CN114290506B - Side die sorting mechanism applying die distributing robot and die distributing method - Google Patents
Side die sorting mechanism applying die distributing robot and die distributing method Download PDFInfo
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- CN114290506B CN114290506B CN202111613533.3A CN202111613533A CN114290506B CN 114290506 B CN114290506 B CN 114290506B CN 202111613533 A CN202111613533 A CN 202111613533A CN 114290506 B CN114290506 B CN 114290506B
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Abstract
The invention discloses a side die sorting mechanism applying a die distribution robot, which comprises a feeding roller way and a sorting mechanism, wherein the feeding roller way is used for conveying side dies, the feeding roller way comprises a roller frame and conveying rollers fixed on the roller frame, limiting rings are sleeved on the conveying rollers, the limiting rings on the conveying rollers are matched to form a groove-shaped linear channel for the side dies to pass through after being put in, and the tail end of the feeding roller way is provided with a limiting plate for stopping the side dies; a side die sensor for judging the type of the side die is also arranged on the feeding roller way; when the mold is distributed, the mold distributing robot clamps the side molds with specific sizes from the cache rack or the storage rack and encloses the side molds into specific shapes, and then the prefabricated parts with the required shapes can be poured, the side molds can be conveniently taken and placed in the whole process, and the mold distributing efficiency is high; the invention also discloses a die distribution method using the sorting mechanism.
Description
Technical Field
The invention relates to the field of building prefabricated parts, in particular to a side formwork sorting mechanism and a formwork distributing method applying a formwork distributing robot.
Background
In the production process of the prefabricated parts, the side forms are generally required to be assembled into a specific shape to form a prefabricated part mold so as to cast the prefabricated parts with the required shape. And after the poured concrete is subjected to the working procedures of vibrating, curing and the like, the side die is removed through a demoulding working procedure.
When the mold is distributed, the mold is often required to be manually judged to form a specific shape according to different types, and then the mold distribution process is started, so that time and labor are wasted, and the mold distribution efficiency is low, thus a solution is needed urgently.
Disclosure of Invention
In order to avoid and overcome the technical problems in the prior art, the invention provides a side die sorting mechanism and a die distributing method using a die distributing robot. The automatic die distributing method and the automatic die distributing device realize automatic die distribution after sorting of the side dies of different models.
In order to achieve the purpose, the invention provides the following technical scheme:
a side die sorting mechanism applying a die distributing robot comprises the following components:
the feeding roller way is used for conveying the side dies and comprises a roller frame and conveying rollers fixed on the roller frame, limiting rings are sleeved on the conveying rollers, the limiting rings on the conveying rollers are matched to form a groove-shaped linear channel for the side dies to pass through after being placed in, and a limiting plate for stopping the side dies is arranged at the tail end of the feeding roller way; a side die sensor for judging the type of the side die is also arranged on the feeding roller way;
the lifting support is arranged below the feeding roller way along the length direction of the feeding roller way, a lifting part for lifting the side forms is arranged on the lifting support, a lifting part for lifting the lifting part upwards and a horizontal pushing part for horizontally translating the lifted lifting part to the cache frame are further arranged on the lifting support, and the movement track of the lifting part and the feeding roller way are avoided;
the buffer storage frame is arranged perpendicular to the lifting support, a first conveying part for positioning the side die and then conveying the side die forwards at equal intervals is arranged on the buffer storage frame along the length direction of the buffer storage frame, a second conveying part avoiding the conveying track position of the side die is further arranged on the buffer storage frame, and a power output end on the buffer storage frame drives the second conveying part and the first conveying part to generate synchronous conveying action; the second conveying part is provided with receiving modules which synchronously move along with the second conveying part and sensing modules which sense the receiving modules and send speed reduction stop signals to the power output end, and the distance between every two adjacent receiving modules is equal to the conveying distance of the upper side die of the first conveying part;
the storage rack comprises storage parts which are arranged in parallel, each storage part comprises a base and support parts which are fixed on the base along the length direction of the base, the top parts of the support parts are locked and fixed by locking parts which are arranged along the length direction of the base, two groups of adjacent supporting parts form a buffer channel arranged along the vertical direction in a surrounding manner so that one end of the storage part can pass through, and the bases of the two groups of parallel storage parts form two-point support for the side molds to be sequentially stacked from bottom to top along the direction vertical to the bases;
and the mould platform is used for providing a mould distribution field of the side mould, and the mould platform, the storage part and the buffer storage frame are all positioned in the clamping range of the clamping jaw of the mould distribution robot.
