No-groove side mold fast storage circulation warehouse

Abstract

A fast storage and circulation warehouse for grooveless side molds belongs to the field of automated production equipment for concrete precast components, and solves the problem of automatic storage and circulation of grooveless side molds. It includes a storage and storage manipulator, a manipulator frame, a side mold warehouse and a side mold conveying roller. Below the manipulator frame, 3 to 5 groups of dynamic and static combined side mold warehouses are arranged, and a storage and storage manipulator is installed on the manipulator frame above each group of dynamic and static combined side mold warehouses; the side mold conveying roller is arranged at the end of the dynamic and static combined side mold warehouse, and a side mold lateral movement device is installed between the side mold conveying roller and each group of dynamic and static combined side mold warehouses; the dynamic side mold warehouse of the dynamic and static combined side mold warehouse is located below, and the static side mold warehouse is straddled above the dynamic side mold warehouse. It has the characteristics of compact structure, good performance, reasonable station arrangement and high degree of automation. It is suitable for the fast storage and automatic circulation operation of grooveless side molds in the automated production line of concrete precast components.

Description

Technical Field

[0001] The invention belongs to the field of automated production equipment for precast concrete components, and mainly relates to a grooveless side mold rapid storage and circulation warehouse for an automated production line for concrete composite panels, which solves the problem of rapid circulation of side molds in a production process. Background Art

[0002] At present, the side molds on the automatic production line of concrete composite slabs can be mainly divided into slotted side molds and non-slotted side molds. The slot spacing of the slotted side molds must be consistent with the steel mesh in the component, and the versatility is low when used. The non-slotted side molds can be spliced ​​arbitrarily when used, and have good versatility. The patent of this invention is aimed at the storage and circulation of the non-slotted side molds during production operations on the automatic production line.

[0003] On the concrete precast component production line, the side molds of the finished components that have been cured are removed manually or by equipment, and the components are lifted and transported away by the crane in the factory. The removed side molds are transferred to the next workstation along with the empty mold table. The side molds need to be transferred manually or by equipment to the side mold storage conveyor roller, and then transported to the side mold storage area by the conveyor roller. At present, the side mold warehouses in the storage area are all static warehouses, and the storage of side molds of different lengths and specifications needs to be completed by the side mold out-and-in truss manipulator. When the side mold is out of the warehouse, the same side mold out-and-in truss manipulator takes out the side mold required for mold laying on a production line from the warehouse, places it on the side mold out-and-in roller, and transports it to the grabbing area of ​​the mold laying manipulator, where the mold laying manipulator performs automated mold laying operations. During this process, the truss robot for side mold entry and exit needs to undertake the work of side mold entry and exit at the same time, and the truss robot for side mold entry and exit needs to move in the three coordinate directions of X, Y, and Z. The robot has many and far-reaching travel positions and cannot meet the rhythm of production operations, which restricts the production efficiency of the automatic line. Summary of the invention

[0004] The purpose of the present invention is to provide a fast storage and circulation warehouse for grooveless side molds, which can quickly and accurately manage the entry and exit of grooveless side molds used in a concrete prefabricated component production line, thereby ensuring the safe and stable operation of the production line.

[0005] The present invention is realized by the following technical scheme, including a storage manipulator, a manipulator frame, a side mold library and a side mold conveying roller, and is characterized in that: 3 to 5 groups of dynamic and static combined side mold library are arranged below the manipulator frame, and a storage manipulator is installed on the manipulator frame above each group of dynamic and static combined side mold library; the side mold conveying roller is arranged at the end of the dynamic and static combined side mold library, and a side mold transverse movement device is installed between the side mold conveying roller and each group of dynamic and static combined side mold library; the dynamic side mold library of the dynamic and static combined side mold library is located below, and the static side mold library is straddled above the dynamic side mold library.

