 28 is fixed on the lower part of the smooth column 30 on the lower connecting frame 28, The two-way hydraulic cylinder 8 close to the upper connecting frame 6 is slidingly arranged in the chute of the smooth column 30, the middle part of the lower connecting frame 28 is connected to the middle part of the upper connecting frame 6 through the jacking hydraulic cylinder 31, and the two ends of the rear part of the lower connecting frame 28 are installed symmetrically At the bottom of smooth bar 10.

Both sides of the two-way hydraulic cylinder 8 on the top of the smooth column 30 are symmetrically connected to the first manipulator 9 through the mechanical arm 7, and both sides of the two-way hydraulic cylinder 8 on the bottom of the smooth column 30 are symmetrically connected to the second manipulator 29 through the mechanical arm 7. This structural design ensures The consistency of grabbing and clamping the wall panels on the left and right sides, the structures of the first manipulator 9 and the second manipulator 29 are all provided with gaps to avoid the exposed steel bars on the wall panels.

The two-way hydraulic cylinder 8 on the upper part of the smooth column 30 of the actuator 1 symmetrically adjusts the distance between the two first manipulators 9 to grab the wallboard, and the two-way hydraulic cylinder 8 on the lower part of the smooth column 30 symmetrically adjusts the two second manipulators 29 to clamp the wall The distance between the boards, two two-way hydraulic cylinders 8 respectively control the movement of the first manipulator 9 and the second manipulator 29 to ensure the consistency of the symmetrical moving distance, and the upper connecting frame is driven by the jacking hydraulic cylinder 31 according to the actual height of the wall board 6 moves along the smooth rod 10, and then drives the two-way hydraulic cylinder 8 connected to the first manipulator 9 to move in the chute of the smooth column 30 to adjust the distance between the first manipulator 9 and the second manipulator 29 to ensure the grabbing of the wallboard of stability.

The lifting mechanism 2 includes a lifting plate 11, a screw transmission part 12, a moving slide plate 13 and a polished rod 14. The smooth rod 10 of the actuator 1 is symmetrically installed in the middle of both sides of the lifting plate 11, and the screw transmission part 12 is arranged in the middle of the lifting plate 11. The screw transmission part 12 bottoms are fixed on the mobile slide 13, and the four corners of the lifting plate 11 are respectively worn on the polished rod 14 on the top of the mobile slide 13, and the mobile slide 13 is slidably connected to the displacement mechanism 3.

The lifting plate 11 is designed as a cross-shaped structure, which not only reduces the product material, but also greatly reduces the gravity burden when the screw transmission part 12 drives the lifting plate 11 to move.

Screw transmission part 12 comprises motor 17, nut 32, worm gear 33, screw rod 34 and worm screw 35, and motor 17 is installed on the lifting plate 11, and the middle of lifting plate 11 is sleeved on the nut 32, and nut 32 is connected with worm gear 33 by shaft and evenly Threading is arranged on the screw rod 34 , the worm gear 33 engages with the worm screw 35 on the motor 17 , and the screw rod 34 is fixed on the moving slide plate 13 .

The motor 17 drives the worm 35 to rotate, so that the worm gear 33 meshed with the worm 35 drives the nut 32 to rotate. Since the screw 34 is fixed, the nut 32 drives the lifting plate 11 to move linearly on the screw 34 to realize the lifting function, and the motor 17 controls the lifting The plate 11 moves with high precision.

The mobile slide 13 includes a central slide 36, a side slide 37 and a reinforcing plate 38. The central slide 36 is symmetrically connected to the side slides 37 on both sides, and the central slide 36 is symmetrically connected to the side slides 37 through the reinforcing plate 38.

The mobile skateboard 13 adopts a mountain-shaped structure in which the side skateboards 37 are symmetrically arranged on both sides of the central skateboard 36, which not only reduces product materials, but also makes the hydraulic cylinder 20 push the mobile skateboard 13 to move more lightly and stably; It is symmetrically connected with the side slide plate 37 to ensure the structural stability of the mobile slide plate 13 .

