CN115285842A - AAC and ALC plate installation vehicle, installation control system - Google Patents

Abstract

The invention relates to the technical field of plate construction and installation structures, in particular to an AAC and ALC plate installation vehicle and an installation control system. It includes a frame and a wheel installed at the bottom of the frame. The frame is provided with a fixing frame, a clamping structure, and the clamping structure is used for clamping plates; The structural connection is used to lift the flat plate to the vertical inclined state; the lifting structure is installed on the fixing frame and is used to vertically lift the lifting structure to make the vertically inclined plate to the upright state. The AAC and ALC plate installation vehicle of the invention has the advantages of simple structure, convenient operation, high safety, high degree of intelligence and automation, and can easily lift the flat plate to the erected state for installation, which has great promotion value.

Description

AAC and ALC panel installation vehicle, installation control system

technical field

The invention relates to the technical field of panel construction and installation structures, in particular to an AAC and ALC panel installation vehicle and an installation control system.

Background technique

When installing AAC (Autoclaved lightweight sand Aerated Concrete) and ALC (Autoclaved Lightweight Concrete, autoclaved lightweight concrete) panels, the large panels (thickness of the large panels in the panels are greater than 150mm in length and greater than 4000mm, Each piece of about 300Kg) is currently installed by building a simple steel pipe bracket, installing an electric hoist on the top of the steel pipe bracket, using a simple trolley to transport the board to the bottom of the simple steel pipe bracket, manually binding the board, and passing the electric hoist. erect. Then the worker uses the crowbar to move the plate to the position where it needs to be installed for installation. The installation of small boards (thickness less than 150mm, length less than 3000mm, each about 150Kg) currently uses a simple pallet truck to transport the boards to the required installation location, and then manually lift the boards off the ground and erect them until the installation location for installation.

The existing board installation methods have the problems of poor safety, low installation efficiency, high demand for installation personnel, and low degree of automation. In order to solve the above-mentioned problems, there is a Chinese utility model patent named "a trolley for overturning plates" with the patent number "CN209651770U", which discloses a trolley for overturning, including a frame. There is a power device that drives the fixed frame to rotate around the hinge, the fixed frame is provided with a telescopic frame that can reciprocate longitudinally along the fixed frame, the top of the telescopic frame is provided with a first pulley, and the fixed frame is provided with an electric hoist. A first wire rope is arranged on the pulley, one end of the first wire rope is connected with the electric winch, and the other end of the first wire rope passes through the first pulley and is connected with a fixed belt. The trolley can turn the horizontal plate over to the vertical state for installation. However, the trolley involves many actions in the process of installing the panels. First, the frame needs to be dumped, then the extension length of the telescopic frame should be adjusted, and finally the steel wire ropes should be used to bind the panels. The whole process requires many procedures and requires a high operating space, making the operation more cumbersome. , all processes need to be handled manually, the degree of automation and intelligence is extremely low, and the safety cannot be clearly guaranteed.

Contents of the invention

The purpose of the present invention is to solve the shortcomings of the above-mentioned background technology, and provide an AAC and ALC panel installation vehicle and an installation control system, which can conveniently lift the flat panels to an upright state, and transport them to the panel installation position for installation.

The technical solution of the present invention is: an AAC and ALC plate installation vehicle, including a vehicle frame and a wheel installed at the bottom of the vehicle frame, and the vehicle frame is provided with,

mount,

a clamping structure, the clamping structure is used for clamping the plate;

A lifting structure, the lifting structure is connected with the clamping structure through a steel wire rope, and is used to lift the flat plate to a vertically inclined state;

And a lifting structure, the lifting structure is installed on the fixed frame, and is used for vertically lifting the lifting structure to make the plate in the vertically inclined state to the erect state.

According to a kind of AAC and ALC panel installation vehicle provided by the present invention, the lifting structure includes:

a movable frame, the movable frame can be vertically moved and connected to the fixed frame;

The jacking cylinder is arranged vertically, the housing of the jacking cylinder is fixed on the fixed frame, and the pushing end is connected to the movable frame.

According to an AAC and ALC plate installation vehicle provided by the present invention, the clamping structure includes:

A crossbeam, the crossbeam is arranged horizontally and transversely, and is connected with the hoisting structure through a steel wire rope;

Two clamping rods, the upper ends of the two clamping rods can be laterally slidably connected to the beam;

A clamping oil cylinder, the clamping oil cylinder is arranged between the two clamping rods to drive the two clamping rods to clamp or loosen;

A collet, the collet is arranged on the inside of the lower end of the clamping rod, and the collet is a rod-shaped structure with one end fixed on the inner side of the lower end of the clamping rod and the other end being tapered.

According to an AAC and ALC plate installation vehicle provided by the present invention, the clamping rod is equipped with an angle adjustment structure for adjusting the vertical inclination of the clamping rod so that the clamping rod is on the side of the plate facing the fixed frame during the lifting process of the plate .

According to an AAC and ALC panel installation vehicle provided by the present invention, the angle adjustment structure includes:

Two side rods, the side rods correspond to the clamping rods one by one, and one end of the side rods is rotatably connected to the clamping rods through a horizontal rotating shaft;

a rotating motor, the rotating motor is installed on the side rod for driving the side rod to rotate around the horizontal axis;

A connecting rod, the connecting rod is arranged between the two side rods, and the two ends are respectively fixedly connected with the other ends of the side rods on both sides.

