CN112476716A - Automatic fine plastering system and method for shield segment production - Google Patents
Automatic fine plastering system and method for shield segment production Download PDFInfo
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- CN112476716A CN112476716A CN202011447483.1A CN202011447483A CN112476716A CN 112476716 A CN112476716 A CN 112476716A CN 202011447483 A CN202011447483 A CN 202011447483A CN 112476716 A CN112476716 A CN 112476716A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B1/00—Producing shaped prefabricated articles from the material
- B28B1/29—Producing shaped prefabricated articles from the material by profiling or strickling the material in open moulds or on moulding surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B28—WORKING CEMENT, CLAY, OR STONE
- B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
- B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
Abstract
The invention provides an automatic fine plastering system and method for shield segment production, relates to the technical field of shield segment production, and solves the technical problem of automatic surface collection of an outer cambered surface of a shield segment. The system comprises a main truss, an X-axis travelling mechanism, a Y-axis travelling mechanism, a Z-axis travelling mechanism, a tail end troweling mechanism and a controller, wherein the X-axis travelling mechanism, the Y-axis travelling mechanism and the Z-axis travelling mechanism cooperatively control the tail end troweling mechanism to move in an operation space, and the tail end troweling mechanism carries out troweling operation along the outer circular arc of a segment mold; the troweling mechanism comprises a first rotating device, a second rotating device and a cutter, wherein the rotating device is matched with the control cutter to adjust the working position, and the trowel of the cutter rotates along with the second rotating device. The control system of the system is used for controlling the coordination work of each mechanism, is suitable for duct piece molds of different sizes, can ensure that smooth circular arcs are formed on the shield duct pieces, and also improves the face collecting efficiency and the flatness and the smoothness of the concrete surface.
Description
Technical Field
The invention relates to the technical field of shield segment production, in particular to an automatic fine-plastering system and method for shield segment production.
Background
The shield segment is as concrete prefabricated component, and the quality of section of jurisdiction is directly influenced to the shaping quality of concrete. In addition, the outer arc surface of the duct piece is a lifting surface of the finished duct piece, and the outer arc surface is required to be flat and smooth in order to ensure that the sucking disc is firmly adsorbed. Therefore, in the segment production process, when the concrete reaches initial setting, the cover plate needs to be opened to carry out smooth surface operation, and the aim is to modify the outer cambered surface, ensure the radian and improve the surface smoothness.
The existing fine plastering method is to manually use a trowel to collect the surface, because of manual operation, the operation strength and the uniformity of workers are difficult to master, the whole cambered surface cannot be uniform, a spork mark can be left, and the appearance quality of the duct piece is difficult to guarantee. Meanwhile, the length of the trowel is short, the efficiency of manual noodle collection is low, the number of workers is large, and generally 3-4 workers are needed for noodle collection by one die. In order to realize the intelligent production of shield segment, improve the production efficiency of segment, guarantee the whole quality of segment, reduce the recruitment number, need provide one kind and can carry out the automatic smart device of plastering of receiving the face fast to the outer cambered surface of shield segment.
Disclosure of Invention
In order to solve the technical problem of automatic face collection of the outer arc face of the shield segment, reduce the work of operators on the production site of the shield segment, improve the face collection efficiency and enhance the flatness and the smoothness of the segment, the invention provides an automatic fine-plastering system and method for the production of the shield segment, and the specific technical scheme is as follows.
An automatic fine plastering system for shield segment production comprises a main truss, an X-axis travelling mechanism, a Y-axis travelling mechanism, a Z-axis travelling mechanism, a tail end plastering mechanism and a controller, wherein the X-axis travelling mechanism, the Y-axis travelling mechanism and the Z-axis travelling mechanism jointly control the tail end plastering mechanism to move in an operation space; the tail end smearing mechanism carries out smearing operation along the outer surface of the duct piece die, the operation space of the tail end smearing mechanism is arranged between the main body trusses, and the duct piece die is placed along the Y-axis direction; the troweling mechanism comprises a first rotating device, a second rotating device and a cutter, the second rotating device is fixedly arranged at the lower end of the Z-axis travelling mechanism, the first rotating device is connected with the second rotating device, the rotating shafts of the first rotating device and the second rotating device are perpendicular to each other, the cutter comprises a rotating support, a hinge and a trowel, the rotating support is connected with the first rotating device, the trowel is connected with the hinge, and the angle of the trowel is adjusted by the hinge.
