CN115042286A

CN115042286A - A automatic operation line for building templates prefabricating and processing

Info

Publication number: CN115042286A
Application number: CN202210728436.7A
Authority: CN
Inventors: 申健; 于娜; 赵国栋; 王柏成; 吴方
Original assignee: Beijing Construction Engineering Group Co Ltd
Current assignee: Beijing Construction Engineering Group Co Ltd
Priority date: 2022-06-25
Filing date: 2022-06-25
Publication date: 2022-09-13
Anticipated expiration: 2042-06-25
Also published as: CN115042286B

Abstract

The application relates to an automatic operation line for prefabricating and processing building templates, which relates to the technical field of automatic mechanical equipment, and comprises a stacking robot, a first carrying robot, a hoisting mechanism, a numerical control machine tool for cutting and drilling template panels, a sealing device for sealing the template panels and a nailing device for nailing the processed template panels and template keels to form unit template modules; one side of digit control machine tool is provided with the first blowing district that is used for placing the template panel, and one side of binding equipment is provided with the second blowing district that is used for placing the template panel respectively and is used for placing the third blowing district of template fossil fragments, and the opposite side of binding equipment is provided with the temporary storage area that is used for placing unit template module. The automation line in this application can be high-efficient reliable carry out building templates's prefabricated processing, and its degree of automation is high, safe and reliable, greatly reduced formwork worker's intensity of labour, saved the human cost.

Description

A automatic operation line for building templates prefabricating and processing

Technical Field

The application relates to the technical field of automatic mechanical equipment, in particular to an automatic operating line for prefabricating and processing building templates.

Background

The building formwork is a temporary supporting structure, which is manufactured according to the design requirements, so that the concrete structure and the members are formed according to the specified positions and geometric dimensions, the correct positions of the concrete structure and the members are kept, and the self weight of the building formwork and the external load acting on the building formwork are borne. The purpose of the template engineering is to ensure the quality of concrete engineering, accelerate the construction progress and reduce the engineering cost.

The building template structure for cast-in-place concrete structure engineering construction mainly comprises a template panel, a template keel, connecting pieces such as corner connectors and the like, wherein the connecting pieces are used for connecting the template panel and the template keel. The template panel is a bearing plate directly contacting newly-poured concrete; the template keel is a temporary structure for supporting a template panel, concrete and construction load, so that the building template structure is firmly combined and is not deformed or damaged; the corner connectors and other connectors are fittings which connect the template panel and the template keel into a whole.

In the related art, the connection between the formwork panel and the formwork keel is usually performed on a construction site, for example, the installation of a wood formwork includes firstly performing operations such as cutting and punching on a wood board and the wood keel in a woodworking workshop, then respectively bundling the wood board and the wood keel, then hoisting the wood board and the wood keel to a construction operation area, and performing secondary assembling work after classification by a site formwork worker. When the building main structure of construction is high, need the template workman to carry out high altitude construction, intensity of labour is great, and needs many people to assist and carry out the transport and the installation work of template, and construction installation effectiveness is not high.

In addition, wood formwork processing relies on the manual work to use the electric saw to cut in traditional workshop, has that transport work load is big, machining efficiency is low, the cutting is not accurate, the limit is irregular, can't waterproof, have potential safety hazard scheduling problem.

Disclosure of Invention

In order to carry out the processing and the follow-up installation of building templates more high-efficient safety, this application provides an automatic operation line for building templates prefabrication processing.

The application provides an automatic operation line for building templates prefabrication processing adopts following technical scheme:

an automatic operation line for prefabricating and processing building templates comprises a numerical control machine tool for cutting and drilling template panels, a sealing device for brushing glue and sealing edges of the template panels and a binding device for binding the processed template panels and template keels to form unit template modules;

a first material placing area for placing a template panel is arranged on one side of the numerical control machine tool, a second material placing area for placing the template panel and a third material placing area for placing a template keel are respectively arranged on one side of the binding equipment, and a temporary storage area for placing a unit template module is arranged on the other side of the binding equipment;

the numerical control machine tool is arranged adjacent to the edge sealing device, and one side of the numerical control machine tool is provided with a stacking robot which can transfer the template panel at the first material placing area to the numerical control machine tool and can also transfer the template panel processed by the numerical control machine tool to the edge sealing device;

the edge sealing device is arranged adjacent to the binding equipment, and a first carrying robot capable of transferring the template panels processed by the edge sealing device to a second material placing area is arranged on one side of the edge sealing device;

the upper part of the binding equipment is provided with a hoisting mechanism which can transfer the template panel at the second feeding area to the binding equipment, transfer the template keel at the third feeding area to the binding equipment and transfer the unit template module processed by the binding equipment to the temporary storage area.

Through adopting above-mentioned technical scheme, all link up through putting things in good order the robot between the material loading of digit control machine tool, digit control machine tool and the banding device in this application, link up through first transfer robot and hoisting machine structure between banding device and the binding equipment. The automatic production line can stack and transfer the template panel, the template keel and the unit template modules, automatically cut and drill the template panel, brush glue and seal edges, and automatically bind the template panel and the template keel without manual participation in the whole process, so that the aim of replacing manpower by a full-automatic production line is fulfilled; the automatic processing device has the advantages of high automation degree, high working efficiency, safety, reliability, high dimensional precision of the processed unit template module and smooth and neat end face.

