CN111216219A - Magnetic side form positioning and mounting line and positioning and mounting method thereof - Google Patents

Abstract

The invention discloses a magnetic side form positioning and mounting line and a positioning and mounting method thereof in the technical field of concrete prefabricated part preparation, wherein the magnetic side form positioning and mounting line comprises a side form warehousing roller way and a side form warehouse, a side form warehousing-out mechanical arm is arranged at the side form warehouse, a side form cleaning machine is arranged above the side form warehousing roller way, and a side form is cleaned by the side form cleaning machine before entering the side form warehouse; in the front-rear direction, a side die discharging roller way is arranged between a side die warehousing roller way and a side die warehouse, a side die installing mechanical arm is arranged at the side die discharging roller way, the side die installing mechanical arm is arranged in the outward direction at the left side of the side die warehouse, a side die installing station is also arranged behind the side die discharging roller way, the horizontally moving length of the side die installing mechanical arm covers the side die installing station and the position of a side die arranged at the upper side of the left end of the side die discharging roller way, and the side die installing mechanical arm moves left and right; the invention has the advantages of orderly and reasonable layout, high efficiency and low labor intensity.

Description

Magnetic side form positioning and mounting line and positioning and mounting method thereof

Technical Field

The invention belongs to the technical field of concrete prefabricated part preparation, and particularly relates to a magnetic side form positioning and installing line.

Background

When a concrete prefabricated part is prepared, when the part is cured in a curing kiln to the required form removal strength, the part flows out of the curing kiln, after the part is cooled to room temperature, side forms are disassembled from the prepared part, the part is lifted by using a lifting device and stored in a part cache region, the side forms are conveyed from a form table, the side forms are cleaned, the cleaned side forms are uniformly placed at a side form storage point, before the part is processed, the installation and positioning of the side forms are required to be completed firstly, in the prior art, a worker firstly moves a corresponding number of side forms onto the form table, after the position of the side forms is adjusted, a plurality of magnetic boxes are sequentially placed on the periphery of the side forms, a beating device is used for beating down the magnets of the magnetic boxes to fix the magnets on the form table, so that the positioning and installation of the side forms are completed, the installation and fixing work of the side forms is completely performed manually, the labor intensity is high, and the side forms are delivered out of the warehouse and put in the warehouse in no order, and are completely controlled by manpower.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to overcome the defects in the prior art, and provides a magnetic side form positioning and mounting line and a positioning and mounting method thereof, which solve the technical problems of disordered layout and high labor intensity in the prior art, and have the advantages of ordered and reasonable layout, high efficiency and low labor intensity.

The purpose of the invention is realized as follows: a magnetic side form positioning installation line comprises a side form warehousing roller way and a side form warehouse, wherein a side form warehousing manipulator is arranged at the side form warehouse, a side form cleaning machine is arranged above the side form warehousing roller way, and the side forms are cleaned by the side form cleaning machine before entering the side form warehouse; in the front-rear direction, a side die discharging roller way is arranged between a side die storage roller way and a side die storage, a side die installation mechanical arm is arranged at the side die discharging roller way, the side die installation mechanical arm is arranged in the outward direction on the left side of the side die storage, a side die installation station is further arranged at the rear side of the side die discharging roller way, the length of the side die installation mechanical arm in horizontal movement covers the side die installation station and the side die position placed at the upper side of the left end of the side die discharging roller way, and the side die installation mechanical arm moves left and right.

In order to further realize the installation of the side forms, the side form installation manipulator comprises two installation frames which are arranged in parallel, the mounting rack is connected with a first movable seat which can move along the length direction of the mounting rack, the first movable seat is connected with a first sliding seat which can move along the length direction of the first movable seat, the first sliding seat is connected with a first lifting seat capable of lifting, the lower side of the first lifting seat is rotatably connected with a first supporting seat, the lower side of the supporting seat is connected with two movable clamping detection components, each clamping detection component comprises a sliding seat movably connected to the lower side of the supporting seat, one side of the sliding seat facing downwards is fixedly connected with a first clamping piece and a fixed disc, the first clamping piece is connected with a first clamping jaw which is oppositely arranged, the fixed disc is connected with a rotatable rotating wheel, and the rotating wheel is arranged between the two clamping jaws I in the front-back direction; in the length direction, the outer side of the first supporting seat is fixedly connected with a connecting plate, the outer side of the connecting plate is fixedly connected with a linear driver, the linear driver is connected with a pressing rod capable of performing reciprocating linear movement in the height direction, and one end, extending downwards, of the pressing rod is fixedly connected with a pressing nail sleeve.

In order to further realize the position adjustment of the first clamping piece, a fixing plate extending downwards is fixedly connected to the fixing plate, a first adjusting motor is fixedly connected to the fixing plate, a rotating wheel is connected to the first adjusting motor in a transmission mode, and the first clamping piece is arranged on a first sliding seat on one outward side of the fixing plate.

In order to further realize the rotation of the first clamping piece, the lower part of the first lifting seat is provided with a mounting opening, a first rotating motor is fixedly mounted in the mounting opening of the first lifting seat, the first rotating motor is in transmission connection with the supporting seat, a first driving gear is connected to a first output shaft of the first rotating motor, a first driven inner gear is fixedly connected to the upper side of the first supporting seat, the first driving gear is meshed with the first driven inner gear, and the first driven inner gear is rotatably connected to the first lifting seat.

In order to further realize the warehouse entry and exit of side forms, side forms warehouse entry and exit manipulator is including setting up the support frame one at side forms storehouse length direction both ends, be connected with the removal seat two that can remove along support frame one length direction on the support frame one, remove and be connected with the sliding seat two that can remove along removing two length direction on the seat two, be connected with the lift seat two of liftable on the sliding seat two, the downside of lift seat two is connected with supporting seat two, the downside of supporting seat two is connected with the holder two that two intervals set up, be connected with the side forms finger two of two relative settings on the holder two, one side inwards that two lower parts of side forms finger is connected with rubber splint two.

As a further improvement of the invention, the position of the second clamping piece is adjustable.

