Automatic system for secondary leveling of slurry for prefabricated house wall panel modules

Abstract

The present invention relates to an automated system for secondary smoothing of slurry for modular wall panels of prefabricated houses, comprising a smoothing manipulator device, a six-axis robot, a vibration exhaust device, a residual material recovery device, a mold car positioning device and a mold car clamping device, wherein the smoothing manipulator device is installed on the six-axis robot, the vibration exhaust device is respectively placed on both sides of the mold car, the residual material recovery device is installed on one side of the mold car, the mold car positioning device is placed at the front end of the mold car to achieve positioning, and the mold car clamping device is placed at the rear end of the mold car. The automated system for secondary smoothing of slurry for modular wall panels of prefabricated houses adopting the present invention can realize automatic mold car positioning and clamping, side exhaust, upper surface smoothing, residual material discharge and collection and other process treatments. When the manipulator used in the equipment of the present invention runs to the end, the front block assembly is pressed down and the buffer seals at both ends of the front block tool can effectively prevent residual material from overflowing.

Description

Technical Field

[0001] The invention relates to the field of machinery, in particular to the field of cement casting products, and specifically refers to an automated system for secondary smoothing of slurry of assembled house wall panel modules. Background Art

[0002] With the rapid development of infrastructure projects and housing construction, the production and use of modular wall panels have increased rapidly. The traditional semi-automatic operation mode can no longer meet the market's requirements for product quality and output. Fully automatic casting lines will become the future development direction. The secondary smoothing process of traditional semi-automatic equipment is mostly manual work. The main disadvantages are as follows: (1) The labor intensity is high and the working environment is poor; (2) The work efficiency cannot meet the needs of on-site production; (3) There is a lot of cement slurry overflow. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide an automated system for secondary smoothing of slurry of prefabricated house wall panel modules which has the advantages of flexible adjustment, high working efficiency and a wide range of applications.

[0004] In order to achieve the above-mentioned purpose, the automated system for secondary leveling of slurry of prefabricated house wall panel modules of the present invention is as follows:

[0005] The main features of the automated system for secondary smoothing of slurry of prefabricated house wall panel modules are that the system includes a smoothing manipulator device, a six-axis robot, a vibration exhaust device, a residual material recovery device, a mold car positioning device and a mold car clamping device. The smoothing manipulator device is installed on the six-axis robot, the vibration exhaust device includes two groups, which are respectively placed on both sides of the mold car, the residual material recovery device is installed on one side of the mold car, the mold car positioning device includes two groups, which are placed at the front end of the mold car to achieve positioning, and the mold car clamping device includes two groups, which are placed at the rear end of the mold car.

[0006] The smoothing robot device is used to realize the process of scraping and exhausting the wall panel side, smoothing the upper surface, and discharging the residual material. The six-axis robot is used to move with the smoothing robot device. The vibration exhaust device is used to transmit the vibration to the side wall of the mold cart, and cooperate with the smoothing robot device to exhaust the air on the side of the product. The residual material recovery device is used to collect the excess slurry discharged by the smoothing robot device. The mold cart positioning device is used to realize the front clamping of the mold cart. The mold cart clamping device is used to realize the clamping of the mold cart, and cooperates with the mold cart positioning device to realize the complete clamping of the mold cart.

[0007] Preferably, the system further comprises a cleaning sink placed near the device, and the six-axis robot brings the smoothing manipulator device into the cleaning sink for cleaning.

[0008] Preferably, the system also includes a safety fence, which is arranged at the periphery of the smoothing robot device, the six-axis robot, the vibration exhaust device, the residual material recovery device, the mold car positioning device and the mold car clamping device, and is used to isolate the operator and the various mechanical devices of the production line.

[0009] Preferably, the smoothing robot device includes a side exhaust scraper assembly, a downward pressure smoothing assembly, a front block assembly, a protective cover and a robot mounting base plate. The side exhaust scraper assembly, the downward pressure smoothing assembly and the front block assembly are all arranged on the robot mounting base plate, and the protective cover is placed above the robot mounting base plate. The side exhaust scraper assembly is inserted into the two inner sides of the product casting mold to exhaust the side of the product. The downward pressure smoothing assembly smoothes the upper surface of the product and removes the residual cement slurry. The front block assembly is used to prevent the slurry from overflowing.