As a further scheme of the invention: the lifting part is a lifting cylinder, a mounting platform horizontally arranged is fixed on the output end of the lifting cylinder, a pushing guide rail vertically arranged with the feeding roller way is mounted on the mounting platform, the lifting part is mounted on the pushing guide rail, a pushing cylinder pushing the lifting part along the length direction of the pushing guide rail is further arranged on the mounting platform, and the pushing cylinder is matched with the pushing guide rail to form a horizontal pushing part.
As a still further scheme of the invention: the mounting platform is provided with mounting frames arranged along the length direction of the feeding roller way, the lifting parts are arranged on the mounting frames at intervals, and the distance between every two adjacent lifting parts is gradually increased along the arrangement direction of the lifting parts so as to adapt to lifting of side molds of different sizes; the lifting part is an L-shaped supporting plate which is vertically arranged, and a positioning bulge which is clamped and matched with the side die is arranged at the top of the lifting part; and the positioning bulge is provided with a V-shaped groove to be matched with the chamfered edge of the side die.
As a still further scheme of the invention: the first conveying part and the second conveying part are of gear chain structures connected end to end, and the gear types and the chain pitches of the first conveying part and the second conveying part are the same; the power output end is a driving motor, and a motor shaft of the driving motor drives the driving gears of the first conveying part and the second conveying part to synchronously rotate.
As a still further scheme of the invention: the first conveying part is provided with positioning blocks in clamping fit with the side dies, and the positioning blocks are arranged at equal intervals; and the positioning block is provided with a V-shaped notch to be matched with the chamfered edge of the side die.
As a still further scheme of the invention: the second conveying part is provided with deceleration signal receiving sheets at equal intervals, the interval between every two adjacent deceleration signal receiving sheets is equal to the conveying interval of the side die on the first conveying part, and the deceleration signal receiving sheets are receiving modules; an adjusting rod for adjusting the tension degree of the first conveying part is arranged on the cache frame; the buffer storage frames are arranged in parallel at intervals, the distance between every two adjacent buffer storage frames is gradually increased along the arrangement direction of the buffer storage frames so as to adapt to the conveying of the side forms with different lengths, and the side form sensors correspond to the buffer storage frames in position.
As a still further scheme of the invention: the supporting part is a rectangular pipe, a positioning plate is mounted on a pipe body of the supporting part, waist-shaped holes are formed in the plate body of the positioning plate along the length direction of the base, and fastening bolts penetrate through the waist-shaped holes to connect and fix the positioning plate and the rectangular pipe; and adjacent positioning plates are enclosed to form a cache channel matched with the width of the side die for the side die to pass through, and the positioning plates are composite steel plates.
As a still further scheme of the invention: the supporting part top has seted up the ascending U type groove of opening along base length direction, arranges at U type inslot along base length direction with the anastomotic positioning screw in U type groove shape, and be provided with on the positioning screw with positioning screw thread fit's locking bolt, adjacent two sets of locking bolts will correspond the supporting part centre gripping locking fixed, positioning screw cooperatees with locking bolt in order to constitute locking portion.
As a still further scheme of the invention: the base is provided with a guide assembly along the length direction of the base, and each support part can move along the length direction of the guide assembly and then is fixed; the guide assembly is an adjusting guide rail, and the support part is fixed on the adjusting guide rail through a positioning bolt after moving to a designated position along the length direction of the adjusting guide rail; each positioning plate is symmetrically arranged at the front side and the rear side of the corresponding supporting part; cushion blocks positioned at the bottoms of the buffer channels are arranged on the base and used for stacking side molds, and the cushion blocks are perpendicular to the base.
The method for distributing the side die sorting mechanism by using the die distributing robot comprises the following steps of:
s1, conveying the cleaned side forms to a feeding roller way until the side forms are stopped by a limiting plate, and sensing and identifying the length of the side forms by a side form sensor after the side forms are stopped so as to determine the type of the side forms;
s2, lifting the mounting platform and the lifting part by a lifting cylinder, after the lifting part is positioned with the positioning protrusion of the side die, lifting the side die to separate the side die from the feeding roller way, starting a pushing cylinder and horizontally pushing the side die to the upper part of a cache frame, driving the side die to descend by the lifting cylinder until the side die is clamped into a positioning block, and resetting the lifting cylinder and the pushing cylinder to an initial position;
s3, the mold distribution robot correspondingly records the model information of the positioning block and the side mold on the positioning block;
s4, the first conveying part conveys the side die forwards, the second conveying part runs synchronously with the first conveying part, and when the sensing module senses the deceleration signal receiving piece, a deceleration stop signal is sent to the driving motor to ensure that the first conveying part conveys the side die forwards for a specified distance;
s5, repeating the steps S1 to S4;
s6, during mold distribution, a mold distribution robot selects side molds of specified types on a cache frame to be placed on a mold table, the side molds are combined into a specific shape, and then concrete is poured; when the side forms on the cache frame cannot meet the die distribution requirements, the die distribution robot clamps the side forms from the storage frame; after the die is distributed, the die distributing robot puts the side dies on the storage rack into the storage rack for caching according to the models.
