Segment demoulding and transporting method and segment demoulding and transporting equipment

Abstract

The present invention provides a segment demoulding and transporting method and segment demoulding and transporting equipment, wherein the segment demoulding and transporting method comprises the following steps: step S1: making the mold containing the segment reach a preset position; step S2: when detecting that there is no segment on the transporting equipment, controlling the vacuum suction cup to move laterally from the initial position to the first working position above the mold; step S3: controlling the vacuum suction cup to descend; step S4: judging whether the vacuum suction cup has descended to the second working position, when the vacuum suction cup descends to the second working position, the vacuum suction cup stops descending and adsorbs the segment; step S5: when the vacuum suction cup adsorbs the segment for more than a preset time, controlling the vacuum suction cup to rise and return to the first working position, judging whether the segment has reached a safe height; step S6: when judging that the segment has reached a safe height, controlling the vacuum suction cup to drive the segment to move laterally. The technical solution of the present application effectively solves the problem of potential safety hazards.

Description

Technical Field

[0001] The present invention relates to the field of pipe segment production, and in particular to a pipe segment demoulding and transporting method and a pipe segment demoulding and transporting equipment. Background Art

[0002] In the related art, the segment mold is hoisted onto the demoulding table after steam curing, and the segment in the mold is demoulded by a crane. The vacuum suction cup is hoisted on the crane, and the vacuum suction cup can apply a pulling force to the segment. When the crane is manually operated, the vacuum suction cup is lowered to the top of the segment, and the vacuum suction cup is manually operated to adsorb the segment. The crane hoists the vacuum suction cup and lifts it up to lift the segment. The crane moves the segment to the top of the flipping device. The crane controls the vacuum suction cup to descend so that the segment is located above the flipping device. The vacuum suction cup can release the pulling force so that the segment falls on the flipping device.

[0003] However, in the process of manually operating the crane to lift the pipe segment, the pipe segment tends to shake around after the crane lifts it, and the manual worker needs to be reminded to avoid it. If the manual worker passes under the pipe segment and the vacuum suction cup has problems, the pipe segment will fall down, posing a safety hazard. Summary of the invention

[0004] The main purpose of the present invention is to provide a method and equipment for demoulding and transferring pipe segments, so as to solve the problem of safety hazards in manually operated crane lifting of pipe segments in the related art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present invention, a method for demolding and transferring a pipe segment is provided, and the method for demolding and transferring a pipe segment comprises the following steps: step S1: making the mold containing the pipe segment reach a preset position; step S2: when detecting that there is no pipe segment on the transfer equipment, controlling the vacuum suction cup to move laterally from the initial position to the first working position above the mold; step S3: controlling the vacuum suction cup to descend; step S4: judging whether the vacuum suction cup has descended to the second working position, and when the vacuum suction cup descends to the second working position, the vacuum suction cup stops descending and adsorbs the pipe segment; step S5: when the vacuum suction cup adsorbs the pipe segment for more than a preset time, controlling the vacuum suction cup to rise and return to the first working position working position, and determine whether the pipe segment has reached a safe height; step S6: when it is determined that the pipe segment has reached a safe height, control the vacuum suction cup to drive the pipe segment to move laterally; step S7: determine whether the vacuum suction cup has reached the third working position above the transfer equipment, and when the vacuum suction cup moves to the third working position, control the vacuum suction cup to descend; step S8: determine whether the vacuum suction cup has descended to the fourth working position, and when the vacuum suction cup moves to the fourth working position, control the vacuum suction cup to release the pipe segment so that the pipe segment is placed on the transfer equipment; step S9: determine whether the vacuum suction cup releases the pipe segment, and when the vacuum suction cup releases the pipe segment, the vacuum suction cup moves from the fourth working position to the initial position.

[0006] Furthermore, a first pipe segment detection switch is provided on the transfer equipment, through which it is detected whether there is a pipe segment on the transfer equipment; a first detection element and a second detection element are provided on the frame at intervals, through which it is detected whether the vacuum suction cup reaches an initial position, and through which it is detected whether the vacuum suction cup reaches a first working position; a third detection element and a fourth detection element are provided on the elevator at intervals, through which it is detected whether the vacuum suction cup reaches a third working position, and through which it is detected whether the pipe segment reaches a safe height; a fifth detection element is also provided on the frame, through which it is detected whether the vacuum suction cup reaches the third working position; a sixth detection element is also provided on the elevator, through which it is detected whether the vacuum suction cup reaches the fourth working position; a second pipe segment detection switch is provided on the vacuum suction cup, through which it is detected whether the vacuum suction cup has a pipe segment.

