CN117260958A - Automatic forming system for concrete - Google Patents

Abstract

The invention relates to an automatic concrete forming system which comprises a storage device, a stirring device, a material distribution device, a vibration tamping device, a test die maintenance device, a die disassembly device and an empty test die storage device, wherein the storage device, the test die maintenance device, the die disassembly device and the empty test die storage device are positioned on the same side of the material distribution device in a first direction; the test die maintenance equipment comprises a vertical warehouse and a stacker crane, the vibration tamping equipment comprises a first robot for placing the test die after vibration tamping to the position to be grabbed by the stacker crane, and the first robot is further used for placing the empty test die on a vibrating table of the vibration tamping equipment. The automatic operation is realized in each process and the connection between each process, so that the manual participation degree is reduced, and the labor intensity is lower. And storage equipment, distribution equipment, form removal equipment arrange around standing the storehouse, conveniently carry out the transportation after cloth and the test block are disassembled.

Description

Automatic forming system for concrete

Technical Field

The invention belongs to the technical field of concrete product manufacturing, and particularly relates to an automatic concrete forming system.

Background

The concrete molding process can be divided into the working procedures of batching, stirring, distributing, molding, hardening maintenance, demolding and the like, specifically, the concrete raw materials are proportioned, added into a stirring hopper according to a certain proportion, stirred in the stirring hopper, poured into a distributing hopper for distributing, the distributing hopper is used for pouring concrete into a test mold, molding maintenance is carried out, and the product is disassembled from the test mold after the maintenance is finished. In the traditional process, the connection between the working procedures is mainly finished manually.

In order to improve the automation degree of concrete forming, the invention patent application with the application publication number of CN114858555A discloses a full-automatic intelligent curing and strength detecting system for concrete test blocks, which comprises a curing unit, wherein the curing unit comprises a vertical warehouse (namely a curing frame in the patent application) and a stacker, and the stacker can be used for placing a test die to be cured into the vertical warehouse for curing.

Although the prior art can realize that the test mould automatically enters the vertical warehouse for maintenance, the procedures of batching, stirring, distributing, removing the mould and the like are still manually completed, so that the labor intensity is high and the efficiency is low.

Disclosure of Invention

The invention provides an automatic concrete forming system, which aims to solve the technical problems of low automation degree and high labor intensity caused by manual completion of process connection in the prior art.

In order to solve the problems, the automatic concrete forming system provided by the invention adopts the following technical scheme: an automated concrete forming system comprising:

the storage equipment comprises a storage rack and a plurality of storage units, wherein the storage units are arranged on the storage rack and are sequentially distributed along a first direction, and the storage units are used for discharging downwards;

the stirring equipment comprises a receiving track, a stirring device and a lifting device, wherein the receiving track extends along the first direction and is arranged below each storage unit, the stirring device comprises a stirring rack slidingly assembled on the receiving track and a stirring bin rotationally assembled on the stirring rack around an axis extending along the first direction, and the stirring bin is used for receiving materials of the storage units and pouring the materials into a distribution hopper; the lifting device is positioned at one end of the material receiving track and used for driving the stirring device to lift;

The material distribution equipment comprises a material distribution track and a material distribution hopper, wherein the material distribution track extends along a second direction, the second direction is perpendicular to the first direction, the material distribution hopper is slidably assembled on the material distribution track, and the material distribution hopper can be rotatably arranged around an axis extending along the first direction so as to receive the poured concrete in the stirring bin and distribute the material into the test mould;

the vibration tamping equipment comprises a vibration table and a tamping device, wherein the vibration table is arranged below the material distribution track and is used for placing a test die; the inserting and tamping device is used for inserting and tamping the concrete in the test mould;

the test mold maintenance equipment comprises a vertical warehouse and a stacker, wherein the vertical warehouse extends along a first direction, the stacker is used for placing test molds into the vertical warehouse, and the vibration tamping equipment further comprises a first robot for placing the test molds subjected to vibration tamping to a position to be grabbed by the stacker;

the demolding device is used for demolishing the test mold;

the first robot is also used for placing the empty test mould on the vibrating table;

in the first direction, the storage device, the test die maintenance device, the die disassembly device and the empty test die storage device are positioned on the same side of the material distribution device;

in the second direction, the storage device, the test die maintenance device, the die disassembly device and the empty test die storage device are sequentially arranged.

The beneficial effects are that: utilize mobilizable agitating unit to connect material and stirring in the agitated vessel, hoisting device places agitating unit in the high level and emptys the concrete in the cloth hopper, cloth hopper walking and carry out the cloth, first robot puts the test pattern after the vibration is inserted to the position that the hacking machine can snatch, and the hacking machine is put the test pattern in standing the storehouse and is maintained afterwards, and the hacking machine is put the test pattern on the die stripping equipment again and is taken out the die after the maintenance, and first robot plays simultaneously and puts the effect of empty test pattern on the shaking table. According to the invention, automatic operation is realized in each process and the connection between each process, so that the manual participation degree is reduced, and the labor intensity is lower. And storage equipment, distribution equipment, form removal equipment arrange around standing the storehouse, conveniently carry out the transportation after cloth and the test block are disassembled.

Further, the demolding device comprises a conveyor for conveying the test molds along the first direction and a demolding device, the stacker is used for placing the test molds in the vertical warehouse on the conveyor, and the concrete automatic forming system further comprises a second robot used for placing the test molds on the conveyor on the demolding device.

Further, the demolding device further comprises a manual demolding platform positioned at the side part of the conveyor, and the demolding device further comprises a test mold pushing mechanism used for pushing the test mold on the conveyor onto the manual demolding platform.

Further, in the first direction, the demolding device and the manual demolding platform are both positioned on one side of the empty test mold storage device.

Further, the tamping device is fixedly arranged on the first robot.

Further, the tamping device comprises a base fixed on the first robot, four tamping units are arranged on the base, each tamping unit comprises elastic tamping sheets, the elastic tamping sheets of each tamping unit are circumferentially arrayed around a central axis extending up and down, and the tamping units further comprise telescopic pieces which are used for driving the corresponding elastic tamping sheets to reciprocate up and down in a plane where the elastic tamping sheets are located;

the lower extreme of elasticity is inserted and is smashed the piece for inserting the end in the concrete, and the plane that each elasticity inserted and smashed the piece place with the central axis is the contained angle that sets for and distributes, and each elasticity inserted and smashed the piece and all from top to bottom and towards the direction slope that deviates from each other, and the inserting end of elasticity inserted and smashed the piece is used for pushing up on the inner wall of examination mould with the slope and buckling downwards.

