CN211762421U - Concrete superimposed sheet processing line - Google Patents

Abstract

The utility model discloses a concrete laminated slab processing line in the concrete prefabricated component preparation technical field, including side forms warehouse entry roll table and hoist and mount station, the place ahead of side forms warehouse entry roll table end is provided with the side forms storehouse that is used for depositing the side forms, the hoist and mount station left end has set gradually in the direction outwards and has cleaned the inspection station, side forms installation station, at least one regulation station one, the spraying station, net piece installation station, regulation station two, truss installation station, regulation station and at least one buffering reservation station one, terminal buffering reservation station one the place ahead is provided with at least one buffering reservation station two, the terminal buffering reservation station two right-hand member has set gradually the cloth station in the direction outwards, the static station, the pre-curing kiln, the napper, curing kiln one, the stacking machine, curing kiln two and at least one form removal station; the utility model discloses it is efficient, low in labor strength.

Description

Concrete superimposed sheet processing line

Technical Field

The utility model belongs to the technical field of the precast concrete component preparation, in particular to concrete superimposed sheet processing line.

Background

When preparing the precast concrete component, first side forms and model platform sanitization, a plurality of side forms after the staff will sanitize are placed the model platform according to the preface, the space of a plurality of side forms stroke processing superimposed sheet, the model platform circulates to net piece installation station, the staff places the reinforcing bar net piece in the space, the model platform circulates to truss installation station again, the staff places a plurality of truss reinforcing bars in the space in proper order, the model platform circulates to the cloth station again, the cloth machine distributes the concrete in the space, the vibrator vibrates the model platform of the finished concrete, so that the concrete in the space is more level and more smooth, the model platform that vibrates the end circulates to the maintenance station and maintains, this course of working all needs to rely on the manpower to accomplish basically, high labor intensity, and low efficiency.

SUMMERY OF THE UTILITY MODEL

To the defect among the prior art, the utility model discloses an overcome the weak point among the above-mentioned prior art, provide a concrete superimposed sheet processing line, solve the big technical problem of intensity of labour who exists among the prior art, the utility model discloses it is efficient, low in labor strength.

The purpose of the utility model is realized like this: a concrete laminated slab processing line comprises a side die warehousing roller way and a hoisting station, wherein a first ferry vehicle capable of moving back and forth and jacking a die table is arranged below the hoisting station, a side die warehouse for storing side dies is arranged in front of the tail end of the side die warehousing roller way, a side die ex-warehousing manipulator is arranged above the side die warehouse, a side die ex-warehousing roller way is arranged between the side die warehouse and the side die warehousing roller way, the side die ex-warehousing manipulator can move above the side die warehouse, the die table, the side die warehousing roller way and the side die ex-warehousing roller way, a cleaning inspection station, a side die installation station, at least one adjusting station I, a spraying station, a mesh installation station, an adjusting station II, a truss installation station, an adjusting station and at least one buffering reservation station I are sequentially arranged at the outer side of the hoisting station, the side die installation station is arranged at the tail end of the side die ex-warehousing roller way, the side formwork embedded part installing mechanical arm used for installing the side formwork is arranged above the side formwork installing station, the spraying mechanical arm is arranged above the spraying station, the mesh installing mechanical arm used for placing meshes is arranged above the mesh installing station, the truss installing mechanical arm used for placing trusses is arranged above the truss installing station, at least one buffering reserving station II is arranged in front of a buffering reserving station I at the tail end, a material distributing station, a static maintaining station, a pre-maintaining kiln, a hair-pulling machine, a maintaining kiln I, a stacking machine, a maintaining kiln II and at least one formwork removing station are sequentially arranged on the buffering reserving station I at the tail end in an outward direction, a material distributing machine is arranged above the material distributing station, a concrete vibrating machine is arranged below the material distributing machine, the concrete vibrating machine is arranged on the lower side of the formwork table, and the formwork removing station at the tail end is communicated with the hoisting station through a swinging vehicle I.

In order to further realize the installation of the side die embedded parts, the side die embedded part installing manipulator comprises two installing frames which are arranged in parallel, the mounting rack is connected with a first movable seat which can move along the length direction of the mounting rack, the first movable seat is connected with a first sliding seat which can move along the length direction of the first movable seat, the first sliding seat is connected with a first lifting seat capable of lifting, the lower side of the first lifting seat is rotatably connected with a first supporting seat, the lower side of the supporting seat is connected with two movable clamping detection components, each clamping detection component comprises a sliding seat movably connected to the lower side of the supporting seat, one side of the sliding seat facing downwards is fixedly connected with a first clamping piece and a fixed disc, the first clamping piece is connected with a first clamping jaw which is oppositely arranged, the fixed disc is connected with a rotatable rotating wheel, and the rotating wheel is arranged between the two clamping jaws I in the front-back direction; in the length direction, the outer side of the first supporting seat is fixedly connected with a connecting plate, the outer side of the connecting plate is fixedly connected with a first linear driver, the first linear driver is connected with a pressing rod capable of performing reciprocating linear movement in the height direction, and one end of the pressing rod extending downwards is fixedly connected with a pressing nail sleeve.

In order to further realize the warehouse entry and exit of side forms, side forms warehouse entry and exit manipulator is including setting up the support frame one at side forms storehouse length direction both ends, be connected with the removal seat two that can remove along support frame one length direction on the support frame one, remove and be connected with the sliding seat two that can remove along removing two length direction on the seat two, be connected with the lift seat two of liftable on the sliding seat two, the downside of lift seat two is connected with supporting seat two, the downside of supporting seat two is connected with the holder two that two intervals set up, be connected with the side forms finger two of two relative settings on the holder two, one side inwards that two lower parts of side forms finger is connected with rubber splint two.

In order to realize putting of truss reinforcing steel bars, the truss manipulator is including setting up the support frame two of both sides around the mould platform, be connected with the removal seat three that can remove along two length direction of support frame on the support frame two, remove and be connected with the sliding seat three that can remove along removing three length direction of seat on the seat three, be connected with the lift seat three of liftable on the sliding seat three, the downside of lift seat three rotationally is connected with the link, be connected with the tongs mechanism of two sets of interval settings on the link, tongs mechanism includes at least a set of tongs subassembly, and the tongs subassembly includes wobbling tongs spare one and tongs spare two, the swing opposite direction of tongs spare one and tongs spare two is opposite, can press from both sides the truss reinforcing steel bar tightly when tongs spare one and tongs spare two swing.

In order to further realize the grabbing of the truss reinforcing steel bar, the grabbing mechanism comprises a fixed plate fixedly connected to the upper side of the connecting frame, a mounting shell is fixedly connected below the fixed plate, an opening arranged downwards is formed in the mounting shell, a linear driver II is fixedly connected to the upper side of the mounting shell, a connecting rod extending downwards and capable of performing reciprocating linear movement in the height direction is connected to the linear driver II, a push-pull rod is fixedly connected to one end of the connecting rod extending into the mounting shell, a connecting block is fixedly connected to one end of the push-pull rod extending downwards, a grabbing shaft I is connected to the connecting block, sliding grooves are formed in two sides of the mounting shell, the grabbing shaft I can slide up and down along the sliding grooves, a group of connecting components is respectively connected to the grabbing shaft I on the left side and the right side of the connecting block, and each connecting component comprises a connecting rod, the first connecting rod obliquely extends downwards and forwards, the second connecting rod obliquely extends downwards and backwards, the upper portion of the first gripper is hinged to the lower portion of the first connecting rod, the upper portion of the second gripper is hinged to the lower portion of the second connecting rod, a gripper center shaft is connected to the mounting shell below the gripper shaft I, the lower portions of the first gripper and the second gripper are rotatably connected to the gripper center shaft, and baffle plates used for blocking the first gripper shaft from extending outwards are fixedly connected to the left side and the right side of the mounting shell and cover the sliding grooves.

