CN116025176A

CN116025176A - Non-road walking outer rail mechanical system for building assembled building and building method

Info

Publication number: CN116025176A
Application number: CN202211644122.5A
Authority: CN
Inventors: 陆亮; 蒋沛杰; 何斌; 王志鹏; 孙宁
Original assignee: Tongji University
Current assignee: Tongji University
Priority date: 2022-12-20
Filing date: 2022-12-20
Publication date: 2023-04-28

Abstract

The invention relates to a non-road walking external track mechanical system for building an assembled building and a building method, comprising the following steps: an outer rail working device; the outer rail type guide rail device comprises a two-dimensional folding and unfolding outer guide rail mechanism for providing an outer rail type working rail required by the working of the outer rail operation device and a two-dimensional guide rail supporting mechanism for supporting the two-dimensional folding and unfolding outer guide rail mechanism, wherein a standard joint assembly is arranged at the bottom of the two-dimensional guide rail supporting mechanism; the mechanical hydraulic device is arranged below the two-dimensional guide rail supporting mechanism and used for adjusting the stacking quantity of the standard joint assemblies; and a chassis standard joint transfer device for transferring the standard joint assembly from the working position of the mechanical hydraulic device to the working position of the mechanical hydraulic device. Compared with the prior art, the remote control type automatic construction method can meet the remote control type automatic construction purposes of prefabricated concrete structures, prefabricated steel structures, prefabricated wood structures and other assembled buildings.

Description

Non-road walking outer rail mechanical system for building assembled building and building method

Technical Field

The invention belongs to the technical field of intelligent construction mechanical equipment of civil engineering, and relates to a non-road walking external track mechanical system for building an assembled building and a building method.

Background

The assembled building is taken as a building mode which is favorable for rapid construction, and the working efficiency and the intelligent degree of construction are improved on the premise of ensuring the technical level and the engineering quality of the building industry, so that the assembled building is expected to become a main building mode in the future. The steel structure frame is used as a landing point of various actuators in the construction process, is constructed by means of manual mode based on the tripod and the tower crane, and has the problems of time consumption, labor consumption, safety pollution and the like; the building frame only meets the requirement that a single or a small number of mechanical arm actuators with single functions finish the operation, and the working spaces are mutually independent, so that the cooperative building and the unmanned intelligent building of the robot system are not facilitated.

Chinese patent CN109879175B proposes a method of connecting and crawling on a building through a support column, and carrying building materials by matching a crane cart and a trolley with a mechanical arm on a track, wherein the method can only crawl on the basis of the existing building frame structure, cannot independently climb and work from the ground, and can only work with one mechanical arm at the same time during each carrying. Meanwhile, chinese patent CN210286518U proposes a control scheme for arranging and controlling a plurality of traveling crane trolleys on a single beam, which can only run in one direction, and the movement process has an interference phenomenon. Chinese patent CN 212176541U also proposes a high-rise building platform capable of climbing autonomously, which can only climb on the surface of an existing building, and the crane structure installed above the platform can only be used for further construction by manual work in a conventional manner. In addition, chinese patent CN208056658U provides a new air building machine solution that can be lifted from a low floor but cannot be moved horizontally to the next building site.

Disclosure of Invention

The invention aims to provide an off-road walking external rail mechanical system for building an assembled building and a building method.

The aim of the invention can be achieved by the following technical scheme:

one of the technical solutions of the present invention provides a non-road walking external rail mechanical system for fabricated building construction, comprising:

an outer rail working device;

the outer rail type guide rail device comprises a two-dimensional folding and unfolding outer guide rail mechanism for providing an outer rail type working rail required by the working of the outer rail operation device and a two-dimensional guide rail supporting mechanism for supporting the two-dimensional folding and unfolding outer guide rail mechanism, wherein a standard joint assembly is arranged at the bottom of the two-dimensional guide rail supporting mechanism;

the mechanical hydraulic device is arranged below the two-dimensional guide rail supporting mechanism and used for adjusting the stacking quantity of the standard joint assemblies;

and a chassis standard joint transfer device for transferring the standard joint assembly from the working position of the mechanical hydraulic device to the working position of the mechanical hydraulic device.

In addition, the mechanical system of the present invention may further include: the lifting device is used for hanging and lifting the building prefabricated member and related assembly parts;

the sensing system is used for detecting whether the guide rail system is completely unfolded or not and a laser sensor used for measuring and calculating the straightness of the outer track type guide rail device;

And the control system is used for controlling the operation of the devices, including the movement and the positioning of the chassis standard joint conveying device, the lifting and the increasing of the mechanical hydraulic device, the folding and the unfolding of the outer track type guide rail device, the completion of the construction work of the outer track type operation device and the like. The components referred to herein are all conventional components employed in the art to perform the corresponding functions.

Further, the two-dimensional folding and unfolding outer guide rail mechanism comprises a plurality of outer guide rail unit structures arranged on the two-dimensional guide rail supporting mechanism, an automatic locking joint arranged between two adjacent outer guide rail unit structures and used for locking the two outer guide rail unit structures, and a cross guide rail reversing structure connected with the two outer guide rail unit structures respectively positioned in different directions, wherein the two outer guide rail unit structures adjacent in the same direction are rotationally connected through a hinge connection structure.

Still further, the cross track reversing structure comprises a mounting base, and a first cross track, a second cross track and a reversing track which are arranged on the mounting base, wherein the first cross track and the second cross track are respectively connected with the outer track unit structures in different directions in a rotating mode, the reversing track is rotatably arranged on the mounting base and located at the cross position of the first cross track and the second cross track, and the reversing track is connected with the first cross track or the second cross track through rotating.

More preferably, the installation base is provided with a turning power unit, and the turning power unit is connected with the reversing rail through a turning shaft.

More preferably, the contact parts of the first cross track and the second cross track with the reversing track are arc-shaped, and the arc-shaped contact parts of the first cross track and the second cross track are positioned on the same circumference line taking the rotation center of the reversing track as the circle center.

Further, the mechanical hydraulic device comprises a lifting frame for supporting the two-dimensional guide rail supporting mechanism, a feeding platform for horizontally conveying the standard joint assembly, a lifting platform which is arranged on the lifting frame and used for lifting the standard joint assembly, an auxiliary platform which is arranged on the lifting frame, and a force system conversion supporting mechanism which is arranged on the top of the lifting frame and used for bearing the standard joint assembly sent by the lifting platform,

the standard knot subassembly includes standard knot frame, and installs respectively at least one bullet knot connecting piece and at least one of standard knot frame top and bottom detain the connecting piece, it includes to collude detain the mount pad, and along the setting of vertical direction slip collude detaining the member on the mount pad to detain, it still overlaps to be equipped with the first elastic component that resets to exert upward elastic force to it to detain the member, the connecting piece includes the bullet knot mount pad, and along horizontal direction slidable mounting the bullet fastener on the mount pad that detains, still be equipped with between bullet fastener and bullet knot mount pad and make the outside second elastic component that resets of bullet fastener, but back-off detain the bullet knot lug that detains the member bottom, when the butt joint of standard knot subassembly about, the knot member that lies in on the standard knot subassembly of top is pressed to the lock position by auxiliary platform down, the bullet fastener that lies in the standard knot subassembly of below then outwards pops for the bullet knot lug and detains the knot.

Furthermore, a standard joint underframe capable of receiving the standard joint assembly is arranged at the bottom area of the lifting frame.

Furthermore, the standard section frame comprises a plurality of standard section upright posts which are arranged side by side along the circumferential direction at intervals and are fixedly connected with each other, the top of each standard section upright post is provided with a top boss, and the bottom of each standard section upright post is provided with a bottom groove in which the top boss can be embedded.

Furthermore, the lifting platform comprises a lifting jack fixed on the lifting frame, a flange platform fixedly connected with a hydraulic rod of the lifting jack, and a spring buckle connecting structure which is arranged on the flange platform and is used for detachably connecting a hook buckle connecting piece at the bottom of the standard section assembly, and a guide boss which can be embedded into the standard section frame is further arranged in the middle area of the top end of the flange platform.

Still further, the auxiliary platform includes the auxiliary jack of installing on the lifting frame, with auxiliary jack fixed and slidable mounting is in the auxiliary frame on lifting frame, and set up auxiliary connection spare on the auxiliary frame, auxiliary connection spare includes auxiliary mount pad, follows two auxiliary sliders that auxiliary mount pad is slided and can be relatively close to or keep away from, and the auxiliary claw that is connected with two auxiliary sliders respectively. More preferably, a third reset elastic piece which enables the two auxiliary sliding blocks to be relatively opened is further arranged between the two auxiliary sliding blocks, an electromagnet which is arranged between the two auxiliary sliding blocks is further arranged on the auxiliary installation seat, and when the electromagnet is electrified, under the action of magnetic force of the electromagnet, the two auxiliary sliding blocks drive the auxiliary claw to relatively close under the action of overcoming the third reset elastic piece.

Still further, the system conversion supporting mechanism includes the conversion jack of installing in the lifting frame top and with lifting frame sliding fit's a pair of conversion roof beam, the conversion jack with the conversion roof beam is connected, and with drive the conversion roof beam slides and relatively is close to or keep away from on lifting frame, when standard festival subassembly is driven by the jacking platform to be higher than the conversion roof beam position, the conversion jack is relatively close to and blocks standard festival subassembly, realizes the system conversion of supporting standard festival subassembly.

Further, the chassis standard knot conveying device comprises a movable chassis mechanism supporting the mechanical hydraulic devices, a foldable guide rail arranged between the two mechanical hydraulic devices and a standard knot conveying trolley capable of moving back and forth on the unfolded foldable guide rail, wherein the movable chassis mechanism comprises a walkable chassis, a walking wheel assembly arranged on the bottom end face of the walkable chassis, and an automatic bolt fixing structure arranged on the walkable chassis and used for being fixed with a construction ground.

