WO2020155536A1

WO2020155536A1 - Mechanically assisted prefabricated wall mounting method

Info

Publication number: WO2020155536A1
Application number: PCT/CN2019/093055
Authority: WO
Inventors: 何亮; 王鹏起; 谭丹君; 武发德; 刘长柏; 尹东杰; 简铭
Original assignee: 北新集团建材股份有限公司
Priority date: 2019-01-30
Filing date: 2019-06-26
Publication date: 2020-08-06
Also published as: CN111502295A; CN111502295B

Abstract

A mechanically assisted prefabricated wall mounting method, performed using a mechanically assisted prefabricated wall mounting cart, comprising a grasper module (1), the grasper module (1) being capable of moving along an up and down direction, and rotating around a horizontal axis in a horizontal direction and around a rotation axis (15) perpendicular to the up and down direction and the horizontal direction. The method comprises: moving the mechanically assisted mounting cart to a wall panel location, the grasper module (1) rotating forward around the horizontal axis, and grabbing a wall panel; the grasper module (1) moving upward and rotating backward around the horizontal axis, causing the wall panel to be in a vertical state; moving the mechanically assisted mounting cart to a mounting location, and performing mounting of the wall panel. The present mounting method eases labor intensity, improving mounting efficiency.

Description

A mechanical auxiliary installation method for fabricated wall

Technical field

The embodiments of the present application relate to but not limited to the field of construction of building materials, and particularly relate to but not limited to a mechanically assisted installation method of a fabricated wall.

Background technique

The installation of building materials such as walls is mostly manual operation, the installation quality is uneven, the construction efficiency is low, the construction is time-consuming and laborious, and the labor cost is high. For the construction personnel, due to the generally heavy wall, the work intensity is high and the construction period is long.

Summary of the invention

The following is an overview of the topics detailed in this article. This summary is not intended to limit the scope of protection of the claims.

The embodiment of the present application provides a mechanically assisted installation method for a fabricated wall. Using this installation method greatly reduces the labor intensity of the construction personnel, improves the installation efficiency of the construction personnel, and greatly reduces the construction cost.

In order to achieve the purpose of the embodiments of this application, the technical solutions adopted in the embodiments of this application are as follows:

The embodiment of the application provides a method for mechanically assisted installation of a fabricated wall, which is carried out by using a mechanically assisted installation vehicle for a fabricated wall. The mechanically assisted installation vehicle for a fabricated wall includes a gripper module. The gripper module can move up and down, rotate around a horizontal axis along the horizontal direction, and rotate around a rotation axis that is perpendicular to the up and down direction and perpendicular to the horizontal direction;

The mechanical auxiliary installation method of the fabricated wall includes:

Move the mechanical auxiliary installation cart to the wallboard, the gripper module rotates forward around the horizontal axis, so that the gripper module tilts forward to grab the wallboard;

The gripper module moves upward, and the gripper module rotates backwards around the horizontal axis, so that the wall panel is in a vertical state;

Move the mechanical auxiliary installation cart to the installation position to install the wall panel. After reading and understanding the summary of the drawings and the embodiments of the application, other aspects can be understood.

Figure overview

FIG. 1 is a schematic diagram of a three-dimensional structure of a mechanically assisted installation vehicle for a fabricated wall according to an embodiment of the application;

FIG. 2 is a schematic diagram of another perspective three-dimensional structure of the mechanically assisted installation vehicle for the fabricated wall according to an embodiment of the application;

FIG. 3 is a schematic front view of the structure of the mechanical auxiliary installation vehicle for the fabricated wall according to an embodiment of the application;

FIG. 4 is a schematic side view of the structure of the mechanical auxiliary installation vehicle for the fabricated wall according to an embodiment of the application;

FIG. 5 is a schematic diagram of a top view structure of a mechanically assisted installation vehicle for a fabricated wall according to an embodiment of the application;

Fig. 6 is a schematic structural diagram of a hand operator of a mechanically assisted installation vehicle for a fabricated wall according to an embodiment of the application;

Fig. 7 is a flow chart of a method for mechanically assisted installation of a fabricated wall according to an embodiment of the application.

Illustration description:

1-handle module, 11-mounting arm, 111-protrusion, 12-suction cup, 13-support frame, 14-sliding frame, 15-rotating shaft, 2-lifting module, 21-first electric cylinder, 22- Lifting bracket, 3-turning module, 31-second electric cylinder, 32-turning support, 4-third electric cylinder, 5-device body, 51-air tank, 52-vacuum pump, 53-caster, 54-battery, 55-first step, 56-second step, 57-third step, 58-tool box, 6-hand manipulator, 61-hand control button, 62-flip control button, 63-lift control button , 64-Turn the control button.

Detail

Hereinafter, the embodiments of the present application will be described in detail with reference to the drawings.

