CN112878666B - Superimposed shear wall turn-over assembly system and method - Google Patents
Superimposed shear wall turn-over assembly system and method Download PDFInfo
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- CN112878666B CN112878666B CN202110192831.3A CN202110192831A CN112878666B CN 112878666 B CN112878666 B CN 112878666B CN 202110192831 A CN202110192831 A CN 202110192831A CN 112878666 B CN112878666 B CN 112878666B
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- 230000007306 turnover Effects 0.000 title claims abstract description 112
- 238000000034 method Methods 0.000 title claims abstract description 18
- 210000000078 claw Anatomy 0.000 claims abstract description 51
- 239000004567 concrete Substances 0.000 claims abstract description 10
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 5
- 239000010959 steel Substances 0.000 claims abstract description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 10
- 229910052742 iron Inorganic materials 0.000 claims description 5
- 229910001294 Reinforcing steel Inorganic materials 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000002360 preparation method Methods 0.000 abstract description 2
- 238000010276 construction Methods 0.000 description 9
- 238000004519 manufacturing process Methods 0.000 description 7
- 230000007246 mechanism Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 239000011150 reinforced concrete Substances 0.000 description 3
- 230000003014 reinforcing effect Effects 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G11/00—Forms, shutterings, or falsework for making walls, floors, ceilings, or roofs
- E04G11/06—Forms, shutterings, or falsework for making walls, floors, ceilings, or roofs for walls, e.g. curved end panels for wall shutterings; filler elements for wall shutterings; shutterings for vertical ducts
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04B—GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS
- E04B2/00—Walls, e.g. partitions, for buildings; Wall construction with regard to insulation; Connections specially adapted to walls
- E04B2/56—Load-bearing walls of framework or pillarwork; Walls incorporating load-bearing elongated members
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
- E04G21/14—Conveying or assembling building elements
- E04G21/16—Tools or apparatus
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Conveying And Assembling Of Building Elements In Situ (AREA)
- Moulds, Cores, Or Mandrels (AREA)
Abstract
The application provides a superimposed shear wall turn-over die assembly system and a die assembly method, which relate to the field of superimposed shear wall preparation and comprise a die table, wherein the die table is used for fixedly arranging a die assembly; the upper part of the die table is provided with two turnover door frames which are oppositely arranged and all walk along the turnover track; the turnover door frame is provided with a turnover trolley walking along the turnover door frame, the turnover trolley is provided with a rotary turnover turntable, and the turnover turntable is provided with turnover claws sliding vertically. When the turnover portal is used, the superimposed shear wall to be turned is pushed to the lower part of the turnover portal; the overturning claw grabs the superimposed shear wall to be overturned; the overturning turntable overturns 180 degrees, the traversing trolley moves to the upper part of the group die, and the overturned superimposed shear wall is aligned with the group die; inserting the steel bar truss of the superimposed shear wall into the concrete in the group mould; through the steps, automatic overturning and die assembly of the superimposed shear wall are realized, the die assembly precision is greatly improved, and the labor intensity is reduced.
Description
Technical Field
The application relates to the field of preparation of superimposed shear walls, in particular to a superimposed shear wall turn-over die assembly system and a die assembly method.
