Intelligent sleeper demolding device and method of use thereof

Abstract

The present application relates to the technical field of manipulator, and is especially a kind of intelligent sleeper demolding device and its using method, including bearing support and sleeper mould, bearing support lower end is connected with net barrier assembly by welding fixed mode, bearing support inner side is slidably connected with clamping arm assembly, net barrier assembly includes guard net, guard net side is fixedly connected with limit seat by bolt, limit seat inner side is installed with crank rod assembly, crank rod assembly is fixedly connected with telescopic rod, telescopic rod one end is installed with torsion sensor, clamping arm assembly includes sliding bearing seat, sliding bearing seat lower end is fixedly connected with bearing force arm, bearing force arm inner side is fixedly connected with mounting seat by bolt, in the present application, through the setting of crank rod assembly, turnover transmission block and transmission rod assembly, the device can accurately detect the state of turnover manipulator arm in the demolding process of sleeper mould, and the stress condition and balance state of sleeper mould in the turnover and movement process are monitored in real time.

Description

Technical Field

[0001] This invention relates to the field of robotic arm technology, specifically to an intelligent sleeper demolding device and its usage method. Background Technology

[0002] Robots have a wide range of applications and are often used as the core component in sleeper demolding devices. The quality and characteristics of the robot directly affect the performance and production efficiency of the sleeper. A high-quality robot can ensure that the sleeper mold moves accurately and can withstand the pressure and impact during concrete pouring and vibration, so as to ensure that the sleeper meets the requirements of railway track after it is formed in the mold.

[0003] During the production of railway sleepers, the sleeper mold is first sprayed with a release agent, then the arranged steel reinforcement components are placed in the mold, and then the proportioned concrete is poured into the mold. After vibration, the concrete is compacted and free of air bubbles. After solidification, the robotic arm in the sleeper demolding device will flip the undemolded sleeper along with the mold and transfer it to the demolding platform for demolding.

[0004] During the 180° flipping and demolding process of the sleeper mold by the robotic arm in the sleeper demolding device, due to the unidirectional opening structure of the sleeper mold, the inertial forces acting on the multiple sleepers inside the mold differ in direction when the mold is flipped as a whole. The inertia of some sleepers causes them to tend to move closer to the bottom of the mold, while the inertia of others causes them to move away from the bottom of the mold. This difference in inertia leads to an uneven fit between the sleepers and the mold, causing the dynamic center of gravity of the sleeper mold to shift during the flipping process, increasing the instability of the flipping process. If this problem is not detected in time, it will cause serious damage to the equipment in the long run and lead to production accidents. Therefore, an intelligent sleeper demolding device and its usage method are proposed to address the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide an intelligent sleeper demolding device and its usage method to solve the problem that, due to the unidirectional opening structure of the sleeper mold, when the sleeper mold is flipped as a whole, the inertial forces acting on the multiple sleepers inside are different. The inertia of some sleepers causes them to tend to move closer to the bottom of the mold, while the inertia of others causes them to move away from the bottom of the mold. This difference in inertia leads to an uneven fit between the sleepers and the mold, causing the dynamic center of gravity of the sleeper mold to shift during the flipping process, increasing the instability of the flipping process. If this problem is not detected in time, it will cause serious damage to the equipment and lead to production accidents in the long run.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An intelligent railway sleeper demolding device and its method of use include a support bracket and a sleeper mold. A mesh guard assembly is welded to the lower end of the support bracket. A clamping arm assembly is slidably connected to the inner side of the support bracket. The mesh guard assembly includes a protective net. A limit seat is bolted to one side of the protective net. A crank rod assembly is installed inside the limit seat. A telescopic rod is fixedly connected through the crank rod assembly. A torque sensor is installed at one end of the telescopic rod. The clamping arm assembly includes a sliding support seat. A load-bearing arm is fixedly connected to the lower end of the sliding support seat. The bearing arm is fixedly connected to a mounting base by bolts. A drive motor is installed inside the mounting base. A flipping robotic arm is installed outside the main shaft of the drive motor. A flipping transmission block is fixedly connected to the inside of the flipping robotic arm. A transmission rod assembly is installed on one side of the flipping transmission block. The flipping transmission block includes a grooved block. A liquid storage tank is opened inside the grooved block. A sliding limit groove is opened inside the grooved block. A pressure application assembly is provided inside the grooved block. A limit assembly is installed inside the grooved block. A shaft assembly is provided at the lower end of the limit assembly.

