Guide rail type intelligent robot mold opening and closing equipment

Abstract

The utility model discloses guide rail type intelligent robot mold opening and closing equipment which comprises a frame, a visual positioning system is installed on the frame, a mold opening and closing mechanism is arranged in a containing space formed by the frame in a penetrating mode under elastic abutting of an elastic abutting piece installed on the frame, the mold opening and closing mechanism comprises a supporting plate, and a servo motor is fixed to the supporting plate. An output shaft of the servo motor is connected with one end of the elastic rotating part, and the other end of the elastic rotating part is elastically provided with the clamp which can slide along the guide rail on the supporting plate through the guide part. The frame is hooked with a manipulator of the intelligent robot; and the visual positioning system, the servo motor and the intelligent robot are connected with the control system. According to the utility model, the problems of low working efficiency and low safety existing in the manual operation mode of the die dismounting and die assembling stations of the shield segment production line are solved.

Description

Technical Field

[0001] The utility model relates to a guide rail type intelligent robot mold opening and closing equipment, belonging to the technical field of shield segment production. Background Art

[0002] At present, most of the existing shield segment production lines at home and abroad include mold cleaning lines, casting lines and maintenance lines. Each operation line is designed with several work stations according to the process requirements. The segment molds move between the work stations according to the set process, thereby completing the large-scale cycle production of shield segments.

[0003] Generally speaking, a shield segment production line can produce dozens or even nearly a hundred finished segments in one cycle, which is a large scale. However, it can be found from actual operations that there are still stations on the entire production line that require manual operation by workers and have a low degree of automation. For example, the segment mold usually includes a bottom mold, an end mold, a side mold and a cover. At the mold removal station, workers need to manually loosen the bolts to complete the disassembly of the side mold and the end mold. At the mold closing station, workers need to manually tighten the bolts to complete the installation of the side mold and the end mold. It can be seen that the above manual operation method with slow speed, low work efficiency and many safety hazards cannot meet the current construction industry's increasing demand for segments. Utility Model Content

[0004] The utility model aims to provide a guide rail type intelligent robot mold opening and closing equipment, which solves the problems of low work efficiency and low safety existing in the manual operation mode of mold removal and mold closing stations of shield segment production line.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A guide rail type intelligent robot mold opening and closing equipment, comprising a frame, a visual positioning system is installed on the frame, and a mold opening and closing mechanism is installed on the frame under the elastic support of the elastic support member, which is penetrated in the accommodating space formed by the frame, wherein: the mold opening and closing mechanism includes a support plate, a servo motor is fixed on the support plate, the output shaft of the servo motor is connected to one end of the elastic rotating member, and a clamp is elastically installed on the other end of the elastic rotating member, and the clamp can slide along the guide rail on the support plate by means of a guide member; the frame is connected to the manipulator of the intelligent robot, and the visual positioning system, the servo motor and the intelligent robot are connected to a control system.

[0007] The advantages of the utility model are:

[0008] The utility model uses a clamp in conjunction with a special connecting piece. At the demolding station, the special connecting piece can be automatically loosened to complete the disassembly of the side mold and the end mold, and at the mold closing station, the special connecting piece can be automatically tightened to complete the installation of the side mold and the end mold, thereby improving the automation level of the shield segment production line, having high work efficiency, saving time and labor, and having high operational safety. The output of finished segments of the shield segment production line can be increased, and the quality is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a three-dimensional schematic diagram of the guide rail type intelligent robot mold opening and closing equipment of the utility model (the visual positioning system is not shown).

[0010] Figure 2 It is a main schematic diagram of the guide rail type intelligent robot mold opening and closing equipment of the utility model.

[0011] Figure 3 yes Figure 2 Schematic diagram of the left side.

[0012] Figure 4 yes Figure 1 The three-dimensional schematic diagram of the guide rail type intelligent robot mold opening and closing equipment of the present invention after removing the protective shell is shown.

[0013] Figure 5 It is a schematic diagram of the connection structure between the fixture and the elastic rotating part, the guide part, and the support plate.

[0014] Figure 6 It is a schematic diagram of the fixture and special connecting parts.

[0015] Fig. 7A yes Figure 6 A left side schematic diagram of one embodiment of a fixture is shown (magnets not shown).

[0016] Figure 7B yes Figure 6 A schematic left side view of a preferred embodiment of the fixture is shown (magnets not shown).