In order to further realize the position adjustment of the second clamping piece, the second supporting seat is provided with an installation cavity, the second supporting seat is fixedly connected with a second adjusting motor, the second adjusting motor is connected with a transmission screw rod in a transmission mode, the transmission screw rod is rotatably connected to the second supporting seat, two movable nut seats are respectively in threaded connection with the two ends of the transmission screw rod in the installation cavity in the length direction, the two movable nut seats are in threaded connection with the transmission screw rod, the two rows of fixed guide rails are fixedly connected with the lower side of the second supporting seat, the connecting plate is fixedly connected with the upper side of the second clamping piece, a plurality of sliding blocks are fixedly connected with the upper side of the connecting plate, the sliding blocks are slidably connected with the fixed guide rails, the lower side of each movable nut seat is fixedly connected to the.

The method for positioning and installing the magnetic side forms by using the positioning and installing line comprises the following steps,

(1) calibrating the installation position of the side die;

(2) the side forms are conveyed to a side form warehousing roller way in a unified mode, the side forms on the side form warehousing roller way are automatically conveyed to the direction where a side form warehousing-in and warehousing-out mechanical hand is located, a side form cleaning machine cleans the side forms, and the cleaned side forms are conveyed to the position below the side form warehousing-in and warehousing mechanical hand;

(3) the side die is placed in a side die warehouse by a side die warehouse-in and warehouse-out mechanical arm;

(4) when the side forms need to be installed, the side form warehousing-out mechanical arm clamps the side forms in the side form warehouse and places the side forms on the side form warehousing-out roller way;

(5) the side die is conveyed to the position below a side die mounting manipulator by the side die ex-warehouse roller way, and the side die mounting manipulator places the side die at a position corresponding to a side die mounting station; the side forms are circulated to the positions corresponding to the side form mounting stations, the cleaned die tables are circulated to the side form mounting stations, and the side form mounting mechanical arm finishes the placement and the installation of the side forms.

As a further improvement of the present invention, in the step (1), before the side forms are installed, the clamping side forms are calibrated, and assuming that the calibrated side forms to be installed are parallel to the length direction of the supporting frame, the method specifically includes the following steps:

(101) coarsely adjusting the position of the first supporting seat: adjusting the position of the first supporting seat to move to a position right above the side die to be calibrated, controlling the first lifting motor to act to enable the first supporting seat to descend, and stopping descending the first supporting seat when the rotating wheel abuts against the calibrated side die;

(102) determining the fixed position of the calibration side die: controlling an adjusting motor one closest to the nail pressing sleeve to move the sliding seat one towards the magnetic box, driving the corresponding sliding seat one to move by the adjusting motor, recording the position of the rotating wheel at the moment when the corresponding rotating wheel is abutted against the magnetic box, calculating the moving distance of the rotating wheel, setting the moving distance to be c, controlling the adjusting motor one to move reversely to restore the sliding seat one to the original position, controlling the driving motor one to move, enabling the supporting seat one to move (D-c-l/2-D/2) from the linear driver towards the direction of the clamping detection assembly, stopping the driving motor one to move, enabling the linear driver to move, enabling the nail pressing sleeve to move downwards, enabling the nail pressing sleeve to push the magnetic box to move downwards, when the magnet of the magnetic box is abutted against the die table, enabling the linear driver to move reversely, resetting the nail pressing sleeve, and controlling the driving motor one to continue to move, the first support seat continues to move along the original direction, when the moving distance is b, the first drive motor stops moving, the linear driver moves again, the nail pressing sleeve moves downwards, the nail pressing sleeve pushes the other magnetic box to move downwards, when the magnet is abutted against the die table, the linear driver moves reversely, the nail pressing sleeve resets, the first drive motor is controlled to move reversely, and the first support seat returns to the position in the step (101);

(103) adjusting the position of the two clamping detection assemblies: controlling the two rotating wheels to rotate, enabling the two rotating wheels to roll towards the direction of the two magnetic boxes, enabling the rotating wheels to reversely act when the rotating wheels are abutted against the magnetic boxes, enabling the rotating wheels to reversely move a + k + e, finishing calibration, and fixedly connecting the first sliding seat to the first supporting seat;

the method comprises the following steps that a clamping detection assembly closest to a nail pressing sleeve is assumed to be a first clamping detection assembly, a rotating wheel in the first clamping detection assembly is a first rotating wheel, D is the distance between the radial center of the nail pressing sleeve and the radial center of the first rotating wheel, l is the maximum length of a magnetic box, and D is the diameter of the rotating wheel; the centers of the rotating wheel, the magnetic box and the pressing nail in the front-back direction are on the same straight line; a is a set clamping safety distance, in particular to a distance between one side of the first clamping jaw, which is arranged opposite to the magnetic box, and one side of the magnetic box, which is arranged opposite to the first clamping jaw, when the first clamping piece clamps the side forms; b is the distance between the two magnetic boxes, k is the distance between one side of the clamping jaw, which is arranged opposite to the first rotating wheel, and one side of the first rotating wheel, which is arranged opposite to the clamping jaw, and e is the length of the clamping jaw and the side die in the direction parallel to the side die; under the initial state, clamping jaw one is in the state of loosening completely, when the wheel that rotates rolls on the side forms, the side forms is between two clamping jaw one, and two clamping jaw one do not all contact with the side forms outside, and holder one is in the top of magnetism box.

As a further improvement of the present invention, the method for installing the side forms in step (5) specifically includes the following steps:

(501) and (3) starting to install a side die: controlling the actions of the first moving seat and the first sliding seat to move the first supporting seat to be right above the side die to be installed, and stopping the actions of the first lifting motor when the first supporting seat descends and the rotating wheel quickly contacts with the upper side of the side die to be installed;

(502) clamping the side die to be installed, wherein the first clamping piece moves, the first two clamping jaws move oppositely, and the first clamping jaw clamps the side die;

(503) adjusting the position of the side die: the first lifting motor reversely acts to enable the side die to be installed to leave the side die ex-warehouse roller way, the first lifting motor stops acting after the side die to be installed leaves the die table to a set height, the first driving motor and the first moving motor act, the first driving motor and the first moving motor stop acting after the side die moves to a set die table position, if the angle of the side die to be installed needs to be adjusted, the first rotating motor acts, the first supporting seat rotates to a set angle, the first rotating motor stops acting, the first lifting motor acts to enable the side die to descend, and the first lifting motor stops acting when the side die abuts against the die table;