Further, the base comprises a fixed seat body and a sliding seat body which is assembled on the fixed seat body in a sliding manner along the extending direction of the central axis, and each tamping unit is fixedly arranged on the sliding seat body;

An elastic piece is arranged between the sliding seat body and the fixed seat body and is used for applying downward elastic force to the sliding seat body.

Further, the empty test die storage device comprises a support frame and a test die support arranged on the support frame, wherein the test die support is used for storing a test die, and one end of the test die support extending along the first direction and facing the material distribution device is lower than the other end of the test die support, so that the test die can slide under the dead weight; the lower end of the test die support is provided with a grabbing position, a first preparation position and a second preparation position from low to high in sequence, a grabbing interval is arranged between the grabbing position and the first preparation position for the first robot to grab the test die, and the lower end of the test die support is provided with a baffle plate which is used for being matched with the test die stop;

the empty test die storage device further comprises a stop module which is positioned above the test die support, wherein the stop module comprises a first stop piece and a second stop piece which can stretch up and down, and the first stop piece is used for being in stop fit with the outer wall of the upper end of the test die in the first preparation position so as to prevent the test die in the first preparation position from sliding downwards; the second stop piece is used for being in stop fit with the inner wall of the upper end of the test die in the second preparation position so as to prevent the test die in the second preparation position from sliding downwards;

When the second stop member extends downwards and is matched with the test die stop in the second preparation position, the first stop member retracts upwards so that the test die in the first preparation position slides downwards to the grabbing position, and after the first stop member extends downwards, the second stop member retracts upwards so that the test die in the second preparation position slides downwards to the first preparation position and is matched with the first stop member in a stop mode.

Further, the stop module further comprises a mounting frame body fixed on the test die support, a sliding seat capable of reciprocating in a first direction and a driving cylinder in transmission connection with the sliding seat are movably arranged on the mounting frame body, guide rails which are spaced along a second direction and are opposite in arrangement direction are arranged on the sliding seat, a guide rod capable of moving up and down is arranged at a position, corresponding to each guide rail, on the mounting frame body, the guide rods are in guide sliding fit with the guide rails in the first direction, and the first stop piece and the second stop piece are respectively fixed at the bottom ends of the corresponding guide rods; each guide rod is sleeved with a compression spring, the compression springs are fixedly connected with the mounting frame body, the guide rail is provided with a first horizontal guide part and a second horizontal guide part which are different in height, and the guide rail is also provided with an inclined guide part for connecting the first horizontal guide part and the second horizontal guide part, so that the sliding seat can realize the up-down alternate extension and retraction of the first stop piece and the second stop piece when moving back and forth.

Further, the first stop piece and the second stop piece are both stop cylinders.

Drawings

The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. In the drawings, embodiments of the invention are illustrated by way of example and not by way of limitation, and like reference numerals refer to similar or corresponding parts and in which:

FIG. 1 is a perspective view of an automated concrete forming system (first and second turrets not shown);

FIG. 2 is a top view of an automated concrete forming system;

FIG. 3 is a schematic structural view of a material storage device and a stirring device;

FIG. 4 is a perspective view of a stirring device;

FIG. 5 is a side view of the stirring device;

FIG. 6 is a schematic view of a lifting device;

FIG. 7 is a schematic view of a lifting seat;

FIG. 8 is a schematic structural view of a material distributing device, a stirring device and a lifting device;

FIG. 9 is a schematic diagram of the structure of the material distribution device and the test mold;

FIG. 10 is a schematic view of a part of the structure of the cloth apparatus;

FIG. 11 is a partial schematic view of a load cell in a cloth apparatus;

FIG. 12 is a schematic view of a first robot, a tamper device, and a test jaw;

FIG. 13 is a schematic view of the first view of the tamper apparatus;

fig. 14 is a schematic view of the structure of the tamper apparatus at a second view angle;

fig. 15 is a schematic structural view of a fixed seat body, a sliding table and a sliding table stop block in the tamping device;

FIG. 16 is a schematic view of a slip table stop block;

FIG. 17 is a schematic view of a slide table;

FIG. 18 is a schematic view of a sliding seat in the tamper apparatus;

fig. 19 is a schematic structural view of a fourth cylinder mounting block;

FIG. 20 is a schematic view of the structure of the stripping apparatus (the stripping means is not shown);

FIG. 21 is a perspective view of an empty test pattern storage device;

FIG. 22 is a front view of the empty test pattern storage device;

FIG. 23 is a schematic structural view of a test stand;

FIG. 24 is a schematic illustration of an empty test pattern storage device in use;

FIG. 25 is a schematic view of a third stop cylinder in another embodiment of the blank mold storage apparatus;

FIG. 26 is a schematic view of a stop module in another embodiment of the empty test pattern storage apparatus.

Reference numerals illustrate:

100. a storage device; 101. a storage rack; 102. a storage bin; 103. a weighing hopper; 104. a storage hopper;

200. a stirring device; 201. a material receiving rail; 202. a stirring device; 203. a lifting device; 204. a stirring frame; 205. a stirring bin; 206. stirring bin overturning chain wheels; 207. a stirring bin overturning motor; 208. a first decelerator; 209. the stirring bin turns over the chain; 210. a stirring motor; 211. a second decelerator; 212. a stirring shaft; 213. a first rail wheel; 214. a lifting frame; 215. a lifting seat; 216. a vertical frame body; 217. a cross brace; 218. a lifting oil cylinder; 219. a sprocket mounting rack; 220. lifting chain wheels; 221. a lifting chain;

300. A material distribution device; 301. a cloth rack; 302. a cloth guide rail; 303. a support base; 304. a rail wheel mounting shaft; 305. a second rail wheel; 306. a sensor mounting plate; 307. a weighing sensor; 308. a bearing seat mounting plate; 309. a cloth hopper bearing seat; 310. a cloth hopper; 311. a side discharge port; 312. a cloth hopper overturning motor; 313. a third decelerator; 314. a first gear; 315. a second gear; 316. a scraping structure;

400. vibrating the tamping equipment; 401. a vibration table; 402. a first robot; 403. a limit stop bar; 404. a tamping device; 405. a test die clamping jaw; 406. a base; 407. a tamping unit; 408. a tamping cylinder is inserted; 409. a connecting sheet; 410. an elastic inserting and tamping piece; 411. a fixed seat body; 412. a sliding seat body; 413. inserting and tamping a guide rail; 414. a slide block; 415. a sliding table stop block; 416. a first perforation; 417. a bolt; 418. a nut; 419. a sliding table; 420. a second perforation; 421. a first cylinder mounting block; 422. a second cylinder mounting block; 423. a third cylinder mounting block; 424. a fourth cylinder mounting block; 425. inserting and tamping a first cylinder; 426. inserting and tamping a second cylinder; 427. inserting and tamping a third cylinder; 428. a fourth cylinder is inserted and tamped; 429. a first inclined surface; 430. a second inclined surface; 431. a third inclined surface; 432. a fourth inclined surface;

