CN108544652A - It is a kind of intelligently to carry formula lumen pore wallboard production system and method - Google Patents

It is a kind of intelligently to carry formula lumen pore wallboard production system and method Download PDF

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Publication number
CN108544652A
CN108544652A CN201810315400.XA CN201810315400A CN108544652A CN 108544652 A CN108544652 A CN 108544652A CN 201810315400 A CN201810315400 A CN 201810315400A CN 108544652 A CN108544652 A CN 108544652A
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China
Prior art keywords
automatic
agv
wallboard
machine
mould vehicle
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Granted
Application number
CN201810315400.XA
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Chinese (zh)
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CN108544652B (en
Inventor
马明亮
薛维杰
魏文荣
陈为尚
苏纲
朱华
吕泽文
张春霞
张岩
苏辰
马雷
王博
盛开
高详
卢俊潇
杨晓光
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Beijing Kai Sheng Building Materials Engineering Co Ltd
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Beijing Kai Sheng Building Materials Engineering Co Ltd
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Priority to CN201810315400.XA priority Critical patent/CN108544652B/en
Publication of CN108544652A publication Critical patent/CN108544652A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B28WORKING CEMENT, CLAY, OR STONE
    • B28BSHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B15/00General arrangement or layout of plant Industrial outlines, plant installations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B28WORKING CEMENT, CLAY, OR STONE
    • B28BSHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B13/00Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
    • B28B13/02Feeding the unshaped material to moulds or apparatus for producing shaped articles
    • B28B13/0215Feeding the moulding material in measured quantities from a container or silo
    • B28B13/026Feeding the moulding material in measured quantities from a container or silo by using a movable hopper transferring the moulding material to the moulding cavities
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B28WORKING CEMENT, CLAY, OR STONE
    • B28BSHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B17/00Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping

Abstract

Formula lumen pore wallboard production system is carried the invention discloses a kind of intelligence and method, wherein production system include:AGV, control centre, ground guidance system, automatic standby mould machine, automatic lapping machine, automatic intubation machine, automatic feeder, automatic plastering machine, curing kilns, pipe machine and automatic form removal system are torn open automatically;Autopilot is carried on the AGV, the autopilot is connected with the ground guidance system signal, and the ground guidance system guides the AGV movements;The transfer equipment for carrying wallboard mould vehicle, AGV carrying wallboard mould vehicles automatic running on setting guide path according to setting program are additionally provided on the AGV.The present invention realizes wallboard production line whole process equipment and operates unmanned, the stability of raising wallboard quality, ensures production smoothing, raising production efficiency.

Description

It is a kind of intelligently to carry formula lumen pore wallboard production system and method
Technical field
The present invention relates to building material industry assembling technical field of buildings, and formula lumen pore wallboard is carried more particularly to a kind of intelligence Production system and method.
Background technology
Assembled modular architectural, that is, building industrialization, the system of building industrialization are incited somebody to action with the specialized mode of production Building subassembly is assembled into the building system with excellent performance product, and all accessories pass through the batch production of batch production Building site is then delivered to be installed.Short construction period, less energy consumption, solid waste are few, meet green, low-carbon, energy-saving and environmental protection requirement, By the theory of " energy saving and environmentally friendly " in the design and construction of building system.
Wallboard is the important composition component of modularized house.Current wallboard production line is primarily present following in actual production Problem:
1) mechanization, automation of production line, intelligence degree be not high, and production line employment is more, low production efficiency.
2) production line is using equipment such as conventional guide rails, transfer car(buggy)s, and process layout is dumb, and workshop area occupied is big.
3) in wallboard manufacturing process, human factor is more, and product quality stability cannot be effectively ensured.
Therefore it provides a kind of intelligence carries formula lumen pore wallboard production system and method, to solve present in the prior art Disadvantages mentioned above becomes technical problem now urgently to be resolved hurrily.
Invention content
The object of the present invention is to provide a kind of intelligence to carry formula lumen pore wallboard production system and method, above-mentioned existing to solve Technology there are the problem of, realize wallboard production line whole process equipment operation it is unmanned, improve wallboard quality stability, ensure life Production is harmonious, improves production efficiency.