The motor 17 of the lifting mechanism 2 drives the worm 35 to rotate and then drives the worm wheel 33 to rotate, and the worm wheel 33 drives the nut 32 to rotate, and then the nut 32 drives the lifting plate 11 to rise or fall along the screw rod 34, and the screw rod 34 passes through the middle position of the lifting plate 11, and the motor 17 Indirectly drive the lifting plate 11 from the middle position to drive the four corners of the lifting plate 11 to rise or fall along the polished rod 14, drive the lifting plate 11 to move up and down from the middle position of the lifting plate 11, and the four corners of the lifting plate 11 are set on the polished rod 14, ensuring the movement of the lifting plate 11 Stability and accuracy in the process.

The displacement mechanism 3 comprises a sliding platform 15, a ball nut 16, a motor 17, a leading screw 19 and a hydraulic cylinder 20, the sliding platform 15 top is slidably connected to the mobile slide plate 13 of the lifting mechanism 2, the sliding platform 15 is sleeved on the ball nut 16, and the ball The nut 16 is threaded and set on the lead screw 19 connected by the motor 17 through the coupling 18, and the two sides of the sliding platform 15 are symmetrically installed with hydraulic cylinders 20 along the sliding direction of the moving slide 13, and the hydraulic cylinders 20 are connected to the outside of the corresponding moving slide 13. The bottom of the sliding platform 15 is slidably connected to the rotating mechanism 4 .

The motor 17 and the lead screw 19 are connected by a coupling 18, and the bearings are needle roller and bidirectional thrust cylindrical roller combined bearings, which can withstand both large axial force and large radial force.

The sliding platform 15 includes a central platform 39, a connecting rod 40 and a side platform 41. The central platform 39 is sheathed on the ball nut 16. Both sides of the central platform 39 are symmetrically connected to the side platforms 41 through the connecting rod 40. Between the central platform 39 and the side platforms 41 The spacing between them corresponds to the spacing between the central slide plate 36 and the side slide plate 37. The central slide plate 36 is provided in the chute of the central platform 39, and the side slide plate 37 is provided in the chute of the side platform 41.

The sliding platform 15 adopts a structural design in which both sides of the central platform 39 are symmetrically connected to the side platforms 41, corresponding to the design structure of the mobile slide 13, which not only reduces raw materials compared with a single platform design, but also greatly reduces friction.

The motor 17 of the displacement mechanism 3 drives the screw 19 to rotate and then drives the central platform 39 on the ball nut 16 to move left and right, and the central platform 39 drives the side platforms 41 and hydraulic cylinders 20 on both sides to move left and right along the guide rail on the rotating bracket 21, and the sliding platform 15 The hydraulic cylinders 20 on both sides drive the mobile slide plate 13 from both sides of the mobile slide plate 13 to move back and forth along the chute on the sliding platform 15, wherein the central slide plate 36 and the side slide plate 37 are respectively in the chute of the central platform 39 and the slide of the side platform 41. The forward and backward movement in the groove is consistent, and the design mechanism of utilizing the sliding platform 15 to realize the left and right movement and the forward and backward movement is not only simple, but also improves the stability and accuracy of the operation.

The rotating mechanism 4 comprises a rotating bracket 21, a slewing bearing 22, a gear transmission part 23, a base 24 and an arc guide rail 25, the upper part of the rotating bracket 21 is slidably connected to the sliding platform 15 of the displacement mechanism 3, and the middle part of the rotating bracket 21 is installed on the slewing bearing 22. The slewing support 22 meshes with the gear transmission part 23 and is arranged on the base 24 . The edge bottom of the rotating bracket 21 slides on the arc guide rail 25 of the base 24 , and the base 24 is installed on the running mechanism 5 .

The gear transmission part 23 includes a worm wheel 33 , a motor 17 , a worm screw 35 and a gear 42 . The worm wheel 33 is engaged with the worm screw 35 on the motor 17 .

The motor 17 drives the worm 35 to rotate, so that the worm wheel 33 meshed with the worm 35 drives the gear 42 to rotate, and the rotation of the gear 42 drives the slewing support 22 to rotate, and then drives the slewing support 21 on the slewing support 22 to rotate according to the angle, and the motor 17 indirectly controls the slewing support 21 The precision of rotation by angle is higher.

The bottom of the rotating bracket 21 is provided with three support rods 43 , and the bottom of the support rods 43 is connected to the slider 44 on the arc guide rail 25 . The design of the three support rods 43 not only ensures the stability of the rotating bracket 21 against overturning, but also enables the rotating bracket 21 to rotate lightly and quickly.

