CN114454296A

CN114454296A - Cloth finishing execution terminal, cloth machine and cloth system

Info

Publication number: CN114454296A
Application number: CN202011244336.4A
Authority: CN
Inventors: 蔡浩; 陈卿; 段海涛
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-11-10
Filing date: 2020-11-10
Publication date: 2022-05-10

Abstract

The invention relates to a cloth finishing execution terminal, a cloth machine and a cloth system, which are used for finishing the non-mold molding surface of a prefabricated part and comprise: the device comprises a finishing mechanical arm which is arranged in the upper area of the non-mold molding surface of the prefabricated part in a displaceable manner and is used for finishing the non-mold molding surface of the prefabricated part, and a flatness detector which is arranged on the finishing mechanical arm and can detect the flatness of the non-mold molding surface of the prefabricated part. The cloth finishing execution terminal application of the scheme is arranged in the cloth machine and used for detecting the flatness of the surface of concrete in a mould platform after the cloth pouring operation is finished on the mould platform and automatically repairing and leveling uneven parts, so that the problem that the forming quality of a PC prefabricated part is influenced due to the fact that the labor intensity is high, the operation speed is low and the production efficiency is influenced and the repairing error is large in the traditional repairing mode is solved.

Description

Cloth finishing execution terminal, cloth machine and cloth system

Technical Field

The invention relates to the technical field of assembly type buildings, in particular to a cloth finishing execution terminal, a cloth machine and a cloth system.

Background

In recent years, along with the rapid development of assembly type building technology, the production equipment of upstream PC components is also advancing to automation and intellectualization, because the construction using PC prefabricated components can bring considerable economic benefits, high construction efficiency, low environmental destruction and low cost.

At present, most of PC member production and preparation methods are completed by adopting a material distributor through material distribution operation, namely, the material distributor pours concrete materials into a die table, and after the concrete materials are solidified and demoulded, PC prefabricated members can be obtained. However, the distribution machine inevitably has the problems of uneven distribution, poor distribution precision and the like, so that certain areas of the surface of concrete actually poured on the die table are more or less than the theoretical design amount, and the surface of the finally molded PC prefabricated part has the problem of unevenness. The mode of solving this problem at present generally is accomplished through artifical shovel benefit mode, and not only workman intensity of labour is big, and the operating speed is slow and influence production efficiency, and artifical manual shovel benefit still can have great error simultaneously, leads to finally fashioned PC prefabricated component still to have quality defect.

Disclosure of Invention

Based on this, it is necessary to provide a cloth finishing execution terminal, a cloth machine and a cloth system, which aim to solve the problems of the prior art that the finishing operation intensity is large, the error is large and the production efficiency is affected.

In one aspect, the present application provides a cloth finishing execution terminal for finishing a non-mold forming surface of a prefabricated part, the cloth finishing execution terminal comprising:

a finishing robot displaceably arranged in an area above the non-mould-forming surface of the prefabricated part for finishing the non-mould-forming surface of the prefabricated part, an

The flatness detection instrument is arranged on the trimming mechanical arm and can detect the flatness of the non-mold molding surface of the prefabricated part.

The cloth finishing execution terminal application of the scheme is arranged in the cloth machine and used for detecting the flatness of the surface of concrete in a mould platform after the cloth pouring operation is finished on the mould platform and automatically repairing and leveling uneven parts, so that the problem that the forming quality of a PC prefabricated part is influenced due to the fact that the labor intensity is high, the operation speed is low and the production efficiency is influenced due to the fact that the repairing error is large in the traditional repairing mode is solved.

Particularly, after finishing cloth pouring on the die table and carrying out vibration compaction operation, the cloth actuator moves back to the original point to avoid the area above the die table, and the shifting mechanism starts to move on the supporting beam frame and drives the trimming mechanical arm and the flatness detector arranged on the trimming mechanical arm to move synchronously. In the moving process, the flatness detector can detect the flatness of the concrete surface in the die table, and when the detection shows that the local part has a protrusion condition (namely the concrete at the part is excessively distributed), the repairing manipulator can automatically grab the redundant concrete at the part and send the redundant concrete to the outside; or when the flatness detector detects that the concrete surface has protrusion and sunken condition simultaneously (there are too much positions of concrete cloth and too few positions promptly), the finisher tool hand can fill the surplus concrete of snatching from the protrusion to the sunken position, realizes protrusion position and sunken position flattening operation purpose. Compared with the traditional manual repair shoveling mode, the scheme can automatically finish the leveling operation of the uneven part on the surface of the concrete after the cloth is poured, can effectively reduce the labor intensity of workers, is high in operation speed, can ensure the production efficiency of the PC prefabricated part, is high in repair operation precision, can solve the manual repair error, and ensures the forming quality of the PC prefabricated part.