Preferably, the X-axis travelling mechanism comprises a gear rack movement unit and a drag chain routing unit, the gear rack movement unit comprises a servo drive mechanism gear rack mechanism and a linear guide rail, the gear rack mechanism and the linear guide rail are arranged on top beams parallel to the X-axis direction on the upper part of the main truss, and the servo drive mechanism controls the rotation of the gear; the drag chain wiring unit comprises a linear guide rail and a wiring drag chain, and the drag chain wiring unit is fixed at two ends of the cross beam and is parallel to the gear rack movement unit.
Preferably, the Y-axis travelling mechanism comprises a first travelling trolley and a second travelling trolley, a cross beam is fixedly arranged between the first travelling trolley and the second travelling trolley, and the first travelling trolley and the second travelling trolley move in parallel and synchronously; the moving unit is provided with a servo driving mechanism, a gear rack mechanism and a linear guide rail, the gear rack mechanism and the linear guide rail are arranged above the cross beam in parallel, and the servo driving mechanism drives the walking trolley to move along the Y-axis direction.
Preferably, the Z-axis travelling mechanism comprises a servo driving mechanism, a gear rack mechanism, a support frame, a linear guide rail and a wiring drag chain, the support frame is fixedly connected with the Y-axis travelling mechanism, a rack is configured on one side face of the support frame, the lower end of the support frame is fixedly connected with a tail end polishing mechanism, the servo driving mechanism is connected with the gear to drive the support frame to move up and down along the Y axis, and the support frame is further provided with the linear guide rail and the wiring drag chain.
Preferably, the first rotating device comprises a variable frequency motor and a speed reducer, and the variable frequency motor is connected with the speed reducer; the rotation range of the second rotating device is 180 degrees.
Further preferably, the cutter further comprises a damper, and the damper controls the spatula to be pressed on the concrete surface; the spatula is provided with a working surface, and four corners of the working surface are upwarped and provided with smooth arcs; the damper is fixedly connected with the spatula.
Further preferably, the controller comprises a PLC control unit, a display unit and an emergency processing unit, the PLC control unit has a 6-axis control system, and the PLC control unit controls the 2 gear rack movement units of the X-axis traveling mechanism, the gear rack movement unit of the Y-axis traveling mechanism, the servo drive mechanism of the Z-axis traveling mechanism, and the first rotating device and the second rotating device of the tail end smearing mechanism, respectively; the emergency processing unit comprises a safety emergency stop device and a pause button, and the display unit comprises a man-machine interaction operation touch screen and is used for feeding back operation information and fault information and inputting an operation command.
Further preferably, the X-axis traveling mechanism, the Y-axis traveling mechanism and the Z-axis traveling mechanism are all provided with a limit sensor and a limit block.
Further preferably, Z axle running gear and terminal smoothing mechanism are provided with a plurality ofly respectively, and each Z axle running gear parallel arrangement is on Y axle running gear, and every Z axle running gear lower extreme all fixed configuration has terminal smoothing mechanism, and a plurality of terminal smoothing mechanisms carry out the smoothing operation to a plurality of section of jurisdiction moulds respectively.