[0017] Figure 8 This is a schematic diagram of the special connector after tightening. DETAILED DESCRIPTION

[0018] like Figures 1 to 8As shown, the rail-type intelligent robot mold opening and closing equipment of the utility model includes a frame 10, on which a visual positioning system 80 is installed, and a mold opening and closing mechanism is installed on the frame 10 under the elastic resistance of an elastic resistance member 71 installed on the frame 10 and penetrates into the accommodating space 200 formed by the frame 10, wherein: the mold opening and closing mechanism includes a support plate 41, on which a servo motor 30 is fixed, and the output shaft of the servo motor 30 is connected to one end of the elastic rotating member via a coupling, and a clamp 60 is elastically installed on the other end of the elastic rotating member, and the elastic rotating member can drive the clamp 60 to rotate together through the coupling under the drive of the servo motor 30, and the clamp 60 can slide along the guide rail 43 on the support plate 41 through the guide member 20; the frame 10 is hung under the manipulator of the intelligent robot (not shown in the figure) through relevant connecting parts (not shown in the figure), and the visual positioning system 80, the servo motor 30 and the intelligent robot are connected to the control system (not shown in the figure).

[0019] In the actual design, the support plate 41 is in the shape of an elongated strip, and a cover shell 42 is fixed on the support plate 41. The output shaft, coupling and elastic rotating part of the servo motor 30 are covered by the cover shell 42, and the clamp 60 and the guide part 20 connected thereto are located outside the cover shell 42, wherein: the parts of the cover shell 42 and the support plate 41 located in the accommodating space 200 are elastically supported by a plurality of elastic support members 71.

[0020] In actual design, the cover shell 42 is in a rectangular shape, which can be designed as a three-sided structure or a five-sided structure. Figure 1 The case shown is a case where the cover shell 42 is designed as a five-sided structure, that is, the cover shell 42 is composed of a shell top plate 421, two shell side plates 422, a shell front plate 423, and a shell rear plate (not shown in the figure), the shell front plate 423 is provided with a hole for allowing the fixture 60 to pass through, the shell rear plate is provided with a hole for allowing the output shaft of the servo motor 30 to pass through, and the shell top plate 421 and the two shell side plates 422 of the cover shell 42 and the portion of the support plate 41 in the accommodating space 200 are elastically resisted by the elastic resisting member 71. Of course, the cover shell 42 can also be designed as a three-sided structure, consisting of a shell top plate 421 and two shell side plates 422.

[0021] Further, the portion of the cover 42 and the support plate 41 in the accommodating space 200 has four surfaces, and the four surfaces are evenly abutted by the elastic abutting members 71 arranged on the frame 10, so that the position of the mold opening and closing mechanism in the accommodating space 200 remains unchanged. In other words, the mold opening and closing mechanism is clamped by the elastic abutting members 71 arranged on the frame 10 and remains in position unchanged. Preferably, from the perspective of the cross section of the accommodating space 200, it is appropriate to make the mold opening and closing mechanism in the center of the accommodating space 200, but it is of course not limited.

[0022] In actual design, for example, the shell top plate 421 of the cover shell 42 is pushed downward by an elastic push member 71 respectively provided at the front and rear openings of the accommodating space 200, the support plate 41 is pushed upward by two pairs of elastic push members 71 respectively provided at the front and rear openings of the accommodating space 200, and each shell side plate 422 of the cover shell 42 is pushed laterally by two pairs of elastic push members 71 respectively provided at the front and rear openings of the accommodating space 200. Figure 2 and Figure 4 As shown, the pair of elastic abutting members 71 is two elastic abutting members 71. Of course, the arrangement of the elastic abutting members 71 is not limited to the above, and can be reasonably designed according to the force requirements.

[0023] In the present invention, the design purposes of the elastic push-up member 71 are: first, to always keep the position of the mold opening and closing mechanism unchanged, so as to ensure the accurate alignment of the fixture 60 and the special connecting member 90 during the loosening / tightening operation of the fixture 60 on the special connecting member 90; second, during the loosening / tightening operation of the fixture 60 on the special connecting member 90, even if the mold opening and closing mechanism is offset, it can be quickly reset (return to the initial position) with the help of the elastic push-up member 71, and after the loosening / tightening operation of the fixture 60 on the special connecting member 90 is completed, the elastic push-up member 71 can automatically reset the mold opening and closing mechanism to facilitate the next alignment; third, because the guide rail type intelligent robot mold opening and closing equipment of the present invention is rigidly connected to the manipulator of the intelligent robot, the elastic characteristics of the elastic push-up member 71 make the mold opening and closing mechanism in a flexible state, so as to avoid rigid damage caused by twisting the special connecting member 90 during the loosening or tightening operation of the special connecting member 90.

