CN112936558B

CN112936558B - Automatic production method of superposed shear wall

Info

Publication number: CN112936558B
Application number: CN202110192814.XA
Authority: CN
Inventors: 金星
Original assignee: Hubei Baoye Construction Industrialization Co ltd
Current assignee: Yichang Baoye Construction Industrialization Co.,Ltd.
Priority date: 2021-02-20
Filing date: 2021-02-20
Publication date: 2022-10-25
Anticipated expiration: 2041-02-20
Also published as: CN112936558A

Abstract

The invention provides an automatic production method of a superposed shear wall, which relates to the field of preparation of the superposed shear wall, and is characterized in that a module for pouring a first wallboard is constructed on a module platform; a plurality of first longitudinal ribs and first transverse ribs are placed in a mold set by a clamping claw of the mold set portal to form a reinforcing mesh, a plurality of web members are fixed along the first longitudinal ribs, and a plurality of second longitudinal ribs and second transverse ribs are fixed on the web members; pouring a first wallboard, and maintaining until the strength meets the requirement; constructing a module for pouring a second wallboard on the module platform, and pouring the second wallboard in the module; turning the superposed shear wall to be turned by using a turning turntable of the turning gantry, and then inserting the wall into the unset second wallboard of the module; maintaining until the strength meets the requirement; the automatic production of the superposed shear wall is realized through the steps. The side forms are automatically combined together through the die assembling portal according to a preset die assembling scheme with high precision, the overlapped shear wall to be overturned is automatically overturned, the problem that the die assembling precision is reduced due to manual operation is avoided, and the labor intensity is greatly reduced.

Description

Automatic production method of superposed shear wall

Technical Field

The invention relates to the field of preparation of laminated shear walls, in particular to an automatic production method of a laminated shear wall.

Background

With the sequential implementation of the existing national standard 'assembly type concrete construction technical standard' (1) 'GB/T51231-2016 and' assembly construction evaluation standard '(2)' GB/T51129-2017), the superposed shear wall is widely applied. The maximum limiting factors that the capacity of the superposed shear wall cannot be improved are mainly multiple: firstly, degree of automation is not high, need drop into a large amount of manual operation, and among the manual operation process, requires highly to the familiarity degree of technique, and intensity of labour is also higher. Secondly, the layout of production line equipment is unreasonable, and the beats of all stations cannot be consistent; thirdly, the module combination mode of the side module is not uniform. When a pipeline responsible person undertakes the production task of a pipeline, the layout of production line equipment is often fixed, and adjustment is only partial, but the module combination mode of the side module has great difference according to different project requirements. For example, chinese patent document CN 111516132A describes an automatic die arrangement mechanism and a die arrangement method thereof, CN 109719844A describes a die arrangement machine and a die arrangement method thereof, CN 111571570A describes a special truss automatic placement machine and a truss automatic placement method. However, the scheme described above is only limited to placing the side forms and the steel bars on the form stand, and the side forms are also required to be pressed by a magnetic box manually, and the existing magnetic box generally adopts a permanent magnet, so that the problem that the side forms cannot be pressed due to small magnetic force and the difficulty in use and control is increased greatly due to large magnetic force exists. In addition, in the manual positioning process, the side die is easy to displace, and the die assembling precision is influenced. And because still there is a large amount of manual labor, the cost performance of adopting the cloth mould machine is not high. In the prior art, full-automatic die distribution equipment cannot be realized.

Disclosure of Invention

The technical problem to be solved by the invention is to provide an automatic production method of a superposed shear wall, which can realize full-automatic die assembly and turnover of the superposed shear wall, greatly improve the production efficiency, reduce the labor intensity and improve the precision of the superposed shear wall.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an automatic production method of a superposed shear wall comprises the following steps:

s1, constructing a combined mold for pouring a first wallboard on a mold table;

s2, placing a plurality of first longitudinal ribs and first transverse ribs into the mold assembly by the clamping claws of the mold assembly portal frame to form a reinforcing mesh, fixing a plurality of web members along the first longitudinal ribs, and fixing a plurality of second longitudinal ribs and second transverse ribs on the web members;

s3, pouring a first wallboard, and maintaining until the strength meets the requirement;

s4, constructing a module for pouring a second wallboard on the module platform, and pouring the second wallboard in the module;

s5, turning the superposed shear wall to be turned over by using a turning turntable of the turning gantry, and then inserting the superposed shear wall to be turned over into the unset second wallboard of the combined mould;

s6, maintaining until the strength meets the requirement;

the automatic production of the superposed shear wall is realized through the steps.