[0007] Furthermore, in step S1, it is determined whether the mold containing the pipe segment is in an open state. When the mold is in an unopened state, a demolding operation is performed on the mold to open the mold.

[0008] Further, in step S2, it is determined whether there are pipe segments on the transfer equipment. If there are pipe segments on the transfer equipment, the transfer equipment is controlled to perform a transfer operation to remove the pipe segments so that there are no pipe segments on the transfer equipment.

[0009] According to another aspect of the present invention, a segment demoulding and transfer equipment is provided. The segment demoulding and transfer equipment uses the above-mentioned segment demoulding and transfer method to achieve demoulding and transfer. The segment demoulding and transfer equipment includes: a lifting device, the lifting device includes a supporting truss structure, an elevator, a running mechanism and a vacuum suction cup assembly, the elevator moves on the supporting truss structure through the running mechanism, and the elevator lifts the segment in the mold through the vacuum suction cup assembly; a transfer equipment is located below the lifting device, and the mold and the transfer equipment correspond to the two ends of the supporting truss structure respectively.

[0010] Furthermore, the supporting truss structure includes a top frame and a plurality of columns, and the plurality of columns are arranged at intervals and support the top frame.

[0011] Furthermore, the vacuum suction cup assembly includes: a frame; a plurality of vacuum suction cups arranged at intervals at the bottom of the frame, each vacuum suction cup being pivotally arranged relative to the frame; a vacuum pump arranged on the frame, each vacuum suction cup being connected to the vacuum pump.

[0012] Furthermore, the elevator includes a reduction motor, a cable drum and a plurality of hooks, the cable drum is connected to the reduction motor and the plurality of hooks, and the plurality of hooks can lift the frame.

[0013] Furthermore, the operating mechanism includes a frame, a driving wheel group and a driven wheel group arranged on the frame, and both the driving wheel group and the driven wheel group can move on the top frame.

[0014] Furthermore, the transfer equipment includes: a support frame; a flipping device located upstream of the support frame, the flipping device including a pivotally arranged flipping bracket, the flipping bracket having a supporting position and a flipping position; a transfer vehicle located between the support frame and the flipping device, and moving between the support frame and the flipping device.

[0015] By applying the technical solution of the present invention, the demoulding and transfer method of the pipe segment includes the following steps: step S1: making the mold containing the pipe segment reach a preset position; step S2: when detecting that there is no pipe segment on the transfer equipment, controlling the vacuum suction cup to move laterally from the initial position to the first working position above the mold; step S3: controlling the vacuum suction cup to descend; step S4: judging whether the vacuum suction cup has descended to the second working position, when the vacuum suction cup descends to the second working position, the vacuum suction cup stops descending and adsorbs the pipe segment; step S5: when the vacuum suction cup adsorbs the pipe segment for more than a preset time, controlling the vacuum suction cup to rise and return to the first working position, judging whether the pipe segment has reached Safety height; Step S6: When it is determined that the pipe segment has reached the safety height, the vacuum suction cup is controlled to drive the pipe segment to move horizontally; Step S7: Determine whether the vacuum suction cup has reached the third working position above the transfer equipment, and when the vacuum suction cup moves to the third working position, the vacuum suction cup is controlled to descend; Step S8: Determine whether the vacuum suction cup has descended to the fourth working position, and when the vacuum suction cup moves to the fourth working position, the vacuum suction cup is controlled to release the pipe segment so that the pipe segment is placed on the transfer equipment; Step S9: Determine whether the vacuum suction cup releases the pipe segment, and when the vacuum suction cup releases the pipe segment, the vacuum suction cup moves from the fourth working position to the initial position. In this way, the pipe segment can be demolded and transported through the pipe segment demolding and transporting method of the present application, and the demolding and transporting path of the pipe segment is fixed, and manual labor will not enter the demolding and transporting path of the pipe segment, and there is no need to remind manual labor to avoid it, which greatly improves the safety of demolding and transporting of the pipe segment. Therefore, the technical solution of the present application effectively solves the problem of manual operation of the crane to lift the pipe segment in the related art, which has safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0017] Figure 1 A schematic diagram showing a flow chart of an embodiment of a method for demoulding and transferring a pipe segment according to the present invention is shown;

[0018] Figure 2 Shows Figure 1Schematic diagram of the principle of the segment demoulding and transfer method;

[0019] Figure 3 A schematic front view of an embodiment of a segment demoulding and transfer device according to the present invention is shown;

[0020] Figure 4 Shows Figure 3 A left side schematic diagram of the segment demoulding and transfer equipment;

[0021] Figure 5 Shows Figure 3 Schematic diagram of the main view of the supporting truss structure of the segment demoulding and transfer equipment;

[0022] Figure 6 Shows Figure 3 A schematic diagram of the front view of the vacuum suction cup assembly of the segment demoulding and transfer equipment;

[0023] Figure 7 Shows Figure 3 A schematic top view of a vacuum suction cup assembly of a segment demoulding and transfer device;

[0024] Figure 8 Shows Figure 3 A schematic side view of a transfer device for demoulding and transferring a segment; and

[0025] Fig. 9 Shows Figure 3 Schematic diagram of top view of the segment demoulding and transfer equipment.