For the installation of further realization net piece, net piece installation manipulator is including setting up the support frame three of both sides around the die table, be connected with along the removal frame that three length direction of support frame removed on the support frame three, be equipped with two fixing bases on the removal frame, fixing base upside fixedly connected with sharp driver three, be connected with the telescopic link that can do reciprocal rectilinear movement on the direction of height on the sharp driver three, the vertical guide holder of one side fixedly connected with of telescopic link down is equipped with the mounting panel between two vertical guide holders, a plurality of magnetic force frame has been arranged to one side of mounting panel down, the downside of magnetic force frame is connected with the electro-magnet.

When the utility model is used for processing the laminated slab, the method comprises the following steps that (1) the laminated slab is maintained in a maintenance kiln until the strength is allowed by the form removal; (2) transferring the laminated slab to a stripping station through a second flow of a mould table conveyor, and carrying out side mould disassembly; (3) after the side die is disassembled, the die table and the laminated slab are conveyed to a hoisting station by a ferry vehicle, and the laminated slab is hoisted to a component cache region; (4) the die table is transferred to a hoisting station through a ferry vehicle I, the die table on the hoisting station is transferred to a side die rotating station, a side die of the side die rotating station is conveyed to a side die warehousing roller way, and the cleaned side die is placed into a side die warehouse by a side die warehousing-out manipulator; (5) the die table is transferred to a cleaning inspection station to complete cleaning of the die table; (6) the side die is placed on a side die ex-warehouse roller way by a side die out-warehouse manipulator, the side die flows to a position corresponding to a side die mounting station, a cleaned die table flows to the side die mounting station, and the side die embedded part mounting manipulator finishes the placement of the side die and the embedded part; (7) the die table flows to a spraying station, and a spraying machine sprays a release agent on the surface of the die table; (8) the die table sprayed with the release agent is transferred to a mesh mounting station, and a mesh mounting manipulator finishes the placement of meshes; (9) the mould platform on which the net sheets are placed is transferred to a truss installation station, and a truss installation manipulator is used for placing truss reinforcing steel bars; (10) the mould platform on which the truss reinforcing steel bars are placed is transferred to a first buffer reservation station, the mould platform is transferred to a second buffer reservation station through a second shuttle station at the tail end, the mould platform at the second buffer reservation station at the tail end is transferred to a material distribution station, a concrete vibrator pours concrete, and the vibrator vibrates the concrete; (11) the mold platform flows to a pre-curing station, the laminated slab is pre-cured in a pre-curing kiln, the pre-curing time is 1-1.5 hours, and the temperature is not more than 40 ℃; (12) transferring the mold platform after the pre-curing to a roughening station, and roughening the surface of the laminated slab by using a roughening machine; (13) the galling die platform flows to a static maintenance station, if an idle station is provided for maintenance in the first curing kiln, the static maintenance die platform is pulled into the curing kiln for maintenance, if no idle station is provided for maintenance in the first curing kiln, the static maintenance die platform is conveyed to the left side of the second curing kiln from the lower part of the first curing kiln to one side of a stacking machine by the stacking machine, the static maintenance die platform is conveyed to the position corresponding to the idle station by the stacking machine, the die platform enters the second curing kiln for maintenance, the maintenance time is 8-10 hours, the temperature is 55-60 ℃, and the humidity is not less than 90%; (14) returning to the step (1), otherwise, finishing the processing;

wherein, before the installation side forms, mark the centre gripping side forms earlier, including following step: 1) coarsely adjusting the position of the first supporting seat: adjusting the position of the first supporting seat to move to a position right above the side die to be calibrated, controlling the first lifting motor to act to enable the first supporting seat to descend, and stopping descending the first supporting seat when the rotating wheel abuts against the calibrated side die; 2) determining the fixed position of the calibration side die: controlling an adjusting motor one closest to the nail pressing sleeve to move the sliding seat one to the magnetic box, driving the corresponding sliding seat one to move by the adjusting motor, recording the position of the rotating wheel at the moment when the corresponding rotating wheel abuts against the magnetic box, calculating the moving distance of the rotating wheel, setting the moving distance to be c, controlling the adjusting motor one to move reversely to restore the sliding seat one to the original position, controlling a driving motor one to move, enabling a supporting seat one to move (D-c-l/2-D/2) from a linear driver one to the direction of the clamping detection assembly, stopping the driving motor one, enabling the linear driver one to move, enabling the nail pressing sleeve to move downwards, enabling the nail pressing sleeve to push the magnetic box to move downwards, when a magnet of the magnetic box abuts against a die table, enabling the linear driver one to move reversely, resetting the nail pressing sleeve, and controlling the driving motor one to continue to move, the first support seat is enabled to continuously move along the original direction, when the moving distance is b, the first drive motor stops acting, the linear driver acts again, the nail pressing sleeve moves downwards, the nail pressing sleeve pushes the other magnetic box to move downwards, when the magnet is abutted against the die table, the first linear driver acts in a reverse direction, the nail pressing sleeve resets, the first drive motor is controlled to act in the reverse direction, and the first support seat returns to the position in the step (1); 3) adjusting the position of the two clamping detection assemblies: controlling the two rotating wheels to rotate, enabling the two rotating wheels to roll towards the direction of the two magnetic boxes, enabling the rotating wheels to reversely act when the rotating wheels are abutted against the magnetic boxes, enabling the rotating wheels to reversely move a + k + e, finishing calibration, and fixedly connecting the first sliding seat to the first supporting seat; the method for installing the side die in the step (6) specifically comprises the following steps: (601) and (3) starting to install a side die: controlling the actions of the first moving seat and the first sliding seat to move the first supporting seat to be right above the side die to be installed, and stopping the actions of the first lifting motor when the first supporting seat descends and the rotating wheel quickly contacts with the upper side of the side die to be installed; (602) clamping the side die to be installed, wherein the first clamping piece moves, the first two clamping jaws move oppositely, and the first clamping jaw clamps the side die; (603) adjusting the position of the side die: the first lifting motor reversely acts to enable the side die to be installed to leave the side die ex-warehouse roller way, the first lifting motor stops acting after the side die to be installed leaves the die table to a set height, the first driving motor and the first moving motor act, the first driving motor and the first moving motor stop acting after the side die moves to a set die table position, if the angle of the side die to be installed needs to be adjusted, the first rotating motor acts, the first supporting seat rotates to a set angle, the first rotating motor stops acting, the first lifting motor acts to enable the side die to descend, and the first lifting motor stops acting when the side die abuts against the die table; (604) fixing a side die to be installed: when the magnet is abutted against the die table, the linear driver acts reversely, the nail pressing sleeve returns, the linear driver stops acting, the driving motor continues acting, and when the supporting seat continues to move along the original direction b, the driving motor stops acting, the linear driver I acts to enable the nail pressing sleeve to move downwards, when the magnet abuts against the die table, the linear driver I acts reversely, the nail pressing sleeve returns, and the linear driver I stops acting; if the length direction of the side die is parallel to the moving direction of the first moving block, controlling the position of the first moving block according to the same principle as the position of the first adjusting connecting seat; (605) if all the side forms are installed, the side form installation work is finished, otherwise, the step (601) is returned;

the method comprises the following steps that a clamping detection assembly closest to a nail pressing sleeve is assumed to be a first clamping detection assembly, a rotating wheel in the first clamping detection assembly is a first rotating wheel, D is the distance between the radial center of the nail pressing sleeve and the radial center of the first rotating wheel, l is the maximum length of a magnetic box, and D is the diameter of the rotating wheel; the centers of the rotating wheel, the magnetic box and the pressing nail in the front-back direction are on the same straight line; a is a set clamping safety distance, in particular to a distance between one side of the first clamping jaw, which is arranged opposite to the magnetic box, and one side of the magnetic box, which is arranged opposite to the first clamping jaw, when the first clamping piece clamps the side forms; b is the distance between the two magnetic boxes, k is the distance between one side of the first clamping jaw, which is arranged opposite to the first rotating wheel, and one side of the first rotating wheel, which is arranged opposite to the clamping jaw, and e is the length of the first clamping jaw, which is parallel to the side formwork, in the direction; in the initial state, the first clamping jaw is in a completely loosened state, when the rotating wheel rolls on the side die, the side die is arranged between the first clamping jaw and the second clamping jaw, and the first clamping jaw is not contacted with the outer side of the side die; the work of demarcation is in the utility model discloses accomplish before treating the processing.