In the preferred scheme, the steps S1-S3 are specifically as follows:

s01, inputting the horizontal array position of the electromagnet into a control system;

s02, inputting the module assembling scheme into a control system;

s03, acquiring the horizontal position of the steel bar group mold;

s04, acquiring the position of a mold table;

s05, overlapping the position of a side die in the steel bar group die with the position of an electromagnet array;

s06, arranging a side die by a clamping claw of the die assembling portal;

s07, controlling a jacking cylinder of an electromagnet corresponding to the side die to lift;

s08, electrifying an electromagnet corresponding to the position of the side die to adsorb the side die;

s09, arranging reinforcing steel bars by the clamping claws of the formwork assembling portal;

and S10, after the first wallboard is poured, vibrating, and conveying all or part of the mould platform and the to-be-turned and superposed shear wall to maintenance.

In the preferred scheme, the steps S4-S6 are specifically as follows: s111, inputting the horizontal array position of the electromagnet into a control system;

s112, inputting the module assembling scheme into a control system;

s113, acquiring the horizontal position of the group module;

s114, acquiring the position of the mold table;

s115, overlapping the position of the side die in the die set with the position of the electromagnet array;

s116, arranging a side die by a clamping claw of the die assembling portal;

s117, controlling the lifting cylinder of the electromagnet corresponding to the position of the side die to lift;

s118, electrifying the electromagnet corresponding to the position of the side die to adsorb the side die to form a die set;

in parallel steps;

s21, pushing the superposed shear wall to be turned to the lower part of the turning gantry;

s22, relatively moving the turnover door frame to a position with a width slightly larger than two ends of the superposed shear wall to be turned;

s23, moving the overturning trolley to the position above the superposed shear wall to be overturned;

s24, sliding the turnover claw to the bottom of the turnover turntable;

s25, the turnover portal relatively moves the turnover claw to grab the superposed shear wall to be turned over;

s26, turning the turning turntable for 180 degrees;

in sequential steps;

s119, pouring concrete in the combined mould;

s120, moving the transverse moving trolley to the position above the assembled mould, and aligning the overturned superposed shear wall with the assembled mould;

s121, the overturning claw slides to the bottom position of the overturning turntable, so that the steel bar truss of the superposed shear wall is inserted into the concrete in the group mold;

In a preferred scheme, the side die of the die set is fixed through an electromagnet at the bottom of the die table.

In a preferred scheme, the die table comprises a die table panel and a die table frame, and the die table panel is positioned at the top of the die table frame; the mould platform frame is an array frame and is provided with a plurality of vertically penetrating cavities; the cavity is used for accommodating the electromagnet.

In the preferred scheme, the die table panel is made of iron, a plurality of lifting electromagnets are arranged at the bottom of the die table and correspond to the cavity, and the electromagnets are used for penetrating into the cavity to be tightly attached to the die table panel;

the electromagnet is used for adsorbing the side die on the surface of the die table.

In a 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;

a position sensor is also 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;

a mould assembling portal frame is further arranged above one section of a walking path formed by the carrier rollers, a transverse moving trolley is arranged on the mould assembling portal frame, a lifting arm which slides vertically is arranged on the transverse moving trolley, a clamping claw is arranged at the bottom of the lifting arm, a rotary table is further arranged between the clamping claw and the lifting arm, the clamping claw is arranged at the bottom of the rotary table, and a driving device is arranged on the rotary table to drive the clamping claw to rotate by a preset angle;

the clamping claw is used for clamping a side die or a steel bar and placing the side die or the steel bar on the die table.

In the preferred scheme, two turnover door frames are arranged above the die table, and the two turnover door frames are arranged oppositely and both travel along a turnover track;

the overturning gantry is provided with an overturning trolley which travels along the overturning gantry, the overturning trolley is provided with a rotating overturning turntable, and the overturning turntable is provided with an overturning claw which vertically slides;

the lower part of the turnover portal frame is also provided with a feeding track, the feeding track is positioned on one side of the die table and used for the traveling of a feeding car, the top of the feeding car is provided with a U-shaped structure used for supporting the superposed shear wall to be turned, and the U-shaped structure is convenient for the turnover claw to extend into the lower part of the superposed shear wall to be turned.