[0008] As a further optimization of the present invention, the crank assembly includes a sliding insert rod, one end of which is fixedly connected to a limiting rod head, a connecting spring is fixedly connected to one side of the limiting rod head, a short rod is fixedly connected to the lower end of the sliding insert rod, a beryllium bronze corrugated tube is fixedly connected to the outer side of the short rod, a long rod is fixedly connected to the inner side of the lower end of the beryllium bronze corrugated tube, a spring strip is fixedly connected to the upper end of the long rod, a hoop is fixedly connected through the spring strip, and a rubber column is fixedly connected to the upper end of the long rod.

[0009] As a further optimization of the present invention, the sliding rod is L-shaped, the limiting rod head is fixedly connected to the limiting seat through a connecting spring, the beryllium bronze corrugated tube is aged at a temperature of 320°C for 2.5 hours, a rubber column is fixedly connected to the center of the bottom end of the short rod, and multiple spring strips are fixedly connected to the bottom end of the short rod. The multiple spring strips are evenly distributed in a ring on the outside of the rubber column, and the outside of the hoop is in close contact with the inside of the beryllium bronze corrugated tube.

[0010] As a further optimization of the present invention, the grooved blocks are provided in two symmetrically distributed on both sides of the sleeper mold, the liquid storage tank is U-shaped, and two liquid storage tanks are provided symmetrically distributed inside the grooved blocks, and the liquid storage tanks are interconnected with the sliding limiting groove.

[0011] As a further optimization of the present invention, the pressure application component includes a plunger, a piston block is fixedly connected to the bottom end of the plunger, a fixing rod is fixedly connected to one side of the plunger, a fixing ring is fixedly connected to one end of the fixing rod, a magnetic block is fixedly connected to the inner side of the fixing ring by adhesive bonding, and a compression spring is fixedly connected to the upper end of the magnetic block.

[0012] As a further optimization of the present invention, the following features are provided: the plunger and the piston block are on the same axis; the outer side of the piston block is in close contact with the inner side of the liquid storage tank and slides up and down inside the liquid storage tank; the fixing rod slides up and down in the sliding limiting groove; the height of the plunger is 1.3 times that of the sliding limiting groove; the fixing ring, the magnetic block, and the compression spring are on the same axis; a grooved block is fixedly connected to the upper end of the compression spring; and the magnetic block is frustum-shaped.

[0013] As a further optimization of the present invention, the limiting component includes a magnetic plate with a rectangular upper surface. Four support springs are fixedly connected to the lower end of the magnetic plate, and the four support springs are distributed in a rectangular array at the four corners of the lower end of the magnetic plate. A toothed locking block is fixedly connected to the lower end of the magnetic plate, and the magnetic plate and the magnetic block repel each other magnetically.

[0014] As a further optimization of the present invention, the shaft assembly includes a toothed shaft column, the outer side of which meshes with a toothed grooved block, a bearing is installed on the outer side of the toothed shaft column, a plug shaft is fixedly connected to the inner side of the toothed shaft column, and a connector is fixedly connected to one end of the toothed shaft column, with a groove provided on one side of the connector.

[0015] As a further optimization of the present invention, the transmission rod assembly includes a connecting block, a connecting rod is fixedly connected to the outer side of the connecting block, a universal joint is fixedly connected to one end of the connecting rod, a crank rod assembly is fixedly connected to the inner side of one end of the universal joint, and a portion of the connecting block is disposed in a groove.

[0016] How to use an intelligent sleeper demolding device:

[0017] S1: Clamping and flipping the sleeper mold: The height of the support frame is controlled by extending or retracting the scissor-type telescopic frame installed on the upper end of the support frame. The clamping arm assembly is controlled to slide inside the support frame, so that the two sliding support seats and the support arm change from a relatively far apart state to a relatively close state. The plugs set on both sides of the sleeper mold are inserted into the flipping mechanical arm, and the clamping arm assembly and the sleeper mold form a plug-in fit to fix the sleeper mold.

[0018] The two clamping arm assemblies lift the sleeper mold upwards, causing the sleeper mold to move horizontally above the demolding table. The drive motor installed in the mounting base is turned on, and the main shaft of the drive motor rotates, causing the flipping mechanical arm installed on the side of the load-bearing arm near the sleeper mold to flip 180°. After the flipping is completed, the sleeper mold is placed on the demolding table. Then the two clamping arm assemblies release the sleeper mold and return to their original positions.