The technical solution of the present application is further described below:

in one embodiment, the cloth trimming execution terminal further comprises a supporting beam frame arranged at the cloth station, the trimming manipulator comprises a shifting mechanism, the shifting mechanism comprises an X-axis moving module movably arranged on the supporting beam frame, a Y-axis moving module movably arranged on the X-axis moving module, and a Z-axis moving module movably arranged on the Y-axis moving module, and the flatness detector is arranged on the Y-axis moving module.

In one embodiment, the finishing manipulator further comprises a driving source for outputting telescopic power, a material taking hopper and a matching baffle, wherein the driving source and the matching baffle are respectively arranged on the Z-axis moving module, the material taking hopper is rotatably arranged on the Z-axis moving module and is in driving connection with the driving source, and the material taking hopper can be opened and closed in matching with the matching baffle.

In one embodiment, the material taking hopper is rotatably connected with the matching baffle through a rotating shaft.

In one embodiment, the finishing manipulator further comprises at least two material distributing stop rods, the at least two material distributing stop rods are arranged on one side of the matched baffle plate facing the material taking hopper at intervals side by side, and the at least two material distributing stop rods are arranged below the material taking hopper.

In one embodiment, the flatness detector is located remotely from the conditioning robot.

In one embodiment, the flatness detector comprises a detector mounting seat, and a detection radiation emitter and a detection radiation receiver which are respectively arranged at the left side and the right side of the detector mounting seat, wherein the detection radiation emitter is used for emitting detection radiation to the non-mold forming surface of the prefabricated part, and the detection radiation receiver is used for receiving the detection radiation reflected from the non-mold forming surface of the prefabricated part.

In one embodiment, a reference plane is formed in the material distribution station, the area of the non-mold forming surface higher than the reference plane is set as a first area, and the area of the non-mold forming surface lower than the reference plane is set as a second area; when the flatness detector detects the first area, the finishing manipulator removes concrete in the first area, and when the flatness detector detects the second area, the finishing manipulator or the distributing machine fills concrete in the second area.

In one embodiment, the material-taking hopper is capable of filling the second area with concrete removed from the first area.

In one embodiment, the lower surface of the mating baffle is flush with the reference plane when the conditioning robot is in operation.

In one embodiment, the distribution finishing execution terminal further comprises a vibrating mechanism, and the vibrating mechanism can vibrate the precast concrete after the finishing robot finishes finishing the non-mold forming surface.

On the other hand, this application still provides a cloth machine, and it includes:

the cloth travelling beam is arranged on one side of the cloth station;

the die table can movably circulate and can penetrate through the material distribution station;

the material distribution actuator is movably arranged on the material distribution walking beam and is used for pouring concrete into the die table; and

the cloth trim execution terminal as described above.

In one embodiment, the material distributing actuator comprises a material distributing hopper and at least two switching door assemblies, the material distributing hopper is provided with a material outlet, the at least two switching door assemblies are movably arranged on the material distributing hopper and can be matched with the material outlet in an opening and closing mode, and each switching door assembly can be opened and closed independently to enable the material outlet width of the material outlet to be adjustable.

In one embodiment, the material distributor further comprises a circulation conveying line and a vibrating table, the die table is movably arranged on the circulation conveying line, the vibrating table is arranged on one side of the circulation conveying line and located at the material distribution station, and the vibrating table can apply vibration to the die table.

In addition, this application still provides a cloth system, and it includes as above-mentioned cloth machine.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is a schematic structural view of a material distributor according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a cloth finishing execution terminal shown in FIG. 1;

FIG. 3 is a schematic view of a portion of the enlarged structure at A in FIG. 2;

FIG. 4 is a schematic view of a portion of the enlarged structure at B in FIG. 2;

FIG. 5 is an assembled structure view of a support beam frame and a cloth traveling beam according to an embodiment of the present invention;

FIG. 6 is a schematic structural view of the cloth actuator of FIG. 1;

fig. 7 is a schematic structural diagram of a flatness detector according to an embodiment of the present invention.