[0024] like Figure 2 A position detection sensor 72 is also mounted on the frame 10, and the position detection sensor 72 is connected to the control system. Figure 2 A position detection sensor 72 may be disposed between two elastic abutting members 71, or a position detection sensor 72 may be disposed on both sides of an elastic abutting member 71, or a position detection sensor 72 may be disposed on both sides of a pair of elastic abutting members 71, without limitation.

[0025] In the present invention, the elastic push member 71 may be an existing hydraulic buffer, which is of course not limited. The hydraulic buffer mainly relies on hydraulic damping to buffer and decelerate the object acting on it to a stop, and plays a certain degree of protection. In the present invention, only when the fixture 60 is loosening / tightening the special connecting member 90, the mold opening and closing mechanism will be offset to squeeze the hydraulic buffer, so it is feasible for the present invention to use the hydraulic buffer to achieve the purpose of automatically resetting the mold opening and closing mechanism.

[0026] In actual application, the hydraulic buffer should set the injection amount of its own hydraulic oil according to the elastic strength requirements, as long as the flexible support strength requirements are met.

[0027] In the present invention, the position detection sensor 72 may be a proximity switch, which is non-contactly arranged with the cover 42 and the support plate 41 to detect whether the mold opening and closing mechanism has positional deviation.

[0028] In actual application, during the process of loosening / tightening the special connecting piece 90 by the clamp 60, the mold opening and closing mechanism will be offset to a certain extent. At this time, the position detection sensor 72 is triggered, that is, it is detected that the mold opening and closing mechanism has a position offset, but the time for the mold opening and closing mechanism to have such a position offset is only about one minute. Therefore, a preset time (for example, two minutes) can be designed. That is, when the position detection sensor 72 detects that the time for the mold opening and closing mechanism to have a position offset exceeds the preset time, it is considered that one or some of the elastic push members 71 have failed and the mold opening and closing mechanism cannot be returned to the initial position, that is, the position of the mold opening and closing mechanism in the accommodating space 200 cannot be kept unchanged. At this time, it is necessary to stop the operation and inspect the elastic push member 71.

[0029] In actual design, Figure 4 The frame 10 may include a top plate 11, two side plates 12 and a bottom plate 13. The top plate 11 and the bottom plate 13 are connected and fixed by a connecting assembly 14. The two side plates 12 are fixedly connected to the top plate 11. Of course, a front plate and a rear plate (not shown in the figure) may also be provided. The front plate and the rear plate should be provided with holes that allow the opening and closing mold mechanism to pass through, such as Figure 1 , the frame 10 may be wrapped with a protective shell 15, which plays a role of shielding and dustproofing. Here, the connection component 14 may adopt various forms of components, such as bolt components, optical axis components and other existing components, without limitation. The bolt component may include a bolt and two nuts. When the bolt is passed from bottom to top to connect the bottom plate 13 and the top plate 11, the distance between the bottom plate 13 and the top plate 11 is locked by two nuts located on the upper and lower sides of the top plate 11 respectively. The optical axis component is as shown in FIG. Figure 4 As shown, it includes an optical axis 140, a lower flange type optical axis guide sleeve 141 and an upper flange type optical axis guide sleeve 142, wherein the lower flange type optical axis guide sleeve 141 is installed on the top surface of the bottom plate 13, and the upper flange type optical axis guide sleeve 142 is installed through the top plate 11, the bottom end of the optical axis 140 is embedded in the lower flange type optical axis guide sleeve 141, and the top end of the optical axis 140 passes through the upper flange type optical axis guide sleeve 142 and is connected to an optical axis lock nut 143, thereby realizing the connection and fixation between the bottom plate 13 and the top plate 11, wherein a nylon gasket 144 may be provided between the optical axis lock nut 143 and the upper flange type optical axis guide sleeve portion on the top surface of the top plate 11. In the utility model, the connecting assembly 14 is used to properly adjust and fix the distance between the top plate 11 and the bottom plate 13.