In the preferred scheme, a rotatable overturning shaft is arranged on the overturning trolley, the overturning shaft is horizontally arranged, and the axis of the overturning shaft is vertical to the length direction of the overturning 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, a lifting guide rail parallel to the radial line of the turnover turntable is arranged on the surface of the turnover turntable, a turnover claw is movably connected with the lifting guide rail and is fixedly connected with a lifting nut, a rotatable lifting screw rod is further arranged on the turnover turntable and is in threaded connection with the lifting nut, the lifting screw rod is connected with a lifting motor, and the lifting motor drives the turnover claw to slide along the lifting guide rail.

The invention provides an automatic production method of a superposed shear wall, which can automatically fix side molds on a mold table through a mold assembling portal by adopting the scheme, automatically combine the side molds together with high precision according to a preset mold assembling scheme, automatically turn over the superposed shear wall to be turned over, and fix the side molds by adopting electromagnets in a matched manner, thereby avoiding the problem of reduced mold assembling precision caused by manual operation and greatly reducing the labor intensity. The invention can greatly improve the automatic production degree of the superposed shear wall, greatly improve the module assembling and the production efficiency, improve the production speed of the superposed shear wall and accelerate the turnover speed of the module platform and the side module.

Drawings

The invention is further illustrated by the following examples in conjunction with the accompanying drawings:

fig. 1 is a schematic view of a first wallboard production process of the present invention.

Fig. 2 is a schematic view of a second wallboard production process of the present invention.

Fig. 3 is a schematic top view of the overall structure of the turnover portal and the module portal of the present invention.

Fig. 4 is a front view of the present invention of a tilt portal grasping a wall of superimposed shear to be flipped.

Fig. 5 is a front view of the present invention after the roll-over mast has rolled over the superposed shear wall.

Fig. 6 is a schematic structural diagram of the turnover turntable of the present invention.

Figure 7 is a top schematic view of the modular gantry of the present invention.

Fig. 8 is a partial side view of a mold gate and mold table of the present invention.

FIG. 9 is a schematic partial cross-sectional view of a die table of the present invention.

FIG. 10 is a top view of a mold table frame of the present invention.

Fig. 11 is a partial sectional view of the gripping claw of the present invention.

FIG. 12 is a side view of a superimposed shear wall of the present invention.

In the figure: the device comprises a longitudinal die assembling guide rail 1, a die assembling portal 2, a transverse moving trolley 3, a lifting arm 4, a rotary table 41, a rotary table motor 42, a rotary table driving gear 43, a clamping claw 44, a clamping beam 45, a die assembling 5, a reinforcing steel bar rack 6, a side die rack 7, a side die 8, a die table 9, a die table panel 91, a die table frame 92, a transverse side die 10, a carrier roller 11, a friction driving wheel 12, a contact switch 13, a position sensor 14, a die table driving motor 15, an electromagnet 16, a jacking cylinder 17, a turnover track 18, a feeding track 19, a feeding trolley 20, a to-be-turned superposed shear wall 21, a turnover portal 22, a wheel box 221, a turnover trolley 23, a turnover claw 24, a turnover rotary table 25, a turnover motor 26, a turnover shaft 27, a turnover gear group 28, a lifting guide rail 29, a lifting screw 30, a lifting nut 31, a lifting motor 32, a superposed shear wall 33, a first wall plate 331, a first longitudinal rib 332, a first transverse rib 333, a web rod 334, a second longitudinal rib 335, a second transverse rib 337 and a second wall plate 337.

Detailed Description

Example 1:

an automatic production method of a superposed shear wall comprises the following steps:

s1, constructing a group mold 5 for pouring a first wall plate 331 on a mold table 9; preferably, the side forms 8 constituting the module 5 are gripped by the gripping claws 44 of the module gantry 2 and then placed on the mold table 9 at a predetermined position.

