CN218117783U

CN218117783U - Automatic dismounting mechanism of shield segment mould

Info

Publication number: CN218117783U
Application number: CN202221696367.8U
Authority: CN
Inventors: 秦晨; 叶娟; 孙亮
Original assignee: Jiangsu Fenghe Tunnel Equipment Co ltd
Current assignee: Jiangsu Fenghe Tunnel Equipment Co ltd
Priority date: 2022-07-01
Filing date: 2022-07-01
Publication date: 2022-12-23
Anticipated expiration: 2032-07-01

Abstract

The utility model discloses a shield constructs automatic disassembly body of section of jurisdiction mould, include: the mould body, setting element one, setting element two, screw member, location color lump, support piece, locating part, robot, the mould body includes: end mould, the side form, the die block, the end mould, the die block is connected and is equipped with hole body one, the setting element one of hole body two, the side form is connected and is equipped with the end of pegging graft, hole body three setting element two, screw thread spare threaded connection is in hole body one, the location color lump sets up the tip of keeping away from setting element two in the screw thread spare, location color lump periphery is regular polygon structure, the terminal surface that the location color lump deviates from the screw thread spare is yellow convex arc face for the surface, support piece connects in the side form and parallel arrangement under the screw thread spare, support piece is used for supporting the screw thread spare, the locating part is connected in the outside of screw thread spare, the robot sets up with the side form interval. Through the threaded part with the positioning color blocks, the robot can position and identify the threaded part, and the threaded part can be screwed up or disassembled.

Description

Automatic dismounting mechanism of shield segment mould

Technical Field

The utility model relates to a shield constructs section of jurisdiction mould technical field, in particular to shield constructs automatic disassembly body of section of jurisdiction mould.

Background

In the existing pipe piece mould, the side mould and the end mould as well as the side mould and the bottom mould are all connected by adopting bolts in a locking way, so that a relatively seamless cavity is formed in the inner cavity of the mould, and the phenomenon of large amount of slurry leakage can not be generated when the pipe piece is poured. By the change of the diameter of the pipe piece, the overall dimension of each die is different, the number of the locking bolts is about 10-15, manual disassembly is adopted, and the problems of labor consumption and low efficiency exist in the mode.

SUMMERY OF THE UTILITY MODEL

This application is through providing a shield constructs section of jurisdiction mould's automatic disassembly body, through improving bolt structure for the manipulator can carry out the dismouting operation automatically, thereby solves the problem that the original structure can only the manual work dismantlement exist, has improved work efficiency greatly.

The embodiment of the application provides a shield constructs automatic disassembly body of section of jurisdiction mould, includes:

the mould body, the mould body includes: end molds, side molds and bottom molds;

the surface of the end die and the surface of the bottom die are both connected with a first positioning piece, and the first positioning piece is provided with a first hole body and a second hole body which are mutually communicated;

the positioning piece II is connected to the side die corresponding to the positioning piece I, a plug-in end is arranged at the positioning piece II corresponding to the hole body II, and a hole body III is arranged at the positioning piece II corresponding to the hole body II;

the threaded piece penetrates through the third hole body and the second hole body and then is in threaded connection with the first hole body;

the positioning color block is arranged at the end part of the threaded part far away from the second positioning part, the periphery of the positioning color block is of a regular polygon structure, and the end face of the positioning color block far away from the threaded part is a convex cambered surface with a yellow surface;

the support piece is connected to the side die and arranged in parallel under the threaded piece, a first groove body parallel to the axis of the threaded piece is formed in the surface of the support piece, and the first groove body is an arc-shaped groove;

the limiting piece is connected to the outer side of the threaded piece and presses the second positioning piece when the threaded piece is locked in the first hole body;

the robot, the robot with the side form interval sets up, the robot is used for dismantling the screw.

The beneficial effects of the above embodiment are as follows:

1. the robot can position and identify the threaded piece by arranging the threaded piece with the positioning color block, so that the robot can conveniently screw or disassemble the threaded piece, and the operation efficiency is greatly improved;

2. through the arrangement of the supporting piece, the threaded piece cannot fall off when being separated from the first hole body;

3. the head of the bolt is in an R-shaped sphere shape, so that the electric wrench can be guided in and positioned correctly, and can rotate smoothly without tightening.

On the basis of the above embodiment, the embodiment of the present application may be further modified as follows:

in one embodiment of the present application: and the periphery of one end of the first positioning piece is provided with a flange, and the flange is connected to the surface of the end mold or the bottom mold. The beneficial effect of this step: the connecting area is enlarged by the flange, so that the positioning stability of the positioning piece is improved.

In one embodiment of the present application: the hole body II is a conical hole with a conical tip facing the hole body I, and the inserting end is a conical end matched with the outer shape of the hole body. The beneficial effect of this step: the inserting end is guided through the conical hole, the inserting end can be conveniently and stably inserted into the hole body II, and the conical surface is limited, so that the positioning element II can be stably positioned in the positioning element I, and the positioning stability of the side die relative to the end die and the bottom die is improved.