[0030] like Figure 4 , the elastic abutment member 71 and the position detection sensor 72 can be directly mounted on the frame 10. Of course, according to actual installation requirements, the elastic abutment member 71 and the position detection sensor 72 can also be mounted on the frame 10 through an auxiliary assembly plate without limitation. Figure 4 FIG. 4 shows the elastic abutment member 71 and the position detection sensor 72 under the support plate 41 being installed via the auxiliary assembly plate 16. Figure 4 , a connecting flange 81 is fixed on the frame 10 , and the connecting flange 81 is used to connect with the visual positioning system 80 .

[0031] In actual design, the fixture 60 used in the rail-type intelligent robot mold opening and closing equipment of the utility model plays a role similar to a "wrench" manually operated by a worker, such as Figure 5 The fixture 60 includes a connected cylindrical clamping head 62 and a cylindrical sleeve 61. Usually, the cross-sectional outer diameter of the sleeve 61 is smaller than the cross-sectional outer diameter of the clamping head 62. The clamping head 62 is provided with a receiving cavity 620 for the special connecting part 90 to be inserted and clamped, and the special connecting part 90 is not easily detached so that the fixture 60 can drive the special connecting part 90 to rotate. The magnet 64 for adsorbing the special connecting part 90 is fixed in the receiving cavity 620 with the help of the base plate 63.

[0032] like Figure 5 The elastic rotating part includes a rotating shaft 51, one end of the rotating shaft 51 is connected to the output shaft of the servo motor 30 via a coupling, and the other end of the rotating shaft 51 is connected to one end of an elastic part 53 (such as a spring). The other end of the elastic part 53 extends into the sleeve 61 of the fixture 60 and is connected to the base plate 63, so that the elastic part 53 can elastically press against the fixture 60 as a whole after extending into the sleeve 61, that is, the fixture 60 is elastically connected to the rotating shaft 51, so that the fixture 60 always elastically maintains tight contact with the special connecting part 90.

[0033] In the present invention, the inner cavity of the sleeve 61 may or may not be connected to the accommodating cavity 620 of the clamp 62. A preferred solution is that the magnet 64 is in sheet form and is fixed to the end 92 of the accommodating cavity 620 facing the dedicated connector 90 by means of the base plate 63, such as Figure 6 The magnet 64 has the function of adsorbing the special connector 90 so that the fixture 60 can easily loosen the special connector 90 in an inclined state. In addition, when the fixture 60 is used to loosen the special connector 90, the magnet 64 can adsorb the special connector 90, which helps the special connector 90 to be separated from the segment mold 100 to a certain extent.

[0034] In the present invention, the servo motor 30, the coupling, the elastic rotating member and the fixture 60 are arranged linearly in the front-to-back direction.

[0035] In actual design, the cross-sectional shape of the accommodating cavity 620 matches the cross-sectional shape of the end head 92 on the dedicated connecting member 90 for being accommodated in the accommodating cavity 620 .

[0036] Furthermore, the cross section of the end 92 of the special connection member 90 is generally a regular hexagon, and accordingly, the cross section of the accommodating cavity 620 is a regular hexagon (eg Fig. 7A ) or six-petal plum blossom shape (such as Figure 7B ), wherein: when the cross section of the accommodating cavity 620 is in the shape of a six-petal plum blossom, the six convex corner portions 6201 provided on the inner wall of the accommodating cavity 620 are used to abut against the corresponding end faces of the end head 92 of the special connector 90, that is, the six corner portions 6201 can together form a regular hexagonal shape that matches the regular hexagonal cross section of the end head 92 (such as Figure 7B The regular hexagon is shown by the dashed line).

[0037] Specifically, when the cross section of the accommodating cavity 620 is designed to be a regular hexagon, Fig. 7A After the end 92 of the special connector 90 is clamped in the accommodating cavity 620, the end 92 is close to or in contact with the inner wall of the accommodating cavity 620, so that the rotation of the fixture 60 can drive the special connector 90 to rotate synchronously. However, this requires that the clamp 62 and the end 92 can be accurately aligned, which is a high requirement.

