Concrete segment plastering system

Abstract

The invention relates to the technical field of concrete pipe piece production, and discloses a concrete pipe piece plastering system which comprises plastering equipment, a mechanical arm for loading the plastering equipment and a ground rail for mounting the mechanical arm to move. The plastering equipment comprises a supporting frame, two bearing plates installed on the two sides of the supporting frame in a sliding mode respectively, a trowelling piece installed on the supporting plate and a driving mechanism installed on the supporting frame and used for driving the two bearing plates to move in a reciprocating mode, and the movement directions of the two bearing plates are opposite. A flushing mechanism for flushing the bottom of the trowelling piece is further mounted on the trowelling piece; the trowelling piece is provided with a trowelling plate making contact with the concrete pipe piece, connecting plates located at the two ends of the trowelling plate and bent upwards and a mounting plate located at the top of the connecting plate on the inner side and bent outwards, and the flushing mechanism is detachably connected to the mounting plate. Manual trowelling is not needed, the labor intensity is reduced, the efficiency of trowelling the concrete duct piece is improved, and the flatness of the outer cambered surface of concrete is ensured.

Description

Technical Field

[0001] The invention belongs to the technical field of concrete pipe segment production, and in particular relates to a concrete pipe segment finishing system. Background Art

[0002] The concrete shield segment is the permanent lining structure of the shield tunnel. It is made of concrete and formed in one step without any external decoration. The surface needs to be flat and smooth, without damage and pollution. Its production process is very complicated, including processing steel skeleton, placing steel skeleton, placing embedded parts, closing cover plate, concrete pouring, water collection and plastering, covering with plastic film, pressing cover, static stop, steam curing, demoulding, secondary curing, inspection, and finished product stacking. The outer surface of the concrete shield segment is a curved surface, which improves the surface finish of the segment, can ensure that the suction cup is firmly adsorbed, and the appearance looks beautiful.

[0003] At present, the smoothing of the outer curved surface of concrete segments is mostly still done manually. Each assembly line requires two people to operate at the same time. During work, two workers stand on both sides of the segment mold, holding smoothing tools to scrape away excess cement and smooth the outer curved surface of the concrete. However, the manual smoothing work method is not only labor-intensive, time-consuming and labor-intensive, but also has low work efficiency. It is also difficult to ensure the flatness of the outer curved surface of the concrete. The quality of the smoothing and finishing of the outer curved surface of the concrete is poor, and the quality of the segment cannot be effectively guaranteed, affecting the overall quality and safety of the tunnel.

[0004] In view of this, the inventor conducted in-depth research on the above-mentioned defects in the prior art, and thus came up with this case. Summary of the invention

[0005] The purpose of the present invention is to provide a concrete pipe segment finishing system, which does not require manual finishing, reduces labor intensity, and can also improve the finishing efficiency of the concrete pipe segment to ensure the flatness of the concrete outer arc surface.

[0006] In order to achieve the above technical objectives, the technical solution adopted by the present invention is as follows:

[0007] A concrete pipe segment plastering system comprises plastering equipment, a mechanical arm for loading the plastering equipment and a ground rail for installing the mechanical arm for movement of the mechanical arm; the plastering equipment comprises a support frame, two bearing plates respectively slidably mounted on both sides of the support frame, a plastering member mounted on the support plate and a driving mechanism mounted on the support frame for driving the two bearing plates to reciprocate, and the movement directions of the two bearing plates are opposite; the plastering member is also equipped with a flushing mechanism for flushing the bottom of the plastering member; the plastering member has a plastering panel in contact with the concrete pipe segment, connecting plates located at both ends of the plastering panel and bent upward, and a mounting plate located on the top of the inner connecting plate and bent outward, and the flushing mechanism is detachably connected to the mounting plate.

[0008] Furthermore, the flushing mechanism includes a spray pipe, a mounting bar for mounting the spray pipe, and a driving assembly for driving the spray pipe to adjust and rotate. The spray pipe is provided with a plurality of high-pressure nozzles that can point to the bottom of the trowel panel; mounting blocks are provided at both ends of the mounting bar, and a mounting cavity for mounting the spray pipe is formed at the bottom of the mounting bar. A rotating shaft rotatably connected to the two side walls of the mounting cavity is formed at both ends of the spray pipe. The spray pipe is driven to rotate by the driving assembly, and the trowel can turn the high-pressure nozzle to the other side when troweling the concrete pipe segment to avoid interfering with the movement of the trowel.