The embodiment of the present application provides a mechanically-assisted installation method for a fabricated wall. The mechanically-assisted installation method is performed by using a mechanically-assisted installation vehicle for a fabricated wall.

The mechanical auxiliary installation vehicle of the fabricated wall may include a gripper module, which can move up and down, rotate around a horizontal axis along the horizontal direction, and rotate around a rotation axis that is vertical to the up and down direction and perpendicular to the horizontal direction .

As shown in Figure 7, the mechanical auxiliary installation method of the fabricated wall includes the following steps:

Move the mechanical auxiliary installation cart to the wallboard, and the gripper module rotates forward around the horizontal axis to make the gripper module tilt forward and grab the wallboard;

The gripper module moves up, and the gripper module rotates backwards around the horizontal axis to make the wallboard in a vertical state;

Move the mechanical auxiliary installation cart to the installation position to install the wall panel.

Before installation, the wall panel is usually placed at an inclined angle, so before grabbing the wall panel, the gripper module needs to be rotated forward around the horizontal axis, so that the upper part of the gripper module is tilted forward, so that the inclination direction of the gripper module is consistent with the inclination direction of the wall panel. So that the gripper module can grab the wallboard. After grabbing the wall panel, the gripper module drives the wall panel to move upward, and the gripper module rotates backwards around the horizontal axis, so that the inclined wall panel is in a vertical state. Subsequently, the mechanical auxiliary installation vehicle is moved to transport the wall panels to the installation location for installation of the wall panels.

Using the mechanically assisted installation method for fabricated walls provided by the embodiments of the present application greatly reduces the labor intensity of the construction personnel, improves the efficiency of installation, and the installation quality is well guaranteed, and the overall construction of the wall installation is shortened Cycle, reducing the overall cost of construction. In addition, the mechanically assisted installation vehicle for the fabricated wall provided by the embodiments of the present application has a relatively simple structure, high working reliability, and long service life, which is beneficial to a wide range of popularization and use, and greatly improves the practicability of the embodiments of the present application.

As shown in Figures 1 to 5, the mechanical auxiliary installation vehicle can include an equipment body 5, a gripper module 1, a turning module 3, and a lifting module 2. The turning module 3 can be installed on the equipment body 5, and the lifting module 2 can be installed on the On the turning module 3, the gripper module 1 can be installed on the lifting module 2 through a rotating shaft 15, and the gripper module 1 can rotate around the rotating shaft 15.

Among them, the turning module 3 can be configured to drive the lifting module 2 and the gripper module 1 installed on the lifting module 2 to rotate around a horizontal axis along the horizontal direction, and the lifting module 2 can be configured to drive the gripper module 1 to move up and down. The axial direction of the rotating shaft 15 can be set to be perpendicular to the up and down direction and perpendicular to the horizontal direction.

For ease of illustration, Figure 1 shows the XYZ coordinate system. Among them, the horizontal direction can be the Y-axis direction, the horizontal axis can extend along the Y-direction; the up-down direction can be the Z-axis direction; the rotation axis 15 can extend along the X-axis.

In the mechanically assisted installation vehicle for the fabricated wall, the lifting module 2 is mainly used to adjust the height of the gripper module 1 in the vertical direction, that is, the lifting module 2 can drive the gripper module 1 to move up and down along the Z axis. The turning module 3 is mainly used to control the gripper module 1 (and the lifting module 2) to perform forward tilting and resetting movements, that is, to reciprocate around the Y axis. The gripper module 1 can also rotate around the rotation axis 15 on the plane where it is located, that is, the gripper module 1 can reciprocate around the X axis, that is, rotate on the YZ plane.

In some embodiments, the wall panel may be rectangular, and the wall panel may be in a horizontal state where the long side is placed on the ground. In this case, before the step of turning the gripper module forward around the horizontal axis, the mechanically assisted installation method of the fabricated wall may further include: rotating the gripper module 90 degrees around the rotation axis.

After the gripper module rotates 90 degrees around the axis of rotation, the gripper module can be converted from the vertical state (shown in Figure 1) to the horizontal state, so that the setting state of the gripper module matches the placement state of the wallboard, so that the gripper module can grasp Take the wall panel placed horizontally.

Between the step of grabbing the wall panel and the step of installing the wall panel, the mechanically assisted installation method of the fabricated wall may further include: rotating the gripper module 90 degrees around the rotation axis to make the wall panel in a longitudinal state.

When the wall panel is installed, it is in the vertical state. Therefore, after grabbing the wall panel and before installing the wall panel, the gripper module needs to be rotated 90 degrees around the axis of rotation to convert the wall panel from the horizontal state to the vertical state to facilitate the wall panel installation. In a specific example, before the mechanical auxiliary installation cart is moved to the installation position, the gripper module can be rotated 90 degrees around the rotation axis to make the wallboard in a longitudinal state.