[0019] S2: The flipping robotic arm drives the flipping transmission block to flip and transmit: The flipping robotic arm flips and drives the flipping transmission block fixedly connected to the inside to rotate. The flipping transmission block rotates within the range of 0-180°. The pressure component inside the grooved block provides magnetic repulsion to the limiting component, making it tightly attached to the shaft assembly. The shaft assembly moves with the rotation of the grooved block. The movement of the shaft assembly drives the connecting block to move. The connecting block drives the universal joint to move through the connecting rod. The universal joint drives the long rod to rotate. The short rod connected to the sliding plug is restricted by the guard net and the limiting seat and cannot rotate. The long rod will bend and stretch the beryllium bronze corrugated pipe, spring strip and rubber column. The telescopic rod transmits the force applied to it when the long rod rotates to the torque sensor. The torque sensor will output a voltage signal proportional to the torque to the device, so that the device can determine whether the torque on both sides of the sleeper mold is balanced.

[0020] S3: After the transmission rod assembly is released from its restriction, the crank assembly rotates and resets: When the sliding rod rotates 180°, the limit rod head is inverted, and the liquid inside it applies pressure to the plunger and piston block. The plunger drives the fixed ring to move through the fixed rod. The force of the fixed ring on the magnetic block and the magnetic repulsion force of the magnetic block on the magnetic plate combine to push the magnetic block downward and squeeze the compression spring. After the magnetic block moves away from the magnetic plate, the support spring applies elasticity to the magnetic plate, causing the magnetic plate to drive the toothed slotted block away from the toothed shaft column. The toothed shaft column will rotate in the slotted block, and the connecting block drives the joint to rotate. The elastic force generated by the beryllium bronze bellows, spring strip and rubber column changes the angle between the connecting rod and the long rod, so that the connecting rod contacts the sleeper mold. The telescopic rod and the torque sensor will tend to be stable under the action of gravity.

[0021] S4: Detecting whether the sleeper mold is placed stably on the demolding table: The support bracket drives the clamping arm assembly to descend, and the clamping arm assembly moves the sleeper mold closer to the demolding table. When the sleeper mold is placed on the demolding table, it will vibrate up and down due to the vibration damping of the demolding table. The vibration of the sleeper mold will be transmitted to the connecting rods in contact with it. The two connecting rods are simultaneously subjected to force and transmitted to the long rod through the universal joint. The long rod drives the telescopic rod to rotate and apply the force to the torque sensor. The torque sensor outputs a voltage signal proportional to the torque to the device, so that the device can determine whether there is a difference in the force applied by the sleeper mold to the two connecting rods, and then perform the demolding operation on the sleeper mold.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1. In this invention, through the set crank assembly, flipping transmission block and transmission rod assembly, the device can accurately detect the state of the flipping robotic arm on the sleeper mold during the demolding process, and monitor the force and balance of the sleeper mold in real time during the flipping and moving process. When the sleeper mold is deviated or unbalanced, the torque sensor will output a corresponding voltage signal. The device's intelligent detection system can judge in time and take corresponding measures, such as triggering an audible and visual alarm, pausing the demolding process, etc., thereby avoiding damage to the sleeper mold or the sleeper itself due to unstable factors in the demolding process, ensuring the stability and consistency of demolding quality, and improving the production quality of sleepers;

[0024] 2. In this invention, by using components such as beryllium bronze bellows, spring strips and rubber columns, the device can adapt to and effectively absorb various impact forces and vibrations generated during the sleeper demolding process in various complex working conditions. Furthermore, by integrating the hydraulic and magnetic composite transmission mechanism in the transmission rod assembly and the flipping transmission block, a closed-loop feedback control is formed, which achieves higher force transmission efficiency, improves the detection response speed, and reduces manual intervention.

[0025] 3. In this invention, through the transmission rod assembly, the device can not only detect inertia differences during the sleeper mold flipping process, but also accurately judge stability during the mold placement stage. This dual-stage detection mechanism can improve the fault identification rate during the demolding process, and integrate detection throughout the entire production process to achieve dynamic monitoring of the entire process. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 This is a front view of the overall structure of the present invention;

[0028] Figure 3 This is a side view of the overall structure of the present invention;

[0029] Figure 4 This is a schematic diagram of the overall exploded structure of the present invention;

[0030] Figure 5 This is a schematic diagram of the structure of the wire mesh frame assembly of the present invention;

[0031] Figure 6 This is a schematic diagram of the crank assembly structure of the present invention;

[0032] Figure 7 for Figure 6 Enlarged structural diagram at point A in the middle;