Background
With the sequential implementation of the current national standard of the technical Standard for fabricated concrete construction GB/T51231-2016 and the evaluation Standard for fabricated buildings GB/T51129-2017, the superimposed shear wall is widely applied. The superimposed shear wall generally adopts automatic assembly line production in a component factory, but because the standardized degree of the component size is limited, namely the length and the width of the component are easy to change, and the assembly line responsible person of the component factory is not deep enough to understand the assembly line production, the productivity of the component factory cannot be improved when the number of items is large and the dimensional change of the component is involved. The maximum limiting factors for the capacity not to be improved are as follows: firstly, degree of automation is not high, a large amount of manual operation is needed, and in the manual operation process, the requirement on the familiarity degree of the technology is high, and the labor intensity is also high. Secondly, the layout of production line equipment is unreasonable, and the beats of all stations cannot be consistent; thirdly, the mode of the side mould is not uniform. When a pipeline responsible person bears the production task of a pipeline, the layout of production line equipment is often in the office, and only partial adjustment is needed, but the mode of side mode assembly has great difference according to different project requirements. In the prior art, there are also proposals for using an automatic die-arranging machine, for example, an automatic die-arranging mechanism and a die-arranging method thereof described in chinese patent document CN 111516132A, a die-arranging machine and a die-arranging method thereof described in CN 109719844A, a special truss automatic-arranging machine and an automatic truss-arranging method described in CN 111571570A. However, the above-described scheme is limited to placing the side forms and the reinforcing steel bars on the mold table, and the side forms are required to be pressed by manual magnetic boxes, and the existing magnetic boxes generally adopt permanent magnets, so that the problem is that the side forms cannot be pressed due to small magnetic force, and the use and control difficulties are greatly increased due to the magnetic force. In addition, in the manual positioning process, the side die is easy to displace, and the die assembling precision is affected. And the cost performance of the die distribution machine is not high because a great deal of manual labor exists. The prior art does not see full-automatic die distribution equipment.
Disclosure of Invention
The application aims to solve the technical problem of providing a superimposed shear wall turn-over die assembly system and a die assembly method, which can realize full-automatic turn-over and die assembly of a superimposed shear wall, greatly improve die assembly efficiency, reduce labor intensity and improve die assembly precision.
In order to solve the technical problems, the application adopts the following technical scheme: a superimposed shear wall turn-over die assembly system comprises a die table, wherein the die table is used for fixedly arranging a die assembly;
the upper part of the die table is provided with two turnover door frames which are oppositely arranged and all walk along the turnover track;
the turnover door frame is provided with a turnover trolley walking along the turnover door frame, the turnover trolley is provided with a rotary turnover turntable, and the turnover turntable is provided with turnover claws sliding vertically.
In the preferred scheme, still be equipped with the pay-off track in the below of upset portal, the pay-off track is located one side of mould platform, and the pay-off track is used for the stack pallet walking, and the top of stack pallet is equipped with the buttress for support and wait to overturn superimposed shear wall, the buttress is convenient for overturn the claw and stretches into and wait to overturn superimposed shear wall below.
In the preferred scheme, a rotatable turnover shaft is arranged on the turnover trolley, the turnover shaft is horizontally arranged, and the axis of the turnover shaft is vertical to the length direction of the turnover door frame;
the turnover shaft is fixedly connected with the turnover turntable, the turnover shaft is connected with the turnover motor through the turnover gear set, and the turnover motor drives the turnover turntable to rotate.
In the preferred scheme, be equipped with the lift guide rail parallel with the radial line of upset carousel at the surface of upset carousel, upset claw and lift guide rail swing joint, upset claw still with lift nut fixed connection, still be equipped with rotatable lift screw at the upset carousel, lift screw and lift nut threaded connection, lift screw is connected with elevator motor, elevator motor drive upset claw slides along the lift guide rail.
In the preferred scheme, the die table is provided with an iron top wall, a plurality of cavities are arranged at the bottom of the die table, and a plurality of lifting electromagnets are arranged at positions corresponding to the cavities and used for penetrating into the cavities so as to be tightly attached to the top wall of the die table;
the electromagnet is used for adsorbing the side die on the surface of the die table.
In the preferred scheme, the die table is movably arranged on a plurality of carrier rollers, the carrier rollers are arranged along a walking path, a plurality of friction driving wheels are further arranged, the friction driving wheels are contacted with the passing die table, and the friction driving wheels are connected with a die table driving motor; so that the friction driving wheel drives the die table to walk along the carrier roller when contacting with the die table;
and a position sensor is further arranged on one side of a walking path formed by the carrier rollers, and the position sensor comprises a photoelectric sensor or a magnetic sensor and is used for detecting the position of the die table.
In the preferred scheme, a die assembling portal is further arranged above one section of the walking path formed by the plurality of carrier rollers, a transverse moving trolley is arranged on the die assembling portal, a vertically sliding lifting arm is arranged on the transverse moving trolley, and a clamping claw is arranged at the bottom of the lifting arm and used for clamping the side die to be placed on the die table.
