Automatic anchor sealing equipment for prefabricated box girder

Abstract

The utility model provides automatic anchor sealing equipment for prefabricated box girders, which relates to the technical field of building construction equipment and comprises a master control panel, an AGV (automatic guided vehicle), a lifting hopper, an anchor sealing device, a visual camera, an anchor hole light receiving device, a mechanical arm and a plurality of tool supports, and the master control panel is wirelessly connected with the AGV, the visual camera, the anchor hole light receiving device and the mechanical arm; the lifting hopper comprises a lifting bracket, a hopper and a hopper bracket; the anchor sealing device comprises a charging barrel, a pushing block, a pushing air cylinder, a linear bearing and a guiding shaft. A plurality of micro vibrators are uniformly arranged in the push block; connecting flanges are arranged on the anchor sealing device and the anchor hole light receiving device; the visual camera is arranged on the mechanical arm, and the tail end of the mechanical arm is connected with a tool quick-change system; the lifting hopper and the mechanical arm are arranged on the AGV, and the tool supports are fixedly connected to one side of the AGV. The anchor sealing device has the advantages of being compact in concrete vibration, high in anchor sealing quality, small in human input, high in construction efficiency, safe and reliable.

Description

Technical Field

[0001] The utility model relates to the technical field of building construction equipment, in particular to an automatic anchor sealing device for prefabricated box beams. Background Art

[0002] With the rapid development of high-speed railways, various anchoring construction methods have been gradually adopted in precast beam production. The conventional anchoring construction method, the "hanging formwork method," is widely used in this process. This involves using wire to secure the anchoring formwork to the beam end, pouring the anchoring concrete, and then applying a secondary mortar overlay after demolding. However, this method also presents significant challenges, such as formwork expansion, inconvenient concrete vibration, and a lack of compaction. The top concrete is prone to cracking and hollowing, and the finishing mortar is prone to cracking.

[0003] In addition, the traditional anchoring construction method is entirely manual, and each beam hole requires 4 working days, which requires large manpower input and high labor intensity. The anchoring construction at the top of the box beam also requires high-altitude work, which poses the risk of falling from a height.

[0004] How to solve the above technical problems is the subject faced by this utility model. Utility Model Content

[0005] In order to solve the deficiencies of the prior art, the utility model provides an automatic anchor sealing device for prefabricated box beams, which has the advantages of compacting concrete with vibration, high anchor sealing quality, low manpower input, high construction efficiency, and safety and reliability.

[0006] The technical solution adopted by the present invention to solve its technical problems is: the present invention provides an automatic anchor sealing equipment for prefabricated box girders, including a main control panel, an AGV trolley, a lifting hopper, an anchor sealing device, a visual camera, an anchor hole light collecting device, a mechanical arm and several tool brackets, the main control panel is wirelessly connected to the AGV trolley, the visual camera, the anchor hole light collecting device and the mechanical arm; the lifting hopper includes a lifting bracket, a hopper and a hopper bracket; the anchor sealing device includes a barrel, a push block, a propulsion cylinder, a linear bearing and a guide shaft, and several micro vibrators are evenly arranged in the push block; the anchor sealing device and the anchor hole light collecting device are both provided with connecting flanges; the visual camera is arranged on the mechanical arm, and the end of the mechanical arm is connected to a tool quick-changing system; the lifting hopper and the mechanical arm are arranged on the AGV trolley, and several tool brackets are fixedly connected to one side of the AGV trolley.