S2, placing a plurality of first longitudinal ribs 332 and a plurality of first transverse ribs 333 Zu Cheng steel bar meshes in the group mould 5 by the clamping claws 44 of the group mould portal frame 2, fixing a plurality of web members 334 along the first longitudinal ribs 332, and fixing a plurality of second longitudinal ribs 335 and second transverse ribs 336 on the web members 334;

s3, pouring a first wall plate 331, and maintaining until the strength meets the requirement;

s4, constructing a group mold 5 for pouring the second wall plate 337 on the mold table 9, and pouring the second wall plate 337 in the group mold 5; preferably, the side forms 8 constituting the module 5 are gripped by the gripping claws 44 of the module gantry 2 and then placed on the mold table 9 at a predetermined position. The position of the building block 5 of this step is usually different from the position of the building block 5 in step S1, usually in another production line. I.e., one line for producing the first wall panel 331 of the stacked shear wall 33 and another line for producing the second wall panel 337 of the stacked shear wall 33.

S5, turning the to-be-turned superposed shear wall 21 cured in the step S3 by using a turning turntable 25 of the turning gantry 22, and then inserting the to-be-turned superposed shear wall into the unset second wall plate 337 of the group mold 5; the vibration is carried out along the inserted position, so that the concrete deformation at the inserted position disappears, and the concrete at the position is uniformly distributed.

S6, maintaining the superposed shear wall 33 until the strength meets the requirement;

Example 2:

on the basis of the embodiment 1, a preferable scheme is as shown in fig. 1, and the steps S1 to S3 specifically include:

s01, inputting the horizontal array position of the electromagnet 16 into a control system; a point on the electromagnet 16 is typically selected as the location point for the electromagnet 16. The vector area of the electromagnet 16, that is, the effective working area having directivity with reference to the positioning point of the electromagnet 16, is used as the coverage. According to the scheme, when the die table 9 is detected to be aligned with the electromagnet 16, only the distance between the positioning point on the electromagnet 16 and the corresponding positioning point on the die table 9 needs to be considered. The vector area of the electromagnet 16 needs to be considered when calculating the coverage space of the electromagnet 16.

S02, inputting the module assembling scheme into a control system;

s03, acquiring the horizontal position of the steel bar group mold 5; i.e., the position of the various components in the reinforcement bar assembly 5, such as the side forms 8 and the reinforcement bars, on the level of the upper surface of the form deck 9.

S04, acquiring the position of a mold 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 is a photoelectric sensor.

S05, overlapping the position of the side formwork 8 in the steel bar group formwork 5 with the position of the electromagnet 16 array; thereby deriving which electromagnets 16 cover the side mould 8. Several electromagnets 16 need to be raised in subsequent operations.

S06, arranging a side die 8 on the clamping claw 44 of the die assembling portal frame 2; the lifting arm 4 grabs the side forms 8 from the side form rack 7, preferably, adopts a scheme of clamping a plurality of claws 44, grabs 4 side forms 8 at a time, the lifting arm 4 is lifted to move above the die table 9, two parallel edges of the side forms 8 are sequentially put down 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 puts down the other two parallel edges of the side forms 8.

S07, the PLC controls a jacking cylinder 17 of the electromagnet 16 corresponding to the position of the side die 8 to lift;

s08, electrifying the 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; the input power of the electromagnet 16 is adjustable, in the arrangement process, the adsorption force of the electromagnet 16 on the side die 8 is low, and the side die 8 is not required to be displaced, and in the pouring process, the adsorption force of the electromagnet 16 on the side die 8 is high, so that the position of the side die 8 is not changed in the pouring process.

S09, arranging steel bars by the clamping claws 44 of the module gantry 2; the lifting arm 4 moves to the steel bar rack 6 again, grabs a plurality of steel bars, and puts into the grooves on two sides of the side forms 8 in sequence, preferably, the longitudinal steel bars are welded or bound with wavy web bars. The welding gun is grasped manually or by the lifting arm 4, and the first transverse bar 333 and the first longitudinal bar 332 are bound or welded. In a preferred embodiment, the first transverse ribs 333 are separate pieces, and the first longitudinal ribs 332 and the corrugated web 334 are welded or bonded together and arranged at the same time.

S10, after the first wall plate 331 is poured, vibrating is carried out, and all or part of the mould platform 9 and the to-be-turned and overlapped shear wall 21 are conveyed to maintenance. Preferably, the mold table 9 is a split structure, the mold table 9 includes a mold table panel 91 and a mold table frame 92, and the mold table panel 91 is located at the top of the mold table frame 92; during maintenance, the die table panel 91 and the initially set superposed shear wall 21 to be turned over are conveyed to maintenance.