In the preferred scheme, still be equipped with the carousel between clamping claw and lifting arm, clamping claw sets up in the bottom of carousel, is equipped with drive arrangement on the carousel to the rotatory preset angle of clamping claw is got in the drive.
In the preferred scheme, a turntable is arranged at the bottom of the lifting arm, a clamping cross beam is arranged at the bottom of the turntable, and a plurality of clamping claws are fixedly arranged at the bottom of the clamping cross beam in a mode of adjustable relative positions so that the lifting arm can grab a plurality of side molds or reinforcing steel bars each time.
The die assembling method adopting the superimposed shear wall turn-over die assembling system comprises the following steps of:
s1, inputting the horizontal array position of the electromagnet into a control system;
s2, inputting the group mode scheme into a control system;
s3, obtaining the horizontal position of the group die;
s4, obtaining the position of the die table;
s5, overlapping the position of the side die in the die set with the position of the electromagnet array;
s6, arranging a side die on the lifting arm;
s7, controlling a lifting cylinder of the electromagnet corresponding to the side die to lift;
s8, electrifying an electromagnet corresponding to the position of the side die to adsorb the side die to form a die set;
in the parallel steps;
s01, pushing the superimposed shear wall to be turned over to the lower part of the turning door frame;
s02, relatively moving the turnover door frame to a position with the width slightly larger than the two ends of the superimposed shear wall to be turned;
s03, moving the overturning trolley to the upper part of the superimposed shear wall to be overturned;
s04, sliding the turnover claw to the bottom position of the turnover turntable;
s05, the overturning door frame relatively moves overturning claws to grab the superimposed shear wall to be overturned;
s06, turning over the turnplate for 180 degrees;
in the sequential steps;
s9, pouring concrete in the group mould;
s10, the traversing trolley moves to the position above the group die, and the turned superimposed shear wall is aligned with the group die;
s11, sliding the overturning claw to the bottom position of the overturning turntable, so that the steel bar truss of the superimposed shear wall is inserted into the concrete in the group mould;
through the steps, automatic overturning and die assembling of the superimposed shear wall are realized.
The application provides a superimposed shear wall overturning and die assembling system and a die assembling method, by adopting the scheme, the side dies can be automatically fixed on a die table, the side dies are automatically combined together with high precision according to a preset die assembling scheme, the superimposed shear wall to be overturned is automatically overturned, and the problem of reduced die assembling precision caused by manual operation is avoided by matching with a mechanical arm, so that the die assembling precision is improved, and the labor intensity is greatly reduced. The application can greatly improve the automatic production degree of the superimposed shear wall, greatly improve the die assembly efficiency, improve the production speed of the superimposed shear wall and accelerate the turnover speed of the die table and the side die.
Drawings
The application is further illustrated by the following examples in conjunction with the accompanying drawings:
fig. 1 is a schematic top view of the overall structure of the present application.
Fig. 2 is a front view of the turnover portal of the present application grabbing a superimposed shear wall to be turned.
Fig. 3 is a front view of the inverted portal of the present application after the inverted composite shear wall is inverted.
Fig. 4 is a schematic structural view of the turnover turntable of the present application.
Fig. 5 is a schematic top view of the modular gantry of the present application.
Fig. 6 is a partial side view of the present application.
FIG. 7 is a schematic view in partial cross-section of a die table in the present application.
Fig. 8 is a top view of a mold table frame of the present application.
Fig. 9 is a schematic partial cross-sectional view of a gripping claw in accordance with the present application.
Fig. 10 is a construction flow chart of the present application.
In the figure: the die assembly longitudinal guide rail 1, the die assembly portal 2, the traversing carriage 3, the lifting arm 4, the turntable 41, the turntable motor 42, the turntable driving gear 43, the gripping claw 44, the gripping beam 45, the die assembly 5, the reinforcing bar rack 6, the sideform rack 7, the sideform 8, the die table 9, the die table panel 91, the die table frame 92, the transverse sideform 10, the carrier roller 11, the friction driving wheel 12, the contact switch 13, the position sensor 14, the die table driving motor 15, the electromagnet 16, the lifting cylinder 17, the overturning rail 18, the feeding rail 19, the feeding carriage 20, the superimposed shear wall 21 to be overturned, the overturning portal 22, the wheel box 221, the overturning carriage 23, the overturning claw 24, the overturning turntable 25, the overturning motor 26, the overturning shaft 27, the overturning gear set 28, the lifting guide rail 29, the lifting screw 30, the lifting nut 31 and the lifting motor 32.
