Prefabricated duct piece mold opening and closing system, prefabricated duct piece production line and mold opening and closing method

Abstract

The invention discloses a prefabricated segment mold opening and closing system, a prefabricated segment production line and a mold opening and closing method. Comprising a prefabricated segment mold parking area, a prefabricated segment mold transfer line, a first mold opening and closing device, a second mold opening and closing device, a first industrial camera, a second industrial camera and a control unit, and the first mold opening and closing device at least tightens or unscrews connecting pieces, connected with two adjacent side molds on the first side, of the prefabricated segment mold; the second mold opening and closing device at least tightens or unscrews a connecting piece, connected with two adjacent side molds on the second side, of the prefabricated segment mold; the first industrial camera collects position information of the connecting piece screwed by the first mold opening and closing device; the second industrial camera collects position information of the connecting piece screwed by the second mold opening and closing device; the control unit receives information collected by the first industrial camera and the second industrial camera and generates corresponding control instructions. The automatic mold opening and closing device can realize automatic mold opening and closing, and has the advantages of high mold opening and closing efficiency, high popularization value and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of precast production, and particularly relates to a precast segment mold opening and closing system, a precast segment production line, and a mold opening and closing method for the mold. Background Art

[0002] Precast segments are the main assembled components for shield tunneling construction and the innermost barrier of the tunnel. Precast segments are important components for transportation construction and have a large market demand.

[0003] During the production process of precast segments, mold opening and closing processes are required for the mold. However, in the actual production process, due to the lack of suitable automated mold opening and closing equipment, manual operations are still needed to complete the mold opening and closing of the segment mold, which has problems such as high labor intensity, low efficiency, and poor safety.

[0004] In addition, with the continuous development of intelligent production and the increasing use of precast segments. The automated production of precast segments has become the future development trend. It is of great significance to be able to achieve the automated mold opening and closing of precast segment molds. Therefore, it is of great significance to develop an automated mold opening and closing system for segment molds. Summary of the Invention

[0005] The purpose of this application is to at least solve the problems of high labor intensity, low mold opening and closing efficiency, and production safety existing in the traditional demolding method, and achieve the automated mold opening and closing of precast segments. This is specifically achieved through the following solutions:

[0006] This application discloses a precast segment mold opening and closing system, including a precast segment mold parking area, a precast segment mold transfer line, a first mold opening and closing device, a second mold opening and closing device, a first industrial camera, a second industrial camera, and a control unit. The precast segment mold parking area is configured to park the precast segment mold; the precast segment mold transfer line passes through the precast segment mold parking area, and the precast segment mold transfer line is configured to transfer the precast segment mold to the precast segment mold parking area; the first mold opening and closing device is located on the first side of the precast segment mold transfer line, and the first mold opening and closing device is configured to at least tighten or loosen the connecting piece connecting the first side and the two adjacent side molds of the precast segment mold; the second mold opening and closing device is located on the second side of the precast segment mold transfer line, and the second mold opening and closing device is configured to at least tighten or loosen the connecting piece connecting the second side and the two adjacent side molds of the precast segment mold; the first industrial camera is configured to collect the position information of the connecting piece screwed by the first mold opening and closing device; the second industrial camera is configured to collect the position information of the connecting piece screwed by the second mold opening and closing device; the first industrial camera and the second industrial camera are signal-connected to the control unit;

[0007] Both the first mold opening and closing device and the second mold opening and closing device are signal - connected to the control unit. The control unit is configured to receive the information collected by the first industrial camera and the second industrial camera and generate control instructions. The first mold opening and closing device and the second mold opening and closing device can receive the control instructions and execute corresponding tasks.

[0008] In this application, with the coordinated action of the first industrial camera, the control unit, the first mold opening and closing device, as well as the second industrial camera, the control unit, and the second mold opening and closing device, they can cooperate to tighten or loosen the connecting pieces for connecting the side molds, so as to realize the functions of automatic mold opening and closing. Furthermore, it can reduce the labor intensity of workers and improve the efficiency and safety of mold opening and closing of the segment mold. At the same time, it can better meet the needs of automated production of precast segments and has great promotion value.