In some embodiments, the wall panel may be rectangular, and the wall panel may be placed in a longitudinal state with short sides on the ground. In this case, the gripper module moves up and the gripper module rotates backwards around the horizontal axis to make the wallboard in a vertical state. The steps include:

Move the gripper module up a certain distance;

The gripper module rotates backward by a certain angle;

Repeat the steps of moving the gripper module upwards and rotating backwards until the lower edge of the wall panel leaves the ground and the wall is in a vertical state.

When the wall panel is placed vertically, the gripper module does not need to rotate 90 degrees around the rotation axis, and can directly grab the wall panel after tilting forward. Since the difference between the height of the ceiling and the height of the wall panel is small, the inclination angle of the hand module and the wall panel can be maintained in the process of moving the gripper module up and back to make the wall panel in a vertical state No change, make the gripper module drive the wallboard up a certain distance; then, keep the height of the gripper module unchanged, so that the gripper module drives the wallboard to rotate backwards by a certain angle. Repeat the steps of moving the gripper module upwards and turning backwards until the lower edge of the wall panel leaves the ground and the wall is in a vertical state.

As shown in FIGS. 1 to 3, the gripper module 1 may include a mounting arm 11 and a suction cup 12, the mounting arm 11 may be installed on the lifting module 2, and the suction cup 12 may be installed on the mounting arm 11. The front part of the mounting arm 11 may be provided with a protrusion 111, and the suction cup 12 may be installed on the protrusion 111 of the mounting arm 11.

In a specific example, the grip module 1 may include two mounting arms 11, and the two mounting arms 11 are vertically arranged, and each mounting arm 11 may be provided with two upper and lower protrusions 111. The number of the suction cups 12 can be four, which are respectively mounted on the four protrusions 111, and the four suction cups 12 can be located on the same plane.

The equipment body 5 may include a vacuuming system (including a vacuum pump 52) for cooperating with the suction cup 12 to vacuum the space between the suction cup 12 and the wallboard, so that the suction cup 12 and the wallboard are sucked and fixed.

In some embodiments, the gripper module includes a suction cup at the lower part and a suction cup at the upper part. In this case, the step of moving the mechanical auxiliary installation vehicle to the wallboard, the gripper module rotates forward around the horizontal axis, so that the gripper module is tilted forward, and the steps of grabbing the wallboard may include:

Tilt the gripper module forward for the first angle, and push the mechanical auxiliary installation cart to move toward the wall panel until the suction cup at the bottom touches the wall panel;

The gripper module continues to lean forward until the upper suction cup contacts the wall panel;

The vacuum system works to vacuum the space between the upper suction cup and the wall panel, and the space between the lower suction cup and the wall panel, so that the upper suction cup and the lower suction cup are both sucked into the wall panel.

In the process of using the suction cup to fix the wall panel, the gripper module first tilts forward at a first angle (less than the angle between the inclined wall panel and the vertical plane), and then pushes the mechanical auxiliary installation cart to move toward the wall panel. When the lower suction cup comes into contact with the wall panel, the mechanical aid installation cart stops moving; then, the gripper module continues to tilt forward until the upper suction cup contacts the wall panel. At this time, the upper suction cup and the lower suction cup are in contact with the wall panel, and the space between the upper suction cup and the wall panel and the space between the lower suction cup and the wall panel are vacuumed by the vacuum system to make the upper suction cup Both the suction cup and the lower part are sucked into the wallboard to realize the grabbing of the wallboard.

When the angle between the inclined wall panel and the vertical plane is large, the gripper module can be tilted forward twice to realize the grabbing of the wall panel. When the angle between the obliquely placed wallboard and the vertical plane is small, the gripper module can be tilted forward only once to realize the grabbing of the wallboard.

In a specific example, the angle between the obliquely placed wall panel and the vertical plane is small (for example, less than 20 degrees), the process of grabbing the wall panel may include: pushing the mechanical auxiliary installation cart to move toward the wall panel until the lower part Then, the gripper module is tilted forward until the upper suction cup is in contact with the wall panel; then, the vacuum system works to make the upper suction cup and the lower suction cup both suck and fix the wall panel.

In another specific example, the angle between the obliquely placed wall panel and the vertical plane is relatively large (for example, between 20 degrees and 30 degrees), the process of grabbing the wall panel may include: tilting the gripper module forward At the first angle, push the mechanical auxiliary installation cart to move towards the wall panel until the lower suction cup contacts the wall panel; then, the gripper module is tilted forward again until the upper suction cup contacts the wall panel; then, the vacuum system works to make The upper suction cup and the lower suction cup are both sucked and fixed with the wallboard.

It should be understood that when the angle between the obliquely placed wallboard and the vertical plane is small, the gripper module can be used to tilt forward twice to realize the grabbing of the wallboard.