Optionally, the feed end of digit control machine tool has the location platform, first blowing district is located one side of location platform, the banding device is located one side of digit control machine tool just the feed end orientation of banding device the digit control machine tool, first blowing district the banding device and the stacking robot all is located same one side of digit control machine tool, the stacking robot is located first blowing district with position between the banding device, the stacking robot can move the template panel of first blowing district department and move and carry extremely on the location bench.

By adopting the technical scheme, the stacking robot firstly transfers the template panel at the first material placing area onto the positioning table, accurately positions the template panel and then pushes the template panel to the machining area of the numerical control machine tool for machining, so that the accurate reliability of the machining size of the template panel is ensured; reasonable layout digit control machine tool, first blowing district and banding device's position in this application can accomplish a plurality of moves and carry work through a stacking robot, has saved space and cost, and work efficiency is high.

Optionally, the numerical control machine further comprises a working platform and a three-axis portal frame erected on the working platform, wherein a drilling tool and/or a cutting tool are arranged on the three-axis portal frame; the template positioning device is characterized in that positioning stop blocks are arranged on two sides of the positioning table, and driving pieces are further arranged on the positioning table and used for driving the template panel on the positioning table to move to the working platform.

The driving part in this application can be a pushing cylinder, a pushing oil cylinder, a driving roller or a driving belt.

Through adopting above-mentioned technical scheme, the instruction action that digit control machine tool accessible central control system sent, the driving piece will have been placed on the template panel propelling movement of locating station to the work platform of digit control machine tool, and drilling cutter and/or cutting tool carry out automatic cutout, punch to the template panel according to the instruction requirement.

Optionally, the feeding direction of the edge sealing device is perpendicular to the feeding direction of the numerical control machine tool, and the edge sealing device comprises a rack, a conveying belt arranged on the rack, a glue brushing assembly arranged on the rack and a drying assembly arranged on the rack.

The glue brushing assembly can brush glue by adopting a glue brushing head moving in three axes, the technology is the prior art, and the detailed structure is not repeated; the drying component can adopt a fan with a heating wire, and the technology is also the prior art, and the detailed structure is not described herein.

By adopting the technical scheme, the edge sealing device can move through an instruction sent by the central control system, the conveyor belt drives the template panel to move forward, the glue brushing assembly is used for automatically brushing and sealing the cutting edge and the punching edge of the template panel, then the drying assembly is used for automatically drying the glued template panel, finally the finished template panel is pushed to a designated area, and a follow-up first carrying robot transfers the sealed template panel to the second discharging area.

Optionally, the stacking robot is a six-axis mechanical arm, and the six-axis mechanical arm is provided with a sucker mechanical arm.

By adopting the technical scheme, the six mechanical arms can rotate in multiple directions, so that the template panel can be accurately and reliably transferred; the sucking disc manipulator is convenient for snatch the template panel and loosen the action, and is convenient and reliable.

Optionally, a first material area for placing a template panel is further arranged on one side of the numerical control machine, and the automatic production line further comprises a second transfer robot for transferring the template panel in the first material area to the first material area; a second material area for placing the template keel is arranged on one side of the hoisting mechanism; the third emptying area is located below the hoisting mechanism, and the first carrying robot and/or the second carrying robot can transfer the template keel at the second emptying area to the third emptying area.

First transfer robot and second transfer robot in this application can be the unmanned autopilot who has the fork truck function and move and carry the dolly, and template panel, template fossil fragments and unit template module all can be put on the tray, makes things convenient for first transfer robot and second transfer robot's transportation to move and carry.

By adopting the technical scheme, a large amount of template raw materials can be placed in the first material area and the second material area, and efficient continuous assembly of the unit template modules is facilitated.

The automatic operation line in this application passes through central control system unified control, and the locating device is divided and had in advance at the locating position of first material district's locating position and template fossil fragments in the locating position of second material district to the template panel, and template panel and template fossil fragments are directly unloaded respectively at first material district and second material district after entering the field and are put. The second carrying robot can carry the template panel raw materials in the first material area to the first material area where the stacking robot is located through the command action sent by the central control system; the stacking robot can grab the template panel placed in the first material placing area through an instruction action sent by the central control system, then place the template panel on a positioning table of the numerical control machine, grab and place the template panel machined by the numerical control machine on the edge sealing device after the numerical control machine cuts and drills the template panel, and the first carrying robot can carry the template panel subjected to edge sealing by the edge sealing device to the second material placing area through the instruction action sent by the central control system; the stacking is finished, and a new round of stacking is started again; the whole action is efficient and reliable.

Optionally, the hoisting mechanism comprises two rows of columns and longitudinal rails arranged on each row of columns, the two longitudinal rails are arranged in parallel at intervals, at least one cross beam is erected on the two longitudinal rails, two ends of the cross beam are connected to the longitudinal rails in a sliding manner, vertical downward vertical rails are arranged at two ends of the cross beam, a transverse rail capable of lifting up and down is arranged on the vertical rails in a sliding manner, and a plurality of groups of clamp assemblies are arranged on the transverse rail; the transverse beam is also provided with a first driving assembly capable of driving the transverse beam to reciprocate on the longitudinal rail and a second driving assembly capable of driving the transverse rail to lift and move on the vertical rail.

