An automatic assembly system and method for tubular pile end plate and sleeve riveting

Abstract

The application provides an automatic assembly system and method for pipe pile end plate and sleeve riveting, the automatic assembly system comprises an end plate feeding device, an end plate conveying device, a sleeve feeding device, a sleeve taking device, a riveting device, a fixed support mold table, a rotatable riveting rotating table installed on the support mold table, and a riveting driving source in transmission connection with the riveting rotating table, the end plate conveying device is used for moving the end plate supplied by the end plate feeding device to the riveting rotating table, the sleeve taking device is used for moving the sleeve supplied by the sleeve feeding device to the riveting rotating table, and the riveting device comprises a riveting wheel base capable of moving towards or away from the riveting rotating table, a riveting wheel rotatably installed on the riveting wheel base, and a pressing driving source in transmission connection with the riveting wheel base. The application automatically completes the feeding and conveying of the end plate and the sleeve, and the riveting and fixing of the end plate and the sleeve, realizes the continuous automatic riveting and assembling of the end plate and the sleeve, and improves the riveting efficiency and quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of production of building pipe piles, and in particular to an automatic assembly system for pipe pile end plate and sleeve riveting, and an automatic assembly method for pipe pile end plate and sleeve riveting. BACKGROUND

[0002] In the field of building concrete pipe piles, the main frame of the pipe pile is a cage, which mainly includes a main reinforcement cage composed of several circumferentially arranged main reinforcements, and a spiral reinforcement welded on the outer periphery of the main reinforcement cage. The two ends of the cage are respectively fixedly connected with a head plate end plate assembly and a tail plate end plate assembly. The head plate end plate assembly is composed of a head plate and an end plate fixedly combined by several bolts, and the tail plate end plate assembly is composed of a tail plate and an end plate fixedly combined by several bolts. The outer periphery of the end plate in the head plate end plate assembly and the outer periphery of the end plate in the tail plate end plate assembly are fixedly sleeved with a sleeve. The cage, the head plate end plate assembly at one end of the cage, and the tail plate end plate assembly at the other end of the cage constitute the framework structure of the pipe pile.

[0003] At present, the fixing form of the end plate and the sleeve is mostly riveting. As shown in Figure 1 and Figure 2 , the pipe pile end plate 10 is a circular flange structure; in the thickness direction of the end plate 10, a circumferential radially recessed groove 101 is arranged on the outer periphery of the end plate 10. As shown in Figure 3 , the sleeve 20 is a cylindrical structure, which is mainly formed by a segment of steel belt after being successively coiled, welded and profiled. When riveting, the worker needs to manually assemble the sleeve 20 and the end plate 10 together first, as shown in Figure 4 ; then the assembly of the sleeve 20 and the end plate 10 is placed on the riveting machine, and the sleeve 20 is riveted into the groove 101 on the outer periphery of the end plate 10 by the riveting wheel in the riveting machine, as shown in Figure 5 , so that the sleeve 20 and the end plate 10 are reliably fixedly connected into a whole. However, in the existing riveting process of the end plate 20 and the sleeve 10, the labor intensity of the worker is large, the production efficiency is low, and the production quality cannot be reliably guaranteed. SUMMARY

[0004] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present application is to provide an automatic assembly system for pipe pile end plate and sleeve riveting, which can continuously and automatically rivet the sleeve and the end plate.

[0005] In order to achieve the above object, the application provides an automatic assembly system for pipe pile end plate and sleeve riveting, comprising an end plate feeding device, an end plate conveying device, a sleeve feeding device, a sleeve taking device, a riveting device, a fixedly arranged support mold table, a rotatably installed riveting rotating table on the support mold table, and a riveting driving source in transmission connection with the riveting rotating table, the end plate conveying device is used to move the end plate supplied by the end plate feeding device to the riveting rotating table, the sleeve taking device is used to move the sleeve supplied by the sleeve feeding device to the riveting rotating table, the riveting device comprises a riveting wheel base capable of moving towards or away from the riveting rotating table, a riveting wheel rotatably installed on the riveting wheel base, and a pressing driving source in transmission connection with the riveting wheel base.

[0006] The preferred scheme of the above technical scheme is that the end plate feeding device comprises a fixedly arranged first rack, a first conveying component movably installed on the first rack, a first conveying driving source installed on the first rack, an end plate grabbing mechanism movably installed on the first rack, and a feeding driving source, the first conveying driving source is in transmission connection with the first conveying component, the feeding driving source is in transmission connection with the end plate grabbing mechanism, and the end plate grabbing mechanism is driven to reciprocate between the first conveying component and the end plate conveying device.

