Shield segment roller automatic plastering device

Abstract

The utility model discloses a shield segment roller automatic plastering device which comprises a manipulator, a driving mechanism, a control system and a plastering mechanism, the plastering mechanism comprises a roller support, a roller and a roller driving device, the roller is composed of an inner lining vibrator roller and an outer sleeve plastering roller, the inner lining vibrator roller provides vibration force through a vibrator, and the outer sleeve plastering roller drives the roller support to rotate. The surface of the coat plastering roller is subjected to chromium plating treatment, and concrete adhesion is reduced. The roller driving device comprises a motor and a reciprocating lead screw, and the motor drives the reciprocating lead screw to drive the roller to rotate and reciprocate along the surface of the duct piece. According to the automatic plastering mechanism, automation of the plastering procedure of the shield segment is achieved, production efficiency, plastering quality and safety are remarkably improved, labor intensity and production cost are reduced, and the automatic plastering mechanism has wide applicability and good economic benefits.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the shield segment production technical field, concretely relates to a kind of shield segment cylinder automatic troweling device. BACKGROUND

[0002] In the production process of shield segment, troweling process is an important link to guarantee the flatness and smoothness of segment surface.

[0003] Traditional manual troweling mode has the following problems

[0004] 1.low efficiency: change scraping face broach and trowel when troweling.

[0005] 2.high labor cost: two workers need to operate simultaneously, which increases labor cost.

[0006] 3.high labor intensity: the scraping tool is heavy, and two workers have high labor intensity in 12 hours of work per day.

[0007] 4.unstable quality of manual operation: the labor intensity is too large, and some positions cannot be done by manual operation, which may cause concrete surface cracking problem in the steam curing process, affecting the quality of segment.

[0008] 5.difficult tool cleaning work: there is an interval after troweling, and the tool needs to be cleaned during this process.

[0009] 6.low safety level: manual operation is prone to safety accidents such as stepping on empty or being unable to work. SUMMARY

[0010] The utility model aims at providing a kind of shield segment cylinder automatic troweling device to solve the problems in the above background.

[0011] To achieve the above object, the utility model provides the following technical scheme: a kind of shield segment cylinder automatic troweling device, including manipulator, drive mechanism, control system and troweling mechanism:

[0012] ‌The troweling mechanism includes cylinder support, and the cylinder support is connected with the end of manipulator through damping pad;

[0013] The drum is mounted on a drum support and is composed of an inner lining vibrator drum and an outer coating drum; the inner lining vibrator drum is internally provided with a vibrator and is connected with the outer coating drum through a force transmission sheet;

[0014] The drum driving device comprises a motor and a reciprocating screw rod, the motor drives the reciprocating screw rod to drive the drum to rotate and reciprocate on the surface of the segment.

[0015] Preferably, the inner lining vibrator drum and the outer coating drum are detachably connected, the vibrator is fixed to the inner wall of the inner lining vibrator drum through bolts, and the force transmission sheets are uniformly distributed along the axial direction of the drum.

[0016] Preferably, the damping pad is made of elastic rubber material and is installed at the connection between the drum support and the manipulator, so as to reduce the load of vibration transmission to the manipulator.

[0017] Preferably, the control system comprises a pressure sensor and a path planning module, the pressure sensor monitors the contact pressure between the drum and the surface of the segment in real time and feeds back to the path planning module to adjust the motion trajectory of the manipulator.

[0018] Preferably, the mold positioning device 5 comprises a clamping mechanism and a positioning sensor, and the visual identification system comprises a camera and a two-dimensional code identification module, which are used for identifying the mold number and matching the corresponding coating program.

[0019] Preferably, the frequency of the vibrator is 50-100 Hz, and the vibration intensity can be automatically adjusted according to the flatness of the surface of the segment.

[0020] Preferably, the stroke of the reciprocating screw rod of the drum driving device is adjustable, and the adjustment range is 80%-120% of the width of the segment.

[0021] Preferably, the drum support is connected with the end of the manipulator through the damping pad and the guide device, and the guide plate comprises a fixed plate, guide plates arranged on both sides of the fixed plate and limiting plates arranged at both ends of the fixed plate.

[0022] The technical effects and advantages of the utility model are as follows:

[0023] 1. Improve production efficiency: realize automatic coating through the manipulator and the control system, reduce the cumbersome steps of manual operation, and significantly improve the production efficiency; the device can work continuously, avoids the idle period in manual operation, and further improves the overall efficiency of the production line.

[0024] 2. Improve the quality of finishing: the lining vibrator roller provides vibration force through the vibrator, making the concrete surface uniform and reducing the possibility of cracking during the later steaming process; the outer finishing roller surface is chrome plated, with high hardness and smoothness, reducing the adhesion of concrete and further improving the finishing effect.