In some embodiments, before the step of forwardly rotating the gripper module around the horizontal axis, the mechanically assisted installation method of the fabricated wall further includes: moving the gripper module up and down to adjust the height of the gripper module.

Before grabbing the wallboard, the height of the gripper module can be adjusted to adapt the height of the gripper module to the height of the wallboard so that the gripper module can grab the wallboard.

In a specific example, a rectangular wall panel is placed horizontally. After the gripper module is rotated from a vertical state to a horizontal state, the height of the gripper module can be adjusted so that the gripper module can grab the horizontally placed wallboard.

In some embodiments, between the step of moving the mechanical auxiliary installation vehicle to the installation position and the step of installing the wall panel, the mechanical auxiliary installation method of the fabricated wall may further include:

The gripper module moves to adjust the position and/or posture of the wall panel.

In a specific example, the step of adjusting the position and/or posture of the wall panel by the action of the gripping module includes at least one of the following steps:

The gripper module moves up and down to adjust the height of the wall panel;

The gripper module rotates around the horizontal axis to adjust the posture of the wall panel; and

The gripper module moves horizontally along the horizontal direction (that is, the Y-axis direction) to adjust the horizontal position of the wallboard.

Before installing the wallboard, correct the position and posture of the wallboard for subsequent wallboard installation.

As shown in FIGS. 1 and 3, the grip module 1 may further include a supporting frame 13, the supporting frame 13 may be installed on the lifting module 2, and the mounting arm 11 may be horizontally slidably installed on the supporting frame 13 along the Y direction. In order to allow the mounting arm 11 to slide easily on the support frame 13, a guide rail extending in the Y direction can be provided on the support frame 13, a sliding block can be provided on the mounting arm 11, and the mounting arm 11 can follow the guide rail on the support frame 13 Or, the support frame 13 can be provided with a slider, the mounting arm 11 can be provided with a guide rail extending in the Y direction, and the mounting arm 11 can slide on the support frame 13 along the guide rail direction.

The grip module 1 may further include a hand wheel assembly (not shown in the figure), and the hand wheel assembly is connected with the mounting arm 11.

The hand wheel assembly may include a hand wheel and a screw nut transmission mechanism, wherein the hand wheel may be connected with the screw of the screw nut transmission mechanism, and the nut of the screw nut transmission mechanism may be connected with the mounting arm 11. The hand wheel assembly is used to adjust the distance between the two mounting arms 11, so that the gripper module 1 is suitable for gripping wall panels with a width ranging from 400 to 1200 mm. The hand wheel assembly in the grip module 1 can be matched with the supporting frame 13 so that the distance between the two mounting arms 11 can be adjusted.

The screw nut drive mechanism is connected to the mounting arm 11. It can be that the nut is connected to only one mounting arm 11. By rotating the handwheel in forward and reverse directions, the screw is driven to rotate, thereby driving a mounting arm 11 to slide on the support frame 13, achieving two Adjust the distance between the two mounting arms 11. Through the screw and nut transmission mechanism, the guide rail and the sliding block, the adjustment of the mounting arm 11 is more reliable.

Regarding the two mounting arms 11, each mounting arm 11 may be a whole section, that is, the distance between the two suction cups 12 on one mounting arm 11 is fixed. However, the distance between the two suction cups 12 on the mounting arm 11 can be changed according to actual needs. For example, by setting the mounting arm 11 as two sections connected by a sliding rail and a sliding block, the distance between the two suction cups 12 on the mounting arm 11 can be adjusted.

As shown in Figure 1, the mechanically assisted installation vehicle for the fabricated wall may also include a sliding frame 14, which can be horizontally slidably mounted on the lifting module 2, and the gripper module 1 is mounted on the sliding frame 14 through a rotating shaft 15. .

The sliding frame 14 allows the mounting arm 11 and the suction cup 12 to move in the horizontal direction (ie Y-axis direction) by ±20mm during work. With the lifting module 2, the horizontal and vertical positions of the wall panel can be fine-tuned to facilitate the installation of the wall panel. The sliding frame 14 can be fine-tuned, and can be kept fixed in a certain position by a cylinder arranged inside the equipment body 5. The cylinder has a throttle valve, and the cylinder with the throttle valve is used to provide the left and right fine adjustment of the sliding frame 14 Damping force, it can pass in normal air without compressed air.

When there is no external force in the horizontal direction, the air cylinder with the throttle valve can keep the sliding frame 14 fixed to fix the horizontal position of the grip module 1 and the wall panel. A horizontal external force is applied to the sliding frame 14 to overcome the holding force of the air cylinder with a throttle valve. The sliding frame 14 can slide horizontally relative to the lifting module 2 to adjust the horizontal position of the gripper module 1 and the wallboard.

