Adjustable duct piece mold with automatic cleaning function and automatic cleaning method

Abstract

The invention relates to the technical field of duct piece production, in particular to an adjustable duct piece mold with an automatic cleaning function and an automatic cleaning method.The adjustable duct piece mold comprises a mold body, a supporting frame and a cleaning assembly, and the cleaning assembly comprises an arc-shaped sliding rail, a sliding seat, a driving rod, a mechanical arm, a brush head and an observation head; after the mold body is demolded, the controller starts the observation head based on a preset program, the observation head observes the surface of the mold body and determines a cleaning point position according to an image recognition technology to obtain a cleaning point position layout, the driving rod drives the sliding seat to slide on the arc-shaped sliding rail based on the cleaning point position layout, meanwhile, the mechanical arm stretches out and draws back to enable the brush head to stretch to the cleaning point position, and at the moment, the cleaning point position layout is completed. And the brush head rotates to clean concrete and dust on the mold body, that is, automatic cleaning of the concrete and dust on the mold body is achieved, due to the arrangement of the cleaning assembly, the adjustable duct piece mold can be automatically cleaned, workers do not need to participate in cleaning, the investment of the workers can be reduced, the cleaning speed is higher, and therefore the production efficiency of shield duct pieces is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of segment production, and in particular to an adjustable segment mold with automatic cleaning and an automatic cleaning method. Background Art

[0002] A shield segment is the main assembled component in shield construction, and is the innermost barrier of a tunnel, bearing the functions of resisting soil pressure, groundwater pressure, and some special loads. A shield segment is the permanent lining structure of a shield tunnel, and the quality of a shield segment is directly related to the overall quality and safety of the tunnel, affecting the waterproof performance and durability of the tunnel.

[0003] Currently, the prior art (CN222270683U) discloses an adjustable segment mold, which relates to the technical field of segment production, and includes a base. A pouring mechanism is arranged at the top of the base. The pouring mechanism includes a bottom plate. Side plates are symmetrically arranged on the left and right sides of the bottom plate. Guide rails are provided at the tops of the side plates. Sliders are arranged inside the guide rails. Chutes are provided at the outer sides of the side plates near the tops. First threaded rods are arranged inside the chutes. Fixed blocks are arranged at the inner sides of the side plates near the backs. First threaded openings are provided at the fronts of the fixed blocks near the bottoms. Second threaded rods are arranged inside the first threaded openings. By using a movable plate in cooperation with the sliders and the second threaded rods, the width dimension of the segment can be adjusted according to the usage requirements, greatly improving the practicability, eliminating the cumbersome steps of later manual processing and customizing molds, and effectively improving the construction efficiency.

[0004] However, the above adjustable segment mold is cleaned by an artificial cleaning method, with a relatively large labor intensity for manual cleaning and low cleaning efficiency. Summary of the Invention

[0005] The purpose of the present invention is to provide an adjustable segment mold with automatic cleaning and an automatic cleaning method, aiming to solve the problems that the adjustable segment mold is cleaned by an artificial cleaning method, with a relatively large labor intensity for manual cleaning and low cleaning efficiency.

[0006] To achieve the above object, in a first aspect, the present invention provides an adjustable segment mold for automatic cleaning, including a mold body, a support frame, and a cleaning component. The support frame is fixedly connected to the mold body and is located on one side of the mold body. The cleaning component is assembled on one side of the support frame. The cleaning component includes an arc-shaped slide rail, a sliding seat, a driving rod, a robotic arm, a brush head, and an observation head. The arc-shaped slide rail is fixedly connected to the support frame and is located on one side of the support frame. The sliding seat is slidably connected to the arc-shaped slide rail and penetrates through the arc-shaped slide rail. The robotic arm is fixedly connected to the sliding seat and is located on the top of the sliding seat. The brush head is assembled on the side of the robotic arm away from the sliding seat. The observation head is arranged on one side of the robotic arm. The driving rod is assembled between the support frame and the sliding seat.

[0007] Wherein, the driving rod includes a rotating motor and a connecting rod. The rotating motor is fixedly connected to the support frame and is located on one side of the support frame. The connecting rod is fixedly connected to the rotating motor and is detachably connected to the sliding seat and is located between the rotating motor and the sliding seat.