To achieve the above object, the present invention provides following schemes:The present invention provides a kind of intelligence carrying formula lumen pore wallboard Production system, including:It is AGV, control centre, ground guidance system, automatic standby mould machine, automatic lapping machine, automatic intubation machine, automatic Batcher, automatic lapping machine, curing kilns, tears pipe machine and automatic form removal system open at automatic plastering machine automatically;
Autopilot is carried on the AGV, the autopilot is connected with the ground guidance system signal, The ground guidance system guides the AGV movements;It is additionally provided on the AGV and is set for carrying the transfer of wallboard mould vehicle Standby, the AGV is for carrying wallboard mould vehicle successively according to automatic standby mould machine, automatic lapping machine, automatic intubation machine, autofeed Machine, automatic plastering machine, curing kilns, the automatic technological process of production movement for tearing pipe machine and automatic form removal system open.
Preferably, the control centre includes AGV control systems and production management system, and the AGV control systems are to institute It states AGV to be controlled, the production management system is managed each production technology;The AGV control systems and the production Management system organically combines, and realizes the real time monitoring of the networking circulation and management of information.
Preferably, the AGV is also filled equipped with parking device and safeguard protection using accumulator as power source on the AGV It sets.
Preferably, the ground guidance system uses based on inertial navigation technology, the positioning side supplemented by vision guided navigation Formula.
Preferably, the ground guidance system is included in the guide rail being made of Quick Response Code being laid between each process system Trace, and store the terrestrial information of Quick Response Code face;Camera is provided on the AGV, the AGV passes through the camera pair Quick Response Code is read out and identifies, while the rotational case by image in 2 D code in camera coordinate, determines that AGV's is accurate Direction.
Preferably, the curing kilns include curing kilns ontology, and the curing kilns ontology uses chpn structure, and every layer sets The guide rail to match with wallboard mould vehicle is set, the curing kilns ontology left and right sides and top are closed using heat-barrier material.
Preferably, the automatic form removal system includes automatic form removal manipulator and gripping-type piler, the automatic form removal For dismantling the end plate of wallboard mould vehicle, the gripping-type piler is used to wallboard crawl being transported to finished product area whole manipulator It is neat to pile up.
Preferably, further include the area that awaits orders that parks to await orders for making the AGV park, the area that awaits orders of parking is additionally provided with Charging system, the charging system use digital intelligent charging unit, bulk charge stream 0.4C3.
Preferably, further include mold automatic sweeping system, the mold automatic sweeping system includes roller cleaning mold Device and automatic mounting machine tool hand, the rolling mould clearing apparatus is for clearing up wallboard mould vehicle and brushing demoulding Agent, it is ensured that wallboard mould vehicle can be demoulded smoothly in use next time;The automatic mounting machine tool hand, for pacifying wallboard mould vehicle After the completion of dress, it is transported to wallboard mould vehicle laydown area.