[0009] In some preferred embodiments of this application, the first mold opening and closing device includes a first articulated robot and a first screwing unit. The first screwing unit is installed at the cantilever end of the first articulated robot. The first screwing unit is adapted to the connecting pieces of the adjacent two side molds. The first industrial camera is installed at the cantilever end of the first articulated robot. The first articulated robot and the first screwing unit are signal - connected to the control unit and controlled by the control unit;

[0010] The second mold opening and closing device includes a second articulated robot and a second screwing unit. The second screwing unit is installed at the cantilever end of the second articulated robot. The second screwing unit is adapted to the connecting pieces of the adjacent two side molds. The second industrial camera is installed at the cantilever end of the second articulated robot. The second articulated robot and the second screwing unit are signal - connected to the control unit and controlled by the control unit.

[0011] In this application, by installing the first industrial camera and the first screwing unit at the cantilever end of the first articulated robot, and installing the second industrial camera and the second screwing unit at the cantilever end of the second articulated robot, the position of the connecting piece can be collected in real time, and the positions of the first screwing unit and the second screwing unit can be adjusted and aligned in real time. Furthermore, the alignment efficiency of the first screwing unit can be improved, and then the mold opening and closing efficiency of the first mold opening and closing device and the second mold opening and closing device can be improved.

[0012] In some embodiments of this application, it further includes a first walking guide rail, a first driving component, a second walking guide rail, and a second driving component. The first walking guide rail is arranged on the first side of the transfer line of the precast segment mold, and the first walking guide rail is parallel to the extension direction of the transfer line of the precast segment mold. The first mold opening and closing device is connected to the first walking guide rail. The first driving component is configured to be able to drive the first mold opening and closing device to walk along the first walking guide rail. The first driving component is signal - connected to the control unit and controlled by the control unit;

[0013] The second traveling guide rail is arranged on the second side of the transfer line of the precast segment mold, and the second traveling guide rail is parallel to the extending direction of the transfer line of the precast segment mold. The second mold opening and closing device is connected to the second traveling guide rail. The second driving assembly is configured to be able to drive the second mold opening and closing device to travel along the second traveling guide rail. The second driving assembly is in signal connection with the control unit and is controlled by the control unit.

[0014] In some embodiments of the present application, there are two first traveling guide rails arranged side by side. The first mold opening and closing device further includes a first mounting seat. A first slider adapted to the first traveling guide rail is provided on the first mounting seat. The first mounting seat is slidably connected to the first traveling guide rail through the first slider. The first driving assembly includes a first motor, a first transmission gear, and a first transmission rack. The first transmission rack is installed on one side of the first traveling guide rail; and / or,

[0015] There are two second traveling guide rails arranged side by side. The second mold opening and closing device further includes a second mounting seat. A second slider adapted to the second traveling guide rail is provided on the second mounting seat. The second mounting seat is slidably connected to the second traveling guide rail through the second slider. The second driving assembly includes a second motor, a second transmission gear, and a second transmission rack. The second transmission rack is installed on one side of the second traveling guide rail.

[0016] In some embodiments of the present application, the first industrial camera is an industrial camera; and / or, the second industrial camera is an industrial camera.

[0017] In some embodiments of the present application, it further includes a traveling track and a mold transfer device. The traveling track passes through the precast segment mold parking area; the mold transfer device is arranged on the traveling track, and the mold transfer device is configured to be able to transfer the precast segment mold along the traveling track. The mold transfer device is in signal connection with the control unit and is controlled by the control unit.

[0018] In some embodiments of the present application, it further includes a limiting device. The limiting device is installed on one side of the traveling track. The limiting device is configured to stop the mold transfer device at a set position; the limiting device includes a stop structural member, and the stop structural member has a position for stopping the mold transfer device and a yielding position.

[0019] By setting the limiting device in the present application, the mold transfer device parked in the precast segment mold parking area can be limited to limit the mold transfer device at a set position, so as to provide better working conditions for the first mold opening and closing device and the second mold opening and closing device.

[0020] In some embodiments of the present application, the limiting device further includes a push-pull assembly and a mounting base. The mounting base is installed on the outer side of the walking track, and the push-pull assembly is installed on the mounting base. The stop structural member is rotatably connected to the mounting base, and one end of the stop structural member is hinged to the push-pull end of the push-pull assembly. The other end of the stop structural member is a stop portion, and the push-pull assembly is controlled by the control unit;

[0021] It further includes a position detection sensor. The position detection sensor is in signal connection with the control unit and is configured to detect whether the stop structural member is in a set stop position.

[0022] By providing the position detection sensor in the present application, information on whether the mold transfer device is in place can be provided to the control system, so as to provide relevant signals for the operation of the first mold opening and closing device and the second mold opening and closing device.

[0023] In some embodiments of the present application, it further includes two walking tracks. The two walking tracks extend in parallel, and at least one limiting device is provided on the outer side of each walking track. The limiting device is configured to be able to constrain the mold transfer device to a set position.