[0008] Wherein, the connecting rod includes a connecting rod body, a reinforcing rib, and a connecting head. The connecting rod body is fixedly connected to the rotating motor and is located at the output end of the rotating motor. The connecting head is fixedly connected to the connecting rod body and is detachably connected to the sliding seat and is located on one side of the connecting rod body. The reinforcing rib is fixedly connected to the connecting rod body and is located outside the connecting rod body.

[0009] Wherein, the observation head includes a camera and a fill light. The camera is fixedly connected to the robotic arm and is located outside the robotic arm. The fill light is fixedly connected to the robotic arm and is located on one side of the robotic arm.

[0010] Wherein, the brush head includes a driving motor, a bottom plate, a clamping ring, and a brush head body. The driving motor is fixedly connected to the robotic arm and is located on the side of the robotic arm away from the sliding seat. The bottom plate is fixedly connected to the output end of the driving motor and is located on the side of the driving motor away from the robotic arm. The clamping ring is assembled on the side of the bottom plate away from the driving motor. The brush head body is detachably connected to the clamping ring and is located on one side of the clamping ring.

[0011] Wherein, the clamping ring includes a clamping ring body and a fastening bolt. The clamping ring body is assembled on the side of the bottom plate away from the driving motor. The fastening bolt is threadedly connected to the clamping ring body and penetrates through the clamping ring body.

[0012] In a second aspect, the present invention further provides an automatic cleaning method for an adjustable segment mold for automatic cleaning, which is applied to the adjustable segment mold for automatic cleaning as described in the first aspect above, and includes the following steps:

[0013] After the mold body is demolded, the controller turns on the observation head based on a preset program. The observation head observes the surface of the mold body to determine the layout of the cleaning points.

[0014] Based on the layout of the cleaning points, the driving rod drives the sliding seat to slide on the arc-shaped slide rail, and at the same time, the robotic arm extends and retracts to extend the brush head to the cleaning points.

[0015] The brush head rotates to clean the concrete and dust on the mold body.

[0016] An adjustable segment mold with automatic cleaning according to the present invention. The mold body is used for producing shield segments. The support frame provides installation and support conditions for the cleaning component. The cleaning component is used for automatically cleaning the residual concrete and dust on the mold body. Specifically, after the mold body is demolded, the controller turns on the observation head based on a preset program. The observation head observes the surface of the mold body and determines the cleaning points according to image recognition technology to obtain the layout of the cleaning points. Based on the layout of the cleaning points, the driving rod drives the sliding seat to slide on the arc-shaped slide rail, and at the same time, the robotic arm extends and retracts to extend the brush head to the cleaning points. At this time, the brush head rotates to clean the concrete and dust on the mold body, that is, the automatic cleaning of the concrete and dust on the mold body is realized. The setting of the cleaning component can automatically clean the adjustable segment mold without the participation of workers, reduce the input of labor personnel, and have a faster cleaning speed, thereby improving the production efficiency of shield segments and solving the problems of large manual labor intensity and low cleaning efficiency in the manual cleaning method of the adjustable segment mold. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic structural diagram of an adjustable segment mold with automatic cleaning provided by the present invention.

[0019] Figure 2 It is a schematic structural diagram of another aspect of an adjustable segment mold with automatic cleaning provided by the present invention.

[0020] Figure 3 is Figure 1 An enlarged view of detail A.

[0021] Figure 4 is Figure 2 An enlarged view of detail B.

[0022] Figure 5 It is a flowchart of an automatic cleaning method for an adjustable segment mold with automatic cleaning provided by the present invention.

[0023] In the figure: 1 - mold body, 2 - support frame, 3 - cleaning component, 4 - arc-shaped slide rail, 5 - sliding seat, 6 - driving rod, 7 - robotic arm, 8 - brush head, 9 - observation head, 10 - rotating motor, 11 - connecting rod, 12 - connecting rod, 13 - reinforcing rib, 14 - connecting head, 15 - camera, 16 - fill light, 17 - driving motor, 18 - bottom plate, 19 - clamping ring, 20 - brush head body, 21 - clamping ring body, 22 - fastening bolt, 23 - flushing gun, 24 - linear slide rail, 25 - slider, 26 - hydraulic rod, 27 - flushing gun body, 28 - connecting pipe. Specific embodiments

[0024] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention and should not be construed as a limitation of the present invention.