The motor 17 of the rotating mechanism 4 drives the worm 35 to rotate, so that the worm wheel 33 meshed with the worm 35 drives the gear 42 to rotate, and the rotation of the gear 42 drives the slewing bearing 22 to rotate, and then drives the rotating bracket 21 on the slewing bearing 22 to rotate according to the angle, and the rotating bracket 21 rotates at an angle on the arc guide rail 25 through the slide blocks 44 on the three support rods 43, which ensures stability and accuracy during rotation.

The running gear 5 includes a chassis 26 and wheels 27, the base 24 of the rotating mechanism 4 is installed above the chassis 26, and the wheels 27 are installed below the chassis 26. The number of the wheels 27 is four, and the axle shaft 45 of the wheels 27 is connected to the motor 17 through a coupling 18 . The wheels 27 are mecanum wheels with a thickness of about 400mm. Each wheel 27 is controlled by a single motor 17. The motor 17 is connected to the axle 45 through a coupling 18. The chassis 26 is connected to the base 24 of the rotating mechanism 4 through twenty bolts. fixed.

The working process of the prefabricated building's existing wall panel butt joint device of the present invention, firstly, the wall panel butt joint device is moved to the roof by a crane, and other wiring devices such as power supply are connected, and then the wall panel is hoisted to the wall by the crane. within the working range of the board-to-seam device (within one meter from the placement position up, down, left, right, front and back); the traveling mechanism 5 walks to the designated position of the wallboard through the four wheels 27 controlled by the motor 17; The two-way hydraulic cylinder 8 on the upper part of the column 30 symmetrically adjusts the distance between the two first manipulators 9 to grab the wallboard, and the two-way hydraulic cylinder 8 on the lower part of the smooth column 30 symmetrically adjusts the distance between the two second manipulators 29 to clamp the wallboard According to the height of the wallboard, the jacking hydraulic cylinder 31 drives the upper connecting frame 6 to move along the smooth rod 10, and then drives the two-way hydraulic cylinder 8 connected to the first manipulator 9 to move in the chute of the smooth column 30 to adjust the first manipulator 9 and the distance between the second manipulator 29, then the two first manipulators 9 symmetrically grab the wallboard, and the two second manipulators 29 clamp the wallboard to assist the first manipulator 9 to keep the grasping stable; the motor of the rotating mechanism 4 17 Drive the worm 35 to rotate and then drive the worm gear 33 to rotate, the worm gear 33 drives the gear 42 to rotate, the gear 42 rotates to drive the slewing bearing 22 to rotate, and then drives the upper mechanism of the slewing bracket 21 on the slewing bearing 22 to pass through the slider 44 on the three support rods 43 Rotate according to the angle on the arc guide rail 25, adjust the torsion angle of the wallboard, so that the front of the wallboard is parallel to the edge of the floor; The chute moves back and forth, wherein the central slide plate 36 and the side slide plate 37 slide in the chute of the central platform 39 and the chute of the side platform 41 respectively and move forward and backward in unison to realize the adjustment of the front and rear distance of the wallboard; the motor of the displacement mechanism 3 17 drives the lead screw 19 to rotate and then drives the central platform 39 on the ball nut 16 to move left and right, and the central platform 39 drives the side platforms 41 and hydraulic cylinders 20 on both sides to move left and right along the guide rails on the rotating bracket 21 to realize the adjustment of the left and right distance of the wallboard; The motor 17 of the lifting mechanism 2 drives the worm 35 to rotate and then drives the worm wheel 33 to rotate, and the worm wheel 33 drives the nut 32 to rotate, and then the nut 32 drives the middle position of the lifting plate 11 to move up and down along the screw rod 34 and the four corners of the lifting plate 11 move up and down along the polished rod 14. The board 11 moves down to realize the decline of the wallboard, so that the prefabricated holes below the wallboard are fitted with the corresponding steel bars, and the complete installation and positioning of the wallboard is realized.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than limiting them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the various embodiments of the present invention. scope.