In one embodiment of the present application: the end part, far away from the second positioning piece, of the first groove body is provided with a supporting plate, the upper end face of the supporting plate is provided with a second groove body corresponding to the threaded piece, and the second groove body is an arc-shaped groove. The beneficial effect of this step: through the arrangement of the supporting plate with the second groove body, the stability of positioning the threaded part is improved.

In one embodiment of the present application: the locating part is a nut, and the nut is in threaded connection with the threaded part after the threaded part is welded. The beneficial effect of this step: have threaded connection structure and welded structure simultaneously between nut and the screw member, greatly improved the intensity of being connected between locating part and the screw member.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

Fig. 1 is a first schematic structural diagram of the present invention;

fig. 2 is a schematic structural diagram of the present invention.

The positioning device comprises a mold body 1, a positioning piece I2, a hole body I201, a hole body II 202, a flange 203, a positioning piece II 3, a 301 inserting end, a hole body III 302, a threaded piece 4, a positioning color block 5, a convex arc surface 501, a supporting piece 6, a first tank body 601, a supporting plate 602, a second tank body 603, a limiting piece 7 and a robot 8.

Detailed Description

In this application, unless specifically stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may include, for example, fixed connections, removable connections, or integral parts; the mechanical connection can be realized by selecting a proper connection mode in the prior art, such as welding, riveting, threaded connection, bonding, pin connection, key connection, elastic deformation connection, buckle connection, interference connection and injection molding; or an electrical connection, transmitting energy or signals by electricity; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

As shown in fig. 1 and 2, an automatic dismounting mechanism for a shield segment mold comprises: the mould body 1, setting element 2, setting element two 3, screw 4, location color piece 5, support piece 6, locating part 7, robot 8, the mould body 1 includes: the end die, the side die and the bottom die are respectively connected with a positioning piece I2 on the surfaces of the end die and the bottom die, the positioning piece I2 is provided with a hole body I201 and a hole body II 202 which are mutually communicated, a positioning piece II 3 is connected with the side die corresponding to the positioning piece I2, the positioning piece II 3 is provided with an inserting end 301 corresponding to the hole body II 202, the positioning piece II 3 is provided with a hole body III 302 corresponding to the hole body II 202, a threaded piece 4 sequentially penetrates through the hole body III 302 and the hole body II 202 and then is connected with the hole body I201 in a threaded manner, a positioning color block 5 is arranged at the end part of the threaded piece 4 far away from the positioning piece II 3, the periphery of the positioning color block 5 is of a regular polygon structure and is of a regular hexagon structure, the regular hexagon structure is used for matching with an electric wrench in a robot 8 to act, the end surface of the positioning color block 5, which deviates from the threaded piece 4, is a yellow convex cambered surface 501, the convex cambered surface 501 is of an R-shaped spherical structure, the yellow convex arc surface 501 of the positioning color block 5 is used for being recognized and distance-measured by a vision recognition camera and a laser distance measuring device which are matched with the tail end of a robot 8, so that the position of the positioning color block 5 can be accurately determined by an electric wrench connected with the robot 8, the positioning color block 5 is driven to rotate, the support piece 6 is connected with the side die and arranged under the threaded piece 4 in parallel, the support piece 6 is used for supporting the threaded piece 4, the threaded piece 4 cannot fall off after being separated from the hole body one 201, the groove body one 601 parallel to the axis of the threaded piece 4 is formed in the surface of the support piece 6, the groove body one 601 is an arc-shaped groove, the limiting piece 7 is connected to the outer side of the threaded piece 4, the outer diameter of the limiting piece 7 is slightly smaller than the groove width of the groove body one 601, the limiting piece 7 compresses the end surface of the positioning piece two 3 when the threaded piece 4 is locked in the hole body one 201, the robot 8 is arranged at an interval with the side die, and the robot 8 is used for disassembling the threaded piece 4.

As shown in fig. 1, a flange 203 is arranged on the periphery of one end of a positioning element I2, the outer surfaces of an end die and a bottom die are connected with the flange 203 in a welding mode, the axis of the positioning element I2 is perpendicular to the connecting surface of the end die or the bottom die, and the contact size of the positioning element I2 at the connecting position of the end die and the bottom die is enlarged through the flange 203, so that the welding range and distance are enlarged, and the connection stability is improved; the first hole body 201 is a threaded hole formed along the axis of the first positioning piece 2, the first hole body 201 is arranged at the end part of the first positioning piece 2 connected with the end mold or the bottom mold, the second hole body 202 is a tapered hole formed along the axis of the first positioning piece 2 and oriented to the first hole body 201, the second hole body 202 is communicated with the first hole body 201, the second hole body 202 is arranged at the end part of the first positioning piece 2 oriented to the side mold, the first hole body 201 is connected with the second hole body 202 in an end-to-end mode, and the inserting end 301 is a tapered end matched with the shape of the second hole body 202.

As shown in fig. 1, setting element two 3 is the columnar structure, the through-hole that three 302 of hole bodies were seted up for following two 3 axes of setting element, it is the protruding structure of two 3 orientation setting element one 2 tip of setting element to peg graft end 301, it is the toper structure with two 202 appearance assorted appearances of hole body to peg graft end 301 appearance, the awl point of grafting end 301 sets up towards two 202 of hole bodies, the stability of grafting in-process motion can be improved to the direction through the conical surface, the toper structure is after the grafting location, carry on spacingly by between the conical surface, thereby improve the stability of setting element two 3 after the location, the stability of side form for end mould and die block location has been improved promptly.