500. Test mold maintenance equipment; 501. standing a warehouse; 502. a stacker;

600. a form stripping device; 601. a roller conveyor; 602. manually removing the die table; 603. a test mold pushing mechanism; 604. a push-out cylinder; 605. a push plate; 606. a test mold jacking mechanism; 607. a supporting plate; 608. jacking the air cylinder; 609. a form removing device;

700. an empty test mold storage device; 701. a support frame; 702. a test mold bracket; 703. mounting a beam; 704. a test mold supporting beam; 705. unpowered fluent strips; 706. an L-shaped limiting plate; 707. a baffle; 708. a cylinder bracket; 709. a first stop cylinder; 710. a second stop cylinder; 711. a third stop cylinder; 712. a mounting frame body; 713. a top base; 714. a base; 715. connecting a vertical rod; 716. a driving cylinder; 717. a slide; 718. a guide rail; 719. a first horizontal guide portion; 720. a second horizontal guide portion; 721. an inclined guide part; 722. a compression spring; 723. a first guide bar; 724. a second guide bar; 725. a guide wheel;

800. a second robot;

901. a first turntable; 902. a second intermediate turntable; 903. testing a mold; 904. a first test mold; 905. a second test mold; 906. and thirdly, testing the mold.

Detailed Description

The following description of the embodiments of the present invention will be made more complete and clear to those skilled in the art by reference to the figures of the embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The principles and spirit of the present invention are explained in detail below with reference to several representative embodiments thereof.

The embodiment of the concrete automatic forming system provided by the invention comprises the following components:

as shown in fig. 1 to 24, the automated concrete forming system includes a storage device 100, a stirring device 200, a distribution device 300, a vibration tamping device 400, a test pattern curing device 500, a pattern removing device 600, and an empty test pattern storage device 700. The storage apparatus 100 serves to store raw materials, the stirring apparatus 200 serves to receive the raw materials and stir the raw materials into concrete, the distribution apparatus 300 serves to pour the concrete into the test molds 903, the vibration and tamping apparatus 400 serves to vibrate and tamper the concrete-filled test molds 903, the test mold curing apparatus 500 serves to cure the concrete-filled test molds 903 to form concrete test blocks, and the demolding apparatus 600 serves to demolish the concrete test blocks from the test molds 903, and the empty test mold storage apparatus 700 serves to store empty test molds 903.

As shown in fig. 3, the storage apparatus 100 includes a storage rack 101, on which a plurality of storage bins 102 are arranged, the storage bins 102 are used to store solid raw materials, the plurality of storage bins 102 are sequentially arranged in a straight line direction, and for convenience of description, the plurality of storage bins 102 are defined to be sequentially arranged in a left-right direction. The left-right direction is a first direction, and the front-back direction is a second direction. The types of solid raw materials stored in each storage bin 102 are different, such as one of the storage bins 102 for storing aggregate and one of the storage bins 102 for storing cement. Weighing hoppers 103 are arranged below each storage bin 102, and each weighing hopper 103 is used for weighing the falling concrete raw materials, and temporarily storing the concrete raw materials after weighing the concrete raw materials with set weights. Wherein, the storage bin 102 and the weighing hopper 103 can adopt the structure of the prior art, for example, an automatic quantitative feeding device for the granular raw materials of the patent with the publication number of CN210988165U can be adopted. A storage hopper 104 is also mounted on the left side of the storage rack 101, and the storage hopper 104 is used for storing liquid raw materials. Wherein each storage bin 102 and the weighing hopper 103 below form a storage unit, and the storage hopper 104 also forms a storage unit.

Both the storage bin 102 and the storage hopper 104 are suspended in the air with a certain distance from the ground.

As shown in fig. 4 to 7, the stirring apparatus 200 includes a receiving rail 201, a stirring device 202, and a lifting device 203, the receiving rail 201 extends in the left-right direction, the stirring device 202 is slidably assembled on the receiving rail 201, and the lifting device 203 and the storage apparatus 100 are sequentially arranged along the receiving rail 201 from left to right. A receiving rail 201 is located below each storage bin 102 and storage hopper 104.

The stirring device 202 comprises a stirring frame 204 and a stirring bin 205 rotatably arranged on the stirring frame 204, wherein the stirring bin 205 is of a structure with a charging hole at the top and a closed periphery.

A stirring bin overturning chain wheel 206 is fixed outside one side of the stirring bin 205 in the left-right direction; a stirring bin overturning motor 207 is fixedly installed on the stirring frame 204, a first speed reducer 208 is connected to an output shaft of the stirring bin overturning motor 207, a chain wheel is fixed to an output shaft of the first speed reducer 208, a stirring bin overturning chain 209 is wound between the stirring bin overturning chain wheel 206 and the chain wheel on the first speed reducer 208, and the stirring bin overturning motor 207 drives the stirring bin 205 to overturn, so that material pouring is performed.

The stirring machine frame 204 is fixedly provided with a stirring motor 210, an output shaft of the stirring motor 210 is connected with a second speed reducer 211, an output shaft of the second speed reducer 211 is provided with a stirring shaft 212, the stirring shaft 212 stretches into the stirring bin 205, and the stirring shaft 212 is driven to rotate by the stirring motor 210 to stir the concrete raw materials in the stirring bin 205.

A left row and a right row of first rail wheels 213 are mounted at the bottom of the stirring frame 204, and the first rail wheels 213 can walk on the material receiving rail 201.

The lifting device 203 comprises a fixed lifting frame 214, and a lifting seat 215 is mounted on the lifting frame 214 in a sliding manner along the up-down direction. The lifting seat 215 is integrally L-shaped, and the lifting seat 215 comprises a vertical frame 216 and two cross braces 217 mounted on the vertical frame, wherein the two cross braces 217 are connected to the lower end of the vertical frame 216. The cross braces 217 extend in a front-rear direction, and the two cross braces 217 are arranged at intervals in a left-right direction, the cross braces 217 serving to support the stirring device 202 in use.