[0009] Furthermore, a clamping groove matched with the mounting plate is formed on the mounting block, and the mounting block and the mounting plate are fixedly connected by bolts. The clamping groove and the bolts can make the installation of the flushing mechanism more stable.

[0010] Furthermore, an installation box for installing the drive assembly is provided at the end of the mounting block; the drive assembly includes a first motor, a first reversing gear installed on the output shaft of the first motor, and a second reversing gear installed on the rotating shaft, the first reversing gear is meshed with the second reversing gear, and the first motor is fixedly installed on the top of the mounting box.

[0011] Furthermore, the spray pipe is provided with a water inlet nozzle, the end of which is connected with a bellows, which is connected with the water tank through a hose; the mounting bar is provided with a clearance groove for the water inlet nozzle and the bellows to move. The bellows is connected with the water inlet nozzle to adapt to the rotation of the spray pipe and increase its service life.

[0012] Furthermore, the driving mechanism includes a bidirectional screw rotatably mounted on the support frame, a second motor driving the bidirectional screw to rotate, and two threaded sleeves respectively threadedly connected to two threaded sections of the bidirectional screw, and a connecting block connected to the bearing plate is provided on the threaded sleeve. The bidirectional screw is controlled by the second motor to rotate forward and reversely, so that the two bearing plates can be controlled to perform alternating reciprocating motion.

[0013] Furthermore, slide grooves are provided on both sides of the support frame, and guide rails cooperating with the slide grooves are formed on the support plate. The cooperation between the slide grooves and the guide rails can make the slide of the support plate more stable.

[0014] Furthermore, the trowel piece is provided with a connection seat, which is located on the top of the trowel panel and connected to the connection plate by screws; a cylinder is fixedly connected to the side wall of the bearing plate, and the piston rod of the cylinder is connected to the connection seat; a vibration motor is also provided on the connection seat. The pressure between the trowel piece and the concrete pipe segment can be adjusted by the cylinder to improve the trowel effect.

[0015] Furthermore, an electric control box is provided at the end of the ground rail; a carrying plate is slidably mounted on the ground rail, and the carrying plate is provided with a power mechanism for driving the carrying plate to move along the ground rail; the mechanical arm is mounted on the carrying plate, and the movement of the carrying plate drives the mechanical arm to move.

[0016] After adopting the above structure, the concrete pipe segment plastering system of the present invention has the following beneficial effects compared with the prior art:

[0017] 1. In this case, the plastering equipment is installed on a robotic arm, and the robotic arm is installed on a ground rail. When the concrete segment is smoothed, the robotic arm is driven by the ground rail to move along the concrete segment, and the angle between the plastering equipment and the concrete segment is adjusted by the robotic arm. The smoothing parts on the plastering equipment can fit the concrete segment; and when plastering, the driving mechanism is used to drive the two smoothing parts to perform alternating reciprocating motions, simulating the movements during manual smoothing and improving the smoothing effect.

[0018] 2. In this case, flushing mechanisms are installed on the two smoothing pieces respectively. Every time a concrete pipe segment is smoothed, the flushing mechanism is used to clean the concrete attached to the bottom of the smoothing piece to avoid the concrete drying and hardening after long-term use, which will affect the smoothing effect when smoothing the subsequent concrete pipe segments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention can be further illustrated by the non-limiting examples given in the accompanying drawings;

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a structural schematic diagram of the plastering equipment in the present invention;

[0022] Figure 3 It is a structural schematic diagram of the bottom of the plastering equipment in the present invention;

[0023] Figure 4 A top view of the plastering equipment of the present invention;

[0024] Figure 5 It is a structural schematic diagram of the flushing mechanism in the present invention;

[0025] Figure 6 It is a structural schematic diagram of the bottom of the flushing mechanism in the present invention;

[0026] Figure 7 It is a cross-sectional schematic diagram of a driving assembly of the flushing mechanism in the present invention;

[0027] Figure 8 It is a schematic diagram of the structure of the smoothing member in the present invention;

[0028] Fig. 9 It is a structural schematic diagram of the threaded sleeve in the present invention;

[0029] Fig.10 for Figure 2 A schematic diagram of the local enlarged structure at point A in the middle;

[0030] Fig.11 for Figure 5 A schematic diagram of the local enlarged structure at B in the middle;

[0031] Fig.12 for Figure 6 Schematic diagram of the local enlarged structure at point C in the middle.