[0024] In some embodiments of the present application, the precast segment mold parking area is made to be square as a whole. Two limiting devices are provided at intervals on the outer side of each walking track, and one limiting device is provided at each of the four corners of the precast segment mold parking area; alternatively, the precast segment mold parking area is made to be square as a whole, one limiting device is provided on the outer side of each walking track, and one limiting device is provided at each of the two diagonally opposite corners of the precast segment mold parking area.

[0025] The present application also provides a precast segment production line, including the precast segment mold opening and closing system as described in any of the foregoing embodiments.

[0026] A method for opening and closing a precast segment mold is applied to the precast segment mold opening and closing system as described in any of the foregoing embodiments; or is applied to the precast segment production line as described in any of the foregoing embodiments; it includes the following processes:

[0027] Transfer the precast segment mold to the set position in the precast segment mold parking area;

[0028] According to the position information of the connecting piece collected by the first industrial camera, control the first mold opening and closing device to tighten or loosen the connecting piece in its working area;

[0029] According to the position information of the connecting piece collected by the second industrial camera, control the second mold opening and closing device to tighten or loosen the connecting piece in its working area. Description of the Drawings

[0030] Figure 1Structural schematic diagram of the precast segment opening and closing die system from the first perspective related to some embodiments of the present application;

[0031] Figure 1.1 is Figure 1 partial enlarged view of the structure at position A in;

[0032] Figure 2 is Figure 1 structural schematic diagram of the precast segment opening and closing die system from the second perspective shown;

[0033] Figure 3 is Figure 1 structural schematic diagram of the precast segment opening and closing die system from the third perspective shown;

[0034] Figure 4 is Figure 1 structural schematic diagram of the precast segment opening and closing die system from the fourth perspective shown.

[0035] In the figure:

[0036] 1. Precast segment mold parking area;

[0037] 2. Precast segment mold transfer line;

[0038] 3. First opening and closing die device; 31. First articulated robot; 32. First screwing unit; 33. First mounting seat; 34. First slider;

[0039] 4. Second opening and closing die device; 41. Second articulated robot; 42. Second screwing unit; 43. Second mounting seat; 44. Second slider;

[0040] 51. First walking guide rail; 52. Second walking guide rail;

[0041] 6. Limiting device; 61. Stopping structural member; 62. Pushing and pulling assembly; 63. Mounting base;

[0042] 7. Walking track;

[0043] 10. Mold transfer device;

[0044] 20. Precast segment mold; 201. Connecting piece. Specific embodiments

[0045] Hereinafter, the exemplary embodiments of the present application will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present application can be more thoroughly understood and the scope of the present application can be completely conveyed to those skilled in the art.

[0046] It should be understood that the terms used herein are for the purpose of describing particular example embodiments only and are not intended to be limiting. Unless the context clearly dictates otherwise, the singular forms "a", "an" and "the" as used herein may also include the plural forms. The terms "comprising", "including", "containing" and "having" are inclusive and thus specify the presence of stated features, steps, operations, elements and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components and / or their combinations. The method steps, processes and operations described herein are not to be construed as necessarily requiring their performance in the particular order described or illustrated, unless the order of performance is expressly stated. It should also be understood that additional or alternative steps may be used.

[0047] Although the terms "first", "second", "third", etc. may be used herein to describe multiple elements, components, regions, layers and / or sections, these elements, components, regions, layers and / or sections should not be limited by these technical terms. These terms may be used only to distinguish one element, component, region, layer or section from another. Unless the context clearly dictates otherwise, terms such as "first", "second", etc. and other numerical terms used herein do not imply an order or sequence. Thus, the first element, component, region, layer or section discussed below may be referred to as such without departing from the teachings of the example embodiments.

[0048] For ease of description, spatial relative relationship terms may be used herein to describe the relationship of one element or feature shown in the figures to another element or feature, such as "inner", "outer", "inside", "outside", "below", "beneath", "above", "over" and the like. Such spatial relative relationship terms are intended to include different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, an element described as "below" or "beneath" another element or feature will then be oriented "above" or "over" the other element or feature. Thus, the example term "below" can include both an orientation of above and below.

[0049] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0050] In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "provided with", "connected", and "coupled" should be understood in a broad sense. For example, it may be a fixed connection or a detachable connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0051] In this application, above a certain value includes that value. For example, two or more includes two.

[0052] Next, the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0053] Next, according to Figures 1 to 4 the precast segment opening and closing die system, precast segment production line and precast segment opening and closing die method provided by the present invention will be introduced.