A lifting mechanism is mounted on the lifting frame 214. Specifically, the lifting mechanism comprises a lifting cylinder 218 mounted on the lifting frame 214, a cylinder body of the lifting cylinder 218 is fixed on the lifting frame 214, a chain wheel mounting frame 219 is fixedly mounted on a piston rod of the lifting cylinder 218, and the chain wheel mounting frame 219 comprises a vertical shaft and a transverse shaft fixed on the vertical shaft, and the transverse shaft extends leftwards and rightwards. The lifting chain wheel 220 is rotatably installed at two ends of the transverse shaft respectively, the lifting chain wheel 220 is windingly provided with a lifting chain 221, one end of the lifting chain 221 is fixed on the vertical frame body 216, and the other end of the lifting chain 221 is fixed on the lifting frame 214. When the lifting cylinder 218 stretches and contracts, the lifting seat 215 can be driven to lift by the lifting chain 221.

The receiving track 201 comprises a fixed section and a movable section, wherein the fixed section is fixedly installed on the ground, the movable section is fixedly installed on the lifting seat 215, and the movable section can lift along with the lifting seat 215.

As shown in fig. 8 to 11, the cloth apparatus 300 includes a cloth rack 301, a cloth rail extending in the front-rear direction is mounted on the cloth rack 301, and the lifting device 203 is located at the front side of the cloth apparatus 300. The cloth rail comprises two parallel cloth guide rails 302, and the two cloth guide rails 302 are arranged at intervals along the left-right direction.

The cloth rail 302 is slidably supported with a support seat 303, and the cloth device 300 further includes two rail wheel mounting shafts 304 arranged at intervals along the front-rear direction, wherein the rail wheel mounting shafts 304 extend along the left-right direction. The rail wheel mounting shaft 304 penetrates through the two supporting seats 303 along the left-right direction, the two ends of the rail wheel mounting shaft 304 are rotatably provided with second rail wheels 305, and the second rail wheels 305 at the two ends are respectively supported on the cloth guide rails 302 at the corresponding sides. The supporting seat 303 is fixedly provided with a sensor mounting plate 306, and the sensor mounting plate 306 is fixedly provided with a weighing sensor 307.

Each weighing sensor 307 is fixedly provided with a bearing seat mounting plate 308, the bearing seat mounting plate 308 is fixedly provided with a cloth hopper bearing seat 309, the cloth device 300 further comprises a cloth hopper 310, two ends of the cloth hopper 310 are supported and rotatably arranged on the cloth hopper bearing seats 309, and the weighing sensors 307 can weigh the cloth hopper 310 and concrete in the cloth hopper 310. The cloth rack 301 is further provided with a traveling driving mechanism capable of driving the cloth hopper 310 to move back and forth, wherein the traveling driving mechanism is in the prior art, for example, a sprocket chain mechanism and the like can be adopted, and details are not repeated here.

The cloth hopper 310 is a cylinder structure with closed left and right ends and an open top, and the open top is a feed inlet for receiving evenly stirred concrete. Three side discharge holes 311 are formed in the side portion of the cloth hopper 310, and the three side discharge holes 311 are uniformly distributed on the cloth hopper 310 along the left-right direction. When the cloth hopper 310 rotates downward toward the side where the side discharge port 311 is located, the concrete in the cloth hopper 310 can be discharged through the side discharge port 311 and falls into the test mold 903 below.

In order to drive the cloth hopper 310 to rotate, a cloth hopper driving mechanism is fixedly mounted on one of the supporting seats 303, the cloth hopper driving mechanism comprises a cloth hopper overturning motor 312 mounted on the supporting seat 303, a third reducer 313 is mounted on the output end of the cloth hopper overturning motor 312, and a first gear 314 is mounted on the output end of the third reducer 313. A second gear 315 is fixed to the outside of one end of the cloth hopper 310, the diameter of the second gear 315 is larger than that of the first gear 314, and the first gear 314 is engaged with the second gear 315.

A scraping structure 316 is also rotatably installed in the cloth hopper 310, and the scraping structure 316 functions to scrape out the remaining concrete.

The cloth apparatus 300 further comprises a controller connected to the hopper overturning motor 312, which is capable of acquiring the values of the weighing sensors 307. As the concrete continuously flows out of the side discharge port 311, the weight of the hopper 310 and the concrete in the hopper 310 becomes gradually smaller. In order to ensure that the concrete flowing out of the side discharge holes 311 is consistent in drop point, and ensure that the discharge amount in unit time is set, the cloth hopper 310 needs to be driven to rotate downwards towards the side where the side discharge holes 311 are located, and the side discharge holes 311 are placed at lower positions. The controller determines the angle of rotation of the cloth hopper 310 according to the value of the weighing sensor 307, and drives the cloth hopper 310 to rotate through the cloth hopper overturning motor 312.

As shown in fig. 2 and fig. 12 to 19, the vibration and tamping apparatus 400 includes a vibrating table 401, a first robot 402, and the vibrating table 401 is located below the distribution rail, and the vibrating table 401 is a standard vibrating table, and the vibrating table 401 has two vibrating tables arranged in sequence in the front-rear direction. Six limit stop bars 403 are arranged above the vibration tables 401 at a certain distance from the vibration table top, each vibration table 401 is correspondingly provided with three limit stop bars 403, and a neutral space formed between every two adjacent limit stop bars 403 is used for placing a test die 903. The limiting bar 403 functions to limit the position of the test pattern 903 during vibration.

The first robot 402 is positioned on the right side of the distribution track, an inserting and tamping device 404 and a test die clamping jaw 405 are arranged on an arm of the first robot 402, and the inserting and tamping device 404 is used for inserting and tamping the concrete in the test die 903 and discharging air in the concrete; the purpose of the test jaw 405 is to hold the test pattern 903.

The tamping device 404 includes a base 406 and four tamping units 407 mounted on the base 406, where the four tamping units 407 can operate independently, and when in use, at least one tamping unit 407 is selected to operate according to the size and shape of the test die 903.

The tamper unit 407 includes a tamper cylinder 408, a connecting piece 409, and an elastic tamper piece 410, the tamper cylinder 408 including a cylinder body mounted on the base 406 and a piston rod slidably fitted on the cylinder body. The connecting piece 409 is fixed to the piston rod and the resilient tamper piece 410 is mounted on the connecting piece 409.

Four elastic tamper pieces 410 are arranged in a circumferential array about the central axis, which for convenience of description defines a central axis extending in an up-down direction, which is also the actual direction of extension of the central axis when the tamper device 404 is in use. In use, the tamper cylinder 408 is positioned above the resilient tamper strip 410. The elastic tamper piece 410 is elastically deformed toward the bottom of the test die 903 after being pressed against the inner wall of the test die 903, thereby tamper concrete against the inner wall of the test die 903.

The resilient tamper strip 410 is disposed obliquely to the central axis, and a predetermined angle is formed between the plane of the resilient tamper strip 410 and the central axis, preferably 5 °, although in other embodiments, the angle may be varied as desired. The four elastic tamper pieces 410 are inclined from top to bottom and are separated from each other, so that the distance between the two opposite elastic tamper pieces 410 is gradually increased from top to bottom.