[0033] Figure 8 This is a schematic diagram of the clamping arm assembly structure of the present invention;

[0034] Figure 9This is a schematic diagram of the flipping robotic arm structure of the present invention;

[0035] Figure 10 This is a cross-sectional view of the flip transmission block of the present invention;

[0036] Figure 11 This is a schematic diagram of the pressure application component structure of the present invention;

[0037] Figure 12 This is a schematic diagram of the limiting component structure of the present invention;

[0038] Figure 13 This is a schematic diagram of the shaft assembly structure of the present invention;

[0039] Figure 14 This is an exploded view of the shaft assembly of the present invention;

[0040] Figure 15 This is a schematic diagram of the transmission rod assembly structure of the present invention.

[0041] In the diagram: 1. Support bracket;

[0042] 2. Fence frame assembly; 21. Protective net; 22. Limiting seat; 23. Curved rod assembly; 231. Sliding insert rod; 232. Limiting rod head; 233. Connecting spring; 234. Short rod; 235. Beryllium bronze corrugated pipe; 236. Long rod; 237. Spring strip; 238. Hoop; 239. Rubber post; 24. Telescopic rod; 25. Torque sensor;

[0043] 3. Gripping arm assembly; 31. Sliding support seat; 32. Load-bearing arm; 33. Mounting base; 34. Drive motor; 35. Tilting robotic arm;

[0044] 36. Tilting transmission block; 361. Grooved block; 362. Liquid storage tank; 363. Sliding limiting groove; 364. Pressurizing assembly; 3641. Plug; 3642. Piston block; 3643. Fixing rod; 3644. Fixing ring; 3645. Magnetic block; 3646. Compression spring; 365. Limiting assembly; 3651. Magnetic plate; 3652. Support spring; 3653. Toothed locking block; 366. Shaft assembly; 3661. Toothed shaft; 3662. Bearing; 3663. Plug shaft; 3664. Connector; 3665. Groove;

[0045] 37. Drive rod assembly; 371. Connecting block; 372. Connecting rod; 373. Universal joint;

[0046] 4. Sleeper mold. Detailed Implementation

[0047] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0048] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0049] Unless otherwise explicitly specified and limited, the terms “installation,” “connection,” “linking,” “fixing,” etc., should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0051] Please see Figure 1-15 The present invention provides a technical solution:

[0052] An intelligent sleeper demolding device and its usage method include a support bracket 1 and a sleeper mold 4. A mesh frame assembly 2 is welded to the lower end of the support bracket 1. A clamping arm assembly 3 is slidably connected to the inner side of the support bracket 1. The mesh frame assembly 2 includes a protective net 21. A limit seat 22 is bolted to one side of the protective net 21. A crank rod assembly 23 is installed inside the limit seat 22. A telescopic rod 24 is fixedly connected through the crank rod assembly 23. A torque sensor 25 is installed at one end of the telescopic rod 24. The clamping arm assembly 3 includes a sliding support seat 31. A load-bearing arm 32 is fixedly connected to the lower end of the sliding support seat 31. A mounting base 33 is bolted to the inner side of the load-bearing arm 32. A drive motor 34 is installed inside the mounting base 33. A drive motor 34 is mounted on the outer side of the main shaft of the drive motor 34. Equipped with a flipping robotic arm 35, a flipping transmission block 36 is fixedly connected to the inner side of the flipping robotic arm 35, and a transmission rod assembly 37 is installed on one side of the flipping transmission block 36. The flipping transmission block 36 includes a grooved block 361, a liquid storage tank 362 is opened on the inner side of the grooved block 361, a sliding limit groove 363 is opened on the inner side of the grooved block 361, a pressure application assembly 364 is provided on the inner side of the grooved block 361, a limit assembly 365 is installed on the inner side of the grooved block 361, and a shaft assembly 366 is provided at the lower end of the limit assembly 365. It can realize the clamping, flipping and demolding operations of the sleeper mold 4, improve the efficiency and safety of demolding work, reduce the intensity and risk of manual operation, and at the same time, it can accurately detect the state of the sleeper mold 4 during the demolding process to ensure the stability of demolding quality.

