An assembled cavity column mold-free production device and manufacturing method

Abstract

The present invention discloses a mold-free production device and manufacturing method for assembled cavity columns, in order to solve the problems of high mold manufacturing cost, long cycle, low production efficiency and easily damaged surface quality in the existing cavity column production technology. The device includes a concrete material nozzle unit, including a nozzle, for spraying concrete material on the prefabricated cavity column reinforcement cage; a mobile extrusion device unit, for performing pre-solidification treatment on the concrete material while the concrete material nozzle unit sprays the concrete material on the prefabricated cavity column reinforcement cage, and providing lateral support and positioning to achieve mold-free cavity column production. By adopting the production and manufacturing method and molding device of the present invention, the outer wall of the cavity column can be quickly sprayed, molded, solidified and maintained, greatly shortening the production cycle and standard production process of prefabricated concrete assembled cavity columns.

Description

Technical Field

[0001] The invention relates to the technical field of building engineering, and in particular to a mold-free production device and a manufacturing method for an assembled cavity column. Background Art

[0002] In current construction projects, prefabricated building components are gradually gaining popularity due to their high construction efficiency and good environmental performance. However, during the production process of traditional prefabricated cavity columns, template molds are usually customized according to the size of the cavity columns to be produced, and centrifuges are required for column molding, which not only increases production costs but also may lead to low production efficiency. In addition, the demoulding process may also damage the surface quality of the cavity columns. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide an assembled cavity column mold-free production device and a manufacturing method so as to solve the problems of high mold manufacturing cost, long cycle, low production efficiency and easily damaged surface quality in the existing cavity column production technology.

[0004] To achieve the above object, the technical solution of the present invention is:

[0005] In a first aspect, the present invention provides a prefabricated cavity column mold-free production device, comprising:

[0006] A concrete material nozzle unit, comprising a nozzle, for spraying concrete material on a prefabricated cavity column reinforcement cage;

[0007] The mobile extrusion device unit is used to perform pre-solidification treatment on the concrete material while the concrete nozzle unit sprays the concrete material on the prefabricated cavity column reinforcement cage, and provides lateral support and positioning to achieve mold-free cavity column production.

[0008] Optionally, the mobile extrusion device unit is driven by a vertical driving mechanism to move up and down; the mobile extrusion device unit includes a roller, which is driven to rotate by a first driver and to move in a horizontal direction by a second driver to achieve pre-solidification treatment of the concrete material and provide lateral support and positioning.

[0009] Optionally, the mobile squeezing device unit further includes a first debris removal plate, which is disposed below the roller and in contact with the roller to remove concrete materials adhered to the roller for the first time.

[0010] Optionally, the mobile squeezing device unit further includes a second debris removal plate, which is disposed below the roller and in contact with the roller to remove concrete materials adhered to the roller for a second time.

[0011] Optionally, the mobile extrusion device unit further includes a third residual removal plate, which is arranged below the roller and in contact with the roller to remove the concrete material adhered to the roller for the third time;

[0012] The first, second and third residual removing plates are all provided with cleaning agent spraying ports, and the rollers are used to spray cleaning agent.

[0013] Optionally, the mobile extrusion device unit further includes a folding plate, and the folding plate is arranged below the roller.

[0014] Optionally, the assembled cavity column mold-free production device further includes:

[0015] A mobile adaptive support base unit comprises a support base body, on which four adaptive cavity column fixing clamps are arranged, each adaptive cavity column fixing clamp is driven by an independent hydraulic motor to adjust the position of the adaptive cavity column fixing clamp to achieve adaptive fixation of the prefabricated cavity column steel cage; a ventilation vent is arranged in the middle of the area formed by the four adaptive cavity column fixing clamps in the support base body.

[0016] Optionally, the assembled cavity column mold-free production device further includes:

[0017] The six-axis machine spraying platform includes a six-axis machine arm, which is driven by a lifting platform to move up and down. The concrete material nozzle unit is installed in the six-axis machine arm. The nozzle of the concrete material nozzle unit is connected to the outlet end of the mixing agitator through a conveying pipe. The mixing agitator includes a mixing motor and a pressurizing motor. The mixing motor is used to stir the concrete material, and the pressurizing motor is used to pressurize the stirred concrete material and convey it to the nozzle.

