CN112936527B - Superimposed shear wall module assembling system and module assembling method - Google Patents

Abstract

The invention provides a superimposed shear wall die assembly system and a die assembly method, wherein the die assembly system comprises a die table, wherein 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 liftable 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. The die table is movably arranged on a plurality of carrier rollers, the carrier rollers are arranged along a travelling 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. During construction, the lifting arm is provided with a side die; controlling a lifting cylinder of an electromagnet corresponding to the side die to lift; electrifying an electromagnet corresponding to the position of the side die to adsorb the side die; the lifting arm is provided with a reinforcing steel bar; through the steps, automatic die assembly of the superimposed shear wall is realized, the efficiency is improved, and the labor intensity is reduced.

Description

Superimposed shear wall module assembling system and module assembling method

Technical Field

The invention relates to the field of preparation of steel bar truss precast slabs, in particular to a superimposed shear wall 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 reinforced truss concrete composite slab is widely applied. The steel bar truss precast slabs are usually produced by an automatic assembly line in a component factory, but the standardized degree of the component size is limited, namely the length and the width of the component are easy to change, and moreover, the assembly line of the component factory is not deep enough for the people responsible for understanding the assembly line production, so that the productivity of the component factory cannot be improved when the number of projects is large and the dimensional change of the component is involved. The maximum limiting factors for capacity failure to be increased are mainly two: firstly, the layout of production line equipment is unreasonable, and the beats of all stations cannot be consistent; and secondly, the mode of the side die 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 invention aims to solve the technical problem of providing a superimposed shear wall die assembly system and a die assembly method, which can realize full-automatic die assembly of a superimposed shear wall, greatly improve die assembly efficiency of side dies and reinforcing steel bars, reduce labor intensity and improve die assembly precision.

In order to solve the technical problems, the invention adopts the following technical scheme: a superimposed shear wall group die system comprises a die table, wherein the die table is provided with an iron top wall, a plurality of cavities are arranged at the bottom of the die table, a plurality of lifting electromagnets are arranged at positions corresponding to the cavities, and the electromagnets are used for penetrating into the cavities 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.

In the preferred scheme, 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 a preferred scheme, the die table comprises a die table panel and a die table frame, wherein the die table panel is positioned at the top of the die table frame;

the die table frame is an array frame and is provided with a plurality of vertically penetrating cavities.

In the preferred scheme, the die table frame is made of aluminum alloy.

In the preferred scheme, longitudinal guide rails are arranged on two sides of one section of a walking path formed by a plurality of carrier rollers, a die assembling door frame sliding along the longitudinal guide rails is arranged on the longitudinal guide rails, a traversing trolley sliding along the die assembling door frame is arranged on the die assembling door frame, a vertically sliding lifting arm is arranged on the traversing trolley, and a clamping claw is arranged at the bottom of the lifting arm and used for clamping a side die to be placed on a 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.

In the preferred scheme, a reinforcing steel bar rack and a side mould rack are arranged on one side of the mould table and in the coverage area of the mould assembling door frame, and are used for supplying side moulds and reinforcing steel bars.

The die assembling method adopting the superimposed shear wall die assembling system comprises the following steps of:

S1, inputting the horizontal array position of an electromagnet into a control system;

S2, inputting the group mode scheme into a control system;

S3, acquiring the horizontal position of the steel bar group die;

S4, acquiring the position of the die table;

S5, overlapping the position of the side die in the steel bar group die 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;

S9, arranging reinforcing steel bars on the lifting arms;

through the steps, automatic die assembly of the superimposed shear wall is realized.

The invention provides a superimposed shear wall die assembly system and a die assembly method, by adopting the scheme, the side dies and the reinforcing steel bars can be automatically fixed on a die table, the side dies can be automatically fixed according to a preset die assembly scheme by matching with a mechanical arm, and the side dies and the reinforcing steel bars can be reliably fixed and combined together by matching with an electromagnet, so that the construction efficiency is greatly improved, the labor intensity is greatly reduced, and the problem of lower die assembly precision caused by manual operation is also avoided. The invention can greatly improve the die assembly efficiency, improve the production speed of the steel bar truss precast slab and accelerate the turnover speed of the die table and the side die.