[0006] The dynamic side mold library comprises a chain bracket, a chain and a transmission device, 2 to 3 groups of chains are installed on the chain bracket; the chain is connected to the stepper motor through a sprocket and a transmission shaft; a limit plate is provided on the chain to ensure uniform and parallel movement of the side molds; a terminal guide plate is provided at the terminal part of the dynamic side mold library to control the neat arrangement of the side molds.

[0007] The static side mold library is composed of 1 to 3 fixed side mold libraries in parallel, including a gantry bracket, a longitudinal limit plate and a transverse limit angle steel. Two longitudinal limit plates are installed on the gantry bracket, and the corresponding inner sides of the two longitudinal limit plates are provided with transverse limit angle steels for controlling the transverse position of the side mold; the upper part of the transverse limit angle steel is processed with a guide slope.

[0008] The in-and-out storage robot is installed on the robot frame, and the robot gripper is connected to the robot frame through a vertical motion component and a longitudinal motion component; the longitudinal guide rail of the longitudinal motion component is installed on the robot frame, the longitudinal motion trolley is installed on the longitudinal guide rail, and the driving device is arranged on the longitudinal motion trolley; the vertical guide rail of the vertical motion component is installed on the side of the vertical motion component, the driving device of the vertical motion component is arranged on the longitudinal motion trolley, and the robot gripper is connected to the bottom of the vertical motion component.

[0009] The side mold transverse movement device is equipped with 2 to 4 parallel crank-connecting rod mechanisms on the transverse movement bracket, and a supporting rod is connected between the active crank on the active crank shaft of the crank-connecting rod mechanism and the passive crank on the passive crank shaft to enable the grooveless side mold to move in parallel; one end of the active crank shaft is connected to the motor and is connected to the passive crank shaft through a synchronous toothed belt and a toothed wheel.

[0010] The side mold conveying roller comprises a roller support, a roller with a sprocket and a baffle. The roller with a sprocket is installed on the roller support and is connected to the driving device through a chain. The baffle is a side mold baffle located at the terminal of the side mold conveying roller and 3 to 5 lifting baffles located on the side mold conveying roller. The distance between each baffle corresponds to the distance between each dynamic and static combined side mold library. The lifting baffle is arranged between two sprocket rollers, and a sensing device for detecting the length of the side mold is arranged on the side mold conveying roller between each two lifting baffles. On the side of the roller support close to the side mold transverse displacement device, a slotted notch is processed to allow the crank and the support rod of the transverse displacement device to pass through.

[0011] When the present invention is in operation, the cleaned grooveless side mold moves on the conveyor roller, and under the control of the lifting baffle and the length sensing device, the side molds of different lengths are conveyed to the end of the corresponding dynamic and static combined side mold library. Then, through the cyclic reciprocating motion of the side mold transverse movement device, the side mold is translated from the conveyor roller to the chain of the dynamic side mold library. Driven by the stepper motor, the chain drives the side mold to run to the terminal of the dynamic side mold library, waiting to be grabbed by the mold laying robot. The limit plate on the chain can keep the side mold running parallel and stable, and the terminal guide plate aligns and limits the length direction of the side mold. When the terminal side mold is taken away by the mold laying robot, the dynamic side mold library chain drives the side mold to move and replenish it. When the amount of a certain specification of side mold is small and the dynamic side mold library is full, the side mold on the conveyor roller is grabbed by the in-and-out warehouse robot and placed in the static side mold library. When the demand for side molds of a certain specification is large and the side molds in the dynamic side mold library are insufficient, the side molds in the static side mold library are grabbed by the in-and-out storage robot and placed on the dynamic side mold library to make up for the shortage, so as to always keep the dynamic side mold library continuously supplied with side molds.

