Automatic grabbing machine demolding system for small prefabricated parts

Abstract

The utility model discloses an automatic grabbing machine demolding system for small prefabricated parts. The automatic grabbing machine demolding system comprises a grabbing vehicle large frame, a grabbing vehicle, an overturning machine and an electric control system. The sky rail type turnover demolding transportation device is an intelligent sky rail type turnover demolding transportation device, is mainly used for transportation, turnover and vibration demolding of small concrete prefabricated components, and aims at achieving transportation, turnover and vibration demolding of the small concrete prefabricated components. Automatic / semi-automatic operation is adopted, and operation is convenient. The requirement for personnel is not high, the system is automatically controlled, the labor cost is greatly reduced, and safety accidents are reduced. The functions of transportation, ferrying, overturning, demolding and the like are integrated, the equipment integration is high, cross operation is avoided, and the safety is higher. Automatic equipment can be completely matched with an automatic prefabricated small component feeding / distributing / steam curing / transportation assembly line technology, compatibility is higher, and workshop intelligence is higher.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic grabbing and demoulding of small prefabricated components, in particular to an automatic grabbing and demoulding system for small prefabricated components. Background Art

[0002] Small prefabricated concrete components refer to concrete products that are processed and produced in a standardized and mechanized manner in factories. They are widely used in the fields of construction, transportation, water conservancy, etc., and play an important role in the national economy. Small prefabricated concrete components require mold making and on-site pouring at the construction site, and need to be demolded after forming;

[0003] Publication (announcement) number: CN210414960U, a small concrete prefabricated component flip demoulding device, including a front guide platform, an intermediate platform and a rear guide platform, and also includes a revolving frame that can be raised and lowered, the intermediate platform includes a vibrating platform and a pushing platform that can move up and down, the vibrating platform is provided with bearing steel at intervals in front and back, the front guide platform, the pushing platform and the rear guide platform are all provided with a plurality of round rollers upward, when the pushing platform rises to a certain height, the round rollers on the front guide platform, the pushing platform and the rear guide platform form a slope from front to back.

[0004] The existing demoulding of small prefabricated concrete components is mostly done manually, that is, the existing demoulding of small prefabricated components in the beam yard is done manually or manually through a small flipping mechanism, and then a rubber hammer is used to hit the mold for demoulding. Due to this limitation, the flipping demoulding of small prefabricated components has always had a series of problems such as low work efficiency, high labor cost, high labor intensity, and potential safety hazards. Utility Model Content

[0005] In view of the problems existing in the above-mentioned prior art, the utility model provides an automatic gripper demoulding system for small prefabricated components, which is an intelligent overhead rail type flip demoulding and transportation equipment, mainly used for the transportation, flipping and vibration demoulding of small prefabricated concrete components, and aims to realize the transportation, flipping and vibration demoulding of small prefabricated concrete components.

[0006] In order to achieve the above-mentioned purpose, the utility model is realized by the following technical scheme: an automatic grabbing machine demoulding system for small prefabricated components, including a grabbing vehicle frame, a grabbing vehicle, a turning machine, and an electric control system;

[0007] The grabbing vehicle frame is fixed to the ground with expansion bolts to provide support for the entire automatic grabbing machine demoulding system;

[0008] The grabbing vehicle includes an electric control cabinet, a maintenance platform 2, a vacuum suction cup system, a hydraulic pump station, a travel driving wheel beam, an oil cylinder support assembly, a hanger assembly, a hanger in-place sensor, a vacuum suction cup, a lifting oil cylinder, an accumulator, and a guide wheel. The travel driving wheel beam is slidably installed with the grabbing vehicle frame by setting a guide wheel to provide the whole grabbing vehicle with walking power; one side of the travel driving wheel beam is set up with the maintenance platform 2 and the electric control cabinet in turn; hanger assemblies are symmetrically arranged on both sides of the grabbing vehicle, and the hanger assemblies are equipped with hanger in-place sensors for lifting control thereof. The hanger in-place sensor provides accurate positioning of the component lifting height through PLC control; the hanger assembly is located at the bottom of the grabber and is sequentially set up as an accumulator and a vacuum suction cup; the upper part of the grabber and located between the hanger assemblies are sequentially set up as a hydraulic pump station, a cylinder support assembly, and a vacuum suction cup system; the corresponding vacuum negative pressure is provided for the vacuum suction cup through the power supply of the electric control cabinet and PLC control; the hydraulic pump station provides sufficient hydraulic pressure for the lifting cylinder on the cylinder support assembly; the cylinder support assembly is fixedly set on the grabber to provide support for the lifting cylinder;