As shown in FIGS. 1 to 3, the turning module 3 may include a turning bracket 32, and the turning bracket 32 may be hinged to the device body 5. The height of the top end of the turning bracket 32 from the ground may be about 2021 mm.

The turning module 3 may further include a second electric cylinder 31 configured to control the turning of the turning bracket 32. The turning bracket 32 can reciprocate around a horizontal axis extending in the horizontal direction (Y-axis direction), and then drive the gripper module 1 to rotate around the Y-axis to realize the forward, backward and reset movement of the gripper module 1 and the wallboard .

As shown in FIGS. 2 and 3, the lifting module 2 may include a lifting bracket 22 and a first electric cylinder 21. The lifting bracket 22 is slidably mounted on the turning bracket 32 of the turning module 3, and the sliding frame 14 and the gripping module 1 can be mounted on the lifting bracket 22. The first electric cylinder 21 is configured to adjust the height of the gripper module 1 on the turning bracket 32, that is, adjustment in the Z-axis direction.

As shown in Figures 2 and 3, the gripper module 1 may also include a rotating module, which may include a third electric cylinder 4, which is configured to control the gripper module 1 to rotate on its plane, namely The gripper module 1 can rotate on the YZ plane. Among them, the driving end of the third electric cylinder 4 can be connected to the support frame 13 of the gripper module 1, so as to drive the support frame 13 and the mounting arm 11 and the suction cup 12 installed on the support frame 13 around the rotation axis 15 in the YZ plane. Rotation (that is, reciprocating rotation around the X axis).

Among them, the first electric cylinder 21 and the third electric cylinder 4 can cooperate to move, so that the mechanical auxiliary installation vehicle can realize that the gripper module 1 drives the wall plate to rotate around the rotation axis 15 extending along the X axis while rising, which is very suitable Work in a small space, and the simultaneous lifting and rotation helps to maintain the balance of the mechanical auxiliary installation vehicle.

The mechanical auxiliary equipment also includes a hand operator 6, which can be used to control the gripper module 1 to rotate, tilt, lift, and grab.

In a specific example, as shown in FIG. 6, the hand operator 6 is provided with a grip control button 61, a turning control button 62, a lifting control button 63 and a rotation control button 64.

Among them, the gripper control button 61 is set to control the gripper module 1 to perform grasping and release actions, that is, the gripper control button 61 can control the work of the vacuum pump 52 so that the suction cup 12 is attracted to the wallboard, or the suction cup 12 is separated from the wallboard .

The turning control button 62 is configured to control the action of the turning module 3, that is, the turning control button 62 can control the operation of the turning driving mechanism (such as the second electric cylinder 31), so that the turning support 32 is tilted forward, backward or reset.

The lifting control button 63 is configured to control the action of the lifting module 2, that is, the lifting control button 63 can control the operation of the lifting driving mechanism (such as the first electric cylinder 21 ), so that the lifting bracket 22 moves up and down.

The rotation control button 64 is configured to control the grip module 1 to rotate around the rotation axis 15, that is, the lift control button 64 can control the work of the rotation driving mechanism (such as the third electric cylinder 4) so that the grip module 1 can rotate.

The mechanical auxiliary equipment may also include casters 53 which are installed on the four corners of the equipment body 5. A locking device can also be installed on the caster 53 to lock the caster 53 during nailing and other situations to prevent mechanical auxiliary equipment from moving.

In addition to the vacuum pump 52 located inside, the equipment body 5 may also include an air compressor, a gas storage tank 51, a battery 54 and the like. The size of the vacuum pump 52 may be about 400mm×200mm×300mm (respectively the length in the X direction, the Y direction, and the Z direction, the same below). The size of the gas tank 51 may be approximately 660 mm×300 mm×340 mm. The number of storage batteries 54 can be eight, divided into two groups, and the weight can be about 56 kg. The two sets of batteries improve the overall practicability of the mechanical auxiliary equipment. When one set of batteries is working, the other set of batteries can be taken out for charging, and the two sets of batteries are used alternately to adapt to long-term working conditions. The storage battery 54 can be taken out through an opening on the back side of the device body 5. The mechanical auxiliary equipment can also be operated by mains electricity. At this time, the battery 54 can be removed to reduce the overall weight of the mechanical auxiliary equipment. Working with power supplied by the battery 54 is mainly used in a special environment where normal commercial power cannot be provided.

The vacuum pump 52, the gas storage tank 51 and the suction cup 12 are connected in sequence through a pipeline. The vacuum pump 52 can cooperate with the gas storage tank 51. After the target vacuum degree in the suction cup 12 is reached, the vacuum pump 52 can stop working, and the gas storage tank 51 is used to maintain the suction cup 12 The degree of vacuum. When the vacuum in the suction cup 12 is reduced to a certain level, the mechanical auxiliary equipment will give an alarm and the hand operator 6 will control the vacuum pump 51 to work again. In order to ensure the safety during transportation of the wallboard, the vacuum pump 51 may stop working after the wallboard is transported to the installation position.