Drawings

The invention 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 invention.

Fig. 2 is a partial side view of the present invention.

FIG. 3 is a schematic view in partial cross-section of a die table in accordance with the present invention.

Fig. 4 is a top view of a mold table frame of the present invention.

Fig. 5 is a schematic view of the lower end of the lifting arm and the gripping claw according to the present invention.

Fig. 6 is a production flow chart of the present invention.

In the figure: longitudinal guide rail 1, group's mould portal 2, sideslip dolly 3, lifting arm 4, carousel 41, carousel motor 42, carousel drive gear 43, clamp claw 44, clamp crossbeam 45, reinforcing bar group's mould 5, reinforcing bar rack 6, side form rack 7, side form 8, mould platform 9, mould platform panel 91, mould platform frame 92, horizontal side form 10, bearing roller 11, friction drive wheel 12, contact switch 13, position sensor 14, mould platform driving motor 15, electro-magnet 16, jacking jar 17.

Detailed Description

Example 1:

As shown in fig. 1 to 3, a stacked shear wall assembly system comprises a die table 9, wherein the die table 9 is provided with an iron top wall, the upper surface of the die table 9 is used for placing a steel bar assembly die 5, the steel bar assembly die 5 comprises a side die 8 forming a pouring outer die, and a notch is formed in the vertical edge of the side die 8 for placing steel bars.

A plurality of cavities are arranged at the bottom of the die table 9, 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 so as 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. With this structure, the side forms 8 in the reinforcing bar group forms 5 can be adsorbed, bolts or magnetic boxes are not required to be used for fixing the side forms in the group forming process, and automatic group forming can be realized. Preferably, the lifting mechanism of the electromagnet 16 adopts a lifting cylinder 17, the electromagnet 16 is fixedly arranged at the top of the lifting cylinder 17, the lifting cylinder 17 is preferably a hydraulic cylinder, a frame structure is arranged on the ground, and a plurality of hydraulic cylinders are fixed on the frame structure in an array. The top of the electromagnet 16 is provided with a contact switch 13, when the top of the electromagnet 16 contacts with the bottom surface of the top wall of the die table 9, the electromagnet 16 is switched on, and meanwhile, the electromagnetic valve of the jacking cylinder 17 is switched off, and pressure maintaining is realized.

In the preferred scheme, as shown in fig. 1 and 2, 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 drive wheel 12, when in contact with the die table 9, drives the die table 9 to travel along the carrier roller 11. With this configuration, the automated travel of the die table 9 is realized.

As shown in fig. 1, a position sensor 14 is further provided on the traveling path side 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. With this configuration, it is possible to easily start the subsequent step according to the position of the die table 9, and also to align the cavity of the die table 9 with the electromagnet 16. The friction driving wheel 12 is controlled by a feedback PLC of the position sensor 14, so that the die table 9 is accurately stopped at a preset position.

Preferred embodiment as shown in fig. 3 and 4, 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 steel bar assembly die 5 and the precast slab, 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, longitudinal guide rails 1 are arranged on two sides of one section of a walking path formed by a plurality of carrier rollers 11, a die assembling gantry 2 sliding along the longitudinal guide rails 1 is arranged on the longitudinal guide rails 1, a traversing trolley 3 sliding along the die assembling gantry 2 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 a side die 8 to be placed on a die table 9. With this structure, the lifting arm 4 can accurately assemble materials in the coverage range, such as the side die rack 7 and the side die 8 and the steel bars on the steel bar rack 6, to the surface of the die rack 9. In this example, the longitudinal guide rail 1 adopts a bracket-supported overhead rail structure, and the running drive of the modular gantry 2 and the traversing trolley 3 preferably adopts a gear rack mechanism and a servo motor. Alternatively, the longitudinal rail 1 may also be a ground rail, along which the modular gantry 2 runs via a wheel box.