[0032] The symbols of the main components are explained as follows: plastering equipment 1, support frame 11, slide 111, bearing plate 12, guide rail 121, smoothing member 13, plastering panel 131, connecting plate 132, mounting plate 133, driving mechanism 14, bidirectional screw 141, second motor 142, threaded sleeve 143, connecting block 1431, connecting seat 15, cylinder 16, vibration motor 17, robotic arm 2, ground rail 3, bearing plate 31, power mechanism 32, flushing mechanism 4, spray pipe 41, high-pressure nozzle 411, water inlet nozzle 413, bellows 414, mounting strip 42, mounting block 421, clamping groove 4211, mounting cavity 422, mounting box 423, make way groove 424, driving assembly 43, first motor 431, first reversing gear 432, second reversing gear 433, bolt 44, electric control box 5. DETAILED DESCRIPTION

[0033] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that in the drawings or descriptions of the specification, similar or identical parts use the same figure numbers, and the implementation methods not shown or described in the drawings are forms known to ordinary technicians in the relevant technical field. In addition, the directional terms mentioned in the embodiments, such as "upper", "lower", "top", "bottom", "left", "right", "front", "back", etc., are only referenced to the directions of the drawings and are not used to limit the scope of protection of the present invention.

[0034] like Figures 1 to 12As shown, a concrete pipe segment plastering system of the present invention comprises a plastering device 1, a robot arm 2 for loading the plastering device 1, and a ground rail 3 for installing the robot arm 2 for movement of the robot arm 2. The robot arm 2 is a six-axis robot arm 2, specifically a robot arm 2 produced by KUKA Robotics. The robot arm 2 is used to drive the plastering device 1 to move along the curved surface of the concrete pipe segment, so that the plastering device 1 can better contact the curved surface of the concrete pipe segment. The plastering device 1 comprises a support frame 11, two bearing plates 12 respectively slidably mounted on both sides of the support frame 11, and a plastering member mounted on the support plate. 13 and a driving mechanism 14 installed on the support frame 11 for driving the two bearing plates 12 to reciprocate, the movement directions of the two bearing plates 12 are opposite, and a connecting plate connected to the end of the robot arm 2 is provided on the support frame 11; the smoothing member 13 is also equipped with a flushing mechanism 4 for flushing the bottom of the smoothing member 13; the smoothing member 13 has a trowel panel 131 in contact with the concrete pipe segment, a connecting plate 132 located at both ends of the trowel panel 131 and bent upward, and a mounting plate 133 located at the top of the inner connecting plate 132 and bent outward, and the flushing mechanism 4 is detachably connected to the mounting plate 133. The flushing mechanism 4 includes a spray pipe 41, a mounting bar 42 for mounting the spray pipe 41, and a driving assembly 43 for driving the spray pipe 41 to adjust and rotate. The spray pipe 41 is provided with a plurality of high-pressure nozzles 411 that can point to the bottom of the plastering panel 131. Mounting blocks 421 are provided at both ends of the mounting bar 42. A mounting cavity 422 for mounting the spray pipe 41 is formed at the bottom of the mounting bar 42. A rotating shaft rotatably connected to the two side walls of the mounting cavity 422 is formed at both ends of the spray pipe 41. The spray pipe 41 is driven to rotate by the driving assembly 43. When the trowel 13 is troweling the concrete pipe segment, the high-pressure nozzle 411 can be turned to the other side to avoid interfering with the movement of the trowel 13. Specifically, a plurality of high-pressure nozzles 411 are arranged at equal intervals along the length direction of the trowel 13. In addition, the high-pressure nozzles 411 on the two groups of flushing mechanisms 4 are arranged in an interlaced manner, so that the two groups of high-pressure nozzles 411 can be prevented from interfering with each other when the spray pipe 41 rotates.

[0035] Preferably, a clamping groove 4211 is formed on the mounting block 421 to match the mounting plate 133. The height of the clamping groove 4211 is equal to the thickness of the mounting plate 133. After the mounting block 421 is clamped on the mounting plate 133, it is fixedly connected by bolts 44. The clamping groove 4211 and the bolts 44 can make the installation of the flushing mechanism 4 more stable, but the smoothing member 13 will be worn after long-term use and needs to be replaced. When replacing, the flushing mechanism 4 is disassembled and only the smoothing member 13 needs to be replaced.