Detailed Description
Example 1:
as shown in fig. 1 to 4, a stacked shear wall turnover module assembly system comprises a module 9, wherein the module 9 is used for fixedly arranging a module 5; the die table 9 is provided with an iron top wall, the upper surface of the die table 9 is used for placing the die assembly 5, the die assembly 5 comprises a side die 8 for forming a pouring outer die, and the end head of the reinforcing steel bar on the back surface of the superimposed shear wall is about 25mm away from the side die 8.
As shown in fig. 1, a turnover door frame 22 is arranged above the mold table 9, and two turnover door frames 22 are arranged oppositely and all walk along the turnover track 18; the bottom of the turnover portal 22 is provided with a wheel box 221, the wheel box 221 and the turnover rail 18 form an accurate travelling mechanism, for example, a rack is arranged on one side of the turnover rail 18, the wheel box 221 is provided with a gear for controlling the accurate travelling distance of the turnover portal 22, and preferably, the travelling error of the turnover portal 22 is controlled within 3 mm.
As shown in fig. 1 to 3, a turnover trolley 23 which walks along the turnover door frame 22 is arranged on the turnover door frame 22, and a travelling mechanism of the turnover trolley 23 is driven by a servo motor through a synchronous belt. The turning trolley 23 is provided with a rotary turning turntable 25, and the turning turntable 25 is provided with a turning claw 24 which slides vertically. The vertical direction in this example means that the turnover rail 18 is in a vertical state when in operation.
In the preferred scheme, as shown in fig. 1, a feeding track 19 is further arranged below the turnover portal frame 22, the feeding track 19 is located on one side of the die table 9, the feeding track 19 is used for a feeding vehicle 20 to walk, a buttress is arranged at the top of the feeding vehicle 20 and used for supporting a superimposed shear wall 21 to be turned, and a space formed between the buttress and the superimposed shear wall 21 to be turned is convenient for a turning claw 24 to extend into the lower portion of the superimposed shear wall 21 to be turned.
In the preferred scheme, as shown in fig. 2-4, a rotatable turnover shaft 27 is arranged on the turnover trolley 23, the turnover shaft 27 is horizontally arranged, and the axis of the turnover shaft 27 is vertical to the length direction of the turnover door frame 22;
the turnover shaft 27 is fixedly connected with the turnover turntable 25, the turnover shaft 27 is connected with the turnover motor 26 through the turnover gear set 28, and the turnover motor 26 drives the turnover turntable 25 to rotate. The tumble gear set 28 constitutes a set of reducers.
In the preferred scheme, as shown in fig. 4, a lifting guide rail 29 parallel to the radial line of the turning turntable 25 is arranged on the surface of the turning turntable 25, the lifting guide rail 29 is kept in a vertical state in the working process, namely, in the process of grabbing and releasing the superimposed shear wall, the turning claw 24 is movably connected with the lifting guide rail 29, the turning claw 24 is fixedly connected with a lifting nut 31, a rotatable lifting screw 30 is further arranged on the turning turntable 25, the lifting screw 30 is in threaded connection with the lifting nut 31, the lifting screw 30 is connected with a lifting motor 32, and the lifting motor 32 drives the turning claw 24 to slide along the lifting guide rail 29. The lift motor 32 is disposed at one end of the stacked shear wall 21 to be turned, because a larger grabbing space can be provided to avoid interference when the stacked shear wall 21 to be turned is located on the feeding car 20, and the operating space is smaller when the stacked shear wall 21 is inserted into the stack mold 5 after the stacked shear wall 21 is turned, so that interference caused by the lift motor 32 is avoided. The lift rail 29 may be a cylindrical rail or a dovetail rail. As shown in fig. 4, in this example, two turning claws 24 are preferably used, and the corresponding elevating guide rails 29 are also two bilaterally symmetrical. The bases of the two turning claws 24 are connected as a unit by a lifting nut 31.
