CN112663972A

CN112663972A - Clamping jaw device and prefabricated wallboard installation vehicle

Info

Publication number: CN112663972A
Application number: CN202110069729.4A
Authority: CN
Inventors: 冯健军; 梁永昌
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-01-19
Filing date: 2021-01-19
Publication date: 2021-04-16

Abstract

The invention provides a clamping jaw device and a prefabricated wallboard installation vehicle, belonging to the technical field of construction machinery, wherein the clamping jaw device comprises: the device comprises a mounting frame, at least two horizontal claws are symmetrically arranged on two sides of the mounting frame, and the horizontal claws are rotatably connected to the mounting frame along the horizontal direction; the bottom of the mounting rack is provided with at least one vertical claw which is rotatably connected to the mounting rack along the vertical direction; the mounting frame is also provided with a driving device, and the driving device is used for driving the horizontal claw and the vertical claw to rotate; according to the clamping jaw device, the left side and the right side of the precast slab are clamped through the horizontal jaws, the bottom of the precast slab is supported through the vertical jaws, the horizontal jaws and the vertical jaws are driven by the driving device respectively, the clamping force is large, the precast slab can be clamped in a vertical state, and then the precast slab can move up and down in the vertical state by moving the clamping jaw device.

Description

Clamping jaw device and prefabricated wallboard installation vehicle

Technical Field

The invention relates to the technical field of construction machinery, in particular to a clamping jaw device and a prefabricated wallboard mounting vehicle.

Background

The precast slab is a concrete precast member produced, processed and formed in a precast yard and can be directly transported to a construction site for installation. The prefabricated wallboard uses monoblock prefabricated wallboard as the wall, is fit for installing at the lower floor of floor height. The existing prefabricated wall panel is mainly constructed by adopting the modes of manual carrying and manual cutting installation.

But to the great floor of floor height, because the length of monoblock prefabricated wallboard is less than the floor height, consequently need polylith wallboard concatenation. When adopting artifical installation, need set up the scaffold frame in the installation department of prefabricated wallboard to adopt artifical transmission material from top to bottom, need a large amount of manual works, and great potential safety hazard is installed to the eminence.

Because prefabricated wallboard need keep the prefabricated plate for vertical state when installing, this brings certain difficulty for mechanical installation, when adopting mechanical system to install, need carry out effectual snatching to the prefabricated plate to make the prefabricated plate keep at vertical state, and can reciprocate.

Disclosure of Invention

Therefore, the technical problem to be solved by the invention is to overcome the defect that the prefabricated wall panel in the prior art is inconvenient to grab when being installed, and provide a clamping jaw device which can conveniently grab the prefabricated panel and keep the prefabricated panel in a vertical state.

The invention further provides a prefabricated wallboard mounting vehicle with the clamping jaw device.

In order to solve the above technical problem, the present invention provides a jaw device including: the device comprises a mounting frame, at least two horizontal claws are symmetrically arranged on two sides of the mounting frame, and the horizontal claws are rotatably connected to the mounting frame along the horizontal direction;

the bottom of the mounting rack is provided with at least one vertical claw which is rotatably connected to the mounting rack along the vertical direction;

the mounting frame is further provided with a driving device, and the driving device is used for driving the horizontal claw and the vertical claw to rotate.

Optionally, a plurality of vertical claws are arranged at intervals in the horizontal direction, and each vertical claw is driven by one driving device; two horizontal claws which are symmetrically arranged are driven by a driving device.

Optionally, the robot further comprises a mechanical arm, wherein one end of the mechanical arm is hinged to the mounting frame, a horizontal driving device for driving the mounting frame to rotate up and down is arranged on the mechanical arm, and the horizontal driving device is used for adjusting the angle of the mounting frame;

the mechanical arm is provided with a rotary driving device, the rotary driving device is used for being connected with the fixing device, and the rotary driving device is used for driving the mechanical arm to rotate around a self central shaft.