According to the AAC and ALC panel installation vehicle provided by the present invention, it also includes a telescopic structure for driving the clamping structure to move longitudinally to the clamping position of the flat panel.

According to an AAC and ALC plate installation vehicle provided by the present invention, the telescopic structure includes:

Telescopic support, the telescopic support is arranged on the fixed frame;

Telescopic oil cylinder, the shell of the telescopic oil cylinder is fixed on the telescopic support, and the push end drives the crossbeam to move longitudinally when the clamping structure is lowered to the position to be clamped and laid flat.

According to a kind of AAC and ALC panel installation vehicle provided by the present invention, the lifting structure includes:

A lifting bracket, the lifting bracket is installed on the upper end of the movable frame;

Rollers, the rollers are arranged horizontally and laterally on the lifting bracket, and the rollers are provided with slots for accommodating wire ropes;

The winch is installed on the lifting bracket and connected with the wire rope.

According to an AAC and ALC panel installation vehicle provided by the present invention, the vehicle frame is also provided with a supporting plate structure for supporting the bottom of the panel when the panel is turned over to an upright state.

According to a kind of AAC and ALC panel installation vehicle provided by the present invention, the pallet structure includes:

Two sets of supporting plate oil cylinders, the two sets of supporting plate oil cylinders are placed on both sides of the vehicle frame, and one end of the supporting plate oil cylinder is hingedly connected to the vehicle frame so that it can rotate around the transverse axis;

A diagonal rod, the upper end of which is hingedly connected to the vehicle frame, and the lower end is hingedly connected to the other end of the pallet oil cylinder;

The supporting rods are arranged horizontally, and the two ends are respectively connected with the lower ends of the inclined rods on both sides.

According to an AAC and ALC panel installation vehicle provided by the present invention, a pushing structure for driving the fixed frame to move longitudinally is installed on the vehicle frame.

According to an AAC and ALC panel installation vehicle provided by the present invention, the pushing structure includes:

a base, the base is fixed on the lower end of the fixing frame, and is used to support the fixing frame;

Guide rails, the guide rails are arranged on the vehicle frame, and the two ends of the base are longitudinally slidable and connected to the guide rails on both sides;

The driving roller is installed on the base and is used to drive the base to move along the guide rail.

According to the vehicle for installing AAC and ALC panels provided by the present invention, the vehicle frame is provided with a driving position bracket, and the driving position bracket is provided with a driving position, and the driving position is located at a position where the driving position bracket is opposite to the fixed frame. side.

According to an AAC and ALC panel installation vehicle provided by the present invention, a counterweight bracket is provided on a lateral side of the driving position bracket and the lifting bracket relative to the clamping structure.

The present invention also provides an AAC and ALC panel installation control system, the installation control system is applied to the above-mentioned panel installation vehicle, including:

a driving control module for controlling the movement of the panel installation vehicle;

A first vision module, the first vision module is used to obtain the storage coordinates of the plate in the storage position;

The second visual module, the second visual module is used to obtain the installation signal of the plate after being promoted to the erect state;

And a central control module, the central control module is used to obtain the position signal and the installation signal to send an instruction to the driving control module to move the panel installation vehicle, and to send control instructions for clamping the panel, lifting the panel and installing the panel to the panel installation vehicle.

The advantages of the present invention are as follows: 1. The present invention clamps and fixes the plate through the clamping structure, which is more convenient than the traditional wire rope binding structure and improves the safety. The state is raised to the upright state, which is convenient for installation. The whole installation device is easy to operate, and the installation of the board is extremely convenient;

2. The lifting structure of the present invention includes a movable frame and a jacking oil cylinder. The movable frame is slidably connected to the fixed frame. Before the plate is lifted, the movable frame and the fixed frame are overlapped. The space occupied by the whole device is very small, and the movement is convenient. The structure can easily lift the board from the vertically inclined state to the erect state;

3. The clamping structure of the present invention is extremely simple. The plate can be clamped and fixed conveniently by driving the clamping rod through the clamping oil cylinder. The entire clamping process is easy to operate. Compared with the traditional wire rope binding structure, the present application The clamping is more stable and the safety is higher;

4. The present invention is equipped with an angle adjustment structure on the clamping rod, which can turn the clamping structure to the side facing the fixed frame during the plate lifting process. During the plate lifting process, the clamping structure is on the side of the plate facing the fixed frame. side, even if the plate slips, it will not fall to the side of the fixed frame, which has better safety and better stability of the structure under force;

5. The angle adjustment structure of the present invention is extremely simple and easy to operate. The clamping rod can be driven to turn over by rotating the motor. The entire operation process can be operated through the operator's console in the driver's cab, without the need for personnel to approach manual operation, and has high safety;

6. In the present invention, a telescopic structure is installed on the fixed frame, and the telescopic structure is used to drive the longitudinal movement of the clamping structure, and the longitudinal position of the clamping structure is conveniently adjusted before the plate is clamped, so that the clamping structure can Automatically move to the clamping position of the plate, which greatly facilitates the operation, avoids personnel contact, and improves safety;