(504) fixing a side die to be installed: when the length direction of the side die is parallel to the moving direction of the first connecting seat, the first driving motor stops moving, the first supporting seat moves from the linear driver to the direction of the clamping detection assembly (D-c-l/2-D/2), the first driving motor stops moving, the linear driver moves to enable the nail pressing sleeve to move downwards, when the magnet is abutted against the die table, the linear driver reversely moves, the nail pressing sleeve returns, the linear driver stops moving, the first driving motor continues moving, and when the first supporting seat continues moving along the original direction b, the first driving motor stops moving and the linear driver moves, the nail pressing sleeve moves downwards, when the magnet is abutted against the die table, the linear driver acts reversely, the nail pressing sleeve returns, and the linear driver stops acting; if the length direction of the side die is parallel to the moving direction of the first moving block, controlling the position of the first moving block according to the same principle as the position of the first adjusting connecting seat;

(505) and if all the side forms are installed, finishing the installation work of the side forms, and otherwise, returning to the step (501).

According to the invention, the automatic in-out storage of the side molds and the automatic installation of the side molds are realized through the layout of the side mold in-out storage roller way, the side mold out-out storage roller way, the side mold in-out storage mechanical arm and the side mold installation mechanical arm and the combined arrangement of the side mold in-out storage mechanical arm and the side mold installation mechanical arm, so that the labor intensity is low, and the efficiency is high; before the side die is installed, the side die is calibrated according to the specification of the side die, so that the side die is conveniently positioned in the fixing work and the clamping action position is determined; the method can be applied to the installation work of the concrete prefabricated part, and is particularly suitable for the work of processing the concrete composite slab.

Drawings

FIG. 1 is a layout diagram of the present invention.

Fig. 2 is a first perspective view of the side form mounting robot of the present invention.

Fig. 3 is a partial enlarged view of fig. 2 at a 1.

Fig. 4 is a partial enlarged view of fig. 2 at B1.

Fig. 5 is a second perspective view of the side form mounting robot of the present invention.

Fig. 6 is a partial enlarged view at C1 in fig. 5.

Fig. 7 is a three-dimensional structural view of the side form mounting robot of the present invention.

Fig. 8 is a partial enlarged view of fig. 7 at D1.

Fig. 9 is a fourth perspective view of the side form mounting robot of the present invention.

Fig. 10 is a partial enlarged view at E1 in fig. 9.

Fig. 11 is a partial enlarged view at F1 in fig. 5.

FIG. 12 is a structural diagram of the present invention for realizing the rotation of the supporting base.

FIG. 13 is a block diagram of the linear driver and staple pressing sleeve connection of the present invention.

Fig. 14 is a first perspective view of the side form loading/unloading robot according to the present invention.

Fig. 15 is a partial enlarged view at a2 in fig. 14.

Fig. 16 is a partial enlarged view at B2 in fig. 14.

Fig. 17 is a second perspective view of the side form loading/unloading robot according to the present invention.

Fig. 18 is a partial enlarged view at C2 in fig. 17.

Fig. 19 is a third perspective view of the side form loading/unloading robot of the present invention.

Fig. 20 is a partial enlarged view at D2 in fig. 19.

Fig. 21 is a partial enlarged view at E2 in fig. 19.

Fig. 22 is a fourth perspective view of the side form loading/unloading robot according to the present invention.

Fig. 23 is a partial enlarged view at F2 in fig. 22.

Fig. 24 is a perspective view of the side form warehousing-out robot with one connecting plate hidden.

FIG. 25 is a structural view showing the positional relationship among the rotating wheel, the clamping jaws and the nail-pressing sleeve in the present invention.

Fig. 26 is a partial enlarged view at H2 in fig. 24.

Fig. 27 is a perspective view of the magnetic side form of the present invention.

FIG. 28 is a structural view of another embodiment of the magnetic side form of the present invention.

The automatic drawing machine comprises a side die storage roller way 1, a side die in-out manipulator 2, a first 201 supporting frame, a second 202 driving motor, a second 203 moving seat, a second 204 lifting seat, a second 205 moving motor, a second 206 supporting seat, a second 207 sliding seat, a second 208 connecting seat, a first 209 supporting track, a second 210 transmission rack, a second 211 driving gear, a second 212 sliding block, a second 213 fixed guide rail, a second 214 adjusting motor, a second 215 connecting plate, a second 216 moving nut seat, a second 217 clamping piece, a second 218 magnetic side die, a second 219 side die storage, a second 220 moving block, a third 221 supporting track, a second 222 fixed rack, a second 223 moving gear, a second 224 rubber clamping plate, a second 225 side die finger, a second 226 lifting motor, a fourth 227 supporting track, a second 228 lifting block, a second 229 lifting rack, a second 230 lifting gear, a 231 transmission lead screw and a 232 organ; 3 side die mounting manipulator, 301 driving motor one, 302 sliding seat one, 303 lifting seat one, 304 moving seat one, 305 mounting rack, 306 supporting seat one, 307 clamping detection component, 307a rubber clamping plate one, 307b clamping jaw one, 307c clamping piece one, 307c1 sliding block, 307d sliding seat, 307e rotating wheel, 307f motor mounting plate, 307g adjusting motor one, 307h guiding block, 307i fixing disk, 308 rotating motor one, 309 fixing sleeve, 310 connecting seat one, 311 fixing track one, 312 transmission rack one, 313 driving gear one, 314 fixing track two, 315 lifting motor one, 316 lifting gear one, 317 lifting rack one, 318 fixing track four, 319 lifting block one, 320 fixing guide rail one, 321 guiding rod, 322 moving motor one, 323 moving block one, 324 fixing track three, 325 fixing rack one, 326, supporting plate 327 linear driver, 328 nail pressing sleeve, 329 driving gear one, 330 driven first internal gear, 331 limit groove, 332 support ring, 333 output shaft, 334 compression bar, 4 side die storeroom, 5 side die cleaning machine, 6 side die ex-storeroom roller way, 7 side die body, 8 magnetic box and 9 protective shell.

Detailed Description

The invention is further illustrated in the following description with reference to the drawings.