[0007] The preferred scheme of the above technical scheme is that the first conveying component is a plurality of first conveying rollers rotatably installed on the first rack, the end plate feeding device further comprises a head material receiving mechanism and a tail material receiving mechanism arranged at the head end and the tail end of the first conveying component respectively, the head material receiving mechanism and the tail material receiving mechanism both comprise a fixedly arranged material receiving rack, a material receiving lifting frame liftable installed on the material receiving rack, a plurality of material receiving supporting rods fixed to the material receiving lifting frame, and a material receiving lifting driving source installed on the material receiving rack, the material receiving lifting driving source is in transmission connection with the material receiving lifting frame, and the material receiving supporting rods can extend upwards from the gap between adjacent two first conveying rollers.

[0008] The preferred scheme of the above technical scheme is that the conveying direction of the first conveying component and the conveying direction of the end plate conveying device are consistent, both conveying the end plate along the X direction, and the end plate feeding device is arranged on one side of the end plate conveying device along the X direction; the end plate feeding device further comprises a first X-axis truss fixed on the upper end of the first rack, a first Z-axis truss movably installed on the first X-axis truss along the X direction, and a material taking lifting frame liftable installed on the first Z-axis truss along the Z direction, the end plate grabbing mechanism is installed on the material taking lifting frame, and the feeding driving source comprises a first X-direction driving source in transmission connection with the first Z-axis truss and a first Z-direction driving source in transmission connection with the material taking lifting frame.

[0009] The preferred scheme of the technical scheme is: the end plate conveying device comprises a second rack fixedly arranged, a plurality of supporting rollers rotatably arranged on the second rack, a plurality of conveying scrapers movably arranged on the second rack, and a second conveying driving source arranged on the second rack; the second conveying driving source is in transmission connection with the conveying scrapers, and the supporting die table is arranged on the moving path of the conveying scrapers; a plurality of supporting rollers are arranged on both sides of the supporting die table along the moving direction of the conveying scrapers; and the conveying scrapers are arranged on the upper side of the supporting rollers, the supporting die table and the riveting rotary table.

[0010] The preferred scheme of the technical scheme is: the end plate conveying device further comprises a chain wheel and chain mechanism, the chain wheel and chain mechanism comprises a driving chain wheel and a driven chain wheel rotatably arranged on the second rack, and a transmission chain sleeved on the outer periphery of the driving chain wheel and the driven chain wheel; the second conveying driving source is a motor and is connected with the driving chain wheel; and a plurality of conveying scrapers are equidistantly arranged on the transmission chain.

[0011] The preferred scheme of the technical scheme is: the conveying scraper is provided with a first V-shaped positioning groove, the first V-shaped positioning groove faces the end plate and is used for abutting against the outer periphery of the end plate.

[0012] The preferred scheme of the technical scheme is: the sleeve band loading device comprises a third rack fixedly arranged, a second conveying component movably arranged on the third rack, and a third conveying driving source arranged on the third rack; the third conveying driving source is in transmission connection with the second conveying component; the second conveying component conveys the sleeve band along the Y direction; the conveying direction of the second conveying component is perpendicular to the conveying direction of the end plate conveying device; and the sleeve band loading device is arranged on one side of the end plate conveying device along the Y direction.

[0013] The preferred scheme of the technical scheme is: the sleeve band loading device further comprises a side baffle and a V-shaped positioning stop plate fixed to the third rack; the side baffle and the V-shaped positioning stop plate are arranged on the upper side of the second conveying component; the side baffle has two and is symmetrically arranged on both sides of the end of the second conveying component along the direction perpendicular to the conveying direction of the second conveying component; and the V-shaped positioning stop plate is arranged at the end of the second conveying component and is provided with a second V-shaped positioning groove; the second V-shaped positioning groove faces the sleeve band and is used for abutting against the outer periphery of the sleeve band.

[0014] The preferred technical scheme of the above technical scheme is that the sleeve taking device comprises a fourth rack fixedly arranged, a first Y-axis frame fixed to the fourth rack, a transverse sliding table movably arranged along the Y-axis to the first Y-axis frame, a first Y-axis driving source, a lifting connecting shaft movably arranged along the Z-axis to the transverse sliding table, a second Z-axis driving source, and a sleeve grabbing mechanism, the first Y-axis driving source is in transmission connection with the transverse sliding table, the second Z-axis driving source is in transmission connection with the lifting connecting shaft, and the sleeve grabbing mechanism is arranged on the lifting connecting shaft.

[0015] The preferred technical scheme of the above technical scheme is that the lifting connecting shaft is a hollow shaft, and the sleeve grabbing mechanism is an expansion taking and placing mechanism; the expansion taking and placing mechanism comprises an expansion driving source arranged on the upper end of the lifting connecting shaft, an expansion central shaft rotatably supported in the lifting connecting shaft, and an expansion assembly arranged on the lower end of the expansion central shaft, the expansion driving source is in transmission connection with the upper end of the expansion central shaft, the expansion assembly is arranged to extend into the sleeve, and the expansion assembly comprises an expansion base fixed to the outer periphery of the lower end of the lifting connecting shaft, a plurality of expansion driving sliding blocks movably arranged along the radial direction of the sleeve to the expansion base, expansion blocks fixedly connected with the expansion driving sliding blocks, a crank shaft fixed to the lower end of the expansion central shaft, and a plurality of transmission connecting rods, both ends of the transmission connecting rods are hingedly connected with the crank shaft and the expansion driving sliding blocks respectively.