[0018] Optionally, the mobile extrusion device unit is provided with four sets, namely, the A-surface mobile extrusion device unit, the B-surface mobile extrusion device unit, the C-surface mobile extrusion device unit and the D-surface mobile extrusion device unit, which are arranged on the four surfaces A, B, C and D of the prefabricated cavity column reinforcement cage respectively;

[0019] The concrete material nozzle unit is provided with two sets, namely the first concrete material nozzle unit and the second concrete material nozzle unit, and the corresponding nozzles are the first nozzle and the second nozzle respectively; the first nozzle is responsible for spraying and pouring the A and B sides of the prefabricated cavity column reinforcement cage, and the second nozzle is responsible for spraying and pouring the C and D sides of the prefabricated cavity column reinforcement cage;

[0020] The six-axis machine spraying platform is provided with two sets, namely the first six-axis machine spraying platform and the second six-axis machine spraying platform; the mixing and stirring motor of the first six-axis machine spraying platform is the first mixing and stirring motor; the mixing and stirring motor of the second six-axis machine spraying platform is the second mixing and stirring motor; the pressurizing motor of the first six-axis machine spraying platform is the first pressurizing motor, and the pressurizing motor of the second six-axis machine spraying platform is the second pressurizing motor;

[0021] On the two adjacent surfaces of the prefabricated cavity column steel cage, there are also two inclination transmitters, namely the first inclination transmitter and the second inclination transmitter.

[0022] In a second aspect, the present invention provides a method for producing a prefabricated cavity column without a mold. Based on the above-mentioned prefabricated cavity column without a mold production device, the method comprises:

[0023] S1. With the assistance of the mobile adaptive support base, the prefabricated cavity column reinforcement cage is positioned by the adaptive cavity column fixing clamp and moved to the spraying area of ​​the six-axis machine spraying platform;

[0024] S2, based on the solidification time t1 of the spraying material and the production ratio value K1 of the material and the additive, determine the linkage control parameters of the mobile extrusion device unit, the nozzle and the six-axis robot arm platform;

[0025] S3, after one round of additive spraying, the mobile extrusion device unit rises vertically and repeats process step 2 to spray again;

[0026] S4. When the real-time spray height Hset' of the cavity column is less than the target height Hset of the cavity column, repeat the above process steps S2-S3; when Hset'=Hset, repeat the last process steps S2-S3, and at the same time control the six-axis robot arm platform to complete the final position spraying, the mobile extrusion device units on the four surfaces A to D and the related adaptive variable speed rollers stop running, and after a cycle of solidification time t1, the ventilation and maintenance process is carried out through the vents, and the rollers of the mobile extrusion device units are moved backward to obtain a complete mold-free assembled cavity column.

[0027] Optionally, step S2 includes:

[0028] According to the solidification time t1 of the spraying material, the vertical moving speed Vcp1 and the horizontal moving speed Vsp1 of the first nozzle, the vertical moving speed Vcp2 and the horizontal moving speed Vsp2 of the second nozzle are tested to obtain the fastest and slowest values ​​of the four variables Vcp1, Vsp1, Vcp2 and Vsp2; at the same time, the coating thickness H0' and the coating width W0' under the conditions of the first mixing and stirring motor speed Vjb1, the first nozzle nozzle primary pressurization pressure P1, the second mixing and stirring motor speed Vjb2 and the second nozzle nozzle primary pressurization pressure P2 are calculated, and compared with the preset values ​​of the coating thickness H0 and the coating width W0, the deviation △H0 and W0 values ​​are generated, and the deviation values ​​are compared and contrasted through the PID algorithm, and the corresponding nozzle is adjusted until the deviation △H0 and W0 values ​​are close to 0; and the above parameters are assigned to the PLC control register as the spraying parameter group after adaptation, and used for spraying adjustment;

[0029] When determining the spray coating thickness H0 and coating width W0, the linkage control parameters of the mobile extrusion device unit and the nozzle are determined, including:

[0030] The time required for spraying the prefabricated hollow column reinforcement cage to have a hollow column length Lset is TLset' = Lset / Vsp1. During the TLset' time, the roller speed needs to be calculated as follows:

[0031]

[0032] Among them, the circumference of the two diagonal endpoints of the roller is C = 2πr. The effective length L of the roller is limited and the same as Lset. When the roller speed is Vg', the spray coating width W0 and the spray thickness H0, then the amount of spray additive required for the Lset length is V' additive = H0*W0*Lset, and the flow value of the nozzle is Lp'; set the horizontal displacement of the roller and the advanced angle value;

[0033] The determined linkage control parameters are added to the PLC control register to achieve adaptive adjustment and control output.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] By adopting the production method and forming device of the present invention, the outer wall of the cavity column can be quickly sprayed, formed, solidified and maintained, greatly shortening the production cycle and standard production process of precast concrete assembled cavity columns. Compared with the traditional method that requires mold casting or overall processing, the manufacturing and maintenance costs of the mold are saved; the assembled structure significantly improves production efficiency, reduces production costs, and improves the degree of automated production.