[0026] The above drawings include the following reference numerals:

[0027] 1. Segment; 2. Mould; 10. Lifting device; 11. Support truss structure; 111. Top frame; 112. Column; 113. Reinforcement plate; 114. Reinforcement beam; 12. Lifter; 121. Motor; 122. Cable drum; 123. Hook; 13. Operating mechanism; 131. Frame; 14. Vacuum suction cup assembly; 141. Frame; 1411. Crossbeam; 1412. First support; 1413. Second support; 142. Vacuum suction cup; 143. Vacuum pump; 144. Connecting beam; 145. Lifting ring; 20. Transfer equipment; 21. Support frame; 211. First avoidance; 212. Support platform; 22. Turning device; 221. Turning bracket; 2211. Second avoidance; 222. Fixed bracket; 231. Lifting device; 23. Transfer vehicle; 232. Support vehicle; 24. Track. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0030] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0031] like Figures 1 to 8As shown, the demoulding and transfer method of the pipe segment of the present embodiment includes the following steps: step S1: making the mold 2 containing the pipe segment 1 reach a preset position; step S2: when detecting that there is no pipe segment 1 on the transfer device 20, controlling the vacuum suction cup 142 to move laterally from the initial position to the first working position located above the mold 2; step S3: controlling the vacuum suction cup 142 to descend; step S4: judging whether the vacuum suction cup 142 has descended to the second working position, when the vacuum suction cup 142 has descended to the second working position, the vacuum suction cup 142 stops descending and adsorbs the pipe segment 1; step S5: when the vacuum suction cup 142 adsorbs the pipe segment 1 for a time period exceeding a preset time length, controlling the vacuum suction cup 142 to rise and return to the first working position, judging whether the pipe segment 1 has reached a safe height; step S6: when the vacuum suction cup 142 adsorbs the pipe segment 1 for a time period exceeding a preset time length, controlling the vacuum suction cup 142 to rise and return to the first working position, judging whether the pipe segment 1 has reached a safe height; step S7: when the vacuum suction cup 142 adsorbs the pipe segment 1 for a time period exceeding a preset time length, controlling the vacuum suction cup 142 to rise and return to the first working position, judging whether the pipe segment 1 has reached a safe height; step S8: when the vacuum suction cup 142 adsorbs the pipe segment 1 for a time period exceeding a preset time length, controlling the vacuum suction cup 142 to rise and return to the first working position, judging whether the pipe segment 1 has reached a safe height; step S9: when the vacuum suction cup 142 adsorbs the pipe segment 1 for a time period exceeding a preset time length, controlling the vacuum suction cup 142 to rise and return to the first working position, judging whether the pipe segment 1 has reached a safe height; step S10: when the vacuum suction cup 142 adsorbs the pipe segment 1 for a Step S6: When it is determined that the pipe segment 1 has reached a safe height, the vacuum suction cup 142 is controlled to drive the pipe segment 1 to move laterally; Step S7: Determine whether the vacuum suction cup 142 has reached the third working position above the transfer equipment 20, and when the vacuum suction cup 142 moves to the third working position, the vacuum suction cup 142 is controlled to descend; Step S8: Determine whether the vacuum suction cup 142 has descended to the fourth working position, and when the vacuum suction cup 142 moves to the fourth working position, the vacuum suction cup 142 is controlled to release the pipe segment 1, so that the pipe segment 1 is placed on the transfer equipment 20; Step S9: Determine whether the vacuum suction cup 142 releases the pipe segment 1, and when the vacuum suction cup 142 releases the pipe segment 1, the vacuum suction cup 142 moves from the fourth working position to the initial position.

[0032] By applying the technical solution of this embodiment, the pipe segment can be demoulded and transported through the pipe segment demoulding and transporting method of this application, and the demoulding and transporting path of the pipe segment is fixed, so that manual labor will not enter the demoulding and transporting path of the pipe segment, and there is no need to remind manual labor to avoid it, which greatly improves the safety of demoulding and transporting of the pipe segment. Therefore, the technical solution of this embodiment effectively solves the problem of manual operation of crane lifting pipe segments in related technologies, which poses a safety hazard.