[0009] The turning machine includes three cylinders, a turning frame, a roller mechanism, a supporting mechanism and a vibrator. The turning frame provides support for the supporting mechanism and the roller mechanism. The supporting mechanism, the roller mechanism and the turning frame are hingedly installed and the three cylinders provide power for the turning of the supporting mechanism and the roller mechanism. The supporting mechanism is used to support the components grasped by the grasping machine. The roller mechanism is used to convey the vibrated components and molds to the roller conveyor line of the production line. The vibrator is arranged on the roller mechanism to provide vibration demoulding for prefabricated small components.

[0010] The electronic control system controls all actions of the automatic gripper demoulding system through instructions issued by the PLC in the control system.

[0011] Preferably, the grab vehicle frame includes a maintenance platform, a rail assembly, a mechanical limit assembly, and a frame frame. One side of the frame frame is set as the maintenance platform, and the opposite side of the frame frame is set as the rail assembly. The rail assembly is used to slide with the guide wheel, and the rail assembly limits the sliding of the guide wheel by setting the mechanical limit assembly.

[0012] Preferably, the vacuum suction cup system uses multiple rows of circular vacuum suction cups, is controlled by a PLC closed loop, and has an adjustable vacuum degree.

[0013] Preferably, the grab trolley and the lifting cylinder are controlled by PLC, encoder and stroke switch closed loop to be used for frequency conversion control of the grab trolley and the lifting cylinder.

[0014] Preferably, the travel of the travel driving wheel beam is controlled by PLC frequency conversion, and is positioned by a travel switch and an encoder in conjunction with a mechanical limit assembly to limit the travel of the guide wheel.

[0015] In summary, the utility model provides an automatic gripper demoulding system for small prefabricated components. This patent has a rail assembly traverse trolley to save ground space. A multi-row circular vacuum suction cup system is used through PLC closed-loop control, and the vacuum degree is adjustable. It can realize the ferrying of components of various types and different weights at one time.

[0016] The components are traversed by hydraulic cylinder lifting, vacuum suction cup system suction and trolley travel; the trolley and cylinder are controlled by frequency conversion through PLC, encoder and stroke switch closed loop control. The start and stop are smooth, the movement accuracy is high and the equipment stability is strong.

[0017] The turning machine uses the oil cylinder as the power source and the lifting cylinder shares the same pump station, which saves costs. After turning, the demoulding is carried out by the vibration motor and the electric roller is used for transportation. It adopts full automatic control, which reduces labor costs and eliminates safety hazards. The equipment integrates transportation, lateral movement, turning, and demoulding. The design is highly integrated and can also match the automated assembly line. It has good compatibility, high expandability, and strong automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the demoulding system of the integral automatic grabbing machine of the utility model;

[0019] Figure 2 This is a schematic diagram of the structure of the grabbing vehicle frame of the utility model;

[0020] Figure 3 It is a schematic diagram of the structure of the grabbing vehicle of the utility model;

[0021] Figure 4 It is a schematic diagram of the structure of the turning machine of the utility model;

[0022] Figure 5 It is a schematic diagram of the main viewing direction structure of the grabbing vehicle of the utility model;

[0023] Figure 6 This is a schematic diagram of the structure of the grabbing vehicle of the utility model when viewed from the left;

[0024] Figure 7 This is a schematic diagram of the structure of the grabbing vehicle of the utility model when viewed from above;

[0025] Figure 8 This is a schematic diagram of the main view structure of the turning machine of the utility model;