The invention also discloses a kind of intelligent carrying formula lumen pores for carrying formula lumen pore wallboard production system based on above-mentioned intelligence Wallboard production method,
Step 1:AGV is drawn by the guiding of ground guidance system along what is be laid with by Quick Response Code from the area that awaits orders that parks Guide rail trace, traveling to the designated position of automatic standby mould machine, automatically for the automatic grabber of mould machine from wallboard mould vehicle stacking, Wallboard mould vehicle is captured, is positioned in the transfer equipment of AGV;
Step 2:AGV is travelled to automatic lapping machine, and automatic lapping machine includes rotating device, length-measuring appliance and automatic cutting Cut device, rotating device drawout on the contained wallboard mould vehicles of AGV by web, length-measuring appliance according to preset length, Measurement obtains after web length reaches preset value, and rotating device shuts down, and automatic cutting device completes web severing Laying process of the web in wallboard mould vehicle;
Step 3:AGV is travelled to automatic intubation machine, the automatic intubation machine includes Distance-sensing by ground guidance system Device, takes pipe manipulator and pipe fitting propulsion device at pipe fitting support device, by the pipe fitting mouth and pipe fitting of wallboard mould vehicle contained AGV The outlet spout of propulsion device is aligned, and takes pipe manipulator that taken pipe fitting is positioned in pipe fitting propulsion device, while pipe fitting support dress The position relationship according to range sensor adjustment and wallboard mould vehicle pipe fitting mouth is set, in pipe fitting propulsion device conveying steel pipe, is protected It is accurately in place to demonstrate,prove steel pipe;
Step 4:AGV is travelled to automatic feeder, and automatic feeder supply wallboard pours material, and is measured and filled by stream Set control feed 100%;
Step 5:AGV is travelled to automatic plastering machine, and the automatic plastering machine includes that scraper plate, range sensor and height adjust Device, automatic plastering machine judge blade height according to range sensor, by height adjuster, position scraper plate and charge level most Good distance realizes that wallboard pours the floating of material when AGV is by automatic plastering machine by scraper plate;
Step 6:AGV is travelled to automatic lapping machine, repeating said steps 2, and automatic lapping machine is by the web of preset length The wallboard being routed on wallboard mould vehicle pours the upper surface of material;
Step 7:AGV, which is travelled to curing kilns, enters kilneye, and using the lifting lift mechanism of AGV transfer equipment, control lifting is high Degree, according to production need with the guide rail slitless connections of curing kilns different levels, the hydraulic pushers of curing kilns is by wallboard mould vehicle Curing kilns guide rail is pushed to, kiln maintenance is entered;
Step 8:Multiple AGV continuous operations, wallboard mould vehicle enter curing kilns, are conserved;
Step 9:The park area that awaits orders of all AGV return is maintained and is charged;
Step 10:After wallboard mould vehicle reaches curing time in curing kilns, AGV goes out kilneye in curing kilns, will lift Lift mechanism and curing kilns guide rail slitless connection, hydraulic pusher in the case where entering kilneye push-in batch when conserving wallboard mould vehicle, The wallboard mould vehicle for conserving completion in curing kilns is shifted onto on the lifting lift mechanism of AGV successively, completes the maintenance in curing kilns Job task;
Step 11:AGV is travelled to tearing open at pipe machine automatically, described automatic to tear pipe machine, including the support of pipe fitting push-off device, pipe fitting open Device and pipe fitting catching robot, pipe fitting push-off device gradually release the pipe fitting in wallboard, by pipe fitting support device as branch Support, after pipe fitting is fully drawn out by pipe fitting catching robot, the pipe fitting laydown area that is deposited at automatic intubation machine;
Step 12:AGV is travelled to automatic form removal system, after automatic form removal manipulator dismantles the end plate of wallboard mould vehicle, Wallboard crawl is transported to finished product area block pattern row pattern by gripping-type piler;
Step 13:AGV is travelled to mold automatic sweeping system, and rolling mould clearing apparatus clears up wallboard mould vehicle And brush releasing agent, it is ensured that wallboard mould vehicle can be demoulded smoothly in use next time;Automatic mounting machine tool hand, wallboard mould vehicle is pacified After the completion of dress, wallboard mould vehicle is transported at automatic standby mould machine by AGV, by automatic grabber, after wallboard mould vehicle stacking, The park area that awaits orders of AGV returns is maintained and is charged.
The present invention achieves following technique effect compared with the existing technology:
1, the operation of wallboard production line whole process equipment is unmanned, improves the stability of wallboard quality, ensures production smoothing, Improve production efficiency;
2, curing kilns ontology uses chpn structure, can be carried out at the same time maintenance to multiple wallboard mould vehicles, further carry High working efficiency.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings Obtain other attached drawings.
Fig. 1 is the structural schematic diagram that present invention intelligence carries formula lumen pore wallboard production system.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of intelligence to carry formula lumen pore wallboard production system and method, above-mentioned existing to solve Technology there are the problem of, realize wallboard production line whole process equipment operation it is unmanned, improve wallboard quality stability, ensure life Production is harmonious, improves production efficiency.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings and specific real Applying mode, the present invention is described in further detail.