[0012] The beneficial effect of the present invention is that the conveying roller can quickly identify the length of the side mold and can accurately convey it to the corresponding workstation. The dynamic and static combined side mold warehouse can timely and accurately supply side molds to the production line, and the static side mold warehouse is responsible for storage. The side molds can be stacked in multiple layers in the static side mold warehouse, and a large amount of storage can be used to meet the normal operation of the dynamic side mold warehouse. When there is a vacant space in the dynamic side mold warehouse and there is a side mold of this length on the side mold roller, only the side mold transverse movement device is needed to transversely move the side mold from the roller to the vacant space on the side mold dynamic warehouse. At this time, there is no need for the participation of the out-and-in storage manipulator. There is a out-and-in storage manipulator on the frame above each dynamic and static combined side mold warehouse. The manipulator has only two directions of displacement, lifting and longitudinal movement, and the operation speed is fast and efficient. It can realize the simultaneous out-and-in storage of 3-5 groups of side molds of different lengths, and has the characteristics of compact structure, good performance, reasonable station arrangement and high degree of automation. It is suitable for the rapid out-and-in storage automatic flow operation of the grooveless side molds of the concrete prefabricated component automated production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall layout structure of the present invention, in which only one set of dynamic and static combined side mold library is drawn;

[0014] Figure 2 This is a schematic diagram of the structure of a side mold transmission roller table;

[0015] Figure 3 It is a structural schematic diagram of the side mold transverse movement device;

[0016] Figure 4 It is a structural diagram of the dynamic and static combined side mold library;

[0017] Figure 5 It is a structural diagram of the dynamic edge mold library;

[0018] Figure 6 It is a schematic diagram of the structure of the static edge mold library;

[0019] Figure 7 It is a structural diagram of the storage and retrieval robot.

[0020] In the figure, 1 is the side mold conveying roller, 2 is the side mold transverse movement device, 3 is the dynamic and static combined side mold warehouse, 4 is the storage and entry manipulator, 5 is the slotless side mold, and 6 is the manipulator frame; 1-1 is the roller bracket, 1-2 is the roller with sprocket, 1-3 is the lifting baffle, 1-4 is the slotted notch; 1-5 is the side mold baffle; 2-1 is the transverse movement bracket, 2-2 is the active toothed wheel, 2-3 is the passive toothed wheel, 2-4 is the synchronous toothed belt, 2-5 is the active crank shaft, 2-6 is the passive crank shaft, 2-7 is the support rod, 2-8 is the active crank, 2-9 It is an electric motor, 2-10 is a passive crank; 3-1 is a dynamic side mold library, 3-2 is a static side mold library, 3-1-1 is a chain bracket, 3-1-2 is a chain, 3-1-3 is a limit plate, 3-1-4 is a terminal guide plate, 3-1-5 is a transmission shaft, 3-1-6 is a stepper motor; 3-2-1 is a gantry bracket, 3-2-2 is a longitudinal limit plate, 3-2-3 is a transverse limit angle steel; 4-1 is a longitudinal guide rail, 4-2 is a longitudinal motion component, 4-3 is a vertical guide rail, 4-4 is a vertical motion component, and 4-5 is a mechanical gripper. DETAILED DESCRIPTION

[0021] The specific implementation of the present invention is described below in conjunction with the accompanying drawings: it includes a storage manipulator 4, a manipulator frame 6, a side mold library and a side mold conveying roller 1. Below the manipulator frame 6, three groups of dynamic and static combined side mold libraries 3 are arranged, and a storage manipulator 4 is installed on the manipulator frame 6 above each group of dynamic and static combined side mold library 3; the side mold conveying roller 1 is arranged at the end of the dynamic and static combined side mold library 3, and a side mold lateral movement device 2 is installed between the side mold conveying roller 1 and each group of dynamic and static combined side mold library 3; the dynamic side mold library 3-1 of the dynamic and static combined side mold library 3 is located below, and the static side mold library 3-2 is straddled on the dynamic side mold library 3-1.