[0025] Please refer to Figures 1 to 4 , in the first aspect, the present invention provides an adjustable segment mold with automatic cleaning, including a mold body 1, a support frame 2, and a cleaning component 3. The support frame 2 is fixedly connected to the mold body 1 and is located on one side of the mold body 1. The cleaning component 3 is assembled on one side of the support frame 2. The cleaning component 3 includes an arc-shaped slide rail 4, a sliding seat 5, a driving rod 6, a robotic arm 7, a brush head 8, and an observation head 9. The arc-shaped slide rail 4 is fixedly connected to the support frame 2 and is located on one side of the support frame 2. The sliding seat 5 is slidably connected to the arc-shaped slide rail 4 and penetrates through the arc-shaped slide rail 4. The robotic arm 7 is fixedly connected to the sliding seat 5 and is located on the top of the sliding seat 5. The brush head 8 is assembled on the side of the robotic arm 7 away from the sliding seat 5. The observation head 9 is arranged on one side of the robotic arm 7. The driving rod 6 is assembled between the support frame 2 and the sliding seat 5.

[0026] In an embodiment of the present invention, the mold body 1 is used for producing shield segments. The support frame 2 provides installation and support conditions for the cleaning component 3. The cleaning component 3 is used for automatically cleaning the residual concrete and dust on the mold body 1. Specifically, after the mold body 1 is demolded, the controller activates the observation head 9 based on a preset program. The observation head 9 observes the surface of the mold body 1 and determines the cleaning points according to image recognition technology to obtain the cleaning point layout. Based on the cleaning point layout, the driving rod 6 drives the sliding seat 5 to slide on the arc-shaped slide rail 4. At the same time, the robotic arm 7 extends and retracts to extend the brush head 8 to the cleaning points. At this time, the brush head 8 rotates to clean the concrete and dust on the mold body 1, thereby realizing the automatic cleaning of the concrete and dust on the mold body 1. The setting of the cleaning component 3 can automatically clean the adjustable segment mold without the participation of workers, reducing the input of labor personnel and having a faster cleaning speed, thus improving the production efficiency of shield segments and solving the problems of large manual labor intensity and low cleaning efficiency in the manual cleaning method of the adjustable segment mold.

[0027] Further, the driving rod 6 includes a rotating motor 10 and a connecting rod 11. The rotating motor 10 is fixedly connected to the support frame 2 and is located on one side of the support frame 2. The connecting rod 11 is fixedly connected to the rotating motor 10 and is detachably connected to the sliding seat 5 and is located between the rotating motor 10 and the sliding seat 5. The connecting rod 11 includes a connecting rod 12, a reinforcing rib 13, and a connecting head 14. The connecting rod 12 is fixedly connected to the rotating motor 10 and is located at the output end of the rotating motor 10. The connecting head 14 is fixedly connected to the connecting rod 12 and is detachably connected to the sliding seat 5 and is located on one side of the connecting rod 12. The reinforcing rib 13 is fixedly connected to the connecting rod 12 and is located outside the connecting rod 12.

[0028] In an embodiment of the present invention, the connecting head 14 of the connecting rod 11 is used to assemble and fix the connecting rod 12 and the sliding seat 5. The rotating motor 10 is controlled by the controller to operate, thereby driving the connecting rod 12 to push or pull the sliding seat 5 to slide on the arc-shaped slide rail 4. The setting of the reinforcing rib 13 is used to strengthen the strength of the connecting rod 12 and avoid the phenomenon of deformation and bending when the connecting rod 12 drives the sliding seat 5 to slide.

[0029] Further, the observation head 9 includes a camera 15 and a fill light 16. The camera 15 is fixedly connected to the robotic arm 7 and is located outside the robotic arm 7. The fill light 16 is fixedly connected to the robotic arm 7 and is located on one side of the robotic arm 7.