Correspondingly, the tamping cylinders 408 are also obliquely arranged, the oblique direction of the tamping cylinders 408 is consistent with that of the connected elastic tamping plates 410, and the tamping cylinders 408 can drive the elastic tamping plates 410 to move along the oblique direction of the elastic tamping plates 410, so that the elastic tamping plates 410 can be pressed against the inner wall of the test die 903.

Specifically, the base 406 includes a fixed base 411 and a sliding base 412, and the fixed base 411 is fixedly mounted on the first robot 402. The sliding base 412 slides in the up-down direction, and four tamper units 407 are mounted on the sliding base 412. The fixing base 411 is a fixing plate, two grooves extending up and down are formed in the fixing plate, and the tamping guide 413 is fixedly installed in the grooves through bolts. An upper sliding block 414 and a lower sliding block 414 are slidably arranged on each tamping guide 413, and the sliding base 412 is fixedly arranged on the sliding blocks 414.

The fixed seat 411 is fixedly provided with a sliding table stop block 415 positioned between the two tamping guide rails 413, two first through holes 416 are formed in the sliding table stop block 415, and the two first through holes 416 are distributed at intervals along the left-right direction. A bolt 417 is penetrated through each first through hole 416, a rod portion of the bolt 417 is penetrated downwards from the first through hole 416, a nut 418 is screwed on the rod portion of the bolt 417, and an outer diameter of the nut 418 is larger than an inner diameter of the first through hole 416, so that the bolt 417 is prevented from being separated from the sliding table stop block 415 upwards.

A sliding table 419 is sleeved outside the two bolts 417, specifically, a second through hole 420 is formed in the sliding table 419, and the bolts 417 penetrate through the second through hole 420. The sliding seat 412 is fixedly installed on the sliding block 414 and the sliding table 419 at the same time; the sliding table 419 is located above the sliding table stop block 415, where the second through hole 420 is a stepped hole with a wider upper part and a narrower lower part. A spring (not shown) is pressed between the step of the stepped hole and the head of the bolt 417, the spring being fitted around the outside of the bolt 417. The spring can be compressed when the slide 419 is subjected to an upward force, and in turn, can apply a downward elastic force to the slide 419. The purpose of this setting is that the aggregate in the concrete can be propped up to the elasticity inserted and rammed piece 410 in the inserted and rammed in-process, and inserted and rammed unit 407 receives the ascending effort of aggregate, and inserted and rammed unit 407 can promote the slip pedestal 412 and upwards remove, and slip pedestal 412 drives slip table 419 and upwards remove, and slip table 419 pushes up the spring, and the spring atress compresses, absorbs the impact force and buffers in the compression process, protects fixing base 411 and first robot 402.

A first cylinder mounting block 421, a second cylinder mounting block 422, a third cylinder mounting block 423, and a fourth cylinder mounting block 424 are fixedly mounted on the sliding base 412, wherein the first cylinder mounting block 421, the second cylinder mounting block 422, and the third cylinder mounting block 423 are directly mounted on the sliding base 412, and the fourth cylinder mounting block 424 is indirectly mounted on the sliding base 412.

Here, the interpolation cylinder 408 mounted on the first cylinder mounting block 421 is defined as an interpolation first cylinder 425, the interpolation cylinder 408 mounted on the second cylinder mounting block 422 is defined as an interpolation second cylinder 426, the interpolation cylinder 408 mounted on the third cylinder mounting block 423 is defined as an interpolation third cylinder 427, and the interpolation cylinder 408 mounted on the fourth cylinder mounting block 424 is defined as an interpolation fourth cylinder 428.

A first inclined surface 429 is formed on the side, away from the second cylinder mounting block 422, of the first cylinder mounting block 421, and a second inclined surface 430 is formed on the side, away from the first cylinder mounting block 421, of the second cylinder mounting block 422; the first and second cylinders 425, 426 are mounted against the first inclined surface 429 and the second inclined surface 430, respectively, to achieve an inclined arrangement of the first and second cylinders 425, 426.

The third cylinder mounting block 423 has a third inclined surface 431 on a side thereof away from the sliding seat 412, and the third cylinder 427 is mounted against the third inclined surface 431 to realize an inclined arrangement of the third cylinder 427.

The fourth cylinder mounting block 424 is fixedly mounted on the side of the third cylinder 427 facing away from the third cylinder mounting block 423, and a fourth inclined surface 432 is formed on the side of the fourth cylinder mounting block 424 facing away from the third cylinder 427. The fourth inserting and tamping cylinder 428 is fixedly mounted on the fourth inclined surface 432 of the fourth cylinder mounting block 424, and the fourth inserting and tamping cylinder 428 is guaranteed to be attached to the fourth inclined surface 432, so that the fourth inserting and tamping cylinder 428 is obliquely arranged, and the fourth inserting and tamping cylinder 428 is indirectly mounted on the third inserting and tamping cylinder 427 through the fourth cylinder mounting block 424.

The tamping cylinder 408 is a telescopic member capable of driving the elastic tamping blade 410 to reciprocate, and a spring elastically pressed between the sliding table 419 and the head of the bolt 417 forms an elastic member. The lower end of the resilient tamper strip 410 is the insertion end for insertion into concrete.

As shown in fig. 1 and 2, the test pattern curing apparatus 500 is located at the rear side of the storage apparatus 100 and at the right side of the distribution apparatus 300, and the test pattern curing apparatus 500 includes a vertical magazine 501 and a stacker 502, and the vertical magazine 501 has a plurality of vertical magazines extending in the left-right direction. The structure of the stacker 502 and the vertical warehouse 501 may be in a manner of documents cited in the background, which is not described herein. The palletizer 502 can grasp the test molds 903 and place the test molds 903 in the vertical magazine 501, and can also take out the test molds 903 in the vertical magazine 501 and place them into the mold stripping apparatus 600 to wait for the mold stripping. The vertical library 501 can automatically record information of each test pattern 903, including warehouse-in time, maintenance time, warehouse location, corresponding task list, and the like.

The concrete automated molding system further comprises a first middle rotary table 901 positioned at the left side of the stacker 502, wherein the first middle rotary table 901 can be used for placing the test molds 903, and the first robot 402 can be used for placing the test molds 903 after vibration and tamping on the first middle rotary table 901. The palletizer 502 is able to grasp the test moulds 903 on the first intermediate turntable 901 and place the test moulds 903 in the vertical store 501.