Optionally, the first driving assembly comprises a first driving motor fixedly arranged on the cross beam and a driving rod arranged in the length direction of the cross beam, an output shaft of the first driving motor is connected with the middle of the driving rod and can drive the driving rod to rotate, two ends of the driving rod respectively extend to two ends of the cross beam and are driven by a roller or a gear rack assembly to move on the longitudinal rail.

By adopting the technical scheme, the driving motor drives the driving rod to rotate, the two ends of the driving rod synchronously drive the two ends of the cross beam to move on the longitudinal rail, the driving structure is simplified, only one driving source is used, the cost is saved, the two ends keep synchronous action, and the device is more stable and reliable.

Optionally, the two opposite side surfaces of the two vertical rails are provided with vertical sliding grooves, and two ends of the transverse rail are respectively embedded in the sliding grooves of the two vertical rails in a sliding manner; the driving assembly II comprises a driving motor II fixedly arranged on the cross beam, a transmission rod arranged along the length direction of the cross beam and a screw rod vertically arranged in the sliding grooves, an output shaft of the driving motor II is connected with the middle part of the transmission rod and can drive the transmission rod to rotate, two ends of the transmission rod respectively extend to the upper ends of the two sliding grooves, and the end part of the transmission rod is connected with the upper end of the screw rod through a gear assembly; the screw rod is in threaded connection with the end part of the transverse rail.

Through adopting above-mentioned technical scheme, the both ends of horizontal track are slided respectively and are inlayed and establish in two vertical orbital spouts, have carried out spacing and guide effect to horizontal orbital both ends like this, have guaranteed the steady reliability that horizontal track reciprocated. The end part of the transmission rod can be fixedly provided with a first bevel gear, the upper end of the corresponding screw rod is fixedly provided with a second bevel gear, and the first bevel gear is meshed with the second bevel gear. Or the end part of the transmission rod and the upper end of the screw rod adopt a worm and gear transmission mode. The end part of the transverse track is provided with a threaded hole, and the screw rod passes through the threaded hole and is connected with the threaded hole in a threaded fit manner. The driving motor II drives the transmission rod to rotate, two ends of the transmission rod synchronously drive the two screw rods to rotate, the two screw rods drive two ends of the transverse track to move up and down in the sliding groove of the vertical track, only one driving source is used, cost is saved, synchronous actions of the two ends of the transverse track can be kept, and the device is stable and reliable.

Optionally, the clamp assembly includes a sliding plate slidably disposed on the transverse rail and clasping jaws disposed on two sides of the sliding plate, the clasping jaws on two sides of the sliding plate are disposed oppositely, the transverse rail is further provided with a guide rod along a length direction of the transverse rail, the sliding plate is provided with a guide hole, and the guide rod slidably passes through the guide hole; and the two sides of the sliding plate are provided with a third driving structure which can enable each pair of the clasping clamping jaws to be relatively close to or away from each other.

By adopting the technical scheme, the driving structure III drives the clasping clamping jaw to loosen or clasp the clamping action, so that the template panel or the template keel or the unit template module can be grabbed, and can be quickly loosened after being moved to a preset position, and the action is stable and reliable. The position of the clamp assembly on the transverse rail does not need to be changed frequently, the clamp assembly can be adjusted manually, and the clamp assembly can be driven by a hydraulic cylinder or a motor to move transversely on the transverse rail.

Optionally, the driving structure three includes a driving motor and a rotating shaft which are arranged on two sides of the sliding plate, the driving motor is connected with the middle of the rotating shaft and can drive the rotating shaft to rotate in a reciprocating manner, the upper end of the holding clamping jaw is fixedly connected to the rotating shaft, and the lower end of the holding clamping jaw is provided with a clamping portion which is bent towards the lower portion of the middle portion of the sliding plate. The interval sets up multiunit anchor clamps subassembly on the horizontal track in this application, and every sliding plate can set up a plurality of clamping jaws of holding at intervals, and the clamping jaw quantity that holds of every sliding plate both sides is the same and the one-to-one sets up.

Through adopting above-mentioned technical scheme, driving motor drive pivot rotates, can make and embrace the clamping jaw swing, and the pivot rotation direction of sliding plate both sides is opposite for the clamping jaw swing opposite direction of embracing of same sliding plate both sides, thereby form and embrace the clamp action or loosen the action, and then can reliable and stable realization move the centre gripping of template panel, template fossil fragments and unit template module and carry and uninstall.

Optionally, the binding device comprises a long-strip-shaped workbench and a binding manipulator positioned on the clamp assembly, the workbench is arranged along the length direction of the transverse rail,

through adopting above-mentioned technical scheme, be convenient for binding manipulator's removal on a large scale to the realization is to the equipment of template panel and template fossil fragments.

Optionally, the automatic production line further comprises a storage area, the temporary storage area is located at one end of the hoisting mechanism, and the storage area is located at the other end of the hoisting mechanism.