7. In the present invention, a pushing structure is installed on the vehicle frame, and the pushing structure is used to drive the fixed frame to move longitudinally, so that the pushing board can be conveniently moved to the installation position along the longitudinal direction, which can solve the problem that the board cannot be installed accurately when there are obstacles ahead The problem;

8. The lifting structure of the present invention is extremely simple, and one end of the plate can be easily lifted vertically by pulling the wire rope through the hoist, so that the plate can be lifted from the flat state to the vertically inclined state;

9. After the plate of the present invention is lifted to the upright state, in order to further improve the stability of the plate transportation, the application is provided with a pallet structure on the vehicle frame, and the pallet structure is used to support the plate in the erect state, thereby improving the stability of the plate Sex, avoiding the shaking of the plate;

10. The supporting plate structure of the present invention includes a supporting plate oil cylinder, and the supporting plate oil cylinder is used to push the inclined rod, so that the supporting rod between the inclined rods moves in the longitudinal direction, so that the supporting rod can be supported on the side of the plate, and the plate can be carried out. Support to avoid the shaking of the plate and improve the stability of the plate from the storage position to the installation position;

11. In the present invention, a pushing structure is provided on the vehicle frame for driving the fixed frame to move longitudinally. The pushing structure pushes the fixed frame to move longitudinally, and the plate can not be accurately moved to the vicinity of the installation position due to obstacles in front of the plate. When the installation position is applied, the plate is accurately displaced to the installation position by applying a longitudinal force to the plate;

12. The present invention lifts the square plate in the plate storage position to an upright state through the plate installation vehicle and transports it to the plate installation position for installation. The plate installation vehicle can pass through the driving control module, the first vision module and the second vision during the plate installation process. The module and the central control module are intelligently and automatically controlled, and the installation of the entire panel can be carried out efficiently and conveniently, which greatly improves the safety of panel installation and has great promotion value;

The AAC and ALC board installation vehicle of the present invention has simple structure, convenient operation, high safety, high degree of intelligence and automation, and can conveniently lift flat boards to an upright state for installation, which has great promotion value.

Description of drawings

Figure 1: Axis view of the present invention;

Fig. 2: the side view of the present invention (fixture is not stretched along longitudinal direction);

Fig. 3: the side view of the present invention (fixed frame extends longitudinally);

Fig. 4: the front view of the present invention (movable frame is not unfolded);

Fig. 5: the front view of the present invention (movable frame is expanded);

Figure 6: a schematic diagram of the clamping structure of the present invention;

Among them: 1—frame; 2—wheel; 3—fixed frame; 4—wire rope; 5—movable frame; 6—lifting cylinder; 7—beam; 8—clamping rod; 9—clamping cylinder; 10—clamp 11—side rod; 12—transverse shaft; 13—first gear; 14—second gear; 15—connecting rod; 16—telescopic bracket; 17—telescopic cylinder; 18—lifting bracket; 19—roller; Card slot; 21—supporting plate oil cylinder; 22—slant bar; 23—support rod; 24—driving position bracket; 25—counterweight bracket; 26—main battery pack; 27—auxiliary battery pack.

Detailed ways

Embodiments of the present invention are described in detail below, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", " The orientation or positional relationship indicated by "left", "right", "vertical", "horizontal", "top", "bottom", "inner" and "outer" are based on the orientation or positional relationship shown in the drawings, and only It is for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

This application relates to an AAC and ALC plate installation vehicle. Before the plate is installed, the plate is transported to the vicinity of the installation site by means of a transport device. The plate is usually transported to the vicinity of the installation site by stacking multiple plates near the installation site. Before the panel is installed, it is necessary to transport the panel from the vicinity of the installation position to the panel installation position and lift it from the flat state to the erect state, and then install it. The present application relates to a panel installation vehicle that transports panels in a flat state to a panel installation position and lifts the panels to an upright state.

Specifically, as shown in Figures 1 to 6, the plate installation vehicle of the present application includes a vehicle frame 1 and a wheel 2 installed at the bottom of the vehicle frame 1. The vehicle frame 1 is the carrier of the entire device, and the vehicle frame 1 is internally provided with a Lithium battery to ensure that it can be transported by indoor and outdoor construction elevators (this application has at least two groups of batteries arranged on the vehicle frame 1, a group of main battery pack 26, and a group of auxiliary battery pack 27. The main battery pack 26 has a large deadweight, when The special installation equipment for the partition wall board needs to enter the construction elevator. Due to the load limit of the construction elevator during vertical transportation, the main battery pack 26 can be disassembled and transported separately; ), and a motor powered by a battery to provide energy for device movement, that is, the installation device of the present application is a device that has the function of transporting panels. The vehicle frame 1 is provided with a driving position bracket 24, and There are a driving position and an operation console, the driving position is where the construction workers are located, and the operation console is the table top of the driver's control device. The driving position is provided with structures such as a steering wheel, an accelerator and a brake, and the driver can control the moving direction of the vehicle frame 1 through the steering wheel on the driving position, and control the moving speed of the vehicle frame 1 through the accelerator and the brake.