The magnetic side form positioning and mounting line shown in fig. 1 to 26 comprises a side form warehousing roller way 1 and a side form warehouse 4, wherein a side form warehousing-in mechanical arm 2 is arranged at the side form warehouse 4, a side form cleaning machine 5 is arranged above the side form warehousing roller way 1, and the side forms are cleaned by the side form cleaning machine 5 before entering the side form warehouse 4; in the front and rear direction, be provided with side forms ex-warehouse roll table 6 between side forms warehouse-in roll table 1 and the side forms storehouse 4, side forms ex-warehouse roll table 6 department is provided with side forms installation manipulator 3, side forms installation manipulator 3 sets up in the outside direction in side forms storehouse 4 left sides, the rear of side forms ex-warehouse roll table 6 still is provided with side forms installation station, the side forms position that side forms installation manipulator 3 horizontal migration's length cover side forms installation station and side forms out-warehouse roll table 6 left end upside was placed, side forms installation manipulator 3 removes about.

In order to further realize the installation of the side forms, the side form installing manipulator 3 comprises two installing frames 305 which are arranged in parallel, the two installing frames 305 are respectively arranged at the front side and the rear side of a side form installing station, a first moving seat 304 which can move along the length direction of the installing frames 305 is connected on the installing frames 305, a first sliding seat 302 which can move along the length direction of the first moving seat 304 is connected on the first moving seat 304, a first lifting seat 303 which can lift is connected on the first sliding seat 302, a first supporting seat 306 is rotatably connected on the lower side of the first lifting seat 303, two movable clamping detection components 307 are connected on the lower side of the first supporting seat 306, each clamping detection component 307 comprises a sliding seat 307d which can be movably connected on the lower side of the first supporting seat 306, two rows of first fixed guide rails 320 are fixedly connected on the lower side of the first supporting seat 306, the, the mounting frame 305 is connected with a guide rod 321, the first supporting seat is provided with a second downward mounting opening, a guide block 307h extending into the second mounting opening can slide along the guide rod 321, one downward side of the sliding seat 307d is fixedly connected with a first clamping piece 307c and a first fixed disk 307i, the first clamping piece 307c is connected with two first clamping jaws 307b which are oppositely arranged, the first fixed disk 307i is connected with a rotatable rotating wheel 307e, the first fixed disk 307i is fixedly connected with a motor mounting plate 307f extending downwards, the motor mounting plate 307f is fixedly connected with a first adjusting motor 307g, the first adjusting motor 307g is connected with a rotating wheel in a transmission manner, the first clamping piece 307c is arranged on the first sliding seat on the outward side of the first fixed disk, and the rotating wheel 307e is arranged between the first clamping jaws 307b in the front and rear directions; in the length direction, a connecting plate 326 is fixedly connected to the outer side of the first support seat 306, a linear driver 327 is fixedly connected to the outer side of the connecting plate 326, a pressure rod 334 capable of reciprocating and linearly moving in the height direction is connected to the linear driver 327, and a nail pressing sleeve 328 is fixedly connected to one end, extending downwards, of the pressure rod 334.

In order to realize the rotation of the first support seat 306, the lower part of the first lifting seat 303 is provided with an installation opening, the first lifting seat 303 is fixedly connected with a first rotating motor 308 through the installation opening, the first rotating motor 308 is in transmission connection with the first support seat 306, an output shaft 333 of the first rotating motor 308 is connected with a first driving gear 329, the upper side of the first support seat 306 is fixedly connected with a first driven inner gear 330, the first driving gear 329 is meshed with the first driven inner gear 330, the lower side of the first lifting seat 303 is fixedly provided with a first fixing sleeve 309, the outer ring of the first driven inner gear 330 is provided with a limiting groove 331, the first driven inner gear 330 is rotatably connected to the first fixing sleeve 309, the first driven inner gear 330 is connected with the inner ring of the support ring 332 through the limiting groove 331, the outer ring of the support ring.

In order to further realize the movement of the first clamping piece 307c in the front and rear directions, two ends of the first moving seat 304 in the length direction are respectively and fixedly connected with a first connecting seat 310, the upper sides of the two mounting frames 305 are respectively and fixedly connected with a first fixed rail 311, one sides of the two mounting frames 305 which are arranged oppositely are respectively and fixedly connected with a second fixed rail 314, the first connecting seat 310 can slide along the first fixed rail 311 and the second fixed rail 314, the outer side of the first connecting seat 310 is fixedly connected with a first driving motor 301, the first driving motor 301 is connected with a first driving gear 313, the mounting frames 305 are also fixedly connected with a first transmission rack 312, and the first driving gear 313 is meshed with the; in order to further realize the movement of the first clamping piece 307c in the left-right direction, a first moving motor 322 is fixedly connected to the first sliding seat 302, a first moving gear is connected to the first moving motor 322 in a transmission manner, a first fixed rack 325 is fixedly connected to the first moving seat 304, the first moving gear is meshed with the first fixed rack 325, a third fixed track 324 is fixedly connected to the first moving seat 304, a plurality of first moving blocks 323 are fixedly connected to one side, facing the first moving seat 304, of the first sliding seat 302, and the first moving blocks 323 are slidably connected with the third fixed track 324; in order to further realize the lifting of the first clamping piece 307c, a first lifting motor 315 is fixedly connected to the first sliding seat 302, a first lifting gear 316 is connected to the first lifting motor 315 in a transmission manner, a first lifting rack 317 is fixedly connected to the first lifting seat 303, the first lifting gear 316 is meshed with the first lifting rack 317, at least one fixed rail four 318 is fixedly connected to one side of the first lifting seat 303, which is arranged relative to the first sliding seat 302, a plurality of lifting blocks 319 are fixedly connected to one side of the first moving seat 304, which is arranged relative to the first lifting seat 303, and the fixed rail four 318 can slide along the first lifting blocks 319.