[0033] It should be noted that the safe height means that the lowest point of the pipe segment is at a certain distance from the ground. When the pipe segment is at this distance, the pipe segment cannot be in contact with any structure around it except the vacuum suction cup. The preset time is preferably 10 seconds. When the vacuum suction cup 142 adsorbs the pipe segment 1 for a time exceeding the preset time, the vacuum suction cup completes the adsorption work. The initial position of the vacuum suction cup refers to the vacuum suction cup being located in the middle of the frame (see below).

[0034] like Figures 1 to 8As shown, in order to accurately detect whether there is a pipe segment on the transfer device 20, the transfer device 20 is provided with a first pipe segment detection switch, and the first pipe segment detection switch is used to detect whether there is a pipe segment 1 on the transfer device 20. In order to obtain accurate position information, the frame 141 is provided with a first detection element and a second detection element at intervals, and the vacuum suction cup 142 is detected to reach the initial position by the first detection element, and the vacuum suction cup 142 is detected to reach the first working position by the second detection element. In order to obtain accurate position information, the elevator 12 is provided with a third detection element and a fourth detection element at intervals, and the vacuum suction cup 142 is detected to reach the third working position by the third detection element, and the pipe segment 1 is detected to reach the safe height by the fourth detection element. In order to obtain accurate position information, the frame 141 is also provided with a fifth detection element, and the vacuum suction cup 142 is detected to reach the third working position by the fifth detection element. In order to obtain accurate position information, the elevator 12 is also provided with a sixth detection element, and the vacuum suction cup 142 is detected to reach the fourth working position by the sixth detection element. In order to accurately detect whether there is a pipe segment on the vacuum suction cup 142, a second pipe segment detection switch is provided on the vacuum suction cup 142, and the second pipe segment detection switch is used to detect whether there is a pipe segment 1 on the vacuum suction cup 142.

[0035] Preferably, the first segment detection switch, the second segment detection switch and the fourth detection element detection are all proximity switches. The first detection element, the second detection element, the third detection element and the fifth detection element are all limit switches. In this way, accurate data can be obtained on the one hand, and standardized devices are used on the other hand, which is convenient for procurement and production.

[0036] like Figures 1 to 8 As shown, in order to avoid misoperation and interference, in step S1, it is determined whether the mold 2 containing the pipe segment 1 is in an open state. When the mold 2 is in an unopened state, the mold 2 is demolded to open the mold 2.

[0037] like Figures 1 to 8 As shown, in order to avoid misoperation and interference, in step S2, it is determined whether there is a pipe segment 1 on the transfer device 20. If there is a pipe segment 1 on the transfer device 20, the transfer device 20 is controlled to perform a transfer operation to remove the pipe segment 1 so that there is no pipe segment 1 on the transfer device 20.

[0038] The present application also provides a segment demoulding and transfer device, such as Figures 3 to 9As shown, the segment 1 in the mold 2 is demoulded and transported using the above-mentioned segment demoulding and transporting method, and the segment demoulding and transporting equipment includes: a lifting device 10 and a transporting device 20. The lifting device 10 includes a supporting truss structure 11, a lift 12, an operating mechanism 13 and a vacuum suction cup assembly 14. The lift 12 moves on the supporting truss structure 11 through the operating mechanism 13, and the lift 12 lifts the segment 1 in the mold 2 through the vacuum suction cup assembly 14. The transporting device 20 is located below the lifting device 10, and the mold 2 and the transporting device 20 correspond to the two ends of the supporting truss structure 11 respectively. Since the above-mentioned segment demoulding and transporting method can solve the problem of safety hazards in the manual operation of the crane to lift the segment in the related art, the segment demoulding and transporting equipment of this embodiment can realize demoulding and transport according to the above-mentioned segment demoulding and transporting method, and can also solve the same technical problems.

[0039] The supporting truss structure 11 of this embodiment can form a dedicated channel, which is convenient for the vacuum suction cup assembly 14 to move horizontally or lift on the dedicated channel. In this way, the dedicated channel is set up, which is conducive to taking protective measures to achieve safe and controllable demoulding and transportation of the pipe segment. At the same time, the mutual cooperation between the supporting truss structure 11, the elevator 12, the operating mechanism 13 and the vacuum suction cup assembly 14 is adopted. It can save a driving driver and a safety management personnel, so that only one person who operates the transfer equipment 20 can complete the operation, which greatly reduces the labor cost.

[0040] In this embodiment, the segment demoulding and transfer equipment also includes a PLC controller, the proximity switch and the limit switch are connected to the controller PLC, and the PLC controller controls the operation of the lifting device 10 and the transfer equipment 20.