A plurality of operating levers are arranged on the console, through which the driver can automatically control structures such as motors and oil cylinders on the vehicle frame 1 . The driver's seat is provided with vehicle frame 1 movement control devices such as an accelerator pedal, a steering wheel, and an automatic pedal. There is also a display on the driver's seat, which is used to display power, working status, fault alarm, operation instructions, etc. On the vehicle frame 1, a work indicator light is also installed, and the equipment flickers during work during the work light, reminding other staff members to pay attention to safety. The vehicle frame 1 is also provided with a hydraulic work station, which is a hydraulic power device for panel installation. The operator stands at the driving position and operates the steering wheel on the console to control the driving direction of the frame 1, controls the driving speed through the accelerator, brakes the frame 1 through the brakes, and operates the plate through the operating lever on the console. The installation vehicle carries out the clamping, lifting, transportation and installation of the panels.

In addition, a fixed frame 3 is also installed on the vehicle frame 1, and the driving position is on the side of the driving position bracket 24 relative to the fixed frame 3. The fixed frame 3 is equipped with a clamping structure, a lifting structure and a lifting structure, and the holding structure is used for clamping. The lifting structure is connected to the clamping structure through the steel wire rope 4, which is used to lift the flat clamped plate to a vertically inclined state, and the lifting structure is installed on the fixed frame 3, which is used for vertical lifting. Slabs in an inclined state to an upright state.

In actual use, drive the whole device to move to the plate storage position, the clamping structure clamps one end of the flat plate, and the lifting structure lifts the clamping structure through the steel wire rope 4, so that the end of the clamping structure clamping the plate moves vertically until the plate is vertical. Arranged in an inclined direction, the lifting structure lifts the lifting structure vertically, so that the other end of the plate slides on the ground or on the next layer of plates until the clamped plate reaches an upright state.

In some embodiments of the present application, the lifting structure is further optimized. Specifically, as shown in Figure 1, the lifting structure of this embodiment includes a movable frame 5 and a jacking cylinder 6, and the movable frame 5 can The mobile is connected to the fixed frame 3 (the fixed frame 3 is provided with a vertically arranged chute, and the movable frame 5 is provided with a corresponding slide table, the slide table is engaged in the chute, and the slide table can be vertically arranged in the chute. The chute and the sliding table limit the relative movement between the movable frame 5 and the fixed frame 3 except the vertical movement), the jacking cylinder 6 is vertically arranged, and the shell of the jacking cylinder 6 is fixed on the fixed frame 3, the push end is connected to the movable frame 5.

In actual use, when the hoisting structure stretches the wire rope until the flat plate is in an inclined state, the upper end of the plate has been stretched to the maximum position, and the jacking cylinder 6 drives the lifting structure to move vertically, driving the clamped upper end of the plate to move upwards , until the board is in an upright state.

As shown in Figures 4-5, the movable frame 5 overlaps with the fixed frame 3 before jacking up, and reaches the maximum height after the jacking is completed. Such an arrangement facilitates the lifting of the board and the movement of the entire device. The plate is vertically lifted by the jacking cylinder 6, and the stability of the structure is better. Simply by the tension of the lifting structure, it is easy to cause the risk of the entire device overturning.

In some other embodiments of the present application, this embodiment optimizes the clamping structure. Specifically, as shown in Figures 1-3 and 6, the clamping structure of this embodiment includes a beam 7, two clamping rods 8. Clamp the oil cylinder 9 and chuck 10, and the crossbeam 7 is arranged horizontally and horizontally, and is connected with the lifting structure through the steel wire rope 4; the upper ends of the two clamping rods 8 can be connected to the crossbeam 7 by lateral sliding (a transverse concave groove, the upper end of the clamping rod 8 is provided with a boss corresponding to the groove, and the boss is engaged in the groove, and the boss and the groove limit the relative movement between the clamping rod 8 and the crossbeam 7 except lateral movement), clamping The holding cylinder 9 is set between the two clamping rods 8 to drive the two clamping rods 8 to clamp or loosen. The chuck 10 is set on the inner side of the lower end of the clamping rod 8. The inner side of the lower end of the rod 8 and the other end are tapered rod-shaped structures.

When it is necessary to clamp the flat plate, move the clamping rod 8 to a suitable position, place the two clamping rods 8 on both sides of the plate, drive the clamping cylinder 9, tighten the two clamping rods 8, The collets 10 on the clamping rod 8 are clamped on both lateral sides of the plate to complete the clamping of the plate.

In a further embodiment of the present application, this embodiment is equipped with an angle adjustment for adjusting the vertical inclination of the clamping rod 8 on the clamping rod 8 so that the clamping rod 8 is on the side of the board facing the fixed frame 3 during the lifting process of the board. structure.

Specifically, as shown in Figures 1 and 6, the angle adjustment structure includes two side rods 11, a first gear 13, a second gear 14, a rotating motor and a connecting rod 15, and the side rods 11 correspond to the clamping rods 8 one by one. The side rod 11 is located inside the clamping rod 8, and the side rod 11 is rotatably connected to the clamping rod 8 through the horizontal rotating shaft 12. The first gear 13 is fixed on the end of the horizontal rotating shaft 12, and the second gear 14 is arranged on the side rod 11 and It is meshed with the first gear 13 for transmission connection, the rotating motor is installed on the side rod 11 and is in transmission connection with the second gear 14 , and the connecting rod 15 is fixedly connected with the two side rods 11 .