The structure of the stacked shear wall is shown in fig. 12, the surfaces on both sides are reinforced concrete wall surfaces to form a first wall plate 331 and a second wall plate 337, the middle is a web member 334 formed by a steel bar truss structure, and when the stacked shear wall is assembled on site, concrete is poured between the reinforced concrete walls on both sides, so that a complete shear wall structure is formed. The construction method aims at the subsequent construction step of the single-side pouring construction of the superposed shear wall, because the steel bar truss is arranged on the back surface of the single-side superposed shear wall in the construction process, the supported single-side superposed shear wall needs to be turned over and accurately inserted into the concrete poured by the group mold 5, the parallelism and the surface quality between the reinforced concrete wall surfaces are ensured, the construction difficulty is higher, the construction mode of crane hoisting and manual positioning is generally adopted in the prior art, the labor intensity is higher, the manual operation is easy to make mistakes, and safety accidents are easy to occur due to unbalanced hoisting stress.

The preferable scheme is as shown in FIG. 2, and the steps S4 to S6 are specifically as follows: s111, inputting the horizontal array position of the electromagnet 16 into a control system;

s112, inputting the module assembling scheme into a control system; the same step as step S01,

S113, acquiring the horizontal position of the group module 5; i.e. the position of the individual parts in the stack 5, such as the side forms 8, on the level of the upper surface of the mould table 9.

S114, acquiring the position of the mold 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 is a photoelectric sensor.

S115, overlapping the position of the side die 8 in the die set 5 with the position of the array of the electromagnets 16; it is derived which electromagnets 16 cover the side mould 8. Several electromagnets 16 need to be raised in subsequent operations.

S116, arranging the side die 8 on the clamping claw 44 of the die set portal 2; the lifting arm 4 grabs the side forms 8 from the side form rack 7, preferably, a scheme of a plurality of clamping claws 44 is adopted, 4 side forms 8 are grabbed at one time, the lifting arm 4 is lifted to move above the die table 9, two parallel sides of the side forms 8 are sequentially put down 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 puts down the other two parallel sides of the side forms 8.

S117, controlling the lifting cylinder 17 of the electromagnet 16 corresponding to the position of the side die 8 to lift; the lift cylinder 17 is preferably a pneumatic cylinder.

S118, electrifying the electromagnet 16 corresponding to the position of the side die 8 to adsorb the side die 8 to form a die set 5;

in parallel steps; the parallel arrangement in this example means that the following steps and the above steps can be performed simultaneously without mutual interference, and if interference occurs, the following steps and the above steps can be performed partially in sequence and alternately.

S21, pushing the superposed shear wall to be turned to the lower part of the turning gantry 22; preferably, the superposed shear wall 21 to be turned is positioned on the top of the feeding carriage 20, that is, the relative position between the superposed shear wall 21 to be turned and the feeding carriage 20 is positioned by the structure of the positioning block or the positioning frame, and the position of the feeding carriage 20 on the feeding track 19 is positioned by the photoelectric sensor. With this structure, subsequent automatic control is facilitated, the cost for recognition is reduced, and the control tact is improved. Alternatively, an image sensor located on the turnover trolley 23 may be used to automatically identify the position of the superposed shear wall 21 to be turned over.

S22, relatively moving the turnover door frame 22 to a position with a width slightly larger than two ends of the superposed shear wall 21 to be turned; according to the scheme, a telescopic avoidance mechanism is not required to be arranged at the position of the turnover claw 24, so that the structure of the turnover claw 24 is simplified, namely, the x-axis moving mechanism of the turnover claw 24 is replaced by the walking of the turnover portal frame 22. The inverting jaw 24 in this example employs a pneumatic inverting jaw 24.

S23, moving the overturning trolley 23 to the position above the superposed 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 inverting claw 24 moves up and down is the z-axis.

S24, the overturning claw 24 slides to the bottom position of the overturning turntable 25;

s25, the overturning portal 22 relatively moves the overturning claw 24 to grab the superposed shear wall 21 to be overturned; the turnover portal 22 relatively moves the turnover claws 24 to be inserted above and below the superposed shear wall 21 to be turned, compressed air is input, and the turnover claws 24 are closed to grab the superposed shear wall 21 to be turned;

s26, turning the turning turntable 25 for 180 degrees; the overturning motor 26 drives the overturning turntable 25 to overturn for 180 degrees through the overturning gear set 28;

in sequential steps;

s119, pouring concrete in the group mold 5;

s120, moving the transverse moving trolley 3 to the position above the group mold 5, and aligning the overturned superposed shear wall with the group mold 5;

s121, the overturning claw 24 slides to the bottom position of the overturning turntable 25, so that the steel bar truss of the superposed shear wall is inserted into the concrete in the group mold 5; and after initial setting, conveying the prepared superposed shear wall to maintenance.