[0054] The precast segment opening and closing die system disclosed in this application includes a precast segment mold parking area 1, a precast segment mold transfer line 2, a first opening and closing die device 3, a second opening and closing die device 4, a first industrial camera, a second industrial camera, and a control unit. The precast segment mold parking area 1 is configured to park the precast segment mold 20. The precast segment mold transfer line 2 is configured to transfer the precast segment mold 20 to the precast segment mold parking area 1. The first opening and closing die device 3 is configured to at least tighten or loosen the connecting member 201 that connects the adjacent two side molds on the first side of the precast segment mold 20. The second opening and closing die device 4 is configured to at least tighten or loosen the connecting member 201 that connects the adjacent two side molds on the second side of the precast segment mold 20. The first industrial camera is configured to collect the position information of the connecting member 201 screwed by the first opening and closing die device 3; the second industrial camera is configured to collect the position information of the connecting member 201 screwed by the second opening and closing die device 4.

[0055] It should also be pointed out that the first opening and closing die device 3 and the second opening and closing die device 4 can also be used to screw the connecting members between the side mold and the bottom mold within their respective working ranges.

[0056] It should be noted that the precast segment mold opening and closing system in this application can be selectively used for opening the segment mold 20, or for closing the segment mold 20, or for both opening and closing the segment mold 20. That is to say, the precast segment mold opening and closing system in this application can, as needed, selectively set the precast segment mold opening and closing system at the segment mold opening station, so that it is only used to implement the opening function of the segment mold. It can also be selectively set at the segment mold closing station, so that it is only used to implement the closing function of the segment mold. It can also be selectively set the opening station and the closing station at the same position, so that it is used for both opening and closing the segment mold.

[0057] It should be pointed out that the "precast segment mold transfer line" in this application is not specifically limited, and it can be any transfer line that can meet the transfer function of the precast segment mold. In specific implementation, it can be a transfer line with tracks, or a transfer channel without tracks. Specifically, as Figure 1 、 Figure 2 、 Figure 3 and Figure 4 shown, the precast segment mold transfer line 2 is laid with a walking track 7, and the precast segment mold transfer equipment can walk along the walking track 7. When the transfer channel does not have tracks, it can also be selectively set that the transfer channel is a channel for an automated transfer vehicle (such as an AGV car, etc.) to walk.

[0058] It also should be pointed out that the "first opening and closing device" and the "second opening and closing device" in this application are not specifically limited, and they can be any device that can meet the requirements of opening or closing. In specific implementation, preferably, the first opening and closing device 3 is a controlled robot, and the second opening and closing device 4 is also a controlled robot.

[0059] In specific implementation, it can be selectively set that the first industrial camera and the second industrial camera are 2D cameras or 3D cameras.

[0060] In addition, the "control unit" in this application is a unit that implements control over the first opening and closing device 3 and the second opening and closing device 4. It can be selectively set that the control unit is a programmable logic controller, or an industrial control computer, etc. When working specifically, the first industrial camera and the second industrial camera collect the position information of the connecting piece 201 through the industrial camera and transmit the collected information to the control unit. The control unit generates a control instruction for the first opening and closing device 3 according to the collected information. The first opening and closing device 3 screws the corresponding connecting piece 201 according to the corresponding control instruction, so as to realize the opening or closing of the segment mold.

[0061] Specifically, as Figures 1 to 4As shown in the figure, the precast segment mold transfer line 2 passes through the precast segment mold parking area 1. The first mold opening and closing device 3 is located on the first side of the precast segment mold transfer line 2; the second mold opening and closing device 4 is located on the second side of the precast segment mold transfer line 2 (where the second side and the first side are in a relative position relationship). The first industrial camera and the second industrial camera are signal-connected to the control unit. Both the first mold opening and closing device 3 and the second mold opening and closing device 4 are signal-connected to the control unit. During specific operation, the control unit is configured to receive the information collected by the first industrial camera and the second industrial camera and generate control instructions, and the first mold opening and closing device 3 and the second mold opening and closing device 4 can receive the control instructions and execute corresponding tasks.

[0062] In this application, under the coordinated action of the first industrial camera, the control unit, the first mold opening and closing device 3, the second industrial camera, the control unit, and the second mold opening and closing device 4, they can cooperate to tighten or loosen one by one the connecting parts 201 for connecting the side molds, thereby realizing the functions of automatic mold opening and closing. This can not only reduce the labor intensity of workers, but also effectively improve the efficiency and safety of mold opening and closing of the segment mold. It can better meet the needs of automated production of precast segments and has great popularization value.