Description of reference numerals:

100. a cloth finishing execution terminal; 10. a support beam frame; 20. a displacement mechanism; 21. an X-axis moving module; 211. an X-axis drive member; 212. an X-axis fitting piece; 213. an X-axis moving seat; 22. a Y-axis moving module; 221. a Y-axis drive member; 222. a Y-axis fitting piece; 223. a Y-axis moving base; 23. a Z-axis moving module; 231. a Z-axis drive member; 232. a Z-axis drive rod; 233. a Z-axis transmission block; 234. a Z-axis fixing seat; 235. a Z-axis movable seat; 30. trimming the mechanical arm; 31. a drive source; 32. a material taking hopper; 33. matching with a baffle; 40. a material distribution station; 50. a flatness detector; 51. a detector mounting base; 52. a detection ray emitter; 53. detecting a ray receiver; 200. a material distributor; 210. a cloth walking beam; 220. a mould table; 230. a cloth actuator; 240. a transfer conveying line; 250. a vibration table.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will recognize without departing from the spirit and scope of the present invention.

The embodiment of the application provides a material distribution system, which is applied to the field of prefabricated building and can realize the forming processing of various PC prefabricated components. The PC prefabricated part can be, but is not limited to, a wallboard, a floor slab, a beam slab and the like.

The distributing system mainly comprises a concrete feeding device and a distributing machine 200. The concrete feeding device is used for feeding concrete required by distribution into the distributing machine 200, and the distributing machine 200 is used for performing accurate distribution pouring on the concrete to obtain the PC prefabricated part. The concrete feeding device can be a concrete mixer truck, a concrete mixing plant and the like according to different conditions such as sites, construction requirements and the like. The concrete mixer truck can be used as a concrete transfer medium between a concrete mixing plant and a construction operation site, and is used in occasions where the site is not suitable to be directly built beside the construction operation site. In contrast, if the construction site and the space are enough, the concrete mixing plant can be directly established on the construction operation site, so that the effects that the raw materials (sand, cement, pebbles and the like) are directly made into the concrete and the made concrete is conveyed to the distributing machine 200 for use through a pipeline can be realized, the raw material supply efficiency can be greatly improved, and the preparation efficiency of the PC prefabricated part can be improved.

As shown in fig. 1 and fig. 5, for a material distributor 200 of an embodiment shown in the present application, the material distributor 200 includes: a cloth walking beam 210, a circulation conveying line 240, a vibration table 250, a mould table 220, a cloth actuator 230 and a cloth finishing execution terminal 100. Wherein the mold table 220 is mounted on the flow conveying line 240, and the mold table 220 can move along the flow conveying line 240 in a flow manner. A certain section of the circulation transfer line 240 is provided as the distribution station 40, and the mold table 220 participates in the distribution work when the mold table 220 moves to the distribution station 40.

The cloth walking beam 210 is installed at the outer side of the circulation conveying line 240 and can bear and install the cloth actuator 230, the cloth actuator 230 can move along the cloth walking beam 210, the moving path of the cloth actuator 230 is parallel to the circulation path of the mold table 220, and the cloth area of the cloth actuator 230 can completely cover the mold table 220. However, during normal material distribution operation, the material distribution actuator 230 is fixed at the original point of the material distribution walking beam 210, the mold table 220 moves from the lower part of the material distribution walking beam, the material distribution actuator 230 directly pours concrete into the mold table 220, and therefore the whole material distribution operation can be completed through one-time pouring, and the material distribution efficiency can be effectively improved.

That is, in this embodiment, the cloth traveling beam 210 is disposed at one side of the cloth station 40; the mold table 220 is movably arranged on the circulating conveying line 240, and the mold table 220 can movably circulate and can pass through the material distribution station 40; the material distributing actuator 230 is movably disposed on the material distributing walking beam 210, a motion track of the material distributing actuator can cover the mold table 220, and the material distributing actuator 230 is used for pouring concrete into the mold table 220.