An on-off valve can be provided on the pipeline between the vacuum pump 52 and the gas storage tank 51. The on-off valve can be opened when the vacuum pump 52 is working, so that the pipeline is in a path state, and closed when the vacuum pump 52 stops working, so that the pipeline is in an open circuit state. It should be understood that the pipe between the vacuum pump 52 and the gas storage tank 51 may not be provided with an on-off valve.

The vacuum pump 51 can stop working intermittently, that is, alternately start and stop running, and can prolong the power supply time of the storage battery 54 under the power supply condition of the storage battery 54 and thereby extend the working time of the mechanical auxiliary equipment.

A tool box 58 can also be provided on the device body 5, which can be used to place common tools, etc., which is convenient and practical. One side or both sides of the equipment body 5 may also be provided with hooks for auxiliary storage tools and the like.

The mechanically assisted installation vehicle for the fabricated wall provided by the embodiment of the application may have an overall size of about 1263.5mm×800mm×2021mm (the lengths in the X, Y, and Z directions respectively, the same below), and the installation arm 11 The height of its top from the ground when it is lifted to the highest point may be about 32230 mm, the overall weight of the mechanical aid installation vehicle may be about 225 kg, and the weight of the gripper module 1 may be about 45 kg. The width of the mechanical aid installation vehicle after removing the hook may be about 750 mm (that is, the length of the hook may be about 50 mm).

The mechanically assisted installation vehicle for the fabricated wall provided by the embodiment of the present application has a reasonable size, and its own width is smaller than that of the current general single-opening door, elevator door, etc. In the non-working state, the height of the mechanical auxiliary installation vehicle is about 2m, and it can pass through most elevator doors; its length is about 1.3 meters, and it can enter most elevators. When the size of the mechanical auxiliary installation vehicle is slightly larger than that of the elevator, the gripper module 1 can be disassembled and transported separately.

The upper end of the equipment body 5 is provided with steps of different heights. The height of the first step 55 can be set to about 660mm (height from the ground), the height of the second step 56 can be set to about 877mm, and the height of the third step 57 It can be set to about 1110mm, which is convenient for the operator to stand on the steps of the mechanical auxiliary installation vehicle for nailing or other operations. It should be noted that the size provided in this embodiment is only an example case, and the size can be appropriately adjusted as needed.

In some embodiments, the lower end of the wall panel is fixed to the U-shaped keel. In this case, the steps of installing the wall panel include:

The gripper module rotates backwards around the horizontal axis to make the wall panel tilt backward;

Move the mechanical auxiliary installation vehicle, and move the gripper module down, and place the lower edge of the wall panel into the U-shaped keel;

The gripper module rotates forward around the horizontal axis to make the wallboard in a vertical state;

Fix the wall panel.

When the lower end of the wall panel is fixed with the U-shaped keel with the opening upward, the lower end of the wall panel needs to be put into the U-shaped keel. Since the U-shaped keel has a certain height, in order to avoid interference between the upper end of the wall panel and the ceiling when the wall panel is inserted into the keel, the wall panel is first inclined to a certain angle, and then the mechanical auxiliary installation cart is pushed to a suitable position, and the gripper module is lowered Move and place the lower edge of the wall panel into the U-shaped keel. Subsequently, the gripper module is rotated forward to make the wall panel in a vertical state, and then the wall panel is fixed.

In some embodiments, the step of installing the wall panel includes: performing a nailing operation and fixing the wall panel with screws.

In some embodiments, before the nailing operation is performed, the casters of the mechanical auxiliary installation vehicle are locked to prevent the mechanical auxiliary installation vehicle from moving.

The method and process of installing the horizontally placed rectangular wall panels are described below. Horizontally placed rectangular wall panels, whose long sides are supported on the ground, the angle between the wall panel and the ground can be ≥80° (that is, the angle between the wall panel and the vertical plane can be ≤10°), which is convenient for the gripper module 1 to grasp .

An embodiment of the present application provides a mechanically assisted installation method for a fabricated wall, which is performed by using the aforementioned mechanically assisted installation vehicle for a fabricated wall, and includes the following steps:

Move the mechanical auxiliary installation car to the wallboard, and the rotation module of the mechanical auxiliary installation car will rotate 90°;

The turning module action of the mechanically assisted installation vehicle, the gripper module tilts forward, and the suction cup is attached to the wall panel;

The vacuuming system of the mechanically assisted installation vehicle moves to vacuum the space in the suction cup;

The turning module of the mechanical auxiliary installation vehicle moves again, and the gripper module is retracted to make the wallboard in a vertical state;

Mechanically assist the lifting module of the installation vehicle to raise the height of the gripper module upwards;