[0063] As some preferred embodiments of this application, preferably, the first mold opening and closing device 3 includes a first articulated robot 31 and a first screwing unit 32; the first screwing unit 32 is installed at the cantilever end of the first articulated robot 31. And the screwing assembly of the first screwing unit 32 is adapted to the connecting part 201. Further, the first industrial camera is installed at the cantilever end of the first articulated robot 31, and the first articulated robot 31 and the first screwing unit 32 are signal-connected to the control unit and controlled by the control unit. The first screwing unit 32 is preferably a power wrench adapted to the connecting part 201, specifically, for example, an electric wrench or a pneumatic wrench.

[0064] Similarly, during specific implementation, the second mold opening and closing device 4 includes a second articulated robot 41 and a second screwing unit 42; the second screwing unit 42 is installed at the cantilever end of the second articulated robot 41. And the screwing assembly of the second screwing unit 42 is adapted to the connecting part 201. Further, the second industrial camera is installed at the cantilever end of the second articulated robot 41, and the second articulated robot 41 and the second screwing unit 42 are signal-connected to the control unit and controlled by the control unit. The second screwing unit 42 is preferably a power wrench adapted to the connecting part 201, and specifically, it can be an electric wrench or a pneumatic wrench.

[0065] In this application, by installing the first industrial camera and the first screwing unit 32 at the cantilever end of the first articulated robot 31, and installing the second industrial camera and the second screwing unit 42 at the cantilever end of the second articulated robot 41, the position information of the connecting piece 201 can be collected in real time, and the positions of the first screwing unit 32 and the second screwing unit 42 can be adjusted and aligned in real time, thereby improving the alignment efficiency of the first screwing unit 32.

[0066] As some preferred embodiments of this application, the precast segment opening and closing die system may optionally further include a first walking guide rail 51, a first driving assembly, a second walking guide rail 52, and a second driving assembly. The first walking guide rail 51 is arranged on the first side of the precast segment mold transfer line 2, and the first walking guide rail 51 is parallel to the extending direction of the precast segment mold transfer line 2. The first opening and closing die device 3 is connected to the first walking guide rail 51, and the first driving assembly is configured to be able to drive the first opening and closing die device 3 to walk along the first walking guide rail 51. The first driving assembly is in signal connection with the control unit and is controlled by the control unit.

[0067] It should be noted that the first driving assembly in this application is not specifically limited, and it can be any driving device that can drive the first opening and closing die device 3 to walk along the first walking guide rail 51. In specific implementation, the first driving assembly can optionally be a driving assembly including a gear and a rack; or the first driving assembly can be a driving assembly including a lead screw and a slider; the first driving assembly can also be a driving assembly including a telescopic cylinder; or the first driving assembly can be a linear motor.

[0068] Specifically, as Figures 1 to 4 shown, two first walking guide rails 51 are arranged side by side and both extend along the extending direction of the precast segment mold transfer line 2. The first opening and closing die device 3 further includes a first mounting seat 33. A first slider 34 adapted to the first walking guide rail 51 is provided on the first mounting seat 33. The first mounting seat 33 is slidably connected to the first walking guide rail 51 through the first slider 34. And the first driving assembly includes a first motor, a first transmission gear (not shown in the figure), and a first transmission rack. The first transmission rack is fixed on one side of the first walking guide rail 51. The first motor is drivably connected to the first transmission rack through the first transmission gear. In specific operation, the first opening and closing die device 3 is driven to walk along the first walking guide rail 51 according to needs by the first motor.

[0069] In addition, the second walking guide rail 52 is arranged on the second side of the precast segment mold transfer line 2; and the second walking guide rail 52 is parallel to the extending direction of the precast segment mold transfer line 2. The second opening and closing die device 4 is connected to the second walking guide rail 52. The second driving assembly is configured to be able to drive the second opening and closing die device 4 to walk along the second walking guide rail 52. The second driving assembly is in signal connection with the control unit and is controlled by the control unit.

[0070] It should be pointed out that the first side of the prefabricated pipe segment mold transfer line 2 and the second side of the prefabricated pipe segment mold transfer line 2 in the present application are located on opposite sides of the prefabricated pipe segment mold transfer line 2.

[0071] Similarly, the second driving component of the present application is not specifically limited, and it can be any driving device that can drive the second mold opening and closing device 4 to move along the second walking guide rail 52, and can be specifically set with reference to the setting method of the first driving component.