[0036] Preferably, an installation box 423 for installing the drive assembly 43 is provided at the end of one of the installation blocks 421; the drive assembly 43 includes a first motor 431, a first reversing gear 432 installed on the output shaft of the first motor 431, and a second reversing gear 433 installed on the rotating shaft, the first reversing gear 432 is meshed with the second reversing gear 433, and the first motor 431 is fixedly installed on the top of the installation box 423.

[0037] Preferably, the spray pipe 41 is also provided with a water inlet nozzle 413, the end of the water inlet nozzle 413 is connected to a bellows 414, and the bellows 414 is connected to the water tank through a hose. Specifically, the hoses of the two flushing mechanisms 4 can be connected by a three-way pipe, and the three-way pipe is further connected to the water tank, and a water pump is arranged on the water tank; the water pump is used to transport water into the spray pipe 41; in order to facilitate the rotation of the spray pipe 41, a makeshift groove 424 for the water inlet nozzle 413 and the bellows 414 to move is formed on the mounting strip 42; the bellows 414 is connected to the water inlet nozzle 413 to adapt to the rotation of the spray pipe 41 and increase the service life.

[0038] Preferably, the driving mechanism 14 includes a bidirectional screw 141 rotatably mounted on the support frame 11, a second motor 142 driving the bidirectional screw 141 to rotate, and two threaded sleeves 143 respectively threadedly connected to two threaded sections of the bidirectional screw 141, the bidirectional screw 141 has two threaded sections with opposite spiral directions, and the threaded sleeve 143 is provided with a connecting block 1431 connected to the bearing plate 12, specifically, the connecting block 1431 is connected to the bearing plate 12 by screws. By controlling the bidirectional screw 141 to rotate forward and reversely by the second motor 142, the two bearing plates 12 can be controlled to perform alternating reciprocating motion.

[0039] Preferably, slide grooves 111 are provided on both sides of the support frame 11, and guide rails 121 cooperating with the slide grooves 111 are formed on the carrying plate 12. The cooperation between the slide grooves 111 and the guide rails 121 can make the sliding of the carrying plate 12 more stable.

[0040] Preferably, the trowel 13 is further provided with a connection seat 15, which is located at the top of the trowel panel 131 and connected to the connection plate 132 by screws; a cylinder 16 is further fixedly connected to the side wall of the bearing plate 12, and the piston rod of the cylinder 16 is connected to the connection seat 15; and a vibration motor 17 is further provided on the connection seat 15. The pressure between the trowel 13 and the concrete pipe segment can be adjusted by the cylinder 16 to improve the trowel effect, and the concrete pipe segment is slurried by the vibration motor 17 to make the surface of the concrete pipe segment smoother. In addition, a linear bearing is further provided on the bearing plate 12 to increase the rigidity of the connection, limit the degree of freedom, and improve the stability of the trowel 13.

[0041] Preferably, an electric control box 5 is provided at the end of the ground rail 3 to control the ground rail 3, the mechanical arm 2 and the trowel device; a carrier plate 31 is slidably mounted on the ground rail 3, and the carrier plate 31 is provided with a power mechanism 32 for driving the carrier plate 31 to move along the ground rail 3; specifically, the power mechanism 32 includes a driving motor and a gear, and a gear row meshing with the gear is provided on the ground rail 3, and the entire carrier plate 31 is driven to move by the rotation of the gear, and the mechanical arm 2 of the carrier plate 31 is installed on the carrier plate 31. In addition, a water tank for supplying water to the spray pipe 41 can be installed on the carrier plate 31, so that the water tank can move with the mechanical arm 2.

[0042] The method of using the present invention is as follows: after pouring concrete into the pipe segment mold, the robot arm 2 drives the smoothing equipment to smooth the surface from one end of the concrete pipe segment. When smoothing the surface, the bidirectional screw 141 is driven by the second motor 142 to rotate forward and reverse, thereby driving the two smoothing parts 13 to continuously and alternately reciprocate to smooth the concrete. When moving along the curved surface of the concrete pipe segment, due to the change in angle, the cylinder 16 continuously adjusts the pressure between the smoothing part 13 and the concrete pipe segment to make the smoothing accuracy higher; after smoothing, the second motor 142 is used to drive the spray pipe 41 to rotate, so that the high-pressure nozzle 411 is flushed against the bottom of the smoothing part 13 to rinse the concrete attached to the smoothing part 13.