As shown in fig. 1, 2 and 20, the demolding device 600 is located at the rear side of the demolding maintenance device 500 and at the right side of the material distribution device 300, meanwhile, the demolding device 600 is located below the stacker 502, and the demolding device 600 comprises a roller conveyor 601, a manual demolding platform 602, a demolding pushing mechanism 603, a demolding jacking mechanism 606 and a demolding device 609. The roller conveyor 601 conveys the test pattern 903 in the left-right direction, and the roller conveyor 601 includes a plurality of carrier rollers arranged in order in the left-right direction. The manual stripping station 602 is located at the rear side of the roller conveyor 601 and functions to perform manual stripping in the event of a failure of the stripping means 609. The test pattern pushing mechanism 603 is opposite to the manual pattern removing table 602 in front and back, and the test pattern pushing mechanism 603 is used for pushing the test pattern 903 on the roller conveyor 601 to the manual pattern removing table 602. The test mold pushing mechanism 603 comprises a pushing cylinder 604 fixedly arranged on the roller conveyor 601, a pushing plate 605 is arranged on the pushing cylinder 604, and the pushing cylinder 604 pushes the test mold to the manual mold stripping table 602 through the pushing plate 605.

The test die jacking mechanism 606 is used for jacking the test die 903 on the roller conveyor 601, the test die jacking mechanism 606 comprises a jacking cylinder 608 and a supporting plate 607, the supporting plate 607 is provided with two left and right arranged supporting plates, and the supporting plate 607 is opposite to the adjacent two supporting rollers from top to bottom. The two pallets 607 are fixedly installed in the jacking cylinder 608, the jacking cylinder 608 jacks up the two pallets 607, and the two pallets 607 jack up the test die 903.

The form removal device 609 is capable of performing automated form removal with reduced human involvement, and the form removal device 609 may be implemented in a manner known in the art, such as in the patent application of the invention having application publication number CN110696174 a.

As shown in fig. 1 and 2, the automated concrete forming system further includes a second robot 800 and a second transfer table 902, and the second robot 800 is used to grasp the test molds 903 on the roller conveyor 601 onto the mold stripping device 609. The second robot 800 is also capable of inspecting the detached test block and placing the inspected defective product on the second turntable 902 for inspection.

As shown in fig. 2, the empty test pattern storage apparatus 700 is located at the rear side of the stripping apparatus 600, at the right side of the material distribution apparatus 300, and the first robot 402 can place the empty test pattern clamp on the empty test pattern storage apparatus 700 on the vibration table 401. In the left-right direction, the manual stripping table 602 and the stripping device 609 are positioned on the right side of the empty test die storage device 700, and a field person can reach the manual stripping table 602 and the stripping device 609 without bypassing the empty test die storage device 700.

The structure of the empty test pattern storage apparatus 700 is shown in fig. 21 to 24, the empty test pattern storage apparatus 700 includes a support frame 701 and five layers of test pattern holders 702 fixed on the support frame 701, the five layers of test pattern holders 702 are vertically layered at intervals and are parallel to each other, the test pattern holders 702 extend left and right, the lengths of the five layers of test pattern holders 702 are gradually increased from top to bottom, the right ends of the five layers of test pattern holders 702 are flush, and the left ends gradually protrude from top to bottom toward the left ends. The test pattern holders 702 are all inclined from right to left and downward by a certain angle, the right ends of the test pattern holders 702 are used for placing test patterns 903, and the left ends are used for sliding out the test patterns 903.

The test support 702 is a rectangular frame, and a mounting beam 703 and a plurality of test support beams 704 arranged in parallel at intervals are welded in the rectangular frame. The test die bracket 702 is fixedly provided with unpowered fluency strips 705 which are arranged in pairs, the unpowered fluency strips 705 are in the prior art, and a plurality of conveying rollers which are arranged side by side and can rotate are arranged on the unpowered fluency strips 705, and the axes of the conveying rollers are parallel to each other. After placing the test pattern 903 on the unpowered flow bar 705, the test pattern 903 can slide to the left on the test pattern holder 702 by its own weight. The right end of the unpowered flow bar 705 extends outside the right end of the test pattern holder 702.

In order to avoid the position deviation in the sliding process of the test dies 903, L-shaped limiting plates 706 are respectively arranged on the outer sides of the two groups of unpowered fluent strips 705, the L-shaped limiting plates 706 are fixedly connected with the test die supporting beams 704 through bolts, and a sliding channel of the test dies 903 is formed between the two L-shaped limiting plates 706.

The test pattern support 702 of each layer is provided with a grabbing position, a first preparation position and a second preparation position which are sequentially arranged from left to right, the test pattern 903 positioned on the first preparation position is defined as a first test pattern 904, the test pattern 903 positioned on the second preparation position is defined as a second test pattern 905, the test pattern 903 positioned on the grabbing position is a third test pattern 906, and a grabbing interval is reserved between the grabbing position and the first preparation position so that the test pattern clamping jaw 405 on the first robot 402 can grab the third test pattern 906. A baffle 707 for preventing the third test pattern 906 from sliding out of the test pattern holder 702 is welded to the left end of the test pattern holder 702.

The air test die storage device 700 further comprises a stop module corresponding to each layer of test die support 702 one by one, the stop module is arranged above the corresponding layer of test die support 702, each stop module comprises a cylinder support 708 and a first stop cylinder 709 and a second stop cylinder 710 which are fixed on the cylinder support 708, the first stop cylinder 709 and the second stop cylinder 710 are sequentially arranged from left to right, and the cylinder support 708 and the test die support 702 are arranged in parallel. The cylinder bracket 708 in the stop module corresponding to the second, third, fourth and fifth layer of test die brackets 702 is directly fixed on the test die bracket 702 of the upper layer.

The first stop cylinder 709 is located above the first preliminary position and the second stop cylinder 710 is located above the second preliminary position. As shown in fig. 24, a first stopper cylinder 709 is for stopper-fitting with the left outer wall of the upper end of the first test pattern 904, and a second stopper cylinder 710 is for stopper-fitting with the right inner wall of the second test pattern 905.

In the initial state, the first stop cylinder 709 extends downwards, the test dies 903 slide leftwards on the test die support 702 by means of self gravity, and are in stop fit with the first stop cylinder 709 when sliding to the first preparation position, and then the test dies 903 are mutually clung under the self gravity, so that the continuous storage of the test dies 903 on the test die support 702 is realized.