[0007] Preferably, the lifting bracket includes a bottom plate, a first cross bar, a second cross bar, two vertical bars and a driving device, the two vertical bars are vertically welded to the bottom plate and each has a slide groove along the length direction, the first cross bar is welded to the top end of the two vertical bars, and the second cross bar is bolted between the two vertical bars; the driving device includes a base, a column and a driving shaft, the base is welded to the bottom plate, the column is welded to the base, the driving shaft is horizontally welded to the top end of the column, a motor is provided in the driving shaft, and the motor is wirelessly connected to the main control panel; both ends of the driving shaft are rotatably connected to traction wheels, and a steel wire rope is provided on the traction wheel;

[0008] The outer wall of the hopper is evenly provided with a number of ribs, a stirring motor is provided in the hopper, a discharge port is provided on the side wall of the bottom end of the hopper, and an electric valve is installed on the discharge port;

[0009] The hopper support includes two triangular supports, an upper crossbeam, a lower crossbeam and a front crossbeam. The two triangular supports are arranged in parallel, and the spacing between them matches the spacing between the two vertical rods of the lifting support. The upper crossbeam, the lower crossbeam and the front crossbeam are horizontally welded between the three vertices of the two triangular supports, and a protrusion is provided on one side of the triangular support.

[0010] The protrusion of the hopper bracket is slidably connected to the slide groove of the two vertical rods, one end of the steel wire rope is fixedly connected to the second cross bar, and the other end is fixedly connected to the lower cross beam of the hopper bracket. The hopper is set on the hopper bracket, and several of the ribs are respectively in contact with the two triangular supports, the upper cross beam and the front cross beam.

[0011] Preferably, a weighing sensor is further provided between the rib plate and the hopper support.

[0012] Preferably, the closed end of the barrel has two through holes, and the outer wall is fixedly connected to a connecting plate, two linear bearings are provided on the connecting plate, the outer diameter of the linear bearing matches the size of the through hole, the linear bearing passes through the through hole and is fixedly connected to the push block, the propulsion cylinder is fixedly connected to the connecting plate, the guide shaft is provided on both sides of the propulsion cylinder and is slidably connected to the linear bearing, and one end of the guide shaft is fixedly connected to the push plate.

[0013] Preferably, the open end of the barrel is covered with a rubber gasket, and a hydraulic buffer is also provided on the connecting plate.

[0014] Preferably, the anchor sealing device comprises a large-hole anchor sealing device and a small-hole anchor sealing device, and the barrel diameter of the large-hole anchor sealing device is larger than the barrel diameter of the small-hole anchor sealing device.

[0015] Preferably, the anchor hole light collecting device includes a grinding disc, a main shaft and a driving motor, one end of the main shaft is fixedly connected to the grinding disc, and the other end is rotatably connected to the driving motor.

[0016] Preferably, the tool bracket includes an oblique support and an L-shaped plate, the oblique support is welded to the L-shaped plate, a circular hole is penetrated through the L-shaped plate, a part of the circular hole extends out of the L-shaped plate, and the radius of the circular hole is smaller than the radius of the connecting flange.

[0017] Preferably, the tool quick change system is wirelessly connected to the master control panel.

[0018] Preferably, the AGV trolley is further provided with a water tank, one end of the water tank is provided with a water outlet, the water outlet extends out of the AGV trolley and is provided with a switch device.

[0019] The beneficial effects of the present invention are as follows: the present invention integrates an AGV trolley, a lifting hopper, an anchoring tool, a visual camera, and a robotic arm, so that the operator can control the equipment through the main control panel to complete the anchor hole positioning and anchoring operations of the prefabricated box beam, which greatly reduces labor input, reduces labor costs, and improves construction efficiency; at the same time, it eliminates the risk of falling from heights during the anchoring construction at the top of the box beam in the traditional anchoring construction method, thereby ensuring the safety of the construction process. A lifting hopper is provided, and the operator adjusts the hopper height according to construction needs, which can adapt to loading and unloading at different heights, making the loading and unloading process more convenient; a weighing sensor is provided between the hopper bracket and the hopper, which can accurately monitor the amount of material in the hopper and the weight of the unloading; a stirring motor is provided in the hopper, which can effectively prevent the material in the hopper from agglomerating by stirring, and keep the material in a loose state, which is convenient for subsequent unloading operations. A micro vibrator is provided in the push block of the anchoring device, which realizes pushing and vibrating at the same time, greatly improving the density of the concrete vibration and avoiding the problems of separation and hollowing of the top concrete. The anchor sealing device includes a large-hole anchor sealing device and a small-hole anchor sealing device, which can adapt to prefabricated box beams of different sizes and specifications, and can meet diverse construction needs; a hydraulic buffer is set on the connecting plate on the outer wall of the anchor sealing device, and a rubber gasket is covered on the open end of the barrel to reduce vibration during the use of the anchor sealing device and improve the performance and stability of the anchor sealing device. An anchor hole finishing device is used to level and finish the anchor hole to improve the smoothness and flatness of the anchor hole. A tool quick-change system is set at the end of the robotic arm, and combined with the tool holder on the side of the AGV trolley, the tool can be replaced quickly to improve the overall construction efficiency. The AGV trolley is equipped with a water tank for timely cleaning of the anchor sealing device and the anchor hole finishing device to avoid damage to the tool caused by the solidification of concrete attached to the tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model.