[0010] Preferably, the vibration exhaust device includes a cylinder, a guide, a vibrator, and a vibration clamping block. The cylinder drives the vibration clamping block to clamp the side of the mold cart and transmit the vibration generated by the vibrator to the mold cart, thereby exhausting the air between the slurry and the side wall of the mold cart.

[0011] Preferably, the residual material recovery device includes a lifting cylinder, a telescopic cylinder and a hopper, the telescopic cylinder is installed on the lifting cylinder, and the hopper is installed on the telescopic cylinder; when the telescopic cylinder is extended, the hopper and the side of the mold car are in contact, and when the telescopic cylinder is retracted, the hopper is away from the mold car, and the lifting cylinder realizes height adjustment of the hopper to match mold cars of different heights.

[0012] Preferably, the mold trolley positioning device includes a positioning cylinder, a positioning block and a positioning block guide. The positioning block is connected to the positioning cylinder rod and driven by the positioning cylinder to achieve telescopic movement through the guiding action of the positioning block guide. The positioning block extends to block the mold trolley to achieve positioning, and releases the positioning when retracted.

[0013] Preferably, the mold cart clamping device includes a clamping cylinder, a clamping block, a rotating hinge and a clamping block swing shaft. The clamping cylinder is connected to the rotating hinge, and the clamping block is connected to the clamping cylinder rod and swings around the clamping block swing shaft. The extension and retraction of the clamping cylinder realizes the swing of the clamping block to clamp the mold cart through the hinged action of the rotating hinge and the clamping block swing shaft.

[0014] The automated system for secondary smoothing of the slurry of the prefabricated house wall panel modules of the present invention can realize process treatments such as automatic mold vehicle positioning and clamping, side exhaust, upper surface smoothing, residual material discharge and collection. Compared with the traditional manual operation method, the entire process of the present invention has a fast and stable rhythm and good product consistency. When the manipulator used in the equipment of the present invention runs to the end, the front block assembly is pressed down and the buffer seals at both ends of the front block tool can effectively prevent the residual material from overflowing. The trowel plate of the device of the present invention is installed on the trowel plate mounting cross plate by screws, and a plurality of mounting holes are provided. The mounting position is adjustable and can be flexibly adjusted according to the amount of cast residual material. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the automated system for secondary leveling of slurry of prefabricated house wall panel modules of the present invention.

[0016] Figure 2 The invention discloses a smoothing robot device of an automated system for secondary smoothing of slurry of a prefabricated house wall panel module.

[0017] Figure 3 It is an axial schematic diagram of the side exhaust scraper assembly of the automated system for secondary smoothing of slurry of prefabricated house wall panel modules of the present invention.

[0018] Figure 4 It is an axial schematic diagram of a vibration exhaust device of an automated system for secondary smoothing of slurry of prefabricated house wall panel modules of the present invention.

[0019] Figure 5 It is an axial schematic diagram of a residual material recovery device of an automated system for secondary smoothing of slurry of prefabricated house wall panel modules of the present invention.

[0020] Figure 6 It is an axial schematic diagram of a vibration exhaust mold vehicle positioning device of an automated system for secondary smoothing of slurry of prefabricated house wall panel modules of the present invention.

[0021] Figure 7 It is an axial schematic diagram of the mold vehicle clamping device of the automated system for secondary smoothing of slurry of prefabricated house wall panel modules of the present invention.

[0022] Reference numerals:

[0023] 1 Smoothing robot device

[0024] 11 Side exhaust scraper assembly

[0025] 12 Press down and smooth the components

[0026] 13 Front fender assembly

[0027] 14 Protective cover

[0028] 15 Robot mounting base plate

[0029] 2 Six-axis robot

[0030] 3. Vibration exhaust device

[0031] 301 Cylinder

[0032] 302 Guide

[0033] 303 Vibrator

[0034] 304 Vibration clamping block

[0035] 4. Residue recovery device

[0036] 401 Lifting Cylinder

[0037] 402 Telescopic Cylinder

[0038] 403 Hopper

[0039] 5. Mould car positioning device

[0040] 501 Positioning Cylinder

[0041] 502 Positioning block

[0042] 503 Positioning block guide

[0043] 6. Mold car clamping device

[0044] 601 Clamping Cylinder

[0045] 602 Clamping Block

[0046] 603 Swivel Hinge

[0047] 604 Clamping block swing shaft

[0048] 7. Clean the sink DETAILED DESCRIPTION

[0049] In order to more clearly describe the technical content of the present invention, further description is given below in conjunction with specific embodiments.