In order to avoid poor surface forming quality of the PC prefabricated part due to the existence of cloth errors, after the cloth pouring is completed, the preset cloth finishing execution terminal 100 at the cloth station 40 can detect the flatness of the concrete surface, so that the uneven part can be repaired, and the cloth is more uniform and smooth.

It will be appreciated that after the concrete material to be poured into the mold 220 is set and removed from the mold, a shaped PC preform is obtained.

In addition, in order to discharge air bubbles mixed inside and eliminate gaps, so that concrete poured into the mold table 220 is more dense, and the forming quality and strength of the PC prefabricated part are improved, the vibration table 250 is arranged on one side of the circulation conveying line 240 and located at the material distribution station 40, and the vibration table 250 can apply vibration to the mold table 220.

In actual work, the sizes of the PC prefabricated parts required generally are different according to the size requirements of different fabricated buildings, and the required width of the floor slab is 500mm, 800mm or 1000mm taking the floor slab as an example. At this time, the cloth actuator 230 is required to control the width of the cloth to meet the production requirement. As shown in fig. 1 and fig. 6, in some embodiments, the material distribution actuator 230 includes a material distribution hopper and at least two switching door assemblies, the material distribution hopper is provided with a material outlet, the at least two switching door assemblies are movably disposed on the material distribution hopper and can be in open-close fit with the material outlet, and each switching door assembly can independently perform an open-close action so as to adjust a material outlet width of the material outlet. So, according to the width dimension of different PC prefabricated component, the accessible is opened or is closed the switching door subassembly of different quantity, obtains the discharge gate size that corresponds the width, just can satisfy the production requirement.

Optionally, the switch door subassembly includes that cylinder and switch door constitute, and the switch door articulates on the cloth fill outer wall and is connected with the piston rod of cylinder, and with the help of the flexible removal of piston rod, the switch door can be towards the discharge gate or keep away from the discharge gate upset to the realization is closed or is opened the purpose of discharge gate. The implementation scheme has the advantages of simple structure, low cost and good controllability.

Referring to fig. 2, a cloth trimming execution terminal 100 according to an embodiment of the present application is used for trimming a non-mold forming surface of a prefabricated component, the cloth trimming execution terminal 100 includes: the device comprises a supporting beam frame 10, a trimming manipulator 30 and a flatness detector 50, wherein the trimming manipulator 30 comprises a shifting mechanism 20. The supporting beam frames 10 are used for bearing and fixing the shifting mechanism 20, wherein the supporting beam frames 10 are arranged at the material distribution station 40 and on the inner side of the material distribution walking beam 210, and the number of the supporting beam frames 10 is two, so that the whole trimming manipulator 30 can be driven to move by the more stable supporting and shifting mechanism 20.

The shifting mechanism 20 is movably arranged on the supporting beam frame 10 and is used for driving the trimming manipulator 30 to flexibly move above the die table 220 after the material is distributed and poured. That is, in the embodiment, the trimming robot 30 is movably disposed above the non-mold-molding surface of the prefabricated part and is capable of trimming the non-mold-molding surface of the prefabricated part, the flatness detector 50 is disposed on the trimming robot 30, and the flatness detector 50 is capable of detecting the flatness of the non-mold-molding surface of the prefabricated part.

In summary, the implementation of the technical solution of the present embodiment has the following beneficial effects: the cloth finishing execution terminal 100 of the scheme is applied to equipment in a cloth machine 200, is used for detecting the flatness of the surface of concrete in a mold table 220 after the cloth pouring operation is completed on the mold table 220, and automatically repairs and levels uneven parts, so that the problem that the forming quality of a PC prefabricated part is influenced due to the fact that the labor intensity is high, the operation speed is low and the production efficiency is influenced and the repair error is large in the traditional repair mode is solved.