The rotating module of the mechanical auxiliary installation cart moves again to rotate the gripper module 90°;

When installing the horizontally placed rectangular wall panel, push the mechanical auxiliary installation trolley to the front of the wall panel, and manually operate the hand operator 6 to control the extension of the second electric cylinder 31, push the flip bracket 32 and the entire gripper module 1 to flip, visually install After the arm 11 is roughly parallel to the wallboard, stop the action of the second electric cylinder 31; push the mechanical auxiliary installation cart until the suction cup 12 is attached to the wallboard, manually operate the hand operator 6, press the corresponding gripper control button 61, electromagnetic The valve is correspondingly connected to the vacuum system to vacuum the suction cup 12. When the target vacuum degree is reached, the second electric cylinder 31 is controlled to retract to the initial position through the manual operator 6; after that, the first electric cylinder is controlled by the manual operator 6 21 extends to lift the wall panel and the gripper module 1. When they are lifted to an appropriate height, the solenoid valve of the third electric cylinder 4 is controlled by the hand operator 6, so that the third electric cylinder 4 is activated to realize the installation of the arm 11 and the wall When the board is rotated by 90°, the wall board is in the vertical state (that is, the short side of the rectangular wall board is parallel to the ground). After the rotation is completed, push the mechanical auxiliary installation cart to the installation position. Before installing the wall panel, the wall panel can be further corrected in position and posture, including the height of the wall panel can be adjusted by controlling the first electric cylinder 21. The angle can be adjusted by the second electric cylinder 31, and the horizontal and lateral position of the wall panel can be adjusted manually by pushing the mounting arm 11 or the wall panel. After adjusting the position and posture of the wall panel, the wall panel can be installed and fixed.

In the above installation method, before grabbing the wall panel, you can also control the third electric cylinder 4 to rotate the entire gripper module 1 by 90°. This step is determined according to the placement method of the wall panel, for example: conventional wall panel The size can be about 1.2m×3m. When the 3m side of the wall panel is placed close to the ground, the mechanical aid installation vehicle needs to rotate the gripper module 1 by 90° before grabbing the wall panel. In addition, when the gripper module 1 grabs the wall panel and lifts the wall panel to an appropriate height, the gripper module 1 needs to be rotated by 90° to make the wall panel in a vertical state. If the 1.2m side of the wall is placed close to the ground, the mechanical auxiliary installation vehicle can directly grab it without turning the gripper module 1.

The following describes the method and process of installing the rectangular wall panels placed longitudinally. Longitudinal rectangular wall panels, whose short sides are supported on the ground, the angle between the wall panel and the ground can be ≥80° (that is, the angle between the wall panel and the vertical plane can be ≤10°), which is convenient for grasping by the gripper module 1 .

Tilt the gripper module forward at the first angle, and push the mechanical auxiliary installation cart to approach the wallboard. When the suction cup at the lower part of the gripper module contacts the wallboard, the mechanical auxiliary installation cart stops moving;

Mechanically assist the turning module action of the installation cart, and the gripper module continues to tilt forward until the suction cup on the upper part of the gripper module fits the wallboard;

The vacuuming system of the mechanically assisted installation vehicle moves to vacuum the contact space between the suction cup and the plate;

Keep the tilt angle of the gripper module unchanged, and mechanically assist the lifting module of the installation vehicle to control the gripper module to move upward for a certain distance;

Keep the height of the gripper module unchanged, mechanically assist the turning module action of the installation vehicle, and the gripper module will reclaim a certain angle (that is, tilt back a certain angle);

Repeat the above two steps of lifting and recycling of the gripper module until the lower edge of the board leaves the ground and the board is in a vertical state;

Push the mechanical auxiliary installation cart to the installation position, and start the flip module according to the height between the upper edge of the U-shaped keel on the ground and the ceiling, and make the gripper module tilt backward to a certain angle;

Push the mechanical auxiliary installation cart forward, lift the module to move the plate downward, put the lower edge of the plate into the U-shaped keel, flip the module, and make the gripper module tilt forward at a certain angle;

Repeat the previous step until the lower edge of the board is completely inserted into the U-shaped keel, and then fix the wallboard.

In the description in this application, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "horizontal", "vertical", etc. are based on the orientation or positional relationship shown in the drawings, and only It is for the convenience of describing the application and simplifying the description, rather than indicating or implying that the structure referred to has a specific orientation, is constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the embodiments of the application.

In the description of the embodiments of the present application, unless otherwise clearly defined and limited, the terms "connection", "installation", etc. should be interpreted broadly. For example, the term "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, an indirect connection through an intermediate medium, or a connection between two components. For those of ordinary skill in the art, the specific meanings of the above-mentioned terms in this application can be understood according to specific circumstances.