[0043] The above is a detailed introduction to a concrete segment plastering system provided by the present invention. The description of the specific embodiment is only used to help understand the method and core idea of ​​the present invention. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

Claims

1. A concrete segment plastering system, characterized by: The invention comprises a plastering device (1), a mechanical arm (2) for carrying the plastering device (1), and a ground rail (3) for installing the mechanical arm (2) and for moving the mechanical arm (2); the plastering device (1) comprises a support frame (11), two bearing plates (12) respectively slidably mounted on both sides of the support frame (11), a plastering member (13) mounted on the support plates (12), and a driving mechanism (14) mounted on the support frame (11) for driving the two bearing plates (12) to reciprocate, wherein the two bearing plates (12) are The movement direction of the plate (12) is opposite to that of the trowel (13); the trowel (13) is also equipped with a flushing mechanism (4) for flushing the bottom of the trowel (13); the trowel (13) comprises a trowel panel (131) in contact with the concrete pipe segment, connecting plates (132) located at both ends of the trowel panel (131) and bent upward, and a mounting plate (133) located at the top of the inner connecting plate (132) and bent outward, and the flushing mechanism (4) is detachably connected to the mounting plate (133).

2. A concrete segment finishing system according to claim 1, characterized in that: The flushing mechanism (4) comprises a spray pipe (41), a mounting bar (42) for mounting the spray pipe (41), and a driving assembly (43) for driving the spray pipe (41) to adjust and rotate. The spray pipe (41) is provided with a plurality of high-pressure spray heads (411) that can point to the bottom of the wiping panel (131). Mounting blocks (421) are provided at both ends of the mounting bar (42). A mounting cavity (422) for mounting the spray pipe (41) is formed at the bottom of the mounting bar (42). Rotating shafts rotatably connected to the two side walls of the mounting cavity (422) are respectively formed at both ends of the spray pipe (41).

3. A concrete segment finishing system according to claim 2, characterized in that: A clamping groove (4211) that cooperates with the mounting plate (133) is formed on the mounting block (421), and the mounting block (421) and the mounting plate (133) are fixedly connected by bolts (44).

4. A concrete segment finishing system according to claim 3, characterized in that: An installation box (423) for installing the drive assembly (43) is provided at the end of the installation block (421); the drive assembly (43) comprises a first motor (431), a first reversing gear (432) installed on the output shaft of the first motor (431), and a second reversing gear (433) installed on the rotating shaft (412), the first reversing gear (432) meshing with the second reversing gear (433), and the first motor (431) is fixedly installed on the top of the installation box (423).

5. A concrete segment finishing system according to claim 4, characterized in that: The spray pipe (41) is also provided with a water inlet nozzle (413), the end of the water inlet nozzle (413) is connected to a bellows (414), and the bellows (414) is connected to the water tank through a hose; the mounting strip (42) is formed with a clearance groove (424) for the water inlet nozzle (413) and the bellows (414) to move.

6. A concrete segment finishing system according to claim 1, characterized in that: The driving mechanism (14) comprises a bidirectional screw (141) rotatably mounted on the support frame (11), a second motor (142) driving the bidirectional screw (141) to rotate, and two threaded sleeves (143) respectively threadedly connected to two threaded sections of the bidirectional screw (141), wherein the threaded sleeve (143) is provided with a connecting block (1431) connected to the bearing plate (12).

7. A concrete segment finishing system according to claim 6, characterized in that: Slide grooves (111) are provided on both sides of the support frame (11), and guide rails (121) cooperating with the slide grooves (111) are formed on the carrying plate (12).

8. A concrete segment finishing system according to claim 7, characterized in that: The trowel member (13) is also provided with a connecting seat (15), the connecting seat (15) is located on the top of the trowel panel (131), and is connected to the connecting plate (132) by screws; a cylinder (16) is also fixedly connected to the side wall of the bearing plate (12), and a piston rod of the cylinder (16) is connected to the connecting seat (15); and a vibration motor (17) is also provided on the connecting seat (15).

9. The concrete segment finishing system according to claim 1, characterized in that: An electric control box (5) is provided at the end of the ground rail (3); a carrying plate (31) is slidably mounted on the ground rail (3); the carrying plate (31) is provided with a power mechanism (32) for driving the carrying plate (31) to move along the ground rail (3); and the mechanical arm (2) is mounted on the carrying plate (31).

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