Specifically, after the material pouring is completed on the mold table 220 and the vibration compacting operation is performed, the material distributing actuator 230 moves back to the original point to avoid the area above the mold table 220, and at this time, the shift mechanism 20 starts to move on the support beam frame 10 and drives the trimming robot 30 and the flatness detecting instrument 50 mounted on the trimming robot 30 to move synchronously. In the moving process, the flatness detecting instrument 50 can detect the flatness of the concrete surface in the formwork 220, and when a local protrusion condition (i.e. excessive concrete cloth at the part) is detected, the finishing manipulator 30 can automatically grab the excessive concrete at the part and send the excessive concrete to the outside; or when the flatness detecting instrument 50 detects that the concrete surface has both convex and concave conditions (i.e. there are too many and too few concrete cloth portions), the finishing manipulator 30 fills the concave portions with the excess concrete grabbed from the convex portions, so as to achieve the purpose of leveling the convex portions and the concave portions. Compared with the traditional manual repair shoveling mode, the scheme can automatically finish the leveling operation of the uneven part on the surface of the concrete after the cloth is poured, can effectively reduce the labor intensity of workers, is high in operation speed, can ensure the production efficiency of the PC prefabricated part, is high in repair operation precision, can solve the manual repair error, and ensures the forming quality of the PC prefabricated part.

It should be noted that, if the flatness detecting apparatus 50 detects that only the concrete surface has the depression, at this time, since no extra concrete is captured to be used for filling, the flatness detecting apparatus 50 may feed back a signal to the controller, the controller outputs an instruction to the material distributing actuator 230, and the material distributing actuator 230 performs secondary material distribution and filling on the depression.

Alternatively, the flatness detector 50 may be, but is not limited to, a 3D detector. The detection principle can be that the image of the surface of the concrete is captured and analyzed, or the judgment is carried out by detecting the time from the light emission to the light return, and the like.

With reference to fig. 2, in some embodiments, the shifting mechanism 20 includes an X-axis moving module 21 movably disposed on the supporting beam frame 10, a Y-axis moving module 22 movably disposed on the X-axis moving module 21, and a Z-axis moving module 23 movably disposed on the Y-axis moving module 22, and the flatness detecting device 50 is disposed on the Y-axis moving module 22. Generally, various PC prefabricated components are planar components with a large area, and at this time, the flatness detecting apparatus 50 can pass through each area of the concrete surface by virtue of the sequential movement or the cooperative linkage of the X-axis moving module 21 and the Y-axis moving module 22, so as to avoid missing parts. On the basis, by means of the lifting movement of the Z-axis moving module 23, the trimming manipulator 30 can approach the concrete surface to finish grabbing the concrete at the redundant part and moving out of the distributing station 40, or the redundant concrete is filled in the concave part, so that the purpose of leveling the concrete surface is achieved, and the uniform distribution is ensured.

The flatness detector 50 is disposed on the Y-axis moving module 22. The purpose is that the flatness detector 50 can only move horizontally in the XY plane at the moment, and can completely cover the whole concrete surface, so that complete detection is ensured; and at this time, the plane where the flatness detecting instrument 50 is located can form a detection reference plane, which is more beneficial to accurately detecting the convex or concave part (i.e. the condition of more or less materials) existing on the concrete surface on the die table 220, so as to provide reliable support for repairing the repairing manipulator 30.

As shown in fig. 4, in the present embodiment, the flatness detecting apparatus 50 is disposed away from the trimming robot 30. Specifically, the trimming robot 30 is disposed at a lower end of the Z-axis moving module 23 on a side away from the Y-axis moving module 22, and the flatness detector 50 is disposed at a side of the Y-axis moving module 22 away from the Z-axis moving module 23 and suspended above an outer side of the X-axis moving module 21. Therefore, shielding interference on the detection ray of the flatness detector 50 can be well avoided, and reliable work of the flatness detector 50 is guaranteed.

With reference to fig. 7, on the basis of the above embodiment, the flatness detecting apparatus 50 includes a detecting apparatus mounting seat 51, and a detecting radiation emitter 52 and a detecting radiation receiver 53 respectively disposed at the left and right sides of the detecting apparatus mounting seat 51, wherein the detecting radiation emitter 52 is configured to emit detecting radiation to the non-mold-forming surface of the prefabricated part, and the detecting radiation receiver 53 is configured to receive the detecting radiation reflected from the non-mold-forming surface of the prefabricated part. So, the structural component of roughness detector 50 is simple, detects the roughness of prefabricated component's non-mould shaping surface, only relies on the ejection of compact who detects the ray and return time just can accurate judgement, and the theory of operation is simple and detect the reliability high.