[0038] In order to reduce the alignment requirements, such as Figure 7B It is better to design the cross-section of the accommodating cavity 620 into a six-petal plum blossom shape. In this way, as long as the corners of each end 92 are aligned with the corresponding plum blossom petals of the accommodating cavity 620, the top corners 6201 of the accommodating cavity 620 will abut against the end faces of the end 92, so that the clamping head 62 can clamp the end 92, so that the rotation of the clamp 60 can drive the special connecting piece 90 to achieve synchronous rotation.

[0039] like Figure 5 A limiting mechanism is provided between the fixture 60 and the elastic rotating member to prevent the sleeve 61 from being separated from the rotating shaft 51. Specifically, Figure 5 The limiting mechanism may include a limiting pin 52 arranged on the rotating shaft 51, and a limiting long hole 610 is arranged on the sleeve 61 along its own axial direction. The limiting pin 52 extends from the limiting long hole 610 on the sleeve 61 of the clamp 60. The limiting pin 52 cooperates with the limiting long hole 610 to limit the movement range of the sleeve 61 relative to the rotating shaft 51 along the axial direction, thereby preventing the sleeve 61 from separating from the rotating shaft 51.

[0040] Of course, the limiting mechanism can also be designed in other forms without limitation. For example, the inner wall of the sleeve 61 is provided with a convex edge, and the outer wall of the rotating shaft 51 is provided with a convex edge oppositely, so that the convex edges of the two restrict each other so that the sleeve 61 will not be separated from the rotating shaft 51.

[0041] In actual design, the sleeve 61 is preferably connected to the rotating shaft 51 in a spline manner, so that the clamp 60 can perform telescopic movement relative to the rotating shaft 51 under the action of the elastic member 53 while rotating with the rotating shaft 51 .

[0042] Specifically, a spline groove 66 is provided on the inner wall of the sleeve 61, and correspondingly, a matching spline groove (not shown in the figure) is provided on the outer wall of the rotating shaft 51 to realize a spline connection between the sleeve 61 and the rotating shaft 51, so that the rotation of the sleeve 61 driven by the rotating shaft 51 is more stable, and the sleeve 61 does not rotate relative to the rotating shaft 51 but can only move along the axial direction of the rotating shaft 51, and the rotating shaft 51 plays a guiding role.

[0043] In the actual design, the guide member 20 includes a bearing assembly frame 22 with a rectangular cross-section, a radial rolling bearing 21 is installed in the bearing assembly frame 22, a sleeve 61 is arranged through the inner ring of the radial rolling bearing 21 and is fixed to the inner ring, the outer ring of the radial rolling bearing 21 is fixed to the bearing assembly frame 22, and a slider 23 is installed under the bearing assembly frame 22, and the slider 23 is slidably installed on the guide rail 43 of the support plate 41.

[0044] like Figure 4 The support plate 41 is usually provided with two parallel guide rails 34. The guide rails 34 can be arranged on the support plate 41 through the entire length, or can be designed as a section instead of being arranged on the support plate 41 through the entire length according to the sliding range of the fixture 60. Figure 5 Correspondingly, two slide blocks 23 are provided below the bearing assembly frame 22 .

[0045] In the present utility model, the radial rolling bearing 21 comprises an inner ring and an outer ring rotatably connected via balls, and the radial rolling bearing 21 is an existing component.

[0046] In the present invention, the guide rail 43 and the guide member 20 are designed to ensure the linear motion direction of the fixture 60 during the process of loosening / tightening the special connection member 90 by the fixture 60, thereby ensuring the stable docking and clamping of the fixture 60 and the special connection member 90, and reducing the vibration force to avoid shaking that affects the tightening / loosening operation. In addition, the guide member 20 also plays a good supporting role for the fixture 60.

[0047] Typically, the length of the support plate 41 extending out of the frame 10 is greater than the length of the fixture 60 extending out of the frame 10, so that the support plate 41 can be stuck in the gap of the segment mold 100, so that when the fixture 60 screws the special connecting piece 90, the module of the segment mold 100 where the special connecting piece 90 is located does not rotate along with the rotation, thereby ensuring the stability of the tightening / loosening operation of the special connecting piece 90.

[0048] Furthermore, a limit plate 44 is provided at the front end of the support plate 41 for preventing the slider 23 from sliding out of the guide rail 43, and the limit plate 44 is designed to be higher than the support plate 41. In other words, a limit plate 44 is provided at the front end of the guide rail 43, and when the guide rail 43 is designed as only one section on the support plate 41, a limit block (not shown in the figure) may be provided at the rear end of the guide rail 43 to achieve limitation as appropriate. Figure 1 The example in which an L-shaped limiting plate 44 is provided is shown, but the invention is not limited thereto.