Still further, the automatic fixed knot of bolt constructs including driving motor, bolt seat sleeve, track sleeve, supporting bolt and bolt slider, wherein, driving motor fixes but on the walking chassis, and driving motor's output is connected the bolt seat sleeve, the track sleeve centers on the bolt seat sleeve is fixed but on the walking chassis, processing at the telescopic internal face of track has spiral lift track, bolt seat sleeve processing has the guiding hole along vertical direction, the bolt slider is arranged in the bolt seat sleeve, still processing in the lateral part of bolt slider has stretches out the guiding hole and matches and put into protruding in the spiral lift track, connecting bolt's top with bolt slider fixed connection, the bottom then stretches out the track sleeve.

Further, the outer rail operation device comprises an operation walking trolley capable of moving on the outer rail type operation rail, an extensible mounting mechanism which is arranged on the operation walking trolley and can stretch out and draw back along the vertical direction, a multi-degree-of-freedom mechanical arm which is arranged on the extensible mounting mechanism, and an end effector which is arranged on the multi-degree-of-freedom mechanical arm, wherein the operation walking trolley comprises a movable supporting mechanism which is movably arranged on the outer rail type operation rail, a trolley clamping mechanism which is arranged on the movable supporting mechanism, a trolley positioning mechanism which is movably arranged on the movable supporting mechanism, and the extensible mounting mechanism is fixedly connected on the movable supporting mechanism.

Still further, the dolly clamping mechanism includes the rotation connect the elasticity clamping unit of motion supporting mechanism, and install the ball of elasticity clamping unit, when elasticity clamping unit rotates to vertical position on motion supporting mechanism, elasticity clamping unit is in compression state, just the ball supports tightly and rolling contact outer track formula working rail lower surface.

The second technical scheme of the invention provides a construction method of a non-road walking outer rail mechanical system for building an assembled building, which comprises a chassis standard section conveying device moving stage, an outer rail type guide rail device unfolding stage, a mechanical hydraulic device jacking stage, an outer rail operation device executing stage and a folding recovery stage, wherein the chassis standard section conveying device moving stage is used for conveying a standard section assembly from a standard section loading position to a jacking position of the mechanical hydraulic device;

The outer track type guide rail device unfolding stage and the chassis standard joint conveying device moving stage are synchronously carried out, and the chassis standard joint conveying device provides power required by the outer track type guide rail device unfolding, so that a two-dimensional track unfolding mechanism sequentially leaves the two-dimensional guide rail supporting mechanism in a transverse two-dimensional plane and a longitudinal two-dimensional plane and is unfolded and fixed;

the lifting stage of the mechanical hydraulic device is used for lifting the standard joint assembly transported in place by the chassis standard joint conveying device to be assembled with the standard joint assembly at the bottom of the two-dimensional guide rail supporting mechanism;

the outer rail operation device is moved on an outer rail type working rail formed after the two-dimensional rail expansion mechanism is completely expanded, and the loaded end effector is controlled to operate to complete corresponding operation;

when the execution stage of the outer rail operation device is finished, the folding recovery stage is started, the outer rail operation device, the mechanical hydraulic device, the chassis standard section conveying device and the outer rail type guide rail device are controlled to recover to an initial state, and a complete work flow is completed.

Drawings

FIG. 1 is a schematic view of the off-road outer rail machine system of the present invention in a contracted state;

FIG. 2 is a schematic view of the off-road outer rail machine system of the present invention in an extended state;

FIG. 3 is a schematic view of a chassis standard joint conveyor when folded;

FIG. 4 is a schematic view of a chassis standard joint conveyor when deployed;

FIG. 5 is a schematic view of an automatic bolt securing structure;

FIG. 6 is a schematic illustration of the mechanical hydraulic device in operation;

FIG. 7 is a schematic view of a modular segment assembly;

FIG. 8 is a schematic view of the hook rod on the hook connector when it is retracted, wherein the left side view is a partially cut-away schematic view of the hook connector at this time, and the right side view is an axial schematic view of the hook connector at this time;

FIG. 9 is a schematic view of the hooking rod extending from the hooking connecting element, wherein the left side is a partially cut-away schematic view of the hooking connecting element, and the right side is an axial schematic view of the hooking connecting element;

FIG. 10 is a schematic view of a snap connection, wherein the left side view is a cross-sectional view and the right side view is an axial view;

FIG. 11 is a schematic view of an elastic fastener, wherein the left side view is a schematic cross-sectional view, and the right side view is an axial schematic view;

FIG. 12 is a schematic front view of an auxiliary connector;

FIG. 13 is a schematic view of a jacking platform;

FIG. 14 is a schematic view of the structure of the outer rail guide apparatus of the present invention in a folded state;

FIG. 15 is a schematic view of the outer rail guide apparatus of the present invention in an expanded state;

FIG. 16 is a schematic view of a cross-track reversing structure of the present invention;

FIG. 17 is a schematic view of a minimum unit of two outer rail unit structures in a folded and expanded configuration;

FIG. 18 is a schematic diagram of a locking flow of an auto-lock joint;

FIG. 19 is a schematic view of the construction of an outer rail working device;

FIG. 20 is a schematic view of a structure of a standard joint frame;

FIG. 21 is a schematic view of a feed platform and standard section undercarriage portion;

the figure indicates:

1-an outer rail operation device, 11-an operation walking trolley, 1101-a crawler wheel, 1102-a trolley body, 1103-a ball, 1104-a clamping rod, 1105-a first connecting frame, 1106-a vehicle body fixing plate, 1107-a trolley positioning spring, 1108-a positioning rod, 1109-a trolley walking gear, 1110-a trolley fixing rod, 1111-a second connecting frame, 1112-a trolley clamping spring, 12-an extensible mounting mechanism, 13-a multi-degree-of-freedom mechanical arm and 14-an end effector;

2-outer rail type guide rail device, 21-outer rail unit structure, 2101-fixed pin connection structure, 22-automatic locking joint, 221-first lock seat, 222-second lock seat, 223-lock cylinder, 23-hinge connection structure, 231-frame hinge, 232-fan hinge, 233-hinge pin, 24-cross rail reversing structure, 241-first cross rail, 242-reversing rail, 243-reversing power unit, 244-installation base, 245-second cross rail, 25-two-dimensional guide rail supporting mechanism;

3-mechanical hydraulic device, 31-lifting frame, 32-force system conversion supporting mechanism, 321-conversion jack, 322-conversion beam, 3221-semicircular groove, 3222-middle supporting table; 33-auxiliary platforms, 331-auxiliary frames, 332-auxiliary connecting pieces, 3321-auxiliary mounting seats, 3322-auxiliary claws, 3323-third reset elastic pieces, 3324-auxiliary sliding blocks, 3325-electromagnets, 333-auxiliary guide wheels and 334-auxiliary jacks; 34-feeding platform, 341-feeding slide, 342-feeding jack, 343-positioning boss; 35-standard joint components, 351-standard joint frames, 3511-standard joint columns, 3512-top bosses, 3513-positioning lug plates, 3514-guiding lug plates, 3515-side grooves, 352-hooking connecting pieces, 3521-outer conical rings, 3522-inner conical rings, 3523-hooking rod pieces, 35231-hooking rod first bosses, 35232-hooking rod second bosses, 3524-first reset elastic pieces, 3525-limit nuts, 3526-adjusting nuts, 353-hooking connecting pieces, 3531-hooking mounting seats, 3532-hooking pieces, 35321-hooking first bosses, 35322-hooking second bosses, 35323-wedge-shaped bosses and 3533-second reset elastic pieces; 36-lifting platform, 361-lifting jack, 362-flange platform and 363-guiding boss; 37-standard joint underframe, 371-underframe main column, 372-auxiliary column, 373-underframe cross beam;

4-chassis standard joint conveying device, 41-foldable guide rail, 410-I-steel guide rail and 412-hinge mechanism; 42-a transport trolley, 43-a movable chassis mechanism; 430—walkable chassis; 4301-a drive wheel; 4302-a walking motor; 4303-universal wheels; 4304-a shock spring; 431-bolt automatic fixing structure; 4311-connecting bolts; 4312—a bolt seat sleeve; 4313-track sleeves; 4314-spiral lifting track, 4315-bolt slide block.

Detailed Description

The invention will now be described in detail with reference to the drawings and specific examples. The present embodiment is implemented on the premise of the technical scheme of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following examples.

In the following embodiments or examples, if no specific functional component or structure is indicated as a conventional component or structure used in the art to achieve the corresponding function, and if no specific process is indicated as a conventional process used in the art to achieve the purpose.

In order to improve the construction efficiency, quality and the like in the current construction field, the invention provides a non-road walking external track mechanical system for the construction of an assembled building, which can be seen from figures 1 to 2 and the like, and comprises:

An outer rail working device 1;

the outer rail type guide rail device 2 comprises a two-dimensional folding and unfolding outer guide rail mechanism for providing an outer rail type working rail required by the working of the outer rail type working device 1 and a two-dimensional guide rail supporting mechanism 25 for supporting the two-dimensional folding and unfolding outer guide rail mechanism, wherein a standard joint assembly 35 is arranged at the bottom of the two-dimensional guide rail supporting mechanism 25;

the mechanical hydraulic device 3 is arranged below the two-dimensional guide rail supporting mechanism 25 and is used for adjusting the stacking quantity of the standard joint assemblies 35;

and a chassis standard joint transfer device 4 for transferring the standard joint assembly 35 from the working position to the mechanical hydraulic device 3 or from within the mechanical hydraulic device 3.