Compared with the prior art, the invention has the beneficial effects that:
1. the cleaned side die is conveyed into a feeding roller way, the side die is conveyed forwards along a straight line after being limited, and the type of the side die is judged by stopping; when the side die is stopped and stays above the lifting support, the lifting part lifts the lifting part to enable the side die to move upwards and separate from the feeding roller way, the horizontal pushing part horizontally pushes the lifting part to enable the lifting part to reach the upper part of the cache frame, then the lifting part is lowered to ensure the positioning of the side die and the cache frame, and the horizontal pushing part and the lifting part are reset to finish the conveying of the side die; when the side forms are conveyed and positioned on the cache frame, the first conveying part conveys the side forms, the second conveying part and the first conveying part synchronously convey the side forms, when the sensing module on the second conveying part senses a signal of the receiving module, a deceleration stop signal is sent to the power output end, the first conveying part stops at the moment, the side forms are conveyed again after being lifted and positioned next time, and the process is repeated, so that the conveying distance of the first conveying part at each time is ensured to be a fixed distance, and the positioning conveying cache of the side forms is ensured; the side forms exceeding the buffer storage amount of the buffer storage frame can be buffered by the storage frame, the side forms are sequentially stacked from bottom to top along the vertical direction between the adjacent storage parts according to different models, and the bottom and the top of the supporting part are locked and fixed, so that the supporting part cannot be extruded to generate deviation in the stacking process of the side forms, and the stacking of the side forms along the vertical direction can be ensured; during the cloth mould, the cloth mould robot from buffer memory frame or storage rack on the special size side forms of centre gripping to enclose to close and be specific shape, can pour the prefabricated component who forms required shape, whole process is got and is put the side forms and is facilitated, cloth mould is efficient.
2. According to the invention, the vertical lifting of the side die is realized through the lifting cylinder, the horizontal pushing of the side die is realized through the matching of the pushing guide rail and the pushing cylinder, and the stable conveying of the side die is formed after the combination, so that the side die is stably separated from a feeding roller way and enters the next station; the lifting parts are arranged at intervals to be suitable for the side forms with different length sizes, so that the side forms with different sizes can be stably positioned; the lifting part is designed into an L-shaped supporting plate which is vertically arranged, so that the lifting process is prevented from interfering with a feeding roller way, and the lifting part is provided with a positioning bulge at the top and matched with the chamfering edge of the side die in a clamping manner, so that the stability of the lifting conveying process is ensured.
3. According to the invention, the first conveying part and the second conveying part are designed into gear chain mechanisms with the same gear type and chain pitch, and the power output end adopts the driving motor to drive the gears of the first conveying part and the second conveying part to synchronously run, so that the accuracy of each conveying distance of the first conveying part is ensured; the positioning blocks arranged at equal intervals are arranged on the first conveying part, so that the side die is stably conveyed; the arrangement of the adjusting rod ensures that the chains of the first conveying part and the second conveying part can keep the same tension degree.
4. The supporting part adopts the rectangular pipe, the position of the positioning plate on the rectangular pipe is adjusted through the waist-shaped hole, the width of the buffer channel can be accurately adjusted, the buffer channel can be ensured to be just matched with the size of the side die, the stacking process of the side die is positioned, and the positioning precision is further improved by the arrangement of the positioning plates on the two sides; the U-shaped groove is formed in the top end of each supporting part, and after the positioning screw is prevented from being positioned in the U-shaped groove, the corresponding supporting parts can be clamped, locked and fixed by screwing the locking bolt, the space between the top ends of the supporting parts is kept in a stable state in a pulling mode, the buffer memory channel between the supporting parts can be always kept in the vertical direction, the accuracy of the side die during stacking is improved, and the side die is prevented from inclining; before the buffer storage, the supporting part can be fixed after the position is adjusted along the length direction of the adjusting guide rail, so that the width of the buffer channel is pre-adjusted; the arrangement of the cushion blocks can facilitate the stacking of the side molds, and the cushion blocks can attract magnets in the side molds, so that the positioning accuracy is improved.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a top view of the cache shelf of the present invention.
Fig. 3 is a schematic structural view of the lifting bracket of the present invention.
Fig. 4 is a schematic structural view of the second conveying part of the present invention.
Fig. 5 is a schematic structural view of the storage rack of the present invention.
Fig. 6 is a schematic view of the structure of the storage part of the present invention.
Fig. 7 is a plan view of the storage part of the present invention.
Fig. 8 is a schematic structural view of the cloth mold robot of the present invention.