[0022] The dynamic side mold library 3-1 includes a chain bracket 3-1-1, a chain 3-1-2 and a transmission device, and three groups of chains 3-1-2 are installed on the chain bracket 3-1-1; the chain 3-1-2 is connected to the stepper motor 3-1-6 through a sprocket and a transmission shaft 3-1-5; a limit plate 3-1-3 is provided on the chain 3-1-2 to ensure uniform and parallel movement of the side mold; a terminal guide plate 3-1-4 is provided at the terminal part of the dynamic side mold library 3-1 to control the neat arrangement of the side molds.

[0023] Each group of static side mold library 3-2 is composed of three fixed side mold library in parallel, including a gantry bracket 3-2-1, a longitudinal limit plate 3-2-2 and a transverse limit angle steel 3-2-3. Two longitudinal limit plates 3-2-2 are installed on the gantry bracket 3-2-1, and the corresponding inner sides of the two longitudinal limit plates 3-2-2 are provided with transverse limit angle steel 3-2-3 for controlling the transverse position of the side mold; the upper part of the transverse limit angle steel 3-2-3 is processed with a guide slope.

[0024] The in-and-out storage robot 4 is installed on the robot frame 6, and the robot gripper 4-5 is connected to the robot frame 6 through the vertical motion component 4-4 and the longitudinal motion component 4-2; the longitudinal guide rail 4-1 of the longitudinal motion component 4-2 is installed on the robot frame 6, the longitudinal motion trolley is installed on the longitudinal guide rail 4-1, and the driving device is arranged on the longitudinal motion trolley; the vertical guide rail 4-3 of the vertical motion component 4-4 is installed on the side of the vertical motion component 4-4, the driving device of the vertical motion component 4-4 is arranged on the longitudinal motion trolley, and the robot gripper 4-5 is connected to the bottom of the vertical motion component 4-4.

[0025] The side mold transverse movement device 2 is equipped with three parallel crank-connecting rod mechanisms on the transverse movement bracket 2-1, and a support rod 2-7 for parallel movement of the grooveless side mold is connected between the active crank 2-8 on the active crank shaft 2-5 of the crank-connecting rod mechanism and the passive crank 2-10 on the passive crank shaft 2-6; one end of the active crank shaft 2-5 is connected to the motor 2-9, and is connected to the passive crank shaft 2-6 through a synchronous toothed belt 2-4 and a toothed wheel.

[0026] The side mold conveying roller 1 comprises a roller support 1-1, a roller with a sprocket 1-2 and a baffle. The roller with a sprocket 1-2 is installed on the roller support 1-1 and connected to the driving device through a chain; the baffle is a side mold baffle 1-5 located at the terminal of the side mold conveying roller 1 and 3 to 5 lifting baffles 1-3 located on the side mold conveying roller 1; the distance between each baffle corresponds to the distance between each dynamic and static combined side mold library 3; the lifting baffle 1-3 is arranged between two rollers with a sprocket 1-2, and a sensing device for detecting the length of the side mold is arranged on the side mold conveying roller 1 between every two lifting baffles 1-3; on the side of the roller support 1 close to the side mold transverse displacement device 2, a slotted notch 1-4 is processed that can pass the crank of the transverse displacement device and the support rod 2-7.

Claims

1. A fast storage and circulation warehouse for side molds without grooves, comprising a storage-in and storage-out robot (4), a robot frame (6), a side mold warehouse and a side mold conveying roller (1), characterized in that: 3 to 5 groups of dynamic and static combined side mold warehouses (3) are arranged below the manipulator frame (6), and a storage entry and exit manipulator (4) is installed on the manipulator frame (6) above each group of dynamic and static combined side mold warehouses (3); a side mold conveying roller (1) is arranged at the end of the dynamic and static combined side mold warehouse (3), and a side mold lateral movement device (2) is installed between the side mold conveying roller (1) and each group of dynamic and static combined side mold warehouses (3); the dynamic side mold warehouse (3-1) of the dynamic and static combined side mold warehouse (3) is located below, and the static side mold warehouse (3-2) is straddled above the dynamic side mold warehouse (3-1).