[0021] Figure 2 It is a schematic diagram of the three-dimensional structure of the lifting bracket of the utility model.

[0022] Figure 3 It is a schematic diagram of the three-dimensional structure of the hopper of the utility model.

[0023] Figure 4 It is a schematic diagram of the three-dimensional structure of the hopper bracket of the utility model.

[0024] Figure 5 It is a schematic diagram of the three-dimensional structure of the anchor sealing tool of the present invention.

[0025] Figure 6 It is a front view of the anchor sealing tool of the present invention.

[0026] Figure 7 It is a three-dimensional structural diagram of the anchor hole finishing tool of the present invention.

[0027] Figure 8 This is a schematic diagram of the three-dimensional structure of the tool bracket of the utility model.

[0028] Among them, the accompanying drawings are marked as follows: 1, AGV trolley; 2, lifting hopper; 3, anchor sealing tool; 4, visual camera; 5, anchor hole light collecting device; 6, robotic arm; 7, tool bracket; 8, tool quick change system; 9, water tank; 20, lifting bracket; 21, hopper; 22, hopper bracket; 30, barrel; 31, push block; 32, propulsion cylinder; 33, linear bearing; 34, guide shaft; 35, connecting flange; 36, push plate; 37, connecting plate; 38, hydraulic buffer; 39, rubber gasket; 50, grinding disc; 51, spindle; 5 2. Drive motor; 70. Diagonal brace; 71. L-shaped plate; 72. Round hole; 90. Water outlet; 201. Bottom plate; 202. First crossbar; 203. Second crossbar; 204. Vertical bar; 205. Drive unit; 206. Base; 207. Column; 208. Drive shaft; 209. Traction sheave; 210. Wire rope; 211. Rib; 212. Stirring motor; 213. Discharge port; 214. Electric valve; 221. Triangular brace; 222. Upper crossbeam; 223. Lower crossbeam; 224. Front crossbeam; 225. Bump. DETAILED DESCRIPTION

[0029] In order to clearly illustrate the technical features of this solution, the solution is described below through specific implementation methods.

[0030] See also Figures 1 to 8As shown, this embodiment is an automated anchor sealing equipment for prefabricated box girders, comprising a main control panel, an AGV trolley 1, a lifting hopper 2, an anchor sealing device 3, a visual camera 4, an anchor hole light collecting device 5, a robotic arm 6 and several tool brackets 7, the main control panel is wirelessly connected to the AGV trolley 1, the visual camera 4, the anchor hole light collecting device 5 and the robotic arm 6; the lifting hopper 2 comprises a lifting bracket 20, a hopper 21 and a hopper bracket 22; the anchor sealing device 3 comprises a barrel 30, a push block 31, a thrust cylinder 32, a linear bearing 33 and a guide shaft 34, and a plurality of micro vibrators are evenly arranged in the push block 31; a connecting flange 35 is provided on the anchor sealing device 3 and the anchor hole light collecting device 5; the visual camera 4 is arranged on the robotic arm 6, and a tool quick-changing system 8 is connected to the end of the robotic arm 6; the lifting hopper 2 and the robotic arm 6 are arranged on the AGV trolley 1, and several tool brackets 7 are fixedly connected to one side of the AGV trolley 1.