[0026] Fig. 9 This is a schematic diagram of the structure of the turning machine of the utility model when viewed from the left;

[0027] Fig.10 This is a schematic diagram of the structure of the turning machine of the utility model when viewed from above;

[0028] In the figure: grabbing vehicle frame 1, maintenance platform 1-1, rail assembly 1-3, mechanical limit assembly 1-4, frame 1-5, grabbing vehicle 2, electric control cabinet 2-1, maintenance platform 2-2, vacuum suction cup system 2-3, hydraulic pump station 2-4, travel drive wheel beam 2-5, cylinder support assembly 2-6, hanger assembly 2-7, hanger in place sensor 2-71, vacuum suction cup 2-8, lifting cylinder 2-9, accumulator 2-10, guide wheel 2-11, turning machine 3, cylinder three 3-1, turning frame 3-2, roller mechanism 3-3, support mechanism 3-4, vibrator 3-5, electric control system 4. DETAILED DESCRIPTION

[0029] The utility model is further described below in conjunction with the accompanying drawings.

[0030] like Figures 1 to 10 As shown:

[0031] The utility model discloses an automatic grabbing machine demoulding system for small prefabricated components. The demoulding system is an intelligent overhead rail type overturning demoulding transportation equipment, which is mainly used for the transportation, overturning and vibration demoulding of small prefabricated concrete components.

[0032] Its characteristics are that it adopts automatic / semi-automatic operation and is easy to operate. It has low requirements for personnel and the automatic control system greatly reduces labor costs and reduces the occurrence of safety accidents. It integrates functions such as transportation, ferrying, flipping, and demoulding. The equipment is highly integrated, avoids cross-operation, and is safer. The automated equipment can fully match the automated prefabricated small component feeding / laying / steaming / transportation line process, with stronger compatibility and stronger factory intelligence.

[0033] An automatic grabbing machine demoulding system for small prefabricated components, comprising a grabbing vehicle frame 1, a grabbing vehicle 2, a turning machine 3, and an electric control system 4;

[0034] The grabbing vehicle frame 1 is fixed to the ground with expansion bolts to provide support for the entire automatic grabbing machine demoulding system;

[0035] The grabbing vehicle 2 includes an electric control cabinet 2-1, a maintenance platform 2-2, a vacuum suction cup system 2-3, a hydraulic pump station 2-4, a travel driving wheel beam 2-5, a cylinder support assembly 2-6, a hanger assembly 2-7, a hanger in-place sensor 2-71, a vacuum suction cup 2-8, a lifting cylinder 2-9, an accumulator 2-10, and a guide wheel 2-11. The travel driving wheel beam 2-5 is slidably installed with the grabbing vehicle frame 1 by setting the guide wheel 2-11 to provide the whole grabbing vehicle 2 with walking power; one side of the travel driving wheel beam 2-5 is sequentially set as the maintenance platform 2-2 and the electric control cabinet 2-1; the hanger assemblies 2-7 are symmetrically arranged on both sides of the grabbing vehicle 2, and the hanger assemblies 2-7 are equipped with hangers for lifting control thereof In-place sensor 2-71, the hanger in-place sensor 2-71 provides accurate positioning of the component lifting height through PLC control; the hanger assembly 2-7 is located at the bottom of the grabbing vehicle 2 and is sequentially arranged as an accumulator 2-10 and a vacuum suction cup 2-8, and the upper part of the grabbing vehicle 2 and located between the hanger assemblies 2-7 are sequentially arranged as a hydraulic pump station 2-4, a cylinder support assembly 2-6, and a vacuum suction cup system 2-3; through the power supply and PLC control of the electric control cabinet 2-1, the vacuum suction cup 2-8 is provided with a corresponding vacuum negative pressure; the hydraulic pump station 2-4 provides sufficient hydraulic pressure for the lifting cylinder 2-9 on the cylinder support assembly 2-6; the cylinder support assembly 2-6 is fixedly arranged on the grabbing vehicle 2 to provide support for the lifting cylinder 2-9;