Although the implementation manners disclosed in the present application are as above, the content described is only the implementation manners used for facilitating the understanding of the application, and is not intended to limit the application. Any person skilled in the field to which this application belongs, without departing from the spirit and scope disclosed in this application, can make any modifications and changes in the implementation form and details, but the patent protection scope of this application still requires The scope defined by the appended claims shall prevail.

Claims

A method for mechanically assisted installation of a fabricated wall is carried out by using a mechanically assisted installation vehicle for a fabricated wall. The mechanically assisted installation vehicle for the fabricated wall includes a gripper module that can move up and down. Directional movement, rotation around a horizontal axis along the horizontal direction, and rotation around a rotation axis perpendicular to the up and down direction and perpendicular to the horizontal direction;

The mechanical auxiliary installation method of the fabricated wall includes:

Move the mechanical auxiliary installation cart to the wallboard, the gripper module rotates forward around the horizontal axis, so that the gripper module tilts forward to grab the wallboard;

The gripper module moves upward, and the gripper module rotates backwards around the horizontal axis, so that the wall panel is in a vertical state;

Move the mechanical auxiliary installation cart to the installation position to install the wall panel.
The mechanically assisted installation method of a fabricated wall according to claim 1, wherein: the wall panel is rectangular, and the wall panel is in a horizontal state with its long side placed on the ground;

Before the step of turning the handle module forward about the horizontal axis, the mechanically assisted installation method of the fabricated wall further includes: rotating the handle module 90 degrees around the rotation axis;

Between the step of grabbing the wall panel and the step of installing the wall panel, the mechanically assisted installation method of the fabricated wall further includes: the gripper module rotates around the rotation axis Rotate 90 degrees to make the wall panel vertical.
The mechanically assisted installation method of a fabricated wall according to claim 1, wherein: the wall panel is rectangular, and the wall panel is in a longitudinal state with short sides placed on the ground;

The step of moving the gripping module upwards and rotating the gripping module backwards around the horizontal axis so that the wall panel is in a vertical state includes:

The gripping module moves up a certain distance;

The gripping module rotates backward by a certain angle;

Repeat the steps of moving the gripper module upward and rotating backward until the lower edge of the wall panel leaves the ground and the wall panel is in a vertical state.
The mechanically assisted installation method of a fabricated wall according to any one of claims 1 to 3, wherein: the gripper module includes a suction cup located at the lower part and a suction cup located at the upper part;

The step of moving the mechanical auxiliary installation cart to the wallboard, the gripper module rotates forward around the horizontal axis to make the gripper module tilt forward, and grabbing the wallboard includes:

The gripper module is tilted forward at a first angle to push the mechanical auxiliary installation cart to move toward the wall panel until the lower suction cup contacts the wall panel;

The gripper module continues to lean forward until the upper suction cup contacts the wall panel;

The vacuum system works to vacuum the space between the upper suction cup and the wall panel, and the space between the lower suction cup and the wall panel, so that the upper suction cup and the lower The suction cups are sucked together with the wallboard.
The method for mechanically assisted installation of a fabricated wall according to any one of claims 1 to 4, wherein: in the step of moving the mechanically assisted installation vehicle to the installation position and the performing of the wall panel Between the installation steps, the mechanically assisted installation method of the fabricated wall further includes:

The gripping module moves to adjust the position and/or posture of the wallboard.
The method for mechanically assisted installation of a fabricated wall according to claim 5, wherein the step of adjusting the position and/or posture of the wall panel by the action of the gripper module includes at least one of the following steps:

The gripper module moves up and down to adjust the height of the wall panel;

The gripper module rotates around the horizontal axis to adjust the posture of the wall panel; and

The gripper module moves horizontally along the horizontal direction to adjust the horizontal position of the wallboard.
The mechanically assisted installation method of a fabricated wall according to any one of claims 1 to 6, wherein: before the step of rotating the gripper module forward about the horizontal axis, the fabricated wall Mechanical auxiliary installation methods also include:

The gripper module moves up and down to adjust the height of the gripper module.
The mechanically assisted installation method of the fabricated wall according to any one of claims 1 to 7, wherein: the lower end of the wall panel is fixed to the U-shaped keel; the step of installing the wall panel includes :

The gripper module rotates backwards around the horizontal axis to make the wall panel tilt backward;

Move the mechanical auxiliary installation cart, and move the gripper module down, and place the lower edge of the wall panel into the U-shaped keel;

The gripper module rotates forward around the horizontal axis to make the wallboard in a vertical state;

Fix the wall panel.
The mechanically assisted installation method of a fabricated wall according to any one of claims 1 to 8, wherein: the step of installing the wall panel comprises: performing a nailing operation, and fixing the wall panel with screws .
9. The mechanically assisted installation method of a fabricated wall according to claim 9, wherein: before the nailing operation, the casters of the mechanically assisted installation vehicle are locked.