Optionally, the other end of the mechanical arm is adapted to be hinged to a fixing device, and an inclination driving device is disposed between the mechanical arm and the fixing device, and is used for driving the mechanical arm to rotate in the up-down direction.

The invention also provides a prefabricated wall panel installation vehicle, comprising: the lifting device is provided with a lifting driving arm capable of lifting, and the lifting driving arm is connected with the clamping jaw device in any one of the schemes.

Optionally, the lifting device further comprises a guide frame arranged on the other side of the vehicle frame opposite to the lifting device, wherein the guide frame is suitable for accommodating a vertical precast slab and enabling the precast slab to slide along the vertical direction.

Optionally, one corner of the bottom of the guide frame is connected to the frame through a hinge, and the frame is further provided with a guide frame driving device for driving the guide frame to rotate around the hinge point.

Optionally, a transport loading device is further included, the transport loading device comprising: the supporting plate is detachably loaded on the frame, and a plurality of supporting wheels are arranged on the supporting plate and are suitable for being supported below the precast slab; the supporting plate is loaded at one side of the guide frame in a lying state, and the supporting wheels are suitable for transversely transferring the precast slabs towards the guide frame.

Optionally, the bottom of the supporting plate is provided with an insertion groove, the frame is provided with a fork plate extending into the insertion groove from one end, the fork plate can horizontally move on the frame in the front-back direction, and the rear end of the fork plate is provided with a slope inclining downwards.

Optionally, a first lifting driving device is arranged on the frame, and a driving rod for driving the prefabricated plate is arranged on the first lifting driving device and is located below the guide frame.

The technical scheme of the invention has the following advantages:

1. according to the clamping jaw device provided by the invention, the left side and the right side of the precast slab are clamped and fixed through the horizontal jaws, the bottom of the precast slab is supported through the vertical jaws, the horizontal jaws and the vertical jaws are respectively driven by the driving device, the clamping force is large, the precast slab can be clamped and fixed in a vertical state, and then the precast slab can be vertically moved while being kept in the vertical state by moving the clamping jaw device.

2. According to the prefabricated wall panel mounting vehicle provided by the invention, the lifting device is arranged on one side of the vehicle frame, and the clamping jaw device is adopted for grabbing the prefabricated panels, so that the prefabricated panels can be lifted and mounted in a narrow space by adopting machinery.

3. The prefabricated wall panel mounting vehicle provided by the invention is used for accommodating the guide frame of the prefabricated panel, and can turn over on the vehicle frame, so that the prefabricated panel in a horizontal state is rotated to a vertical state, and a clamping jaw device can conveniently grab the prefabricated panel.

4. According to the prefabricated wall panel mounting vehicle provided by the invention, the conveying and loading device is detachably arranged on the vehicle frame, so that the automatic loading of prefabricated panels can be realized; meanwhile, the precast slabs can be automatically loaded on the guide frame through the supporting wheels on the supporting plates of the conveying and loading device, so that labor is saved, and the construction efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

Fig. 1 is a perspective view of one embodiment of a prefabricated wall panel installation cart in an embodiment of the present invention.

Fig. 2 is a perspective view of the prefabricated wall panel installation vehicle of fig. 1 when loading prefabricated panels.

Fig. 3 is a schematic illustration of a guide frame side of a prefabricated wall panel installation vehicle in an embodiment of the present invention.

Fig. 4 is a schematic view of the guide frame of fig. 3 rotated to a vertical state.

Fig. 5 is a perspective view of a prefabricated wall panel installation vehicle according to an embodiment of the present invention before a first lifting of a prefabricated panel is performed.

Fig. 6 is a perspective view of the prefabricated wall panel installation vehicle of fig. 5 before the prefabricated panel is lifted for the second time.

Fig. 7 is a schematic view of a prefabricated wall panel installation vehicle in an embodiment of the present invention operating in a confined space.

Fig. 8 is a perspective view of a jaw apparatus in an embodiment of the present invention.

Figure 9 is a top view of the jaw apparatus of figure 8 in an open condition.