[0049] In the utility model, the visual positioning system 80, the servo motor 30 and the intelligent robot are controlled by the control system, wherein the visual positioning system 80 is used to find the position of the special connector 90 on the pipe segment mold 100, and the intelligent robot is used to control the mobile frame 10, so that with the cooperation of the visual positioning system 80 and the intelligent robot, the fixture 60 can automatically align the special connector 90, and then perform loosening or tightening operations.

[0050] In addition, the servo motor 30 can be a conventional servo motor with an encoder, which can measure the number of rotations to control whether the special connector 90 is truly loosened / tightened. Alternatively, the servo motor 30 can be a servo motor with a torque detection sensor, which ensures that the special connector 90 is truly tightened / loosened by torque detection.

[0051] In the present invention, the visual positioning system 80 and the intelligent robot are both well-known devices in the art, for example, the intelligent robot can be a Kuka robot. The control system is a well-known technology in the art, mainly including an electronic controller, which will not be described in detail here.

[0052] The utility model defines the front-to-back, left-to-right, and up-to-down directions, such as Figure 1 The length direction of the accommodating space 200 (or the support plate 41) is defined as the front-to-back direction, the left-to-right direction is the direction perpendicular to the front-to-back direction in the horizontal plane, and the vertical direction is the up-down direction.

[0053] The above-mentioned special connecting member 90 is used in conjunction with the fixture 60. Figure 6 The special connecting piece 90 includes a screw rod 91, one end of which is provided with a terminal head 92 matching the accommodating cavity 620 on the clamp head 62 of the clamp 60, and a spring 93 is sleeved on the screw rod 91, one end of the spring 93 is connected to the terminal head 92 and the other end can be compressed or stretched.

[0054] In practical applications, when the special connector 90 is screwed onto the screw hole to be connected on the segment mold 100, the spring 93 is in a state of abutting against the guide plate 101 installed on the segment mold 100. The guide plate 101 has a smooth guide hole. Specifically, Figure 8When the tightening operation is completed, the spring 93 is located between the guide plate 101 and the end head 92 and is in a compressed state. In this way, when the loosening operation is performed, that is, the accommodating cavity 620 on the clamp head 62 of the clamp 60 is buckled on the end head 92 of the special connecting piece 90, when the clamp 60 rotates to drive the end head 92 to rotate, in addition to the magnet 64 adsorbing the end head 92 to play a certain role in assisting the special connecting piece 90 to separate from the pipe segment mold 100, the elastic force of the spring 93 mainly plays a role in assisting the special connecting piece 90 to separate from the pipe segment mold 100.

[0055] In practice, the cross section of the end 92 is usually designed as a regular hexagon. Of course, the cross section of the end 92 can also be designed as other shapes, and accordingly, the cross section shape of the accommodating cavity 620 should also be adjusted accordingly.

[0056] During use, the special connecting piece 90 can be used as a fastening bolt, an opening and closing bolt, etc. The length, thickness and shape of the screw rod 91 and the end 92 of the special connecting piece 90 can be reasonably designed according to the actual use function.

[0057] like Figure 6 In practical applications, the middle portion of the screw rod 91 is used to fix (eg, weld) a limiting sleeve 94 .

[0058] Specifically, a guide sleeve 102 is provided on the segment mold 100 at a position corresponding to the screw hole to be connected (not shown in the figure). Figure 8 , the guide sleeve 102 is provided on the segment mold 100, and the smooth guide hole of the guide sleeve 102 is coaxially arranged with the screw hole to be connected and the smooth guide hole of the guide plate 101, while the guide plate 101 is separated from the guide sleeve 102. In this way, when the tightening operation is performed, the screw 91 of the special connector 90 stops moving after passing through the guide plate 101. At this time, the limit sleeve 94 is sleeved at the appropriate position of the screw 91 and welded and fixed, and then the tightening operation is continued, so that the screw 91 is screwed into the guide sleeve 102 and the screw hole to be connected, and stops screwing in when the limit sleeve 94 hits the guide sleeve 102. It can be seen that the limit sleeve 94 has a limiting effect on the screw connection position of the special connector 90, ensuring the stable connection of the special connector 90 on the segment mold 100.