By adopting the technical scheme, after a certain number of prefabricated unit template modules are stacked in the temporary storage area, the prefabricated unit template modules are conveyed to the storage area through the hoisting mechanism; is convenient for subsequent use.

In the present application, as a preferred scheme, there are two groups of beams, wherein one group is group a, and the other group is group B. The nailing equipment and the hoisting mechanism can act according to an instruction sent by a central control system, the clamp assembly below the group A beam grabs the template panel which is already placed in the second material placing area onto the workbench and then leaves the workbench, the template keel is grabbed at the third material placing area before the workbench, the clamp assembly below the group B beam carries out positioning connection installation on the template panel on the workbench, after the clamp assembly below the group A beam places the template keel onto the workbench, the clamp assembly below the group B beam carries out positioning connection installation on the template keel, at the moment, the clamp assembly below the group A beam returns to the position of the second material placing area, after the template panel and the template keel are installed, the clamp assembly below the group B beam places the assembled prefabricated unit template module into a temporary storage area, and a new round of stacking is started; after a certain number of prefabricated templates are stacked in the temporary storage area, the prefabricated unit templates in the temporary storage area are conveyed to the storage area through the clamp assembly, and connecting pieces such as corner connectors can be placed between the template panel on the workbench and the template keel through the nailing manipulator to match with a nail gun to complete nailing operation.

The central control system is used in the application, the first carrying robot, the second carrying robot, the stacking robot, the numerical control machine tool, the edge sealing device, the hoisting mechanism and the binding equipment can be controlled simultaneously, and all working procedures are automatically connected and matched to work through reasonable programming; automatically processing various templates by the numerical control machine tool through the pre-deepened template data; various processing data are collected in real time through the system, and statistics and analysis are carried out based on a digital twin mode. The automatic operating line can greatly improve the cutting and mounting efficiency of the template; the cutting quality of the template is ensured, and the turnover use efficiency of the template is improved; no person participates in the whole process, so that the safety is ensured; the use cost of personnel and materials is reduced.

In summary, the present application includes at least one of the following beneficial technical effects:

1. utilize central control system in this application, but the first transfer robot of simultaneous control, second transfer robot, pile up and put robot, digit control machine tool, banding device, hoisting machine structure and binding equipment through reasonable programming for each process links up the cooperation automatically and carries out work, and degree of automation is high, and work efficiency is high.

2. Preprocessing of building templates in this application is documented, and template panel quantity, template fossil fragments quantity can carry out the drawing of gathering of data according to different needs, and the cost is controllable. And the processing of the building template can comprehensively consider a plurality of factors such as the saving of template raw materials and the like, thereby avoiding the waste of the template raw materials to the maximum extent.

3. The cutting and mounting efficiency of the template can be greatly improved through an automatic operating line; the cutting quality of the template is ensured, and the turnover use efficiency of the template is improved; no person participates in the whole process, so that the safety is ensured; the use cost of personnel and materials is reduced.

4. After the unit template module formed by machining is hoisted to a construction site, a formwork erecting worker on the construction site only needs to position and install the unit template module, a series of problems caused by secondary machining work on the template on the site are avoided, construction waste is reduced, work content is reduced for the formwork erecting worker, and work efficiency is improved.

Drawings

Fig. 1 is a schematic perspective view of an automation line in the present application.

Fig. 2 is a schematic perspective view of an automation line according to the present application.

Fig. 3 is a schematic top view of an automated line of the present application.

Fig. 4 is a partial schematic view of an automation line of the present application.

FIG. 5 is a schematic structural diagram of the area where the numerical control machine tool and the edge sealing device are located in the present application.

Figure 6 is a schematic structural view of the area where the stapling device and the hoisting mechanism are located in the present application.

FIG. 7 is a schematic view of the mounting structure of the clip assembly of the present application.

Figure 8 is a schematic view of the mounting arrangement of the holding jaw and the stapling robot in the present application.

Fig. 9 is a schematic perspective view of the stapling robot according to the present application.

In the figure, 1, a template panel; 2. a template keel; 3. a unit template module; 4. a numerical control machine tool; 41. a positioning table; 41a, a positioning stop block; 42. a working platform; 43. a three-axis gantry; 5. a sealing device; 51. a frame; 52. a conveyor belt; 53. brushing a glue component; 54. a drying assembly; 6. a stapling device; 61. a work table; 62. a stapling manipulator; 7. a hoisting mechanism; 71. a column; 72. a longitudinal rail; 73. a cross beam; 74. a vertical rail; 741. a chute; 75. a transverse rail; 76. a clamp assembly; 761. a sliding plate; 761a, a guide hole; 762. tightly holding the clamping jaw; 762a, a clamping part; 763. a guide bar; 764. a drive motor; 765. a rotating shaft; 77. a first driving component; 771. driving a motor I; 772. a drive rod; 78. a second driving component; 781. a second driving motor; 782. a transmission rod; 783. a screw rod; 8. a first discharge area; 9. a second discharge area; 10. a third discharge area; 11. a temporary storage area; 12. stacking the robots; 12a, a sucker manipulator; 13. a first transfer robot; 14. a first material area; 15. a second transfer robot; 16. a second material zone; 17. a storage area.

Detailed Description

The present application is described in further detail below with reference to fig. 1-9.