The present invention provides a kind of intelligence carrying formula lumen pore wallboard production system, as shown in Figure 1, including setting gradually: AGV, it control centre, ground guidance system, automatic standby mould machine, automatic lapping machine, automatic intubation machine, automatic feeder, smears automatically Flat machine, tears pipe machine and automatic form removal system open at curing kilns automatically.
AGV implies that " automated guided vehicle ", refers to magnetically or optically waiting homing guidances device equipped with electricity, can be along regulation Guide path traveling, the transport vehicle with safeguard protection and various transfer functions.
Control centre includes AGV control systems and production management system, and AGV control systems control AGV, to each AGV carries out rational allocation schedule, best Path selection, safety traffic management, real-time graph monitoring etc., production management system Each production technology is managed;AGV control systems are organically combined with production management system, realize networking circulation and the pipe of information The real time monitoring of reason.
It is connected with ground guidance system signal equipped with autopilot, autopilot on AGV of the present invention, ground Guidance system guides AGV movements;The transfer equipment for carrying wallboard mould vehicle is additionally provided on AGV, transfer equipment includes lifting Rise lift mechanism;AGV carry wallboard mould vehicle under the monitoring of AGV control systems, according to automatic standby mould machine, automatic lapping machine, Automatic intubation machine, automatic feeder, automatic plastering machine, curing kilns, the automatic production technology stream for tearing pipe machine and automatic form removal system open Cheng Yidong, the job task of process corresponding to the collaboration completion of each process equipment;Wherein AGV carries wallboard mould vehicle by smearing automatically After flat machine smoothes out, also pass through primary automatic lapping machine, is poured for the web of preset length to be routed to the wallboard after smoothing out On the upper surface of material, then just passes through curing kilns successively, tears pipe machine and automatic form removal system open automatically.AGV is with accumulator Power source facilitates parking and protects the safety of AGV also equipped with parking device and safety guard on AGV.
Ground guidance system mainly uses based on inertial navigation technology AGV location navigations, is supplemented by vision guided navigation more Kind of sensing fusion positioning method, between each process system being laid with Quick Response Code forms guide rail trace, for two-dimentional decoding subsystem, The ground coordinate information of the Quick Response Code face is stored, AGV itself is provided with high-resolution focal length camera and reads Quick Response Code It takes and identifies, while the database pair in the rotational case by image in 2 D code in camera coordinate, with AGV control systems Than fusion, being accurately directed for AGV is determined.Comprehensive Quick Response Code coding information and its location information in the picture, have carried out AGV Whole positioning, it is ensured that AGV can fulfil assignment task according to technological process and each systematic collaboration.
Automatic standby mould machine, including automatic grabber, automatic grabber capture wallboard mould from wallboard mould vehicle stacking Vehicle is positioned over and is travelled to the lifting lift mechanism of the AGV transfer equipment of designated position by ground guidance system.
Automatic lapping machine, including rotating device, length-measuring appliance and automatic cutting device.Rotating device exists web Drawout on wallboard mould vehicle, length-measuring appliance is according to preset length, after measuring web length and reaching preset value, rotation Device shuts down, and web severing is completed laying process of the web in wallboard mould vehicle by automatic cutting device.
Automatic intubation machine, including range sensor, can adjust up and down pipe fitting support device, take pipe manipulator, pipe fitting to push away Into device.AGV is by ground guidance system, by contained wallboard mould vehicle pipe fitting mouth and automatic intubation machine pipe fitting propulsion device Outlet spout is aligned, and takes pipe manipulator that taken pipe fitting is positioned in pipe fitting propulsion device, while the pipe fitting support that can be adjusted up and down Device adjusts the position relationship of support device and wallboard mould vehicle pipe fitting mouth according to range sensor, is pushed away in automatic intubation machine pipe fitting When into device conveying steel pipe, ensure that steel pipe is accurately in place.
Automatic feeder, including hopper, stream metering device etc..It is loaded with wallboard in hopper and pours material, stream metering Device controls hopper valve folding, is required according to wall board production technology, determines feeding coal.