The two-dimensional folding and unfolding outer guide rail mechanism has the functions of two-dimensional folding and unfolding of the rail and autonomous reversing of rail intersection points, and meets the requirements that the rail mechanism is folded into a small structure in the transportation process, two-dimensional unfolding is performed in the working state, and the rail trolley does not interfere with travelling. In some specific embodiments, referring to fig. 14 to 18, the two-dimensional folding and unfolding outer rail mechanism includes a plurality of outer rail unit structures 21 disposed on a two-dimensional rail supporting mechanism 25, an automatic locking joint 22 disposed between two adjacent outer rail unit structures 21 and used for locking the two outer rail unit structures 21, and a cross rail reversing structure 24 connecting two outer rail unit structures 21 respectively located in different directions, wherein two outer rail unit structures 21 adjacent in the same direction are rotatably connected by a hinge connection structure 23. The two adjacent outer rail unit structures 21 along the same direction are rotationally connected through a hinge connection structure 23, and the hinge connection structure 23 is arranged on the opposite surface corresponding to the automatic locking structure. The hinge connection structure 23 is adopted to enable the two outer rail unit structures 21 adjacent in the same direction to be connected in a rotating way, so that all the outer rail unit structures 21 can be folded conveniently during transportation and storage, and the folding state is different according to the number of the outer rail unit structures 21, for example, the outer rail unit structures can be in a V shape or a Z shape.

In a more specific embodiment, the automatic locking joint 22 includes a lock cylinder 223, and a first lock seat 221 and a second lock seat 222 respectively fixed on the two outer rail unit structures 21, the lock cylinder 223 is i-shaped, one end of the lock cylinder 223 is rotatably connected with the first lock seat 221, the second lock seat 222 is composed of two spaced triangular plates parallel to the rotation direction of the lock cylinder 223, one side of the triangular plates facing the first lock seat 221 is a first side, the other side facing away from the first lock seat 221 is a second side, and when the two outer rail unit structures 21 are relatively unfolded, the other end of the lock cylinder 223 slides along the first side of the triangular plates until completely passing over the first side, and the second side is reversely buckled, at this time, the first lock seat 221 and the second lock seat 222 are locked by the lock cylinder 223. Here, the triangle in the second lock base 222 may be a right triangle, or may be an acute triangle or an obtuse triangle, which is not necessarily in a strict triangle shape, and may be approximately in this shape, for example, the junction position between the first side and the second side may be rounded, so that the lock core 223 is convenient to transition along the first side and the second side, and at the same time, in order to improve the locking effect, the second side may further have a smooth groove. In addition, as required, an unlocking power component, such as an electromagnet 3325 device controlled by a relay, is further disposed on the outer rail unit structure 21 to enable the lock cylinder 223 to withdraw from the second lock seat 222, so that after the rail mechanism plane is completely unfolded and the predetermined working objective is completed, the unlocking power component can be started to complete the unlocking action. In addition, more preferably, a torsion spring structure is further provided between the lock cylinder 223 and the first lock base 221, so that the lock cylinder 223 is pressed against the second lock base 222.

In a more specific embodiment, the cross rail reversing structure 24 includes a mounting base 244, and a first cross rail 241, a second cross rail 245 and a reversing rail 242 disposed on the mounting base 244, wherein the first cross rail 241 and the second cross rail 245 are respectively rotatably connected to the outer rail unit structures 21 in different directions, and the reversing rail 242 is rotatably mounted on the mounting base 244 and is located at a crossing position of the first cross rail 241 and the second cross rail 245, and the reversing rail 242 is connected to the first cross rail 241 or the second cross rail 245 by rotating the reversing rail 242. The first intersecting rail 241 and the second intersecting rail 245 may be disposed one or two opposite to each other according to different needs, so that the intersecting rail reversing structure 24 is arranged in an L-shape, a T-shape or a cross shape. Here, it should be noted that, when the section of the reversing rail 242 is completely matched with the section of the outer rail type working rail and reversing is required, the travelling trolley moves onto the reversing rail 242 through the outer rail type unit structure 21 in one direction, then the reversing rail 242 is changed to be connected with the outer rail type unit structure 21 in the other direction, and the travelling trolley moves out of the reversing rail 242 to complete the change.

More preferably, the mounting base 244 is provided with a direction changing power unit 243, and the direction changing power unit 243 is connected with the direction changing rail 242 through a direction changing shaft.

More preferably, the contact portions of the first intersecting rail 241 and the second intersecting rail 245 with the reversing rail 242 are circular arc-shaped, and the circular arc-shaped contact portions of the first intersecting rail 241 and the second intersecting rail 245 are located on the same circumference line with the rotation center of the reversing rail 242 as the center of circle.

In the present invention, the two-dimensional rail supporting mechanism 25 includes a column connecting structure, a supporting and storing structure, has a function of fixing with a column, storing a non-operating state rail, and supporting an operating state rail, and can be specifically disposed on the mechanical hydraulic device 3.

In some specific embodiments, referring again to fig. 6 to 13, etc., the mechanical hydraulic device 3 includes a lifting frame 31 supporting the two-dimensional guide rail supporting mechanism 25, a feeding platform 34 for horizontally conveying the standard joint assembly 35, a lifting platform 36 mounted on the lifting frame 31 for lifting the standard joint assembly 35, an auxiliary platform 33 provided on the lifting frame 31, and a force system conversion supporting mechanism 32 positioned on top of the lifting frame 31 for carrying the standard joint assembly 35 conveyed by the lifting platform 36,

The standard knot component 35 comprises a standard knot frame 351, at least one elastic buckle connecting piece 353 and at least one hook buckle connecting piece 352 which are respectively arranged at the top and the bottom of the standard knot frame 351, the hook buckle connecting piece 352 comprises a hook buckle installation seat and a hook buckle rod piece 3523 which is arranged on the hook buckle installation seat in a sliding manner along the vertical direction, the hook buckle rod piece 3523 is further sleeved with a first reset elastic piece 3524 which applies upward elastic force to the hook buckle rod piece 3523, the elastic buckle connecting piece 353 comprises an elastic buckle installation seat 3531 and an elastic buckle 3532 which is arranged on the elastic buckle installation seat 3531 in a sliding manner along the horizontal direction, a second reset elastic piece 3533 which enables the elastic buckle 3532 to outwards pop out is further arranged between the elastic buckle 3532 and the elastic buckle installation seat 3531, and the elastic buckle rod piece 3523 which can reversely buckle the bottom of the hook buckle rod piece 3523 (namely the elastic buckle second boss 35322) is arranged on the elastic buckle rod piece 3532.

In a more specific embodiment, the bottom region of the lifting frame 31 is further provided with a standard joint bottom frame 37 that receives the standard joint assembly 35. The standard joint underframe 37 can be composed of an underframe main column 371 and a plurality of auxiliary columns 372 side by side, the auxiliary columns 372 are also provided with independent snap connection members 353 matched with the snap connection members 352 at the bottom of the standard joint assembly 35, and simultaneously, the tops of the auxiliary columns 372 are also provided with corresponding top bosses 3512. A chassis beam 373 is also provided on top of the chassis main column 371 and the auxiliary column 372.

In a more specific embodiment, the standard section frame 351 includes a plurality of standard section columns 3511 that are arranged side by side at intervals along the circumferential direction and are fixedly connected with each other, different standard connection columns can be respectively connected into an integral frame through a top cross beam and a bottom cross beam, a top boss 3512 is arranged at the top of each standard section column 3511, and a bottom groove into which the top boss 3512 can be embedded is machined at the bottom. In addition, the side of the bottom groove is also provided with a side groove 3515, which is convenient for the clasping between the bottom groove and the top boss 3512 and other structures, and reduces the fit clearance between the bottom groove and the top boss. Meanwhile, a guiding lug plate 3514 and a positioning lug plate 3513 are further arranged on the side portion of the standard joint upright post 3511 and used for guiding and fixing the hook fastening connecting piece 352 and the elastic fastening connecting piece 353.

In a more specific embodiment, the hooking connection piece 352 further includes an inner cone ring 3522 sleeved at the bottom of the standard joint upright post 3511, and an outer cone ring 3521 sleeved on the inner cone ring 3522 and in sliding fit with the inner cone ring 3522, the side wall of the inner cone ring 3522 is slotted along the axial direction thereof, the taper of the outer cone ring 3521 is the same as that of the inner cone ring 3522, and the hooking mounting seat is provided on the outer cone ring 3521. When the inner cone ring 3522 and the outer cone ring 3521 interact and compress, the inner cone ring 3522 is stressed and compressed, so that the standard joint upright post 3511 of the first joint compresses the top boss 3512 of the standard joint upright post 3511 of the second joint, locking connection is realized, and structural gaps are reduced.

In a more specific embodiment, the hooking mounting seat is provided with a hooking mounting groove along the vertical direction, the side wall of the hooking mounting groove is further provided with a hooking slot along the trend of the hooking mounting groove, the hooking rod 3523 is slidably arranged in the hooking mounting groove, the top of the hooking rod 3523 is further provided with a hooking rod first boss 35231 extending out of the hooking slot, and the bottom of the hooking rod 3523 is further provided with a hooking rod second boss 35232 protruding laterally and forming a hook-shaped structure. Preferably, an adjusting nut 3526 and a limiting nut 3525 are respectively screwed into the bottom and the top of the hook mounting groove, the central threaded hole of the adjusting nut 3526 can be used for extending the hook rod 3523, and the adjusting nut 3526 can change the compression amount of the first reset elastic piece 3524 by changing the screwing depth of the adjusting nut 3526, so as to change the reset force of the hook rod 3523;

in a more specific embodiment, the latch mounting seat 3531 is provided with a latch chute along a horizontal direction, the latch 3532 is slidably mounted in the latch chute through a latch first boss 35321 and the like, the latch 3532 is provided with a latch slot which is vertically through and can be provided for the bottom of the hook rod 3523 to extend in, a latch bump (i.e., a latch second boss 35322) is disposed on a side wall of the latch slot, the second reset elastic member 3533 is disposed between an inward end of the latch 3532 and the latch mounting seat 3531, and an outward end of the latch 3532 is provided with a wedge-shaped boss 35323.