[0025] 3. Reduce labor intensity: the device operates automatically, eliminating the need for workers to perform high-intensity operations for a long time, significantly reducing labor intensity; workers only need to monitor device operation, avoiding the heavy physical labor and safety hazards in traditional finishing processes.

[0026] 4. Strong device versatility: the system can automatically call the corresponding finishing program according to different specifications of the pipe piece, adapting to various production needs and improving the versatility of the device; the finishing process is monitored in real time through pressure sensors and cameras, automatically adjusting the running track and pressure of the finishing mechanism to ensure the finishing quality of different specifications of the pipe piece.

[0027] 5. Reduce production costs: the automated device reduces dependence on labor, reducing labor costs; the uniformity and consistency of finishing are improved, reducing material waste caused by unqualified finishing; through high-quality finishing, cracking and peeling of the pipe piece in the later stage are reduced, reducing maintenance costs. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 is a structural schematic view of the utility model;

[0029] Figure 2 is a structural schematic view of the finishing mechanism;

[0030] Figure 3 is a structural schematic view of the guide device.

[0031] In the figure: manipulator-1, driving mechanism-2, control system-3, finishing mechanism-4, positioning device-5, roller support-41, shock pad-42, roller-43, lining vibrator roller-431, outer finishing roller-432, vibrator-433, force transmission sheet-434, motor-441, reciprocating screw rod-442, fixed plate-200, guide plate-201, limit plate-202. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0033] The specific embodiments of the utility model are explained in detail below with reference to the drawings.

[0034] Embodiment 1

[0035] As Figure 1 shown, the embodiment provides a shield segment roller automatic troweling device, including manipulator 1, drive mechanism 2, control system 3, troweling mechanism 4 and mould positioning device 5;

[0036] Manipulator 1

[0037] Manipulator 1 is used for supporting and fixing troweling mechanism 4, and the tail end is connected with roller support 41 through damping pad 42, to ensure the stable operation of troweling mechanism 4;

[0038] Drive mechanism 2

[0039] Drive mechanism 2 includes motor 441 and reciprocating screw rod 442, and motor 441 drives reciprocating screw rod 442 to drive roller 43 to rotate and reciprocate along the surface of segment, to ensure uniform troweling;

[0040] Control system 3

[0041] Control system 3 includes pressure sensor and path planning module, and the pressure sensor is used for monitoring the contact pressure between roller 43 and the surface of segment in real time, and feeding back to the path planning module to adjust the motion trail of manipulator 1;

[0042] Troweling mechanism 4

[0043] Troweling mechanism 4 is the core improved part of the utility model, and the specific structure is as follows:

[0044] Roller support 41: connected with the tail end of manipulator 1 through damping pad 42, to ensure the stable operation of troweling mechanism 4.

[0045] Roller 43: composed of inner lining vibrator roller 431 and outer sleeve troweling roller 432, and vibrator 433 is installed in inner lining vibrator roller 431, and is connected with outer sleeve troweling roller 432 through force transmission sheet 434, to ensure the uniformity of concrete surface pulp raising.

[0046] Roller driving device: including motor 441 and reciprocating screw rod 442, and motor 441 drives reciprocating screw rod 442 to drive roller 43 to rotate and reciprocate along the surface of segment;

[0047] Mould positioning device 5

[0048] Mould positioning device 5 includes clamping mechanism and positioning sensor, and is used for fixing the segment mould to be troweled, to ensure the stability of the mould in the working position;

[0049] Visual identification system

[0050] The visual recognition system comprises a camera and a two-dimensional code recognition module, which is used for identifying the mold number and matching the corresponding troweling program, so as to ensure the troweling quality of different specifications of pipe pieces.

[0051] Embodiment 2

[0052] As shown in Figure 2 , the embodiment further illustrates the specific structure and working principle of the troweling mechanism 4 in detail:

[0053] The inner lining vibrator roller 431

[0054] The vibrator 433 is installed inside the inner lining vibrator roller 431, and is fixed to the inner wall of the inner lining vibrator roller 431 by bolts. The vibration frequency is 50-100 Hz, and the vibration intensity can be automatically adjusted according to the flatness of the pipe piece surface.

[0055] The outer troweling roller 432

[0056] The outer troweling roller 432 is chrome-plated, has high hardness and high smoothness, reduces the adhesion of concrete, and is detachably connected with the inner lining vibrator roller 431 for easy maintenance and replacement. The outer troweling roller 432 is chrome-plated, has high surface hardness and high smoothness, and has low adhesion of concrete, so that the service life of the roller is prolonged.

[0057] The force transmission sheet 434

[0058] The force transmission sheet 434 is evenly distributed along the axial direction of the roller, and transmits the vibration force of the vibrator 433 to the outer troweling roller 432, so as to ensure uniform pumping of the concrete surface.