In order to further realize the in-out storage of the side forms, the side form in-out storage manipulator 2 comprises first support frames 201 arranged at two ends of the side form storage 219 in the length direction, the first support frames 201 are respectively arranged at the left side and the right side of the side form storage 219, a second movable seat 203 capable of moving along the length direction of the first support frame 201 is connected to the first support frames 201, a second sliding seat 207 capable of moving along the length direction of the second movable seat 203 is connected to the second movable seat 203, the moving direction of the second sliding seat 207 is parallel to the conveying direction of the side form storage roller way 1, a second liftable lifting seat 204 is connected to the second sliding seat 207, a second support seat 206 is connected to the lower side of the second lifting seat 204, two clamping pieces 217 arranged at intervals are connected to the lower side of the second support seat 206, two oppositely arranged side form fingers 225 are connected to the second clamping pieces 217, and a second rubber clamping plate 224 is connected to the inward; in order to further realize the movement of the second clamping piece 217 in the front and back direction, two ends of the second moving seat 203 in the length direction are respectively and fixedly connected with a second connecting seat 208, the upper sides of the first two supporting frames 201 are respectively and fixedly connected with a first supporting track 209, one sides of the first two supporting frames 201 which are oppositely arranged are respectively and fixedly connected with a second supporting track, the second connecting seat 208 can slide along the first supporting track 209 and the second supporting track, the outer side of the second connecting seat 208 is fixedly connected with a second driving motor 202, the second driving motor 202 is connected with a second driving gear 211, the first supporting frame 201 is also fixedly connected with a second driving rack 210, and the second driving gear 211 is meshed; in order to further realize the movement of the second clamping piece 217 in the left-right direction, a second moving motor 205 is fixedly connected to the second sliding seat 207, a second moving gear 223 is connected to the second moving motor 205 in a transmission manner, a second fixed rack 222 is fixedly connected to the second moving seat 203, the second moving gear 223 is meshed with the second fixed rack 222, a third supporting track 221 is fixedly connected to the second moving seat 203, a plurality of second moving blocks 220 are fixedly connected to one side, facing the second moving seat 203, of the second sliding seat 207, and the second moving blocks 220 are slidably connected with the third supporting track 221; in order to further realize the lifting of the second clamping piece 217, a second lifting motor 226 is fixedly connected to the second sliding seat 207, a second lifting gear 230 is connected to the second lifting motor 226 in a transmission manner, a second lifting rack 229 is fixedly connected to the second lifting seat 204, the second lifting gear 230 is meshed with the second lifting rack 229, at least one fourth supporting track 227 is fixedly connected to one side of the second lifting seat 204, which is arranged relative to the second sliding seat 207, and a plurality of second lifting blocks 228 are fixedly connected to one side of the second moving seat 203, which is arranged relative to the second lifting seat 204, and the third supporting track 221 can slide along the second lifting blocks 228; wherein, the position of the two clamping pieces 217 is adjustable, and the structure for realizing the position adjustment of the two clamping pieces 217 is concretely that the supporting seat 206 is provided with an installation cavity, the outer side of the supporting seat 206 is fixedly connected with an adjusting motor II 214, the adjusting motor II 214 is in transmission connection with a transmission screw rod 231, the transmission screw rod 231 is rotatably connected on the supporting seat II 206, two ends of the transmission screw rod 231 in the installation cavity in the length direction are respectively in threaded connection with two movable nut seats 216, the two movable nut seats 216 are in threaded connection with the transmission screw rod 231, the lower side of the supporting seat II 206 is fixedly connected with two rows of fixed guide rails II 213, the upper side of each clamping piece II 217 is fixedly connected with a connecting plate 215, the upper side of the connecting plate 215 is fixedly connected with a plurality of slide blocks 211, the slide blocks 211 are slidably connected with the fixed guide rails II 213, the lower side of the movable nut seats, an organ shield 232 is connected to the lower side of the second supporting seat 206, and the organ shield 232 is arranged between the two second clamping pieces 217.

The method for positioning and installing the magnetic side forms by using the positioning and installing line comprises the following steps,

(1) calibrating the installation position of the side die;

(2) the side forms are conveyed to a side form warehousing roller way 1 in a unified mode, the side forms on the side form warehousing roller way 1 are automatically conveyed to the direction of a side form warehousing-in and warehousing-out mechanical arm 2, a side form cleaning machine 5 cleans the side forms, and the cleaned side forms are conveyed to the position below the side form warehousing-in and warehousing mechanical arm 2;

(3) the side die in-out warehouse manipulator 2 places the side die in the side die warehouse 4;

(4) when the side forms need to be installed, the side form in-out warehouse manipulator 2 clamps the side forms in the side form warehouse 4 and places the side forms on a side form out-warehouse roller table 6;

(5) the side die delivery roller table 6 conveys the side die to the position below the side die mounting manipulator 3, and the side die mounting manipulator 3 places the side die at the position corresponding to the side die mounting station; the side forms are circulated to the position corresponding to the side form mounting station, the cleaned mold platform is circulated to the side form mounting station, and the side form mounting manipulator 3 finishes the side forms to be placed and mounted.

In the step (1), before installing the side forms, calibrating the clamping side forms, and assuming that the to-be-installed calibration side forms are parallel to the length direction of the support frame, the method specifically comprises the following steps:

(101) coarsely adjusting the position of the first support seat 306: adjusting the position of the first supporting seat 306 to move to the position right above the side die to be calibrated, controlling the first lifting motor to act to enable the first supporting seat 306 to descend, and stopping descending of the first supporting seat 306 when the rotating wheel 307e abuts against the side die to be calibrated;

(102) determining the fixed position of the calibration side die: controlling an adjusting motor 307g nearest to the nail pressing sleeve 328 to act to enable the sliding seat 302 to move towards the magnetic box, enabling the adjusting motor 307g to drive the corresponding sliding seat 302 to move, recording the position of the rotating wheel 307e at the moment when the corresponding rotating wheel 307e abuts against the magnetic box, calculating the moving distance of the rotating wheel 307e, setting the moving distance to be c, controlling the adjusting motor 307g to act reversely to enable the sliding seat 302 to return to the original position, controlling a driving motor 301 to act, enabling the supporting seat 306 to move (D-c-l/2-D/2) from a linear driver 327 towards the direction of the clamping detection assembly 307, stopping the driving motor 301, enabling the linear driver 327 to act to enable the nail pressing sleeve 328 to move downwards, enabling the nail pressing sleeve 328 to push a magnetic box 8 to move downwards, and enabling a magnet of the magnetic box 8 to abut against a mould table, the linear driver 327 reversely acts, the nail pressing sleeve 328 resets, the first driving motor 301 is controlled to continue to act, the first supporting seat 306 continues to move along the original direction, when the moving distance is b, the first driving motor 301 stops acting, the linear driver 327 acts again, the nail pressing sleeve 328 moves downwards, the nail pressing sleeve 328 pushes the other magnetic box 8 to move downwards, when the magnet is abutted against the die table, the linear driver 327 reversely acts, the nail pressing sleeve 328 resets, the first driving motor 301 is controlled to reversely act, and the first supporting seat 306 returns to the position in the step (101);