Referring to fig. 1 and 2, the automatic operation line for prefabricating and processing the building templates in the embodiment includes a numerical control machine 4 for cutting and drilling the template panel 1, an edge sealing device 5 for applying glue and sealing the template panel 1, and a nailing device 6 for nailing the processed template panel 1 and the template keel 2 to form the unit template module 3. As shown in fig. 3, one side of the numerical control machine 4 is provided with a first material placing area 8 for placing the template panel 1, one side of the nailing device 6 is respectively provided with a second material placing area 9 for placing the template panel 1 and a third material placing area 10 for placing the template keel 2, and the other side of the nailing device 6 is provided with a temporary storage area 11 for placing the unit template module 3; the numerical control machine tool 4 is arranged adjacent to the edge sealing device 5, one side of the numerical control machine tool 4 is provided with a stacking robot 12 which can transfer the template panel 1 at the first material placing area 8 onto the numerical control machine tool 4 and can also transfer the template panel 1 processed by the numerical control machine tool 4 onto the edge sealing device 5, the stacking robot 12 is a six-axis mechanical arm, and the six-axis mechanical arm is provided with a sucker mechanical arm 12 a; the edge sealing device 5 is arranged adjacent to the nailing equipment 6, and a first transfer robot 13 capable of transferring the template panels 1 processed by the edge sealing device 5 to the second feeding area 9 is arranged on one side of the edge sealing device 5; a hoisting mechanism 7 which can transfer the template panel 1 at the second feeding area 9 onto the binding equipment 6, transfer the template keel 2 at the third feeding area 10 onto the binding equipment 6 and transfer the unit template module 3 processed by the binding equipment 6 to the temporary storage area 11 is erected above the binding equipment 6; a first material area 14 for placing the template panel 1 is further arranged on one side of the numerical control machine tool 4, and the automatic production line further comprises a second transfer robot 15 for transferring the template panel 1 in the first material area 14 to the first material placing area 8; a second material area 16 for placing the template keel 2 is arranged on one side of the hoisting mechanism 7; the third material placing area 10 is located below the hoisting mechanism 7, and the first carrying robot 13 and/or the second carrying robot 15 can transfer the template keel 2 at the second material placing area 16 to the third material placing area 10; first transfer robot 13 and second transfer robot 15 in this application can be the unmanned autopilot who has the fork truck function and moves and carry the dolly, and template panel 1, template fossil fragments 2 and unit template module 3 all can be put on the tray, makes things convenient for the transportation of first transfer robot 13 and second transfer robot 15 to move and carry. The automatic operating line further comprises a storage area 17, the temporary storage area 11 is located at one end of the hoisting mechanism 7, the storage area 17 is located at the other end of the hoisting mechanism 7, and after the temporary storage area 11 is stacked with a certain number of prefabricated unit template modules 3, the prefabricated unit template modules 3 are conveyed to the storage area 17 through the hoisting mechanism 7, so that subsequent use is facilitated.

Referring to fig. 4 and 5, the feed end of the numerical control machine tool 4 is provided with a positioning table 41, the first discharging area 8 is located on one side of the positioning table 41, the edge sealing device 5 is located on one side of the numerical control machine tool 4, the feed end of the edge sealing device 5 faces the numerical control machine tool 4, the first discharging area 8, the edge sealing device 5 and the stacking robot 12 are located on the same side of the numerical control machine tool 4, the stacking robot 12 is located between the first discharging area 8 and the edge sealing device 5, and the stacking robot 12 can transfer the template panel 1 located in the first discharging area 8 to the positioning table 41. The numerical control machine tool 4 comprises a working platform 42 and a three-axis portal frame 43 erected on the working platform 42, wherein a drilling cutter and/or a cutting cutter are arranged on the three-axis portal frame 43; positioning stoppers 41a are arranged on two sides of the positioning table 41, and a driving member which drives the template panel 1 on the positioning table 41 to move to the working platform 42 is also arranged on the positioning table 41, and the driving member can be a pushing cylinder, a pushing oil cylinder, a driving roller or a driving belt; the feeding direction of the edge sealing device 5 is perpendicular to the feeding direction of the numerical control machine tool 4, and the edge sealing device 5 comprises a rack 51, a conveying belt 52 arranged on the rack 51, a glue brushing assembly 53 arranged on the rack 51 and a drying assembly 54 arranged on the rack 51; in the application, the glue brushing assembly 53 can brush glue by adopting a glue brushing head moving in three axes, the technology is the prior art, and the detailed structure is not repeated herein; drying assembly 54 may be a hot air fan with heating wires, which is also known in the art and the detailed structure thereof will not be described herein.