[0050] The automated system for secondary smoothing of the slurry of the prefabricated house wall panel module of the present invention comprises a smoothing manipulator device 1, a six-axis robot 2, a vibration exhaust device 3, a residual material recovery device 4, a mold car positioning device 5 and a mold car clamping device 6, wherein the smoothing manipulator device 1 is installed on the six-axis robot 2, the vibration exhaust device 3 comprises two groups, which are respectively placed on both sides of the mold car, the residual material recovery device 4 is installed on one side of the mold car, the mold car positioning device 5 comprises two groups, which are placed at the front end of the mold car to achieve positioning, and the mold car clamping device 6 comprises two groups, which are placed at the rear end of the mold car;

[0051] The smoothing robot device 1 is used to realize the process of scraping and exhausting the wall panel side, smoothing the upper surface, and discharging the residual material. The six-axis robot 2 is used to move with the smoothing robot device 1. The vibration exhaust device 3 is used to transmit the vibration to the side wall of the mold car, and cooperate with the smoothing robot device 1 to exhaust the air on the side of the product. The residual material recovery device 4 is used to collect the excess slurry discharged by the smoothing robot device 1. The mold car positioning device 5 is used to realize the front clamping of the mold car. The mold car clamping device 6 is used to realize the clamping of the mold car, and cooperates with the mold car positioning device 5 to realize the complete clamping of the mold car.

[0052] As a preferred embodiment of the present invention, the system further comprises a cleaning tank 7 placed near the device, and the six-axis robot 2 brings the smoothing manipulator device 1 into the cleaning tank 7 for cleaning.

[0053] As a preferred embodiment of the present invention, the system also includes a safety fence 8, which is arranged at the periphery of the smoothing robot device 1, the six-axis robot 2, the vibration exhaust device 3, the residual material recovery device 4, the mold car positioning device 5 and the mold car clamping device 6, and is used to isolate the operator and the various mechanical devices of the production line.

[0054] As a preferred embodiment of the present invention, the smoothing robot device 1 includes a side exhaust scraper assembly 11, a downward pressure smoothing assembly 12, a front block assembly 13, a protective cover 14 and a robot mounting substrate 15. The side exhaust scraper assembly 11, the downward pressure smoothing assembly 12 and the front block assembly 13 are all arranged on the robot mounting substrate 15, and the protective cover 14 is placed above the robot mounting substrate. The side exhaust scraper assembly 11 is inserted into the two inner sides of the product casting mold to exhaust the side of the product, the downward pressure smoothing assembly 12 smoothes the upper surface of the product and removes the residual cement slurry, and the front block assembly 13 is used to prevent the slurry from overflowing.

[0055] As a preferred embodiment of the present invention, the vibration exhaust device 3 includes a cylinder 301, a guide 302, a vibrator 303, and a vibration clamping block 304. The cylinder 301 drives the vibration clamping block 304 to clamp the side of the mold cart and transmit the vibration generated by the vibrator 303 to the mold cart, thereby exhausting the air between the slurry and the side wall of the mold cart.

[0056] As a preferred embodiment of the present invention, the residual material recovery device 4 includes a lifting cylinder 401, a telescopic cylinder 402 and a hopper 403. The telescopic cylinder 402 is installed on the lifting cylinder 401, and the hopper 403 is installed on the telescopic cylinder 403. When the telescopic cylinder 402 is extended, the hopper 403 is in contact with the side of the mold car. When the telescopic cylinder 402 is retracted, the hopper 403 is away from the mold car. The lifting cylinder 401 realizes height adjustment of the hopper 403 to match mold cars of different heights.