(103) the position of the two grip sensing assemblies 307 is adjusted: controlling the two rotating wheels 307e to rotate, so that the two rotating wheels 307e roll towards the directions of the two magnetic boxes 8, and when the rotating wheels 307e are abutted against the magnetic boxes 8, the rotating wheels 307e act in the reverse direction, so that the rotating wheels 307e move in the reverse direction by a + k + e, and after calibration is finished, fixedly connecting the sliding seat I302 to the supporting seat I306;

it is assumed that the clamping detection assembly 307 closest to the pressing pin sleeve 328 is a first clamping detection assembly 307, the rotating wheel 307e in the first clamping detection assembly 307 is a first rotating wheel 307e, D is the distance between the radial center of the pressing pin sleeve 328 and the radial center of the first rotating wheel 307e, l is the maximum length of the magnetic box 8, and D is the diameter of the rotating wheel 307 e; the centers of the rotating wheel 307e, the magnetic box 8 and the nail pressing sleeve 328 in the front-rear direction are on the same straight line; a is a set clamping safety distance, specifically, when the clamping piece one 307c clamps the side forms, the distance between the side of the clamping jaw one 307b arranged corresponding to the magnetic box 8 and the side of the magnetic box 8 arranged corresponding to the clamping jaw one 307b is set; b is the distance between the two magnetic boxes 8, k is the distance between the side of the clamping jaw opposite to the first rotating wheel 307e and the side of the first rotating wheel 307e opposite to the clamping jaw, and e is the length of the clamping jaw in the direction parallel to the side formwork; in the initial state, the first clamping jaw 307b is in a completely loosened state, when the rotating wheel 307e rolls on the side die, the side die is between the two first clamping jaws 307b, the two first clamping jaws 307b are not in contact with the outer side of the side die, and the first clamping piece 307c is above the magnetic box 8.

The method for installing the side die in the step (5) specifically comprises the following steps:

(501) and (3) starting to install a side die: controlling the actions of the first moving seat 304 and the first sliding seat 302 to move the first supporting seat 306 to the position right above the side die to be installed, and stopping the actions of the first lifting motor 315 when the first supporting seat 306 descends and the rotating wheel 307e is in contact with the upper side of the side die to be installed;

(502) clamping the side die to be installed, wherein a first clamping piece 307c acts, a first clamping jaw 307b moves oppositely, and a first clamping jaw 307b clamps the side die;

(503) adjusting the position of the side die: the first lifting motor 315 reversely acts to enable the side die to be installed to leave the side die ex-warehouse roller table 6, after the side die to be installed leaves the die table to a set height, the first lifting motor 315 stops acting, the first driving motor 301 and the first moving motor 322 act, after the side die moves to a set die table position, the first driving motor 301 and the first moving motor 322 stop acting, if the angle of the side die to be installed needs to be adjusted, the first driving motor 308 rotates to act, after the first supporting seat 306 rotates to a set angle, the first driving motor 308 rotates to stop acting, the first lifting motor 315 acts to enable the side die to descend, and when the side die abuts against the die table, the first lifting motor 315 stops acting;

(504) fixing a side die to be installed: the first clamping piece 307c reversely acts to enable the first clamping jaw 307b to loosen the side die, the first lifting motor 315 reversely acts, after the first clamping jaw 307b rises to a set distance, the first lifting motor 315 stops acting, the first driving motor 301 or the first moving motor 322 is controlled to act according to the direction of the side die, if the length direction of the side die is parallel to the moving direction of the first connecting seat, the first driving motor 301 is controlled to act, after the first supporting seat 306 moves (D-c-l/2-D/2) from the linear driver 327 to the direction of the clamping detection assembly 307, the first driving motor 301 stops acting, the linear driver 327 acts to enable the nail pressing sleeve 328 to move downwards, when the magnet is abutted against the die table, the linear driver 327 reversely acts, the nail pressing sleeve 328 returns, the linear driver 327 stops acting, the first driving motor 301 continues to act, and when the first supporting seat 306 continues to move b along the original direction, when the first driving motor 301 stops operating, the linear driver 327 operates to enable the nail pressing sleeve 328 to move downwards, when the magnet abuts against the die table, the linear driver 327 operates reversely, the nail pressing sleeve 328 returns, and the linear driver 327 stops operating; if the length direction of the side die is parallel to the moving direction of the first moving block 323, controlling the position of the first moving block 323, and the principle is the same as that of the first adjusting connecting seat 310;

(505) and if all the side forms are installed, finishing the installation work of the side forms, and otherwise, returning to the step (501).

In this embodiment, the first clamping member 307c and the second clamping member 217 are parallel pneumatic clamping jaws, the parallel pneumatic clamping jaws are connected with two movable sliding blocks 307c1, the first side die fingers are respectively and fixedly connected to the lower sides of the sliding blocks 307c1 of the first clamping member 307c, and one side of the first side die fingers, which is opposite to the first side die fingers, is fixedly connected with the first rubber clamping plate 307 a.