Referring to fig. 6, the hoisting mechanism 7 includes two rows of columns 71 and longitudinal rails 72 disposed on each row of columns 71, the two longitudinal rails 72 are disposed in parallel at intervals, at least one cross beam 73 is erected on the two longitudinal rails 72, two ends of the cross beam 73 are slidably connected to the longitudinal rails 72, two ends of the cross beam 73 have vertical downward vertical rails 74, a horizontal rail 75 capable of ascending and descending is slidably disposed on the vertical rails 74, and a plurality of sets of clamp assemblies 76 are disposed on the horizontal rail 75; the cross beam 73 is also provided with a first driving assembly 77 capable of driving the cross beam 73 to reciprocate on the longitudinal rail 72 and a second driving assembly 78 capable of driving the transverse rail 75 to lift and move on the vertical rail 74; the first driving assembly 77 includes a first driving motor 764 fixed on the cross beam 73 and a driving rod 772 disposed along the length direction of the cross beam 73, an output shaft of the first driving motor 764 is connected to the middle of the driving rod 772 and can drive the driving rod 772 to rotate, two ends of the driving rod 772 respectively extend to two ends of the cross beam 73 and drive the cross beam 73 to move on the longitudinal rail 72 through a roller or a rack and pinion assembly; the driving motor 764 drives the driving rod 772 to rotate, and the two ends of the driving rod 772 synchronously drive the two ends of the cross beam 73 to move on the longitudinal rails 72; the opposite side surfaces of the two vertical rails 74 are provided with vertical sliding grooves 741, and two ends of the transverse rail 75 are respectively embedded in the sliding grooves 741 of the two vertical rails 74 in a sliding manner; the second driving assembly 78 comprises a second driving motor 764 fixedly arranged on the cross beam 73, a transmission rod 782 arranged along the length direction of the cross beam 73 and a screw rod 783 vertically arranged in the sliding grooves 741, an output shaft of the second driving motor 764 is connected with the middle of the transmission rod 782 and can drive the transmission rod 782 to rotate, two ends of the transmission rod 782 respectively extend to the upper ends of the two sliding grooves 741, and the end part of the transmission rod 782 is connected with the upper end of the screw rod 783 through a gear assembly; the lead screw 783 is in threaded connection with the end of the transverse rail 75; the end part of the transmission rod 782 can be fixedly provided with a first bevel gear, the upper end of the corresponding screw rod 783 is fixedly provided with a second bevel gear, and the first bevel gear is meshed with the second bevel gear; or the end part of the transmission rod 782 and the upper end of the screw rod 783 adopt a worm and gear transmission mode. A threaded hole is formed in the end of the transverse rail 75, and the lead screw 783 penetrates through the threaded hole and is connected with the threaded hole in a threaded fit mode. Two driving motors 764 drive the transmission rod 782 to rotate, two ends of the transmission rod 782 synchronously drive the two screw rods 783 to rotate, and the two screw rods 783 drive two ends of the transverse rail 75 to move up and down in the sliding grooves 741 of the vertical rails 74.

Referring to fig. 7 and 8, the clamp assembly 76 includes a sliding plate 761 slidably disposed on the transverse rail 75 and clamping jaws 762 disposed at two sides of the sliding plate 761, the transverse rail 75 is further provided with a guide rod 763 along a length direction thereof, the sliding plate 761 is provided with a guide hole 761a, and the guide rod 763 slidably passes through the guide hole 761 a; two sides of the sliding plate 761 are provided with a third driving structure which can enable each pair of holding clamping jaws 762 to relatively close or back to back; the third driving structure drives the clasping clamping jaw 762 to loosen or clasp, so that the template panel 1 or the template keel 2 or the unit template module 3 can be grabbed, and the template panel can be quickly loosened after being moved to a preset position. The position of the clamp assembly 76 on the transverse rail 75 does not need to be changed frequently, and the clamp assembly 76 can be adjusted manually or driven by a hydraulic cylinder or a motor to move transversely on the transverse rail 75. Further, the third driving structure includes a driving motor 764 and a rotating shaft 765 disposed on two sides of the sliding plate 761, the driving motor 764 is connected to the middle of the rotating shaft 765 and can drive the rotating shaft 765 to rotate in a reciprocating manner, the upper end of the holding jaw 762 is fixedly connected to the rotating shaft 765, and the lower end of the holding jaw 762 is provided with a clamping portion 762a bent towards the lower portion of the middle portion of the sliding plate 761. In this application, the plurality of groups of clamp assemblies 76 are arranged on the transverse rail 75 at intervals, a plurality of holding clamping jaws 762 can be arranged on each sliding plate 761 at intervals, and the holding clamping jaws 762 on two sides of each sliding plate 761 are the same in number and are arranged in a one-to-one correspondence manner. The driving motor 764 drives the rotating shaft 765 to rotate, so that the holding jaws 762 swing, the rotating directions of the rotating shafts 765 on the two sides of the sliding plate 761 are opposite, the swinging directions of the holding jaws 762 on the two sides of the same sliding plate 761 are opposite, holding actions or releasing actions are formed, and clamping, transferring and unloading of the template panel 1, the template keel 2 and the unit template modules 3 can be stably and reliably achieved.

Referring to fig. 6, the stapling apparatus 6 includes a table 61 in an elongated shape, the table 61 being disposed along the length direction of the transverse rail 75; referring to fig. 8 and 9, the nailing device 6 further comprises a nailing manipulator 62 on the clamp assembly 76, wherein the nailing manipulator 62 can move in a large range under the driving of the clamp assembly 76 so as to nail the template panel 1 and the template keel 2; specifically, the binding manipulator 62 may be used to clamp connectors such as corner connectors, and placed at the joint between the formwork panel 1 and the formwork keel 2, and nails are driven into the joints by a nail gun installed by the binding manipulator 62 to fix the connectors such as corner connectors; or a nail gun arranged on the binding manipulator 62 directly launches the fixing nail to fix the template panel 1 and the template keel 2.