[0041] Specifically, Figures 2 to 9 As shown, the segment demoulding and transfer equipment of this embodiment uses the above-mentioned segment demoulding and transfer method to realize demoulding and transfer in the following steps:

[0042] After the segment demoulding and transfer equipment is powered on and initialized, the vacuum suction cup is in the initial position, and the mode is selected on the segment demoulding and transfer equipment, selecting the automatic mode or the manual mode.

[0043] When the automatic mode is selected, the mold detection switch is used to detect whether the mold is in an open state. When the mold is in an open state, the first pipe segment detection switch detects whether there is no pipe segment on the transfer device. When the mold is not opened, the mold is manually removed. When there is no pipe segment on the transfer device, the vacuum suction cup moves horizontally to the left. When there is a pipe segment on the transfer device, the transfer device removes the pipe segment. When the vacuum suction cup moves horizontally to the left and reaches the first working position, the vacuum suction cup descends. When the vacuum suction cup moves horizontally to the left and does not reach the first working position, the vacuum suction cup continues to move horizontally to the left until it reaches the first working position. When the vacuum suction cup descends to the second working position, the vacuum suction cup stops descending and adsorbs the pipe segment. When the vacuum suction cup descends and does not reach the second working position, the vacuum suction cup continues to descend until it reaches the second working position. When the vacuum suction cup completes the adsorption work, the vacuum suction cup rises and returns to the first working position. When the vacuum suction cup does not complete the adsorption work, the vacuum suction cup continues to adsorb the pipe segment until the vacuum suction cup completes the adsorption work. If the preset time length of the vacuum suction cup adsorption work is greater than 10 seconds and the adsorption is not completed, the preset time length can be extended. When the vacuum suction cup reaches the first working position, the pipe segment reaches the safe height. If the pipe segment does not reach the safe height, the vacuum suction cup continues to rise until the pipe segment reaches the safe height. When the pipe segment reaches the safe height, the vacuum suction cup moves backward and laterally to drive the pipe segment to move backward and laterally. After the vacuum suction cup reaches the third working position, the vacuum suction cup descends. When the vacuum suction cup does not reach the third working position, the vacuum suction cup continues to move until it reaches the third working position. When the vacuum suction cup descends to the fourth working position, the vacuum suction cup releases the pipe segment. When the vacuum suction cup does not reach the fourth working position, the vacuum suction cup continues to descend until it reaches the fourth working position. After the vacuum suction cup completely releases the pipe segment, the vacuum suction cup completes the operation of releasing the pipe segment. When the vacuum suction cup does not completely release the pipe segment, the vacuum suction cup continues to release the pipe segment until it is completely released. Then the pipe segment demolding and transfer equipment returns to power on initialization.

[0044] In the case of manual mode, the vacuum suction cup is manually controlled to descend, or manually controlled to ascend, or manually controlled to absorb the pipe segment, or manually controlled to release the pipe segment, or manually controlled to move the vacuum suction cup to the left, or manually controlled to move the vacuum suction cup to the right. When the vacuum suction cup completes one of the above tasks, the pipe segment demoulding and transfer equipment returns to power on initialization.

[0045] The mold detection switch is arranged on the mold, and the mold detection switch is preferably a proximity switch.

[0046] like Figures 3 to 5 As shown, the supporting truss structure 11 includes a top frame 111 and eight columns 112. The eight columns 112 are arranged at intervals and support the top frame 111. In this way, the top frame 111 can be stably supported by the eight columns 112.

[0047] The supporting truss structure also includes: a reinforcing plate 113. The reinforcing plate 113 is arranged parallel to the top frame 111 and between two adjacent columns 112. In this way, the reinforcing plate 113 has a large area and can effectively strengthen the structural strength of the two adjacent columns 112, so that the two adjacent columns 112 can effectively support the top frame 111. When the elevator 12 moves on the top frame 111, the top frame 111 is prevented from being slightly deformed, thereby reducing the amplitude of the shaking of the elevator 12 when lifting the pipe segment, improving the stability of the elevator 12 lifting the pipe segment, and making it easy for the elevator 12 to align the pipe segment. Of course, the columns of this embodiment are not limited to eight, and can also be four, six, ten or more.

[0048] Specifically, the reinforcing plate 113 is connected to four columns 112 located in the middle among the eight columns 112 .

[0049] like Figures 3 to 5 As shown, in order to further ensure the supporting load capacity and sufficient rigidity of the supporting truss structure, the supporting truss structure also includes two reinforcing beams 114 connected between two adjacent columns 112. The two reinforcing beams 114 are cross-arranged and located between the reinforcing plate 113 and the top frame 111.

[0050] like Figures 3 to 5 As shown, in order to ensure that each reinforcing beam 114 has sufficient structural strength, the supporting truss structure further includes a plurality of reinforcing legs, and the plurality of reinforcing legs are arranged at intervals on each reinforcing beam 114 .