[0031] The lifting bracket 20 includes a bottom plate 201, a first cross bar 202, a second cross bar 203, two vertical bars 204 and a driving device 205. The two vertical bars 204 are vertically welded to the bottom plate 201 and have a slide groove along the length direction. The first cross bar 202 is welded to the top of the two vertical bars 204, and the second cross bar 203 is bolted between the two vertical bars 204; the driving device 205 includes a base 206, a column 207 and a driving shaft 208. The base 206 is welded to the bottom plate 201, the column 207 is welded to the base 206, and the driving shaft 208 is horizontally welded to the top of the column 207. A motor is provided in the driving shaft 208, and the motor is wirelessly connected to the main control panel; both ends of the driving shaft 208 are rotatably connected to a traction wheel 209, and a steel wire rope 210 is provided on the traction wheel 209;

[0032] The outer wall of the hopper 21 is evenly provided with a number of ribs 211, a stirring motor 212 is provided in the hopper 21, a discharge port 213 is provided on the side wall of the bottom end of the hopper 21, and an electric valve 214 is installed on the discharge port 213;

[0033] The hopper support 22 includes two triangular supports 221, an upper crossbeam 222, a lower crossbeam 223, and a front crossbeam 224. The two triangular supports 221 are arranged in parallel, and the spacing between them matches the spacing between the two vertical rods 204 of the lifting support 20. The upper crossbeam 222, the lower crossbeam 223, and the front crossbeam 224 are horizontally welded between the three vertices of the two triangular supports 221. A protrusion 225 is provided on one side of the triangular supports 221.

[0034] The protrusion 225 of the hopper bracket 22 is slidably connected to the slide groove of the two vertical rods 204. One end of the steel wire rope 210 is fixedly connected to the second cross bar 203, and the other end is fixedly connected to the lower cross beam 223 of the hopper bracket 22. The hopper 21 is set on the hopper bracket 22, and several ribs 211 are respectively abutted against the two triangular supports 221, the upper cross beam 222 and the front cross beam 224. A weighing sensor 23 is also provided between the ribs 211 and the hopper bracket 22.

[0035] Two through holes are opened at the closed end of the barrel 30, and a connecting plate 37 is fixedly connected to the outer wall. Two linear bearings 33 are provided on the connecting plate 37. The outer diameter of the linear bearing 33 matches the size of the through hole. The linear bearing 33 passes through the through hole and is fixedly connected to the push block 31. The propulsion cylinder 32 is fixedly connected to the connecting plate 37. The guide shaft 34 is arranged on both sides of the propulsion cylinder 32 and is slidably connected to the linear bearing 33. One end of the guide shaft 34 is fixedly connected to the push plate 36.

[0036] The open end of the barrel 30 is covered with a rubber gasket 39 , and a hydraulic buffer 38 is also provided on the connecting plate 37 .

[0037] The anchor sealing device 3 includes a large-hole anchor sealing device and a small-hole anchor sealing device. The diameter of the barrel 30 of the large-hole anchor sealing device is larger than that of the barrel 30 of the small-hole anchor sealing device.

[0038] The anchor hole light collecting device 5 includes a grinding disc 50 , a main shaft 51 and a driving motor 52 . One end of the main shaft 51 is fixedly connected to the grinding disc 50 , and the other end is rotatably connected to the driving motor 52 .

[0039] The tool bracket 7 includes a diagonal brace 70 and an L-shaped plate 71 . The diagonal brace 70 is welded to the L-shaped plate 71 . A circular hole 72 is penetrated through the L-shaped plate 71 . A portion of the circular hole 72 extends out of the L-shaped plate 71 . The radius of the circular hole 72 is smaller than the radius of the connecting flange 35 .

[0040] The tool quick change system 8 is wirelessly connected to the main control panel.