In the invention, the magnetic side form (as shown in fig. 27) comprises a side form body 7, a magnetic box 7 is connected on the side form body 7, and in an initial state, a magnet of the magnetic box 7 is higher than the height of the lower side of the side form body 7; in order to prevent the magnetic box 7 from being damaged when the rotating wheel 307e abuts against the magnetic box 7, a protective shell 9 may be fixedly disposed on the upper side of the side form body 7, and the magnetic box 7 is disposed in the protective shell 9 (as shown in fig. 28), and at this time, the above-mentioned abutting against the outer side of the magnetic box 7 in the above method may be modified to abut against the outer side of the protective shell 9; the side forms are placed on the die table, the side forms are placed on the side form in-out garage mechanical arm 2 before the process of the invention, the side forms are sequentially taken out of the side form library 219 by the side form in-out garage mechanical arm 2 and placed on the side form out-garage roller way 7, the central position of the side forms to be clamped is determined, the side form mounting mechanical arm 3 clamps the side forms on the side form out-garage roller way 7, before the side forms placed on the die table are clamped, the moving distances of a moving block 323323 and a connecting block 310310 can be calculated through calculation of the position of a supporting seat 306 and the central position of the side forms, and the supporting seat 306 is positioned right above the side forms to be mounted; according to the invention, the automatic in-out storage of the side molds and the automatic installation of the side molds are realized through the layout of the side mold in-out storage roller way 1, the side mold out-out storage roller way 6, the side mold in-out storage mechanical arm 2 and the side mold installation mechanical arm 3 and the combined arrangement of the side mold in-out storage mechanical arm 2 and the side mold installation mechanical arm 3, so that the labor intensity is low and the efficiency is high; before the side die is installed, the side die is calibrated according to the specification of the side die, so that the side die is conveniently positioned in the fixing work and the clamping action position is determined; the method can be applied to the installation work of the concrete prefabricated part, and is particularly suitable for the work of processing the concrete composite slab.

The present invention is not limited to the above embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts based on the disclosed technical solutions, and these substitutions and modifications are all within the protection scope of the present invention.

Claims (10)

1. A magnetic side form positioning and installing line is characterized by comprising a side form warehousing roller way and a side form warehouse, wherein a side form warehousing manipulator is arranged at the side form warehouse, a side form cleaning machine is arranged above the side form warehousing roller way, and the side forms are cleaned by the side form cleaning machine before entering the side form warehouse; in the front-rear direction, a side die discharging roller way is arranged between a side die storage roller way and a side die storage, a side die installation mechanical arm is arranged at the side die discharging roller way, the side die installation mechanical arm is arranged in the outward direction on the left side of the side die storage, a side die installation station is further arranged at the rear side of the side die discharging roller way, the length of the side die installation mechanical arm in horizontal movement covers the side die installation station and the side die position placed at the upper side of the left end of the side die discharging roller way, and the side die installation mechanical arm moves left and right.

2. The magnetic side form positioning and mounting line according to claim 1, wherein the side form mounting manipulator comprises two parallel mounting frames, a first movable seat capable of moving along the length direction of the mounting frames is connected to the mounting frames, a first sliding seat capable of moving along the length direction of the first movable seat is connected to the first movable seat, a first liftable lifting seat is connected to the first sliding seat, a first support seat is rotatably connected to the lower side of the first lifting seat, two movable clamping detection components are connected to the lower side of the first support seat, each clamping detection component comprises a sliding seat movably connected to the lower side of the first support seat, a first clamping part and a fixed disk are fixedly connected to the downward side of the sliding seat, a first clamping jaw is connected to the first clamping part, a rotatable rotating wheel is connected to the fixed disk, and in the front and rear directions, the rotating wheel is arranged between the first clamping jaws; in the length direction, the outer side of the first supporting seat is fixedly connected with a connecting plate, the outer side of the connecting plate is fixedly connected with a linear driver, the linear driver is connected with a pressing rod capable of performing reciprocating linear movement in the height direction, and one end, extending downwards, of the pressing rod is fixedly connected with a pressing nail sleeve.

3. The magnetic side form positioning and mounting line as claimed in claim 2, wherein a fixing plate extending downwards is fixedly connected to the fixing plate, a first adjusting motor is fixedly connected to the fixing plate, a rotating wheel is drivingly connected to the first adjusting motor, and the first clamping member is arranged on a first sliding seat on the outward side of the fixing plate.

4. The magnetic side form positioning and mounting line as claimed in claim 2, wherein the lower portion of the first lifting seat is provided with a mounting opening, a first rotating motor is fixedly mounted in the mounting opening of the first lifting seat, the first rotating motor is in transmission connection with the supporting seat, a first driving gear is connected to an output shaft of the first rotating motor, a first driven gear is fixedly connected to the upper side of the first supporting seat, the first driving gear is meshed with the first driven gear, and the first driven gear is rotatably connected to the first lifting seat.

5. The magnetic side form positioning and mounting line according to claim 1, wherein the side form in and out warehouse manipulator comprises a first support frame arranged at two ends of the side form warehouse in the length direction, a second moving seat capable of moving along the length direction of the first support frame is connected to the first support frame, a second sliding seat capable of moving along the length direction of the second moving seat is connected to the second moving seat, a second lifting seat capable of lifting is connected to the second sliding seat, a second support seat is connected to the lower side of the second lifting seat, two clamping members arranged at intervals are connected to the lower side of the second support seat, two side form fingers arranged oppositely are connected to the second clamping members, and a rubber clamping plate II is connected to the inward side of the lower part of the second side form fingers.

6. The magnetic sideform positioning and mounting line according to claim 1, wherein the position of the second clamping member is adjustable.

7. The magnetic side form positioning and mounting line of claim 6, wherein the second supporting seat has a mounting cavity, the outer side of the second supporting seat is fixedly connected with a second adjusting motor, the second adjusting motor is in transmission connection with a transmission screw rod, the transmission screw rod is rotatably connected to the second supporting seat, two ends of the transmission screw rod in the installation cavity in the length direction are respectively in threaded connection with two movable nut seats, the two movable nut seats are in threaded connection with the transmission screw rod, two rows of fixed guide rails are fixedly connected with the lower side of the second supporting seat, a connecting plate is fixedly connected with the upper side of each second clamping piece, the upper side of the connecting plate is fixedly connected with a plurality of sliding blocks, the sliding blocks are connected with the fixed guide rail in a sliding mode, the lower sides of the movable nut seats are fixedly connected to the upper side of the connecting plate, and the thread matching rotating directions of the two movable nut seats and the transmission screw rod are opposite.