[0036] The turning machine 3 includes a cylinder 3-1, a turning frame 3-2, a roller mechanism 3-3, a support mechanism 3-4, and a vibrator 3-5. The turning frame 3-2 provides support for the support mechanism 3-4 and the roller mechanism 3-3. The support mechanism 3-4 and the roller mechanism 3-3 are hingedly installed with the turning frame 3-2, and the cylinder 3-1 provides power for the turning of the support mechanism 3-4 and the roller mechanism 3-3; the support mechanism 3-4 is used to support the components grasped by the grasping machine, and the roller mechanism 3-3 is used to convey the vibrated components and molds to the roller conveyor line of the production line. The vibrator 3-5 is arranged on the roller mechanism 3-3 to provide vibration demoulding for prefabricated small components.

[0037] All actions of the demoulding system of the automatic gripper are executed by the PLC in the control system through the instructions issued by the electric control system 4.

[0038] In at least one embodiment, the grab vehicle frame 1 includes a maintenance platform 1-1, a rail assembly 1-3, a mechanical limit assembly 1-4, and a frame frame 1-5. One side of the frame frame 1-5 is set as the maintenance platform 1-1, and the opposite side of the frame frame 1-5 is set as the rail assembly 1-3. The rail assembly 1-3 is used for sliding with the guide wheel 2-11. The rail assembly 1-3 limits the sliding of the guide wheel 2-11 by setting the mechanical limit assembly 1-4.

[0039] In at least one embodiment, the vacuum suction cup system 2-3 uses multiple rows of circular vacuum suction cups 2-8, is controlled by a PLC closed loop, and the vacuum degree is adjustable.

[0040] In at least one embodiment, the grab trolley and the lifting cylinder 2-9 are controlled by a PLC, an encoder and a stroke switch closed loop for variable frequency control of the grab trolley and the lifting cylinder 2-9.

[0041] In at least one embodiment, the travel of the travel driving wheel beam 2-5 is controlled by PLC frequency conversion, and is positioned by a travel switch and an encoder in conjunction with the mechanical limit assembly 1-4 to limit the travel of the guide wheel 2-11.

[0042] The working principle of this patent is as follows: The prefabricated small components that have been steamed are supported by the ground wheel conveyor line of the production line, and the friction wheel of the production line provides driving force. The mold platform brings the steamed small components to the specified position of the flip demolding and transportation integrated machine. After the PLC receives the arrival position instruction, it issues an instruction for the grabber 2 to start and move horizontally. After the grabber 2 drives to the specified position, the encoder and the travel switch of the grabber 2 send an arrival signal to the PLC. PLC sends a command to grab car 2, grab car 2 stops, arrives at the designated position, PLC sends a command to hydraulic pump station 2-4 again, hydraulic pump station 2-4 receives the command and starts working, drives lifting cylinder 2-9 to move, hanger assembly 2-7 is in place, hanger in place sensor 2-71 senses that lifting cylinder 2-9 is in place, and then feeds back the in-place information to PLC, PLC controls hydraulic pump station 2-4 to maintain pressure, and sends a command to vacuum suction cup system 2-3, vacuum suction cup system 2-3 starts working after receiving the command, vacuum suction cup system 2-3 includes vacuum pump, vacuum pump filter, pipeline, metal vacuum filter, vacuum valve, diverter, manual valve, vacuum joint, vacuum suction cup, vacuum pressure gauge. Vacuum suction cup 2-8, accumulator 2-10 and some valve components are used to make vacuum suction cup 2-8 generate enough negative pressure, after receiving the pressure value displayed on the pressure gauge in vacuum suction cup system 2-3.