[0053] Please see Figure 5-7 In this embodiment, the crank assembly 23 includes a sliding insert rod 231. One end of the sliding insert rod 231 is fixedly connected to a limiting rod head 232. A connecting spring 233 is fixedly connected to one side of the limiting rod head 232. A short rod 234 is fixedly connected to the lower end of the sliding insert rod 231. A beryllium bronze bellows 235 is fixedly connected to the outer side of the short rod 234. A long rod 236 is fixedly connected to the inner side of the lower end of the beryllium bronze bellows 235. A spring strip 237 is fixedly connected to the upper end of the long rod 236. A hoop 238 is fixedly connected through the spring strip 237. The upper end of the long rod 236 is fixed... A rubber post 239 is connected, and the sliding rod 231 is L-shaped. The limiting rod head 232 is fixedly connected to the limiting seat 22 through the connecting spring 233. The beryllium bronze corrugated tube 235 is aged at a temperature of 320℃ for 2.5 hours. A rubber post 239 is fixedly connected to the center of the bottom end of the short rod 234. Multiple spring strips 237 are fixedly connected to the bottom end of the short rod 234. The multiple spring strips 237 are evenly distributed in a ring on the outside of the rubber post 239. The outside of the hoop 238 is tightly attached to the inside of the beryllium bronze corrugated tube 235.

[0054] Specifically, the sliding rod 231 can slide and rotate in the limiting seat 22 as the position of the rotating robotic arm 35 changes. The connecting spring 233 plays a connecting and elastic support role between the limiting rod head 232 and the limiting seat 22, providing a certain elastic restoring force for the sliding rod 231. The main function of the short rod 234 is to connect the sliding rod 231 and the beryllium bronze bellows 235. The aging treatment of the beryllium bronze bellows 235 makes its elastic modulus reach its peak, which can better restore deformation and avoid metal fatigue after long-term use. Multiple spring strips 237 can play an auxiliary support role when the beryllium bronze bellows 235 restores its deformation. The hoop 238 is tightly attached to the inner side of the beryllium bronze bellows 235 to prevent the spring strips 237 from moving radially. The rubber column 239 provides elastic force between the short rod 234 and the long rod 236, while avoiding uneven stress caused by eccentricity between the two.

[0055] Please see Figure 8-11 In this embodiment, two grooved blocks 361 are provided and symmetrically distributed on both sides of the sleeper mold 4. The liquid storage tank 362 is U-shaped and has two symmetrically distributed inside the grooved blocks 361. The liquid storage tank 362 is interconnected with the sliding limiting groove 363. The pressure application component 364 includes a plunger 3641. A piston block 3642 is fixedly connected to the bottom end of the plunger 3641. A fixing rod 3643 is fixedly connected to one side of the plunger 3641. A fixing ring 3644 is fixedly connected to one end of the fixing rod 3643. The inner side of the fixing ring 3644 is fixedly connected by adhesive. There is a magnetic block 3645, and a compression spring 3646 is fixedly connected to the upper end of the magnetic block 3645. The plunger 3641 and the piston block 3642 are on the same axis. The outer side of the piston block 3642 is in close contact with the inner side of the liquid storage tank 362 and slides up and down inside the liquid storage tank 362. The fixing rod 3643 slides up and down in the sliding limiting groove 363. The height of the plunger 3641 is 1.3 times that of the sliding limiting groove 363. The fixing ring 3644, the magnetic block 3645 and the compression spring 3646 are on the same axis. The upper end of the compression spring 3646 is fixedly connected to a grooved block 361. The magnetic block 3645 is frustum-shaped.

[0056] Specifically, the sliding limiting groove 363 provides a track and limiting function for the sliding of the fixed rod 3643. The setting of the liquid storage tank 362 allows the liquid inside the grooved block 361 to have a certain amount of room to move when it is flipped. The movement and force are transmitted through the pressure of the liquid to move the plunger 3641 and the piston block 3642. The fixed rod 3643 provides support and guidance for the movement of the fixed ring 3644 and the magnetic block 3645 when the grooved block 361 is flipped. The fixed ring 3644, the magnetic block 3645 and the compression spring 3646 are on the same axis, which ensures the transmission of force and the compression and recovery of the spring. The shape of the magnetic block 3645 is conducive to the concentration of its magnetic flux in the lower half, which can better cooperate with other components through magnetic action. The height of the plunger 3641 is 1.3 times that of the sliding limiting groove 363, which can prevent the liquid in the liquid storage tank 362 from flowing out of the sliding limiting groove 363 when it slides.