[0072] Specifically by Figures 1 to 4 As shown, two second travel guide rails 52 are arranged side by side and both extend along the extension direction of the prefabricated pipe segment mold transfer line 2. The second mold opening and closing device 4 also includes a second mounting seat 43, on which a second slider 44 adapted to the second travel guide rail 52 is provided; the second mounting seat 43 is slidably connected to the second travel guide rail 52 via the second slider 44. The second drive assembly includes a second motor, a second transmission gear (not shown in the figure) and a second transmission rack (not shown in the figure), the second transmission rack is mounted on one side of the second travel guide rail 52, and the second motor is connected to the second transmission rack via the second transmission gear. During specific operation, the second mold opening and closing device 4 is driven by the second motor as needed to travel along the second travel guide rail 52.

[0073] As some preferred embodiments of the present application, the prefabricated segment opening and closing mold system further includes a walking track 7 and a mold transfer device 10. Figure 1 and Figure 2 As shown, the running track 7 passes through the prefabricated segment mold parking area 1. The mold transfer device 10 is arranged on the running track 7, and the mold transfer device 10 is configured to be able to transfer the prefabricated segment mold 20 along the running track 7. The mold transfer device 10 is connected to the control unit by signal and is controlled by the control unit. In specific implementation, the mold transfer device 10 can be selectively set as a transfer trolley or a conveyor line.

[0074] As some preferred embodiments of the present application, the prefabricated pipe segment opening and closing mold system further includes a limiting device 6. The limiting device 6 is installed on one side of the walking track 7, and the limiting device 6 is configured to stop the mold transfer device 10 from reaching a set position. The limiting device 6 includes a stopping structure 61, and the stopping structure 61 has a position for stopping the mold transfer device 10 and a yielding position.

[0075] It should be noted that there are no specific restrictions on the limiting device of the present application. It can be any device that can limit the precast segment mold to a set position in the precast segment mold parking area 1. In addition, the stop structural member 61 included in the limiting device 6 has a stop position and a yielding position, so that while the limiting device 6 has a limiting function, it can also meet the transfer requirements of the precast segment mold 20 between the upstream and downstream workstations. By setting the limiting device 6, the present application can limit the mold transfer device 10 parked in the precast segment mold parking area 1 to limit the mold transfer device 10 to a set position, so as to provide better working conditions for the first mold opening and closing device 3 and the second mold opening and closing device 4.

[0076] As some preferred embodiments under the foregoing embodiments, the limiting device 6 further includes a push-pull assembly 62 and a mounting base 63. The mounting base 63 is installed on the outside of the traveling track 7, and the push-pull assembly 62 is installed on the mounting base 63. The stop structural member 61 is rotatably connected to the mounting base 63, and one end of the stop structural member 61 is hinged to the push-pull end of the push-pull assembly 62. The other end of the stop structural member 61 is a stop portion, and the push-pull assembly 62 is controlled by a control unit. The stop portion has a stop position and a yielding position under the drive of the push-pull assembly 62.

[0077] It should be noted that there are no specific restrictions on the push-pull assembly in the present application. It can be any push-pull assembly that can drive the stop structural member to rotate relative to the mounting base so that the stop structural member has a limiting position and a yielding position state. In specific implementation, the push-pull assembly 62 can be selectively an expansion cylinder or a push-pull assembly including a lead screw slider, etc. Specifically, as Figure 1 、 Figure 1.1 and Figure 2 shown, the push-pull assembly 62 is an expansion cylinder.

[0078] In specific implementation, the precast segment mold opening and closing system further includes a position detection sensor. The position detection sensor is signal-connected to the control unit, and the position detection sensor is configured to detect whether the stop structural member 61 is located at a set stop position. Specifically, when the push-pull assembly 62 is an expansion cylinder, the position detection sensor can be a magnetic ring switch. By setting the position detection sensor, the present application can provide information on whether the mold transfer device 10 is in place to the control system, so as to provide relevant signals for the operation of the first mold opening and closing device 3 and the second mold opening and closing device 4.

[0079] As some preferred embodiments of the present application, the precast segment mold opening and closing system further includes two traveling tracks 7. The two traveling tracks 7 extend in parallel, and at least one limiting device 6 is provided on the outside of each traveling track 7. The limiting device 6 is configured to be able to constrain the mold transfer device 10 to a set position.