Automatic plastering machine, including scraper plate, range sensor, height adjuster etc..Judge scraper plate according to range sensor Highly, by height adjuster, the optimum distance of scraper plate and charge level is positioned.When AGV is by automatic plastering machine, pass through scraper plate Realize that wallboard pours the floating of material.
Curing kilns, including curing kilns ontology, hydraulic pusher.Curing kilns ontology is by more H steel columns and ground pre-buried steel Crab bolt is connected and fixed, and using chpn structure, the curing kilns number of plies, every layer of setting and wallboard mould are set according to production scale The guide rail that vehicle matches, the curing kilns left and right sides and curing kilns top are closed using heat-barrier material, it is ensured that heat insulation effect.Go out, enter Kilneye uses flat-open type wicket.
Automatically pipe machine, including pipe fitting push-off device, pipe fitting support device, pipe fitting catching robot are torn open.Pipe fitting push-off device Pipe fitting in wallboard is gradually released, by pipe fitting support device as support, after pipe fitting is fully drawn out by pipe fitting catching robot, It is deposited into pipe fitting laydown area.
Further include the area that awaits orders that parks to await orders for making AGV park, the area that awaits orders of parking is additionally provided with charging system, Charging System is required according to the charging technique of accumulator group, using digital intelligent charging unit, bulk charge stream 0.4C3.AGV accumulator groups After charging complete, park in the area that awaits orders that parks, waiting AGV control systems assign instruction according to manufacturing technique requirent.
Automatic form removal system includes automatic form removal manipulator and gripping-type piler, and automatic form removal manipulator is used for wallboard The end plate of mould vehicle is dismantled, and gripping-type piler is used to wallboard crawl being transported to finished product area block pattern row pattern.
Further include mold automatic sweeping system, mold automatic sweeping system includes roller cleaning mold device and automatic Installation manipulator, rolling mould clearing apparatus are used to carry out cleaning and brush releasing agent to wallboard mould vehicle, it is ensured that wallboard mould vehicle It can smoothly demould in use next time;Automatic mounting machine tool hand is transported to formwall after installation is complete by wallboard mould vehicle Has vehicle laydown area.
The invention also discloses a kind of intelligent carrying formula lumen pores for carrying formula lumen pore wallboard production system based on above-mentioned intelligence Wallboard production method,
Step 1:AGV is drawn by the guiding of ground guidance system along what is be laid with by Quick Response Code from the area that awaits orders that parks Guide rail trace, traveling to the designated position of automatic standby mould machine, automatically for the automatic grabber of mould machine from wallboard mould vehicle stacking, Wallboard mould vehicle is captured, is positioned in the transfer equipment of AGV;
Step 2:AGV is travelled along Quick Response Code guide rail trace to automatic lapping machine, and automatic lapping machine includes rotating device, length Spend measuring device and automatic cutting device, rotating device drawout, linear measure longimetry on the contained wallboard mould vehicles of AGV by web Device is according to preset length, and measurement obtains after web length reaches preset value, and rotating device shuts down, automatic cutting device By web severing, laying process of the web in wallboard mould vehicle is completed;
Step 3:AGV is travelled along Quick Response Code guide rail trace to automatic intubation machine, automatic intubation by ground guidance system Machine includes range sensor, pipe fitting support device, takes pipe manipulator and pipe fitting propulsion device, by the contained wallboard mould vehicles of AGV Pipe fitting mouth be aligned with the outlet spout of pipe fitting propulsion device, take pipe manipulator that taken pipe fitting is positioned in pipe fitting propulsion device, Pipe fitting support device adjusts the position relationship with wallboard mould vehicle pipe fitting mouth according to range sensor simultaneously, in pipe fitting propulsion device When conveying steel pipe, ensure that steel pipe is accurately in place;
Step 4:AGV is travelled along Quick Response Code guide rail trace to automatic feeder, and automatic feeder is supplied to wallboard mould vehicle Material is poured to wallboard, and passes through stream metering device control feed 100%;
Step 5:AGV is travelled along Quick Response Code guide rail trace to automatic plastering machine, automatic plastering machine, including scraper plate, distance Sensor and height adjuster, automatic plastering machine judge blade height according to range sensor, fixed by height adjuster The optimum distance of position scraper plate and charge level pours material to wallboard by scraper plate and smoothes out when AGV is by automatic plastering machine;