The clamping structure is above the plate when clamping the plate. When the plate is lifted to the inclined state, the clamping structure is always above the plate. There is a certain risk in this clamping method, that is, the stress point of the plate is If it is facing away from the side of the frame 1, once it slips, the plate may overturn to the side of the frame 1. In order to solve this problem, this embodiment sets an angle adjustment structure. After the plate is lifted to the inclined state, the angle adjustment structure Adjust the angle of the clamping structure so that the clamping structure rotates from the upper side of the sheet to the lower side of the sheet. Facing the frame 1 side.

Concretely, the clamping structure clamps the plate laid flat. At this time, the side bar 11 and the connecting rod 15 are driven to rotate around the horizontal shaft 12 through the rotating motor. The side bar 11 and the connecting rod 15 are located on the side of the clamping structure facing the vehicle frame 1, and Flip up to maximum position. The clamping structure clamps the flat plate and lifts it vertically. During the lifting process, the second gear 14 is driven to rotate by the rotating motor, and the first gear 13 is driven to rotate. The side away from the frame body is turned over, and the side bar 11 and the connecting rod 15 form a U-shaped structure, which can be turned over from the side of the plate facing away from the frame 1 over the upper end of the plate to the side of the plate facing the frame 1, Until the connecting rod 15 is overturned to be attached to the side of the board facing the frame 1, the rotating motor continues to drive the side rod 11 and the connecting rod 15 to rotate around the horizontal shaft 12, and the connecting rod 15 pushes the board to generate a reverse force on the connecting rod. Under the action of the lateral rotation 12, the clamping rod 8 and the crossbeam 7 start to rotate toward the vehicle frame 1 side around the lateral rotating shaft 12, and relative rotation occurs between the opposite plate and the clamping rod 8 through the contact point between the chuck 10 and the plate. Until the clamping rod 8 and the beam 7 are overturned to the side of the plate facing the vehicle frame 1 .

In some other embodiments of the present application, the vehicle frame 1 is provided with a telescopic structure for driving the clamping structure to move longitudinally to the clamping position of the flat board. Specifically, as shown in Figures 1 to 3, the telescopic structure includes a telescopic support 16 and a telescopic oil cylinder 17, the telescopic support 16 is arranged on the fixed frame 3, and the telescopic support 16 is actually a structure installed on the jacking cylinder 6, which can follow The piston rod of the jacking oil cylinder 6 moves vertically, and the housing of the telescopic oil cylinder 17 is fixed on the telescopic support 16, and the pushing end can stretch in the longitudinal direction.

When it is necessary to clamp the plate, move the entire installation device to one end of the plate laid flat, and then drive the beam 7 through the telescopic cylinder 17, so that the entire clamping structure moves forward in the longitudinal direction until it moves to the place where the plate laid flat is to be clamped. position, the clamping structure clamps both lateral sides of the plate, and the telescopic oil cylinder 17 retracts after clamping. The longitudinal position adjustment of the clamping structure is completed, so that the clamping structure can automatically move to the clamping position of the plate without manual contact, which greatly facilitates the operation, avoids personnel contact, and improves safety.

In some other embodiments of the present application, the present embodiment is provided with a pushing structure (not shown in the figure) for driving the fixed frame 3 to move longitudinally on the vehicle frame 1, and the pushing structure includes a base, guide rails and driving rollers, The base is fixed on the lower end of the fixed frame to support the fixed frame. The guide rails are arranged on the frame. The two ends of the base can be longitudinally slidable and connected to the guide rails on both sides. The fixed frame 3 shown in Figs. 2-3 moves longitudinally.

When the plate is turned upright and transported to the vicinity of the installation position, if there is an obstacle in front, the plate cannot be accurately positioned to the installation position. At this time, the fixed frame 3 can be driven to move longitudinally by driving the rollers, and a longitudinal force is applied to the plate. Drive the plate to move longitudinally to the installation position. This installation method is extremely simple, easy to operate, no need to manually push the plate, and has high safety.

In the optimized embodiment of the present application, as shown in Figures 1 to 3, the lifting structure of this embodiment includes a lifting bracket 18, a roller 19 and a hoist, the lifting bracket 18 is installed on the upper end of the movable frame 5, and the rollers 19 are arranged horizontally and horizontally On the lifting bracket 18, the roller 19 can rotate around its own axis. The roller 19 is provided with a draw-in groove 20 for accommodating the wire rope 4. The winch is installed on the lifting bracket 18 and connected with the wire rope 4.

One end of the wire rope 4 is connected to the winch, and the wire rope 4 is limited in the slot 20 , the slot 20 limits the lateral movement of the wire rope 4 , and the other end of the wire rope 4 is connected with the beam 7 . The vertical movement of the entire clamping structure can be realized by pulling the wire rope through the hoist.

In some embodiments of the present application, as shown in FIGS. 1 to 3 , in this embodiment, the vehicle frame 1 is also provided with a supporting plate structure for supporting the board and preventing the board from shaking when the board is lifted to an upright state. Specifically, the supporting plate structure includes two sets of supporting plate oil cylinders 21, inclined rods 22 and supporting rods 23. The two sets of supporting plate oil cylinders 21 are placed on both sides of the vehicle frame 1, and one end of the supporting plate oil cylinders 21 is hingedly connected around the horizontal axis In the vehicle frame 1, the upper end of the diagonal rod 22 is hingedly connected to the vehicle frame 1, and the lower end is hingedly connected to the other end of the supporting plate oil cylinder 21.