2. The fast storage and circulation warehouse without groove side molds according to claim 1 is characterized by: The dynamic side mold library (3-1) comprises a chain bracket (3-1-1), a chain (3-1-2) and a transmission device, wherein 2 to 3 groups of chains (3-1-2) are mounted on the chain bracket (3-1-1); the chain (3-1-2) is connected to a stepper motor (3-1-6) via a sprocket and a transmission shaft (3-1-5); a limit plate (3-1-3) is arranged on the chain (3-1-2) to ensure uniform and parallel movement of the side molds; and a terminal guide plate (3-1-4) is arranged at the terminal portion of the dynamic side mold library (3-1) to control the neat arrangement of the side molds.

3. The fast storage and circulation warehouse without groove side molds according to claim 1 is characterized by: The static side mold library (3-2) is composed of 1 to 3 fixed side mold libraries arranged in parallel, including a gantry bracket (3-2-1), a longitudinal limit plate (3-2-2) and a transverse limit angle steel (3-2-3), wherein two longitudinal limit plates (3-2-2) are installed on the gantry bracket (3-2-1), and transverse limit angle steels (3-2-3) for controlling the transverse position of the side mold are arranged on the corresponding inner sides of the two longitudinal limit plates (3-2-2); and the upper part of the transverse limit angle steel (3-2-3) is processed with a guide inclined surface.

4. The fast storage and circulation warehouse without groove side molds according to claim 1 is characterized by: The storage and retrieval manipulator (4) is mounted on a manipulator frame (6), and the manipulator gripper (4-5) is connected to the manipulator frame (6) via a vertical motion component (4-4) and a longitudinal motion component (4-2); the longitudinal guide rail (4-1) of the longitudinal motion component (4-2) is mounted on the manipulator frame (6), the longitudinal motion trolley is mounted on the longitudinal guide rail (4-1), and the driving device is arranged on the longitudinal motion trolley; the vertical guide rail (4-3) of the vertical motion component (4-4) is mounted on the side of the vertical motion component (4-4), the driving device of the vertical motion component (4-4) is arranged on the longitudinal motion trolley, and the manipulator gripper (4-5) is connected to the bottom of the vertical motion component (4-4).

5. The fast storage and circulation warehouse without groove side molds according to claim 1 is characterized by: The side mold transverse movement device (2) is a device having 2 to 4 parallel crank-connecting rod mechanisms mounted on a transverse movement bracket (2-1); a supporting rod (2-7) for parallel movement of the grooveless side mold is connected between an active crank (2-8) on an active crank shaft (2-5) of the crank-connecting rod mechanism and a passive crank (2-10) on a passive crank shaft (2-6); one end of the active crank shaft (2-5) is connected to an electric motor (2-9), and is connected to the passive crank shaft (2-6) via a synchronous toothed belt (2-4) and a toothed wheel.

6. The fast storage and circulation warehouse without groove side molds according to claim 1 is characterized by: The side mold conveying roller (1) comprises a roller support (1-1), a roller with a sprocket (1-2) and a baffle, wherein the roller with a sprocket (1-2) is mounted on the roller support (1-1) and connected to a driving device via a chain; the baffle is a side mold baffle (1-5) located at the end of the side mold conveying roller (1) and 3 to 5 lifting baffles (1-3) located on the side mold conveying roller (1); the distance between each baffle corresponds to the distance between each dynamic and static combined side mold library (3); the lifting baffle (1-3) is arranged between two rollers with a sprocket (1-2), and a sensing device for detecting the length of the side mold is arranged on the side mold conveying roller (1) between each two lifting baffles (1-3); and a slotted notch (1-4) is processed on one side of the roller support (1-1) close to the side mold transverse displacement device (2) so as to allow the crank and the support rod (2-7) of the transverse displacement device to pass through.

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