Fig. 10 is a top view of the jaw apparatus of fig. 8 in a gripping state.

Figure 11 is a schematic view of the gripper assembly of figure 8 mounted on a robotic arm.

Fig. 12 is a schematic perspective view of a transport loading device according to an embodiment of the present invention.

Fig. 13 is a partial schematic view of fig. 12.

Description of reference numerals:

1. a frame; 2. lifting the driving arm; 3. a frame; 4. a cross beam; 5. a jaw arrangement; 6. a fork plate; 7. a bevel; 8. a transport loading device; 9. prefabricating a slab; 10. a guide frame; 11. a guide frame driving device; 12. a drive rod; 13. a mounting frame; 14. a horizontal jaw; 15. a vertical claw; 16. a first driving device; 17. a second driving device; 18. anti-slip teeth; 19. a mechanical arm; 20. a horizontal driving device; 21. a tilt drive device; 22. a support plate; 23. a support wheel; 24. a conveyor belt; 25. inserting the groove; 26. a fixing device; 27. a brake; 28. a rotation driving device.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within 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., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

This embodiment provides a specific implementation of a prefabricated wall panel installation vehicle, as shown in fig. 1, including: the prefabricated plate grabbing device comprises a frame 1, wherein a lifting device is arranged on one side of the frame 1, a clamping jaw device 5 is arranged on the lifting device, and the clamping jaw device 5 is used for grabbing a prefabricated plate 9 in a vertical state. And then the clamping jaw device 5 is lifted by a lifting device, so that the prefabricated plate 9 in a vertical state is lifted to meet the higher installation requirement of the prefabricated plate 9. Specifically, the prefabricated wall panel installation vehicle provided by this embodiment is used for satisfying the installation of the prefabricated wall panel with a large floor height by lifting the prefabricated panels 9 to a preset height. In addition, as shown in fig. 7, the prefabricated wall panel installation vehicle provided by the embodiment has a frame 1 which is a rectangle with a narrow width in the front-back direction, and since the frame 1 has a narrow width and the lifting device is arranged at one side of the frame 1, when the prefabricated panel 9 is lifted, the operation can be performed from one side of the frame 1, so that the installation vehicle can be conveniently operated in a narrow space, and the labor is saved.

As a preferred embodiment, as shown in fig. 1, a frame 3 is provided at the periphery of the lifting device, a lifting driving arm 2 of the lifting device is provided in the frame 3, and a cross beam 4 is connected to the top of the lifting driving arm 2, and both ends of the cross beam 4 are slidably connected to the frame 3 respectively; the frame 3 can stabilize the lifting driving arm 2, and when the precast slab 9 is lifted, the operation stability of the lifting driving arm 2 is ensured. Wherein, the lifting driving arm 2 of the lifting device can adopt a hydraulic cylinder structure driven by hydraulic pressure.

As shown in fig. 1, 3 and 4, a guide frame 10 is further provided on the side of the vehicle body frame 1 opposite to the lifting device. The guide frame 10 is rotatably arranged on the vehicle frame 1, and the guide frame 10 is suitable for accommodating the precast slab 9. Specifically, one corner of the bottom of the guide frame 10 is connected to the frame 1 through a hinge, the frame 1 is further provided with a guide frame driving device 11, and the guide frame driving device 11 is used for driving the guide frame 10 to rotate around a hinge point, so that the guide frame 10 has a horizontal state and a vertical state. The guide frame 10 is used for facilitating loading of the guide frame 10 when the prefabricated slab 9 is in a horizontal state, and the guide frame 10 is used for facilitating downward lifting of the prefabricated slab 9 when the prefabricated slab 10 is in a vertical state, so that the prefabricated slab 9 can reach a required installation height.

As shown in fig. 4, when the guide frame 10 is in the vertical state, the guide frame 10 faces the lifting device, so that the precast slab 9 is lifted smoothly by the cooperation of the guide frame 10 and the lifting device. In addition, a first lifting driving device is arranged on the frame 1, a driving rod 12 for driving the precast slab 9 is arranged on the first lifting driving device, and the driving rod 12 is positioned below the guide frame 10; the precast slab 9 is directly driven under the guide frame 10 by the driving rod 12, and the precast slab 9 can be slid upward in the vertical direction while being kept vertical by the guide of the guide frame 10, thereby lifting the precast slab 9 in a first stage.