Preferably, as shown in fig. 9, the side forms 8 of the stack 5 are held in place by electromagnets 16 at the bottom of the form table 9. The side die 8 adopts an L-shaped structure, and an iron pressing block is arranged at the bottom edge of the side die and is convenient to be attracted with the electromagnet 16.

In a preferred embodiment as shown in fig. 9 and 10, the mold table 9 comprises a mold table panel 91 and a mold table frame 92, wherein the mold table panel 91 is located at the top of the mold table frame 92; the mold frame 92 is an array frame, and the mold frame 92 is provided with a plurality of vertically penetrating cavities; said cavity for accommodating the electromagnet 16. Preferably, a recess is provided at the top of the die table frame 92, and the die table panel 91 is located in the recess.

In a preferred scheme, as shown in fig. 8 and 9, the die table panel 91 is made of iron, a plurality of lifting electromagnets 16 are arranged at the bottom of the die table 9 corresponding to the cavity, and the electromagnets 16 are used for penetrating into the cavity to be tightly attached to the die table panel 91; the electromagnet 16 is driven to lift through a jacking cylinder 17, and preferably, the jacking cylinder 17 adopts a cylinder. In a preferred embodiment, the mold frame 92 is made of an aluminum alloy. By the structure, the whole weight of the die table 9 can be greatly reduced, the energy consumption is convenient to reduce, and the turnover is also convenient. Adopt this integrated configuration, can also can be pouring the back and recycle the aluminum alloy base, and top iron plate then can be sent the maintenance with the superimposed shear wall that the group mould 5 and prefabricate well together, improves the recycling efficiency of mould platform 9 by a wide margin, reduces the fund of whole mould platform 9 and occupies.

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

In a preferred scheme, as shown in fig. 3 and 7, the die table 9 is movably arranged on a plurality of carrier rollers 11, the carrier rollers 11 are arranged along a traveling 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 also 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 positioning by the mould table 9 facilitates the subsequent automation step.

As shown in fig. 7, a module gantry 2 is further disposed above one section of a traveling path formed by a plurality of carrier rollers 11, a traverse trolley 3 is disposed on the module gantry 2, a vertically sliding lifting arm 4 is disposed on the traverse trolley 3, a gripping claw 44 is disposed at the bottom of the lifting arm 4, 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; with the structure, the lifting arm 4 can grab materials in a coverage area, such as the side forms 8 on the side form rack 7 and the reinforcing steel bar rack 6, onto the surface of the mold table 9 for precise mold assembly. In this case, the running drive of the traverse guide 2 and the traverse carriage 3 is preferably performed by a rack and pinion mechanism and a servo motor.

The gripping claw 44 is used for gripping the side form 8 or the reinforcing bar to be placed on the form table 9. In a preferred embodiment, as shown in fig. 11, a turntable 41 is provided at the bottom of the lifting arm 4, a clamping beam 45 is provided 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 adjusting relative positions, so that the lifting arm 4 can clamp a plurality of side forms 8 or reinforcing bars at a time. By the structure, the stroke of the lifting arm 4 for grabbing materials can be reduced, and the die assembling efficiency is greatly improved.

In a preferred scheme, as shown in 3~5, two turnover door frames 22 are arranged above the die table 9, and the two turnover door frames 22 are arranged oppositely and both 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 track 18 form a precise traveling mechanism, for example, a rack is arranged on one side of the turnover track 18, a gear is arranged on the wheel box 221 and used for controlling a precise traveling distance of the turnover portal 22, and preferably, a traveling error of the turnover portal 22 is controlled within 3 mm.

As shown in fig. 3~5, the turning gantry 22 is provided with a turning trolley 23 that travels along the turning gantry 22, and a travel mechanism of the turning trolley 23 is driven by a servo motor through a timing belt. The overturning trolley 23 is provided with a rotating overturning turntable 25, and the overturning turntable 25 is provided with an overturning claw 24 which slides vertically; the vertical direction in this example means that the turning rail 18 is in a vertical state when in operation.