In the preferred scheme, as shown in fig. 7 and 8, the die table 9 is provided with an iron top wall, a plurality of cavities are arranged at the bottom of the die table 9, a plurality of liftable electromagnets 16 are arranged at positions corresponding to the cavities, and the electromagnets 16 are used for penetrating into the cavities so as to be tightly attached to the top wall of the die table 9; the electromagnet 16 is driven by a cylinder.
The electromagnet 16 is used for adsorbing the side die 8 on the surface of the die table 9. Preferred embodiment as shown in fig. 7 and 8, the die table 9 includes a die table panel 91 and a die table frame 92, wherein the die table panel 91 is positioned on top of the die table frame 92; preferably, a recess is provided in the top of the platen frame 92 and the platen face plate 91 is positioned in the recess.
The die table frame 92 is an array frame, and the die table frame 92 is provided with a plurality of vertically penetrating cavities. With this structure, the electromagnet 16 is easily accommodated. In a preferred embodiment, the die frame 92 is made of aluminum alloy. With this structure, the overall weight of the die table 9 can be greatly reduced, the energy consumption can be reduced, and the turnover can be facilitated. By adopting the combined structure, the aluminum alloy base can be recycled after pouring is finished, and the top iron plate can be sent to be maintained together with the die assembly 5 and the prefabricated superimposed shear wall, so that the recycling efficiency of the die table 9 is greatly improved, and the fund occupation of the whole die table 9 is reduced.
In the preferred scheme, as shown in fig. 1 and 5, the die table 9 is movably arranged on a plurality of carrier rollers 11, the carrier rollers 11 are arranged along a travelling path, a plurality of friction driving wheels 12 are further arranged, the friction driving wheels 12 are in contact with the passing die table 9, and the friction driving wheels 12 are connected with a die table driving motor 15; so that the friction driving wheel 12 drives the die table 9 to walk along the carrier roller 11 when contacting with the die table 9;
a position sensor 14 is further provided on one side of the travel path formed by the carrier roller 11, and the position sensor 14 includes a photoelectric sensor or a magnetic sensor for detecting the position of the die table 9.
In the preferred scheme, as shown in fig. 1 and 5, in order to facilitate the observation, a structure of the turnover gantry 22 is omitted in fig. 5, a die assembling gantry 2 is further arranged above one section of a walking path formed by a plurality of carrier rollers 11, one side of the die assembling gantry 2 walks along the die assembling longitudinal guide rail 1, the other side walks along the turnover rail 18, a traversing trolley 3 is arranged on the die assembling gantry 2, a vertically sliding lifting arm 4 is arranged on the traversing trolley 3, and a clamping claw 44 is arranged at the bottom of the lifting arm 4 and used for clamping the side die 8 to be placed on the die platform 9. With this structure, the lifting arm 4 can grasp the materials in the coverage area, such as the side die rack 7 and the side die 8 on the reinforcing bar rack 6, to the surface of the die table 9 for precise die assembly. In this example, the running drive of the traverse guide 2 and the traverse carriage 3 preferably employs a rack and pinion mechanism and a servo motor.
In a preferred embodiment, as shown in fig. 6, a turntable 41 is further disposed between the gripping claw 44 and the lifting arm 4, the gripping claw 44 is disposed at the bottom of the turntable 41, and a driving device is disposed on the turntable 41 to drive the gripping claw 44 to rotate by a preset angle. The drive means in this example employs a servo motor and gear set. The rotation angle of the gripping claws 44 is usually 90 °.
In a preferred embodiment, as shown in fig. 9, a turntable 41 is disposed at the bottom of the lifting arm 4, a clamping beam 45 is disposed at the bottom of the turntable 41, and a plurality of clamping claws 44 are fixedly mounted at the bottom of the clamping beam 45 in a manner of adjustable relative positions, so that the lifting arm 4 can grasp a plurality of side molds 8 or reinforcing bars each time. From this structure, can reduce the lift arm 4 and go the stroke of snatching the material to improve group mould efficiency by a wide margin.