An automatic fine plastering method for shield segment production utilizes the automatic fine plastering system for shield segment production, and comprises the following steps:
s1, moving a tail end polishing mechanism to an initial position;
s2, moving the tail end polishing mechanism;
s3, performing interpolation operation control on the Y-axis travelling mechanism, the Z-axis travelling mechanism and the second rotating device, enabling a trowel angle of the trowel mechanism to be matched with the curved surface of the duct piece, and enabling the tail-end trowel mechanism to continuously move;
s4, the Z-axis walking mechanism controls the tail end polishing mechanism to ascend, and the first rotating device rotates 180 degrees;
s5, continuously moving the tail end troweling mechanism for operation;
s6, performing interpolation operation control on the Y-axis travelling mechanism, the Z-axis travelling mechanism and the second rotating device, enabling a trowel angle of the trowel mechanism to be matched with the curved surface of the duct piece, and enabling the tail-end trowel mechanism to continuously move;
s7, the Z-axis walking mechanism controls the tail end polishing mechanism to ascend, and the first rotating device rotates for 0 degree;
and S8, repeating the steps S2-S7, and returning the tail end polishing mechanism to the cleaning station after finishing the polishing operation of the segment mould.
The automatic fine plastering system and method for shield segment production provided by the invention have the beneficial effects that: the system realizes automatic plastering of the outer arc surface concrete of the shield segment through the cooperative fit of the X-axis travelling mechanism, the Y-axis travelling mechanism, the Z-axis travelling mechanism and the tail end plastering mechanism, so that the automatic surface collecting operation of the shield segment can be carried out, the field operation workload of shield segment production is reduced, the surface collecting efficiency is provided, and the flatness and the smoothness of the concrete surface are ensured. In addition, the system can also be suitable for the fine die face operation of duct piece dies with different working conditions, different dies, different types and different specifications.
Drawings
In order to clearly illustrate the embodiments or technical solutions of the present invention in the prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some examples of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic diagram of an automatic fine-wiping system for shield segment production;
FIG. 2 is a schematic layout of the X-axis traveling mechanism and the Y-axis traveling mechanism;
FIG. 3 is a side view of an automatic fine wiping system for shield segment production;
FIG. 4 is a schematic structural view of the end wiping mechanism;
FIG. 5 is a side view of the end wiping mechanism;
FIG. 6 is a working line diagram of an automatic fine-plastering method for shield segment production;
in the figure: 1-main truss, 2-X axis running mechanism, 3-Y axis running mechanism, 4-Z axis running mechanism, 5-tail end polishing mechanism, 6-mould, 7-first rotating device, 8-second rotating device, 9-cutter, 10-rotating bracket, 11-hinge, 12-spatula and 13-damper.
Detailed Description
The following description will be made with reference to fig. 1 to 6 for describing an embodiment of an automatic fine-plastering system and method for shield segment production according to the present invention.
The utility model provides an automatic smart system of wiping for shield constructs section of jurisdiction production, including main part truss 1, X axle running gear 2, Y axle running gear 3, Z axle running gear 4, terminal wiping mechanism 5 and controller, X axle running gear, Y axle running gear and Z axle running gear control terminal wiping mechanism jointly and move in operating space, X axle running gear 2, Y axle running gear 3, Z axle running gear 4 configuration is on the main part truss, terminal wiping mechanism 5 configuration is on Z axle running gear, the controller respectively with X axle running gear 2, Y axle running gear 3, Z axle running gear 4, terminal wiping mechanism 5 links to each other. The system realizes automatic plastering of the outer arc surface concrete of the shield segment through the cooperative fit of the X-axis travelling mechanism, the Y-axis travelling mechanism, the Z-axis travelling mechanism and the tail end plastering mechanism, so that the automatic surface collecting operation of the shield segment can be carried out, the field operation workload of shield segment production is reduced, the surface collecting efficiency is provided, and the flatness and the smoothness of the concrete surface are ensured.
Wherein main part truss 1 sets up according to actual section of jurisdiction mould 6's size, and the section of jurisdiction mould is fixed in the space that the truss supported, and the truss all has stable support in X axle, Y axle and Z axle direction, mainly uses frame-type structure such as stand and truss, can also fix the main part truss through concrete foundation subaerial, and the last plane of main part truss keeps the level. The pipe piece mold horizontally moves along the X-axis direction, the movement track is parallel to the width direction of the pipe piece mold, and when the tail end polishing mechanism finishes the polishing operation of the whole outer arc surface, the tail end tool is moved out of the operation position along the X-axis to clean a tail end tool; after the cleaning is finished, the troweling mechanism is reset, and the next cycle of operation is started.