Fig. 9 is a front view of the die-laying robot of the present invention.
In the figure:
1. a feeding roller bed; 11. a conveying roller; 12. a limiting ring; 13. a limiting plate;
2. lifting the support; 21. a lifting part; 22. mounting a platform; 23. a horizontal pushing part;
24. a mounting frame; 25. a lifting part; 251. positioning a projection;
3. a cache shelf; 31. a second conveying section; 311. a sensing module; 312. a receiving module;
32. a power output end; 33. a first conveying section; 331. positioning blocks; 34. adjusting a rod;
4. a storage section; 41. a base; 411. a guide assembly; 42. a support portion;
43. positioning a plate; 431. a kidney-shaped hole; 432. fastening a bolt;
44. positioning a screw rod; 441. locking the bolt; 45. cushion blocks;
5. and (4) a mould table.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 9, in an embodiment of the present invention, a side form sorting mechanism using a form distribution robot includes a feeding roller table 1, where the feeding roller table 1 includes a roller frame and conveying rollers 11 fixed on one side of the roller frame, and the conveying rollers 11 are arranged at equal intervals.
Two sets of limit rings 12 are coaxially fixed on each conveying roller 11, the distance between the two sets of limit rings 12 is slightly larger than the width of the side die, the limit rings 12 on each conveying roller 11 are matched with each other to form a linear type channel for the side die to be placed in, and the side die is conveyed forwards along the channel when the conveying rollers 11 rotate. The outlet end of the feeding roller way 1 is provided with a limiting plate 13 for stopping the side forms, and the feeding roller way 1 is provided with side form sensors at intervals. First side forms sensor and limiting plate 13 parallel and level, as datum point response side forms, all the other side forms sensors are arranged along 1 length direction of feed roll table in proper order to the side forms that adapt to different model lengths judge the type that the side forms that reach limiting plate 13 are.
And the lifting support 2 is arranged below the feeding roller way 1 along the length direction of the feeding roller way 1. The lifting support 2 is provided with a lifting part 21 capable of generating a lifting action in the vertical direction, and the lifting part 21 is not limited in form and is preferably a lifting cylinder.
The output end of the lifting cylinder is fixed with a horizontally arranged mounting platform 22, and the mounting platform 22 is provided with a lifting part 25 for lifting the side forms and a horizontal pushing part 23 capable of pushing the lifting part 25 in the horizontal direction.
The horizontal pushing part 23 is composed of a pushing cylinder and a pushing guide rail, wherein the pushing guide rail is perpendicular to the feeding roller way 1, an installation frame 24 arranged along the length direction of the feeding roller way 1 is arranged on the pushing guide rail, and the lifting part 25 is fixed on the installation frame 24. When the pushing cylinder is started, the mounting frame 24 is pushed to translate along the length direction of the pushing guide rail.
The lifting parts 25 are arranged on the mounting frame 24 at intervals, and along the arrangement direction of the lifting parts 25, the distance between the adjacent lifting parts 25 is gradually increased, so that the side forms with different length sizes are adapted.
The lifting part 25 is preferably an L-shaped supporting plate arranged along the vertical direction, a positioning protrusion 251 in clamping fit with the side die is arranged at the top of the L-shaped supporting plate, and a V-shaped groove is formed in the positioning protrusion 251 to be matched with a chamfered edge of the side die.
When the feeding roller table 1 conveys the side forms and finally stops the side forms, the side forms are just positioned above the lifting support 2. At the moment, the lifting cylinder drives the mounting platform and the L-shaped supporting plate on the mounting platform to ascend, the positioning protrusion 251 of the L-shaped supporting plate is positioned with the chamfered edge of the side die, and the side die is supported to be separated from the feeding roller way 1; then, starting a pushing cylinder, horizontally pushing the mounting frame 24 and the L-shaped supporting plate on the mounting frame 24 along the direction vertical to the feeding roller way 1, and conveying the side die to the upper part of the next station; and then the lifting cylinder falls down to position the side die with the next station, and finally the lifting cylinder and the pushing cylinder reset to finish the lifting work. In the whole process, the motion trail of the side forms and the feeding roller way 1 are avoided.
The buffer storage frames 3 are provided with a plurality of groups and are arranged in parallel, and each buffer storage frame 3 is perpendicular to the lifting support 2. The buffer frame 3 is provided with a first conveying part 33 along the length direction, the side wall of the buffer frame 3 is provided with a second conveying part 31, and the power output end 32 on the buffer frame 3 simultaneously drives the first conveying part 33 and the second conveying part 31 to generate synchronous conveying action. The first conveying section 33 and the second conveying section 31 are both of an end-to-end conveying structure, preferably a gear chain structure, and the gear type and the chain pitch are equal.