Strictly speaking, the upper end of the oblique rod 22 in this embodiment is hinged on the driving position bracket 24. The oblique rod 22, the driving position bracket 24 and the pallet oil cylinder 21 form a triangular bracket structure, and the triangular bracket structures on both sides pass through the brackets. 23 connected as one.

After the board is lifted to the upright state, it is mainly the clamping structure at the upper end of the board that carries the board. If the lower end of the board is not supported, shaking may occur, resulting in unstable transportation of the board. Therefore, in this embodiment, a pallet structure is arranged on the vehicle frame 1, and by driving the pallet oil cylinder 21, the support rod 23 is pressed against the side of the board facing the vehicle frame 1, and the board can be supported during the transportation of the board. Avoid the shaking of the board and improve the safety and stability of the board transportation.

In some other embodiments of the present application, considering the counterweight of the vehicle frame 1 and the safety of the driver, in this embodiment, a counterweight bracket 25 is provided on the side of the driving position bracket and the lifting bracket along the lateral direction relative to the clamping structure. , as shown in Figure 1-3. The counterweight support 25 is suspended above the driver's seat, avoiding the falling of the article and injuring the driver on the one hand, and on the other hand balancing the vertical sides of the vehicle frame 1.

For specific use, follow the steps below:

S1. Drive the frame 1 to move to the plate storage position, move the frame 1 to the longitudinal end position of the plate, the telescopic cylinder 17 pushes the beam 7 to move longitudinally to the plate clamping position, and the chuck 10 moves to the appropriate clamping point of the plate place;

S2. The clamping cylinder 8 shrinks the clamping rods 8 on both sides, so that the chuck 10 is clamped on both lateral sides of the plate, and the plate is clamped;

S3. The hoist pulls the wire rope 4, the wire rope 4 pulls the beam 7 vertically, the clamped end of the plate is lifted upwards, and the unclamped end slides on the ground or the lower plate until the steel wire rope 4 is stretched to the maximum degree;

S4. The jacking cylinder 6 drives the movable frame 5 to move upwards, the lifting bracket 18 drives the winch, the wire rope 4, the beam 7 and the plate to move upward together, and the rotating motor starts to drive the beam 7 and the clamping rod 8 to turn over to the side where the plate faces the vehicle frame 1 side until the board is turned over to an upright state;

S5. The supporting plate oil cylinder 21 pushes the inclined rod 22 longitudinally, so that the supporting rod 23 touches the side of the plate facing the vehicle frame 1, and supports the plate;

S6. Drive the frame 1 to the installation position of the board to install the board. If there is an obstacle in front of the board and the installation position cannot be accurately positioned, drive the fixed frame 3 to move longitudinally, apply a longitudinal force to the board, and push the board to the installation position. position to complete the installation of the panels.

In some other embodiments of the present application, the panel installation vehicle of the present application can be controlled manually, or an automatic control system can be integrated on the panel installation vehicle, and the automatic control system can be used to realize the automatic control operation of the panel installation vehicle. Under the control of the automatic control system, the board installation vehicle can realize the functions of automatically moving, automatically grabbing the board, automatically adjusting the board to the upright state, and automatically transporting the board to the installation position. The driving control module for the movement of the installation vehicle, the first vision module for obtaining the storage coordinates of the board in the storage position, the second vision module for obtaining the installation signal of the board after it is lifted to the upright state, and the central control module, the central control The module is used to obtain the position signal and the installation signal to send the instruction of moving the plate installation vehicle to the driving control module, and send the control instructions of clamping the plate, lifting the plate and installing the plate to the plate installing vehicle.

The hardware part of the driving control module includes industrial computer, sensor system, two 2D line-scan lidar formation (360° scanning), inertial navigation system IMU and odometer, and the software part includes SLAM (SimultaneousLocalization And Mapping real-time positioning and map construction). Control the plate installation vehicle to drive automatically, can automatically create a map of the workplace, can automatically locate (calculate its own position in the scene), can preset the driving target site, can reserve the driving track, and can automatically drive to the site according to the predetermined track.

The first vision module is used to obtain the coordinates of the plate storage position in the scene, and its purpose is to guide the plate installation vehicle to move to the plate storage position. The specific first vision module includes a first vision camera, a coding recognition module and a storage coordinate acquisition module, wherein the first vision camera is installed on the panel installation vehicle to obtain the first image signal around the environment where the panel installation vehicle is located; The identification module is used to process the first image signal, and identify the logo at the end of the plate in the image signal; the storage coordinate acquisition module acquires the storage coordinates of the plate storage position according to the position where the logo identified by the code recognition module appears.

The hardware part of the first vision module includes a 2d industrial vision camera, a 2d vision industrial computer, a light source, a light source controller, and a coding board (such as a barcode, a two-dimensional code). The software part includes camera calibration (correcting the optical distortion of the camera), and the recognition technology of the encoding board (including barcode recognition technology, two-dimensional code recognition technology).

First construct the spatial coordinate system of the panel installation site, and then the first vision module obtains the scene image information around the panel installation vehicle through the 2D industrial vision camera, which is actually the first image information mentioned above, and the storage position of this embodiment Logos are provided at both ends of the board, and the logos at the ends of the board where the board is stored are captured in the first image information. The code recognition module recognizes the first image information. If the logo is not recognized, the 2d industrial vision camera changes direction and captures the image again until the code recognition module can recognize the logo through the first image information. The storage coordinate acquisition module performs data processing according to the position of the logo in the first image information, and obtains the storage coordinates of the storage location in the spatial coordinate system.