The tail end smearing mechanism 5 carries out smearing operation along the outer surface of the segment mould, the operation space of the tail end smearing mechanism is arranged between the main truss, and the segment mould 6 is placed along the Y-axis direction. The troweling mechanism comprises a first rotating device 7, a second rotating device 8 and a cutter 9, wherein the second rotating device 8 is fixedly arranged at the lower end of the Z-axis travelling mechanism, the first rotating device is connected with the second rotating device, and rotating shafts of the first rotating device and the second rotating device are perpendicular to each other. The cutter includes runing rest 10, hinge 11 and spatula 12, and runing rest and first rotary device link to each other, and the spatula is connected with the hinge, and the angle of spatula is adjusted to the hinge.
The X-axis travelling mechanism comprises a gear rack movement unit and a drag chain wiring unit, the gear rack movement unit comprises a servo driving mechanism gear rack mechanism and a linear guide rail, the gear rack mechanism and the linear guide rail are arranged on top beams parallel to the X-axis direction on the upper part of the main truss, and the servo driving mechanism controls the rotation of a gear; the drag chain wiring unit comprises a linear guide rail and a wiring drag chain, and the drag chain wiring unit is fixed at two ends of the cross beam and is parallel to the gear rack movement unit. The X-axis travelling mechanism is composed of two sets of motion control units, and two ends of a cross beam are controlled to synchronously move in the same direction. A servo motor in the servo driving mechanism is connected with a speed reducer, the output end of the speed reducer is connected with a gear, and the gear is in meshing transmission with a rack to drive the cross beam to reciprocate along the direction of the rack (the direction of an X axis). The X-axis travelling mechanism is provided with two groups of drag chain wiring units which are respectively fixed on one side of the gear rack module, and the direction of the X-axis travelling mechanism is consistent with the direction of the X-axis during working; and a limiting block and a limiting sensor are arranged at the tail end of the X-axis movement stroke.
The Y-axis travelling mechanism 3 comprises a first travelling trolley and a second travelling trolley, a cross beam is fixedly arranged between the first travelling trolley and the second travelling trolley, and the first travelling trolley and the second travelling trolley are arranged in parallel and move synchronously; the moving unit is provided with a servo driving mechanism, a gear rack mechanism and a linear guide rail, the gear rack mechanism and the linear guide rail are arranged above the cross beam in parallel, and the servo driving mechanism drives the walking trolley to move along the Y-axis direction. The Y axis is a horizontal movement axis, the Y axis is vertical to the X axis and is the circulation direction of the production of the duct piece, the movement track is parallel to the length direction of the die and is the movement direction of the smearing operation of the smearing mechanism along the arc track. The servo driving mechanism of the Y-axis travelling mechanism is connected with a speed reducer, the output end of the speed reducer is connected with a gear, and the gear is in meshing transmission with a rack to drive the tail end polishing mechanism to reciprocate along the rack direction (Y-axis direction). The group of drag chain wiring units comprise a row of linear guide rails and a wiring drag chain, are fixed on the cross beam and move along the Y axis during working; and a limiting block and a limiting sensor are arranged at the tail end of the Y-axis movement stroke.
Z axle running gear 4 includes servo drive mechanism, rack and pinion mechanism, support frame, linear guide and walks the line tow chain, support frame and Y axle running gear fixed connection, and a side of support frame disposes the rack, and the lower extreme and the terminal smoothing mechanism fixed connection of support frame, servo drive mechanism and gear link to each other, drive the support frame along Y axle elevating movement, still dispose linear guide on the support frame and walk the line tow chain. The servo driving mechanism is connected with the speed reducer, the output end of the speed reducer is connected with the gear, and the gear is in meshing transmission with the rack to drive the tail end polishing mechanism to reciprocate along the direction of the rack (Z-axis direction). Meanwhile, the track curvilinear motion is realized through interpolation operation of the Y-axis servo motor and the Z-axis servo motor, and the fine wiping operation is completed by the wiping mechanism along the outer arc surface of the segment mould.