[0080] Specifically, asFigure 1 , Figure 2 , Figure 3 and Figure 4 As shown in Figure 1 , Figure 2 , Figure 3 and Figure 4 , the precast segment mold parking area 1 is further made square as a whole. Two limiting devices 6 are arranged at intervals on the outer side of each traveling track 7, and a limiting device 6 is arranged at each of the four corners of the precast segment mold parking area 1.

[0081] As a changeable embodiment, it is also possible to selectively make the precast segment mold parking area 1 square as a whole, with a limiting device 6 arranged on the outer side of each traveling track 7 respectively, and a limiting device 6 arranged at each of the two corners of the precast segment mold parking area 1 in a diagonal relationship.

[0082] The positions of the limiting devices 6 arranged at each corner can be set with reference to the setting methods in Figure 1 , Figure 1.1 and Figure 2 .

[0083] The present application also provides a precast segment production line, including the precast segment opening and closing mold system involved in any of the foregoing embodiments. In specific implementation, the precast segment production line can be selectively an automated production line or a semi-automated production line.

[0084] The present application also discloses a method for opening and closing a precast segment mold, which is applied to the precast segment opening and closing mold system involved in any of the foregoing embodiments; or applied to the precast segment production line involved in any of the foregoing embodiments. Specifically, it includes the following process: transporting the precast segment mold 20 to the set position in the precast segment mold parking area 1; controlling the first opening and closing mold device 3 to tighten or loosen the connecting piece 201 in its working area according to the position information of the connecting piece 201 collected by the first industrial camera; controlling the second opening and closing mold device 4 to tighten or loosen the connecting piece 201 in its working area according to the position information of the connecting piece 201 collected by the second industrial camera.

[0085] It should be noted that during specific work, the precast segment mold 20 can be transported to the set mold parking area through the precast segment mold transfer line 2.

[0086] During specific operation, the first industrial camera acquires the position information of the corresponding connecting member 201, and transmits the position information of the connecting member 201 to the control unit. The control unit generates corresponding control instructions according to the information acquired by the first industrial camera, and provides the corresponding control instructions to the first mold opening and closing device 3. Further, the connecting member 201 is screwed by the first mold opening and closing device 3 to tighten or loosen the connecting member 201. The above operations are repeated to screw each connecting member 201 one by one. Similarly, the second industrial camera acquires the position of the corresponding connecting member 201, and transmits the position information of the connecting member 201 to the control unit. The control unit generates corresponding control instructions according to the information acquired by the second industrial camera, and provides the corresponding control instructions to the second mold opening and closing device 4. Further, the connecting member 201 is screwed by the second mold opening and closing device 4 to tighten or loosen the connecting member 201. The above operations are repeated to screw each connecting member 201 one by one to realize the function of opening or closing the precast segment mold.

[0087] Obviously, the above embodiments of the present invention are merely examples for clearly explaining the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A precast segment opening and closing die system, characterized in that Including: A precast segment mold parking area configured to park precast segment molds; A precast segment mold transfer line passing through the precast segment mold parking area and configured to transfer precast segment molds to the precast segment mold parking area; A first mold opening and closing device located on the first side of the precast segment mold transfer line and configured to at least tighten or loosen the connectors connecting the precast segment mold to the two adjacent side molds on the first side; A second mold opening and closing device located on the second side of the precast segment mold transfer line and configured to at least tighten or loosen the connectors connecting the precast segment mold to the two adjacent side molds on the second side; A first industrial camera configured to collect the position information of the connectors screwed by the first mold opening and closing device; A second industrial camera configured to collect the position information of the connectors screwed by the second mold opening and closing device; A control unit, with the first industrial camera and the second industrial camera being signal-connected to the control unit; Both the first mold opening and closing device and the second mold opening and closing device are signal-connected to the control unit. The control unit is configured to receive the information collected by the first industrial camera and the second industrial camera and generate control instructions. The first mold opening and closing device and the second mold opening and closing device can receive the control instructions and execute corresponding tasks.

2. The precast segment mold opening and closing system according to claim 1, wherein: The first mold opening and closing device includes a first articulated robot and a first screwing unit. The first screwing unit is installed at the cantilever end of the first articulated robot. The first screwing unit is adapted to the connectors of the two adjacent side molds. The first industrial camera is installed at the cantilever end of the first articulated robot. The first articulated robot and the first screwing unit are signal-connected to the control unit and controlled by the control unit; The second mold opening and closing device includes a second articulated robot and a second screwing unit. The second screwing unit is installed at the cantilever end of the second articulated robot. The second screwing unit is adapted to the connectors of the two adjacent side molds. The second industrial camera is installed at the cantilever end of the second articulated robot. The second articulated robot and the second screwing unit are signal-connected to the control unit and controlled by the control unit.