In the utility model, the side die embedded part manipulator places the side die at a fixed position on the die table, the central position of the side die is determined, and the moving distance of the first moving block and the first connecting seat can be calculated by calculating the position of the first supporting seat and the central position of the side die before clamping the side die placed on the die table, so that the first supporting seat is positioned right above the side die to be installed; the utility model realizes the automation of the side die warehouse-in and warehouse-out, the installation of the side die embedded part, the arrangement of the net sheet and the arrangement of the truss reinforcing steel bars through the combined arrangement of the side die warehouse-in and warehouse-out mechanical arm, the side die embedded part installation mechanical arm, the net sheet installation mechanical arm and the truss mechanical arm, realizes the automatic processing of the concrete laminated slab, reduces the labor intensity and improves the working efficiency; by reasonable layout of the production line, the whole space of a production workshop is not increased while the requirement of automatic production is met; the method can be applied to the installation work of the concrete prefabricated part, and is particularly suitable for the work of processing the concrete composite slab.

Drawings

Fig. 1 is a layout diagram of the present invention.

Fig. 2 is a first three-dimensional structure diagram of the middle side form embedded part installation manipulator of the utility model.

Fig. 3 is a partial enlarged view of fig. 2 at a 1.

Fig. 4 is a partial enlarged view of fig. 2 at B1.

Fig. 5 is a second three-dimensional structure diagram of the middle side form embedded part mounting manipulator of the utility model.

Fig. 6 is a partial enlarged view at C1 in fig. 5.

Fig. 7 is a three-dimensional structure diagram of the middle side form embedded part mounting manipulator of the utility model.

Fig. 8 is a partial enlarged view of fig. 7 at D1.

Fig. 9 is a fourth three-dimensional structure diagram of the middle side form embedded part mounting manipulator of the present invention.

Fig. 10 is a partial enlarged view at E1 in fig. 9.

Fig. 11 is a partial enlarged view at F1 in fig. 5.

Fig. 12 is a structural diagram of the present invention for realizing the rotation of the supporting seat.

Fig. 13 is a structural diagram of the first linear driver and the nail pressing sleeve of the present invention.

Fig. 14 is a perspective view of the middle mesh mounting robot of the present invention.

Fig. 15 is a partial enlarged view at a2 in fig. 14.

Fig. 16 is a first three-dimensional structural view of the middle truss manipulator of the present invention.

Fig. 17 is a partial enlarged view at a3 in fig. 16.

Fig. 18 is a partial enlarged view at B3 in fig. 16.

Fig. 19 is a partial enlarged view at C3 in fig. 16.

Fig. 20 is a second three-dimensional structure diagram of the middle truss manipulator of the present invention.

Fig. 21 is a partial enlarged view at D3 in fig. 20.

Fig. 22 is a partial enlarged view at E3 in fig. 20.

Fig. 23 is a three-dimensional structure diagram of the middle truss manipulator of the present invention.

Fig. 24 is a partial enlarged view at F3 in fig. 23.

Fig. 25 is a fourth three-dimensional structural view of the middle truss manipulator of the present invention.

Fig. 26 is a partial enlarged view at G3 in fig. 25.

Fig. 27 is a first perspective view of the middle gripper mechanism of the present invention.

Fig. 28 is a second perspective view of the middle gripper mechanism of the present invention.

Fig. 29 is a partial enlarged view at H3 in fig. 28.

Fig. 30 is a structural diagram of the present invention for realizing the rotation function of the connecting frame.

Fig. 31 is a three-dimensional structure view of the middle truss reinforcement of the present invention.

Fig. 32 is a first three-dimensional structure diagram of the side form in-out robot of the present invention.

Fig. 33 is a partial enlarged view at a4 in fig. 32.

Fig. 34 is a partial enlarged view at B4 in fig. 32.

Fig. 35 is a second perspective view of the side form in/out robot of the present invention.

Fig. 36 is a partial enlarged view at C4 in fig. 35.

Fig. 37 is a three-dimensional structure diagram of the middle side form warehousing manipulator of the present invention.

Fig. 38 is a partial enlarged view at D4 in fig. 37.

Fig. 39 is a partial enlarged view at E4 in fig. 37.

Fig. 40 is a fourth three-dimensional structure diagram of the middle side form warehousing manipulator of the present invention.

Fig. 41 is a partial enlarged view at F4 in fig. 40.

Fig. 42 is a three-dimensional structure diagram of the middle side form warehouse-in/out manipulator of the present invention after a connecting plate is hidden.

Fig. 43 is a partial enlarged view at H4 in fig. 42.

Fig. 44 is a structural view of the position relationship when the side forms are calibrated in the present invention.

Fig. 45 is a perspective view of the middle magnetic side form of the present invention.

Fig. 46 is a structural view of another embodiment of the magnetic side form of the present invention.

The automatic drawing machine comprises a side die storage roller way 1, a side die in-out manipulator 2, a first 201 supporting frame, a second 202 driving motor, a second 203 moving seat, a second 204 lifting seat, a second 205 moving motor, a second 206 supporting seat, a second 207 sliding seat, a second 208 connecting seat, a first 209 supporting track, a second 210 transmission rack, a second 211 driving gear, a second 212 sliding block, a second 213 fixed guide rail, a second 214 adjusting motor, a second 215 connecting plate, a second 216 moving nut seat, a second 217 clamping piece, a second 218 magnetic side die, a second 219 side die storage, a second 220 moving block, a third 221 supporting track, a second 222 fixed rack, a second 223 moving gear, a second 224 rubber clamping plate, a second 225 side die finger, a second 226 lifting motor, a fourth 227 supporting track, a second 228 lifting block, a second 229 lifting rack, a second 230 lifting gear, a 231 transmission lead screw and a 232 organ; 3 side die embedded part mounting mechanical arm, 301 driving motor I, 302 sliding seat I, 303 lifting seat I, 304 moving seat I, 305 mounting frame, 306 supporting seat I, 307 clamping detection component, 307a rubber clamping plate I, 307b clamping jaw I, 307c clamping part I, 307d sliding seat, 307e rotating wheel, 307f motor mounting plate, 307g adjusting motor I, 307h guide block, 307i fixed disk, 308 rotating motor I, 309 fixed sleeve, 310 connecting seat I, 311 fixed rail I, 312 transmission rack I, 313 driving gear I, 314 fixed rail II, 315 lifting motor I, 316 lifting gear I, 317 lifting rack I, 318 fixed rail IV, 319 lifting block I, 320 fixed guide rail I, 321 guide rod, 322 moving motor I, moving block 323I, 324 fixed rail III, 325 fixed rack I, 326 supporting plate, 327 linear driver I, 328 nail pressing sleeve, 329 driving gear I, 330 driven internal gear I, 331 limit groove, 332 support ring, 333 output shaft I, 334 press rod, 4 mesh installation manipulator, 401 support frame III, 402 electromagnet, 403 telescopic rod, 404 vertical guide seat, 405 idler wheel, 406 linear driver III, 407 magnetic frame, 408 moving frame, 409 transmission gear, 410 installation rack, 411 transmission motor, 5 truss manipulator, 501 lifting seat III, 502 moving seat III, 503 support frame II, 504 driving motor III, 505 connecting seat III, 506 installation track I, 507 transmission rack III, 508 driving gear III, 509 installation track II, 510 lifting rack III, 511 fixing sleeve, 512 installation shell, 513 connecting component, 513a connecting rod I, 513b connecting rod II, 514 gripper I, 514b gripper II, 515 connecting frame, 516 fixing plate, 517 linear driver II, 518 rotation motor II, 519 lifting motor III, 520 lifting gear III, 521, a fourth mounting track, a third 522 lifting block, a third 523 moving gear, a third 524 fixing rack, a third 525 mounting track, a third 526 moving block, a third 527 sliding seat, a third 528 moving motor, a 529 baffle, a 530 gripper center shaft, a second 531 gripper shaft, a third 532 gripper shaft, a first 533 gripper shaft, a 534 sliding groove, a 535 connecting rod, a 536 push-pull rod, a second 537 output shaft, a second 538 driving gear and a second 539 driven inner gear; 6 mould platform cleaning machines, 7 side forms delivery roller ways, 8 interfacial agent spraying machines, 9 spraying manipulators, 10 ferry cart II, 11 distributing machines, 12 concrete vibrating machines, 13 pre-curing kilns, 14 napping machines, 15 curing kilns I, 16 curing kilns II, 17 side forms storehouses, 18 side forms cleaning machines, 19 ferry cart I, 20 side forms bodies, 21 magnetic boxes, 22 protective cases and 23 stacking machines.