The first rotating device of the tail end smearing mechanism 5 comprises a variable frequency motor and a speed reducer, and the variable frequency motor is connected with the speed reducer; the rotation range of the second rotating means is 180 °. The cutter also comprises a damper 13, and the damper 13 controls the spatula to be pressed on the surface of the concrete; the spatula is provided with a working surface, and four corners of the working surface are upwarped and provided with smooth arcs; the damper 13 is fixedly connected with the spatula 12. When the tail end smearing mechanism runs to the tail end of any one working section, the variable frequency motor in the first rotating device 7 starts to work, the output end of the speed reducer drives the cutter to rotate 180 degrees, and smearing operation of the next working section is started. And after all the finishing operations are finished, the finishing mechanism is reset to the original position along the X axis to wait for executing the next cycle action. The cutter 9 comprises a cutter rotating support, a hinge, a damper and a spatula, wherein a cutter fixing frame is fixed on an output shaft of a speed reducer in the first rotating device and is connected with the spatula through the hinge, the spatula is in a suspension state during working, the hinge end can freely adjust the angle according to the working condition, the other end of the spatula is in contact with a concrete working surface, and the other end of the spatula is pressed on the concrete surface through the damper. The spatula is made of special materials and rotates along with the second rotating shaft during working so as to fit the change of the angle of the curved surface. The number of damper configurations can be appropriately selected according to the specifications of the dampers by adjusting the pressure by the dampers. The working surface of the spatula is a plane, four corners of the spatula are all in an upward-raised shape, and the bent part is a smooth arc; the damper is fixed on the upper plane of the spatula and is prevented from being polluted by concrete.
The controller comprises a PLC control unit, a display unit and an emergency processing unit, the PLC control unit is provided with a 6-axis control system, and the PLC control unit controls 2 gear rack movement units of the X-axis travelling mechanism, a gear rack movement unit of the Y-axis travelling mechanism, a servo driving mechanism of the Z-axis travelling mechanism, a first rotating device and a second rotating device of the tail end smearing mechanism respectively. The emergency processing unit comprises a safety emergency stop device and a pause button, and the display unit comprises a man-machine interaction operation touch screen and is used for feeding back operation information and fault information and inputting an operation command. A plurality of sets of running programs are arranged in the controller, and the running programs are pre-programmed and imported according to the segment drawing so as to adapt to the plastering requirements of different molds, and can be automatically switched or manually switched; the controller is provided with a pause button and a safe emergency stop device, the equipment is paused when being pressed down, and the equipment is restarted and then continues to run according to the step sequence before pausing. The controller is provided with a safety device for preventing personnel from entering, the running tail end is provided with a limit limiting device, and each shaft is provided with a super-moment protection device. The controller adopts a man-machine interface operation mode, and operation information, fault information and program selection can be displayed, inquired and controlled through the touch screen. In addition, the controller also adjusts the corresponding curved surface track motion of the die according to the pipe pieces with different specifications and sizes. The X-axis travelling mechanism, the Y-axis travelling mechanism and the Z-axis travelling mechanism are all provided with a limit sensor and a limit block.
In addition, the system can also be suitable for the fine die face operation of duct piece dies with different working conditions, different dies, different types and different specifications.
In another modification of this embodiment, the system may further include a plurality of Z-axis traveling mechanisms and a plurality of terminal troweling mechanisms, each Z-axis traveling mechanism is disposed in parallel on the Y-axis traveling mechanism, the lower end of each Z-axis traveling mechanism is fixedly configured with a terminal troweling mechanism, and the plurality of terminal troweling mechanisms perform troweling operation on the plurality of segment molds respectively.