[0036] The present invention applies adaptive printing spraying and precision extrusion technology to the production of assembled cavity columns, which improves production efficiency and reduces damage to the surface quality of the cavity columns during the demolding process; it realizes customized and automated production of cavity columns, and the printing size of the cavity columns can be adjusted according to actual needs.

[0037] During the production and assembly process of the assembled cavity columns, the present invention uses high-precision control and collaborative production of hardware such as a mobile adaptive support base unit, a six-axis robotic arm, a mobile extrusion device unit, and an adaptive variable speed roller, and combines materials and additives to efficiently complete the printing and forming of mold-free precast concrete assembled cavity columns of different specifications, which not only meets the overall stability requirements of the cavity columns, but also improves the production efficiency and quality of the cavity columns. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the composition of a prefabricated cavity column mold-free production device provided in an embodiment of the present application;

[0039] Figure 2 It is a schematic diagram of the composition of the mobile extrusion device unit;

[0040] Figure 3 It is a schematic diagram of the mobile extrusion unit when it is working;

[0041] Figure 4 This is a schematic diagram of the composition of the six-axis machine spraying platform;

[0042] In the figure:

[0043] 1. Mobile extrusion device unit; 11. Roller; 12. First drive; 13. Second drive; 14. First residual removal plate; 15. Second residual removal plate; 16. Third residual removal plate;

[0044] 2. Concrete material nozzle unit; 21. First nozzle; 22. Second nozzle;

[0045] 3. Mobile adaptive support base unit; 31. Support base body; 32. Adaptive cavity column fixing clamp; 33. Ventilation vent;

[0046] 4. Six-axis machine spraying platform; 41. Six-axis machine arm; 42. Lifting platform; 43. Mixing agitator; 431. Mixing agitator motor; 432. Pressurizing motor; 44. Conveying pipe;

[0047] 5. First inclination transmitter; 6. Second inclination transmitter; DETAILED DESCRIPTION

[0048] Example:

[0049] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0050] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0051] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0052] In this application, unless otherwise clearly specified and limited, if the terms "install", "connect", "connect", "fix" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the above terms can be understood in their specific meanings in this application according to the specific circumstances.

[0053] In this application, unless otherwise clearly specified and limited, if there is a description such as "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, "above", "above" and "above" a first feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "below" and "below" a first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0054] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0055] See also Figure 1-4 As shown, the assembled cavity column mold-free production device provided in this embodiment mainly includes a concrete material nozzle unit 2 and a mobile extrusion device unit 1.

[0056] The concrete material nozzle unit includes a nozzle for spraying concrete material on the prefabricated cavity column reinforcement cage, thereby realizing rapid spraying and forming of the outer wall of the cavity column, which saves the manufacturing and maintenance costs of the mold compared to the traditional method that requires mold casting or overall processing. The mobile extrusion device unit is used to perform pre-solidification treatment on the concrete material while the nozzle sprays the concrete material on the prefabricated cavity column reinforcement cage, and provides lateral support and positioning to realize mold-free cavity column production, thereby saving the manufacturing and maintenance costs of the mold, and solving the problems of high mold production cost, long cycle, low production efficiency and easy surface quality damage in the existing cavity column production technology.

[0057] In one specific embodiment, see Figure 2-3As shown, the mobile extrusion device unit 1 includes a roller 11, which is driven to rotate by a first driver 12 and to move in a horizontal direction by a second driver 13 to achieve pre-solidification treatment of the concrete material and provide lateral support and positioning. Since the nozzle sprays the concrete material on the prefabricated cavity column reinforcement cage layer by layer to form an additive printing layer 100, it is difficult for the additive printing layer 100 to be completely combined with the steel bars of the prefabricated cavity column reinforcement cage of the cavity column, and the additive printing layer 100 is not flat. In this embodiment, by providing a mobile extrusion device unit 1, the driver drives the roller 11 to rotate and move in a horizontal direction, so that the roller 11 can be driven to roll and backlog the additive printing layer 100 sprayed and poured by the nozzle, so as to achieve pre-solidification treatment of the concrete material and provide lateral support and positioning. In this embodiment, the first driver and the second driver are both stepping motors, so as to adjust the speed and horizontal displacement of the control roller 11 in real time.