With reference to fig. 3, in some embodiments, the X-axis moving module 21 includes an X-axis driving element 211, an X-axis driving wheel, an X-axis mating element 212 and an X-axis moving base 213, wherein the X-axis driving element 211 is disposed on the X-axis moving base 213 and is in driving connection with the X-axis driving wheel, and the X-axis mating element 212 is disposed on the supporting beam frame 10 and is in driving engagement with the X-axis driving wheel. Thus, the X-axis driving device 211 outputs power to drive the X-axis driving wheel to rotate, and the X-axis driving wheel is matched with the X-axis matching element 212 installed on the supporting beam frame 10, so that the X-axis moving seat 213 can move along the supporting beam frame 10 in both positive and negative directions of the X-axis, and finally the flatness detecting and repairing operation of the flatness detector 50 and the repairing manipulator 30 in the X-direction of the concrete surface can be completed.

Preferably, in the above embodiment, the X-axis driving member 211 is provided as a motor, and the rotational power of the motor is output through a speed reducer to increase the torque, and the power is transmitted to the X-axis driving wheel through the speed reducer. The X-axis driving wheel is arranged as an X-axis gear, the X-axis fitting piece 212 is arranged as an X-axis rack, and the X-axis gear is meshed with the X-axis rack. By means of the gear-rack meshing transmission structure, not only can the smooth movement of the trimming manipulator 30 and the flatness detector 50 in the X-axis direction be realized, but also the material preparing point and the material discharging point can be accurately controlled, and the quality and the effect of repairing the concrete surface can be improved.

With continued reference to fig. 4, in some embodiments, the Y-axis moving module 22 includes a Y-axis driving element 221, a Y-axis driving wheel, a Y-axis engaging element 222 and a Y-axis moving base 223, the Y-axis driving element 221 is disposed on the Y-axis moving base 223 and is in driving connection with the Y-axis driving wheel, and the Y-axis engaging element 222 is disposed on the X-axis moving base 213 and is in driving engagement with the Y-axis driving wheel. Thus, the Y-axis driving wheel 221 outputs power to drive the Y-axis driving wheel to rotate, and the Y-axis driving wheel is matched with the Y-axis matching piece 222 installed on the X-axis moving seat 213, so that the Y-axis moving seat 223 can move along the X-axis moving seat 213 in the positive and negative directions of the Y-axis, and finally the flatness detection instrument 50 and the finishing manipulator 30 can complete the flatness detection and repair operation in the Y-direction of the concrete surface.

Preferably, in the above embodiment, the Y-axis driving member 221 is provided as a motor, and the rotational power of the motor is output through a speed reducer to increase the torque, and the power is transmitted to the Y-axis driving wheel through the speed reducer. The Y-axis driving wheel is set to be a Y-axis gear, the Y-axis fitting piece 222 is set to be a Y-axis rack, and the Y-axis gear is meshed with the Y-axis rack. By means of the gear-rack meshing transmission structure, not only can the smooth movement of the trimming manipulator 30 and the flatness detector 50 in the Y-axis direction be realized, but also the material preparing point and the material discharging point can be accurately controlled, and the quality and the effect of repairing the concrete surface can be improved.

With reference to fig. 4, in still other embodiments, the Z-axis moving module 23 includes a Z-axis driving element 231, a Z-axis driving rod 232, a Z-axis driving block 233, a Z-axis fixing seat 234 and a Z-axis movable seat 235, the Z-axis fixing seat 234 is connected to the Y-axis moving seat 223, the Z-axis driving element 231 is disposed on the Z-axis fixing seat 234 and is drivingly connected to the Z-axis driving rod 232, the Z-axis driving block 233 is disposed on the Z-axis driving rod 232 for moving up and down, and the Z-axis driving block 233 is connected to the Z-axis movable seat 235. Therefore, the Z-axis driving member 231 drives the Z-axis driving rod 232 to rotate so as to drive the Z-axis transmission block 233 to move up and down, and the Z-axis transmission block 233 further drives the Z-axis movable seat 235 and the trimming manipulator 30 to move up and down, so that the trimming manipulator 30 can complete the repairing operation of descending at a material-rich part to grab materials, then ascending and shifting, and finally descending at a material-poor part to discharge materials.