As shown in fig. 1, the second screw 4 is a cylindrical structure, the middle part of the second screw 4 is a front part and a rear part, the front part is a screw thread section, the rear part is a polished rod section, the end of the polished rod section is connected with the end face of the positioning color block 5 departing from the convex arc surface 501, the screw thread section is used for being in threaded connection with the first hole body 201, the limiting part 7 is a nut, the nut is welded with the first screw 4 after rotating to the root of the surface screw thread of the first screw 4, the threaded connection depth is determined by the limit of the nut, and reverse resistance torque is provided by the nut, so that the manipulator can stop rotating when the torque reaches a set value, and the nut cannot continue to rotate due to the fact that the nut rotates to the root of the screw thread on the first screw 4, and therefore good connection strength exists after the nut is welded and positioned.

As shown in fig. 1, a supporting plate 602 is disposed at an end of the first groove body 601 far from the second positioning element 3, a second groove body 603 is disposed at an upper end of the supporting plate 602 corresponding to the threaded element 4, the second groove body 603 is an arc-shaped groove, the shape of the second groove body 603 is matched with that of the polished rod section, the supporting plate 602 can further limit the position of the limiting element 7, so that the limiting element 7 is located in the first groove body 601, and the supporting of the polished rod section by the second groove body 603 can improve the supporting stability of the supporting element 6 for the threaded element 4.

As shown in fig. 2, robot 8 is a ground rail robot, robot 8 distributes in the both sides of loading and unloading station, dispose both sides around the section of jurisdiction mould promptly, robot 8 disposes the electric spanner who has installed torque limiter and rotary encoder additional, robot 8's end still disposes visual identification camera and laser range unit, visual identification camera and laser range unit are used for discerning and range finding location to location color piece 5, electric spanner is used for applying external force to location color piece 5, thereby drive screw 4 rotates, the aforesaid disposes robot 8 of visual identification camera and laser range unit and disposes the electric spanner of torque limiter and rotary encoder and is the product commonly used in the prior art, it can with the producer order directly.

This kind of shield constructs section of jurisdiction mould's automatic disassembly body is in the use to screw up the worker as the example, 8 movements of robot to operating position, measure and 3D discernment through vision recognition camera and laser rangefinder to the distance and the position gesture of location color lump 5, so that judge the screw 4, the holistic position that location color lump 5 formed, judge whether it is in predetermineeing position and position accuracy and differentiate, and carry out corresponding correction or adjustment to electric spanner gesture and position.

After accurate positioning, the robot 8 drives the electric wrench to gradually approach the positioning color block 5, the electric wrench is driven to perform screwing operation after the positioning color block 5 is accurately inserted into the electric wrench, in the working process, the robot 8 judges whether the threaded part is screwed in place or not by judging how many circles are screwed, the screwing distance and the screwing moment, the electric wrench is withdrawn after a preset value is reached, the visual identification camera performs visual identification on the screwed part, the system alarms and waits for manual processing when the requirement is not met or abnormal, and after the requirement is met, the robot 8 drives the electric wrench to move to the next threaded part 4 to repeat the operation.

After all the bolts are screwed down, the robot 8 returns to the original position, the prefabricated part at the position moves to the next position, the front prefabricated part moves to the screwing position again, and the robot 8 automatically finishes the operation action of screwing down the bolts.

The above are merely examples of the present invention, and common general knowledge of known specific structures and characteristics of the embodiments is not described herein, and those skilled in the art will know all the common technical knowledge in the technical field of the present invention before the application date or priority date, can know all the prior art in this field, and have the ability to apply the conventional experimental means before this date. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several modifications and improvements can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent.

Claims

1. The utility model provides a shield constructs automatic disassembly body of section of jurisdiction mould which characterized in that includes:

the supporting piece is connected to the side die and arranged under the threaded piece in parallel, a first groove body parallel to the axis of the threaded piece is formed in the surface of the supporting piece, and the first groove body is an arc-shaped groove;

the limiting piece is connected to the outer side of the threaded piece and presses the second positioning piece tightly when the threaded piece is locked in the first hole body;

2. The automatic disassembling mechanism according to claim 1, wherein an end periphery of the first positioning member has a flange, and the flange is connected to the surface of the end mold or the bottom mold.

3. The automatic disassembling mechanism of claim 1, wherein the second hole is a tapered hole with a tapered tip facing the first hole, and the inserting end is a tapered end matching the outer shape of the first hole.

4. The automatic disassembly mechanism of claim 1 wherein a support plate is disposed at an end of the first groove body far away from the second positioning member, a second groove body is disposed on an upper end face of the support plate corresponding to the threaded member, and the second groove body is an arc-shaped groove.

5. The automatic disassembly mechanism of claim 1 wherein the stop member is a nut, and the nut is connected to the threaded member by welding after being screwed to the threaded member.