The power output end 32 is preferably a driving motor, a motor shaft of the driving motor penetrates through each buffer frame, and the driving gears of the first conveying part 33 and the second conveying part 31 are coaxially fixed on the motor shaft of the driving motor.
The positioning blocks 331 clamped with the side forms are arranged on the chain of the first conveying part 33 at equal intervals, the shapes of the positioning blocks 331 are not limited, the side forms can be positioned on the first conveying part 33, and the side forms can be kept perpendicular to the buffer racks 3 in the conveying process. The top of the positioning block 331 is provided with a V-shaped notch to fit the chamfered edge of the side mold.
The side wall of the buffer storage frame 3 is provided with an adjusting rod 34 matched with the chain of the first conveying part 33, the length of the adjusting rod 34 is adjustable, and the adjusting rod drives the first conveying part 33 to tension or loosen the chain while adjusting the length so as to adjust the tightness of the first conveying part 33.
The second conveying part 31 is preferably a double-row chain, the receiving modules 312 are arranged between the double-row chain at equal intervals, and the interval between the receiving modules 312 is equal to the interval between the positioning blocks 331. The second conveying part 31 is further provided with a sensing module 311 for sensing a signal of the receiving module 312, and the following details describe the cooperation process of the sensing module 311 and the receiving module 312.
The first conveying part 33 and the second conveying part 31 operate synchronously, and when the sensing module 311 senses the signal of the receiving module 312, a deceleration stop signal is sent to the driving motor, and at this time, the first conveying part 33 is decelerated and stops for receiving the side forms. After the side forms are placed on the positioning block 331, the driving motor is started to drive the first conveying part 33 and the second conveying part 31 to start conveying, when the sensing module 311 senses the signal of the receiving module 312, a deceleration stop signal is sent to the driving motor again, and the first conveying part 33 receives a new side form after deceleration stop. The above processes are performed repeatedly, so that the first conveying part 33 is ensured to advance for a fixed distance in a mode of first accelerating and then decelerating every time, and the accuracy of the side die conveying distance is ensured.
The receiving module 312 is preferably a deceleration signal receiving piece, and the sensing module 311 is a sensor corresponding to the type of the deceleration signal receiving piece.
The first conveying part 33 and the second conveying part 31 may be conveyor belts.
Along the direction of arranging of buffer memory frame 3, the interval between each buffer memory frame 3 increases gradually to the transport of the different length's of adaptation side forms. The arrangement position of each buffer frame 3 corresponds to the position of the side mold sensor.
The storage rack comprises storage parts 4 arranged in parallel, wherein each storage part 4 comprises a base 41, a guide assembly 411 is arranged on each base 41 along the length direction of each base, and a support part 42 can move along the length direction of each guide assembly 411 and then is fixed.
The guide assembly 411 is preferably an adjusting guide rail in sliding fit with the supporting portion 42, and after the supporting portion 42 moves to a predetermined position along the length direction of the adjusting guide rail, the bottom of the supporting portion 42 is positioned with the adjusting guide rail through a positioning bolt.
The support portions 42 are preferably rectangular tubes arranged in parallel at intervals along the length of the base 41. Both ends equal symmetrical arrangement has locating plate 43 around each rectangular pipe, and waist type hole 431 has been seted up along 41 length direction of base at both ends around the pipe shaft of rectangular pipe, and waist type hole 431 sets up two sets ofly usually, arranges the upper and lower both ends at the rectangular pipe. The fastening bolt 432 penetrates through the waist-shaped hole 431 to fix the positioning plates 43 on the rectangular pipe, and the positions of the positioning plates 43 are adjusted along the length direction of the waist-shaped hole 431, so that a buffer channel matched with the width of the side forms can be enclosed between the adjacent positioning plates 43 to allow the side forms to pass through, and the buffer channel is a linear channel arranged along the vertical direction.
The top of each rectangular tube is provided with a U-shaped groove with an upward opening along the length direction of the base 41, the U-shaped grooves at the top of each rectangular tube are matched to form a linear channel for the positioning screw 44 to be put in, and the positioning screw 44 is provided with a locking bolt 441 in threaded fit with the positioning screw 44. The number of the locking bolts 441 is twice of that of the U-shaped grooves, each two groups of locking bolts 441 correspond to one group of the U-shaped grooves, and the two adjacent groups of locking bolts 441 are matched with the positioning screw 44 to form a U-shaped locking mechanism to clamp, lock and fix the corresponding rectangular pipes.
The base 41 is provided with a cushion block 45 which is vertical to the base 41, when stacking, two points of support are formed on the side molds by the cushion blocks 45 of the two groups of storage parts 4 which are arranged in parallel, and two ends of the side molds are sequentially stacked between the two groups of storage parts 4 from bottom to top after passing through the corresponding buffer channels of the storage parts 4 which are arranged in parallel.