Example 2:
the structure of the superimposed shear wall is shown in fig. 1-3, the surfaces of two sides are reinforced concrete walls, the middle is a reinforced truss structure, and concrete is poured between the reinforced concrete on the two sides during assembly, so that a complete shear wall structure is formed. The construction method in this example is aimed at the subsequent construction step after the single-sided pouring construction of the superimposed shear wall has been completed, because in this construction procedure, the back of the single-sided superimposed shear wall is a steel bar truss, the supported single-sided superimposed shear wall needs to be turned over and accurately inserted into the concrete poured by the group mould 5, and the parallelism and the surface quality between the reinforced concrete walls are ensured, the construction difficulty is higher, in the prior art, a construction mode of combining travelling crane lifting with manual positioning is generally adopted, the labor intensity is higher, the manual operation is easy to make mistakes, and if the lifting stress is unbalanced, the safety accident is easy to occur.
Referring to fig. 10, a method for assembling the stacked shear wall turnover module system includes the following steps:
s1, inputting the horizontal array position of the electromagnet 16 into a control system; a point on the electromagnet 16 is typically selected as the anchor point for the electromagnet 16. The vector area of the electromagnet 16, i.e. the effective working area with directivity with reference to the positioning point of the electromagnet 16, is taken as coverage. In this way, when detecting whether the die table 9 is aligned with the electromagnet 16, only the positioning points on the electromagnet 16 need to be considered, and the distance between the positioning points and the corresponding positioning points on the die table 9. The vector area of the electromagnet 16 need only be considered when calculating the coverage space of the electromagnet 16.
S2, inputting the group mode scheme into a control system; the control system in this example is installed in the industrial personal computer and is used for controlling the output operation instruction of the PLC.
S3, obtaining the horizontal position of the group die 5; i.e. the position of the individual parts of the group mould 5, e.g. the side mould 8, on the level of the upper surface of the mould table 9.
S4, acquiring the position of a die table 9; the position of the die table 9 is a moving position of the die table 9 on the carrier roller 11, and is obtained by a position sensor 14, and the position sensor 14 in this example employs a photoelectric sensor.
S5, overlapping the position of the side die 8 in the die set 5 with the position of the electromagnet 16 array; thereby giving rise to which electromagnets 16 cover the area of the side form 8. The several electromagnets 16 then all need to be raised in subsequent operations.
S6, arranging a side die 8 on the lifting arm 4; the lifting arm 4 grabs the side die 8 from the side die bench 7, preferably, a plurality of clamping claws 44 are adopted to grab 4 side dies 8 at a time, the lifting arm 4 is lifted and moved to the upper side of the die bench 9, two parallel sides of the side die 8 are sequentially lowered according to a die assembly scheme, then the lifting arm 4 is lifted to a non-interference height, the turntable 41 rotates by 90 degrees, and the lifting arm 4 sequentially lowers the other two parallel sides of the side die 8.
S7, controlling the lifting cylinder 17 of the electromagnet 16 corresponding to the position of the side die 8 to lift; the jacking cylinder 17 adopts a cylinder.
S8, electrifying an electromagnet 16 corresponding to the position of the side die 8 to adsorb the side die 8 to form a die set 5; the side die is not required to be fixed by using the die box in the die assembling process, so that manual intervention is not required, the die assembling precision is ensured, and the labor intensity is reduced.
In the parallel steps; in this example, the following steps and the above steps may be performed simultaneously without interfering with each other, or may be performed partially in sequence with each other if interference occurs.
S01, pushing the superimposed shear wall to be turned over to the lower part of the turning door frame 22; preferably, the superimposed shear wall 21 to be turned is positioned on top of the stack 20, i.e. the relative position between the superimposed shear wall 21 to be turned and the stack 20 is positioned by means of a positioning block or a positioning frame structure, and the position of the stack 20 on the feeding track 19 is positioned by the photoelectric sensor. With this structure, the subsequent automatic control is facilitated, the cost for recognition is reduced, and the control beat is improved. Of course, the position of the superimposed shear wall 21 to be turned over can also be automatically recognized here by means of an image sensor located on the turning trolley 23.