[0043] PLC sends a command to hydraulic pump station 2-4 again, hydraulic pump station 2-4 works, lifting cylinder 2-9 retracts, and hanger assembly 2-7 is in place. After the hanger in place sensor 2-71 senses that lifting cylinder 2-9 has retracted, it feeds back the in-place information to PLC, and PLC controls hydraulic pump station 2-4 to maintain pressure, and absorbs the component and mold box from the mold table. PLC sends a command to grab car 2 again, and grab car 2 starts to move horizontally after receiving the command. After the part grab car 2 drives to the specified position, the encoder and the grab car 2 travel switch send an in-place signal to PLC. PLC sends an in-position command to the grabbing vehicle 2, and the grabbing vehicle 2 stops and reaches the specified position. PLC sends a command to the hydraulic pump station 2-4 again, and the hydraulic pump station 2-4 receives the command and starts working, driving the lifting cylinder 2-9 to move. The hanger assembly 2-7 is in position, and the hanger in-position sensor 2-71 senses that the lifting cylinder 2-9 is extended into position, and then feeds back the in-position information to the PLC. The PLC controls the hydraulic pump station 2-4 to maintain the pressure, and sends a command to the vacuum suction cup system 2-3. The vacuum suction cup system 2-3 starts working after receiving the command, and relieves the pressure through the vacuum suction cup 2-8. After the pressure is relieved, the small components and the mold box fall on the turning machine 3.

[0044] After receiving the pressure value displayed on the pressure gauge in the vacuum suction cup system 2-3, the PLC sends a command to the hydraulic pump station 2-4 again, the hydraulic pump station 2-4 works, the lifting cylinder 2-9 retracts, and the hanger assembly 2-7 is in place. After the hanger in place sensor 2-71 senses that the lifting cylinder 2-9 is retracted, the in-place information is fed back to the PLC, and the PLC controls the grabber 2 to move horizontally back to the original position; repeat the previous step, grab the prefabricated small components supported on the ground support wheel conveyor line of the production line through the grabber 2, and convey them to the flip machine 3.

[0045] After the small component and the mold box fall on the part turning machine 3, the PLC sends a command to the hydraulic pump station 2-4 to control the oil cylinder 3-1 at the roller mechanism 3-3 to extend, and the roller mechanism 3-3 is hinged with the turning frame 3-2, so that the roller mechanism 3-3 rotates 90 degrees. The PLC receives the signal that the roller mechanism 3-3 is in place, and sends a command to control the oil cylinder 3-1 at the support mechanism 3-4 to extend, and the support mechanism 3-4 is hinged with the turning frame 3-2, so that the support mechanism 3-4 rotates 90 degrees, driving the model and the small component to rotate 90 degrees. LC receives the signal that the support mechanism 3-4 is in place, and issues a command to control the oil cylinder 3-1 at the roller mechanism 3-3 to retract. After the prefabricated small components and the model are flipped, the PLC receives the signal that the roller mechanism 3-3 is in place, and issues a command to control the oil cylinder 3-1 at the support mechanism 3-4 to retract. After receiving the signal that the roller mechanism 3-3 is in place, the PLC issues a command to the vibrator 3-5, and the vibrator 3-5 starts to vibrate at a high frequency, so that there is a gap between the mold box and the small components. After the vibrator 3-5 vibrates, the PLC receives the information. It also issues a command to the roller mechanism 3-3. After receiving the command, the roller mechanism 3-3 starts to work, driving the small components and the mold box to the roller conveyor line of the production line. The demolded model can be taken out manually or by a robot. The small component flipping, demolding and transportation integrated machine repeats the operation of the next cycle again.

[0046] The embodiments of the present invention are only used to illustrate the present invention and do not constitute a limitation on the scope of the claims. Other substantially equivalent alternatives that can be thought of by those skilled in the art are all within the protection scope of the present invention.