[0059] The shock pad 42

[0060] The shock pad 42 is made of elastic rubber material, and is installed at the connection between the roller support 41 and the manipulator 1, which is used to reduce the load of the vibration transmitted to the manipulator 1.

[0061] The guide device

[0062] The guide device comprises a fixed plate 200, a guide plate 201 and a limiting plate 202, which is used to guide the movement track of the roller 43, overcome the vibration collision problem and reduce the load of the vibration to the manipulator 1, and ensure uniform troweling.

[0063] Working principle

[0064] After the mold is conveyed to the troweling station by the ground conveying line, the mold positioning device 5 starts the clamping function to fix the mold at the working position.

[0065] The visual recognition system recognizes the mold number two-dimensional code, feeds back the mold model to the control system 3, and calls the corresponding troweling program.

[0066] The manipulator 1 starts the troweling mechanism 4 to trowel according to the instruction of the control system 3, the roller 43 rotates and reciprocates on the surface of the pipe piece, and the vibrator 433 provides vibration force, so that the concrete surface is uniformly raised.

[0067] After the troweling is finished, the manipulator 1 puts the roller 43 into the cleaning water tank to clean, and the mold is transported away through the ground conveying line.

[0068] The applicant further declares that the implementation method and device structure of the utility model are illustrated by the above-mentioned embodiments, but the utility model is not limited to the above-mentioned embodiments, namely, it does not mean that the utility model must rely on the above-mentioned method and structure to be implemented. It should be understood by the person skilled in the art that any improvement of the utility model, equivalent replacement of the implementation method selected by the utility model, addition of steps, selection of specific modes and the like fall within the protection scope and disclosed scope of the utility model.

[0069] The utility model is not limited to the above-mentioned embodiments, and all modes adopting similar structures and methods to the utility model to realize the purpose of the utility model fall within the protection scope of the utility model.

Claims

1. An automatic surface finishing device for tunnel segment rollers, characterized in that: It includes a robotic arm (1), a drive mechanism (2), a control system (3), and a smearing mechanism (4), characterized in that: The smearing mechanism (4) includes a roller bracket (41), which is connected to the end of the robot (1) via a shock-absorbing pad (42); Roller (43), the roller (43) is mounted on roller support (41) and consists of inner vibrator roller (431) and outer smearing roller (432); the inner vibrator roller (431) has a vibrator (433) installed inside and is connected to the outer smearing roller (432) through force transmission plate (434); The roller drive device includes a motor (441) and a reciprocating screw (442). The motor (441) drives the reciprocating screw (442) to drive the roller (43) to rotate and reciprocate along the surface of the tube segment.

2. The automatic surface finishing device for tunnel segment rollers according to claim 1, characterized in that: The inner vibrator roller (431) and the outer grouting roller (432) are detachably connected. The vibrator (433) is fixed to the inner wall of the inner vibrator roller (431) by bolts, and the force transmission plates (434) are evenly distributed along the roller axis.

3. The automatic surface finishing device for tunnel segment rollers according to claim 1, characterized in that: The shock-absorbing pad (42) is made of elastic rubber and is installed at the connection between the roller bracket (41) and the robot (1) to reduce the load of vibration transmitted to the robot (1).

4. The automatic surface finishing device for tunnel segment rollers according to claim 1, characterized in that: The control system (3) includes a pressure sensor and a path planning module. The pressure sensor monitors the contact pressure between the roller and the surface of the tube in real time and feeds it back to the path planning module to adjust the movement trajectory of the robot (1).

5. The automatic surface finishing device for tunnel segment rollers according to claim 1, characterized in that: It also includes a mold positioning device (5) and a visual recognition system. The mold positioning device (5) includes a clamping mechanism and a positioning sensor for fixing the tube mold to be coated. The visual recognition system includes a camera and a QR code recognition module for recognizing the mold number and matching the corresponding coating program.

6. The automatic surface finishing device for tunnel segment rollers according to claim 2, characterized in that: The frequency of the vibrator (433) is 50-100Hz, and the vibration intensity can be automatically adjusted according to the flatness of the tube surface.

7. The automatic surface finishing device for tunnel segment rollers according to claim 1, characterized in that: The reciprocating screw (442) of the roller drive device has an adjustable stroke, and the adjustment range is 80%-120% of the width of the tube segment.

8. The automatic surface finishing device for tunnel segment rollers according to claim 1, characterized in that: The roller support (41) is connected to the end of the robot (1) through the shock-absorbing pad (42) and the guide device. The guide device includes a fixed plate (200), guide plates (201) on both sides of the fixed plate (200), and limiting plates (202) on both ends of the fixed plate (200).

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