[0051] like Figures 5 to 7 As shown, the vacuum suction cup assembly 14 includes: a frame 141, three vacuum suction cups 142 and a vacuum pump 143. The three vacuum suction cups 142 are arranged at intervals at the bottom of the frame 141. Each vacuum suction cup 142 is pivotally arranged relative to the frame 141. The vacuum pump 143 is arranged on the frame 141, and each vacuum suction cup 142 is connected to the vacuum pump 143. The vacuum suction cup assembly also includes two lifting rings 145. In this way, the hook 123 cooperates with the two lifting rings 145, so that the hook 123 has multiple lifting positions for lifting the vacuum suction cup assembly, thereby improving the steel cable stability of the steel cable drum, greatly reducing the amplitude of the shaking of the vacuum suction cup assembly, and making it easy for the three vacuum suction cups 142 to align with the pipe segment 1. Therefore, the technical solution of this embodiment effectively solves the problem that the vacuum suction cup has a poor effect of aligning the pipe segment in the related art. Of course, the number of vacuum suction cups in this embodiment may not be limited to three, but may be one, two, four or more. The number of lifting rings may not be limited to two, but may be three, four or more. It should be noted that, in order to better improve the stability of cooperation with the two hanging rings 145 , there are two hanging hooks 123 , and the two hanging hooks 123 cooperate with the two hanging rings 145 in a one-to-one correspondence.

[0052] like Figures 5 to 7 As shown, the frame 141 includes two cross beams 1411 arranged at intervals and two connecting beams 144 connected between two adjacent cross beams 1411. Each vacuum suction cup 142 is connected to the two cross beams 1411, and the two hanging rings 145 are connected to the multiple connecting beams 144 in a one-to-one correspondence. In this way, the two cross beams 1411 arranged at intervals can effectively reduce the manufacturing cost while ensuring sufficient load-bearing capacity. The two connecting beams 144 can effectively connect the two cross beams 1411 together so that the frame 141 can become a whole. Of course, the number of connecting beams may not be limited to two, but may also be three, four or more.

[0053] like Figures 5 to 7 As shown, the three vacuum suction cups 142 include two end vacuum suction cups and a middle vacuum suction cup located between the two end vacuum suction cups. The frame 141 also includes a first support 1412 corresponding to the end vacuum suction cups and a second support 1413 corresponding to the middle vacuum suction cup. The end vacuum suction cups are pivotally connected to the first support 1412, and the second support 1413 is pivotally connected to the second support 1413. In this way, the two end vacuum suction cups and the middle vacuum suction cup can adapt to the outward protruding surface of the pipe segment 1, so that the pipe segment 1 can be effectively attached to the two end vacuum suction cups and the middle vacuum suction cup, so that the three vacuum suction cups 142 can effectively adsorb the pipe segment 1.

[0054] like Figure 4 and Figure 6 As shown, the lift 12 includes a reduction motor 121, a cable drum 122 and two hooks 123. The cable drum 122 connects the reduction motor 121 and the two hooks 123, and the two hooks 123 can lift the frame 141. In this way, the stability of the vacuum suction cup assembly 14 can be ensured when the demoulding is completed.

[0055] like Figure 4 and Figure 5 As shown, the operating mechanism 13 includes a frame 131, a driving wheel group and a driven wheel group arranged on the frame 131, and both the driving wheel group and the driven wheel group can move on the top frame 111. In turn, the frame 131 can move on the top frame 111, so that the elevator 12 located on the operating mechanism 13 can move.

[0056] like Figure 8 and Fig. 9As shown, the transfer equipment 20 includes: a support frame 21, a turning device 22 and a transfer vehicle 23. Located upstream of the support frame 21, the turning device 22 includes a turning bracket 221 that can be pivoted, and the turning bracket 221 has a supporting position and a turning position; the transfer vehicle 23 is located between the support frame 21 and the turning device 22, and moves between the support frame 21 and the turning device 22. The transfer equipment 20 also includes: a track 24. The support frame 21 is located at a first end of the track 24. The turning device 22 is located at a second end of the track 24. The turning device 22 includes a turning device 22 that can be pivoted. The turning device 22 has a supporting position and a turning position. The transfer vehicle 23 is set on the track 24 and moves between the support frame 21 and the turning device 22. During the segment transportation process, the segment 1 is placed on the support frame 21. When the transfer vehicle 23 moves to the position of the support frame 21, the transfer vehicle 23 transfers the segment 1. The transfer vehicle 23 moves to the position of the flipping device 22. The flipping device 22 is in the supporting position. At this time, the transfer vehicle 23 moves the segment 1 to the flipping device 22. When the flipping device 22 switches from the supporting position to the flipping position, the flipping device 22 drives the segment 1 to flip. In this process, the segment is smoothly transported through the support frame 21, the transfer vehicle 23 and the flipping device 22. Therefore, the technical solution of this embodiment effectively solves the problem of large shaking and poor stability during the transportation of the segment. In the above structure, after the segment is detached from the mold, the segment 1 is first placed on the support frame 21 to facilitate driving to carry out the next step without waiting.