The second vision module includes a second vision camera, a first recognition module, and a second recognition module. The second vision camera is installed on the board installation vehicle to obtain a second image of the board around the board and the installation position after the board is lifted to an upright state signal; the first recognition module is used to process the second image signal, so as to obtain the first position signal and the first attitude signal after the plate is lifted to the erect state; the second recognition module is used to process the second image signal, In this way, the second position signal and the second attitude signal after the plate is installed in the installation position are acquired.

The hardware part of the second vision module includes a 3D industrial vision camera (typical 3D vision cameras include binocular vision cameras and structured light vision cameras), and a 3D vision industrial computer.

The software of the second vision module includes the following functions: 1. Template feature creation; 2. Basic processing of 3D point cloud, such as point cloud smoothing and noise removal; 3. Camera calibration; 4. Template matching, 3D position and attitude of the target object Estimation; 5. Space transformation of camera, tool and vehicle coordinate system.

The second visual camera acquires the second image signal around the board and the installation position after the board is lifted to the upright state, that is, the second image signal actually includes the image information of the current environment of the board and the image information of the installation position, and the current situation of the board The image information changes in real time following the movement of the plate installation vehicle, and the image information of the installation position remains unchanged (it may change with the change of the 3D industrial vision camera, but the installation position itself will not change. The coordinate information of the possible installation position will be adjusted according to the change of the 3D industrial vision camera). The first recognition module is used to process the second image signal, so as to obtain the first position signal and the first posture signal after the board is lifted to the upright state, and this part is to determine the current situation of the board. The second recognition module is used to process the second image signal, so as to obtain the second position signal and the second attitude signal after the board is installed in the installation position. This part is to determine the situation after the board is installed in the installation position. At this time, the plate is not installed in the installation position, so what the second identification module actually acquires is a virtual situation. In practical application, the panel installation vehicle is controlled, and the first position signal and the first attitude signal are matched with the second position signal and the second attitude signal, so that the panel installation vehicle can be well guided for installation.

It also includes a safety detection module. The safety detection module is installed on the panel installation vehicle to identify obstacles and people, so as to control the panel installation vehicle to avoid collisions.

The safety detection module includes a safety deceleration judgment module and a safety emergency stop judgment module, and the hardware part includes a laser radar, a 3D camera using artificial intelligence, a safety controller, a warning light and a buzzer. The software part includes the software of the sensor system, the point cloud processing program of the laser radar, the obstacle recognition program, the human body recognition method based on artificial intelligence and color images, and the judgment method program of the distance between the human body and the vertical plate robot.

The safe deceleration judgment module relies on the laser radar and visual camera to judge the distance between the panel installation vehicle and the person, and pre-sets the safe deceleration threshold. According to the distance between the obstacle or the human body and the panel installation vehicle, it judges whether the obstacle or person enters the safe deceleration threshold range. , and is greater than the safety emergency stop threshold range, the safety deceleration will be triggered.

The safety emergency stop judgment module relies on the laser radar and visual camera to judge the distance between the panel installation vehicle and the person, and pre-sets the safety emergency stop threshold, and judges whether the obstacle or person enters the safety emergency stop threshold according to the distance between the obstacle or the human body and the panel installation vehicle Within the range, if it enters, it will trigger a safety emergency stop.

It also includes a plate guiding and grabbing module, which is used to guide the plate installation vehicle to the plate storage position, and grab the flat plate on the storage position. The hardware part of the panel guided gripping module includes the gripping vision camera and the clamping structure on the panel loading vehicle. The software part has the following functions: 1. Template feature creation; 2. Basic point cloud processing, such as point cloud smoothing and noise removal; 3. Camera calibration; 4. Template matching, 3D position and attitude estimation of the target object; 5. Camera, Space transformation of tool and car coordinate system; 6. Accurately control the clamping structure.

When in use, the panel installation vehicle in the automatic control mode performs the automatic installation of the panels according to the following steps:

A1. Obtain the first image signal of the scene around the plate installation vehicle, and obtain the storage coordinates of the plate storage position based on the first image signal, and the plate installation vehicle automatically moves to the plate storage position according to the storage coordinates;

A2. The plate installation vehicle clamps the plate and lifts it vertically until the plate is in an upright state, refer to the above steps S1~S5;

A3. Obtain the second image signal of the scene around the plate in the current situation, and obtain the first position signal and the first attitude signal of the plate based on the second image signal;

A4. Based on the panel installation drawing and the second image signal of the panel installation position, obtain the second position signal and the second attitude signal after the panel is installed at the installation position;

A5. Transport the plate to the installation location for installation based on the first position signal, the first attitude signal, the second position signal and the second attitude signal.

As shown in Figure 2, the horizontal direction of this application refers to the direction perpendicular to the paper in Figure 2, the vertical direction refers to the left-right direction in Figure 2, and the vertical direction refers to the up-down direction in Figure 2.