[0057] As a preferred embodiment of the present invention, the mold trolley positioning device 5 includes a positioning cylinder 501, a positioning block 502 and a positioning block guide 503. The positioning block 502 is connected to the rod of the positioning cylinder 501 and is driven by the positioning cylinder 501 to achieve telescopic movement through the guiding action of the positioning block guide 503. The positioning block 502 is extended to block the mold trolley to achieve positioning, and the positioning is released when it is retracted.

[0058] As a preferred embodiment of the present invention, the mold car clamping device 6 includes a clamping cylinder 601, a clamping block 602, a rotating hinge 603 and a clamping block swing shaft 604. The clamping cylinder 601 is connected to the rotating hinge 603, the clamping block 602 is connected to the clamping cylinder 601 rod and swings around the clamping block swing shaft 604. The extension and retraction of the clamping cylinder 601 is achieved through the hinged action of the rotating hinge 603 and the clamping block swing shaft 604 to swing the clamping block 604 to clamp the mold car.

[0059] In a specific embodiment of the present invention, the automated production line for secondary smoothing of slurry of prefabricated house wall panel modules of the present invention includes a smoothing manipulator device 1, a six-axis robot 2, a vibration exhaust device 3, a residual material recovery device 4, a mold car clamping device 6, and a cleaning sink 7. The smoothing manipulator device 1 is installed on the six-axis robot 2, the vibration exhaust device 3 has 2 groups, which are respectively placed on both sides of the mold car, the residual material recovery device 4 is placed on one side of the mold car, the mold car clamping device 6 has 2 groups, which are placed at the front end of the mold car, and the mold car clamping device 6 has 2 groups, which are placed at the rear end of the mold car; the smoothing manipulator device 1 is used to realize wall The process includes scraping and exhausting the plate side, smoothing the upper surface, and discharging the residual material; the six-axis robot 2 moves with the smoothing manipulator device 1 to achieve the required action; the vibration exhaust device 3 transmits the vibration to the side wall of the mold cart, and cooperates with the smoothing manipulator device 1 to exhaust the air on the side of the product; the residual material recovery device 4 is used to collect the excess slurry discharged by the smoothing manipulator device 1; the mold cart clamping device 6 is used to clamp the front of the mold cart, and the mold cart clamping device 6 is used to clamp the mold cart, and cooperates with the mold cart clamping device 6 to achieve complete clamping of the mold cart; the cleaning sink 7 is used to clean the slurry sticking to the smoothing manipulator device 1.

[0060] The smoothing robot device 1 includes a side exhaust scraper assembly 11, a downward pressure smoothing assembly 12, a front block assembly 13, a protective cover 14 and a robot mounting base plate 15. The side exhaust scraper assembly 11, the downward pressure smoothing assembly 12 and the front block assembly 13 are all arranged on the robot mounting base plate 15, and the protective cover 14 is placed above the robot mounting base plate; the side exhaust scraper assembly 11 is inserted into the two inner sides of the product casting mold to exhaust the side of the product; the downward pressure smoothing assembly 12 smoothes the upper surface of the product and removes the residual cement slurry; the front block assembly 13 is used to prevent the slurry from overflowing.

[0061] There are two groups of vibration exhaust devices 3, including cylinder 301, guide 302, vibrator 303, and vibration clamping block 304. Cylinder 302 drives vibration clamping block 304 to clamp the side of the mold cart and transmit the vibration generated by the vibrator to the mold cart, thereby exhausting the air between the slurry and the side wall of the mold cart.

[0062] The residual material recovery device 4 includes a lifting cylinder 401, a telescopic cylinder 402, and a hopper 403. The telescopic cylinder 402 is installed on the lifting cylinder 401, and the hopper 403 is installed on the telescopic cylinder 402. When the telescopic cylinder 402 is extended, the hopper 403 is in contact with the side of the mold cart. When the telescopic cylinder 402 is retracted, the hopper 403 is away from the mold cart. The upper surface of the hopper is the same height or slightly lower than the upper surface of the mold cart. The lifting cylinder 401 can realize the height adjustment of the hopper 403 to match mold carts of different heights.

[0063] The mold trolley positioning device 5 includes a positioning cylinder 501, a positioning block 502, and a positioning block guide 503. The positioning block 502 is connected to the rod of the positioning cylinder 501 and driven by the latter to achieve telescopic movement through the guiding effect of the positioning block guide A503. The positioning block 502 extends to block the mold trolley to achieve positioning, and when it retracts, the positioning is released.