[0057] like Figure 8 and Fig. 9 As shown, the transfer vehicle 23 includes a lifting device 231 and a support vehicle 232 disposed at the bottom of the lifting device 231. The support vehicle 232 moves between the support frame 21 and the turning device 22, and can drive the lifting device 231 located above the support vehicle 232 to move. The lifting device 231 includes a lifting platform that can be lifted and lowered, and the lifting platform has an ascending position and a descending position. When the lifting platform is in the ascending position, the lifting platform supports the pipe segment 1 located on the support frame 21 so that the pipe segment 1 is separated from the support frame 21. The movement of the support vehicle 232 drives the lifting device 231 to move. When the lifting device 231 moves to the bottom of the turning device 22, the lifting platform switches from the ascending position to the descending position so that the pipe segment 1 on the lifting platform stays on the turning device 22. In this way, the transfer vehicle 23 realizes the transfer of the pipe segment 1.

[0058] Preferably, the support vehicle 232 includes a motor and wheels driven by the motor, and under the driving force of the motor, the wheels move on the track 24 so that the support vehicle 232 moves in the front-rear direction along the track 24 .

[0059] like Figure 8 and Fig. 9As shown, in order to prevent the lifting platform from interfering with the support frame 21 during the lifting process, a first avoidance opening 211 for avoiding the lifting platform is provided on the support frame 21. In order to prevent the lifting platform from interfering with the flip device 22 during the lifting process, a second avoidance opening 2211 for avoiding the lifting platform is provided on the flip device 22.

[0060] The support frame 21 includes a support platform 212 , and the transfer vehicle 23 is located below the support platform 212 .

[0061] like Figure 8 and Fig. 9 As shown, the flipping device 22 includes a support beam and a stop beam vertically connected to the support beam. In this way, the support beam can support the pipe segment 1. At the same time, when the flipping device 22 is in the flipping position, the stop beam can stop the pipe segment 1 so that the pipe segment 1 is stably placed on the flipping device 22. The bottom of the support beam is hinged to the fixed bracket 222, and the end of the support beam away from the support frame 21 is hinged to the telescopic rod of the telescopic cylinder, and the cylinder body of the telescopic cylinder is hinged to the fixed bracket 222. In this way, when the flipping device 22 switches from the supporting position to the flipping position, the support beam is prevented from interfering with the fixed bracket 222. Similarly, when the flipping device 22 switches from the flipping position to the supporting position, the support beam is prevented from interfering with the fixed bracket 222. At the same time, the fixed bracket 222 can effectively support the support beam so that the support beam is stably located above the fixed bracket 222. The telescopic cylinders in this embodiment are preferably two, so that the flipping device 22 can be effectively driven to achieve a 90-degree flip.

[0062] Since the pipe segments are lifted by the vacuum suction cup assembly 14, the outer arc surface of the pipe segments faces upward and cannot be directly stored in the yard. The turning device 22 in the transfer equipment 20 is required to turn the pipe segments 90 degrees so that the pipe segments can be stored vertically, that is, one side of the pipe segments is placed downward.

[0063] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0064] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0065] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for demoulding and transferring a pipe segment, characterized in that: The segment demoulding and transfer method comprises the following steps: Step S1: making the mold (2) containing the tube segment (1) reach a preset position; Step S2: when it is detected that there is no tube sheet (1) on the transfer device (20), the vacuum suction cup (142) is controlled to move laterally from the initial position to a first working position located above the mold (2); Step S3: controlling the vacuum suction cup (142) to descend; Step S4: determining whether the vacuum suction cup (142) has descended to the second working position, and when the vacuum suction cup (142) has descended to the second working position, the vacuum suction cup (142) stops descending and adsorbs the pipe segment (1); Step S5: when the time for which the vacuum suction cup (142) adsorbs the pipe segment (1) exceeds a preset time, the vacuum suction cup (142) is controlled to rise and return to the first working position, and it is determined whether the pipe segment (1) has reached a safe height; Step S6: when it is determined that the pipe segment (1) has reached a safe height, controlling the vacuum suction cup (142) to drive the pipe segment (1) to move laterally; Step S7: determining whether the vacuum suction cup (142) has reached a third working position located above the transfer device (20), and when the vacuum suction cup (142) moves to the third working position, controlling the vacuum suction cup (142) to descend; Step S8: determining whether the vacuum suction cup (142) has descended to the fourth working position, and when the vacuum suction cup (142) has moved to the fourth working position, controlling the vacuum suction cup (142) to release the pipe segment (1) so that the pipe segment (1) is placed on the transfer device (20); Step S9: determining whether the vacuum suction cup (142) releases the pipe segment (1); when the vacuum suction cup (142) releases the pipe segment (1), the vacuum suction cup (142) moves from the fourth working position to the initial position.