Detailed Description

The present invention will be further explained with reference to the following description of the drawings.

As shown in fig. 1 to 44, a concrete laminated slab processing line comprises a side formwork storage roller way 1 and a hoisting station, a ferry vehicle 19 which can move back and forth and can jack up a formwork table is arranged below the hoisting station, a side formwork storage 219 for storing side formworks is arranged in front of the tail end of the side formwork storage roller way 1, a side formwork in-out roller way 2 is arranged above the side formwork storage roller way 219, a side formwork cleaning machine 18 (the prior art) for cleaning the side formworks is arranged above the side formwork storage roller way 1 at the right end of the side formwork storage 219, a side formwork out-storage roller way 7 is arranged between the side formwork storage 219 and the side formwork storage roller way 1, a surface agent spraying machine 8 (the prior art) is arranged above the side formwork out-storage roller way 7 at the left end of the side formwork in-out-storage roller way 2 in the outward direction, the side formwork in-out-storage roller way 2 can move above the side formwork storage roller way 219, the formwork table, the side formwork in-storage, a side die rotary station, a cleaning inspection station, a side die installation station, at least one adjusting station I, a spraying station, a mesh installation station, an adjusting station II, a truss installation station, an adjusting station and at least one buffering reservation station I are sequentially arranged in the outward direction at the left end of the hoisting station, a die table cleaning machine 6 (the prior art) for cleaning impurities on the surface of a die table is arranged between the cleaning inspection station and the side die rotary station, the side die installation station is arranged at the tail end of a side die ex-warehouse roller way 7, a side die embedded part installation manipulator 3 for installing a side die is arranged above the side die installation station, a spraying manipulator 9 is arranged above the spraying station, a mesh installation manipulator 4 for placing meshes is arranged above the mesh installation station, a mesh truss transportation roller way 17 is arranged in front of the mesh installation station, the mesh truss transportation roller way 17 covers the mesh installation station, a mesh conveyor roller way 17 is arranged, The device comprises a first adjusting station, a second adjusting station, a truss mounting station, a third adjusting station and a first buffer reserving station, wherein the positions of the first adjusting station, the truss mounting station, the third adjusting station and the first buffer reserving station are in the length direction, a truss mounting manipulator for placing a truss is arranged above the truss mounting station, at least one second buffer reserving station is arranged in front of the first buffer reserving station at the tail end, a material distributing station, a static maintaining station, a pre-maintaining kiln 13, a napping machine 14, a first maintaining kiln 15, a stacking machine 23, a second maintaining kiln 16 and at least one form removing station are sequentially arranged at the right end of the second buffer reserving station at the tail end in the outward direction, a material distributing machine 11 is arranged above the material distributing station, a concrete vibrating machine 12 is arranged below a mould platform, and the form removing station at the right end is communicated with a hoisting station through a first.

In order to further realize the installation of the side mold embedded part, the side mold embedded part installing manipulator 3 comprises two installing frames 305 which are arranged in parallel, the two installing frames 305 are respectively arranged at the front side and the rear side of a side mold installing station, a first moving seat 304 which can move along the length direction of the installing frame 305 is connected on the installing frame 305, a first sliding seat 302 which can move along the length direction of the first moving seat 304 is connected on the first moving seat 304, a first lifting seat 303 which can lift is connected on the first sliding seat 302, a first supporting seat 306 is rotatably connected on the lower side of the first lifting seat 303, two movable clamping detection components 307 are connected on the lower side of the first supporting seat 306, each clamping detection component 307 comprises a sliding seat 307d which can be movably connected on the lower side of the first supporting seat 306, two rows of first fixed guide rails 320 are fixedly connected on the lower side of the first supporting seat 306, a, the mounting frame 305 is connected with a guide rod 321, the first supporting seat is provided with a second downward mounting opening, a guide block 307h extending into the second mounting opening can slide along the guide rod 321, one downward side of the sliding seat 307d is fixedly connected with a first clamping piece 307c and a first fixed disk 307i, the first clamping piece 307c is connected with two first clamping jaws 307b which are oppositely arranged, the first fixed disk 307i is connected with a rotatable rotating wheel 307e, the first fixed disk 307i is fixedly connected with a motor mounting plate 307f extending downwards, the motor mounting plate 307f is fixedly connected with a first adjusting motor 307g, the first adjusting motor 307g is connected with a rotating wheel in a transmission manner, the first clamping piece is arranged on the first sliding seat on the outward side of the first fixed disk, and the rotating wheel 307e is arranged between the two first clamping jaws 307b in the front and rear directions; in the length direction, a connecting plate 326 is fixedly connected to the outer side of the first support seat 306, a linear driver 327 is fixedly connected to the outer side of the connecting plate 326, a pressure rod 334 capable of reciprocating and linearly moving in the height direction is connected to the linear driver 327, and a nail pressing sleeve 328 is fixedly connected to one end, extending downwards, of the pressure rod 334.

In order to realize the rotation of the first support seat 306, the lower part of the first lifting seat 303 is provided with an installation opening, the first lifting seat 303 is fixedly connected with a first rotating motor 308 through the installation opening, the first rotating motor 308 is in transmission connection with the first support seat 306, an output shaft 333 of the first rotating motor 308 is connected with a first driving gear 329, the upper side of the first support seat 306 is fixedly connected with a first driven inner gear 330, the first driving gear 329 is meshed with the first driven inner gear 330, the lower side of the first lifting seat 303 is fixedly provided with a first fixing sleeve 309, the outer ring of the first driven inner gear 330 is provided with a limiting groove 331, the first driven inner gear 330 is rotatably connected to the first fixing sleeve 309, the first driven inner gear 330 is connected with the inner ring of the support ring 332 through the limiting groove 331, the outer ring of the support ring.

In order to further realize the movement of the first clamping piece 307c in the front and rear directions, two ends of the first moving seat 304 in the length direction are respectively and fixedly connected with a first connecting seat 310, the upper sides of the two mounting frames 305 are respectively and fixedly connected with a first fixed rail 311, one sides of the two mounting frames 305 which are arranged oppositely are respectively and fixedly connected with a second fixed rail 314, the first connecting seat 310 can slide along the first fixed rail 311 and the second fixed rail 314, the outer side of the first connecting seat 310 is fixedly connected with a first driving motor 301, the first driving motor 301 is connected with a first driving gear 313, the mounting frames 305 are also fixedly connected with a first transmission rack 312, and the first driving gear 313 is meshed with the; in order to further realize the movement of the first clamping piece 307c in the left-right direction, a first moving motor 322 is fixedly connected to the first sliding seat 302, a first moving gear is connected to the first moving motor 322 in a transmission manner, a first fixed rack 325 is fixedly connected to the first moving seat 304, the first moving gear is meshed with the first fixed rack 325, a third fixed track 324 is fixedly connected to the first moving seat 304, a plurality of first moving blocks 323 are fixedly connected to one side, facing the first moving seat 304, of the first sliding seat 302, and the first moving blocks 323 are slidably connected with the third fixed track 324; in order to further realize the lifting of the first clamping piece 307c, a first lifting motor 315 is fixedly connected to the first sliding seat 302, a first lifting gear 316 is connected to the first lifting motor 315 in a transmission manner, a first lifting rack 317 is fixedly connected to the first lifting seat 303, the first lifting gear 316 is meshed with the first lifting rack 317, at least one fixed rail four 318 is fixedly connected to one side of the first lifting seat 303, which is arranged relative to the first sliding seat 302, a plurality of lifting blocks 319 are fixedly connected to one side of the first moving seat 304, which is arranged relative to the first lifting seat 303, and the fixed rail four 318 can slide along the first lifting blocks 319.