S02, relatively moving the overturning portal 22 to a position with the width slightly larger than the two ends of the superimposed shear wall 21 to be overturned; in this way, there is no need to provide a telescopic mechanism at the position of the tilting jaw 24, so that the structure of the tilting jaw 24 is simplified, i.e. the x-axis moving mechanism of the tilting jaw 24 is replaced by the travel of the tilting gantry 22. The inverting claw 24 in this example employs a pneumatically actuated inverting claw 24.
S03, moving the overturning trolley 23 to the position above the superimposed shear wall 21 to be overturned along the y axis; in this example, the vertical direction in fig. 1 is the y-axis, the horizontal direction is the x-axis, and the direction in which the reversing pawl 24 is lifted and lowered is the z-axis.
S04, sliding the turnover claw 24 to the bottom position of the turnover turntable 25;
s05, relatively moving the turnover claw 24 of the turnover portal frame 22 to be inserted above and below the superimposed shear wall 21 to be turned, inputting compressed air, and folding the turnover claw 24 to grasp the superimposed shear wall 21 to be turned;
s06, the overturning motor 26 drives the overturning turntable 25 to overturn 180 degrees through the overturning gear set 28;
in the sequential steps;
s9, pouring concrete in the group mould 5;
s10, the traversing trolley 3 moves to the position above the group die 5, and the turned superimposed shear wall is aligned with the group die 5;
s11, the overturning claw 24 slides to the bottom position of the overturning turntable 25, so that the steel bar truss of the superimposed shear wall is inserted into the concrete in the group mould 5;
through the steps, automatic overturning and modular construction of the superimposed shear wall is realized. And in the subsequent step, the finished superimposed shear wall is obtained through supplementary vibration and maintenance.
The above embodiments are merely preferred embodiments of the present application, and should not be construed as limiting the present application, and the embodiments and features of the embodiments of the present application may be arbitrarily combined with each other without collision. The protection scope of the present application is defined by the claims, and the protection scope includes equivalent alternatives to the technical features of the claims. I.e., equivalent replacement modifications within the scope of this application are also within the scope of the application.
Claims (8)
1. A superimposed shear wall turn-over group mould system, characterized by: the device comprises a die table (9), wherein the die table (9) is used for fixedly arranging a group die (5);
a turnover door frame (22) is arranged above the die table (9), two turnover door frames (22) are arranged oppositely, and the two turnover door frames (22) all walk along the turnover track (18);
a turnover trolley (23) which runs along the turnover door frame (22) is arranged on the turnover door frame (22), a rotary turnover turntable (25) is arranged on the turnover trolley (23), and a turnover claw (24) which slides vertically is arranged on the turnover turntable (25);
the turnover shaft (27) is horizontally arranged, and the axis of the turnover shaft (27) is vertical to the length direction of the turnover door frame (22);
the turnover shaft (27) is fixedly connected with the turnover turntable (25), the turnover shaft (27) is connected with the turnover motor (26) through the turnover gear set (28), and the turnover motor (26) drives the turnover turntable (25) to rotate;
the surface of the turnover turntable (25) is provided with a lifting guide rail (29) parallel to the radial line of the turnover turntable (25), the turnover claw (24) is movably connected with the lifting guide rail (29), the turnover claw (24) is fixedly connected with a lifting nut (31), the turnover turntable (25) is also provided with a rotatable lifting screw (30), the lifting screw (30) is in threaded connection with the lifting nut (31), the lifting screw (30) is connected with a lifting motor (32), and the lifting motor (32) drives the turnover claw (24) to slide along the lifting guide rail (29).
2. The superimposed shear wall turn-up modular system of claim 1, wherein: the feeding track (19) is further arranged below the overturning portal frame (22), the feeding track (19) is located on one side of the die table (9), the feeding track (19) is used for a feeding car (20) to walk, a buttress is arranged at the top of the feeding car (20) and used for supporting the superimposed shear wall (21) to be overturned, and the buttress is convenient for overturning claws (24) to extend into the lower portion of the superimposed shear wall (21) to be overturned.