Along the direction that deposits 4 arrange, increase between each portion 4 that deposits to the adaptation is deposited not unidimensional side forms.
And the mould platform 5 is used for providing a mould distribution field of the side mould, and the mould platform 5, the storage part 4 and the cache frame 3 are all positioned in the clamping range of the clamping jaw of the mould distribution robot.
The cloth mould robot is a cloth mould truss robot and comprises an X-axis driving arm, a Y-axis driving arm and a Z-axis driving arm, wherein the bottom of the Z-axis driving arm is provided with a clamping jaw for locking or loosening the side mould, so that the side mould is conveyed three-dimensionally. Wherein the clamping jaw is rotatable to drive the side forms and arrange on the mould platform along appointed angle.
On the basis of conveying and positioning the side dies by the original single roller way, the sorting machine with the functions of lifting and transverse moving of the side dies and transverse buffer of the side die chains is added, so that the transverse conveying of the side dies from the roller way to the sorting machine is realized, the buffer storage capacity of the side dies is greatly increased, the backlog of the side dies on the roller way is reduced, and the sorting tempo of the whole side dies is reduced by 20%; the repeated positioning precision is +/-1 mm during sorting, and the functional requirements are met.
The storage rack uses the adjustable positioning plate, and the requirements of processing and assembling of the storage rack on the verticality are greatly reduced. The installation and debugging time of the side formwork storage rack is reduced to 2 days from the original 7 days according to the conventional 600 side formwork storage positions; the processing cost is reduced by 30 percent.
A die distributing method using a side die sorting mechanism of a die distributing robot comprises the following steps:
s1, conveying the cleaned side forms to a feeding roller table 1 until the side forms are stopped by a limiting plate 13, and determining the type of the side forms by sensing and identifying the length of the side forms by a side form sensor after the side forms are stopped;
s2, after the positioning protrusions 251 and the side molds are positioned by the lifting cylinder lifting part 25, the side molds are lifted to be separated from the feeding roller table 1, then the pushing cylinder is started, the lifting part 25 is horizontally pushed to the upper side of the cache frame 3, the lifting cylinder lowers the lifting part 25 to clamp and position the side molds and the positioning blocks 331 of the cache frame 3, and finally the lifting cylinder and the pushing cylinder are reset to initial positions;
s3, the mold distribution robot correspondingly records the model information of the positioning block 331 and the upper side mold of the positioning block 331;
s4, after the side dies are clamped into the positioning blocks 331, the first conveying part 33 conveys the side dies forwards, when the sensing module 311 of the second conveying part 31 senses a deceleration signal receiving piece, a deceleration stop signal is sent to the driving motor, the first conveying part 33 and the second conveying part 31 decelerate and stop, and at the moment, the next side die is placed into the positioning block 331 which is empty in the first conveying part 33;
s5, repeating the steps S1 to S4;
s6, during mold distribution, the mold distribution robot selects side molds of specified types on the cache frame 3 to place on the mold table 5, and the side molds are formed into specific shapes and then concrete is poured; when the side forms on the cache frame 3 cannot meet the die distribution requirements, the die distribution robot clamps the side forms from the storage frame; after the die is distributed, the die distributing robot puts the side dies on the storage rack into the storage rack for caching according to the models.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. The utility model provides an use side forms sorting mechanism of cloth mould robot which characterized in that includes following component parts:
the feeding roller way (1) is used for conveying side dies, the feeding roller way (1) comprises a roller frame and conveying rollers (11) fixed on the roller frame, limiting rings (12) are sleeved on the conveying rollers (11), the limiting rings (12) on the conveying rollers (11) are matched to form a groove-shaped linear channel for the side dies to pass through after being placed in, and a limiting plate (13) used for stopping the side dies is arranged at the tail end of the feeding roller way (1); a side die sensor for judging the type of the side die is also arranged on the feeding roller way (1);
the lifting support (2) is arranged below the feeding roller way (1) along the length direction of the feeding roller way (1), a lifting part (25) used for lifting a side die is arranged on the lifting support (2), a lifting part (21) used for lifting the lifting part (25) upwards and a horizontal pushing part (23) used for horizontally translating the lifted lifting part (25) to the cache frame (3) are further arranged on the lifting support (2), and the movement track of the lifting part (25) and the feeding roller way are avoided;
the buffer storage frame (3) is perpendicular to the lifting support (2), a first conveying part (33) which is used for positioning the side die and then conveying the side die forwards at equal intervals is arranged on the buffer storage frame (3) along the length direction of the buffer storage frame, a second conveying part (31) which is avoided from the conveying track position of the side die is further arranged on the buffer storage frame (3), and a power output end (32) on the buffer storage frame (3) drives the second conveying part (31) and the first conveying part (33) to generate synchronous conveying action; the second conveying part (31) is provided with receiving modules (312) which synchronously move along with the second conveying part (31) and sensing modules (311) which sense the receiving modules (312) and send deceleration stop signals to the power output end (32), and the distance between every two adjacent receiving modules (312) is equal to the conveying distance of the upper side die of the first conveying part (33);