[0041] The AGV trolley 1 is further provided with a water tank 9 , one end of which is provided with a water outlet 90 . The water outlet 90 extends out of the AGV trolley 1 and is provided with a switch device.

[0042] When the present utility model is actually used: check whether the hopper 21 is full of material, and turn on the stirring motor 212. The operator controls the AGV trolley 1 to move to the construction area, and uses the visual camera 4 on the robot arm 6 to identify and locate the anchor hole. According to the size of the anchor hole, select the appropriate barrel 30-caliber anchor sealing device 3, and lock the anchor sealing device 3 on the robot arm 6 through the tool quick-change system 8 and the connecting flange 35 on the anchor sealing device 3. Adjust the hopper bracket 22 to a suitable height, move the robot arm 6 to the discharge port 213 of the hopper 21, and open the electric valve 214 to complete the loading. According to the positioning of the visual camera 4, control the robot arm 6 to carry the anchor sealing device 3 to cast and vibrate the anchor hole, and complete the casting and vibration operations of all anchor holes in sequence. The robotic arm 6 moves the anchor sealing device 3 to the water tank 9 for cleaning. After cleaning, the robotic arm 6 carries the anchor sealing device 3 and moves to the vicinity of the tool bracket 7, aligns the connecting flange 35 of the anchor sealing device 3 with the circular hole 72 on the tool bracket 7, and releases the lock of the tool quick-changing system 8. Then, the anchor hole light collecting device 5 is locked on the robotic arm 6 through the tool quick-changing system 8 and the connecting flange 35 on the anchor hole light collecting device 5. The robotic arm 6 carries the anchor hole light collecting device 5 to level and light all the anchor holes in turn. After that, the robotic arm 6 moves the anchor hole light collecting device 5 to the water tank 9 for cleaning. Finally, the robotic arm 6 and the tool quick-changing system 8 are controlled to put the anchor hole light collecting device 5 back on the tool bracket 7 to complete all operations.

[0043] The technical features not described in the present invention can be realized by or by adopting the existing technology, and will not be described in detail here. Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention should also fall within the scope of protection of the present invention.

Claims

1. An automatic anchor sealing device for prefabricated box beams, characterized in that: The invention comprises a main control panel, an AGV trolley (1), a lifting hopper (2), an anchor sealing device (3), a visual camera (4), an anchor hole light collecting device (5), a mechanical arm (6) and a plurality of tool brackets (7), wherein the main control panel is wirelessly connected to the AGV trolley (1), the visual camera (4), the anchor hole light collecting device (5) and the mechanical arm (6); the lifting hopper (2) comprises a lifting bracket (20), a hopper (21) and a hopper bracket (22); the anchor sealing device (3) comprises a barrel (30), a push block (31), a propulsion gas The cylinder (32), the linear bearing (33) and the guide shaft (34), the push block (31) is evenly provided with a plurality of micro vibrators; the anchor sealing device (3) and the anchor hole light collecting device (5) are both provided with a connecting flange (35); the visual camera (4) is arranged on the mechanical arm (6), and the end of the mechanical arm (6) is connected to a tool quick-change system (8); the lifting hopper (2) and the mechanical arm (6) are arranged on the AGV trolley (1), and a plurality of the tool brackets (7) are fixedly connected to one side of the AGV trolley (1).