At this time, as shown in fig. 5, the guide frame 10 has rotated one prefabricated panel 9 to the vertical state, but the prefabricated panel 9 is positioned at the bottom of the guide frame 10. In this state, the precast slab 9 vertically received in the guide frame 10 is first lifted up in a first stage by actuating the driving lever 12 to avoid the jaw device 5 moving down too low a distance and inconvenience in forming a grip on the precast slab 9.

As shown in fig. 6, when the prefabricated panels 9 are lifted to a certain height by the driving rod 12, the clamping jaw device 5 can more conveniently grasp the prefabricated panels 9, and the second-stage lifting of the prefabricated panels 9 can be continued by the clamping jaw device 5. The prefabricated panels 9 can be lifted up out of the guide frame 10 by means of the gripper arrangements 5, and the prefabricated panels 9 can also be angularly adjusted and mounted by means of the gripper arrangements 5.

Specifically, as shown in fig. 8, the clamping jaw device 5 includes: the mounting frame 13 is symmetrically provided with four horizontal claws 14 at two sides of the mounting frame 13, and the horizontal claws 14 are rotatably connected to the mounting frame 13 along the horizontal direction; the left side and the right side of the precast slab 9 are clamped through symmetrical horizontal claws 14. Moreover, the tip of the horizontal claw 14 is also provided with an anti-slip tooth 18, and the precast slab 9 can be better clamped through the anti-slip tooth 18.

In addition, two vertical claws 15 are arranged at the bottom of the mounting frame 13, and the vertical claws 15 are rotatably connected to the mounting frame 13 along the vertical direction; the vertical claws 15 are used for supporting the bottom edge of the precast slab 9. The tip of the vertical claw 15 is also provided with anti-slip teeth 18 to enable it to grip the object effectively.

The mounting frame 13 is further provided with a driving device, and the driving device is used for driving the horizontal claw 14 and the vertical claw 15 to rotate. The drive device comprises: a first drive means 16 for driving the horizontal jaw 14, and a second drive means 17 for driving the vertical jaw 15. The first driving device 16 and the second driving device 17 can be driven by oil cylinder rods, wherein each first driving device 16 can drive two horizontal claws 14 which are symmetrically arranged, and each second driving device 17 can drive one vertical claw 15. In addition, as an alternative embodiment, the driving device may also employ an electric push rod or a cylinder rod.

As a preferred embodiment, three laser transmitters are arranged on the mounting frame 13, and before clamping the prefabricated panel 9, three laser transmitters are used for emitting laser to three points of the prefabricated wall panel which is already installed, so as to obtain the installation plane of the prefabricated wall panel, so that after the prefabricated panel 9 is lifted, the levelness and the verticality of the clamping jaw device 5 can be sequentially adjusted according to the installation plane. A camera is further arranged on the mounting frame 13, and the position of the prefabricated plate 9 to be conveyed is identified by taking a picture of the mounting space of the prefabricated plate 9 on the prefabricated wall plate, so that the position of the mounting vehicle is adjusted. The head of the frame 1 of the installation vehicle is provided with a control panel, and the control panel can be used for controlling the running of the vehicle and the driving operation of each driving device on the frame 1.

As shown in fig. 9 and 10, when the horizontal claws 14 are rotated, the two horizontal claws 14 in the open state can be rotated in the grasping direction by extending the first driving device 16. When both horizontal claws 14 are in contact with the precast slab 9, thereby clamping the precast slab 9, and then by being supported at the bottom of the precast slab 9 by the vertical claws 15, the precast slab 9 can be kept stable. Since the horizontal claws 14 and the vertical claws 15 are respectively driven by the plurality of driving devices, the grabbing force of each claw is larger, the precast slab 9 can be more stably clamped in a vertical state, and then the precast slab 9 can move up and down while keeping the vertical state by moving the clamping jaw device 5.