Step 6:AGV is travelled along Quick Response Code guide rail trace to automatic lapping machine, repeats step 2, automatic lapping machine will be pre- If the wallboard that the web of length is routed on wallboard mould vehicle pours the upper surface of material, the laying process of web is completed;
Step 7:AGV, which is travelled along Quick Response Code guide rail trace to curing kilns, enters kilneye, utilizes the lifting support of AGV transfer equipment Mechanism is lifted, lift height is controlled, the guide rail slitless connection with curing kilns different levels, the hydraulic thrust of curing kilns are needed according to production Wallboard mould vehicle is pushed into curing kilns guide rail into device, enters kiln maintenance;
Step 8:AGV is travelled along Quick Response Code guide rail trace to the designated position of automatic standby mould machine, carries out next round operation; Multiple AGV continuous operations, wallboard mould vehicle enter curing kilns, are conserved;
Step 9:After curing kilns at full capacity, the park area that awaits orders of all AGV return is maintained and is charged;
Step 10:After wallboard mould vehicle reaches curing time in curing kilns, AGV goes out kilneye in curing kilns, will lift Lift mechanism and curing kilns guide rail slitless connection, hydraulic pusher in the case where entering kilneye push-in batch when conserving wallboard mould vehicle, The wallboard mould vehicle for conserving completion in curing kilns is shifted onto on the lifting lift mechanism of AGV successively, completes the maintenance in curing kilns Job task;
Step 11:AGV is travelled to tearing open at pipe machine automatically, tears pipe machine, including pipe fitting push-off device, pipe fitting support device open automatically With pipe fitting catching robot, pipe fitting push-off device gradually releases the pipe fitting in wallboard, by pipe fitting support device as supporting, manages After pipe fitting is fully drawn out by part catching robot, the pipe fitting laydown area that is deposited at automatic intubation machine;
Step 12:AGV is travelled to automatic form removal system, after automatic form removal manipulator dismantles the end plate of wallboard mould vehicle, Wallboard crawl is transported to finished product area block pattern row pattern by gripping-type piler;
Step 13:AGV is travelled to mold automatic sweeping system, and rolling mould clearing apparatus clears up wallboard mould vehicle And brush releasing agent, it is ensured that wallboard mould vehicle can be demoulded smoothly in use next time;Automatic mounting machine tool hand, wallboard mould vehicle is pacified After the completion of dress, wallboard mould vehicle is transported at automatic standby mould machine by AGV, by automatic grabber, after wallboard mould vehicle stacking, AGV returns to curing kilns and goes out kilneye, carries out next round operation;
More AGV cross-circulation operations, after the wallboard mould vehicle whole kiln discharge that maintenance is completed, AGV returns, which are parked, awaits orders It is maintained and is charged in area.In this way, wallboard production line just forms the intelligent control line production system of a closed loop.
A kind of intelligence of present invention offer carries formula lumen pore wallboard production system and method, realizes wallboard production line whole process machine Tool operation is unmanned, improves the stability of wallboard quality, ensures production smoothing, improves production efficiency.
Specific case is applied in the present invention, and principle and implementation of the present invention are described, above example Illustrate the method and its core concept for being merely used to help understand the present invention;Meanwhile for those of ordinary skill in the art, according to According to the thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification It should not be construed as limiting the invention.

Claims (10)

1. a kind of intelligence carries formula lumen pore wallboard production system, it is characterised in that:Including:AGV, control centre, ground guiding system System, automatic standby mould machine, automatic lapping machine, automatic intubation machine, automatic feeder, automatic plastering machine, curing kilns, it is automatic tear open pipe machine and Automatic form removal system;
Autopilot is carried on the AGV, the autopilot is connected with the ground guidance system signal, described Ground guidance system guides the AGV movements;The transfer equipment for carrying wallboard mould vehicle, institute are additionally provided on the AGV State AGV for carry wallboard mould vehicle successively according to automatic standby mould machine, automatic lapping machine, automatic intubation machine, automatic feeder, oneself Dynamic trowelling machine, automatic lapping machine, curing kilns, the automatic technological process of production movement for tearing pipe machine and automatic form removal system open.