Before grabbing the test die 903, the second stop cylinder 710 extends downward to stop against the right inner wall of the second test die 905, then the first stop cylinder 709 is retracted upward to enable the first test die 904 to slide to the grabbing position for grabbing by the test die clamping jaw 405, after the first stop cylinder 709 extends downward, the second stop cylinder 710 is retracted to enable the second test die 905 and each test die 903 behind the second test die 905 to slide leftwards and be in stop fit with the first stop cylinder 709, and the second stop cylinder 710 extends downward and is in stop fit with the right inner wall of the second test die 905, so that one operation is completed. The test molds can be grasped one by alternately retracting and extending the first stopper cylinder 709 and the second stopper cylinder 710.

In the process of storing and grabbing the test molds 903, the first stop cylinder 709 receives dynamic impact of the first test mold 904 and each test mold after the first test mold 904, while the second stop cylinder 710 receives static pressure of the second test mold 905 and each test mold after the second test mold 905, because the stop position of the first stop cylinder 709 is located on the left outer wall of the upper end of the first test mold 904, although the subsequent second test mold 905 and the test mold 903 on the right thereof can impact the first stop cylinder 709, the first test mold 904 generates a tendency of backward overturning around the stop contact point position of the left outer wall of the upper end, but is limited by the second test mold 905 and each test mold 903 on the rear to stop overturning of the first test mold 904, so as to avoid overturning of the first test mold 904 and the subsequent test mold 903 from the test mold bracket 702, and further ensure stable storage and grabbing work.

In other embodiments, as shown in fig. 25, a third stop cylinder 711 is mounted on the test jig holder 702, the third stop cylinder 711 is in the first preparation position, the third stop cylinder 711 is used to stop the left outer wall of the lower end of the first test jig 904, and the first stop cylinder 709 and the third stop cylinder 711 extend and retract synchronously to stop the first test jig 904 together.

In other embodiments, as shown in fig. 26, the stop module includes a mounting frame body 712 fixed on the test stand 702, where the mounting frame body 712 includes a top base 713, a base 714, and a plurality of connecting vertical rods 715 connected between the top base 713 and the base 714. The top seat 713 is provided with a driving cylinder 716, the driving end of the driving cylinder 716 is connected with a sliding seat 717, and the driving cylinder 716 can drive the sliding seat 717 to reciprocate left and right. The bottom of the slide 717 is provided with two guide rails 718 which are arranged at intervals in the front-back direction, the arrangement directions of the two guide rails 718 are opposite, each guide rail 718 comprises a first horizontal guide portion 719 and a second horizontal guide portion 720 with different heights, and the slide 717 further comprises an inclined guide portion 721 connected between the first horizontal guide portion 719 and the second horizontal guide portion 720, and the installation height of the first horizontal guide portion 719 is lower than that of the second horizontal guide portion 720. A first guide rod 723 and a second guide rod 724 which can move up and down are arranged on the base 714 in a penetrating way, and the first guide rod 723 and the second guide rod 724 are respectively correspondingly matched with the two guide rails 718 in a guiding way. The first guide rod 723 and the second guide rod 724 have the same length, the tops of the two guide rods are connected with guide wheels 725, and the guide wheels 725 are provided with guide grooves in guide sliding fit with the guide parts of the corresponding guide rails 718. Compression springs 722 are sleeved outside each guide rod, and the bottom ends of the compression springs 722 are fixedly connected with the top surface of the base 714. The first blocking cylinder 709 is connected to the bottom end of the first guide rod 723, and the second blocking cylinder 710 is connected to the bottom end of the second guide rod 724.

When the piston rod of the driving cylinder 716 is fully extended, the guide wheel 725 on the first guide rod 723 is located at the second horizontal guide portion 720 of one of the guide rails, and the guide wheel 725 on the second guide rod 724 is located at the first horizontal guide portion 719 of the other guide rail. At this time, the entire first stopper cylinder 709 is positioned upward, and no matter whether the piston rod of the first stopper cylinder 709 is in an extended state or a retracted state, the test pattern 903 is not blocked; the second stopper cylinder 710 is located at a lower position as a whole, and the test pattern 903 can be blocked regardless of whether the piston rod of the second stopper cylinder 710 is in an extended state or a retracted state.

When the piston rod of the driving cylinder 716 is fully retracted, the guide wheel on the first guide rod 723 is located at the first horizontal guide portion 719 of one of the guide rails and the guide wheel on the second guide rod 724 is located at the second horizontal guide portion 720 of the other guide rail. At this time, the whole first stopper cylinder 709 is positioned at a lower position, and the test die can be blocked no matter whether the piston rod of the first stopper cylinder 709 is in an extended state or a retracted state; the second stopper cylinder 710 is located at an upper position as a whole, and no matter whether the piston rod of the second stopper cylinder 710 is in an extended state or a retracted state, the test die cannot be stopped.

When the piston rods of the driving cylinder 716 are not fully extended, the guide wheels 725 on the first guide rod 723 and the second guide rod 724 are both positioned on the inclined guide part 721, and the compression amounts of the compression springs 722 are the same, at this time, the test molds 903 can be blocked when the piston rods of the first stop cylinder 709 and the second stop cylinder 710 are extended, and the test molds 903 can be opened when the piston rods of the first stop cylinder 709 and the second stop cylinder 710 are retracted.

In normal use, the blocking and avoiding of the test pattern 903 is realized by only alternating extension and retraction of the piston rods of the first blocking cylinder 709 and the second blocking cylinder 710. When any one of the first stop cylinder 709 and the second stop cylinder 710 fails, the whole up-down alternate motion of the first stop cylinder 709 and the second stop cylinder 710 is realized only by the extension and retraction of the piston rod of the driving cylinder 716, so that the blocking and avoiding of the test die are realized. Upon extension and retraction of the piston rod of the driving cylinder 716, the first and second stopper cylinders 709 and 710 as a whole exhibit a motion state of alternately extending and retracting, achieving a mechanical interlock effect.

The first stop cylinder 709 is a first stop member, the second stop cylinder 710 is a second stop member, and in other embodiments, the stop member may be an electric push rod.