[0057] Please see Figure 10-14 In this embodiment, the limiting component 365 includes a magnetic plate 3651, the upper surface of which is rectangular. Four support springs 3652 are fixedly connected to the lower end of the magnetic plate 3651. The four support springs 3652 are arranged in a rectangular array at the four corners of the lower end of the magnetic plate 3651. A toothed locking block 3653 is fixedly connected to the lower end of the magnetic plate 3651. The magnetic plate 3651 and the magnetic block 3645 are magnetically repelled. The shaft assembly 366 includes a toothed shaft 3661. The outer side of the toothed shaft 3661 meshes with the toothed locking block 3653. A bearing 3662 is installed on the outer side of the toothed shaft 3661. A plug shaft 3663 is fixedly connected to the inner side of the toothed shaft 3661. A connector 3664 is fixedly connected to one end of the toothed shaft 3661. A groove 3665 is provided on one side of the connector 3664.

[0058] Specifically, there is a magnetic repulsive force between the magnetic plate 3651 and the magnetic block 3645. This magnetic effect is the key to realizing the function of the limiting component 365. When the magnetic plate 3651 is subjected to sufficient downward magnetic repulsive force, the support spring 3652 will be compressed. When the repulsive force weakens, the support spring 3652 can push the magnetic plate 3651 back to its original position, so that the toothed locking block 3653 can limit and fix the toothed shaft 3661. When the magnetic plate 3651 moves downward under the magnetic repulsive force, the toothed locking block 3653 will leave the toothed shaft 3661, thereby releasing the limitation on the toothed shaft 3661 and allowing it to rotate freely. Through the precise coordination of magnetic force and mechanical force, millisecond-level dynamic response is achieved while ensuring high reliability. It is suitable for high-frequency and high-impact working conditions of sleeper demolding devices.

[0059] Please see Figure 1-15In this embodiment, the transmission rod assembly 37 includes a connecting block 371, a connecting rod 372 is fixedly connected to the outside of the connecting block 371, a universal joint 373 is fixedly connected to one end of the connecting rod 372, a crank assembly 23 is fixedly connected to the inside of one end of the universal joint 373, and a portion of the connecting block 371 is disposed in the groove 3665.

[0060] Specifically, the motion state of the sleeper mold 4 is converted into a detectable torque signal through a mechanical structure. When the sleeper mold 4 is flipped and moved, the two connecting rods 372 are simultaneously subjected to force and transmitted to the long rod 236 through the universal joint 373. The long rod 236 drives the telescopic rod 24 to rotate and apply the force to the torque sensor 25. The torque sensor 25 outputs a voltage signal proportional to the magnitude of the torque to the device, allowing the device to determine whether there is a difference in the force applied to the two connecting rods 372 during the flipping and moving of the sleeper mold 4. Taking the displacement of the sleeper mold 4 during rolling and uneven placement as an example, this causes the force on one connecting rod 372 to increase. The deformation of the long rod 236 pushed by the transmission rod assembly 37 on that side is greater than that on the other side. The deformation difference is converted into a voltage difference in the torque sensor 25 through the telescopic rod 24. The intelligent detection system of the device will determine this sleeper mold 4 transfer operation as an unbalanced state, trigger an audible and visual alarm, and suspend the demolding process.

[0061] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, while there are objectively infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. An intelligent sleeper demolding device, comprising a support bracket (1) and a sleeper mold (4), characterized in that: The lower end of the support bracket (1) is connected to the mesh frame assembly (2) by welding and fixing, and the inner side of the support bracket (1) is slidably connected to the clamping arm assembly (3). The net frame assembly (2) includes a protective net (21), one side of which is fixedly connected to a limiting seat (22) by bolts. A crank assembly (23) is installed inside the limiting seat (22), and a telescopic rod (24) is fixedly connected through the crank assembly (23). A torque sensor (25) is installed at one end of the telescopic rod (24). The clamping arm assembly (3) includes a sliding bearing seat (31), a bearing arm (32) is fixedly connected to the lower end of the sliding bearing seat (31), a mounting seat (33) is fixedly connected to the inner side of the bearing arm (32) by bolts, a drive motor (34) is installed on the inner side of the mounting seat (33), a flipping mechanical arm (35) is installed on the outer side of the main shaft of the drive motor (34), a flipping transmission block (36) is fixedly connected to the inner side of the flipping mechanical arm (35), and a transmission rod assembly (37) is installed on one side of the flipping transmission block (36). The flipping transmission block (36) includes a grooved block (361), a liquid storage tank (362) is provided on the inner side of the grooved block (361), a sliding limiting groove (363) is provided on the inner side of the grooved block (361), a pressure application component (364) is provided on the inner side of the grooved block (361), a limiting component (365) is installed on the inner side of the grooved block (361), and a shaft assembly (366) is provided at the lower end of the limiting component (365).