As shown in fig. 11, the gripper arrangement 5 is connected to the lifting device via a robot arm 19 and a fastening device 26. The mounting frame 13 of the clamping jaw device 5 is connected with a mechanical arm 19, one end of the mechanical arm 19 is hinged with the mounting frame 13, a horizontal driving device 20 used for driving the mounting frame 13 to rotate up and down is arranged on the mechanical arm 19, the horizontal driving device 20 is used for adjusting the angle of the mounting frame 13, and the horizontal driving device 20 can adopt a hydraulic rod, an electric push rod or an air cylinder rod. The mechanical arm 19 is provided with a rotary driving device 28, the rotary driving device 28 is connected with the fixing device 26, and the rotary driving device 28 is used for driving the mechanical arm 19 to rotate around the central shaft of the mechanical arm 19 so as to drive the whole mounting frame 13 to horizontally rotate; specifically, the rotary driving device 28 may be a rotary motor, and the installation angle of the prefabricated wall panel may be changed by the rotary driving device 28 to adapt to different installation application environments. The other end of the mechanical arm 19 is connected to a fixing device 26 in a vertically rotatable manner, the other end of the mechanical arm 19 is connected to a tilt driving device 21, and the tilt driving device 21 is used for driving the mechanical arm 19 to rotate vertically so as to lift the mounting frame 13 up and down integrally; specifically, the end of the mechanical arm 19 is hinged to the fixing device 26 through a pin, the tilt driving device 21 may be an electric push rod, and the mechanical arm 19 is driven by the tilt driving device 21 to rotate up and down. In addition, as a preferred embodiment, the fixing device 26 is disposed to be inclined upward, the bottom end of the fixing device 26 is connected to the lifting driving arm 2 of the lifting device, and a cross beam 4 is further connected to the connection portion of the fixing device 26 and the lifting driving wall 2, and the cross beam 4 is used for maintaining the driving track of the lifting driving wall 2.

As shown in fig. 12 and 13, the transport loading device 8 includes: a support plate 22 detachably loaded on the frame 1 and a plurality of support wheels 23 provided on the support plate 22, a conveyor belt 24 being provided on the support wheels 23 for supporting and conveying the prefabricated panels 9 through the conveyor belt 24. By driving the support wheels 23, the prefabricated panels 9 carried on the belt can be moved in the lateral direction (i.e., in the direction toward the side of the guide frame 10) so that the prefabricated panels 9 are sequentially transferred into the guide frame 10. Preferably, a brake 27 may be further disposed on the supporting wheel 23, and the brake 27 is used for preventing the supporting wheel 23 from rotating so as to prevent the precast slab 9 from freely sliding. The stopper 27 may be a friction body adapted to contact the support wheel 23, by which the precast slab 9 is stabilized when the rotation of the support wheel 23 is not required.

As shown in fig. 13, the support plate 22 is detachably mounted on the vehicle frame 1 via a fork 6 provided on the vehicle frame 1. In particular, the bottom of the support plate 22 has an insertion slot 25, through which slot 25 the fork plate 6 is adapted to be inserted, so that the transport loading unit 8 can be automatically loaded on the prefabricated wall panel installation vehicle. As shown in fig. 2, a fork plate 6 is arranged at the bottom of the frame 1, the fork plate 6 has two spaced fork plates 6, the fork plates 6 can horizontally reciprocate on the frame 1 along the front-back direction of the frame 1, specifically, the fork plates 6 can be connected to the bottom of the frame 1 through a chute, and a roller or a driving device can be arranged in the chute; so as to realize the automatic reciprocating movement of the fork plate 6 driven by the driving device. The rear end of the fork plate 6 (i.e., the end facing the rear end of the frame 1) has a downwardly inclined surface 7, and the inclined surface 7 can be used for guiding the support plate 22, so that the support plate 22 is supported on the fork plate 6, thereby realizing automatic feeding of the precast slabs 9 positioned on the support plate 22 and saving labor.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are intended to be within the scope of the invention.