8. The method for positioning and installing the magnetic side forms by using the positioning and installing line as claimed in any one of claims 1 to 7, which is characterized by comprising the following steps,

(1) calibrating the installation position of the side die;

(2) the side forms are conveyed to a side form warehousing roller way in a unified mode, the side forms on the side form warehousing roller way are automatically conveyed to the direction where a side form warehousing-in and warehousing-out mechanical hand is located, a side form cleaning machine cleans the side forms, and the cleaned side forms are conveyed to the position below the side form warehousing-in and warehousing mechanical hand;

(3) the side die is placed in a side die warehouse by a side die warehouse-in and warehouse-out mechanical arm;

(4) when the side forms need to be installed, the side form warehousing-out mechanical arm clamps the side forms in the side form warehouse and places the side forms on the side form warehousing-out roller way;

(5) the side die is conveyed to the position below a side die mounting manipulator by the side die ex-warehouse roller way, and the side die mounting manipulator places the side die at a position corresponding to a side die mounting station; the side forms are circulated to the positions corresponding to the side form mounting stations, the cleaned die tables are circulated to the side form mounting stations, and the side form mounting mechanical arm finishes the placement and the installation of the side forms.

9. The method for positioning and installing the magnetic side form according to claim 8, wherein in the step (1), before the side form is installed, the clamping side form is calibrated, and assuming that the calibrated side form to be installed is parallel to the length direction of the supporting frame, the method specifically comprises the following steps:

(101) coarsely adjusting the position of the first supporting seat: adjusting the position of the first supporting seat to move to a position right above the side die to be calibrated, controlling the first lifting motor to act to enable the first supporting seat to descend, and stopping descending the first supporting seat when the rotating wheel abuts against the calibrated side die;

(102) determining the fixed position of the calibration side die: controlling an adjusting motor one closest to the nail pressing sleeve to move the sliding seat one towards the magnetic box, driving the corresponding sliding seat one to move by the adjusting motor, recording the position of the rotating wheel at the moment when the corresponding rotating wheel is abutted against the magnetic box, calculating the moving distance of the rotating wheel, setting the moving distance to be c, controlling the adjusting motor one to move reversely to restore the sliding seat one to the original position, controlling the driving motor one to move, enabling the supporting seat one to move (D-c-l/2-D/2) from the linear driver towards the direction of the clamping detection assembly, stopping the driving motor one to move, enabling the linear driver to move, enabling the nail pressing sleeve to move downwards, enabling the nail pressing sleeve to push the magnetic box to move downwards, when the magnet of the magnetic box is abutted against the die table, enabling the linear driver to move reversely, resetting the nail pressing sleeve, and controlling the driving motor one to continue to move, the first support seat continues to move along the original direction, when the moving distance is b, the first drive motor stops moving, the linear driver moves again, the nail pressing sleeve moves downwards, the nail pressing sleeve pushes the other magnetic box to move downwards, when the magnet is abutted against the die table, the linear driver moves reversely, the nail pressing sleeve resets, the first drive motor is controlled to move reversely, and the first support seat returns to the position in the step (101);

(103) adjusting the position of the two clamping detection assemblies: controlling the two rotating wheels to rotate, enabling the two rotating wheels to roll towards the direction of the two magnetic boxes, enabling the rotating wheels to reversely act when the rotating wheels are abutted against the magnetic boxes, enabling the rotating wheels to reversely move a + k + e, finishing calibration, and fixedly connecting the first sliding seat to the first supporting seat;

the method comprises the following steps that a clamping detection assembly closest to a nail pressing sleeve is assumed to be a first clamping detection assembly, a rotating wheel in the first clamping detection assembly is a first rotating wheel, D is the distance between the radial center of the nail pressing sleeve and the radial center of the first rotating wheel, l is the maximum length of a magnetic box, and D is the diameter of the rotating wheel; the centers of the rotating wheel, the magnetic box and the pressing nail in the front-back direction are on the same straight line; a is a set clamping safety distance, in particular to a distance between one side of the first clamping jaw, which is arranged opposite to the magnetic box, and one side of the magnetic box, which is arranged opposite to the first clamping jaw, when the first clamping piece clamps the side forms; b is the distance between the two magnetic boxes, k is the distance between one side of the clamping jaw, which is arranged opposite to the first rotating wheel, and one side of the first rotating wheel, which is arranged opposite to the clamping jaw, and e is the length of the clamping jaw and the side die in the direction parallel to the side die; under the initial state, clamping jaw one is in the state of loosening completely, when the wheel that rotates rolls on the side forms, the side forms is between two clamping jaw one, and two clamping jaw one do not all contact with the side forms outside, and holder one is in the top of magnetism box.

10. The method for positioning and installing the magnetic side form according to claim 9, wherein the method for installing the side form in the step (5) comprises the following steps:

(501) and (3) starting to install a side die: controlling the actions of the first moving seat and the first sliding seat to move the first supporting seat to be right above the side die to be installed, and stopping the actions of the first lifting motor when the first supporting seat descends and the rotating wheel quickly contacts with the upper side of the side die to be installed;

(502) clamping the side die to be installed, wherein the first clamping piece moves, the first two clamping jaws move oppositely, and the first clamping jaw clamps the side die;

(503) adjusting the position of the side die: the first lifting motor reversely acts to enable the side die to be installed to leave the side die ex-warehouse roller way, the first lifting motor stops acting after the side die to be installed leaves the die table to a set height, the first driving motor and the first moving motor act, the first driving motor and the first moving motor stop acting after the side die moves to a set die table position, if the angle of the side die to be installed needs to be adjusted, the first rotating motor acts, the first supporting seat rotates to a set angle, the first rotating motor stops acting, the first lifting motor acts to enable the side die to descend, and the first lifting motor stops acting when the side die abuts against the die table;

(504) fixing a side die to be installed: when the length direction of the side die is parallel to the moving direction of the first connecting seat, the first driving motor stops moving, the first supporting seat moves from the linear driver to the direction of the clamping detection assembly (D-c-l/2-D/2), the first driving motor stops moving, the linear driver moves to enable the nail pressing sleeve to move downwards, when the magnet is abutted against the die table, the linear driver reversely moves, the nail pressing sleeve returns, the linear driver stops moving, the first driving motor continues moving, and when the first supporting seat continues moving along the original direction b, the first driving motor stops moving and the linear driver moves, the nail pressing sleeve moves downwards, when the magnet is abutted against the die table, the linear driver acts reversely, the nail pressing sleeve returns, and the linear driver stops acting; if the length direction of the side die is parallel to the moving direction of the first moving block, controlling the position of the first moving block according to the same principle as the position of the first adjusting connecting seat;

(505) and if all the side forms are installed, finishing the installation work of the side forms, and otherwise, returning to the step (501).

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