[0059] When the utility model is used in the demoulding station, combined with Figures 1 to 8To understand, the visual positioning system 80 and the intelligent robot cooperate with each other, so that the intelligent robot moves the frame 10 through the manipulator, so that the fixture 60 is aligned with the special connector 90 to be operated (in a tight screw connection state on the segment mold), and then the manipulator pushes the fixture 60 toward the special connector 90, so that the end 92 extends into the accommodating cavity 620 of the fixture 60. At this time, the fixture 60 may slide slightly along the guide rail 43 through the guide member 20, and the elastic member 53 is in a compressible stretching state, so that the special connector 90 can be screwed out smoothly. Then the servo motor 30 is started, and the servo motor 30 drives the elastic rotating member and the fixture 60 to rotate together. During the rotation, the end 92 is firmly stuck in the clamp 62, so that the servo motor 30 drives the special connector 90 to rotate through the fixture 60 (at this time, the support plate 41 is stuck in the gap of the segment mold 100), so that the special connector 90 fixed on the screw hole to be connected on the segment mold 100 is loosened. Thus, each special connection piece 90 is operated one by one (the special connection piece 90 is loosely screwed on the pipe segment mold), and the side mold and the end mold are disassembled.

[0060] The process of using the utility model in the mold closing station is basically the same as that in the above-mentioned mold removing station. The difference is that when the servo motor 30 is started, the servo motor 30 drives the elastic rotating part and the clamp 60 to rotate together (compared with the mold opening station, the rotation direction is opposite), and the end 92 of the special connecting part 90 is stuck in the accommodating cavity 620 of the clamp 60. The servo motor 30 drives the special connecting part 90 to rotate through the clamp 60 (at this time, the support plate 41 is stuck in the gap of the pipe segment mold 100). When the screw 91 of the special connecting part 90 passes through the guide plate 101, it stops, and the limit sleeve 94 is put on the appropriate position of the screw 91 and welded and fixed, and then the tightening operation is continued, that is, the screw 91 is screwed into the guide shaft sleeve 102 and the screw hole to be connected until the limit sleeve 94 abuts against the guide shaft sleeve 102 and stops. Then the special connector 90 is tightened, and the tightened special connector 90 is tightly screwed on the screw hole to be connected of the segment mold 100, and the spring 93 is in a compressed state against the guide plate 101. Thus, each special connector 90 loosely screwed on the segment mold 100 is operated one by one to complete the installation of the side mold and the end mold. In the process of the manipulator pushing the fixture 60 toward the special connector 90 so that the end head 92 is in the accommodating cavity 620 of the fixture 60, the fixture 60 may slide slightly along the guide rail 43 by means of the guide member 20, and the elastic member 53 is in a compressed state, so that the fixture head 62 is always in close contact with the end head 92, thereby smoothly tightening the special connector 90.

[0061] During the tightening / loosening operation, the position of the entire mold opening and closing mechanism can be kept basically unchanged by virtue of the design of the elastic push-up member 71, so that the fixture 60 can always be accurately aligned with the special connection member 90, and the mold opening and closing mechanism can be automatically reset after the operation is completed. When the control system determines that the time of the position deviation of the mold opening and closing mechanism exceeds the preset time by receiving the time information of the position deviation of the mold opening and closing mechanism fed back by the position detection sensor 72, it is considered that at least one elastic push-up member 71 has a fault, and the operation is stopped and maintenance is awaited.

[0062] The conventional segment mold 100 used in this industry usually includes a bottom mold, an end mold, a side mold and a cover. The end mold and the side mold are detachably fixed by bolts, and the cover is installed and removed manually.

[0063] The utility model has the following beneficial effects:

[0064] 1. The utility model uses a clamp in conjunction with a special connector. The special connector can be automatically loosened at the demolding station to complete the disassembly of the side mold and the end mold, and can be automatically tightened at the mold closing station to complete the installation of the side mold and the end mold, thereby improving the automation level of the shield segment production line, having high work efficiency, saving time and labor, and high operational safety. The output of finished segments of the shield segment production line can be increased, and the quality is guaranteed.

[0065] 2. The utility model ensures that the fixture always moves in a straight line during the process of loosening / tightening the special connecting piece by the design of the guide rail and the guide piece, thereby ensuring the stable docking and clamping of the fixture and the special connecting piece, and reducing the vibration force to avoid shaking that affects the tightening / loosening operation.