3. The precast segment opening and closing die system according to claim 2, characterized in that, It further includes: A first walking guide rail and a first driving component. The first walking guide rail is provided on the first side of the precast segment mold transfer line and is parallel to the extending direction of the precast segment mold transfer line. The first mold opening and closing device is connected to the first walking guide rail. The first driving component is configured to be able to drive the first mold opening and closing device to walk along the first walking guide rail. The first driving component is signal-connected to the control unit and controlled by the control unit; A second traveling guide rail and a second driving assembly. The second traveling guide rail is provided on the second side of the precast segment mold transfer line, and the second traveling guide rail is parallel to the extending direction of the precast segment mold transfer line. The second mold opening and closing device is connected to the second traveling guide rail. The second driving assembly is configured to be able to drive the second mold opening and closing device to travel along the second traveling guide rail. The second driving assembly is in signal connection with the control unit and is controlled by the control unit.

4. The precast segment mold opening and closing system according to claim 3, wherein it includes two of the first traveling guide rails, and the two first traveling guide rails are arranged side by side. The first mold opening and closing device further includes a first mounting seat. A first slider adapted to the first traveling guide rail is provided on the first mounting seat. The first mounting seat is slidably connected to the first traveling guide rail through the first slider. The first driving assembly includes a first motor, a first transmission gear and a first transmission rack, and the first transmission rack is installed on one side of the first traveling guide rail; and / or, it includes two of the second traveling guide rails, and the two second traveling guide rails are arranged side by side. The second mold opening and closing device further includes a second mounting seat. A second slider adapted to the second traveling guide rail is provided on the second mounting seat. The second mounting seat is slidably connected to the second traveling guide rail through the second slider. The second driving assembly includes a second motor, a second transmission gear and a second transmission rack, and the second transmission rack is installed on one side of the second traveling guide rail.

5. The precast segment opening and closing die system according to any one of claims 1 to 4, characterized in that It further includes: A traveling track that passes through the precast segment mold parking area; and A mold transfer device that is arranged on the traveling track and is configured to be able to transfer the precast segment mold along the traveling track. The mold transfer device is in signal connection with the control unit and is controlled by the control unit.

6. The precast segment mold opening and closing system according to claim 5, wherein it further includes a limiting device that is installed on one side of the traveling track. The limiting device is configured to stop the mold transfer device at a set position. The limiting device includes a stop structural member, and the stop structural member has a position for stopping the mold transfer device and a yielding position.

7. The precast segment mold opening and closing system according to claim 6, wherein the limiting device further includes a pushing and pulling assembly and a mounting base. The mounting base is installed outside the traveling track, and the pushing and pulling assembly is installed on the mounting base. The stop structural member is rotatably connected to the mounting base, and one end of the stop structural member is hinged to the pushing and pulling end of the pushing and pulling assembly. The other end of the stop structural member is a stop portion, and the pushing and pulling assembly is controlled by the control unit; it further includes a position detection sensor that is in signal connection with the control unit. The position detection sensor is configured to detect whether the stop structural member is in the set stop position.

8. The precast segment mold opening and closing system according to claim 7, wherein It includes two of the walking tracks. The two walking tracks extend in parallel. At least one of the limiting devices is provided on the outer side of each of the walking tracks. The limiting device is configured to be able to restrict the die transfer device to a set position.

9. The precast segment opening and closing die system according to claim 8, wherein The precast segment die parking area is generally square. Two of the limiting devices are provided at intervals on the outer side of each of the walking tracks. One of the limiting devices is provided at each of the four corners of the precast segment die parking area; or The precast segment die parking area is generally square. One of the limiting devices is provided on the outer side of each of the walking tracks. One of the limiting devices is provided at each of the two corners of the precast segment die parking area that are in a diagonal relationship.

10. A precast segment production line, wherein It includes the precast segment opening and closing die system according to any one of claims 1 to 9.

11. A method for opening and closing a precast segment mold, characterized in that, Applied to the precast segment opening and closing die system according to any one of claims 1 to 9; or applied to the precast segment production line according to claim 10; it includes the following process: Transfer the precast segment die to the set position in the precast segment die parking area; According to the position information of the connecting piece collected by the first industrial camera, control the first opening and closing die device to tighten or loosen the connecting piece in its working area; According to the position information of the connecting piece collected by the second industrial camera, control the second opening and closing die device to tighten or loosen the connecting piece in its working area.

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