3. The superimposed shear wall turn-up modular system of claim 1, wherein: the die table (9) is provided with an iron top wall, the bottom of the die table (9) is provided with a plurality of cavities, a plurality of lifting electromagnets (16) are arranged at positions corresponding to the cavities, and the electromagnets (16) are used for penetrating into the cavities to be tightly attached to the top wall of the die table (9);
the electromagnet (16) is used for adsorbing the side die (8) on the surface of the die table (9).
4. A stacked shear wall inversion assembly system as defined in claim 3, wherein: the die table (9) is movably arranged on a plurality of carrier rollers (11), the carrier rollers (11) are arranged along a travelling path, a plurality of friction driving wheels (12) are further arranged, the friction driving wheels (12) are in contact with the passing die table (9), and the friction driving wheels (12) are connected with a die table driving motor (15); so that the friction driving wheel (12) drives the die table (9) to walk along the carrier roller (11) when contacting with the die table (9);
a position sensor (14) is further arranged on one side of a walking path formed by the carrier rollers (11), and the position sensor (14) comprises a photoelectric sensor or a magnetic sensor and is used for detecting the position of the die table (9).
5. The superimposed shear wall turn-up modular system of claim 4, wherein: the upper part of one section of the walking path formed by the carrier rollers (11) is also provided with a die assembling gantry (2), the die assembling gantry (2) is provided with a traversing trolley (3), the traversing trolley (3) is provided with a vertically sliding lifting arm (4), and the bottom of the lifting arm (4) is provided with a clamping claw (44) for clamping the side die (8) to be placed on the die table (9).
6. The superimposed shear wall turn-up modular system of claim 5, wherein: a rotary table (41) is further arranged between the clamping claw (44) and the lifting arm (4), the clamping claw (44) is arranged at the bottom of the rotary table (41), and a driving device is arranged on the rotary table (41) to drive the clamping claw (44) to rotate by a preset angle.
7. The superimposed shear wall turn-up modular system of claim 5, wherein: the bottom of the lifting arm (4) is provided with a rotary table (41), the bottom of the rotary table (41) is provided with a clamping cross beam (45), and a plurality of clamping claws (44) are fixedly arranged at the bottom of the clamping cross beam (45) in a mode of adjustable relative positions, so that the lifting arm (4) can grab a plurality of side dies (8) or reinforcing steel bars each time.
8. A method of assembling a stacked shear wall turn-up modular system as claimed in any one of claims 1 to 7, comprising the steps of:
s1, inputting the horizontal array position of an electromagnet (16) into a control system;
s2, inputting the group mode scheme into a control system;
s3, obtaining the horizontal position of the group mould (5);
s4, obtaining the position of the die table (9);
s5, overlapping the position of the side die (8) in the die set (5) with the position of the electromagnet (16) array;
s6, arranging a side die (8) by the lifting arm (4);
s7, controlling a lifting cylinder (17) of an electromagnet (16) corresponding to the position of the side die (8) to lift;
s8, electrifying an electromagnet (16) corresponding to the position of the side die (8) to adsorb the side die (8) to form a die assembly (5);
in the parallel steps;
s01, pushing the superimposed shear wall to be turned over to the lower part of the turning door frame (22);
s02, the overturning portal frame (22) relatively moves to a width slightly larger than that of the superimposed shear wall (21) 1 to be overturned
1, the positions of the two ends;
s03, moving the overturning trolley (23) to the position above the superimposed shear wall (21) to be overturned;
s04, sliding the turnover claw (24) to the bottom position of the turnover turntable (25);
s05, the overturning door frame (22) relatively moves an overturning claw (24) to grab the superimposed shear wall (21) to be overturned;
s06, turning over the turnplate (25) for 180 degrees;
in the sequential steps;
s9, pouring concrete in the group mould (5);
s10, moving the traversing trolley (3) to the position above the group die (5), and aligning the turned superimposed shear wall with the group die (5);
s11, sliding the overturning claw (24) to the bottom of the overturning turntable (25) to enable the steel bar truss of the superimposed shear wall to be inserted into the concrete in the group mould (5);
through the steps, automatic overturning and die assembling of the superimposed shear wall are realized.
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