[0058] In addition, the entire mobile extrusion device unit 2 is driven by a vertical driving mechanism to move up and down so that the lifting height of the mobile extrusion device unit is adapted to the printing height of the cavity column. Preferably, the mobile extrusion device unit 1 also includes a first residual removing plate 14, which is arranged below the roller 11 and in contact with the roller 11 to remove the concrete material adhered to the roller 11 for the first time, and a recovery pipe is also arranged below the first residual removing plate 14 to reuse the concrete material scraped off by the first residual removing plate 14; in order to further clean the concrete material adhered to the roller, the mobile extrusion device unit also includes a second residual removing plate 15, which is arranged below the roller 11 and in contact with the roller 11 to remove the concrete material adhered to the roller 11 for the second time, and similarly a recovery pipe is also arranged below the second residual removing plate 15; in order to further clean the concrete material adhered to the roller, the mobile extrusion device unit also includes a third residual removing plate 16, which is arranged below the roller 11 and in contact with the roller to remove the concrete material adhered to the roller for the third time. Preferably, the first, second and third cleaning plates 14, 15 and 16 are provided with cleaning agent nozzles, and the rollers are used to spray cleaning agent to maintain the moisture of the concrete material adhered to the rollers so that it can be reused. Preferably, the mobile extrusion device unit 1 also includes a folding plate, which is arranged below the rollers to assist in the molding of the sprayed material with a temporary side edge.

[0059] In a preferred embodiment, the assembled cavity column mold-free production device also includes a mobile adaptive support base unit 3, which includes a support base body 31, on which four adaptive cavity column fixing clamps 32 are arranged, and each adaptive cavity column fixing clamp 32 is driven by an independent hydraulic motor to achieve adaptive fixation of the prefabricated cavity column steel cage. In this way, by setting four adaptive cavity column fixing clamps 32 and adjusting the positions of the four adaptive cavity column fixing clamps 32, it is possible to adapt to prefabricated cavity column steel cages of different sizes. In addition, a ventilation vent 33 is arranged in the middle of the area formed by the four adaptive cavity column fixing clamps in the support base body 31. After the spraying and pouring of the cavity column is completed, ventilation maintenance is achieved through the air outlet of the ventilation vent.

[0060] In a preferred embodiment, the assembled cavity column mold-free production device also includes a six-axis machine spraying platform 4, the six-axis machine spraying platform 4 includes a six-axis machine arm 41, the six-axis machine arm 41 is driven up and down by a lifting platform 42, and the nozzle of the concrete material nozzle unit 2 is installed in the six-axis machine arm 41, and the nozzle is connected to the outlet end of the mixing agitator 43 through a conveying pipe 44. The mixing agitator 43 includes a mixing and stirring motor 431 and a pressurizing motor 432. The mixing and stirring motor 431 is used to stir the concrete material, and the pressurizing motor 432 is used to pressurize the stirred concrete material and convey it to the nozzle.

[0061] In a specific embodiment, since the shape of the prefabricated cavity column reinforcement is a rectangular parallelepiped, the mobile extrusion device unit 1 is provided with four sets, namely, the A-surface mobile extrusion device unit, the B-surface mobile extrusion device unit, the C-surface mobile extrusion device unit and the D-surface mobile extrusion device unit, which are correspondingly arranged on the four surfaces A, B, C and D of the prefabricated cavity column reinforcement cage; the concrete material nozzle unit is provided with two sets, namely, the first concrete material nozzle unit and the second concrete material nozzle unit, and the corresponding nozzles are the first nozzle 21 and the second nozzle 22; the first nozzle 21 is used for The first nozzle 22 is responsible for spraying and pouring the A and B sides of the prefabricated hollow column reinforcement cage, and the second nozzle 22 is responsible for spraying and pouring the C and D sides of the prefabricated hollow column reinforcement cage; the six-axis machine spraying platform 4 is provided with two sets, namely the first six-axis machine spraying platform and the second six-axis machine spraying platform, the mixing and stirring motor of the first six-axis machine spraying platform is the first mixing and stirring motor; the mixing and stirring motor of the second six-axis machine spraying platform is the second mixing and stirring motor; automated production can be achieved by controlling the work of each mobile extrusion device unit, nozzle and six-axis machine spraying platform.

[0062] An inclination transmitter is also provided on each of the two adjacent surfaces of the prefabricated cavity column reinforcement cage, namely a first inclination transmitter 5 and a second inclination transmitter 6, for monitoring the verticality change of the prefabricated cavity column reinforcement cage and adjusting the change of the adaptive cavity column fixing clamp according to the verticality change.