[0030] In an embodiment of the present invention, the camera 15 is used to capture pictures of the mold body 1 and upload them to the backend platform for analysis to obtain the layout of the cleaning points. The fill light 16 emits light to illuminate the mold body 1 to assist the camera 15 in capturing pictures.

[0031] Further, the brush head 8 includes a drive motor 17, a bottom plate 18, a clamping ring 19, and a brush head body 20. The drive motor 17 is fixedly connected to the robotic arm 7 and is located on the side of the robotic arm 7 away from the sliding seat 5. The bottom plate 18 is fixedly connected to the output end of the drive motor 17 and is located on the side of the drive motor 17 away from the robotic arm 7. The clamping ring 19 is assembled on the side of the bottom plate 18 away from the drive motor 17. The brush head body 20 is detachably connected to the clamping ring 19 and is located on one side of the clamping ring 19. The clamping ring 19 includes a clamping ring body 21 and a fastening bolt 22. The clamping ring body 21 is assembled on the side of the bottom plate 18 away from the drive motor 17. The fastening bolt 22 is threadedly connected to the clamping ring body 21 and penetrates through the clamping ring body 21.

[0032] In an embodiment of the present invention, the output end of the drive motor 17 drives the bottom plate 18 to rotate, thereby driving the brush head body 20 to rotate to clean the concrete and dust on the mold body 1. The setting of the clamping ring 19 facilitates the disassembly and replacement of the brush head 8 after wear. Specifically, the worker rotates the fastening bolt 22 with a tool to loosen the clamping ring body 21, and then the clamping ring body 21 can be easily removed. At this time, the worker rotates the fastening bolt 22 in the reverse direction with the tool to tighten the clamping ring body 21 and clamp the clamping ring body 21 to complete the replacement operation of the clamping ring body 21.

[0033] Further, the cleaning assembly 3 further includes a flushing gun 23. The flushing gun 23 is arranged outside the robotic arm 7. The flushing gun 23 includes a linear slide rail 24, a slider 25, a hydraulic rod 26, a flushing gun body 27, and a connecting pipe 28. The linear slide rail 24 is fixedly connected to the robotic arm 7 and is located outside the robotic arm 7. The slider 25 is slidably connected to the linear slide rail 24 and is located on one side of the linear slide rail 24. The hydraulic rod 26 is fixedly connected to the slider 25 and is fixedly connected to the robotic arm 7 and is located between the robotic arm 7 and the slider 25. The flushing gun body 27 is assembled on the slider 25. The connecting pipe 28 is communicated with the flushing gun body 27 and is located on one side of the flushing gun body 27.

[0034] In an embodiment of the present invention, the flushing gun 23 is used to spray water to flush the mold body 1, assist the brush head 8 to clean the mold body 1, and improve the cleaning effect of the mold body 1. Specifically, the flushing gun body 27 is externally connected to a water source through the connecting pipe 28 and sprays water to flush the mold body 1. The hydraulic rod 26 is a commonly used technology in the market and is used to drive the slider 25 to slide within the linear slide rail 24, thereby adjusting the spraying angle of the flushing gun body 27 and enabling multi-angle flushing of the mold body 1.

[0035] Please refer to Figure 5 , on the second aspect, the present invention further provides an automatic cleaning method for an adjustable segment mold for automatic cleaning, which is applied to the adjustable segment mold for automatic cleaning as described in the first aspect above, and includes the following steps:

[0036] S1 After the mold body 1 is demolded, the controller turns on the observation head 9 based on a preset program. The observation head 9 observes the surface of the mold body 1 to determine the layout of the cleaning points.

[0037] In an embodiment of the present invention, after the mold body 1 is demolded, the controller turns on the observation head 9 based on a preset program. The camera 15 of the observation head 9 observes the surface of the mold body 1 and determines the cleaning points according to image recognition technology to obtain the layout of the cleaning points.

[0038] S2 Based on the layout of the cleaning points, the driving rod 6 drives the sliding seat 5 to slide on the arc-shaped slide rail 4, and at the same time, the robotic arm 7 extends and retracts to extend the brush head 8 to the cleaning points.