2. The automatic anchor sealing equipment for prefabricated box beams according to claim 1 is characterized in that: The lifting bracket (20) comprises a base plate (201), a first crossbar (202), a second crossbar (203), two vertical bars (204) and a driving device (205). The two vertical bars (204) are vertically welded to the base plate (201) and have sliding grooves along their lengths. The first crossbar (202) is welded to the top ends of the two vertical bars (204). The second crossbar (203) is bolted between the two vertical bars (204). The driving device (205) comprises a base plate (201). 6) a column (207) and a drive shaft (208), wherein the base (206) is welded to the bottom plate (201), the column (207) is welded to the base (206), the drive shaft (208) is horizontally welded to the top of the column (207), a motor is provided in the drive shaft (208), and the motor is wirelessly connected to the main control panel; both ends of the drive shaft (208) are rotatably connected to a traction wheel (209), and a steel wire rope (210) is provided on the traction wheel (209); The outer wall of the hopper (21) is evenly provided with a plurality of ribs (211), a stirring motor (212) is provided in the hopper (21), a discharge port (213) is provided on the side wall of the bottom end of the hopper (21), and an electric valve (214) is installed on the discharge port (213); The hopper support (22) includes two triangular supports (221), an upper crossbeam (222), a lower crossbeam (223) and a front crossbeam (224). The two triangular supports (221) are arranged in parallel, and the spacing between them matches the spacing between the two vertical rods (204) of the lifting support (20). The upper crossbeam (222), the lower crossbeam (223) and the front crossbeam (224) are horizontally welded between the three vertices of the two triangular supports (221). A protrusion (225) is provided on one side of the triangular support (221). The protrusion (225) of the hopper bracket (22) is slidably connected to the slide grooves of the two vertical rods (204); one end of the steel wire rope (210) is fixedly connected to the second crossbar (203), and the other end is fixedly connected to the lower crossbeam (223) of the hopper bracket (22); the hopper (21) is arranged on the hopper bracket (22); and a plurality of ribs (211) are respectively in contact with the two triangular supports (221), the upper crossbeam (222) and the front crossbeam (224).

3. The automatic anchor sealing equipment for prefabricated box beams according to claim 2 is characterized in that: A weighing sensor (23) is also provided between the rib plate (211) and the hopper support (22).

4. The automatic anchor sealing equipment for prefabricated box beams according to claim 1 is characterized in that: The closed end of the barrel (30) is provided with two through holes, and a connecting plate (37) is fixedly connected to the outer wall. Two linear bearings (33) are provided on the connecting plate (37). The outer diameter of the linear bearing (33) matches the size of the through hole. The linear bearing (33) passes through the through hole and is fixedly connected to the push block (31). The propulsion cylinder (32) is fixedly connected to the connecting plate (37). The guide shaft (34) is provided on both sides of the propulsion cylinder (32) and is slidably connected to the linear bearing (33). One end of the guide shaft (34) is fixedly connected to a push plate (36).

5. The automatic anchor sealing equipment for prefabricated box beams according to claim 4 is characterized in that: The open end of the barrel (30) is covered with a rubber gasket (39), and a hydraulic buffer (38) is also provided on the connecting plate (37).

6. The automatic anchor sealing equipment for prefabricated box beams according to claim 1 is characterized in that: The anchor sealing device (3) comprises a large-hole anchor sealing device and a small-hole anchor sealing device, and the diameter of the barrel (30) of the large-hole anchor sealing device is larger than the diameter of the barrel (30) of the small-hole anchor sealing device.

7. The automatic anchor sealing equipment for prefabricated box beams according to claim 1 is characterized in that: The anchor hole light collecting device (5) comprises a grinding disc (50), a main shaft (51) and a driving motor (52); one end of the main shaft (51) is fixedly connected to the grinding disc (50), and the other end is rotatably connected to the driving motor (52).

8. The automatic anchor sealing equipment for prefabricated box beams according to claim 1 is characterized in that: The tool support (7) comprises an oblique support (70) and an L-shaped plate (71), wherein the oblique support (70) is welded to the L-shaped plate (71), a circular hole (72) is formed through the L-shaped plate (71), a portion of the circular hole (72) extends out of the L-shaped plate (71), and a radius of the circular hole (72) is smaller than a radius of the connecting flange (35).

9. The automatic anchor sealing equipment for prefabricated box beams according to claim 1 is characterized in that: The tool quick-change system (8) is wirelessly connected to the master control panel.

10. The automatic anchor sealing equipment for prefabricated box beams according to claim 1, characterized in that: The AGV trolley (1) is also provided with a water tank (9), one end of which is provided with a water outlet (90), the water outlet (90) extends out of the AGV trolley (1) and is provided with a switch device.

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