[0066] 3. The utility model, through the design of the elastic abutment, can always keep the position of the mold opening and closing mechanism unchanged during the process of loosening / tightening the special connecting piece by the fixture, thereby ensuring the accurate alignment of the fixture and the special connecting piece, and the mold opening and closing mechanism can be automatically reset after the loosening / tightening operation is completed. In addition, the elastic characteristics of the elastic abutment also make the mold opening and closing mechanism in a flexible state, thereby avoiding rigid damage during the loosening / tightening operation.

[0067] The above are preferred embodiments of the present invention and the technical principles used therein. For those skilled in the art, without departing from the spirit and scope of the present invention, any obvious changes such as equivalent transformation, simple replacement, etc. based on the technical solution of the present invention are within the protection scope of the present invention.

Claims

1. A rail-type intelligent robot mold opening and closing equipment, characterized in that: It comprises a frame on which a visual positioning system is installed, and a mold opening and closing mechanism is arranged in a accommodating space formed by the frame under the elastic support of an elastic support member installed on the frame, wherein: the mold opening and closing mechanism comprises a support plate on which a servo motor is fixed, the output shaft of the servo motor is connected to one end of an elastic rotating member, a clamp is elastically installed at the other end of the elastic rotating member, and the clamp can slide along the guide rail on the support plate by means of a guide member; the frame is connected to the manipulator of the intelligent robot, and the visual positioning system, the servo motor and the intelligent robot are connected to a control system.

2. The guide rail type intelligent robot mold opening and closing equipment according to claim 1, characterized in that: The support plate is in the shape of an elongated strip, and a cover shell is fixed on the support plate. The output shaft of the servo motor and the elastic rotating member are covered by the cover shell, and the clamp and the guide member connected thereto are located outside the cover shell, wherein the parts of the cover shell and the support plate located in the accommodating space are elastically supported by a plurality of elastic supporting members.

3. The guide rail type intelligent robot mold opening and closing equipment as claimed in claim 2, characterized in that: The parts of the cover shell and the support plate in the accommodating space have four surfaces, and the four surfaces are evenly abutted by the elastic abutting members arranged on the frame, so that the position of the mold opening and closing mechanism in the accommodating space remains unchanged.

4. The guide rail type intelligent robot mold opening and closing equipment as claimed in claim 3, characterized in that: A position detection sensor is also installed on the frame.

5. The guide rail type intelligent robot mold opening and closing equipment according to any one of claims 1 to 4, characterized in that: The fixture comprises a connected cylindrical clamp head and a sleeve, the clamp head is provided with a receiving cavity for a special connecting piece to be inserted and clamped, and a magnet for adsorbing the special connecting piece is fixed in the receiving cavity by means of a base plate; The elastic rotating member includes a rotating shaft, one end of which is connected to the output shaft of the servo motor via a coupling, the other end of which is connected to one end of the elastic member, and the other end of which extends into the sleeve of the fixture and is connected to the base plate.

6. The guide rail type intelligent robot mold opening and closing equipment as claimed in claim 5, characterized in that: The cross-section of the end of the special connecting piece is a regular hexagon, and the cross-section of the accommodating cavity is a regular hexagon or a six-petal plum blossom, wherein: when the cross-section of the accommodating cavity is a six-petal plum blossom, the six top corner portions protruding from the inner wall of the accommodating cavity are used to abut against the corresponding end faces of the end of the special connecting piece.

7. The guide rail type intelligent robot mold opening and closing equipment according to claim 5, characterized in that: A limiting mechanism is provided between the clamp and the elastic rotating member to prevent the sleeve from being separated from the rotating shaft.

8. The guide rail type intelligent robot mold opening and closing equipment as claimed in claim 5, characterized in that: The guide member includes a bearing assembly frame, in which a radial rolling bearing is installed, the sleeve is arranged to pass through the inner ring of the radial rolling bearing and is fixed to the inner ring, the outer ring of the radial rolling bearing is fixed to the bearing assembly frame, and a slider is installed under the bearing assembly frame, and the slider is slidably installed on the guide rail of the support plate.

9. The guide rail type intelligent robot mold opening and closing equipment according to claim 8, characterized in that: A limiting plate is provided at the front end of the supporting plate for preventing the sliding block from sliding out of the guide rail.

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