The power output structure of the present application can adopt a hydraulic drive mode, or a drive mode combining a motor, a gear and a chain, as long as it can meet the use requirements of the present application.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments, and that described in the above-mentioned embodiments and the description only illustrates the principles of the present invention, and the present invention also has various aspects without departing from the spirit and scope of the present invention. Variations and improvements all fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. The utility model provides an AAC and ALC panel installation car, includes frame (1) and installs wheel (2) in frame (1) bottom, its characterized in that: the frame (1) is provided with a frame,

a fixed frame (3) is arranged on the upper portion of the frame,

the clamping structure is used for clamping a plate;

the lifting structure is connected with the clamping structure through a steel wire rope (4) and used for lifting the horizontally placed clamped plate to a vertical inclined state;

and the lifting structure is arranged on the fixed frame (3) and used for vertically jacking and lifting the structure to enable the plate in the vertical inclined state to be in a vertical state.

2. The AAC and ALC board installation vehicle of claim 1, wherein: the lifting structure comprises a lifting mechanism and a lifting mechanism,

the movable frame (5) can be connected to the fixed frame (3) along the vertical movement;

jacking cylinder (6), vertical arrangement is followed in jacking cylinder (6), and the casing of jacking cylinder (6) is fixed on mount (3), and the top pushes up the end and connects in adjustable shelf (5).

3. The AAC and ALC panel installation vehicle of claim 1, wherein: the clamping structure comprises a clamping structure and a clamping structure,

the cross beam (7) is horizontally and transversely arranged, and is connected with the lifting structure through a steel wire rope (4);

the upper ends of the two clamping rods (8) are connected to the cross beam (7) in a transverse sliding manner;

the clamping oil cylinder (9) is arranged between the two clamping rods (8) and used for driving the two clamping rods (8) to clamp or loosen;

the clamping head (10) is arranged on the inner side of the lower end of the clamping rod (8), and the clamping head (10) is of a rod-shaped structure with one end fixed on the inner side of the lower end of the clamping rod (8) and the other end tapered.

4. The AAC and ALC panel installation vehicle of claim 3, wherein: the angle adjusting structure is used for adjusting the vertical inclination angle of the clamping rod (8) to enable the clamping rod (8) to be located on one side, facing the fixed frame (3), of the plate in the plate lifting process.

5. The AAC and ALC board installation vehicle of claim 4, characterized in that: the angle-adjusting structure comprises a plurality of angle-adjusting structures,

the clamping device comprises two side rods (11), wherein the side rods (11) correspond to the clamping rods (8) one by one, and one end of each side rod (11) is rotatably connected to each clamping rod (8) through a transverse rotating shaft (12);

the rotating motor is arranged on the side rods (11) and is used for driving the side rods (11) to rotate around the transverse rotating shaft (12);

and the connecting rod (15) is arranged between the two side rods (11), and two ends of the connecting rod (15) are respectively fixedly connected with the other ends of the side rods (11) on the two sides.

6. The AAC and ALC panel installation vehicle of claim 3, wherein: the device also comprises a telescopic structure used for driving the clamping structure to move to a flat plate clamping position along the longitudinal direction; the telescopic structure comprises a telescopic structure and a telescopic structure,

a telescopic bracket (16), the telescopic bracket (16) being arranged on the fixed frame (3);

the shell of the telescopic oil cylinder (17) is fixed on the telescopic support (16), and the pushing end drives the cross beam (7) to move longitudinally when being placed to the position where the plate to be horizontally placed is to be clamped under the clamping structure.

7. The AAC and ALC panel installation vehicle of claim 2, wherein: the lifting structure comprises a lifting mechanism and a lifting mechanism,

the lifting bracket (18), the said lifting bracket (18) is mounted on the upper end of the movable frame (5);

the idler wheels (19) are horizontally and transversely arranged on the lifting support (18), and clamping grooves (20) for accommodating the steel wire ropes (4) are formed in the idler wheels (19);

and the winch is arranged on the lifting bracket (18) and is connected with the steel wire rope (4).

8. The AAC and ALC panel installation vehicle of claim 1, wherein: the frame (1) is also provided with a supporting plate structure for supporting the bottom of the plate when the plate is turned to a vertical state.

9. The AAC and ALC panel installation vehicle of claim 8, wherein: the supporting plate structure comprises a supporting plate and a supporting plate,

the two groups of supporting plate oil cylinders (21) are respectively arranged at two sides of the frame (1), and one end of each supporting plate oil cylinder (21) can be hinged to the frame (1) in a manner of rotating around a transverse axis;

the upper end of the diagonal rod (22) is hinged to the frame (1), and the lower end of the diagonal rod (22) is hinged to the other end of the supporting plate oil cylinder (21);

the support rods (23) are transversely arranged, and two ends of the support rods (23) are respectively connected with the lower ends of the inclined rods (22) on the two sides.

10. The utility model provides an AAC and ALC panel installation control system which characterized in that: the installation control system is used for the AAC and ALC plate installation vehicle as claimed in any one of claims 1-9, including,

the driving control module is used for controlling the movement of the panel mounting vehicle;

the first vision module is used for acquiring the storage coordinates of the plates in the storage position;

the second vision module is used for acquiring an installation signal of the plate after the plate is lifted to the vertical state;

and the central control module is used for acquiring the position signal and the installation signal, sending an instruction for moving the plate installation vehicle to the driving control module, and sending control instructions for clamping the plate, lifting the plate and installing the plate to the plate installation vehicle.

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