In a more specific embodiment, the lifting platform 36 includes a lifting jack 361 fixed on the lifting frame 31, a flange platform 362 fixedly connected to a hydraulic rod of the lifting jack 361, and a snap connection structure mounted on the flange platform 362 and used for detachably connecting the hook connection member 352 at the bottom of the standard joint assembly 35, and a guide boss 363 capable of being embedded in the standard joint frame 351 is further disposed in a middle area of a top end of the flange platform 362.

In a more specific embodiment, the auxiliary platform 33 includes an auxiliary jack 334 mounted on the lifting frame 31, an auxiliary frame 331 fixed to the auxiliary jack 334 and slidably mounted on the lifting frame 31, and an auxiliary connector 332 disposed on the auxiliary frame 331, and the auxiliary connector 332 includes an auxiliary mounting base 3321, two auxiliary sliders 3324 that slide along the auxiliary mounting base 3321 and can be relatively moved closer to or farther from each other, and auxiliary claws 3322 that are respectively connected to the two auxiliary sliders 3324. More preferably, a third return elastic member 3323 for relatively expanding the two auxiliary sliding blocks 3324 is further disposed between the two auxiliary sliding blocks 3324, an electromagnet 3325 disposed between the two auxiliary sliding blocks 3324 is further disposed on the auxiliary mounting seat 3321, and when the electromagnet 3325 is energized, the two auxiliary sliding blocks 3324 drive the auxiliary claws 3322 to relatively close against the action of the third return elastic member 3323 under the action of the magnetic force of the electromagnet 3325. The auxiliary frame 331 is slidably engaged with the lifting frame 31 through the auxiliary guide wheels 33.

In a more specific embodiment, the force system conversion support mechanism 32 includes a conversion jack 321 mounted on the top of the lifting frame and a pair of conversion beams 322 slidingly engaged with the lifting frame, where the conversion jack 321 is connected to the conversion beams 322 and drives the conversion beams 322 to slide on the lifting frame and relatively approach or separate from the conversion beams, and when the standard joint assembly 35 is driven by the lifting platform 36 to a position higher than the conversion beams 322, the conversion jack 321 relatively approaches and blocks the standard joint assembly 35, so as to realize force system conversion for supporting the standard joint assembly 35.

In a more specific embodiment, the feeding platform 34 includes a feeding chassis, a feeding slide seat 341 slidably mounted on the feeding chassis along a horizontal direction, and a feeding jack 342 mounted on the feeding chassis and connected to the feeding slide seat 341, where the feeding slide seat 341 is further provided with a plurality of positioning bosses 343 for positioning and placing the standard joint assembly 35.

In some specific embodiments, referring again to fig. 3 to 5, etc., the chassis standard knot conveying device 4 includes a movable chassis mechanism 43 supporting the mechanical hydraulic devices 3, a foldable guide rail 41 disposed between the two mechanical hydraulic devices 3, and a standard knot transporting carriage 42 movable back and forth on the unfolded foldable guide rail 41, and the movable chassis mechanism 43 includes a walkable chassis 430, a walking wheel assembly mounted on a bottom end surface of the walkable chassis 430, and a bolt automatic fixing structure 431 provided on the walkable chassis 430 for fixing with a construction floor. The folding manner of the foldable rail 41 may refer to the two-dimensional rail supporting mechanism 25, and the specific structure may be similar to that of the outer rail type working rail thereof.

In a more specific embodiment, the automatic bolt fixing structure 431 includes a driving motor, a bolt seat sleeve 4312, a track sleeve 4313, a connecting bolt 4311 and a bolt slider 4315, wherein the driving motor is fixed on the walkable chassis 430, an output end of the driving motor is connected with the bolt seat sleeve 4312, the track sleeve 4313 surrounds the bolt seat sleeve 4312 and is fixed on the walkable chassis 430, a spiral lifting track 4314 is processed on an inner wall surface of the track sleeve 4313, a guide hole along a vertical direction is processed on the bolt seat sleeve 4312, the bolt slider 4315 is disposed in the bolt seat sleeve 4312, a protrusion extending out of the guide hole and being matched with the spiral lifting track 4314 is further processed on a side portion of the bolt slider 4315, and a top portion of the connecting bolt 4311 is fixedly connected with the bolt slider 4315, and a bottom portion extends out of the track sleeve 4313. By the rotation of the bolt seat sleeve 4312, the bolt slider 4315 is lifted up along the track sleeve 4313, thereby driving the connecting bolt 4311 into the ground. In the process that the driving motor drives the bolt seat sleeve 4312 to rotate, the bolt sliding block 4315 is driven by the bolt seat sleeve 4312 to perform linear motion and simultaneously perform rotary motion along the spiral track of the track sleeve 4313, so that the connecting bolt 4311 is driven to rotate and drive into the construction ground. The structure is adopted to complete the fixation with the ground, and no additional fixing bolts are needed to be manually installed, so that the time and the labor are saved, and the safety and the reliability are realized. More preferably, the walking wheel assembly includes a driving wheel 4301 and a driven wheel, the driving wheel 4301 is driven by a walking motor 4302 to rotate, the driven wheel is a universal wheel 4303, and a shock absorbing spring 4304 is further arranged between the driven wheel and the walkable chassis 430.

In a more specific embodiment, in addition to the transport trolley 42 body that can be moved back and forth on the foldable guide rail 41, the transport trolley 42 body may be provided with a plurality of positioning protrusion structures for positioning the standard joint assembly 35. While the body of the carriage 42 may be constructed as a carriage that is movable on, for example, an i-steel rail, as is commonly used in the art.

In some specific embodiments, referring to fig. 19, etc., the outer rail working device 1 includes a working walking trolley 11 movable on the outer rail working rail, an extendable mounting mechanism 12 disposed on the working walking trolley 11 and extendable in a vertical direction, a multiple degree of freedom mechanical arm 13 mounted on the extendable mounting mechanism 12, and an end effector 14 disposed on the multiple degree of freedom mechanical arm 13, where the working walking trolley 11 includes a movable supporting mechanism movably mounted on the outer rail working rail, a trolley clamping mechanism mounted on the movable supporting mechanism, and a trolley positioning mechanism movably disposed on the movable supporting mechanism, and the extendable mounting mechanism 12 is fixedly connected to the movable supporting mechanism.

In a more specific embodiment, the trolley clamping mechanism comprises an elastic clamping unit rotatably connected with the motion supporting mechanism, and a ball 1103 mounted on the elastic clamping unit, when the elastic clamping unit rotates to a vertical position on the motion supporting mechanism, the elastic clamping unit is in a compressed state, and the ball 1103 abuts against and rolls and contacts with the lower surface of the outer track type working track. More preferably, the motion supporting mechanism comprises a trolley body 1102 formed by symmetrically assembling two groups of U-shaped brackets, and trolley crawler wheels 1101 which are arranged at the free ends of each group of U-shaped brackets and are in rolling contact with the outer I-shaped steel rails. Still further preferably, a trolley traveling gear 1109 is mounted at a free end of the U-shaped bracket, the trolley crawler 1101 is sleeved on the trolley traveling gear 1109, and an inner side surface of the trolley crawler 1101 is meshed with the trolley traveling gear 1109. The trolley walking gears 1109 can be provided with a plurality of trolley walking gears 1109, the trolley crawler wheels 1101 are sleeved on the trolley walking gears 1109 and driven by the trolley walking gears to walk on the track, and due to the arrangement of the trolley crawler wheels 1101, the contact area of the walking trolley and the track can be enlarged, so that the walking stability of the walking trolley is improved, and in addition, at least one of the trolley walking gears 1109 is a driving gear, namely, the driving function is realized through driving rotation. Meanwhile, the two groups of U-shaped brackets can be assembled with the trolley fixing rod 1110 through the vehicle body fixing plate 1106.

More preferably, the motion supporting mechanism is further fixedly provided with a first connecting frame 1105, the elastic clamping unit comprises a clamping bracket rotationally connected with the connecting frame, a clamping rod 1104 slidably arranged on the clamping bracket along a vertical direction, and a trolley clamping spring 1112 sleeved on the clamping rod 1104, two ends of the trolley clamping spring 1112 respectively support against the ball 1103 and the clamping bracket, and the ball 1103 is rotationally arranged at the end part of the clamping rod 1104. Here, by machining a hole site for the bottom end of the clamping rod 1104 to pass through in a matching manner at the top of the clamping bracket, that is, the sliding connection between the clamping rod 1104 and the clamping bracket is realized, and similarly, the trolley positioning rod 1108 and the positioning bracket can also adopt similar structures, when the clamping bracket drives the clamping rod 1104 to rotate to a position perpendicular to the lower surface of the rail, the ball 1103 is abutted against the lower surface of the rail, at this time, the trolley clamping spring 1112 is in a compressed state, and the bottom part of the clamping rod 1104 extends into the position below the clamping bracket.

In a more specific embodiment, the motion supporting mechanism is further fixedly provided with a second connecting frame 1111, the positioning mechanism comprises a positioning bracket rotatably installed on the second connecting frame 1111, a positioning rod 1108 slidably arranged on the positioning bracket along a vertical direction, a positioning block fixed on the head of the positioning rod 1108 and in a hemispherical shape, and a trolley positioning spring 1107 sleeved on the positioning rod 1108, two ends of the trolley positioning spring 1107 respectively support against the positioning block and the second connecting frame 1111, and a positioning small hole for the positioning block to slide in is further formed at the positioning point. When the positioning rod 1108 rotates to a vertical state, the positioning spring is in a compressed state, the hemispherical positioning block at the top of the positioning rod 1108 generates pressure on the track and is placed in the positioning small hole corresponding to the track, and when the positioning rod 1108 is in the small hole position, the trolley is in a positioning state.