the storage rack comprises storage parts (4) which are arranged in parallel, each storage part (4) comprises a base (41) and supporting parts (42) which are fixed on the base (41) along the length direction of the base (41), the tops of the supporting parts (42) are locked and fixed by locking parts which are arranged along the length direction of the base (41), a buffer channel which is arranged along the vertical direction is enclosed between two adjacent groups of supporting parts (42) so that one end of each storage part (4) can pass through, and the bases (41) of the two groups of storage parts (4) which are arranged in parallel form two-point support for side molds to be sequentially stacked from bottom to top along the direction vertical to the base (41);
the die table (5) is used for providing a die distribution field of the side die, and the die table (5), the storage part (4) and the cache frame (3) are all positioned in the clamping range of the clamping jaw of the die distribution robot;
the first conveying part (33) and the second conveying part (31) are both in an end-to-end gear chain structure, and the gear types and the chain pitches of the first conveying part (33) and the second conveying part (31) are the same; the power output end (32) is a driving motor, and a motor shaft of the driving motor drives the driving gears of the first conveying part (33) and the second conveying part (31) to synchronously rotate;
the first conveying part (33) is provided with positioning blocks (331) matched with the side dies in a clamping manner, and the positioning blocks (331) are arranged at equal intervals; the positioning block (331) is provided with a V-shaped notch to be matched with a chamfered edge of the side die;
the second conveying part (31) is provided with deceleration signal receiving sheets at equal intervals, the interval between every two adjacent deceleration signal receiving sheets is equal to the conveying interval of the side dies on the first conveying part (33), and the deceleration signal receiving sheets are receiving modules (312); an adjusting rod (34) for adjusting the tension of the first conveying part (33) is arranged on the buffer storage frame (3); each buffer storage frame (3) is arranged in parallel at intervals, the distance between every two adjacent buffer storage frames (3) is gradually increased along the arrangement direction of the buffer storage frames (3) so as to adapt to the conveying of the side forms with different lengths, and the side form sensors correspond to the buffer storage frames (3).
2. The sideform sorting mechanism applying the mold distribution robot is characterized in that the lifting portion (21) is a lifting cylinder, a horizontally arranged mounting platform (22) is fixed on an output end of the lifting cylinder, a pushing guide rail perpendicular to a feeding roller way is mounted on the mounting platform (22), the lifting portion (25) is mounted on the pushing guide rail, a pushing cylinder for pushing the lifting portion (25) along the length direction of the pushing guide rail is further arranged on the mounting platform (22), and the pushing cylinder is matched with the pushing guide rail to form a horizontal pushing portion (23).
3. The sideform sorting mechanism applying the die distribution robot is characterized in that mounting frames (24) arranged along the length direction of a feeding roller way are arranged on the mounting platform (22), the lifting parts (25) are arranged on the mounting frames (24) at intervals, and the distance between every two adjacent lifting parts (25) is gradually increased along the arrangement direction of the lifting parts (25) so as to adapt to lifting sideforms with different sizes; the lifting part (25) is an L-shaped supporting plate which is vertically arranged, and a positioning bulge (251) which is in clamping fit with the side die is arranged at the top of the lifting part (25); and a V-shaped groove is formed in the positioning protrusion (251) to be matched with the chamfered edge of the side die.
4. The side form sorting mechanism applying the form distribution robot is characterized in that the supporting portion (42) is a rectangular pipe, a positioning plate (43) is mounted on a pipe body of the supporting portion (42), a waist-shaped hole (431) is formed in the plate body of the positioning plate (43) along the length direction of the base (41), and a fastening bolt (432) penetrates through the waist-shaped hole (431) to fixedly connect the positioning plate (43) and the rectangular pipe; and adjacent positioning plates (43) are enclosed to form a buffer channel matched with the width of the side die for the side die to pass through, and the positioning plates (43) are composite steel plates.
5. The side form sorting mechanism applied to the mold distribution robot is characterized in that a U-shaped groove with an upward opening is formed in the top end of the supporting portion (42) along the length direction of the base (41), a positioning screw (44) matched with the U-shaped groove in shape is arranged in the U-shaped groove along the length direction of the base (41), locking bolts (441) matched with the positioning screw (44) in a threaded mode are arranged on the positioning screw (44), two adjacent groups of locking bolts (441) clamp, lock and fix the corresponding supporting portion (42), and the positioning screw (44) is matched with the locking bolts (441) to form a locking portion.