Claims

1. An automatic grabbing machine demoulding system for small prefabricated components, characterized in that: It includes a grabbing vehicle frame (1), a grabbing vehicle (2), a turning machine (3), and an electric control system (4); The grabbing vehicle frame (1) is fixed to the ground with expansion bolts to provide support for the entire automatic grabbing machine demoulding system; The grabbing vehicle (2) comprises an electric control cabinet (2-1), a maintenance platform 2 (2-2), a vacuum suction cup system (2-3), a hydraulic pump station (2-4), a travel drive wheel beam (2-5), an oil cylinder support assembly (2-6), a hanger assembly (2-7), a hanger in-position sensor (2-71), a vacuum suction cup (2-8), a lifting oil cylinder (2-9), an accumulator (2-10), and a guide wheel (2-11). The travel drive wheel beam (2-5) is slidably mounted with the grabbing vehicle frame (1) by setting the guide wheel (2-11) to provide the whole grabbing vehicle (2) with walking power; one side of the travel drive wheel beam (2-5) is sequentially set with the maintenance platform 2 (2-2) and the electric control cabinet (2-1); the hanger assemblies (2-7) are symmetrically arranged on both sides of the grabbing vehicle (2), and the hanger assemblies (2-7) are equipped with lifting control means. A hanger in-position sensor (2-71) is provided, and the hanger in-position sensor (2-71) provides accurate positioning of the component lifting height through PLC control; the hanger assembly (2-7) is located at the bottom of the grabbing vehicle (2), and is sequentially provided with an accumulator (2-10) and a vacuum suction cup (2-8); the upper part of the grabbing vehicle (2) and located between the hanger assemblies (2-7) are sequentially provided with a hydraulic pump station (2-4), a cylinder support assembly (2-6), and a vacuum suction cup system (2-3); through the power supply of the electric control cabinet (2-1) and the PLC control, the vacuum suction cup (2-8) is provided with a corresponding vacuum negative pressure; the hydraulic pump station (2-4) provides sufficient hydraulic pressure for the lifting cylinder (2-9) on the cylinder support assembly (2-6); the cylinder support assembly (2-6) is fixedly provided on the grabbing vehicle (2) to provide support for the lifting cylinder (2-9); The turning machine (3) comprises a third oil cylinder (3-1), a turning frame (3-2), a roller mechanism (3-3), a supporting mechanism (3-4), and a vibrator (3-5). The turning frame (3-2) provides support for the supporting mechanism (3-4) and the roller mechanism (3-3). The supporting mechanism (3-4) and the roller mechanism (3-3) are hingedly mounted with the turning frame (3-2), and the third oil cylinder (3-1) provides power for the turning of the supporting mechanism (3-4) and the roller mechanism (3-3). The supporting mechanism (3-4) is used to support the components grasped by the grasping machine. The roller mechanism (3-3) is used to convey the vibrated components and molds to the roller conveyor line of the production line. The vibrator (3-5) is arranged on the roller mechanism (3-3) to provide vibration demoulding for the prefabricated small components. The electric control system (4) controls all actions of the demoulding system of the automatic gripper by issuing instructions through the PLC in the control system.

2. The automatic grabbing machine demoulding system for small prefabricated components according to claim 1 is characterized in that: The grab vehicle frame (1) comprises a maintenance platform (1-1), a rail assembly (1-3), a mechanical limit assembly (1-4), and a frame frame (1-5). One side of the frame frame (1-5) is provided as the maintenance platform (1-1), and the opposite side of the frame frame (1-5) is provided as the rail assembly (1-3). The rail assembly (1-3) is used for slidingly setting with a guide wheel (2-11). The rail assembly (1-3) limits the sliding of the guide wheel (2-11) by setting the mechanical limit assembly (1-4).

3. The automatic grabbing machine demoulding system for small prefabricated components according to claim 1 is characterized in that: The vacuum suction cup system (2-3) uses multiple rows of circular vacuum suction cups (2-8), is controlled by a PLC closed loop, and the vacuum degree is adjustable.

4. The automatic grabbing machine demoulding system for small prefabricated components according to claim 1 is characterized in that: The grab trolley and the lifting cylinder (2-9) are closed-loop controlled by a PLC, an encoder and a stroke switch to perform frequency conversion control on the grab trolley and the lifting cylinder (2-9).

5. The automatic grabbing machine demoulding system for small prefabricated components according to claim 1 is characterized in that: The travel of the travel driving wheel crossbeam (2-5) is controlled by PLC frequency conversion, and is positioned by a travel switch and an encoder in coordination with a mechanical limit assembly (1-4) to limit the travel of the guide wheel (2-11).

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