Claims (10)

1. An automated concrete forming system, comprising:

the storage equipment (100) comprises a storage rack (101) and a plurality of storage units, wherein the storage units are arranged on the storage rack (101) and are sequentially distributed along a first direction, and the storage units are used for discharging downwards;

the stirring equipment (200) comprises a material receiving track (201), a stirring device (202) and a lifting device (203), wherein the material receiving track (201) extends along the first direction and is arranged below each material storage unit, the stirring device (202) comprises a stirring rack (204) which is assembled on the material receiving track (201) in a sliding manner and a stirring bin (205) which is assembled on the stirring rack (204) in a rotating manner around an axis extending along the first direction, and the stirring bin (205) is used for receiving materials of the material storage units and pouring materials into a material distribution hopper (310); the lifting device (203) is positioned at one end of the receiving track (201) and is used for driving the stirring device (202) to lift;

the distributing device (300) comprises a distributing rail and a distributing hopper (310), wherein the distributing rail extends along a second direction, the second direction is perpendicular to the first direction, the distributing hopper (310) is slidably assembled on the distributing rail, and the distributing hopper (310) can be rotatably arranged around an axis extending along the first direction so as to receive the poured concrete of the stirring bin (205) and distribute the concrete into the test mould (903);

The vibration tamping equipment (400) comprises a vibrating table (401) and a tamping device (404), wherein the vibrating table (401) is arranged below the distribution track, and the vibrating table (401) is used for placing a test die (903);

the inserting and tamping device (404) is used for inserting and tamping the concrete in the test mould (903);

the test die maintenance equipment (500) comprises a vertical warehouse (501) and a stacker (502), wherein the vertical warehouse (501) extends along a first direction, the stacker (502) is used for placing a test die (903) into the vertical warehouse (501), and the vibration tamping equipment (400) further comprises a first robot (402) for placing the test die (903) subjected to vibration tamping to a position to be grabbed by the stacker (502);

the demolding device (600) is used for removing the test mold (903);

an empty test pattern storage device (700) for storing an empty test pattern (903), the first robot (402) further being configured to place the empty test pattern (903) on the vibration table (401);

in the first direction, the storage device (100), the test die maintenance device (500), the die stripping device (600) and the empty test die storage device (700) are positioned on the same side of the distribution device (300); in the second direction, the storage device (100), the test die maintenance device (500), the die stripping device (600) and the empty test die storage device (700) are sequentially arranged.

2. The automated concrete forming system of claim 1, wherein the form removal apparatus (600) includes a conveyor for conveying the forms in the first direction and a form removal device (609), the stacker (502) is configured to place the forms (903) in the vertical store (501) onto the conveyor, and the automated concrete forming system further includes a second robot (800), the second robot (800) is configured to place the forms (903) on the conveyor onto the form removal device (609).

3. The automated concrete forming system of claim 2, wherein the form removal apparatus (600) further comprises a manual form removal station (602) located at a side of the conveyor, the form removal apparatus (600) further comprising a form ejection mechanism (603), the form ejection mechanism (603) configured to eject the form (903) on the conveyor onto the manual form removal station (602).

4. A concrete automated forming system according to claim 3, wherein in a first direction, the stripping means (609) and the manual stripping station (602) are located on one side of the blank mould storage device (700).

5. The automated concrete forming system of any one of claims 1-4, wherein the tamper device (404) is affixed to the first robot (402).

6. The automated concrete forming system of claim 5, wherein the tamper device (404) includes a base (406) fixed to the first robot (402), four tamper units (407) are mounted on the base (406), each tamper unit (407) includes an elastic tamper piece (410), the elastic tamper pieces (410) of each tamper unit (407) are circumferentially arrayed around a central axis extending up and down, and the tamper units (407) further include a telescopic member for driving the corresponding elastic tamper piece (410) to reciprocate up and down in a plane in which the elastic tamper piece (410) is located;

The lower extreme of elasticity is inserted and is smashed piece (410) and inserts the end in the concrete, and the plane that each elasticity inserted and smashed piece (410) is located is the contained angle that sets for with the central axis distributes, and each elasticity inserted and smashed piece (410) all from top to bottom and towards the direction slope that deviates from each other, and the inserting end of elasticity inserted and smashed piece (410) is used for pushing up on the inner wall of examination mould (903) and buckling downwards with the slope.

7. The automated concrete forming system of claim 6, wherein the base (406) includes a fixed base body (411) and a sliding base body (412) slidably mounted on the fixed base body (411) along an extending direction of the central axis, and each of the tamping units (407) is fixedly mounted on the sliding base body (412);

an elastic piece is arranged between the sliding seat body (412) and the fixed seat body (411), and the elastic piece is used for applying downward elastic force to the sliding seat body (412).

8. The automated concrete forming system of any one of claims 1-4, wherein the empty test pattern storage device (700) comprises a support frame (701) and a test pattern holder (702) provided on the support frame (701), the test pattern holder (702) being configured to store a test pattern (903), the test pattern holder (702) extending in a first direction and being lower towards one end of the material distribution device (300) than the other end, such that the test pattern (903) is slidable under its own weight; the lower end of the test die support (702) is sequentially provided with a grabbing position, a first preparation position and a second preparation position from low to high, a grabbing interval is arranged between the grabbing position and the first preparation position for a first robot (402) to grab the test die (903), and a baffle (707) for being in stop fit with the test die (903) is arranged at the lower end of the test die support (702);

The empty test die storage device (700) further comprises a stop module arranged above the test die support (702), the stop module comprises a first stop piece and a second stop piece which can stretch up and down, and the first stop piece is used for being in stop fit with the outer wall of the upper end of the first preparation position upper test die (903) so as to prevent the test die (903) in the first preparation position from sliding downwards; the second stop piece is used for being in stop fit with the inner wall of the upper end of the test die (903) in the second preparation position so as to prevent the test die (903) in the second preparation position from sliding downwards;

when the second stop member extends downwards and is in stop fit with the test die (903) in the second preparation position, the first stop member retracts upwards so that the test die (903) in the first preparation position slides downwards to the grabbing position, and after the first stop member extends downwards, the second stop member retracts upwards so that the test die (903) in the second preparation position slides downwards to the first preparation position and is in stop fit with the first stop member.

9. The automatic concrete forming system according to claim 8, wherein the blocking module further comprises a mounting frame body (712) fixed on the test die support (702), a sliding seat (717) capable of moving back and forth in a first direction and a driving cylinder (716) in transmission connection with the sliding seat (717) are movably arranged on the mounting frame body (712), guide rails which are spaced along a second direction and are opposite in arrangement direction are arranged on the sliding seat (717), guide rods capable of moving up and down are arranged on the mounting frame body (712) at positions corresponding to each guide rail, the guide rods are in guide sliding fit with the guide rails in the first direction, and the first blocking piece and the second blocking piece are respectively fixed at the bottom ends of the corresponding guide rods; each guide rod is sleeved with a compression spring (722), the compression springs (722) are fixedly connected with the mounting frame body (712), the guide rails are provided with first horizontal guide parts (719) and second horizontal guide parts (720) with different heights, and inclined guide parts (721) for connecting the first horizontal guide parts (719) and the second horizontal guide parts (720) are further arranged, so that the sliding seat (717) can realize the up-down alternate extension and retraction of the first stop piece and the second stop piece during reciprocating movement.

10. The automated concrete forming system of claim 8, wherein the first stop and the second stop are stop cylinders.