[0039] In an embodiment of the present invention, the controller controls the rotation motor 10 to act based on the layout of the cleaning points, thereby driving the connecting rod 12 to push or pull the sliding seat 5 to slide on the arc-shaped slide rail 4, and at the same time, the robotic arm 7 extends and retracts to extend the brush head 8 to the cleaning points.

[0040] S3 The brush head 8 rotates to clean the concrete and dust on the mold body 1.

[0041] In an embodiment of the present invention, the output end of the driving motor 17 drives the bottom plate 18 to rotate, thereby driving the brush head body 20 to rotate to clean the concrete and dust on the mold body 1.

[0042] The above-disclosed is only a preferred embodiment of an adjustable segment mold for automatic cleaning and an automatic cleaning method of the present invention. Of course, the scope of the rights of the present invention cannot be limited by this. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present invention still fall within the scope covered by the invention.

Claims

1. An adjustable segment mold for automatic cleaning, characterized in that ； It includes a mold body, a support frame, and a cleaning component. The support frame is fixedly connected to the mold body and is located on one side of the mold body. The cleaning component is assembled on one side of the support frame. The cleaning component includes an arc-shaped slide rail, a sliding seat, a driving rod, a robotic arm, a brush head, and an observation head; The arc-shaped slide rail is fixedly connected to the support frame and is located on one side of the support frame. The sliding seat is slidably connected to the arc-shaped slide rail and penetrates through the arc-shaped slide rail. The robotic arm is fixedly connected to the sliding seat and is located on the top of the sliding seat. The brush head is assembled on the side of the robotic arm away from the sliding seat. The observation head is arranged on one side of the robotic arm. The driving rod is assembled between the support frame and the sliding seat.

2. The adjustable segment mold for automatic cleaning according to claim 1, characterized in that ； The driving rod includes a rotating motor and a connecting rod. The rotating motor is fixedly connected to the support frame and is located on one side of the support frame. The connecting rod is fixedly connected to the rotating motor, is detachably connected to the sliding seat, and is located between the rotating motor and the sliding seat.

3. The adjustable segment mold for automatic cleaning according to claim 2, wherein ； The connecting rod includes a connecting rod body, a reinforcing rib, and a connecting head. The connecting rod body is fixedly connected to the rotating motor and is located at the output end of the rotating motor. The connecting head is fixedly connected to the connecting rod body, is detachably connected to the sliding seat, and is located on one side of the connecting rod body. The reinforcing rib is fixedly connected to the connecting rod body and is located outside the connecting rod body.

4. The adjustable segment mold for automatic cleaning according to claim 1, characterized in that ； The observation head includes a camera and a fill light. The camera is fixedly connected to the robotic arm and is located outside the robotic arm. The fill light is fixedly connected to the robotic arm and is located on one side of the robotic arm.

5. The adjustable segment mold for automatic cleaning according to claim 1, characterized in that ； The brush head includes a driving motor, a bottom plate, a clamping ring, and a brush head body. The driving motor is fixedly connected to the robotic arm and is located on the side of the robotic arm away from the sliding seat. The bottom plate is fixedly connected to the output end of the driving motor and is located on the side of the driving motor away from the robotic arm. The clamping ring is assembled on the side of the bottom plate away from the driving motor. The brush head body is detachably connected to the clamping ring and is located on one side of the clamping ring.

6. The adjustable segment mold for automatic cleaning according to claim 5, characterized in that ； The clamping ring includes a clamping ring body and a fastening bolt. The clamping ring body is assembled on the side of the bottom plate away from the driving motor. The fastening bolt is threadedly connected to the clamping ring body and penetrates through the clamping ring body.

7. Automatic cleaning method for adjustable segment molds with automatic cleaning, applied to the adjustable segment molds with automatic cleaning as described in any one of claims 1-6, characterized in that, It includes the following steps: After the mold body is demolded, the controller turns on the observation head based on a preset program. The observation head observes the surface of the mold body to determine the layout of the cleaning points; Based on the layout of the cleaning points, the driving rod drives the sliding seat to slide on the arc-shaped slide rail, and at the same time, the robotic arm extends and retracts to extend the brush head to the cleaning points; The brush head rotates to clean the concrete and dust on the mold body.

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