The implementation principle is as follows: the automation line in this application passes through central control system unified control, and a large amount of template raw materials can be placed in first material district 14 and second material district 16, the high-efficient continuous equipment of unit template module 3 of being convenient for. The placing positions of the template panels 1 in the first material area 14 and the placing positions of the template keels 2 in the second material area 16 are divided in advance and provided with positioning devices, and the template panels 1 and the template keels 2 are directly unloaded and placed in the first material area 14 and the second material area 16 respectively after entering the field. The second transfer robot 15 can transfer the raw material of the template panel 1 in the first material area 14 to the first material area 8 where the stacking robot 12 is located through the command action sent by the central control system; the stacking robot 12 can grab the template panel 1 placed in the first placing area 8 through an instruction action sent by the central control system, then place the template panel on the positioning table 41 of the numerical control machine 4, accurately position the template panel and then push the template panel to the machining area of the numerical control machine 4 for machining, after the numerical control machine 4 cuts and drills the template panel 1, the template panel 1 machined by the numerical control machine 4 is grabbed and placed on the edge sealing device 5, and the first carrying robot 13 can carry the template panel 1 subjected to edge sealing by the edge sealing device 5 to the second placing area 9 through the instruction action sent by the central control system; the first transfer robot 13 and/or the second transfer robot 15 transfers the formwork keel 2 at the second material area 16 to the third emptying area 10, thereby completing the material preparation work at the first stage. The cross beams 73 in this application are preferably arranged in two groups, one of which is group a and the other of which is group B. The nailing device 6 and the hoisting mechanism 7 can act according to the instruction sent by the central control system, the clamp assemblies 76 below the group A cross beams 73 grab the template panel 1 which is already placed in the second placing area 9 onto the workbench 61 and then leave, the template keel 2 is grabbed when the position goes to the third placing area 10, the clamp assemblies 76 below the group B cross beams 73 carry out positioning connection installation on the template panel 1 on the workbench 61, the clamp assemblies 76 below the group B cross beams 73 carry out positioning connection installation on the template keel 2 after the clamp assemblies 76 below the group A cross beams 73 place the template keel 2 on the workbench 61, the clamp assemblies 76 below the group B cross beams 73 return to the position of the second placing area 9, the clamp assemblies 76 below the group B cross beams 73 place the assembled prefabricated unit template modules 3 in the temporary storage area 11 after the template panel 1 and the template keel 2 are installed, and restarting a new round of stacking; after a certain number of prefabricated templates are stacked in the temporary storage area 11, the prefabricated unit templates in the temporary storage area 11 are conveyed to the storage area 17 through the clamp assembly 76, and connecting pieces such as corner connectors and the like can be placed between the template panel 1 and the template keel 2 on the workbench 61 through the binding manipulator 62 to match with a nail gun to complete binding operation.

All link up through piling up robot 12 between material loading, digit control machine tool 4 and the banding device 5 of digit control machine tool 4 in this application, link up through first transfer robot 13 and hoisting machine structure 7 between banding device 5 and the binding equipment 6. The automatic production line can carry out stacking and transferring on the template panel 1, the template keel 2 and the unit template modules 3, automatically carry out cutting, drilling and edge sealing processing on the template panel 1, and carry out automatic nailing on the template panel 1 and the template keel 2, does not need manual participation in the whole process, and achieves the purpose that a full-automatic production line replaces manual work; the automatic feeding device has high automation degree, high working efficiency, safety and reliability, and reduces the use cost of personnel and materials; and the processed unit template module 3 has high dimensional precision and smooth and neat end surface, thereby ensuring the cutting quality of the template and improving the turnover and use efficiency of the template.

The automatic operation line in the application can simultaneously control the first carrying robot 13, the second carrying robot 15, the stacking robot 12, the numerical control machine 4, the edge sealing device 5, the hoisting mechanism 7 and the binding equipment 6 by utilizing a central control system, and all working procedures are automatically linked and matched to work through reasonable programming; the numerical control machine 4 automatically processes various templates through the pre-deepened template data; various processing data are collected in real time through the system, and statistics and analysis are carried out based on a digital twin mode.

The embodiments of the present invention are preferred embodiments of the present application, and the protection scope of the present application is not limited thereby, wherein like parts are denoted by like reference numerals. Therefore, the method comprises the following steps: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. An automatic operation line for prefabricating and processing building templates comprises a numerical control machine tool (4) used for cutting and drilling a template panel (1), a sealing device (5) used for brushing glue and sealing edges of the template panel (1), and a binding device (6) used for binding the processed template panel (1) and a template keel (2) to form a unit template module (3);

the device is characterized in that a first placing area (8) for placing a template panel (1) is arranged on one side of the numerical control machine (4), a second placing area (9) for placing the template panel (1) and a third placing area (10) for placing a template keel (2) are respectively arranged on one side of the nailing device (6), and a temporary storage area (11) for placing a unit template module (3) is arranged on the other side of the nailing device (6);