In order to further realize the in-out storage of the side forms, the side form in-out storage manipulator 2 comprises first support frames 201 arranged at two ends of the side form storage 219 in the length direction, the first support frames 201 are respectively arranged at the left side and the right side of the side form storage 219, a second movable seat 203 capable of moving along the length direction of the first support frame 201 is connected to the first support frames 201, a second sliding seat 207 capable of moving along the length direction of the second movable seat 203 is connected to the second movable seat 203, the moving direction of the second sliding seat 207 is parallel to the conveying direction of the side form storage roller way 1, a second liftable lifting seat 204 is connected to the second sliding seat 207, a second support seat 206 is connected to the lower side of the second lifting seat 204, two clamping pieces 217 arranged at intervals are connected to the lower side of the second support seat 206, two oppositely arranged side form fingers 225 are connected to the second clamping pieces 217, and a second rubber clamping plate 224 is connected to the inward; in order to further realize the movement of the second clamping piece 217 in the front and back direction, two ends of the second moving seat 203 in the length direction are respectively and fixedly connected with a second connecting seat 208, the upper sides of the first two supporting frames 201 are respectively and fixedly connected with a first supporting track 209, one sides of the first two supporting frames 201 which are oppositely arranged are respectively and fixedly connected with a second supporting track, the second connecting seat 208 can slide along the first supporting track 209 and the second supporting track, the outer side of the second connecting seat 208 is fixedly connected with a second driving motor 202, the second driving motor 202 is connected with a second driving gear 211, the first supporting frame 201 is also fixedly connected with a second driving rack 210, and the second driving gear 211 is meshed; in order to further realize the movement of the second clamping piece 217 in the left-right direction, a second moving motor 205 is fixedly connected to the second sliding seat 207, a second moving gear 223 is connected to the second moving motor 205 in a transmission manner, a second fixed rack 222 is fixedly connected to the second moving seat 203, the second moving gear 223 is meshed with the second fixed rack 222, a third supporting track 221 is fixedly connected to the second moving seat 203, a plurality of second moving blocks 220 are fixedly connected to one side, facing the second moving seat 203, of the second sliding seat 207, and the second moving blocks 220 are slidably connected with the third supporting track 221; in order to further realize the lifting of the second clamping piece 217, a second lifting motor 226 is fixedly connected to the second sliding seat 207, a second lifting gear 230 is connected to the second lifting motor 226 in a transmission manner, a second lifting rack 229 is fixedly connected to the second lifting seat 204, the second lifting gear 230 is meshed with the second lifting rack 229, at least one fourth supporting track 227 is fixedly connected to one side of the second lifting seat 204, which is arranged relative to the second sliding seat 207, and a plurality of second lifting blocks 228 are fixedly connected to one side of the second moving seat 203, which is arranged relative to the second lifting seat 204, and the third supporting track 221 can slide along the second lifting blocks 228; wherein, the position of the two clamping pieces 217 is adjustable, and the structure for realizing the position adjustment of the two clamping pieces 217 is concretely that the supporting seat 206 is provided with an installation cavity, the outer side of the supporting seat 206 is fixedly connected with an adjusting motor II 214, the adjusting motor II 214 is in transmission connection with a transmission screw rod 231, the transmission screw rod 231 is rotatably connected on the supporting seat II 206, two ends of the transmission screw rod 231 in the installation cavity in the length direction are respectively in threaded connection with two movable nut seats 216, the two movable nut seats 216 are in threaded connection with the transmission screw rod 231, the lower side of the supporting seat II 206 is fixedly connected with two rows of fixed guide rails II 213, the upper side of each clamping piece II 217 is fixedly connected with a connecting plate 215, the upper side of the connecting plate 215 is fixedly connected with a plurality of slide blocks 211, the slide blocks 211 are slidably connected with the fixed guide rails II 213, the lower side of the movable nut seats, an organ shield 232 is connected to the lower side of the second supporting seat 206, and the organ shield 232 is arranged between the two second clamping pieces 217.

In order to realize the arrangement of the truss steel bars, the truss manipulator 5 comprises two support frames 503 arranged at the front side and the rear side of a mould table, the two support frames 503 are respectively arranged at the left side and the right side of a truss installation station, a moving seat third 502 capable of moving along the length direction of the support frames second 503 is connected onto the support frames second 503, a sliding seat third 527 capable of moving along the length direction of the moving seat third 502 is connected onto the moving seat third 502, a lifting seat third 501 capable of lifting is connected onto the sliding seat third 527, a connecting frame 515 is rotatably connected onto the lower side of the lifting seat third 501, the structure for realizing the rotation of the connecting frame 515 is specifically that a fixed sleeve second 511 is fixedly connected onto the lower side of the lifting seat third 501, a driven internal gear is rotatably connected onto the fixed sleeve second 511, a rotating motor second 518 is fixedly connected onto the lower part of the lifting seat third 501, a driving gear second 538 is connected onto an, the connecting frame 515 is fixedly connected to the lower side of the second driven inner gear 539, two groups of gripper mechanisms arranged at intervals are connected to the connecting frame 515, each gripper mechanism comprises at least one group of gripper assembly 514, each gripper assembly 514 comprises a first gripper piece and a second gripper piece which can swing, the swinging directions of the first gripper piece and the second gripper piece are opposite, and the first gripper piece and the second gripper piece can clamp the truss steel bars when swinging in opposite directions.