[0064] The mold car clamping device 6 includes a clamping cylinder 601, a clamping block 602, a rotating hinge 603, and a clamping block swing shaft 604. The clamping cylinder 601 is connected to the rotating hinge 603, and the clamping block 602 is connected to the clamping cylinder 601 rod and can swing around the clamping block swing shaft 604. The extension and retraction of the clamping cylinder 601 is achieved through the hinged action of the rotating hinge 603 and the clamping block swing shaft 604 to realize the swing of the clamping block 604 to clamp the mold car.

[0065] The device also includes:

[0066] A cleaning tank 7 is used to clean the slurry sticking to the smoothing robot device;

[0067] The safety fence 8 is arranged at the periphery of the smoothing manipulator device, the six-axis robot, the vibration exhaust device, the residual material recovery device, the mold car positioning device and the mold car clamping device, and is used to isolate the operating personnel and the various mechanical devices of the production line to achieve the purpose of safety protection.

[0068] In a specific embodiment of the present invention, the above-mentioned shortcomings of the prior art are overcome, and an automated production line that can be applied to the secondary smoothing of slurry of prefabricated house wall panel modules is provided, which can realize automatic mold vehicle positioning and clamping, side exhaust, upper surface smoothing, residual material discharge and collection, etc.

[0069] The present invention is based on the automated production line for secondary smoothing of slurry for assembled house wallboard modules, wherein the following steps are included:

[0070] 1. Positioning and clamping of the mold cart. Before the mold cart is in place, the positioning block of the mold cart positioning device extends out to block the front of the mold cart's running direction. After the mold cart is in place, the mold cart clamping device clamps the mold cart from the rear end.

[0071] 2. Vibration exhaust operation. The cylinders of the two sets of vibration exhaust devices on both sides of the mold car extend out, the vibration blocks clamp the two sides of the mold car, and the vibrator is turned on immediately.

[0072] 3. Smoothing operation. The smoothing manipulator moves with the robot to complete the side scraping, exhaust and smoothing operations in sequence.

[0073] 4. The residual material is discharged and collected. The secondary leveling manipulator moves along the width direction of the mold with the six-axis robot, discharges the concentrated cement slurry into the hopper (the hopper has been driven by the telescopic cylinder 402 to be close to the side of the mold car) and flows into the residual material car through the hopper. After the residual material is discharged, the hopper retracts.

[0074] 5. The six-axis robot brings the smoothing manipulator device to the cleaning tank 7 for cleaning (this step can be used or not according to actual production needs).

[0075] 6. Repeat the above cycle.

[0076] The automated system for secondary smoothing of the slurry of the prefabricated house wall panel modules of the present invention can realize process treatments such as automatic mold vehicle positioning and clamping, side exhaust, upper surface smoothing, residual material discharge and collection. Compared with the traditional manual operation method, the entire process of the present invention has a fast and stable rhythm and good product consistency. When the manipulator used in the equipment of the present invention runs to the end, the front block assembly is pressed down and the buffer seals at both ends of the front block tool can effectively prevent the residual material from overflowing. The trowel plate of the device of the present invention is installed on the trowel plate mounting cross plate by screws, and a plurality of mounting holes are provided. The mounting position is adjustable and can be flexibly adjusted according to the amount of cast residual material.

[0077] In this specification, the present invention has been described with reference to specific embodiments thereof. However, it is apparent that various modifications and variations may be made without departing from the spirit and scope of the present invention. Therefore, the specification and drawings should be regarded as illustrative rather than restrictive.