Claims

1. A jaw apparatus, comprising: the device comprises a mounting frame (13), wherein at least two horizontal claws (14) are symmetrically arranged on two sides of the mounting frame (13), and the horizontal claws (14) are rotatably connected to the mounting frame (13) along the horizontal direction;

the bottom of the mounting rack (13) is provided with at least one vertical claw (15), and the vertical claw (15) is rotatably connected to the mounting rack (13) along the vertical direction;

the mounting rack (13) is further provided with a driving device, and the driving device is used for driving the horizontal claw (14) and the vertical claw (15) to rotate.

2. Gripper device according to claim 1, characterized in that a plurality of vertical grippers (15) are provided at intervals in the horizontal direction, each vertical gripper (15) being driven by a drive; two horizontal claws (14) which are symmetrically arranged are driven by a driving device.

3. A clamping jaw device as claimed in claim 1 or 2, characterized by further comprising a mechanical arm (19), wherein one end of the mechanical arm (19) is connected with the mounting frame (13) through a hinge joint, a horizontal driving device (20) for driving the mounting frame (13) to rotate up and down is arranged on the mechanical arm (19), and the horizontal driving device (20) is used for adjusting the angle of the mounting frame (13);

the mechanical arm (19) is provided with a rotary driving device (28), the rotary driving device (28) is used for being connected with the fixing device (26), and the rotary driving device (28) is used for driving the mechanical arm (19) to rotate around the central shaft of the mechanical arm.

4. Gripper device according to claim 3, characterized in that the other end of the robot arm (19) is adapted for an articulated connection with a fixing device (26), wherein a tilt drive (21) is arranged between the robot arm (19) and the fixing device (26), by means of which tilt drive (21) the robot arm (19) is driven in a rotational movement in an up-down direction.

5. A prefabricated wall panel installation cart, comprising: the lifting device comprises a vehicle frame (1) and a lifting device arranged on one side of the vehicle frame (1), wherein the lifting device is provided with a lifting driving arm (2) capable of lifting, and a clamping jaw device (5) as claimed in any one of claims 1-4 is connected to the lifting driving arm (2).

6. Prefabricated wall panel installation vehicle according to claim 5, further comprising a guide frame (10) arranged on the other side of the frame (1) opposite to the lifting means, said guide frame (10) being adapted to receive therein a vertical prefabricated panel (9) and to enable the vertical sliding of said prefabricated panel (9).

7. The prefabricated wall panel installation vehicle of claim 6, wherein one corner of the bottom of the guide frame (10) is connected to the vehicle frame (1) through a hinge joint, and the vehicle frame (1) is further provided with a guide frame driving device (11), and the guide frame driving device (11) is used for driving the guide frame (10) to rotate around the hinge joint.

8. Prefabricated wall panel installation vehicle according to claim 7, further comprising a transport loading device, said transport loading device (8) comprising: a support plate (22) detachably loaded on the frame (1) and a plurality of support wheels (23) arranged on the support plate (22), wherein the support wheels (23) are suitable for being supported below the precast slab (9); the supporting plate (22) is loaded on one side of the guide frame (10) in a lying state, and the supporting wheels (23) are suitable for transversely transferring the precast slabs (9) towards the guide frame (10).

9. Prefabricated wall panel installation vehicle according to claim 8, characterized in that the bottom of the support plate (22) has an insertion slot (25), the frame (1) has a fork plate (6) extending from one end into the insertion slot (25), the fork plate (6) is horizontally movable on the frame (1) in a front-rear direction, and the rear end of the fork plate (6) has a downwardly inclined ramp (7).

10. Prefabricated wall panel installation vehicle according to any of claims 7 to 9, characterized in that the vehicle frame (1) is provided with a first lifting drive having a drive rod (12) for driving the prefabricated panel (9), the drive rod (12) being located below the guide frame (10).