In order to further realize the grabbing of the truss reinforcing steel bar, the grabbing mechanism comprises a fixing plate 516 fixedly connected to the upper side of the connecting frame 515, a mounting shell 512 is fixedly connected below the fixing plate 516, an opening arranged downwards is formed in the mounting shell 512, a second linear actuator 517 is fixedly connected to the upper side of the mounting shell 512, the second linear actuator 517 is preferably an air cylinder, a connecting rod 535 extending downwards and capable of performing reciprocating linear movement in the height direction is connected to the second linear actuator 517, a push-pull rod 536 is fixedly connected to one end of the connecting rod 535 extending into the mounting shell 512, a connecting block is fixedly connected to one end of the push-pull rod 536 extending downwards, a first grabbing shaft 533 is connected to the connecting block, sliding grooves 534 are formed in two sides of the mounting shell 512, the first grabbing shaft 533 can slide up and down along the sliding grooves 534, a group of connecting components 513 is respectively connected to the first grabbing shafts 533, the connecting assembly 513 comprises a first connecting rod 513a and a second connecting rod 513b which are connected to a first gripper shaft 533, the first connecting rod 513a extends downwards and obliquely forwards, the second connecting rod 513b extends downwards and obliquely backwards, the upper part of the first gripper 514a is hinged to the lower part of the first connecting rod 513a, the upper part of the second gripper 514b is hinged to the lower part of the second connecting rod 513b, a gripper center shaft 530 is connected to the mounting shell 512 below the first gripper shaft 533, the lower parts of the first gripper 514a and the second gripper 514b are rotatably connected to the gripper center shaft 530, a baffle 529 used for preventing the first gripper shaft 533 from extending outwards is fixedly connected to each of the left side and the right side of the mounting shell 512, and the baffle 529 covers the sliding groove 534; the gripper mechanism further comprises a second gripper shaft 531 and a third gripper shaft 532, the lower parts of the first connecting rods 513a are rotatably connected to the second gripper shaft 531, the lower parts of the two second gripper shafts are rotatably connected to the third gripper shaft 532, the third gripper shaft 532 is arranged behind the second gripper shaft 531, the upper parts of the first grippers 514a are rotatably connected to the second gripper shaft 531 on one side of the first connecting rods 513a, which is arranged opposite to the inner wall of the mounting shell 512, the upper parts of the second grippers 514b are rotatably connected to the third gripper shaft 532 on one side of the second connecting rods 513b, which is arranged opposite to the inner wall of the mounting shell 512, and the lower parts of the first grippers 514a and the second grippers 514b are respectively provided with a clamping; wherein the first gripper 514a and the second gripper 514b are arranged in a crossed manner, when the truss manipulator 5 works, the third moving seat 502, the third sliding seat 527 and the third lifting seat 501 are arranged in a combined manner to realize the up-down, left-right and front-back movement of the gripper mechanism, when the truss manipulator works, the third moving seat 502, the third sliding seat 527 and the third lifting seat 501 are arranged in a combined manner to realize the up-down, left-right and front-back movement of the clamping piece, specifically, the third driving motor 504 acts, the third driving motor 504 drives the third driving gear 508 to rotate, the third driving gear 508 rotates along the third driving rack 507, the third connecting seat 505 slides along the first mounting track 506, the third moving motor 528 acts, the third moving motor 528 drives the third moving gear 523 to rotate, the third moving gear 523 moves along the third fixing rack 524, the third moving block 526 slides along the third mounting track 525, the third lifting motor 519 acts, and the third lifting, the lifting rack three 510 moves up and down under the action of the lifting gear three 520, the mounting rail four 521 slides up and down along the lifting block three 537522, when the clamping piece moves to the position of the truss reinforcing steel bar to be clamped, the driving motor three 504, the moving motor three 528 and the lifting motor three 519 stop acting respectively, the linear driver two 517 acts to enable the connecting rod 535 to ascend, the connecting rod 535 drives the push-pull rod 536 to ascend, the hand grip shaft one 533 slides upwards along the sliding groove 534, the connecting rod one 513a and the connecting rod two 513b swing inwards, the lower parts of the hand grip one 514a and the hand grip two 514b swing oppositely, the hand grip one 514a and the hand grip two 514b clamp the upper part of the truss reinforcing steel bar, the moving motor three 528 and the sliding motor act again to move the truss reinforcing steel bar to the corresponding position above the placed side formwork, the rotating motor two 518 acts, the output shaft rotates, and the rotation of the output shaft drives the driving gear, the rotation of the driving gear 538 drives the driven inner gear to rotate, the rotation of the driven inner gear drives the connecting frame 515 to rotate, the rotation of the connecting frame 515 drives the gripper mechanism to rotate, when the truss steel bar rotates to a required angle, the second rotating motor 518 stops acting, the third lifting motor 519 acts, the third lifting seat 501 descends, the third lifting seat 501 drives the connecting frame 515 to descend, when the truss reinforcing steel bars are placed on the die table, the lifting motor III 519 stops acting, when the truss reinforcing steel bars need to be released, the linear actuator II 517 reversely acts, the connecting rod 535 descends, the lifting drives the push-pull rod 536 to descend, the hand grip shaft I533 slides upwards along the sliding groove 534, the connecting rod I513 a and the connecting rod II 513b swing outwards, the hand grip I514 a and the hand grip II 514b swing outwards, the truss reinforcing steel bars are released, the hand grip I514 a and the hand grip II 514b swing oppositely, and the hand grip I514 a and the hand grip II 514b release the truss reinforcing steel bars.

In order to further realize the movement of the connecting frame 515 in the front and rear directions, two ends of the moving seat three 502 in the length direction are respectively and fixedly connected with a connecting seat three 505, the upper sides of the two supporting frames two 503 are respectively and fixedly connected with a mounting rail one 506, one sides of the two supporting frames two 503 which are oppositely arranged are respectively and fixedly connected with a mounting rail two 509, the connecting seat three 505 can slide along the mounting rail one 506 and the mounting rail two 509, the outer side of the connecting seat three 505 is fixedly connected with a driving motor three 504, the driving motor three 504 is connected with a driving gear three 508, the supporting frames two 503 are also fixedly connected with a driving rack three 507, and the driving gear three 508 is meshed; in order to further realize the movement of the connecting frame 515 in the left-right direction, a moving motor III 528 is fixedly connected to the sliding seat III 527, a moving gear III 523 is connected to the moving motor III 528 in a transmission manner, a fixed rack III 524 is fixedly connected to the moving seat III 502, the moving gear III 523 is meshed with the fixed rack III 524, an installation track III 525 is fixedly connected to the moving seat III 502, a plurality of moving blocks III 526 are fixedly connected to one side, facing the moving seat III 502, of the sliding seat III 527, and the moving blocks III 526 are slidably connected with the installation track III 525; in order to further realize the lifting of the connecting frame 515, a third lifting motor 519 is fixedly connected to the third sliding seat 527, a third lifting gear 520 is in transmission connection with the third lifting motor 519, a third lifting rack 510 is fixedly connected to the third lifting seat 501, the third lifting gear 520 is meshed with the third lifting rack 510, at least one fourth mounting rail 521 is fixedly connected to one side of the third lifting seat 501, which is arranged opposite to the third sliding seat 527, and a plurality of third lifting blocks 537522 are fixedly connected to one side of the third moving seat 502, which is arranged opposite to the third lifting seat 501, and the third mounting rail 525 can slide along the third lifting block 537522.

In order to further realize the installation of the mesh, the mesh installation manipulator 4 comprises a third support frame 401 arranged at the front side and the rear side of the mould table, the three support frames 401 are respectively arranged at the left side and the right side of the mesh installation station, a moving frame 408 moving along the length direction of the third support frame 401 is connected to the third support frame 401, two fixed seats are arranged on the moving frame 408, a third linear driver 406 is fixedly connected to the upper side of the fixed seat, the third linear driver 406 is preferably an electric push rod, an expansion rod 403 capable of performing reciprocating linear movement in the height direction is connected to the third linear driver 406, a vertical guide seat 404 is fixedly connected to the downward side of the expansion rod 403, a plurality of rollers 405 capable of rolling up and down along the third support frame 401 are arranged at one side of the vertical guide seat 404 arranged relative to the third support frame 401, an installation plate is arranged between the two, the electromagnet 402 is connected to the lower side of the magnetic frame 407; the structure for realizing the movement of the moving frame 408 is specifically that the left side and the right side of the moving frame 408 are respectively and fixedly connected with a transmission motor 411, a transmission gear 409 is in transmission connection with the transmission motor 411, one inward side of the left end and the right end of the moving frame 408 is respectively and fixedly connected with an installation rack 410, and the transmission gear 409 is meshed with the installation rack 410.

In this embodiment, the first clamping piece 307c and the second clamping piece 217 are parallel pneumatic clamping jaws, the parallel pneumatic clamping jaws are connected with two movable sliding blocks, the first side die fingers are respectively and fixedly connected to the lower sides of the sliding blocks of the first clamping piece 307c, and the first side die fingers are fixedly connected with the first rubber clamping plate 307 a.