Claims

1. An automated system for secondary leveling of slurry for prefabricated house wall panel modules, characterized in that: The system comprises a smoothing manipulator device (1), a six-axis robot (2), a vibration exhaust device (3), a residual material recovery device (4), a mold vehicle positioning device (5) and a mold vehicle clamping device (6), wherein the smoothing manipulator device (1) is installed on the six-axis robot (2), the vibration exhaust device (3) comprises two groups, which are respectively placed on both sides of the mold vehicle, the residual material recovery device (4) is installed on one side of the mold vehicle, the mold vehicle positioning device (5) comprises two groups, which are placed at the front end of the mold vehicle to achieve positioning, and the mold vehicle clamping device (6) comprises two groups, which are placed at the rear end of the mold vehicle; The smoothing robot device (1) is used to realize the process of scraping and exhausting the wall panel side, smoothing the upper surface, and discharging the residual material. The six-axis robot (2) is used to move with the smoothing robot device (1). The vibration exhaust device (3) is used to transmit vibration to the side wall of the mold car, and cooperate with the smoothing robot device (1) to exhaust the air on the side of the product. The residual material recovery device (4) is used to collect the excess slurry discharged by the smoothing robot device (1). The mold car positioning device (5) is used to realize the front clamping of the mold car. The mold car clamping device (6) is used to realize the clamping of the mold car, and cooperates with the mold car positioning device (5) to realize the complete clamping of the mold car. The smoothing robot device (1) comprises a side exhaust scraper assembly (11), a downward pressure smoothing assembly (12), a front block assembly (13), a protective cover (14) and a robot mounting base plate (15); the side exhaust scraper assembly (11), the downward pressure smoothing assembly (12) and the front block assembly (13) are all arranged on the robot mounting base plate (15); the protective cover (14) is placed above the robot mounting base plate; the side exhaust scraper assembly (11) is inserted into the two inner sides of the product casting mold to exhaust the side of the product; the downward pressure smoothing assembly (12) smoothes the upper surface of the product and removes the residual cement slurry; the front block assembly (13) is used to prevent the slurry from overflowing; The vibration exhaust device (3) comprises a cylinder (301), a guide (302), a vibrator (303), and a vibration clamping block (304). The cylinder (301) drives the vibration clamping block (304) to clamp the side of the mold car and transmit the vibration generated by the vibrator (303) to the mold car, thereby exhausting the air between the slurry and the side wall of the mold car. The residual material recovery device (4) comprises a lifting cylinder (401), a telescopic cylinder (402) and a hopper (403); the telescopic cylinder (402) is mounted on the lifting cylinder (401), and the hopper (403) is mounted on the telescopic cylinder (402); when the telescopic cylinder (402) is extended, the hopper (403) fits against the side of the mold vehicle; when the telescopic cylinder (402) is retracted, the hopper (403) moves away from the mold vehicle; the lifting cylinder (401) realizes height adjustment of the hopper (403) to match mold vehicles of different heights.

2. The automated system for secondary leveling of slurry of prefabricated house wall panel modules according to claim 1 is characterized in that: The system also includes a cleaning tank (7) placed near the device, and the six-axis robot (2) brings the smoothing manipulator device (1) into the cleaning tank (7) for cleaning.

3. The automated system for secondary leveling of slurry of prefabricated house wall panel modules according to claim 1, characterized in that: The system further comprises a safety fence (8) which is arranged at the periphery of the smoothing manipulator device (1), the six-axis robot (2), the vibration exhaust device (3), the residual material recovery device (4), the mold vehicle positioning device (5) and the mold vehicle clamping device (6) and is used to isolate the operator and the various mechanical devices of the production line.

4. The automated system for secondary leveling of slurry of prefabricated house wall panel modules according to claim 1, characterized in that: The mold vehicle positioning device (5) comprises a positioning cylinder (501), a positioning block (502) and a positioning block guide (503). The positioning block (502) is connected to the rod of the positioning cylinder (501) and driven by the positioning cylinder (501) to achieve telescopic movement through the guiding action of the positioning block guide (503). The positioning block (502) is extended to block the mold vehicle to achieve positioning, and is released when it is retracted.

5. The automated system for secondary leveling of slurry of prefabricated house wall panel modules according to claim 1, characterized in that: The mold car clamping device (6) includes a clamping cylinder (601), a clamping block (602), a rotating hinge (603) and a clamping block swing shaft (604). The clamping cylinder (601) is connected to the rotating hinge (603), and the clamping block (602) is connected to the clamping cylinder (601) rod and swings around the clamping block swing shaft (604). The extension and retraction of the clamping cylinder (601) is achieved through the hinged support of the rotating hinge (603) and the clamping block swing shaft (604) to swing the clamping block (602) to clamp the mold car.

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