Claims (8)

1. A prefabricated building existing wallboard butt joint device is characterized in that: it includes an executive mechanism, a lifting mechanism, a displacement mechanism, a rotating mechanism and a walking mechanism, wherein, The actuator includes an upper connecting frame, a mechanical arm, a two-way hydraulic cylinder, a first manipulator and a smooth rod. The two ends of the mechanical arm are respectively connected to the two-way hydraulic cylinder, and the other end of the mechanical arm is equipped with a first manipulator. ; The lifting mechanism includes a lifting plate, a screw transmission part, a moving slide plate and a polished rod. The smooth rods of the actuator are installed symmetrically in the middle of both sides of the lifting plate. A screw transmission part is arranged in the middle of the lifting plate, and the bottom of the screw transmission part is fixed. On the moving slide, the four corners of the lifting plate are respectively fitted on the polished rods on the upper part of the moving slide, and the moving slide is slidably connected to the displacement mechanism; The displacement mechanism includes a sliding platform, a ball nut, a motor, a lead screw and a hydraulic cylinder. The upper part of the sliding platform is slidably connected to the mobile slide plate of the lifting mechanism. The sliding platform is sleeved on the ball nut, and the ball nut is sleeved Set on the lead screw connected by the motor through a coupling, hydraulic cylinders are symmetrically installed on both sides of the sliding platform along the sliding direction of the moving slide, and the hydraulic cylinder is connected to the outside of the corresponding moving slide, and the bottom of the sliding platform is slidably connected to the on the rotating mechanism; The rotating mechanism includes a rotating bracket, a slewing bearing, a gear transmission part, a base and an arc guide rail. The upper part of the rotating bracket is slidably connected to the sliding platform of the displacement mechanism. The gear transmission parts are connected and arranged on the base, the edge bottom of the rotating bracket is slidably arranged on the arc guide rail of the base, and the base is installed on the walking mechanism; The traveling mechanism includes a chassis and wheels, the base of the rotating mechanism is installed above the chassis, and the wheels are installed below the chassis. 2. A device for facing seams of prefabricated building existing wallboards according to claim 1, characterized in that: the actuator also includes a lower connecting frame, a second manipulator, a smooth column and a jacking hydraulic cylinder, the The two ends of the front part of the lower connecting frame are symmetrically threaded on the mechanical arms, and the two mechanical arms of the lower connecting frame are respectively connected to the two ends of the two-way hydraulic cylinder. The other ends of the mechanical arms are equipped with a second manipulator. The two-way hydraulic cylinder close to the lower connecting frame is fixed on the lower part of the smooth column on the lower connecting frame, the two-way hydraulic cylinder close to the upper connecting frame is slidably arranged in the chute of the smooth column, and the middle part of the lower connecting frame is lifted by hydraulic pressure The cylinder is connected to the middle part of the upper connecting frame, and the two ends of the rear part of the lower connecting frame are symmetrically installed on the bottom of the smooth bar respectively. 3. A seaming device for prefabricated building existing wallboards according to claim 1, characterized in that: the screw transmission part includes a motor, a nut, a worm wheel, a screw and a worm, and the motor is installed on the lifting plate , the middle of the lifting plate is threaded and set on the nut, and the nut is connected to the worm wheel through the shaft and is set on the screw through the shaft. The worm wheel is engaged with the worm on the motor, and the screw is fixed on the moving slide. 4. A device for facing seams of prefabricated building existing wallboards according to claim 1, characterized in that: the moving slide comprises a central slide, a side slide and a reinforcing plate, and the two sides of the central slide are symmetrically connected with side slides. As for the slide plate, the middle part of the central slide plate is symmetrically connected with the side slide plates through a reinforcing plate. 5. A seaming device for prefabricated building existing wallboards according to claim 4, characterized in that: the sliding platform includes a central platform, connecting rods and side platforms, and the central platform is threaded on the ball nut , the two sides of the central platform are symmetrically connected to the side platforms through connecting rods, the distance between the central platform and the side platforms corresponds to the distance between the central slide plate and the side slide plate, and the chute of the central platform is provided with a central As for the slide plate, a side slide plate is arranged in the chute of the side platform. 6. A seaming device for prefabricated building existing wallboards according to claim 1, characterized in that: the gear transmission part includes a worm gear, a motor, a worm and a gear, and the worm gear meshes with the worm on the motor, The worm gear is meshed with the slewing bearing through a shaft-connected gear. 7. A device for facing seams of prefabricated building wall panels according to claim 1, characterized in that: the bottom of the rotating bracket is provided with three support rods, and the bottom of the support rods is connected to the slider on the arc guide rail . 8 . The seaming device for prefabricated building existing wall panels according to claim 1 , wherein the number of the wheels is four, and the axles of the wheels are connected to the motor through a coupling.