In a preferred scheme, as shown in fig. 3, a feeding track 19 is further arranged below the turnover door 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 cart 20 to travel, a U-shaped structure is arranged at the top of the feeding cart 20 and used for supporting the superposed shear wall 21 to be turned, and the U-shaped structure is convenient for a turnover claw 24 to extend into the position below the superposed shear wall 21 to be turned.

In a preferred scheme, as shown in 4~5, a rotatable turning shaft 27 is arranged on the turning trolley 23, the turning shaft 27 is horizontally arranged, and the axis of the turning shaft 27 is perpendicular to the length direction of the turning gantry 22;

the turning shaft 27 is fixedly connected with the turning turntable 25, the turning shaft 27 is connected with the turning motor 26 through the turning gear set 28, and the turning motor 26 drives the turning turntable 25 to rotate. The tumble gear set 28 constitutes a set of speed reducers.

In a preferable scheme, a lifting guide rail 29 parallel to the radial line of the turnover turntable 25 is arranged on the surface of the turnover turntable 25, the turnover claw 24 is movably connected with the lifting guide rail 29, the turnover claw 24 is also fixedly connected with a lifting nut 31, a rotatable lifting screw 30 is further arranged on the turnover 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 turnover claw 24 to slide along the lifting guide rail 29. The lifting motor 32 is provided at the end where the superposed shear wall 21 to be turned is grasped because a larger grasping space can be provided when the superposed shear wall 21 to be turned is located on the carriage 20 to avoid interference. After the superimposed shear wall 21 is turned over, when the superimposed shear wall 21 is inserted into the stack 5, the operation space is small, and therefore, the interference of the lifting motor 32 is to be avoided. The lifting rail 29 may be a cylindrical rail or a dovetail rail. As shown in fig. 6, two tilting claws 24 are preferably used in this example, and the corresponding lift rails 29 are also two in bilateral symmetry. The bases of the two tilting claws 24 are connected into a whole by a lifting nut 31.

The above-described embodiments are merely preferred embodiments of the present invention, and should not be construed as limiting the present invention, and features in the embodiments and examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention is defined by the claims, and includes equivalents of technical features of the claims. I.e., equivalent alterations and modifications within the scope hereof, are also intended to be within the scope of this invention.

Claims

1. An automatic production method of a superposed shear wall is characterized by comprising the following steps:

s1, constructing a group mold (5) for pouring a first wall plate (331) on a mold table (9);

the mould table (9) comprises a mould table panel (91) and a mould table frame (92), and the mould table panel (91) is positioned at the top of the mould table frame (92); the mould platform frame (92) is an array frame, and a plurality of vertically penetrating cavities are formed in the mould platform frame (92); the cavity is used for accommodating the electromagnet (16);

the die table panel (91) is iron, a plurality of lifting electromagnets (16) are arranged at the bottom of the die table (9) corresponding to the cavity, and the electromagnets (16) are used for penetrating into the cavity to be tightly attached to the die table panel (91);

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

in the step S01, inputting the horizontal array position of the electromagnet (16) into a control system;

s02, inputting the module assembling scheme into a control system;

s03, acquiring the horizontal position of the steel bar group mold (5);

s04, acquiring the position of a mold table (9);

s05, overlapping the position of a side die (8) in the steel bar group die (5) with the array position of the electromagnets (16);

s06, arranging side molds (8) on clamping claws (44) of the mold assembling portal frame (2);

s07, controlling a jacking cylinder (17) of an electromagnet (16) corresponding to the position of the side die (8) to lift;

s08, electrifying an electromagnet (16) corresponding to the position of the side die (8) to adsorb the side die (8);

s2, two overturning portal frames (22) are arranged above the die table (9), and the two overturning portal frames (22) are arranged oppositely and both walk along an overturning track (18);

the overturning gantry (22) is provided with an overturning trolley (23) which travels along the overturning gantry (22), the overturning trolley (23) is provided with a rotating overturning turntable (25), and the overturning turntable (25) is provided with an overturning claw (24) which slides vertically;

a 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 trolley (20) to travel, a U-shaped structure is arranged at the top of the feeding trolley (20) and used for supporting the superposed shear wall (21) to be overturned, and an overturning claw (24) can conveniently extend into the position below the superposed shear wall (21) to be overturned due to the U-shaped structure;