2. intelligence according to claim 1 carries formula lumen pore wallboard production system, it is characterised in that:Control centre's packet AGV control systems and production management system are included, the AGV control systems control the AGV, the production management system Each production technology is managed;The AGV control systems are organically combined with the production management system, realize the networking of information The real time monitoring of circulation and management.
3. intelligence according to claim 1 carries formula lumen pore wallboard production system, it is characterised in that:The AGV is with electric power storage Pond is power source, also equipped with parking device and safety guard on the AGV.
4. intelligence according to claim 1 carries formula lumen pore wallboard production system, it is characterised in that:Ground guiding system System uses based on inertial navigation technology, the positioning method supplemented by vision guided navigation.
5. intelligence according to claim 4 carries formula lumen pore wallboard production system, it is characterised in that:Ground guiding system System is included in the guide rail trace being made of Quick Response Code being laid between each process system, and stores the ground letter of Quick Response Code face Breath;Camera is provided on the AGV, the AGV is read out and is identified to Quick Response Code by the camera, passed through simultaneously Rotational case of the image in 2 D code in camera coordinate, determines being accurately directed for AGV.
6. intelligence according to claim 1 carries formula lumen pore wallboard production system, it is characterised in that:The curing kilns include Curing kilns ontology, the curing kilns ontology use chpn structure, the guide rail that every layer of setting matches with wallboard mould vehicle, institute It states at left and right sides of curing kilns ontology and top is closed using heat-barrier material.
7. intelligence according to claim 1 carries formula lumen pore wallboard production system, it is characterised in that:The automatic form removal system System includes automatic form removal manipulator and gripping-type piler, and the automatic form removal manipulator is for tearing the end plate of wallboard mould vehicle open It opens, the gripping-type piler is used to wallboard crawl being transported to finished product area block pattern row pattern.
8. intelligence according to claim 1 carries formula lumen pore wallboard production system, it is characterised in that:Further include for making It states AGV to park the area that awaits orders that parks to await orders, the area that awaits orders of parking is additionally provided with charging system, and the charging system is using number Change intelligent charger, bulk charge stream 0.4C3.
9. intelligence according to claim 1 carries formula lumen pore wallboard production system, it is characterised in that:Further include that mold is automatic Purging system, the mold automatic sweeping system include roller cleaning mold device and automatic mounting machine tool hand, the rolling Moving mold clearing apparatus is used to carry out cleaning and brush releasing agent to wallboard mould vehicle, it is ensured that wallboard mould vehicle in use next time can Smoothly demoulding;The automatic mounting machine tool hand is transported to the stacking of wallboard mould vehicle after installation is complete by wallboard mould vehicle Area.