An automatic fine plastering method for shield segment production utilizes the automatic fine plastering system for shield segment production, and comprises the following steps:
s1, moving a tail end polishing mechanism to an initial position;
s2, moving the tail end polishing mechanism;
s3, performing interpolation operation control on the Y-axis travelling mechanism, the Z-axis travelling mechanism and the second rotating device, enabling a trowel angle of the trowel mechanism to be matched with the curved surface of the duct piece, and enabling the tail-end trowel mechanism to continuously move;
s4, the Z-axis walking mechanism controls the tail end polishing mechanism to ascend, and the first rotating device rotates 180 degrees;
s5, continuously moving the tail end troweling mechanism for operation;
s6, performing interpolation operation control on the Y-axis travelling mechanism, the Z-axis travelling mechanism and the second rotating device, enabling a trowel angle of the trowel mechanism to be matched with the curved surface of the duct piece, and enabling the tail-end trowel mechanism to continuously move;
s7, the Z-axis walking mechanism controls the tail end polishing mechanism to ascend, and the first rotating device rotates for 0 degree;
and S8, repeating the steps S2-S7, and returning the tail end polishing mechanism to the cleaning station after finishing the polishing operation of the segment mould.
The specific operation steps of the automatic fine-plastering method for shield segment production provided by the invention are described in detail with reference to fig. 6, and the specific steps are as follows.
After the cloth was accomplished, the mould reachd the smart worker position of wiping, and mould positioner is automatic with the mould location, and automatic smart face system of wiping starts, and the work begins:
(1) the light touch mechanism moves to a starting position A (A is the joint position of the X-axis midpoint and the Y-axis midpoint and the Z-axis zero position);
(2) the smearing mechanism moves from the point A to the point B;
(3) interpolating the Y axis, the Z axis and the B axis, moving the troweling mechanism to the C point, and enabling the angle of the troweling knife to be matched with the curved surface of the segment;
(4) interpolating the Y axis, the Z axis and the B axis, and moving the troweling mechanism from the point C to the point D;
(5) the Z axis rises to the E point, the spatula leaves the curved surface of the pipe piece, and the A axis rotates to 180 DEG
(6) The X-axis operation runs from point E to point F;
(7) the Z-axis descending and Y-axis and B-axis interpolation operation smearing mechanism moves from the point F to the point G;
(8) interpolating the Y axis, the Z axis and the B axis, and moving the troweling mechanism from the G point to the H point;
(9) the Z axis rises to the point I, the spatula leaves the curved surface of the segment, and the A axis rotates by 0 degree;
(10) the X-axis operation runs from point I to point J;
(11) the Z-axis descending and Y-axis and B-axis interpolation operation smearing mechanism moves from J to K;
(12) interpolating the Y axis, the Z axis and the B axis, and moving the troweling mechanism from the K point to the L point;
(13) the Z axis rises to the point M, the spatula leaves the curved surface of the pipe piece, and the A axis rotates to 180 DEG
(14) The X-axis operation runs from M point to N point;
(15) the Z-axis descending and Y-axis and B-axis interpolation operation smearing mechanism moves from N to O point;
(16) interpolating the Y axis, the Z axis and the B axis, and moving the troweling mechanism from the O point to the P point;
(17) the Z axis rises to the point Q, the spatula leaves the curved surface of the pipe piece, and the A axis rotates to 0 DEG
(18) X-axis operation runs from point Q to point R;
(19) the Z-axis descending and Y-axis and B-axis interpolation operation smearing mechanism moves from the point R to the point S;
(20) interpolating the Y axis, the Z axis and the B axis, and moving the troweling mechanism from the S point to the T point;
(21) the Z axis rises, and the X axis, the Y axis and the B axis run to the point A in an interpolation mode;
(22) the X axis runs, the spatula leaves the curved surface of the pipe piece, and the polishing mechanism returns to the cleaning station from the point A.
The operation of the system includes the steps described above, but is not limited to the described flow of actions, and various corresponding changes may be made according to the system.
In the description of the present invention, it is to be understood that the terms "X", "Y", "Z", "a", "B", "up", "down", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have specific orientations, be constructed in specific orientations, and be operated, and thus, are not to be construed as limiting the present invention.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and those skilled in the art may make modifications, alterations, additions or substitutions within the spirit and scope of the present invention.