In addition, in a more specific embodiment, the extensible mounting mechanism 12 may adopt a ball 1103 screw structure commonly used in the art and capable of achieving an up-down lifting function, and the end effector 14 may have various existing operation effectors such as a suction cup type, a clamp type, a hook type, a spray type, and the like, as required, so as to satisfy the operation functions such as clamping, suction, rotation, screwing, pushing, pulling, and the like.

The above embodiments may be implemented singly or in any combination of two or more.

The above embodiments are described in more detail below in connection with specific examples.

Example 1:

in order to improve the construction efficiency and quality in the current construction field, the present embodiment provides a non-road walking external track mechanical system for fabricated building construction, which can be seen from fig. 1 to fig. 2, etc., and includes:

an outer rail working device 1;

an outer rail type guide rail device 2, which comprises a two-dimensional folding and unfolding outer guide rail mechanism for providing an outer rail type working rail required by the working of the outer rail type working device 1 and a two-dimensional guide rail supporting mechanism 25 for supporting the two-dimensional folding and unfolding outer guide rail mechanism, wherein the bottom of the two-dimensional guide rail supporting mechanism 25 is provided with a standard joint assembly 35;

The two-dimensional folding and unfolding outer guide rail mechanism in the embodiment has the functions of two-dimensional folding and unfolding of the rail and autonomous reversing of rail intersection points, and meets the requirements that the rail mechanism is folded into a small structure in the transportation process, the two-dimensional unfolding is performed in the working state, and the rail trolley does not interfere with travelling. In some specific embodiments, referring to fig. 14 to 18, the two-dimensional folding and unfolding outer rail mechanism includes a plurality of outer rail unit structures 21 disposed on a two-dimensional rail supporting mechanism 25, an automatic locking joint 22 disposed between two adjacent outer rail unit structures 21 for locking the two outer rail unit structures, and a cross rail reversing structure 24 connecting the two outer rail unit structures 21 located in different directions respectively, wherein the two outer rail unit structures 21 adjacent in the same direction are rotatably connected by a hinge connection structure 23. The two adjacent outer rail unit structures 21 along the same direction are rotationally connected through a hinge connection structure 23, and the hinge connection structure 23 is arranged on the opposite surface corresponding to the automatic locking structure. In this embodiment, the hinge connection structure 23 is adopted to enable the two outer rail unit structures 21 adjacent in the same direction to be rotationally connected, so that all the outer rail unit structures 21 can be folded conveniently during transportation and storage, and the folding state is different according to the number of the outer rail unit structures 21, for example, the outer rail unit structures can be in a V shape or a Z shape. The outer rail unit structure 21 in this embodiment may be an i-steel rail unit structure.

The automatic locking joint 22 comprises a lock cylinder 223, and a first lock seat 221 and a second lock seat 222 which are respectively fixed on two outer rail unit structures 21, wherein the lock cylinder 223 is I-shaped, one end of the lock cylinder 223 is rotationally connected with the first lock seat 221, the second lock seat 222 is composed of two triangular plates which are parallel to the rotation direction of the lock cylinder 223 and are spaced, one side of the triangular plates, which faces the first lock seat 221, is a first side, the other side, which faces away from the first lock seat 221, is a second side, and when the two outer rail unit structures 21 are relatively unfolded, the other end of the lock cylinder 223 slides along the first side of the triangular plates until completely passes over the first side, and the second side is reversely buckled, and at the moment, the first lock seat 221 and the second lock seat 222 are locked by the lock cylinder 223. Here, the triangle in the second lock base 222 may be a right triangle, or may be an acute triangle or an obtuse triangle, which is not necessarily in a strict triangle shape, and may be approximately in this shape, for example, the junction position between the first side and the second side may be rounded, so that the lock core 223 is convenient to transition along the first side and the second side, and at the same time, in order to improve the locking effect, the second side may further have a smooth groove. In addition, as required, an unlocking power component, such as an electromagnet 3325 device controlled by a relay, is further disposed on the outer rail unit structure 21 to enable the lock cylinder 223 to withdraw from the second lock seat 222, so that after the rail mechanism plane is completely unfolded and the predetermined working objective is completed, the unlocking power component can be started to complete the unlocking action. In addition, more preferably, a torsion spring structure is further provided between the lock cylinder 223 and the first lock base 221, so that the lock cylinder 223 is pressed toward the second lock base 222.

The cross rail reversing structure 24 includes a mounting base 244, and a first cross rail 241, a second cross rail 245 and a reversing rail 242 provided on the mounting base 244, the first cross rail 241 and the second cross rail 245 are respectively rotatably connected with the outer rail unit structures 21 in different directions, and the reversing rail 242 is rotatably mounted on the mounting base 244 and located at the crossing position of the first cross rail 241 and the second cross rail 245, so that the reversing rail 242 is connected with the first cross rail 241 or the second cross rail 245 by rotating the reversing rail 242. The first intersecting rail 241 and the second intersecting rail 245 may be disposed one or two opposite to each other according to different needs, so that the intersecting rail reversing structure 24 is arranged in an L-shape, a T-shape or a cross shape. Here, it should be noted that, when the section of the reversing rail 242 is completely matched with the section of the outer rail type working rail and reversing is required, the travelling trolley moves onto the reversing rail 242 through the outer rail type unit structure 21 in one direction, then the reversing rail 242 is changed to be connected with the outer rail type unit structure 21 in the other direction, and the travelling trolley moves out of the reversing rail 242 to complete the change.

A direction changing power unit 243 is provided on the mounting base 244, and the direction changing power unit 243 is connected with the direction changing rail 242 through a direction changing shaft.

The contact portions of the first intersecting rail 241 and the second intersecting rail 245 with the reversing rail 242 are circular arc-shaped, and the circular arc-shaped contact portions of the first intersecting rail 241 and the second intersecting rail 245 are positioned on the same circumference line with the rotation center of the reversing rail 242 as the center of circle.

In this embodiment, the two-dimensional guide rail supporting mechanism 25 includes a column connecting structure, a supporting and storing structure, has the functions of fixing with a column, storing an unoperated state rail, and supporting an operated state rail, and can be specifically disposed on the mechanical hydraulic device 3.

Referring again to fig. 6 to 13, etc., the mechanical hydraulic device 3 includes a lifting frame 31 supporting the two-dimensional rail supporting mechanism 25, a feeding platform 34 for horizontally conveying the standard joint assembly 35, a lifting platform 36 mounted on the lifting frame 31 for lifting the standard joint assembly 35, an auxiliary platform 33 provided on the lifting frame 31, and a force system conversion supporting mechanism 32 located on top of the lifting frame 31 for carrying the standard joint assembly 35 conveyed by the lifting platform 36,

the standard knot component 35 comprises a standard knot frame 351, at least one elastic buckle connecting piece 353 and at least one hook buckle connecting piece 352 which are respectively arranged at the top and the bottom of the standard knot frame 351, the hook buckle connecting piece 352 comprises a hook buckle installation seat and a hook buckle rod piece 3523 which is arranged on the hook buckle installation seat in a sliding mode along the vertical direction, the hook buckle rod piece 3523 is further sleeved with a first reset elastic piece 3524 which applies upward elastic force to the hook buckle rod piece 3523, the elastic buckle connecting piece 353 comprises an elastic buckle installation seat 3531 and an elastic buckle 3532 which is arranged on the elastic buckle installation seat 3531 in a sliding mode along the horizontal direction, a second reset elastic piece 3533 which enables the elastic buckle 3532 to be outwards ejected is further arranged between the elastic buckle 3532 and the elastic buckle installation seat 3531, when the upper standard knot component 35 and the lower standard knot component 35 are in butt joint, the hook buckle rod piece 3523 on the upper standard knot component 35 is pressed down to the buckling position by the auxiliary platform 33, and the elastic buckle rod piece 3532 on the lower standard knot component 35 is outwards ejected.

The bottom region of the lifting frame 31 is also provided with a standard joint undercarriage 37 which receives the standard joint assembly 35. The standard joint underframe 37 can be composed of an underframe main column 371 and a plurality of auxiliary columns 372 side by side, the auxiliary columns 372 are also provided with independent snap connection members 353 matched with the snap connection members 352 at the bottom of the standard joint assembly 35, and simultaneously, the tops of the auxiliary columns 372 are also provided with corresponding top bosses 3512. A chassis beam 373 is also provided on top of the chassis main column 371 and the auxiliary column 372.

The standard section frame 351 comprises a plurality of standard section upright posts 3511 which are arranged side by side along the circumferential direction at intervals and are fixedly connected with each other, different standard connecting upright posts can be connected into an integral frame through a top cross beam and a bottom cross beam respectively, the top of each standard section upright post 3511 is provided with a top boss 3512, and the bottom is provided with a bottom groove for embedding the top boss 3512. In addition, the side of the bottom groove is also provided with a side groove 3515, which is convenient for the clasping between the bottom groove and the top boss 3512 and other structures, and reduces the fit clearance between the bottom groove and the top boss. Meanwhile, a guiding lug plate 3514 and a positioning lug plate 3513 are further arranged on the side portion of the standard joint upright post 3511 and used for guiding and fixing the hook fastening connecting piece 352 and the elastic fastening connecting piece 353.

The hook fastening connector 352 further comprises an inner cone ring 3522 sleeved at the bottom of the standard joint upright post 3511, and an outer cone ring 3521 sleeved on the inner cone ring 3522 and in sliding fit with the inner cone ring 3522, wherein the side wall of the inner cone ring 3522 is axially slotted, the conicity of the outer cone ring 3521 is the same as that of the inner cone ring 3522, and a hook fastening mounting seat is arranged on the outer cone ring 3521. When the inner cone ring 3522 and the outer cone ring 3521 interact and compress, the inner cone ring 3522 is stressed and compressed, so that the standard joint upright post 3511 of the first joint compresses the top boss 3512 of the standard joint upright post 3511 of the second joint, locking connection is realized, and structural gaps are reduced.