10. a kind of intelligence carries formula lumen pore wallboard production method, which is characterized in that include the following steps:
Step 1:AGV is from the area that awaits orders that parks, by the guiding of ground guidance system, along the guide rail being laid with by Quick Response Code Trace, traveling to the designated position of automatic standby mould machine, the automatic grabber of automatic standby mould machine is from wallboard mould vehicle stacking, crawl Wallboard mould vehicle is positioned in the transfer equipment of AGV;
Step 2:AGV is travelled to automatic lapping machine, and automatic lapping machine includes rotating device, length-measuring appliance and automatic cutting dress It sets, rotating device drawout on the contained wallboard mould vehicles of AGV by web, length-measuring appliance is measured according to preset length It obtains after web length reaches preset value, rotating device shuts down, and web severing is completed fiber by automatic cutting device Laying process of the net in wallboard mould vehicle;
Step 3:AGV is travelled to automatic intubation machine by ground guidance system, the automatic intubation machine include range sensor, Pipe fitting support device takes pipe manipulator and pipe fitting propulsion device, and the pipe fitting mouth of wallboard mould vehicle contained AGV and pipe fitting are promoted The outlet spout of device is aligned, and takes pipe manipulator that taken pipe fitting is positioned in pipe fitting propulsion device, while pipe fitting support device root According to the position relationship of range sensor adjustment and wallboard mould vehicle pipe fitting mouth, in pipe fitting propulsion device conveying steel pipe, ensure steel Pipe is accurate in place;
Step 4:AGV is travelled to automatic feeder, and automatic feeder supply wallboard pours material, and passes through stream metering device control System feed 100%;
Step 5:AGV is travelled to automatic plastering machine, and the automatic plastering machine includes scraper plate, range sensor and height adjustment dress It sets, automatic plastering machine judges blade height according to range sensor, by height adjuster, positions the best of scraper plate and charge level Distance realizes that wallboard pours the floating of material when AGV is by automatic plastering machine by scraper plate;
Step 6:AGV is travelled to automatic lapping machine, repeating said steps 2, and the web of preset length is laid with by automatic lapping machine Wallboard on to wallboard mould vehicle pours the upper surface of material;
Step 7:AGV, which is travelled to curing kilns, enters kilneye, using the lifting lift mechanism of AGV transfer equipment, controls lift height, root It needs to push to wallboard mould vehicle foster with the guide rail slitless connections of curing kilns different levels, the hydraulic pushers of curing kilns according to production Kiln guide rail is protected, kiln maintenance is entered;
Step 8:Multiple AGV continuous operations, wallboard mould vehicle enter curing kilns, are conserved;
Step 9:The park area that awaits orders of all AGV return is maintained and is charged;
Step 10:After wallboard mould vehicle reaches curing time in curing kilns, AGV goes out kilneye in curing kilns, and lifting is lifted Mechanism and curing kilns guide rail slitless connection, batch is when conserving wallboard mould vehicle in the case where entering kilneye push-in for hydraulic pusher, successively The wallboard mould vehicle for conserving completion in curing kilns is shifted onto on the lifting lift mechanism of AGV, the maintenance work in curing kilns is completed Task;
Step 11:AGV is travelled to tearing open at pipe machine automatically, described to tear pipe machine, including pipe fitting push-off device, pipe fitting support device open automatically With pipe fitting catching robot, pipe fitting push-off device gradually releases the pipe fitting in wallboard, by pipe fitting support device as supporting, manages After pipe fitting is fully drawn out by part catching robot, the pipe fitting laydown area that is deposited at automatic intubation machine;
Step 12:AGV is travelled to automatic form removal system, after automatic form removal manipulator dismantles the end plate of wallboard mould vehicle, crawl Wallboard crawl is transported to finished product area block pattern row pattern by formula piler;
Step 13:AGV is travelled to mold automatic sweeping system, and rolling mould clearing apparatus is cleared up and brushed to wallboard mould vehicle Releasing agent, it is ensured that wallboard mould vehicle can be demoulded smoothly in use next time;Automatic mounting machine tool hand, wallboard mould vehicle is installed Wallboard mould vehicle is transported at automatic standby mould machine by Cheng Hou, AGV, passes through automatic grabber, after wallboard mould vehicle stacking, AGV The park area that awaits orders of return is maintained and is charged.
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Publication number Priority date Publication date Assignee Title
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CN102729327A (en) * 2012-07-16 2012-10-17 江苏建华新型墙材有限公司 Wall plate automatic cyclic production system
CN104057537A (en) * 2014-06-20 2014-09-24 河北雪龙机械制造有限公司 Concrete member production system
CN205959069U (en) * 2016-08-10 2017-02-15 河南森源电气股份有限公司 AGV vision guidance system

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Publication number Priority date Publication date Assignee Title
CN201300475Y (en) * 2008-03-14 2009-09-02 沈宪光 Light-weight composite wallboard forming machine
CN102729327A (en) * 2012-07-16 2012-10-17 江苏建华新型墙材有限公司 Wall plate automatic cyclic production system
CN104057537A (en) * 2014-06-20 2014-09-24 河北雪龙机械制造有限公司 Concrete member production system
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