the numerical control machine tool (4) is arranged adjacent to the edge sealing device (5), and one side of the numerical control machine tool (4) is provided with a stacking robot (12) which can transfer the template panel (1) at the first material placing area (8) onto the numerical control machine tool (4) and can transfer the template panel (1) processed by the numerical control machine tool (4) onto the edge sealing device (5);

the edge sealing device (5) is arranged adjacent to the binding equipment (6), and a first carrying robot (13) capable of transferring the template panel (1) processed by the edge sealing device (5) to the second feeding area (9) is arranged on one side of the edge sealing device (5);

erect above binding equipment (6) and be equipped with template panel (1) that can locate second blowing district (9) and move to on binding equipment (6), move template fossil fragments (2) of locating third blowing district (10) move to on binding equipment (6) and move unit template module (3) that binding equipment (6) processing was accomplished move to hoist and mount mechanism (7) of buffer (11).

2. An automated line for the prefabrication of building templates as claimed in claim 1, the feeding end of the numerical control machine tool (4) is provided with a positioning table (41), the first discharging area (8) is positioned on one side of the positioning table (41), the edge sealing device (5) is positioned at one side of the numerical control machine tool (4) and the feeding end of the edge sealing device (5) faces the numerical control machine tool (4), the first material placing area (8), the edge sealing device (5) and the stacking robot (12) are all positioned at the same side of the numerical control machine tool (4), the stacking robot (12) is positioned between the first feeding area (8) and the edge sealing device (5), the stacking robot (12) can transfer the template panel (1) at the first material placing area (8) to the positioning table (41).

3. The automated line for the prefabrication of building templates according to claim 2, wherein said numerically controlled machine tool (4) further comprises a work platform (42) and a three-axis portal frame (43) erected on said work platform (42), said three-axis portal frame (43) being provided with drilling and/or cutting tools; positioning stop blocks (41a) are arranged on two sides of the positioning table (41), and a driving piece for driving the template panel (1) on the positioning table (41) to move to the working platform (42) is further arranged on the positioning table (41).

4. The automated line for the prefabrication of building templates according to claim 1, 2 or 3, wherein the feeding direction of the edge sealing device (5) is perpendicular to the feeding direction of the numerical control machine (4), and the edge sealing device (5) comprises a frame (51), a conveyor belt (52) arranged on the frame (51), a glue brushing assembly (53) arranged on the frame (51) and a drying assembly (54) arranged on the frame (51).

5. The automated line for the prefabrication of building templates according to claim 1 or 2 or 3, characterised in that said stacking robot (12) is a six-axis robot arm with a suction cup robot (12a) thereon.

6. The automated line for the prefabrication of building templates according to claim 1, 2 or 3, wherein one side of the numerically controlled machine tool (4) is further provided with a first material area (14) for placing the template panel (1), the automated line further comprising a second handling robot (15) for transferring the template panel (1) at the first material area (14) to the first emptying area (8); a second material area (16) for placing the template keel (2) is arranged on one side of the hoisting mechanism (7); the third emptying area (10) is located below the hoisting mechanism (7), and the first carrying robot (13) and/or the second carrying robot (15) can move the template keel (2) at the second emptying area (16) to the third emptying area (10).

7. The automatic operating line for prefabrication and processing of building templates according to claim 1, 2 or 3, wherein the hoisting mechanism (7) comprises two rows of columns (71) and longitudinal rails (72) arranged on each row of columns (71), the two longitudinal rails (72) are arranged in parallel at intervals, at least one cross beam (73) is erected on the two longitudinal rails (72), two ends of the cross beam (73) are slidably connected to the longitudinal rails (72), two ends of the cross beam (73) are provided with vertical rails (74) which are vertically downward, a transverse rail (75) which can be lifted up and down is slidably arranged on the vertical rails (74), and a plurality of groups of clamp assemblies (76) are arranged on the transverse rail (75); the transverse beam (73) is also provided with a first driving assembly (77) capable of driving the transverse beam (73) to reciprocate on the longitudinal rail (72) and a second driving assembly (78) capable of driving the transverse rail (75) to lift and move on the vertical rail (74).

8. The automated line for prefabrication of building templates according to claim 7, wherein said clamp assembly (76) comprises a sliding plate (761) slidably disposed on said transverse rail (75) and holding jaws (762) disposed on both sides of said sliding plate (761), said transverse rail (75) is further provided with a guide bar (763) along a length direction thereof, said sliding plate (761) is provided with a guide hole (761a), said guide bar (763) slidably passes through said guide hole (761 a); and driving structures III capable of enabling each pair of the holding clamping jaws (762) to relatively approach or separate away from each other are arranged on two sides of the sliding plate (761).

9. An automated line for building formwork prefabrication processing according to claim 7, wherein the tacking equipment (6) includes a work table (61) in the shape of an elongated bar and a tacking robot (62) on a clamp assembly (76), the work table (61) being arranged along the length of the transverse rail (75).

10. The automated line for the prefabrication of building templates according to claim 1, 2 or 3, characterized in that it further comprises a storage area (17), said temporary storage area (11) being located at one end of said hoisting mechanism (7), said storage area (17) being located at the other end of said hoisting mechanism (7).