The hook mounting seat is provided with a hook mounting groove along the vertical direction, the side wall of the hook mounting groove is also provided with a hook slot along the trend of the hook mounting groove, the hook rod member 3523 is arranged in the hook mounting groove in a sliding manner, the top of the hook rod member 3523 is also provided with a hook rod first boss 35231 extending out of the hook slot, and the bottom of the hook rod member 3523 is also provided with a hook rod second boss 35232 protruding laterally and forming a hook-shaped structure. Preferably, an adjusting nut 3526 and a limiting nut 3525 are respectively screwed into the bottom and the top of the hook mounting groove, a central threaded hole of the adjusting nut 3526 can be used for extending the hook rod 3523, and the adjusting nut 3526 can change the compression amount of the first reset elastic piece 3524 by changing the screwing depth of the adjusting nut 3526, so as to change the reset force of the hook rod 3523;

The elastic buckle mounting seat 3531 is provided with an elastic buckle sliding groove along the horizontal direction, an elastic buckle 3532 is slidably mounted in the elastic buckle sliding groove through an elastic buckle first boss and the like, an elastic buckle clamping groove which is vertically communicated and can be used for the bottom of the hook buckle rod member 3523 to extend in is formed in the elastic buckle 3532, an elastic buckle protruding block (namely an elastic buckle second boss) is arranged on the side wall of the elastic buckle clamping groove, a second reset elastic piece 3533 is arranged between the inner end of the elastic buckle 3532 and the elastic buckle mounting seat 3531, and a wedge-shaped boss 35323 is arranged at the outer end of the elastic buckle 3532.

The jacking platform 36 comprises a jacking jack 361 fixed on the lifting frame 31, a flange platform 362 fixedly connected with a hydraulic rod of the jacking jack 361, and a snap connection structure which is arranged on the flange platform 362 and is used for detachably connecting a hook connection piece 352 at the bottom of the standard joint assembly 35, wherein a guide boss 363 which can be embedded into the standard joint frame 351 is further arranged in the middle area of the top end of the flange platform 362.

The auxiliary platform 33 includes an auxiliary jack 334 mounted on the lifting frame 31, an auxiliary frame 331 fixed to the auxiliary jack 334 and slidably mounted on the lifting frame 31, and an auxiliary connection member 332 provided on the auxiliary frame 331, the auxiliary connection member 332 including an auxiliary mounting seat 3321, two auxiliary sliders 3324 sliding along the auxiliary mounting seat 3321 and relatively approaching or separating therefrom, and auxiliary claws 3322 respectively connected to the two auxiliary sliders 3324. More preferably, a third restoring elastic element 3323 for relatively expanding the two auxiliary sliding blocks 3324 is further disposed between the two auxiliary sliding blocks 3324, an electromagnet 3325 disposed between the two auxiliary sliding blocks 3324 is further disposed on the auxiliary mounting base 3321, and when the electromagnet 3325 is energized, the two auxiliary sliding blocks 3324 drive the auxiliary claws 3322 to relatively close against the action of the third restoring elastic element 3323 under the action of the magnetic force of the electromagnet 3325.

The force system conversion support mechanism 32 comprises a conversion jack 321 arranged at the top of the lifting frame and a pair of conversion beams 322 in sliding fit with the lifting frame, wherein the conversion jack 321 is connected with the conversion beams 322 and drives the conversion beams 322 to slide on the lifting frame and relatively approach or separate from the lifting frame, and when the standard joint assembly 35 is driven to a position higher than the conversion beams 322 by the lifting platform 36, the conversion jack 321 relatively approaches to and clamps the standard joint assembly 35, so that the force system conversion for supporting the standard joint assembly 35 is realized.

The feeding platform 34 comprises a feeding chassis, a feeding slide seat 341 slidably mounted on the feeding chassis along a horizontal direction, and a feeding jack 342 mounted on the feeding chassis and connected with the feeding slide seat 341, wherein the feeding slide seat 341 is further provided with a plurality of positioning bosses 343 for positioning and placing the standard joint assembly 35.

Referring again to fig. 3 to 5, etc., the chassis standard knot transfer device 4 includes a movable chassis mechanism 43 supporting the mechanical hydraulic devices 3, a foldable guide rail 41 disposed between the two mechanical hydraulic devices 3, and a standard knot transfer cart 42 movable back and forth on the unfolded foldable guide rail 41, the movable chassis mechanism 43 including a walkable chassis 430, a walking wheel assembly mounted on a bottom end surface of the walkable chassis 430, and a bolt automatic fixing structure 431 provided on the walkable chassis 430 and used for fixing with a construction floor. The folding manner of the foldable rail 41 may refer to the two-dimensional rail supporting mechanism 25, and the specific structure may be similar to that of the outer rail type working rail thereof.

The automatic bolt fixing structure 431 comprises a driving motor, a bolt seat sleeve 4312, a track sleeve 4313, a supporting bolt and a bolt sliding block 4315, wherein the driving motor is fixed on a walking chassis 430, the output end of the driving motor is connected with the bolt seat sleeve 4312, the track sleeve 4313 is fixed on the walking chassis 430 around the bolt seat sleeve 4312, a spiral lifting track 4314 is processed on the inner wall surface of the track sleeve 4313, a guide hole along the vertical direction is processed on the bolt seat sleeve 4312, the bolt sliding block 4315 is arranged in the bolt seat sleeve 4312, a protrusion which extends out of the guide hole and is matched with the spiral lifting track 4314 is processed on the side part of the bolt sliding block 4315, the top of the connecting bolt 4311 is fixedly connected with the bolt sliding block 4315, and the bottom of the connecting bolt is extended out of the track sleeve 4313. By the rotation of the bolt seat sleeve 4312, the bolt slider 4315 rises along the rail sleeve 4313, and the ground is driven by the connecting bolt 4311. In the process that the driving motor drives the bolt seat sleeve 4312 to rotate, the bolt sliding block 4315 is driven by the bolt seat sleeve 4312 to perform linear motion and simultaneously perform rotary motion along the spiral track of the track sleeve 4313, so that the connecting bolt 4311 is driven to rotate and drive into the construction ground. The structure is adopted to complete the fixation with the ground, and the fixing bolts are not required to be additionally installed manually, so that the time and the labor are saved, and the safety and the reliability are realized. More preferably, the traveling wheel assembly includes a driving wheel 4301 and a driven wheel, the driving wheel 4301 is driven to rotate by a traveling motor 4302, the driven wheel is a universal wheel 4303, and a shock absorbing spring 4304 is further arranged between the driven wheel and the walkable chassis 430.

In addition to the transport trolley 42 body which can be moved back and forth on the foldable guide rail 41, the transport trolley 42 body can be provided with a plurality of positioning protruding structures for positioning the standard joint assembly 35. While the body of the carriage 42 may be constructed as a carriage that is movable on, for example, an i-steel rail, as is commonly used in the art.

Referring again to fig. 19, etc., the outer rail working device 1 includes a working travelling carriage 11 movable on an outer rail working rail, an extendable mount mechanism 12 provided on the working travelling carriage 11 and extendable in the vertical direction, a multiple degree of freedom mechanical arm 13 mounted on the extendable mount mechanism 12, and an end effector 14 arranged on the multiple degree of freedom mechanical arm 13, the working travelling carriage 11 including a movable support mechanism movably erected on the outer rail working rail, a carriage clamping mechanism mounted on the movable support mechanism, a carriage positioning mechanism movably provided on the movable support mechanism, and the extendable mount mechanism 12 being fixedly connected to the movable support mechanism.

The trolley clamping mechanism comprises an elastic clamping unit which is rotationally connected with the motion supporting mechanism and a ball 1103 which is arranged on the elastic clamping unit, when the elastic clamping unit rotates to a vertical position on the motion supporting mechanism, the elastic clamping unit is in a compressed state, and the ball 1103 is abutted against and in rolling contact with the lower surface of the outer rail type working rail. More preferably, the motion supporting mechanism comprises a trolley body 1102 formed by symmetrically assembling two groups of U-shaped brackets and a trolley crawler wheel 1101 which is arranged at the free end of each group of U-shaped brackets and is in rolling contact with an outer I-shaped steel rail. Still further preferably, a trolley traveling gear 1109 is mounted at a free end of the U-shaped bracket, the trolley crawler wheel 1101 is fitted over the trolley traveling gear 1109, and an inner side surface of the trolley crawler wheel 1101 is engaged with the trolley traveling gear 1109. The trolley walking gears 1109 can be provided with a plurality of trolley walking gears 1109, the trolley crawler wheels 1101 are sleeved on the trolley walking gears 1109 and driven by the trolley walking gears to walk on the track, and due to the arrangement of the trolley crawler wheels 1101, the contact area of the walking trolley and the track can be enlarged, so that the walking stability of the walking trolley is improved, and in addition, at least one of the trolley walking gears 1109 is a driving gear, namely, the driving function is realized through driving rotation.

The motion supporting mechanism is also fixedly provided with a first connecting frame 1105, the elastic clamping unit comprises a clamping bracket rotationally connected with the connecting frame, a clamping rod 1104 arranged on the clamping bracket in a sliding manner along the vertical direction, and a trolley clamping spring 1112 sleeved on the clamping rod 1104, two ends of the trolley clamping spring 1112 respectively support against the ball 1103 and the clamping bracket, and the ball 1103 is rotationally arranged at the end part of the clamping rod 1104. Here, by machining a hole site for the bottom end of the clamping rod 1104 to pass through in a matching manner at the top of the clamping bracket, that is, the sliding connection between the clamping rod 1104 and the clamping bracket is realized, and similarly, the trolley positioning rod 1108 and the positioning bracket can also adopt similar structures, when the clamping bracket drives the clamping rod 1104 to rotate to a position perpendicular to the lower surface of the rail, the ball 1103 is abutted against the lower surface of the rail, at this time, the trolley clamping spring 1112 is in a compressed state, and the bottom part of the clamping rod 1104 extends into the position below the clamping bracket.