2. The intelligent sleeper demolding device according to claim 1, characterized in that: The crank assembly (23) includes a sliding insert (231), one end of which is fixedly connected to a limiting rod head (232), and a connecting spring (233) is fixedly connected to one side of the limiting rod head (232). A short rod (234) is fixedly connected to the lower end of the sliding insert (231), and a beryllium bronze corrugated tube (235) is fixedly connected to the outer side of the short rod (234). A long rod (236) is fixedly connected to the inner side of the lower end of the beryllium bronze corrugated tube (235), and a spring strip (237) is fixedly connected to the upper end of the long rod (236). A hoop (238) is fixedly connected through the spring strip (237), and a rubber column (239) is fixedly connected to the upper end of the long rod (236).

3. The intelligent sleeper demolding device according to claim 2, characterized in that: The sliding rod (231) is L-shaped. The limiting rod head (232) is fixedly connected to the limiting seat (22) through the connecting spring (233). The beryllium bronze corrugated tube (235) is aged at a temperature of 320°C for 2.5 hours. A rubber column (239) is fixedly connected to the center of the bottom end of the short rod (234). Multiple spring strips (237) are fixedly connected to the bottom end of the short rod (234). The multiple spring strips (237) are evenly distributed in a ring on the outside of the rubber column (239). The outside of the hoop (238) is in close contact with the inside of the beryllium bronze corrugated tube (235).

4. The intelligent sleeper demolding device according to claim 1, characterized in that: Two grooved blocks (361) are provided and symmetrically distributed on both sides of the sleeper mold (4). The liquid storage tank (362) is U-shaped and has two openings symmetrically distributed inside the grooved block (361). The liquid storage tank (362) and the sliding limit groove (363) are interconnected.

5. The intelligent sleeper demolding device according to claim 1, characterized in that: The pressure application assembly (364) includes a plunger (3641), a piston block (3642) is fixedly connected to the bottom end of the plunger (3641), a fixing rod (3643) is fixedly connected to one side of the plunger (3641), a fixing ring (3644) is fixedly connected to one end of the fixing rod (3643), a magnetic block (3645) is fixedly connected to the inner side of the fixing ring (3644) by adhesive bonding, and a compression spring (3646) is fixedly connected to the upper end of the magnetic block (3645).

6. The intelligent sleeper demolding device according to claim 5, characterized in that: The plunger (3641) and piston block (3642) are on the same axis. The outer side of the piston block (3642) is in close contact with the inner side of the liquid storage tank (362) and slides up and down inside the liquid storage tank (362). The fixing rod (3643) slides up and down in the sliding limiting groove (363). The height of the plunger (3641) is 1.3 times that of the sliding limiting groove (363). The fixing ring (3644), magnetic block (3645) and compression spring (3646) are on the same axis. The upper end of the compression spring (3646) is fixedly connected to a grooved block (361). The magnetic block (3645) is shaped like a frustum.

7. The intelligent sleeper demolding device according to claim 1, characterized in that: The limiting component (365) includes a magnetic plate (3651), the upper surface of which is rectangular, and four support springs (3652) are fixedly connected to the lower end of the magnetic plate (3651). The four support springs (3652) are arranged in a rectangular array at the four corners of the lower end of the magnetic plate (3651). A toothed locking block (3653) is fixedly connected to the lower end of the magnetic plate (3651). The magnetic plate (3651) and the magnetic block (3645) are magnetically repelled.

8. The intelligent sleeper demolding device according to claim 1, characterized in that: The shaft assembly (366) includes a toothed shaft (3661), the outer side of which meshes with a toothed grooved block (3653), a bearing (3662) is installed on the outer side of the toothed shaft (3661), a plug shaft (3663) is fixedly connected to the inner side of the toothed shaft (3661), and a connector (3664) is fixedly connected to one end of the toothed shaft (3661), with a groove (3665) provided on one side of the connector (3664).

9. The intelligent sleeper demolding device according to claim 1, characterized in that: The transmission rod assembly (37) includes a connecting block (371), a connecting rod (372) is fixedly connected to the outside of the connecting block (371), a universal joint (373) is fixedly connected to one end of the connecting rod (372), a crank assembly (23) is fixedly connected to the inside of one end of the universal joint (373), and a portion of the connecting block (371) is disposed in a groove (3665).