[0063] Correspondingly, based on the above-mentioned assembled cavity column mold-free production device, this embodiment also provides an assembled cavity column mold-free production method, and the overall process is as follows:

[0064] With the assistance and positioning support of the mobile adaptive support base unit, the prefabricated cavity column steel cage is precisely positioned through the adaptive cavity column fixing clamp and moved to the production area (the operation area of ​​the six-axis machine spraying platform). With the vertical space of the lifting platform and the operation support of the six-axis robot arm, and with the cooperation of the precise operation of the mobile extrusion device unit, the concrete printing material is transported through the double mixing agitator, and the two sets of nozzles simultaneously realize the spraying, extrusion and amplitude of the concrete material, and start printing the cavity column model; under the precise displacement and pressure of the nozzle and the mobile extrusion device unit, the internal structure of the cavity column is constructed layer by layer, and the material flow characteristics are matched, and the adaptive variable speed rollers on the four sides (ABCE sides) of the mobile extrusion device unit are used to complete the solidification pre-treatment of the spray paint, and the lateral support and positioning provided by the mobile extrusion device unit are used to realize the production of mold-free cavity columns; after the specific thickness model is printed, the complete mold-free assembled cavity column can be obtained through ventilation maintenance technology and the adaptive inclination vertical separation operation of the mobile extrusion device unit.

[0065] The relevant parameters involved in the production method are as follows:

[0066]

[0067]

[0068]

[0069]

[0070]

[0071]

[0072] In this application, parameters marked with a "'" symbol are process variable values.

[0073] S1. With the assistance of the mobile adaptive support base, the prefabricated cavity column reinforcement cage is positioned and moved to the spraying area of ​​the six-axis machine spraying platform through the adaptive cavity column fixing clamp, specifically including:

[0074] S11, self-adaptive self-adaptive cavity column clamp release and fixation

[0075] When the prefabricated cavity column reinforcement cage is hoisted to the adaptive cavity column fixing clamp of the mobile adaptive support base unit, Lset and Wset values ​​are assigned to the width variables L' and W', which are used to adjust the position of the adaptive cavity column fixing clamp {L'-(10+W0), and W'-(10+W0)) as the reduction amount of the front position of the adaptive cavity column fixing clamp; when the prefabricated cavity column reinforcement cage is hoisted to the mobile adaptive support base unit, Do'=1 is assigned; the four-position hydraulic motor is driven (one step, horizontal movement of 1 cm), and the stepping adopts (Lset / 3200)*(10+W0) as the length variable and (Wset / 3200)*(10+W0) as the width variable.

[0076] S12, the mobile adaptive support base unit is moved to the six-axis machine spraying platform operation area, and adaptive calibration is performed before printing and spraying

[0077] The mobile adaptive support base unit adopts a guide rail mobile architecture and control method. The steps of this process are common, and the mobile limit control logic program is not described here.

[0078] Adaptive calibration before printing:

[0079] The vertical tilt angle of the two axes is detected by the first tilt transmitter 5 (the detected value is δ1) and the second tilt transmitter 6 (the detected value is δ2). The tilt range is -180°~180° for the X axis and -90°~90° for the Y axis. The standard ModBus-RTU communication protocol is used to communicate with the PLC control box bus to determine the verticality of the prefabricated cavity column reinforcement cage. Taking δ1=-92, δ2=88 as an example, △δ1=δ1-90, △δ2=δ2-90, the PLC controls the adjustment of the tilt angle A surface A-1 base lifting hydraulic pressure and the D surface D-1 base lifting hydraulic pressure, thereby adjusting the corresponding adaptive cavity column fixing clamp position, and comparing and contrasting the deviation values ​​△δ1 and △δ2 through the PID algorithm, until △δ1 and △δ2 are both 0, that is, stop adjusting the lifting hydraulic output, which means that the verticality calibration before printing and spraying has been completed.

[0080] S2. Based on the solidification time t1 of the spraying material and the production ratio value K1 of the material and additive, the linkage control parameters of the mobile extrusion device unit, the nozzle and the six-axis robot arm platform are determined, including:

[0081] According to the solidification time t1 of the spraying material and the production ratio value K1 of the material and additives, t1 is increased to 180s and 3600s, and the vertical movement speed Vcp1 of the first nozzle, the horizontal movement speed Vsp1 of the first nozzle, the vertical movement speed Vcp2 of the second nozzle, and the horizontal movement speed Vsp2 of the second nozzle are tested to obtain the fastest value (corresponding to t1=180s) and the slowest value (corresponding to t1=3600s) of the four variables. At the same time, the speed Vjb1 of the first mixing and stirring motor, the primary pressurization pressure P1 of the first nozzle (i.e., the pressurization pressure of the first pressurization motor on the mixing material), and the second mixing and stirring motor are calculated. The coating thickness H0' (process value) and coating width W0' (process value) under the conditions of mixing motor speed Vjb1, the first pressurization pressure P2 of the second nozzle, i.e., the pressurization pressure of the second pressurizing motor on the mixed material, are compared with the preset values ​​of coating thickness H0 and coating width W0 to generate deviations △H0 and W0 values. The deviation values ​​are compared and contrasted through the PID algorithm until the corresponding nozzles Vcp1, Vsp1 (or Vcp2, Vsp2) are adjusted until the deviations △H0, W0 values ​​are close to 0; and the above parameters are assigned to the PLC control register as the adaptive spraying parameter group, and used for spraying adjustment.