a rotatable overturning shaft (27) is arranged on the overturning trolley (23), the overturning shaft (27) is horizontally arranged, and the axis of the overturning shaft (27) is vertical to the length direction of the overturning portal frame (22);

the overturning shaft (27) is fixedly connected with the overturning turntable (25), the overturning shaft (27) is connected with an overturning motor (26) through an overturning gear set (28), and the overturning motor (26) drives the overturning turntable (25) to rotate;

a plurality of first longitudinal ribs (332) and a plurality of first transverse ribs (333) Zu Cheng steel bar meshes are placed in a module (5) by a clamping claw (44) of a module gantry (2), a plurality of web members (334) are fixed along the first longitudinal ribs (332), and a plurality of second longitudinal ribs (335) and a plurality of second transverse ribs (336) are fixed on the web members (334);

in the step, S09, steel bars are arranged on the clamping claws (44) of the module gantry (2);

s3, pouring a first wall plate (331), and maintaining until the strength meets the requirement;

in the step S10, after the first wall plate (331) is poured, vibrating, and conveying all or part of the mould table (9) and the superposed shear wall (21) to be turned over to maintenance;

s4, constructing a group mold (5) for pouring a second wallboard (337) on the mold table (9), and pouring the second wallboard (337) in the group mold (5);

in the step S111, inputting the horizontal array position of the electromagnet (16) into a control system;

s112, inputting the module assembling scheme into a control system;

s113, acquiring the horizontal position of the group module (5);

s114, acquiring the position of the mold table (9);

s115, overlapping the position of the side die (8) in the die set (5) with the position of the electromagnet (16) array;

s116, arranging side molds (8) on the clamping claws (44) of the mold assembling portal frame (2);

s117, controlling the lifting cylinder (17) of the electromagnet (16) corresponding to the side die (8) to lift;

s118, electrifying the electromagnet (16) corresponding to the position of the side die (8) to adsorb the side die (8) to form a die set (5), namely fixing the side die (8) of the die set (5) through the electromagnet (16) at the bottom of the die table (9);

s5, the to-be-turned superposed shear wall (21) is turned over by a turning turntable (25) of a turning door frame (22) and then inserted into an unset second wall plate (337) of the group mold (5);

in the step S21, the superposed shear wall to be overturned is pushed to the lower part of the overturning portal frame (22) in parallel with the step S111;

s22, relatively moving the turnover door frame (22) to a position with a width slightly larger than two ends of the superposed shear wall (21) to be turned;

s23, moving the overturning trolley (23) to the position above the superposed shear wall (21) to be overturned;

s24, sliding the overturning claw (24) to the bottom position of the overturning turntable (25);

s25, the turnover door frame (22) relatively moves the turnover claw (24) to grab the superposed shear wall (21) to be turned over;

s26, turning the turning turntable (25) for 180 degrees;

in sequential steps;

s119, pouring concrete in the combined mould (5);

s120, moving the transverse moving trolley (3) to the position above the die set (5), and aligning the overturned superposed shear wall with the die set (5);

s121, the overturning claw (24) slides to the bottom position of the overturning turntable (25) to enable the steel bar truss of the superposed shear wall to be inserted into concrete in the combined mold (5);

s6, maintaining until the strength meets the requirement;

2. The method for automatically producing a laminated shear wall according to claim 1, wherein the method comprises the following steps: the die table (9) is movably arranged on the carrier rollers (11), the carrier rollers (11) are arranged along the walking path, the die table is also provided with a plurality of friction driving wheels (12), 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 also 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);

a module gantry (2) is further arranged above one section of a walking path formed by the carrier rollers (11), a transverse moving trolley (3) is arranged on the module gantry (2), a lifting arm (4) which slides vertically is arranged on the transverse moving trolley (3), a clamping claw (44) is arranged at the bottom of the lifting arm (4), 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;

the clamping claw (44) is used for clamping the side die (8) or the reinforcing steel bars to be placed on the die table (9).

3. The method for automatically producing a laminated shear wall according to claim 2, wherein the method comprises the following steps: the surface of the overturning turntable (25) is provided with a lifting guide rail (29) parallel to the radial line of the overturning turntable (25), the overturning claw (24) is movably connected with the lifting guide rail (29), the overturning claw (24) is fixedly connected with a lifting nut (31), the overturning turntable (25) is further 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 overturning claw (24) to slide along the lifting guide rail (29).