10. A method of using an intelligent sleeper demolding device according to any one of claims 1-9, characterized in that: Includes the following steps: S1: Clamping and flipping the sleeper mold (4): The height of the support bracket (1) is controlled by the extension or retraction of the scissor-type telescopic frame installed on the upper end of the support bracket (1), and the clamping arm assembly (3) is controlled to slide inside the support bracket (1), so that the two sliding support seats (31) and the support arm (32) change from a relatively far apart state to a relatively close state. The plugs set on both sides of the sleeper mold (4) are inserted into the flipping mechanical arm (35), and the clamping arm assembly (3) and the sleeper mold (4) form a plug-in fit to fix the sleeper mold (4). The two clamping arm assemblies (3) lift the sleeper mold (4) upwards, causing the sleeper mold (4) to move horizontally above the demolding table. The drive motor (34) installed in the mounting base (33) is turned on. The main shaft of the drive motor (34) rotates, causing the load-bearing arm (32) to rotate 180° on the side of the sleeper mold (4) near the flipping mechanical arm (35). After the rotation is completed, the sleeper mold (4) is placed on the demolding table. Then the two clamping arm assemblies (3) release the sleeper mold (4) and return to their original positions. S2: The flipping robotic arm (35) drives the flipping transmission block (36) to flip and transmit: The flipping robotic arm (35) flips and drives the flipping transmission block (36) fixedly connected to the inside to rotate. The flipping transmission block (36) rotates within the range of 0-180°. The pressure component (364) inside the grooved block (361) provides magnetic repulsion to the limiting component (365) so that it is in close contact with the shaft assembly (366). The shaft assembly (366) moves with the rotation of the grooved block (361). The movement of the shaft assembly (366) drives the connecting block (371) to move. The connecting block (371) carries the connecting rod (372) to move. The moving universal joint (373) moves, and the universal joint (373) drives the long rod (236) to rotate. The short rod (234) connected to the sliding plug rod (231) is restricted by the protective net (21) and the limit seat (22) and cannot rotate. The long rod (236) will bend and stretch the beryllium bronze corrugated pipe (235), the spring strip (237) and the rubber column (239). The telescopic rod (24) transmits the force applied to the long rod (236) when it rotates to the torque sensor (25). The torque sensor (25) will output a voltage signal proportional to the torque to the device, so that the device can determine whether the torque on both sides of the sleeper mold (4) is balanced. S3: After the transmission rod assembly (37) is released from its restriction, the crank assembly (23) rotates to reset: When the sliding rod (231) rotates 180°, the limit rod head (232) is inverted, and the liquid inside it applies pressure to the plunger (3641) and the piston block (3642). The plunger (3641) drives the fixed ring (3644) to move through the fixed rod (3643). The force of the fixed ring (3644) on the magnetic block (3645) is combined with the magnetic repulsion force of the magnetic plate (3651) on the magnetic block (3645), pushing the magnetic block (3645) to move downward and squeezing the compression spring (3646). The magnetic block (3645) moves away from the magnetic plate (3651). 1) After that, the support spring (3652) applies elasticity to the magnetic plate (3651) so that the magnetic plate (3651) drives the toothed slotted block (3653) away from the toothed shaft column (3661). The toothed shaft column (3661) will rotate in the slotted block (361). The connecting block (371) drives the joint (3664) to rotate. The elastic force generated by the beryllium bronze bellows (235), spring strip (237) and rubber column (239) changes the angle between the connecting rod (372) and the long rod (236) so that the connecting rod (372) contacts the sleeper mold (4). The telescopic rod (24) and the torque sensor (25) will tend to be stable under the action of gravity. S4: Detect whether the sleeper mold (4) is placed stably on the demolding table: The bearing bracket (1) drives the clamping arm assembly (3) to descend. The clamping arm assembly (3) drives the sleeper mold (4) to approach the demolding table. When the sleeper mold (4) is placed on the demolding table, it will vibrate up and down due to the vibration reduction of the demolding table. The vibration of the sleeper mold (4) will be transmitted to the connecting rod (372) in contact with it. The two connecting rods (372) are simultaneously subjected to force and transmitted to the long rod (236) through the universal joint (373). The long rod (236) drives the telescopic rod (24) to rotate and apply the force to the torque sensor (25). The torque sensor (25) outputs a voltage signal that is proportional to the torque to the device again, so that the device can judge whether there is a difference in the force applied by the sleeper mold (4) to the two connecting rods (372) and then demold the sleeper mold (4).

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