[0082] Secondly, when determining the coating thickness H0 and coating width W0, determine the linkage control parameters of the mobile extrusion device unit and the nozzle. Take the first nozzle and the A-side mobile extrusion device as an example, that is, the first nozzle and the A-side mobile extrusion device unit corresponding to Lset (cavity column length). In the previous step, the flow parameters of the first coating nozzle have been assigned and the parameter group has been formed. With the PV (process variable value) of the first nozzle's nozzle primary pressurization pressure P1 and the first nozzle's secondary feeding speed Vjl1, the additive time TLset' of the spraying completion Lset length is =Lset / Vsp1 (that is, the preset production cavity column length size / the horizontal moving speed of the first nozzle). Within the TLset time, the speed of the A-side adaptive variable speed roller (that is, the speed of the first stepper motor of the A-side) needs to be calculated:

[0083]

[0084] Among them, the circumference of the two diagonal endpoints of the adaptive variable speed roller is C = 2πr (where r = 5cm is the fixed value of the roller radius), the effective length L of the adaptive variable speed roller is equal to Lset (that is, Llimit = Lset), when the roller speed is Vga', the spray coating width W0 and the spray thickness H0, then the amount of additive sprayed (that is, the volume) required for the Lset length is V' additive = H0*W0*Lset, and the flow value of the nozzle is L1p' = (V' additive * 1.3) / TLset' (1.3 is the coefficient of additives that have not been compacted by the adaptive variable speed roller). At the same time, the LjA' value is set to 1 / 4 of W0, that is, LjA' = 1 / 3*W0, and the advanced angle αA is set to αA = (104° / 3200) * LjA', (where 3200 is the subdivision value of the stepper motor). The remaining first nozzle and B-side mobile extrusion device, the second nozzle and C-side mobile extrusion device, and the second nozzle and D-side mobile extrusion device are calculated and assigned values ​​to the PLC process memory in the same way to achieve adaptive adjustment and control output.

[0085] Thus, in this step, the linkage control parameters of the mobile extrusion device unit, the nozzle and the six-axis robot arm platform are determined based on the solidification time t1 of the spraying material and the production ratio value K1 of the material and additive, so as to enable high-precision control and collaborative production of hardware such as the mobile adaptive support base unit, the six-axis machine spraying platform and the nozzle. At the same time, in combination with the materials and additives, the printing and forming of precast concrete assembled cavity columns without molds of different specifications can be efficiently completed, which not only meets the overall stability requirements of the cavity columns, but also improves the production efficiency and quality of the cavity columns.

[0086] S3, after one round of additive spraying, the mobile extrusion device unit rises vertically and repeats process step S2 to spray again;

[0087] S4. When the real-time spray height Hset' of the cavity column is less than the target height Hset of the cavity column, repeat the above process steps S2-S3; when Hset'=Hset, repeat the last process steps S2-S3, and at the same time control the six-axis robot arm to complete the final position spraying, the mobile extrusion device units on the four surfaces A~D and the related adaptive speed-changing rollers stop running, and after a cycle of solidification time t1, the ventilation and maintenance process is carried out through the vents, and the rollers of the mobile extrusion device units are moved backward to obtain a complete mold-free assembled cavity column.

[0088] In a specific embodiment, the above step S2 further includes:

[0089] Determination of control parameters of three-residue division plate:

[0090] Taking the mobile extrusion device unit of surface A as an example, the real-time horizontal displacement LjA' value and the adaptive variable speed roller speed Vga' value of surface A are used as the control benchmark for the spray speed of the detergent dosing inlet, and the speed of Vga'*(Vga / L1p)*85% is the spray speed of the detergent nozzle of the first residual removal plate, the speed of Vga'*(Vga / L1p)*65% is the spray speed of the detergent nozzle of the second residual removal plate, and the speed of Vga'*(Vga / L1p)*45% is the spray speed of the detergent nozzle of the third residual removal plate; the first residual removal plate and the second residual removal plate are both equipped with residual material recovery pipes and residual cleaning port sizes. (Similarly, the control of the three residual removal plates in the mobile extrusion device of surface B is the same as that of surface A, and the mobile extrusion device units of surfaces C and D cooperate with Vgc' and Vgd' to perform adaptive adjustments synchronously, which will not be repeated here).