When the method for processing the laminated slab of the utility model is used, the method comprises the following steps that (1) the laminated slab is maintained in a maintenance kiln until the allowable strength of the form removal is reached; (2) transferring the laminated slab to a stripping station through a second flow of a mould table conveyor, and carrying out side mould disassembly; (3) after the side die is disassembled, the die table and the laminated slab are conveyed to a hoisting station by a ferry vehicle, and the laminated slab is hoisted to a component cache region; (4) the mould platform is transferred to a hoisting station through a first ferry vehicle 19, the mould platform on the hoisting station is transferred to a side mould rotating station, a side mould of the side mould rotating station is sent to a side mould warehousing roller way 1, and the side mould warehousing manipulator 2 puts the cleaned side mould into a side mould warehouse 219; (5) the die table is transferred to a cleaning inspection station to complete cleaning of the die table; (6) the side forms are placed on a side form ex-warehouse roller way 7 by a side form in-warehouse manipulator 2, the side forms are moved to positions corresponding to side form mounting stations, the cleaned form stands are moved to the side form mounting stations, and a side form embedded part mounting manipulator 3 is used for completing the placement of the side forms and the embedded parts; (7) the die table flows to a spraying station, and a spraying machine sprays a release agent on the surface of the die table; (8) the mould platform sprayed with the release agent is transferred to a mesh mounting station, and the mesh mounting manipulator 4 finishes the placement of meshes; (9) the mould platform on which the net sheets are placed is transferred to a truss installation station, and a truss installation manipulator is used for placing truss reinforcing steel bars; (10) the mould platform on which the truss reinforcing steel bars are placed is transferred to a first buffer reservation station, the mould platform at the tail end is transferred to a second buffer reservation station through a transfer car II 10, the mould platform at the position of the second buffer reservation station at the tail end is transferred to a material distribution station, a concrete vibrator 12 pours concrete, and the vibrator vibrates the concrete; (11) the mold platform flows to a pre-curing station, the laminated slab is pre-cured in a pre-curing kiln 13, the pre-curing time is 1-1.5 hours, and the temperature is not more than 40 ℃; (12) the mold platform after the pre-curing is finished is transferred to a roughening station, and a roughening machine 14 conducts rough surface treatment on the surface of the laminated slab; (13) the galling die platform flows to a static maintenance station, if an idle station is provided for maintenance in the first curing kiln 15, the static maintenance die platform is pulled into the curing kiln for maintenance, if no idle station is provided for maintenance in the first curing kiln 15, the static maintenance die platform is conveyed to the left side of the second curing kiln 16 from the lower part of the first curing kiln 15 to one side of the stacking machine 23, the stacking machine 23 conveys the static maintenance die platform to the position corresponding to the idle station, the die platform enters the second curing kiln 16 for maintenance, the maintenance time is 8-10 hours, the temperature is 55-60 ℃, and the humidity is not less than 90%; (14) returning to the step (1); wherein, before the installation side forms, mark the centre gripping side forms earlier, including following step: 1) coarsely adjusting the position of the first support seat 306: controlling the first driving motor 301 and the first moving motor 322 to move, so that the first supporting seat 306 moves to the position right above the side die to be calibrated, controlling the first lifting motor 315 to move, so that the first supporting seat 306 descends, and stopping the first lifting motor 315 when the rotating wheel 307e abuts against the side die to be calibrated; 2) determining the fixed position of the calibration side die: controlling the action of the first adjusting motor 307g nearest to the nail pressing sleeve 328 to move the first sliding seat 302 towards the magnetic box 21, the first adjusting motor 307g driving the corresponding first sliding seat 302 to move, when the corresponding rotating wheel 307e abuts against the magnetic box 21, recording the position of the rotating wheel 307e at the moment, calculating the moving distance of the rotating wheel 307e, setting the moving distance to be c, controlling the first adjusting motor 307g to move reversely to restore the first sliding seat 302, controlling the first driving motor 301 to move, moving the first supporting seat 306 from the first linear driver 327 towards the direction (D-c-l/2-D/2) where the clamping detection assembly 307 is located (as shown in figure 44), stopping the first driving motor 301, operating the first linear driver 327 to move the nail pressing sleeve 328 downwards, and driving the nail pressing sleeve 328 to push the magnetic box 21 to move downwards, when the magnet of the magnetic box 21 is abutted against the die table, the first linear driver 327 reversely acts, the nail pressing sleeve 328 resets, the first driving motor 301 is controlled to continue to act, the first supporting seat 306 continues to move along the original direction, when the moving distance is b, the first driving motor 301 stops acting, the first linear driver 327 acts again, the nail pressing sleeve 328 moves downwards, the nail pressing sleeve 328 pushes the other magnetic box 21 to move downwards, when the magnet is abutted against the die table, the first linear driver 327 reversely acts, the nail pressing sleeve 328 resets, the first driving motor 301 is controlled to reversely act, and the first supporting seat 306 returns to the position in the step (1); 3) the position of the two grip sensing assemblies 307 is adjusted: controlling the first adjusting motor 307g to act, wherein the action directions of the first adjusting motor 307g are opposite, so that the two rotating wheels 307e roll towards the directions of the two magnetic boxes 21, when the rotating wheels 307e abut against the magnetic boxes 21, the first adjusting motor 307g acts in the reverse direction, so that the rotating wheels 307e move in the reverse direction by a + k + e, the first adjusting motor 307g stops acting, the calibration is finished, and the first sliding seat 302 is fixedly connected to the first supporting seat 306; in addition, the method for installing the side forms in the step (6) specifically comprises the following steps: (601) and (3) starting to install a side die: controlling the actions of the first driving motor 301 and the first moving motor 322 to enable the first supporting seat 306 to move to the position right above the side die to be installed, enabling the first lifting motor 315 to act to enable the first supporting seat 306 to descend, and stopping the action of the first lifting motor 315 when the rotating wheel 307e is in contact with the upper side of the side die to be installed; (602) the first clamping piece 307c acts, the two first clamping jaws 307b move towards each other, and the first clamping jaws 307b clamp the side die; (603) adjusting the position of the side die: the first lifting motor 315 reversely acts to enable the side die to be installed to leave the side die ex-warehouse roller way, after the side die to be installed leaves the die table to a set height, the first lifting motor 315 stops acting, the first driving motor 301 and the first moving motor 322 act, after the side die moves to a set die table position, the first driving motor 301 and the first moving motor 322 stop acting, if the angle of the side die to be installed needs to be adjusted, the first driving motor 308 rotates to act, after the first supporting seat 306 rotates to a set angle, the first driving motor 308 stops acting, the first lifting motor 315 acts to enable the side die to descend, and when the side die abuts against the die table, the first lifting motor 315 stops acting; (604) fixing a side die to be installed: the first clamping piece 307c reversely acts to enable the first clamping jaw 307b to loosen the side die, the first lifting motor 315 reversely acts, after the first clamping jaw 307b rises to a set distance, the first lifting motor 315 stops acting, the first driving motor 301 or the first moving motor 322 is controlled to act according to the direction of the side die, if the length direction of the side die is parallel to the moving direction of the first connecting seat 310, the first driving motor 301 is controlled to act, after the first supporting seat 306 moves (D-c-l/2-D/2) from the first linear driver 327 to the clamping detection assembly 307, the first driving motor 301 stops acting, the first linear driver 327 acts to enable the nail pressing sleeve 328 to move downwards, when the magnet is abutted against the die table, the first linear driver 327 reversely acts, the nail pressing sleeve 328 returns, the first linear driver 327 stops acting, the first driving motor 301 continues acting, and when the first supporting seat 306 continues to move b along the original direction, when the first driving motor 301 stops acting, the first linear driver 327 acts to enable the nail pressing sleeve 328 to move downwards, when the magnet is abutted against the die table, the first linear driver 327 acts reversely, the nail pressing sleeve 328 returns, and the first linear driver 327 stops acting; if the length direction of the side die is parallel to the moving direction of the first moving block 323, controlling the position of the first moving block 323, and the principle is the same as that of the first adjusting connecting seat 310; (605) if all the side forms are installed, the side form installation work is finished, otherwise, the step (601) is returned;

it is assumed that the clamping detection assembly 307 closest to the pressing pin sleeve 328 is a first clamping detection assembly 307, the rotating wheel 307e in the first clamping detection assembly 307 is a first rotating wheel 307e, D is the distance between the radial center of the pressing pin sleeve 328 and the radial center of the first rotating wheel 307e, l is the maximum length of the magnetic box 21, and D is the diameter of the rotating wheel 307 e; the centers of the rotating wheel 307e, the magnetic box 21 and the nail pressing sleeve 328 in the front-rear direction are on the same straight line; a is a set clamping safety distance, specifically, when the clamping piece one 307c clamps the side forms, the distance between the side of the clamping jaw one 307b arranged opposite to the magnetic box 21 and the side of the magnetic box 21 arranged opposite to the clamping jaw one 307b is between; the side forms to be calibrated and the side forms to be installed have the same structure, when the first support seat 306 is right above the side forms, the nail pressing sleeve 328 is in the outward direction of the magnetic boxes 21, and the detection assembly 307 is clamped between the two magnetic boxes 21 in the initial state.