The motion supporting mechanism is also fixedly provided with a second connecting frame 1111, the positioning mechanism comprises a positioning bracket rotatably arranged on the second connecting frame 1111, a positioning rod 1108 arranged on the positioning bracket in a sliding manner along the vertical direction, a positioning block fixed on the head of the positioning rod 1108 and in a hemispherical shape, and a trolley positioning spring 1107 sleeved on the positioning rod 1108, wherein two ends of the trolley positioning spring 1107 respectively support against the positioning block and the second connecting frame 1111, and a positioning small hole for the positioning block to slide in is further arranged at the positioning point. When the positioning rod 1108 rotates to a vertical state, the positioning spring is in a compressed state, the hemispherical positioning block at the top of the positioning rod 1108 generates pressure on the track and is placed in the positioning small hole corresponding to the track, and when the positioning rod 1108 is in the small hole position, the trolley is in a positioning state.

In addition, the extensible mounting mechanism 12 can adopt a ball 1103 screw structure which is commonly used in the art and can realize the up-down lifting function, and the end effector 14 can be provided with various existing operation effectors such as a sucker type, a clamp type, a hook type, a spraying type and the like according to the requirement, so as to meet the operation functions of clamping, sucking, rotating, screwing, pushing, pulling and the like.

Example 2:

on the basis of the embodiment 1, the present embodiment provides a construction method of a non-road walking external track mechanical system for building an assembled building, which can decompose a building workflow into the following steps: the chassis standard joint conveying device 4 moves the stage, the outer rail type guide rail device 2 expands the stage, the mechanical hydraulic device 3 lifts up the stage, the outer rail operation device 1 carries out the stage, fold and retrieve the stage;

the construction method of the motion stage of the chassis standard knot conveying device 4 comprises the following steps:

step S1: the construction links of foundation such as building site foundation and the like are completed, site digital construction scenes are detected and established through an arranged sensing system, and target walking route parameters and stay position positioning reference parameters are input into a controller through a relevant space positioning device (the step can be the conventional technology in the field);

Step S2: the controller sends out an instruction to start a walking wheel assembly in the walking chassis 430 to walk along a planned path or along a pre-designed track; the walking wheel assembly is supported by a movable chassis mechanism 43 which can be automatically fixed, and walks to a preset construction site through the movable chassis mechanism 43 in a track folding state;

step S3: the foldable guide rail 41 is unfolded at a construction site through the movable chassis mechanism 43, and in the unfolding process, the automatic locking joint 22 on the foldable guide rail 41 is matched to realize track locking, so that the unfolded foldable guide rail 41 is supported;

step S4: after the foldable guide rail 41 is unfolded, the movable chassis mechanism 43 moves to a preset position through space positioning, the position of the movable chassis mechanism 43 is monitored in real time by utilizing an induction system and fed back to a control system, a connecting bolt 4311 with preset high strength is driven into the ground through a bolt automatic fixing structure 431 on the movable chassis mechanism 43, the connecting bolt 4311 is matched with a ground precast bolt hole, the whole device is fixed with the ground, and the next construction is carried out;

step S5: the standard section transport trolley 42 moves to a set position on the unfolded foldable guide rail 41, the standard section assembly 35 is installed on the standard section transport trolley 42, the standard section transport trolley 42 with the standard section assembly price is moved to the lifting frame 31 areas at the two ends of the track along the track, and the standard section assembly 35 is conveyed to the working area of the lifting platform 36 by matching with the feeding platform 34;

Step S6: after the standard knot assembly 35 is conveyed, the standard knot transport trolley 42 returns to the standard knot loading position, and the next standard knot transport operation is repeated.

After step S6, the method further includes a control method for a track system deployment stage, where the steps are performed synchronously with the steps S3 and S4, and the following steps are performed:

the construction method of the outer rail type guide rail device 2 in the unfolding stage has the control target of two-dimensional unfolding of the outer rail type working rail, and comprises the following steps:

step S7: the control system is activated by an electrical signal and the power required for deployment of the outer track rail assembly 2 is provided by the movable chassis mechanism 43. For the two-dimensional folding and unfolding outer guide rail mechanism of the outer rail structure, the two-dimensional folding and unfolding outer guide rail mechanism sequentially leaves the two-dimensional guide rail supporting mechanism 25 in a transverse two-dimensional plane and a longitudinal two-dimensional plane, the sensing system detects the straightness and other characteristics of the two-dimensional folding and unfolding outer guide rail mechanism and feeds the straightness and other characteristics back to the control system, and the control system sends an electric signal to the movable chassis mechanism 43 in real time to adjust the travelling speed of the movable chassis mechanism;

step S8: after the I-steel structure of the two-dimensional folding and unfolding outer guide rail mechanism reaches a set position, an auxiliary structure (comprising an automatic locking joint 22 and the like) autonomously completes fixation and locking between I-steel rails, and the auxiliary structure is used as an auxiliary supporting mechanism for providing supporting force for the guide rail system and guaranteeing straightness by manually inserting a fixing pin structure into the guide rail system (namely, locking by adopting a mode of inserting a fixing pin between two adjacent outer rail unit structures 21);

After step S8, the method further comprises a control method for the lifting stage of the mechanical hydraulic device 3, which comprises the following steps:

step S9: each sensor at the connecting bolt 4311 detects that the sensor at the unfolding track detects that the two-dimensional folding outer guide rail mechanism has completed the unfolding and locking steps, and then the next step of upright post jacking can be performed;

step S10: the sensing system detects whether each carrying platform (namely, the standard section transportation trolley 42) is loaded with a standard section structure or not, reminds constructors of loading the standard section structure on the standard section transportation trolley 42, and conveys the standard section assembly 35 to the carrying platform (namely, the feeding platform 34) of the mechanical hydraulic device 3 through the control system electric signal control, and the standard section transportation trolley 42 returns to the initial position;

step S11: the sensing system detects the condition of the loading on the feeding platform 34, the control system sends out an electric signal to control the jacking power element (namely the jacking jack 361) to jack the standard joint component 35 on the loading platform, the standard joint component 35 is automatically connected and locked with the elastic buckle connecting piece 353 on the jacking platform 36 through the hook buckle connecting piece 352, the jacking jack 361 continues to jack to a set position, at the moment, the standard joint component 35 conveyed in place is connected with the standard joint component 35 on the two-dimensional track supporting mechanism above (through the hook buckle connecting piece 352 and the elastic buckle connecting piece 353), and the specific connection process is as follows: the auxiliary claw 3322 moving in place is closed and presses the first boss 35231 of the hook rod on the standard joint assembly 35, so that the hook rod member 3523 is pressed down and extended and connected with the elastic buckle connecting piece 353;

Step S12: the control system sends out an electric signal according to a sensing system signal, the control force system changes the supporting mechanism 32 to work, the change-over jack 321 drives the change-over beam 322 to relatively close so as to clamp the standard joint component 35 positioned at a set position, meanwhile, the auxiliary claw 3322 on the auxiliary platform 33 also rises to the flush position of the elastic buckle connecting piece 353 on the lifting platform 36 along with the auxiliary jack 334, then the auxiliary claw 3322 is controlled to close so that the wedge-shaped boss 35323 on the elastic buckle connecting piece 353 is pressed back, thus the hook buckle connecting piece 352 at the bottom of the standard joint component 35 is disconnected with the elastic buckle connecting piece 353 on the lifting platform 36, the lifting platform 36 descends to return to the lifting initial position, and the lifting process of one standard joint height is completed;

step S13: repeating the steps S9 to S12, thereby realizing the automatic jacking operation of the N standard joint assemblies 35, wherein N is an integer not less than 2; the sensing system detects the heights of the two-dimensional folding and unfolding outer guide rail mechanism and the foundation, and the control system terminates the system jacking stage after the two-dimensional folding and unfolding outer guide rail mechanism reaches the set working height; in order to better maintain the stability of the whole system, the stacked standard joint assembly 35 can be transferred from the conversion beam 322 to the standard joint underframe 37 below and fixed through the jacking platform 36, so that the force system conversion is achieved, and the gravity of the standard joint is firstly converted to the stress of the main upright post and the jacking jack 361 by the conversion beam 322 and then converted to the stress of the standard joint underframe 37.

After step S13, the method further includes a construction method of the execution stage of the working system, which includes the following steps:

step S14: the control system digitally builds a scene and a related space positioning device through a field, and inputs reference parameters such as target walking route parameters, stay position positioning, path planning and the like into the controller; the working travelling trolley 11 which is adapted to the preset position is manually arranged in the outer rail type working rail, the multi-degree-of-freedom mechanical arm 13 with the end effector 14 is hung, charged initialization is carried out, and communication is carried out through a wireless transmission and control system and a sensing system.

Step S15: the control system sends out an electric signal to control the lifting system to suspend and lift the building prefabricated member and related assembly parts to the reachable positions of the mechanical arms; the control system sends out an instruction to start the operation traveling trolleys 11 to realize omnidirectional traveling on the track according to the planned path, so that the operation traveling trolleys 11 are ensured to have no interference cooperative work;

step S16: the sensing system measures the real-time position of the operation walking trolley 11 to detect and feed back position parameters, and the control system determines whether the operation walking trolley 11 reaches a preset stay position according to the received position parameter information of the operation walking trolley 11; when the operation walking trolley 11 reaches a preset stay position, the control system sends out an electric signal to control the operation walking trolley 11 to stop running, and meanwhile, a trolley positioning mechanism on the operation walking trolley 11 is matched with an outer rail type working rail to position and fix; the control system sends out instructions to control the motors of the multi-degree-of-freedom mechanical arm 13, the end effector 14 and other structures to run according to the pre-input working content, and the clamp, suction, rotation, screwing, pushing, pulling and other operation functions are completed.