2. The segment demoulding and transporting method according to claim 1, characterized in that: The transfer device (20) is provided with a first pipe segment detection switch, and the first pipe segment detection switch is used to detect whether there is a pipe segment (1) on the transfer device (20). A first detection element and a second detection element are arranged at intervals on the frame (141), and the first detection element is used to detect that the vacuum suction cup (142) has reached the initial position, and the second detection element is used to detect that the vacuum suction cup (142) has reached the first working position. A third detection element and a fourth detection element are arranged at intervals on the lift (12), and the third detection element is used to detect whether the vacuum suction cup (142) has reached the third working position, and the fourth detection element is used to detect whether the pipe segment (1) has reached a safe height. The frame (141) is also provided with a fifth detection element, through which the vacuum suction cup (142) is detected to have reached the third working position. The lift (12) is also provided with a sixth detection element, through which the vacuum suction cup (142) is detected to have reached the fourth working position. The vacuum suction cup (142) is provided with a second pipe segment detection switch, and the second pipe segment detection switch is used to detect whether the vacuum suction cup (142) has a pipe segment (1).

3. The segment demoulding and transporting method according to claim 1, characterized in that: In the step S1, it is determined whether the mold (2) containing the tube segment (1) is in an open state. When the mold (2) is in an unopened state, a demolding operation is performed on the mold (2) to put the mold (2) in an open state.

4. The segment demoulding and transporting method according to claim 1, characterized in that: In step S2, it is determined whether there is a pipe segment (1) on the transfer device (20). If there is a pipe segment (1) on the transfer device (20), the transfer device (20) is controlled to perform a transfer operation to remove the pipe segment (1) so that there is no pipe segment (1) on the transfer device (20).

5. A segment demoulding and transfer device, characterized in that: The segment demoulding and transfer equipment uses the segment demoulding and transfer method according to any one of claims 1 to 4 to achieve demoulding and transfer, and the segment demoulding and transfer equipment includes: A lifting device (10), the lifting device (10) comprising a supporting truss structure (11), an elevator (12), an operating mechanism (13) and a vacuum suction cup assembly (14), the elevator (12) moving on the supporting truss structure (11) via the operating mechanism (13), and the elevator (12) lifting the pipe segment (1) in the mold (2) via the vacuum suction cup assembly (14); The transfer device (20) is located below the lifting device (10), and the mold (2) and the transfer device (20) correspond to two ends of the supporting truss structure (11) respectively.

6. The segment demoulding and transfer equipment according to claim 5, characterized in that: The supporting truss structure (11) comprises a top frame (111) and a plurality of upright posts (112); the plurality of upright posts (112) are arranged at intervals and support the top frame (111).

7. The segment demoulding and transfer equipment according to claim 5, characterized in that: The vacuum suction cup assembly (14) comprises: Frame (141); A plurality of vacuum suction cups (142) are arranged at intervals on the bottom of the frame (141), and each of the vacuum suction cups (142) is pivotally arranged relative to the frame (141); A vacuum pump (143) is arranged on the frame (141), and each of the vacuum suction cups (142) is connected to the vacuum pump (143).

8. The segment demoulding and transfer equipment according to claim 7, characterized in that: The elevator (12) comprises a reduction motor (121), a cable drum (122) and a plurality of hooks (123); the cable drum (122) is connected to the reduction motor (121) and the plurality of hooks (123); and the plurality of hooks (123) can lift the frame (141).

9. The segment demoulding and transfer equipment according to claim 6, characterized in that: The operating mechanism (13) comprises a frame (131), a driving wheel group and a driven wheel group arranged on the frame (131), and both the driving wheel group and the driven wheel group are capable of moving on the top frame (111).

10. The segment demoulding and transfer equipment according to claim 5, characterized in that: The transfer device (20) comprises: Support frame (21); A flipping device (22) is located upstream of the support frame (21), the flipping device (22) comprises a flipping bracket (221) which is pivotally arranged, and the flipping bracket (221) has a supporting position and a flipping position; The transfer vehicle (23) is located between the support frame (21) and the turning device (22), and moves between the support frame (21) and the turning device (22).

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