[0091] In this way, by controlling the control parameters of the three-removal plate in the above manner, the concrete material adhering to the roller can be efficiently removed and reused.

[0092] In summary, compared with the prior art, the present invention has the following technical advantages:

[0093] By adopting the production method and forming device of the present invention, the outer wall of the cavity column can be quickly sprayed, formed, solidified and maintained, greatly shortening the production cycle and standard production process of precast concrete assembled cavity columns. Compared with the traditional method that requires mold casting or overall processing, the manufacturing and maintenance costs of the mold are saved; the assembled structure significantly improves production efficiency, reduces production costs, and improves the degree of automated production.

[0094] The present invention applies adaptive printing spraying and precision extrusion technology to the production of assembled cavity columns, which improves production efficiency and reduces damage to the surface quality of the cavity columns during the demolding process; it realizes customized and automated production of cavity columns, and the printing size of the cavity columns can be adjusted according to actual needs.

[0095] During the production and assembly process of the assembled cavity columns, the present invention uses high-precision control and collaborative production of hardware such as a mobile adaptive support base unit, a six-axis robotic arm, a mobile extrusion device unit, and an adaptive variable speed roller, and combines materials and additives to efficiently complete the printing and forming of mold-free precast concrete assembled cavity columns of different specifications, which not only meets the overall stability requirements of the cavity columns, but also improves the production efficiency and quality of the cavity columns.

[0096] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable ordinary technicians in the field to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made based on the essence of the content of the present invention should be included in the protection scope of the present invention.

Claims

1. An assembled cavity column mold-free production device, characterized in that: include: A concrete material nozzle unit, comprising a nozzle, for spraying and pouring concrete material on a prefabricated cavity column reinforcement cage; The mobile extrusion device unit is used to perform pre-solidification treatment on the concrete material while the concrete nozzle unit sprays the concrete material on the prefabricated cavity column reinforcement cage, and provides lateral support and positioning to achieve mold-free cavity column production.

2. The assembled cavity column mold-free production device according to claim 1, characterized in that: The mobile extrusion device unit is driven by a vertical driving mechanism to move up and down; the mobile extrusion device unit includes a roller, which is driven to rotate by a first driver and to move in a horizontal direction by a second driver to achieve pre-solidification treatment of the concrete material and provide lateral support and positioning.

3. The assembled cavity column mold-free production device according to claim 2, characterized in that: The mobile squeezing device unit also includes a first debris removal plate, which is arranged below the roller and in contact with the roller to process the concrete material adhered to the roller for the first time. The mobile squeezing device unit also includes a second debris removal plate, which is arranged below the roller and in contact with the roller to process the concrete material adhered to the roller for a second time.

4. The assembled cavity column mold-free production device according to claim 3, characterized in that: The mobile squeezing device unit further includes a third waste removal plate, which is arranged below the roller and in contact with the roller to process the concrete material adhered to the roller for a third time; The first, second and third residual removing plates are all provided with cleaning agent spraying ports, and the rollers are used to spray cleaning agent.

5. The assembled cavity column mold-free production device according to claim 2, characterized in that: The mobile squeezing device unit also includes a folding plate, and the folding plate is arranged below the roller.

6. The assembled cavity column mold-free production device according to claim 2, characterized in that: Also includes: A mobile adaptive support base unit comprises a support base body, on which four adaptive cavity column fixing clamps are arranged, each adaptive cavity column fixing clamp is driven by an independent hydraulic motor to adjust the position of the adaptive cavity column fixing clamp to achieve adaptive fixation of the prefabricated cavity column steel cage; a ventilation vent is arranged in the middle of the area formed by the four adaptive cavity column fixing clamps in the support base body.

7. The assembled cavity column mold-free production device according to claim 6, characterized in that: Also includes: The six-axis machine spraying platform includes a six-axis machine arm, which is driven by a lifting platform to move up and down. The concrete material nozzle unit is installed in the six-axis machine arm. The nozzle of the concrete material nozzle unit is connected to the outlet end of the mixing agitator through a conveying pipe. The mixing agitator includes a mixing motor and a pressurizing motor. The mixing motor is used to stir the concrete material, and the pressurizing motor is used to pressurize the stirred concrete material and convey it to the nozzle.