Preferably, in the above embodiment, the Z-axis driving lever 232 is provided as a lead screw, and the Z-axis transmission block 233 is provided as a slider screwed to the outside of the lead screw. The height position of the trimming manipulator 30 can be accurately controlled by the screw rod slide block transmission mechanism, so that the trimming manipulator 30 has accurate material grabbing amount, and splashing does not occur during discharging, thereby ensuring the repairing quality of the concrete surface.

It should be noted that the motor rack and pinion mechanism or the motor lead screw slider mechanism adopted in the above embodiments do not limit the scope of the present application, and in other embodiments, other modules or mechanisms having equivalent functions and effects in the prior art, such as a cylinder scissor mechanism, a motor pulley mechanism, etc., may be adopted according to actual needs, and are also within the scope of the present application.

In addition, on the basis of any of the above embodiments, the trimming robot 30 further includes a driving source 31 for outputting telescopic power, a material taking hopper 32 and an engaging baffle 33, the driving source 31 and the engaging baffle 33 are respectively disposed on the Z-axis moving module 22, the material taking hopper 32 is rotatably disposed on the Z-axis moving module 23 and is in driving connection with the driving source 31, and the material taking hopper 32 can be engaged with the engaging baffle 33 in an opening and closing manner. A reference plane is formed in the material distribution station 40, the area of the non-mold forming surface higher than the reference plane is set as a first area, and the area of the non-mold forming surface lower than the reference plane is set as a second area; when the flatness detector 50 detects the first area, the finishing manipulator 30 scrapes off the concrete in the first area, and when the flatness detector 50 detects the second area, the finishing manipulator 30 or the distributing machine fills the concrete in the second area. The hopper 32 can fill the second area with concrete removed from the first area.

In the initial state, the drive source 31 is in the retracted state, and the hopper 32 is opened away from the engaging shutter 33. The reference plane refers to a flat surface of the prefabricated part under the condition that the design thickness requirement of the prefabricated part is met. When the flatness detector 50 detects that a first area exists (that is, when a certain part of the concrete surface has multiple materials), the X-axis moving module 21 and the Y-axis moving module 22 cooperate to position the material taking hopper 32 right above the multiple material part, and then the Z-axis moving module 23 drives the material taking hopper 32 to descend and approach the multiple material part, at this time, the driving source 31 outputs extension power to push the material taking hopper 32 to turn close to the matching baffle 33, so that the material taking hopper 32 can dig and take the excess concrete into the material taking hopper 32, thereby completing material taking and finishing. The pick-up hopper 32 continues to turn over and eventually closes with the mating closure 33 so that concrete located within the pick-up hopper 32 does not leak and spill. Then, the X-axis moving module 21 and the Y-axis moving module 22 further cooperate to move, when the flatness detecting instrument 50 detects that the second area exists, the driving source 31 outputs retraction power to pull the material taking hopper 32 to turn upwards, the material taking hopper 32 is far away from the matching baffle 33 to be opened, the previously-grabbed concrete automatically falls off to fill and flatten the second area, and the finishing operation is further completed.

It is to be noted that, when the finisher robot 30 operates, the lower surface of the engagement shutter 33 is flush with the reference plane. Therefore, the operation reference precision can be ensured, and the flatness of the non-mold forming surface after filling and trimming is improved.

Further, the material taking hopper 32 is rotatably connected with the matching baffle 33 through a rotating shaft. Through installing the pivot additional, make the hopper 32 of getting rotate with cooperation baffle 33 through the pivot and be connected, can further improve the installation rigidity and the stability of getting hopper 32, guarantee that the hopper 32 of getting rotates to open or closed steady, avoid taking place to rock and influence and cooperation baffle 33 cooperation precision, cause the cooperation gap to appear and lead to the concrete to leak, the concrete of leaking drops to influence PC prefabricated component surface quality on the mould platform 220.

Furthermore, the trimming manipulator 30 further includes at least two material-separating stop levers, at least two material-separating stop levers are arranged side by side at intervals on one side of the matching baffle 33 facing the material-taking hopper 32, and at least two material-separating stop levers are arranged below the material-taking hopper 32. When the concave part is filled with the excessive concrete that snatchs in the get hopper 32 to needs, the driving source 31 drive get hopper 32 and keep away from the upset of cooperation baffle 33 and open, and the concrete in the get hopper 32 falls out according to the dead weight, can play the effect of breaing up to the concrete through blockking of dividing the material pin, and then guarantees that the concrete can be more even fill to the concave part in, improves and mends the quality.