In a preferred embodiment, as shown in fig. 2, 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. 5, 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.

In the preferred embodiment, as shown in fig. 1, a reinforcement bar rack 6 and a side mold rack 7 are further arranged in the coverage area of the group mold frame 2 at one side of the mold rack 9, and are used for supplying side molds 8 and reinforcement bars. With this structure, the arranged reinforcing bar rack 6 and the side die rack 7 are also convenient for the lifting arm 4 to grasp at fixed points. The workpieces placed on the reinforcement bar rack 6 and the side die rack 7 are usually positioned by limiting blocks so as to be convenient for the mechanical arm device to accurately grasp.

Example 2:

referring to fig. 6, a method for assembling the stacked shear wall assembly 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 actions of the PLC.

S3, acquiring the horizontal position of the steel bar group mould 5; i.e. the position of the various components of the bar stack mould 5, such as the sideform 8 and the bars, in the horizontal plane of the upper surface of the mould table 9.

S4, obtaining the position of the 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 steel bar set die 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;

S8, electrifying an electromagnet 16 corresponding to the position of the side die 8 to firmly adsorb the side die 8 on the surface of the die table 9;

S9, arranging reinforcing steel bars on the lifting arms 4; the lifting arm 4 moves onto the steel bar rack 6 again, grabs a plurality of steel bars, sequentially puts the steel bars into grooves on two sides of the side die 8, and preferably, the longitudinal steel bars are welded or bound with wavy web bars. And grabbing the welding gun manually or by using a lifting arm 4, and binding or welding the transverse steel bars and the longitudinal steel bars.

Through the steps, automatic die assembly of the superimposed shear wall is realized. And pouring, curing, turning over, re-pouring and curing in the steel bar set mold 5 to obtain the superimposed shear wall.

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 (2)

1. A superimposed shear wall group mould system, characterized by: the mold comprises a mold table (9), wherein the mold table (9) is provided with an iron top wall, a plurality of cavities are arranged at the bottom of the mold table (9), 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 so as to be tightly attached to the top wall of the mold table (9);

The electromagnet (16) is used for adsorbing the side die (8) on the surface of the die table (9);

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);

The die table (9) comprises a die table panel (91) and a die table frame (92), wherein the die table panel (91) is positioned at the top of the die table frame (92);

The die table frame (92) is an array frame, and the die table frame (92) is provided with a plurality of vertically penetrating cavities;

The die table frame (92) is made of aluminum alloy;

longitudinal guide rails (1) are arranged on two sides of one section of a walking path formed by a plurality of carrier rollers (11), a die assembling gantry (2) sliding along the longitudinal guide rails (1) is arranged on the longitudinal guide rails (1), a traversing trolley (3) sliding along the die assembling gantry (2) 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 a side die (8) to be placed on a die table (9);

a turntable (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 turntable (41), and a driving device is arranged on the turntable (41) to drive the clamping claw (44) to rotate by a preset angle;

A turntable (41) is arranged at the bottom of the lifting arm (4), a clamping cross beam (45) is arranged at the bottom of the turntable (41), 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;

And a reinforcing steel bar rack (6) and a side mould rack (7) are arranged in the coverage area of the mould assembling door frame (2) at one side of the mould table (9) and are used for supplying side moulds (8) and reinforcing steel bars.

2. A method of assembling a composite shear wall assembly of claim 1, 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, acquiring the horizontal position of the steel bar assembly mould (5);

s4, acquiring the position of the die table (9);

S5, overlapping the position of the side die (8) in the steel bar group die (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);

S9, arranging reinforcing steel bars on the lifting arms (4);

through the steps, automatic die assembly of the superimposed shear wall is realized.