6. The side die sorting mechanism applied to the die distributing robot is characterized in that a guide assembly (411) is arranged on the base (41) along the length direction of the base, and each supporting part (42) can move along the length direction of the guide assembly (411) and then is fixed; the guide assembly (411) is an adjusting guide rail, and the support part (42) is fixed on the adjusting guide rail through a positioning bolt after moving to a designated position along the length direction of the adjusting guide rail; each positioning plate (43) is symmetrically arranged at the front side and the rear side of the corresponding supporting part (42); cushion blocks (45) positioned at the bottoms of the buffer channels are arranged on the base (41) and used for stacking side molds, and the cushion blocks (45) are perpendicular to the base (41).
7. The method for applying the side form sorting mechanism of the form distribution robot as claimed in any one of claims 1 to 6, characterized by comprising the following steps:
s1, conveying the cleaned side forms to a feeding roller way (1) until the side forms are stopped by a limiting plate (13), and sensing and identifying the length of the side forms by a side form sensor after the side forms are stopped to determine the type of the side forms;
s2, lifting the installation platform (22) by a lifting cylinder and a lifting part (25), after the lifting part (25) is positioned with a positioning protrusion (251) of the side die, lifting the side die to separate the side die from the feeding roller way (1), starting a pushing cylinder and horizontally pushing the side die to the upper side of a cache frame (3), driving the side die to descend by the lifting cylinder until the side die is clamped into a positioning block (331), and resetting the lifting cylinder and the pushing cylinder to initial positions;
s3, the mold distribution robot records the model information of the positioning block (331) and the upper side mold of the positioning block (331) correspondingly;
s4, the first conveying part (33) conveys the side die forwards, the second conveying part (31) runs synchronously with the first conveying part (33), and when the sensing module (311) senses the deceleration signal receiving sheet, a deceleration stop signal is sent to the driving motor to ensure that the first conveying part (33) conveys the side die forwards for a specified distance;
s5, repeating the steps S1 to S4;
s6, during mold distribution, the mold distribution robot selects side molds of specified types on the cache frame (3) to be placed on the mold table (5), and concreting is performed after the side molds are formed into specific shapes; when the side forms on the cache rack (3) cannot meet the die distribution requirements, the die distribution robot clamps the side forms from the storage rack; after the die is distributed, the die distributing robot puts the side dies on the storage rack into the storage rack for caching according to the models.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111613533.3A CN114290506B (en) | 2021-12-27 | 2021-12-27 | Side die sorting mechanism applying die distributing robot and die distributing method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111613533.3A CN114290506B (en) | 2021-12-27 | 2021-12-27 | Side die sorting mechanism applying die distributing robot and die distributing method |
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| CN114290506A CN114290506A (en) | 2022-04-08 |
| CN114290506B true CN114290506B (en) | 2022-12-02 |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1762354A2 (en) * | 2005-09-12 | 2007-03-14 | Elematic Oy Ab | Method and apparatus for casting self-compacting concrete mix |
| CN204149149U (en) * | 2014-07-15 | 2015-02-11 | 宁国市东兴实业有限公司 | The storage rack of a kind of applicable different length and material tubing |
| CN109719844A (en) * | 2019-01-03 | 2019-05-07 | 沈机（上海）智能***研发设计有限公司 | Cloth mould machine and its cloth mould method |
| CN210256084U (en) * | 2019-06-28 | 2020-04-07 | 广东联城住工装备信息科技有限公司 | Mold storage rack |
| CN113829489A (en) * | 2021-10-26 | 2021-12-24 | 辽宁鞍重建筑科技有限公司 | Non-groove side formwork rapid storage circulation warehouse |
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2021
- 2021-12-27 CN CN202111613533.3A patent/CN114290506B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1762354A2 (en) * | 2005-09-12 | 2007-03-14 | Elematic Oy Ab | Method and apparatus for casting self-compacting concrete mix |
| CN204149149U (en) * | 2014-07-15 | 2015-02-11 | 宁国市东兴实业有限公司 | The storage rack of a kind of applicable different length and material tubing |
| CN109719844A (en) * | 2019-01-03 | 2019-05-07 | 沈机（上海）智能***研发设计有限公司 | Cloth mould machine and its cloth mould method |
| CN210256084U (en) * | 2019-06-28 | 2020-04-07 | 广东联城住工装备信息科技有限公司 | Mold storage rack |
| CN113829489A (en) * | 2021-10-26 | 2021-12-24 | 辽宁鞍重建筑科技有限公司 | Non-groove side formwork rapid storage circulation warehouse |
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| CN114290506A (en) | 2022-04-08 |
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