8. The assembled cavity column mold-free production device according to claim 7, characterized in that: The mobile extrusion device units are provided with four sets, namely, the A-surface mobile extrusion device unit, the B-surface mobile extrusion device unit, the C-surface mobile extrusion device unit and the D-surface mobile extrusion device unit, which are arranged on the four surfaces A, B, C and D of the prefabricated cavity column reinforcement cage respectively; The concrete material nozzle unit is provided with two sets, namely the first concrete material nozzle unit and the second concrete material nozzle unit, and the corresponding nozzles are the first nozzle and the second nozzle respectively; the first nozzle is responsible for spraying and pouring the A and B sides of the prefabricated cavity column reinforcement cage, and the second nozzle is responsible for spraying and pouring the C and D sides of the prefabricated cavity column reinforcement cage; The six-axis machine spraying platform is provided with two sets, namely the first six-axis machine spraying platform and the second six-axis machine spraying platform; the mixing and stirring motor of the first six-axis machine spraying platform is the first mixing and stirring motor; the mixing and stirring motor of the second six-axis machine spraying platform is the second mixing and stirring motor; the pressurizing motor of the first six-axis machine spraying platform is the first pressurizing motor, and the pressurizing motor of the second six-axis machine spraying platform is the second pressurizing motor.

9. A method for manufacturing a prefabricated cavity column without a mold, based on the prefabricated cavity column without a mold production device according to claim 8, characterized in that: The method comprises: S1. With the assistance of the mobile adaptive support base, the prefabricated cavity column reinforcement cage is positioned by the adaptive cavity column fixing clamp and moved to the spraying area of ​​the six-axis machine spraying platform; S2, based on the solidification time t1 of the spraying material and the production ratio value K1 of the material and the additive, determine the linkage control parameters of the mobile extrusion device unit, the nozzle and the six-axis robot arm platform; S3, after one round of additive spraying, the mobile extrusion device unit rises vertically and repeats process step 2 to spray again; S4. When the real-time spraying height Hset' of the cavity column is less than the target height Hset of the cavity column, repeat the above process steps S2-S3; when the additive spraying height reaches the height of the mobile extrusion device, that is, Hset'=Hset, repeat the last process steps S2-S3, and at the same time control the six-axis robot arm platform to complete the final position spraying, the mobile extrusion device units on the four surfaces A~D and the related adaptive speed-changing rollers stop running, and after a cycle of solidification time t1, the ventilation and maintenance process is carried out through the vents, and the rollers of the mobile extrusion device units are moved backward to obtain a complete mold-free assembled cavity column.

10. The mold-free manufacturing method for assembled cavity columns according to claim 9, wherein step S2 comprises: According to the solidification time t1 of the spraying material, the vertical moving speed Vcp1 and the horizontal moving speed Vsp1 of the first nozzle, the vertical moving speed Vcp2 and the horizontal moving speed Vsp2 of the second nozzle are tested to obtain the fastest and slowest values ​​of the four variables Vcp1, Vsp1, Vcp2 and Vsp2; at the same time, the coating thickness H0' and the coating width W0' under the conditions of the first mixing and stirring motor speed Vjb1, the first nozzle nozzle primary pressurization pressure P1, the second mixing and stirring motor speed Vjb2 and the second nozzle nozzle primary pressurization pressure P2 are calculated, and compared with the preset values ​​of the coating thickness H0 and the coating width W0, the deviation △H0 and W0 values ​​are generated, and the deviation values ​​are compared and contrasted through the PID algorithm, and the corresponding nozzle is adjusted until the deviation △H0 and W0 values ​​are close to 0; and the above parameters are assigned to the PLC control register as the spraying parameter group after adaptation, and used for spraying adjustment; When determining the spray coating thickness H0 and coating width W0, the linkage control parameters of the mobile extrusion device unit and the nozzle are determined, including: The time required for spraying the prefabricated hollow column reinforcement cage to have a hollow column length Lset is TLset' = Lset / Vsp, where Vsp is the horizontal movement speed of the nozzle. Within the TLset' time, the roller speed needs to be calculated as follows: Roller speed Among them, the circumference of the two diagonal endpoints of the roller is C = 2πr. The effective length L of the roller is limited and the same as Lset. When the roller speed is Vg', the spray coating width W0 and the spray thickness H0, then the amount of spray additive required for the Lset length is V' additive = H0*W0*Lset, and the flow value of the nozzle is Lp'; set the horizontal displacement of the roller and the advanced angle value; The determined linkage control parameters are added to the PLC control register to achieve adaptive adjustment and control output.

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