Claims (10)
1. An automatic fine plastering system for shield segment production is characterized by comprising a main truss, an X-axis travelling mechanism, a Y-axis travelling mechanism, a Z-axis travelling mechanism, a tail end plastering mechanism and a controller, wherein the X-axis travelling mechanism, the Y-axis travelling mechanism and the Z-axis travelling mechanism jointly control the tail end plastering mechanism to move in an operation space;
the tail end smearing mechanism carries out smearing operation along the outer surface of the duct piece die, the operation space of the tail end smearing mechanism is arranged between the main body trusses, and the duct piece die is placed along the Y-axis direction; the troweling mechanism comprises a first rotating device, a second rotating device and a cutter, the second rotating device is fixedly arranged at the lower end of the Z-axis travelling mechanism, the first rotating device is connected with the second rotating device, the rotating shafts of the first rotating device and the second rotating device are perpendicular to each other, the cutter comprises a rotating support, a hinge and a trowel, the rotating support is connected with the first rotating device, the trowel is connected with the hinge, and the angle of the trowel is adjusted by the hinge.
2. The automatic fine wiping system for shield segment production according to claim 1, wherein the X-axis traveling mechanism comprises a rack-and-pinion movement unit and a drag-chain routing unit, the rack-and-pinion movement unit comprises a servo drive mechanism, a rack-and-pinion mechanism and a linear guide rail, the rack-and-pinion mechanism and the linear guide rail are arranged on top beams parallel to each other in the X-axis direction on the upper portion of the main truss, and the servo drive mechanism controls the rotation of a gear; the drag chain wiring unit comprises a linear guide rail and a wiring drag chain, and the drag chain wiring unit is fixed at two ends of the cross beam and is parallel to the gear rack movement unit.
3. The automatic fine plastering system for shield segment production according to claim 1, wherein the Y-axis travelling mechanism comprises a first travelling trolley and a second travelling trolley, a cross beam is fixedly arranged between the first travelling trolley and the second travelling trolley, and the first travelling trolley and the second travelling trolley are arranged in parallel and move synchronously; the moving unit is provided with a servo driving mechanism, a gear rack mechanism and a linear guide rail, the gear rack mechanism and the linear guide rail are arranged above the cross beam in parallel, and the servo driving mechanism drives the walking trolley to move along the Y-axis direction.
4. The automatic fine plastering system for shield segment production according to claim 1, wherein the Z-axis running mechanism comprises a servo driving mechanism, a rack and pinion mechanism, a supporting frame, a linear guide rail and a wire-running drag chain, the supporting frame is fixedly connected with the Y-axis running mechanism, a rack is arranged on one side surface of the supporting frame, the lower end of the supporting frame is fixedly connected with the tail end plastering mechanism, the servo driving mechanism is connected with a gear to drive the supporting frame to move up and down along the Y-axis, and the linear guide rail and the wire-running drag chain are arranged on the supporting frame.
5. The automatic fine plastering system for shield segment production according to claim 1, wherein the first rotating device comprises a variable frequency motor and a speed reducer, and the variable frequency motor is connected with the speed reducer; the rotation range of the second rotating device is 180 degrees.
6. The automatic fine-plastering system for shield segment production according to claim 1 or 5, wherein the cutter further comprises a damper, and the damper controls the spatula to press on the concrete surface; the spatula is provided with a working surface, and four corners of the working surface are upwarped and provided with smooth arcs; the damper is fixedly connected with the spatula.
7. The automatic fine plastering system for shield segment production according to claim 6, wherein the controller comprises a PLC control unit, a display unit and an emergency processing unit, the PLC control unit is provided with a 6-axis control system, and the PLC control unit respectively controls 2 gear rack movement units of the X-axis travelling mechanism, a gear rack movement unit of the Y-axis travelling mechanism, a servo driving mechanism of the Z-axis travelling mechanism, and a first rotating device and a second rotating device of the tail end plastering mechanism; the emergency processing unit comprises a safety emergency stop device and a pause button, and the display unit comprises a man-machine interaction operation touch screen and is used for feeding back operation information and fault information and inputting an operation command.