After step S16, the method further comprises a folding recovery stage, including the following steps:

step S17: the control system sends out an electric signal to control the movable chassis mechanism 43 to release the fixed connection with the foundation structure and control the movable chassis mechanism 43 to move to separate the whole frame structure from the area of the building space;

step S18: the lifting platform 36 is matched with the auxiliary platform 33 and the force system conversion supporting mechanism 32, the standard joint assembly 35 is disconnected in sequence and is transported out through the standard joint transportation trolley 42, the descending, standard joint disassembly, transportation and storage processes of the mechanical hydraulic device 3 are completed, and the height of the outer track type guide rail device 2 is reduced;

step S19: initializing and powering off the operation walking trolley 11 and the multi-degree-of-freedom mechanical arm 13 in the outer rail operation device 1, and manually disassembling and recycling;

step S20: the control system cooperates with the manual disconnection of the movable chassis mechanism 43 and the auxiliary locking structure in the outer track type guide rail device 2, and the control system sends out an electric signal to control the movable chassis 430 to move, so that the folding among the guide rails is completed, the guide rails are recovered to the original position for manual fixation, the whole structure is restored to the initial state, and a complete work flow is completed.

The previous description of the embodiments is provided to facilitate a person of ordinary skill in the art in order to make and use the present invention. It will be apparent to those skilled in the art that various modifications can be readily made to these embodiments and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above-described embodiments, and those skilled in the art, based on the present disclosure, should make improvements and modifications without departing from the scope of the present invention.

Claims

1. An off-road walk out-of-track mechanical system for fabricated building construction, comprising:

an outer rail working device;

2. The non-road walking external rail mechanical system for fabricated building construction according to claim 1, wherein the two-dimensional folding external rail mechanism comprises a plurality of external rail unit structures arranged on the two-dimensional rail supporting mechanism, an automatic locking joint arranged between two adjacent external rail unit structures and used for locking the two adjacent external rail unit structures, and a crossed rail reversing structure for connecting the two external rail unit structures respectively positioned in different directions, wherein the two external rail unit structures adjacent in the same direction are rotationally connected through a hinge connection structure.

3. The non-road walking external rail mechanical system for fabricated building construction according to claim 2, wherein the cross rail reversing structure comprises a mounting base, and a first cross rail, a second cross rail and a reversing rail which are arranged on the mounting base, wherein the first cross rail and the second cross rail are respectively rotatably connected with external rail unit structures in different directions, and the reversing rail is rotatably arranged on the mounting base and is positioned at the crossing position of the first cross rail and the second cross rail, and the reversing rail is connected with the first cross rail or the second cross rail by rotating the reversing rail;

the mounting base is provided with a turning power unit which is connected with the reversing rail through a turning shaft;

the parts of the first cross track and the second cross track, which are respectively contacted with the reversing track, are arc-shaped, and the arc-shaped contact parts of the first cross track and the second cross track are positioned on the same circumference line taking the rotation center of the reversing track as the circle center.

4. The off-road walking external rail machine system for fabricated building construction according to claim 1, wherein the mechanical hydraulic device comprises a lifting frame supporting the two-dimensional rail supporting mechanism, a feeding platform for horizontally conveying the standard joint assembly, a lifting platform mounted on the lifting frame for lifting the standard joint assembly, an auxiliary platform arranged on the lifting frame, and a force system conversion supporting mechanism positioned on top of the lifting frame for carrying the standard joint assembly sent by the lifting platform,

The standard joint component comprises a standard joint frame, at least one elastic buckle connecting piece and at least one hooking connecting piece which are respectively arranged at the top and the bottom of the standard joint frame, wherein the hooking connecting piece comprises a hooking mounting seat and a hooking rod piece which is arranged on the hooking mounting seat in a sliding way along the vertical direction, the hooking rod piece is also sleeved with a first reset elastic piece which applies upward elastic force to the hooking rod piece, the elastic buckle connecting piece comprises an elastic buckle mounting seat and an elastic buckle piece which is arranged on the elastic buckle mounting seat in a sliding way along the horizontal direction, a second reset elastic piece which enables the elastic buckle piece to outwards pop out is arranged between the elastic buckle piece and the elastic buckle mounting seat, the elastic buckle piece is provided with an elastic buckle bump which can reversely buckle the bottom of the hooking rod piece, when the upper standard joint component and the lower standard joint component are butted, the hooking rod piece on the upper standard joint component is pressed to a buckling position by an auxiliary platform, the elastic buckle piece on the standard joint component on the lower standard joint component is outwards popped out, so that the elastic buckle bump reversely buckles the elastic buckle piece,

the bottom area of the lifting frame is also provided with a standard joint underframe capable of bearing the standard joint assembly.

5. The non-road walking external rail mechanical system for fabricated building construction according to claim 4, wherein the standard section frame comprises a plurality of standard section columns which are arranged side by side at intervals along the circumferential direction and are fixedly connected with each other, the top of each standard section column is provided with a top boss, and the bottom of each standard section column is provided with a bottom groove into which the top boss can be embedded;

The lifting platform comprises a lifting jack fixed on the lifting frame, a flange platform fixedly connected with a hydraulic rod of the lifting jack, and a spring buckle connecting structure which is arranged on the flange platform and is used for detachably connecting a hook buckle connecting piece at the bottom of the standard section assembly, and a guide boss which can be embedded into the standard section frame is further arranged in the middle area of the top end of the flange platform;

the auxiliary platform comprises an auxiliary jack, an auxiliary frame and an auxiliary connecting piece, wherein the auxiliary jack is arranged on the lifting frame, the auxiliary frame is fixedly arranged with the auxiliary jack and is slidably arranged on the lifting frame, the auxiliary connecting piece is arranged on the auxiliary frame, and the auxiliary connecting piece comprises an auxiliary mounting seat, two auxiliary sliding blocks, and auxiliary claws, the two auxiliary sliding blocks can slide along the auxiliary mounting seat and can relatively approach or separate from the auxiliary mounting seat, and the auxiliary claws are respectively connected with the two auxiliary sliding blocks;

a third reset elastic piece which enables the two auxiliary sliding blocks to be relatively spread is further arranged between the two auxiliary sliding blocks, an electromagnet positioned between the two auxiliary sliding blocks is further arranged on the auxiliary installation seat, and when the electromagnet is electrified, under the action of magnetic force of the electromagnet, the two auxiliary sliding blocks drive the auxiliary claw to relatively close under the action of overcoming the third reset elastic piece;

The force system conversion supporting mechanism comprises a conversion jack arranged at the top of the lifting frame and a pair of conversion beams in sliding fit with the lifting frame, wherein the conversion jack is connected with the conversion beams and drives the conversion beams to slide on the lifting frame and relatively approach or separate from the lifting frame, and when the standard joint assembly is driven to be higher than the position of the conversion beams by the lifting platform, the conversion jack relatively approaches to and clamps the standard joint assembly to realize force system conversion for supporting the standard joint assembly.

6. A non-road walking external rail machine system for use in fabricated building construction according to claim 1, wherein the chassis standard joint transfer device comprises a movable chassis mechanism supporting the mechanical hydraulic devices, a foldable rail disposed between the two mechanical hydraulic devices, and a standard joint transportation cart movable back and forth on the unfolded foldable rail, the movable chassis mechanism comprising a walkable chassis, a walking wheel assembly mounted on a bottom end surface of the walkable chassis, and an automatic bolt fixing structure provided on the walkable chassis for fixing with a construction floor.

7. The non-road walking external rail mechanical system for fabricated building construction according to claim 6, wherein the automatic bolt fixing structure comprises a driving motor, a bolt seat sleeve, a rail sleeve, a supporting bolt and a bolt slider, wherein the driving motor is fixed on the walkable chassis, an output end of the driving motor is connected with the bolt seat sleeve, the rail sleeve is fixed on the walkable chassis around the bolt seat sleeve, a spiral lifting rail is processed on an inner wall surface of the rail sleeve, a guide hole along a vertical direction is processed on the bolt seat sleeve, the bolt slider is placed in the bolt seat sleeve, a protrusion which extends out of the guide hole and is matched with the spiral lifting rail is further processed on a side part of the bolt slider, the top of the connecting bolt is fixedly connected with the bolt slider, and the bottom of the connecting bolt extends out of the rail sleeve.

8. The off-road walking external rail mechanical system for fabricated building construction according to claim 1, wherein the external rail working device comprises a working walking trolley which can move on the external rail working rail, an extensible mounting mechanism which is arranged on the working walking trolley and can stretch and retract along the vertical direction, a multi-degree-of-freedom mechanical arm which is arranged on the extensible mounting mechanism, and an end effector which is arranged on the multi-degree-of-freedom mechanical arm, the working walking trolley comprises a movable supporting mechanism which can be movably erected on the external rail working rail, a trolley clamping mechanism which is arranged on the movable supporting mechanism, a trolley positioning mechanism which is movably arranged on the movable supporting mechanism, and the extensible mounting mechanism is fixedly connected on the movable supporting mechanism.

9. The off-road walking outer rail mechanical system for fabricated building construction of claim 8, wherein the trolley clamping mechanism comprises an elastic clamping unit rotatably connected to the moving support mechanism, and balls mounted on the elastic clamping unit, the elastic clamping unit is in a compressed state when the elastic clamping unit is rotated to a vertical position on the moving support mechanism, and the balls abut against and are in rolling contact with the lower surface of the outer rail type working rail.

10. A method of constructing a non-road walking external rail machine system for fabricated building construction according to any of claims 1-9, comprising a chassis standard section conveyor movement phase for transporting a standard section assembly from a standard section loading position to a jacking position of a mechanical hydraulic device, an external rail guide means deployment phase, a mechanical hydraulic device jacking phase, an external rail working device execution phase, a fold recovery phase;