In addition, the cloth finishing execution terminal 100 further includes a vibrating mechanism capable of vibrating the precast concrete after the finishing robot 30 finishes the finishing work of the non-mold molding surface. Therefore, the vibrating mechanism can vibrate the concrete tightly, eliminate the defects of air holes and the like in the concrete and improve the final forming quality of the prefabricated part.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims

1. A cloth trimming execution terminal for trimming a non-mold molding surface of a prefabricated part, comprising:

2. The cloth trimming execution terminal according to claim 1, further comprising a support beam frame for being arranged at a cloth station, wherein the trimming manipulator comprises a shifting mechanism, the shifting mechanism comprises an X-axis moving module movably arranged on the support beam frame, a Y-axis moving module movably arranged on the X-axis moving module, and a Z-axis moving module movably arranged on the Y-axis moving module, and the flatness detector is arranged on the Y-axis moving module.

3. The cloth finishing execution terminal of claim 2, wherein the finishing manipulator further comprises a driving source for outputting telescopic power, a material taking hopper and a matching baffle, the driving source and the matching baffle are respectively arranged on the Z-axis moving module, the material taking hopper is rotatably arranged on the Z-axis moving module and is in driving connection with the driving source, and the material taking hopper can be in open-close matching with the matching baffle.

4. The cloth trim execution terminal of claim 3, wherein the take-up bucket is rotatably coupled to the mating baffle via a shaft.

5. The cloth finishing execution terminal of claim 3, wherein the finishing manipulator further comprises at least two material distribution baffle rods, the at least two material distribution baffle rods are arranged side by side at intervals on one side of the matching baffle plate facing the material taking hopper, and the at least two material distribution baffle rods are arranged below the material taking hopper.

6. The cloth trimming execution terminal according to any one of claims 2 to 5, wherein the flatness detector is disposed away from the trimming robot.

7. The cloth dressing execution terminal according to claim 6, wherein the flatness detector comprises a detector mounting base, and a detection radiation emitter and a detection radiation receiver respectively disposed at left and right sides of the detector mounting base, the detection radiation emitter is configured to emit detection radiation to the non-mold forming surface of the prefabricated part, and the detection radiation receiver is configured to receive the detection radiation reflected from the non-mold forming surface of the prefabricated part.

8. The cloth trimming execution terminal according to any one of claims 3 to 5, wherein a reference plane is formed in the cloth station, an area of the non-mold forming surface higher than the reference plane is set as a first area, and an area of the non-mold forming surface lower than the reference plane is set as a second area; when the flatness detector detects the first area, the finishing manipulator removes concrete in the first area, and when the flatness detector detects the second area, the finishing manipulator or the distributing machine fills concrete in the second area.

9. Cloth trim execution terminal according to claim 8, characterized in that the take-off hopper is able to fill the second area with concrete scooped out of the first area.

10. The cloth trim implement terminal of claim 8, wherein a lower surface of the engagement flap is flush with the reference plane when the trim robot is in operation.

11. The cloth trimming execution terminal of claim 1, further comprising a vibrating mechanism capable of vibrating the precast concrete after the trimming robot completes the trimming of the non-mold forming surface.

12. A cloth machine, characterized by, includes:

the cloth travelling beam is arranged on one side of the cloth station;

a cloth conditioning execution terminal as claimed in any one of claims 1 to 11.

13. The material distributing machine as claimed in claim 12, wherein said material distributing actuator comprises a material distributing hopper and at least two switching door assemblies, said material distributing hopper is provided with a material outlet, at least two of said switching door assemblies are movably arranged on said material distributing hopper and can be in open-close fit with said material outlet, and each of said switching door assemblies can be independently opened and closed to make the material outlet width of said material outlet adjustable.

14. The material distributor according to claim 12, characterized in that the material distributor further comprises a flow conveying line and a vibrating table, the die table is movably arranged on the flow conveying line, the vibrating table is arranged on one side of the flow conveying line and located at the material distribution station, and the vibrating table can apply vibration to the die table.

15. A distribution system, characterized in that it comprises a distribution machine as claimed in any one of the preceding claims 12 to 14.