8. The automatic fine plastering system for shield segment production according to claim 6, wherein the X-axis travelling mechanism, the Y-axis travelling mechanism and the Z-axis travelling mechanism are all provided with a limit sensor and a limit block.
9. The automatic fine-plastering system for shield segment production according to any one of claims 1 to 5, wherein a plurality of Z-axis traveling mechanisms and a plurality of tail-end plastering mechanisms are respectively arranged, each Z-axis traveling mechanism is arranged on the Y-axis traveling mechanism in parallel, the tail-end plastering mechanism is fixedly arranged at the lower end of each Z-axis traveling mechanism, and the tail-end plastering mechanisms respectively carry out plastering operation on a plurality of segment molds.
10. An automatic fine-plastering method for shield segment production, which is characterized in that the automatic fine-plastering system for shield segment production in any one of claims 1 to 9 is utilized, and the steps comprise:
s1, moving a tail end polishing mechanism to an initial position;
s2, moving the tail end polishing mechanism;
s3, performing interpolation operation control on the Y-axis travelling mechanism, the Z-axis travelling mechanism and the second rotating device, enabling a trowel angle of the trowel mechanism to be matched with the curved surface of the duct piece, and enabling the tail-end trowel mechanism to continuously move;
s4, the Z-axis walking mechanism controls the tail end polishing mechanism to ascend, and the first rotating device rotates 180 degrees;
s5, continuously moving the tail end troweling mechanism for operation;
s6, performing interpolation operation control on the Y-axis travelling mechanism, the Z-axis travelling mechanism and the second rotating device, enabling a trowel angle of the trowel mechanism to be matched with the curved surface of the duct piece, and enabling the tail-end trowel mechanism to continuously move;
s7, the Z-axis walking mechanism controls the tail end polishing mechanism to ascend, and the first rotating device rotates for 0 degree;
and S8, repeating the steps S2-S7, and returning the tail end polishing mechanism to the cleaning station after finishing the polishing operation of the segment mould.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011447483.1A CN112476716A (en) | 2020-12-09 | 2020-12-09 | Automatic fine plastering system and method for shield segment production |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011447483.1A CN112476716A (en) | 2020-12-09 | 2020-12-09 | Automatic fine plastering system and method for shield segment production |
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| CN202011447483.1A Pending CN112476716A (en) | 2020-12-09 | 2020-12-09 | Automatic fine plastering system and method for shield segment production |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113427619A (en) * | 2021-05-18 | 2021-09-24 | 中铁十四局集团房桥有限公司 | Intelligent production line for pipe sheets and using method of intelligent production line |
| CN114922185A (en) * | 2022-05-07 | 2022-08-19 | 国网河北省电力有限公司建设公司 | Numerical control plastering device for line foundation and control method thereof |
| CN115837701A (en) * | 2023-02-22 | 2023-03-24 | 青岛环球重工科技有限公司 | Shield segment automatic fine-wiping control system with automatic identification function |
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2020
- 2020-12-09 CN CN202011447483.1A patent/CN112476716A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113427619A (en) * | 2021-05-18 | 2021-09-24 | 中铁十四局集团房桥有限公司 | Intelligent production line for pipe sheets and using method of intelligent production line |
| CN113427619B (en) * | 2021-05-18 | 2022-10-14 | 中铁十四局集团房桥有限公司 | Shield tunnel segment intelligent production line and using method thereof |
| CN114922185A (en) * | 2022-05-07 | 2022-08-19 | 国网河北省电力有限公司建设公司 | Numerical control plastering device for line foundation and control method thereof |
| CN114922185B (en) * | 2022-05-07 | 2024-02-06 | 国网河北省电力有限公司建设公司 | Numerical control plastering device for circuit foundation and control method thereof |
| CN115837701A (en) * | 2023-02-22 | 2023-03-24 | 青岛环球重工科技有限公司 | Shield segment automatic fine-wiping control system with automatic identification function |
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