In the present invention, the magnetic side form 218 (as shown in fig. 44) includes a side form body 20, the side form body 20 is connected with a magnetic box 21, and in an initial state, a magnet of the magnetic box 21 is higher than a height of a lower side of the side form body 20; in order to prevent the magnetic box 21 from being damaged when the rotating wheel 307e abuts against the magnetic box 21, a protective shell 22 may be fixedly disposed on the upper side of the sideform body 20, and the magnetic box 21 is disposed in the protective shell 22 (as shown in fig. 45), and at this time, the above-mentioned abutting against the outer side of the magnetic box 21 in the above method may be modified to abut against the outer side of the protective shell 22; the side forms are placed on the die table, the side forms are put in and out of the warehouse manipulator 2 before the process of the utility model is executed, the side forms are taken out of the side forms warehouse 219 in sequence by the side forms putting in and out of the warehouse manipulator 2, the side forms are placed on the side forms warehouse-out roller way 7, the central position of the side forms to be clamped is determined, the side forms on the side forms warehouse-out roller way 7 are clamped by the side forms embedded part mounting manipulator 3, before the side forms are clamped and placed on the die table, the moving distance of the first moving block 323 and the first connecting seat 310 can be calculated through the calculation of the position of the first supporting seat 306 and the central position of the side forms, and the first supporting seat 306 is positioned right above the side forms to be mounted; the utility model can accurately determine the position for clamping the magnetic side forms 218 with different specifications by the arrangement of the rotatable rotating wheel 307e and the combined arrangement of the liftable pressing nail sleeve 328, and realize the fixation of the side forms by setting the specific distance when fixing the magnetic side forms 218, thereby having high efficiency and wide application range; by reasonable layout of the production line, the whole space of a production workshop is not increased while the requirement of automatic production is met; the method can be applied to the processing work of the concrete prefabricated part, and is particularly suitable for the processing work of the concrete composite slab.

The present invention is not limited to the above embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some replacements and transformations for some technical features without creative labor according to the disclosed technical contents, and these replacements and transformations are all within the protection scope of the present invention.

Claims (6)

1. A concrete laminated slab processing line is characterized by comprising a side formwork warehousing roller way and a hoisting station, wherein a first ferry vehicle capable of moving back and forth and jacking a formwork table is arranged below the hoisting station, a side formwork warehouse for storing side formworks is arranged in front of the tail end of the side formwork warehousing roller way, a side formwork out-warehousing manipulator is arranged above the side formwork warehouse, a side formwork out-warehousing roller way is arranged between the side formwork warehouse and the side formwork warehousing roller way, the side formwork out-warehousing manipulator can move above the side formwork warehouse, the formwork table, the side formwork warehousing roller way and the side formwork out-warehousing roller way, a cleaning inspection station, a side formwork installation station, at least one adjusting station I, a spraying station, a mesh installation station, an adjusting station II, a truss installation station, an adjusting station and at least one buffer reservation station I are sequentially arranged at the tail end of the side formwork out-warehousing roller way at the left end of the hoisting station, the side formwork embedded part installing mechanical arm used for installing the side formwork is arranged above the side formwork installing station, the spraying mechanical arm is arranged above the spraying station, the mesh installing mechanical arm used for placing meshes is arranged above the mesh installing station, the truss installing mechanical arm used for placing trusses is arranged above the truss installing station, at least one buffering reserving station II is arranged in front of a buffering reserving station I at the tail end, a material distributing station, a static maintaining station, a pre-maintaining kiln, a hair-pulling machine, a maintaining kiln I, a stacking machine, a maintaining kiln II and at least one formwork removing station are sequentially arranged on the buffering reserving station I at the tail end in an outward direction, a material distributing machine is arranged above the material distributing station, a concrete vibrating machine is arranged below the material distributing machine, the concrete vibrating machine is arranged on the lower side of the formwork table, and the formwork removing station at the tail end is communicated with the hoisting station through a swinging vehicle I.

2. The concrete composite slab processing line according to claim 1, wherein the side form embedded part mounting manipulator comprises two parallel mounting frames, the mounting frame is connected with a first movable seat capable of moving along the length direction of the mounting frame, the first movable seat is connected with a first sliding seat capable of moving along the length direction of the first movable seat, the first sliding seat is connected with a first lifting seat capable of lifting, the lower side of the first lifting seat is rotatably connected with a first supporting seat, the lower side of the first supporting seat is connected with two movable clamping detection components, the clamping detection components comprise a sliding seat movably connected to the lower side of the first supporting seat, the downward side of the sliding seat is fixedly connected with a first clamping part and a fixed disk, the first clamping part is connected with two clamping jaws arranged oppositely, and the fixed disk is connected with a rotatable rotating wheel, in the front-rear direction, the rotating wheel is arranged between the first clamping jaws; in the length direction, the outer side of the first supporting seat is fixedly connected with a connecting plate, the outer side of the connecting plate is fixedly connected with a first linear driver, the first linear driver is connected with a pressing rod capable of performing reciprocating linear movement in the height direction, and one end of the pressing rod extending downwards is fixedly connected with a pressing nail sleeve.

3. The concrete composite slab processing line according to claim 1, wherein the side form warehouse-in and warehouse-out manipulator comprises a first support frame arranged at both ends of the side form warehouse in the length direction, a second moving seat capable of moving along the length direction of the first support frame is connected to the first support frame, a second sliding seat capable of moving along the length direction of the second moving seat is connected to the second moving seat, a second lifting seat capable of lifting is connected to the second sliding seat, a second support seat is connected to the lower side of the second lifting seat, two clamping members arranged at intervals are connected to the lower side of the second support seat, two side form fingers arranged oppositely are connected to the second clamping members, and a rubber clamping plate II is connected to the inward side of the lower part of the second side form fingers.

4. The concrete composite slab processing line according to claim 1, wherein the truss mounting manipulator comprises two support frames arranged on the front side and the rear side of the die table, a third moving seat capable of moving along the length direction of the second support frame is connected to the second support frame, a third sliding seat capable of moving along the length direction of the third moving seat is connected to the third moving seat, a third lifting seat capable of lifting is connected to the third sliding seat, a connecting frame is rotatably connected to the lower side of the third lifting seat, two groups of gripper mechanisms arranged at intervals are connected to the connecting frame, each gripper mechanism comprises at least one group of gripper components, each gripper component comprises a first swingable gripper component and a second gripper component, the swinging directions of the first gripper component and the second gripper component are opposite, and the first gripper component and the second gripper component can clamp the truss reinforcing steel bars when swinging oppositely.

5. The concrete composite slab processing line according to claim 4, wherein the gripper mechanism comprises a fixed plate fixedly connected to the upper side of the connecting frame, a mounting shell is fixedly connected to the lower side of the fixed plate, an opening is formed in the mounting shell and faces downward, a linear actuator II is fixedly connected to the upper side of the mounting shell, a connecting rod which extends downward and can perform reciprocating linear movement in the height direction is connected to the linear actuator II, a push-pull rod is fixedly connected to one end of the connecting rod extending into the mounting shell, a connecting block is fixedly connected to one end of the push-pull rod which extends downward, a gripper shaft I is connected to the connecting block, sliding grooves are formed in two sides of the mounting shell, the gripper shaft I can slide up and down along the sliding grooves, a group of connecting assemblies is connected to each gripper shaft I on the left side and the right side of the connecting block, and the connecting assemblies comprise a connecting rod I and a connecting rod, the first connecting rod obliquely extends downwards and forwards, the second connecting rod obliquely extends downwards and backwards, the upper portion of the first gripper is hinged to the lower portion of the first connecting rod, the upper portion of the second gripper is hinged to the lower portion of the second connecting rod, a gripper center shaft is connected to the mounting shell below the gripper shaft I, the lower portions of the first gripper and the second gripper are rotatably connected to the gripper center shaft, and baffle plates used for blocking the first gripper shaft from extending outwards are fixedly connected to the left side and the right side of the mounting shell and cover the sliding grooves.

6. The concrete composite slab processing line according to claim 1, wherein the mesh sheet mounting manipulator comprises three support frames arranged on the front side and the rear side of the die table, the three support frames are connected with a moving frame moving along the three length directions of the support frames, the moving frame is provided with two fixed seats, the upper side of each fixed seat is fixedly connected with a linear driver III, the three linear drivers are connected with telescopic rods capable of linearly moving in a reciprocating manner in the height direction, one downward side of each telescopic rod is fixedly connected with a vertical guide seat, a mounting plate is arranged between the two vertical guide seats, a plurality of magnetic force frames are arranged on the downward side of the mounting plate, and the lower sides of the magnetic force frames are connected with electromagnets.

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