[0016] The preferred technical scheme of the above technical scheme is that the sleeve taking device further comprises a floating pressing mechanism, the floating pressing mechanism comprises a pressing driving source arranged on the transverse sliding table, a floating joint, a sliding bushing movably arranged along the Z-axis to the outer periphery of the lifting connecting shaft, and a floating pressing disc rotatably arranged on the outer periphery of the sliding bushing, the pressing driving source is connected with the sliding bushing through the floating joint, and the floating pressing disc is arranged to press the sleeve downward.

[0017] The preferred technical scheme of the above technical scheme is that the riveting device further comprises a fifth rack fixedly arranged, two centering translation sliding tables movably arranged to the fifth rack, a centering translation driving source arranged on the fifth rack, a centering transmission mechanism, a centering positioning seat movably arranged along the Z-axis to each centering translation sliding table, a centering lifting driving source arranged on the centering translation sliding table, and a centering wheel rotatably arranged on the centering positioning seat, the centering translation driving source is in transmission connection with the two centering translation sliding tables through the centering transmission mechanism, drives the two centering translation sliding tables to move along the radial direction of the end plate and face each other or away from each other, the centering lifting driving source is in transmission connection with the centering positioning seat, the pressing driving source is fixed on the centering positioning seat, and the centering wheels are arranged on both sides of the riveting wheel and arranged to be in tangential contact with the outer periphery of the end plate.

[0018] The preferred scheme of the technical scheme is: the two alignment translation sliding tables are a driving translation sliding table and a driven translation sliding table, the alignment translation driving source is a cylinder, the piston rod of the cylinder is connected with the driving translation sliding table, the alignment transmission mechanism comprises a crank disc rotatably installed on the fifth rack, a first connecting rod, a second connecting rod, and a movable connecting frame movably installed on the fifth rack, two ends of the first connecting rod are hingedly connected with the driving translation sliding table and one end of the crank disc respectively, two ends of the second connecting rod are hingedly connected with the other end of the crank disc and the movable connecting frame respectively, and the driven translation sliding table is fixed to the movable connecting frame.

[0019] The preferred scheme of the technical scheme is: the automatic assembly system further comprises a turnover device, the turnover device comprises a fixedly arranged sixth rack, and a finished product receiving mechanism and a finished product discharging mechanism both installed on the sixth rack; the finished product receiving mechanism comprises a receiving plate rotatably installed on the sixth rack, and a receiving driving source installed on the sixth rack and in transmission connection with the receiving plate; the finished product discharging mechanism comprises a discharging plate rotatably installed on the sixth rack, and a discharging driving source installed on the sixth rack and in transmission connection with the discharging plate; the receiving plate and the discharging plate are both used for carrying the end plate and the sleeve; when the receiving driving source drives the receiving plate to rotate to a vertical state and the discharging driving source drives the discharging plate to rotate to a vertical state, the receiving plate and the discharging plate are relatively arranged along the length direction of the sleeve.

[0020] The preferred scheme of the technical scheme is: the automatic assembly system further comprises a stacking device, the stacking device comprises a finished product tray, a fixedly arranged seventh rack, a finished product grabbing mechanism movably installed on the seventh rack, and a stacking driving source installed on the seventh rack and in transmission connection with the finished product grabbing mechanism, the stacking driving source drives the finished product grabbing mechanism to reciprocate between the finished product tray and the discharging plate, and the finished product grabbing mechanism is used for detachably grabbing the end plate and the sleeve.

[0021] The application further provides an automatic assembly method for pipe pile end plate and sleeve riveting, which uses the automatic assembly system for pipe pile end plate and sleeve riveting as described above, and comprises the following steps:

[0022] S1, the end plate feeding device supplies the end plate to the end plate conveying device, and the end plate conveying device conveys the end plate to the riveting rotary table;

[0023] S2, the sleeve feeding device supplies the sleeve to the sleeve taking device, and the sleeve taking device conveys the sleeve to the riveting rotary table;

[0024] S3, the compression driving source is actuated to drive the riveting wheel seat to move towards the riveting turntable until the riveting wheel presses the lower end of the sleeve into the groove of the outer periphery of the end plate;

[0025] S4, the riveting driving source is actuated to drive the riveting turntable to rotate, and the riveting turntable drives the end plate and the sleeve to rotate until the riveting wheel presses the lower end of the sleeve into the groove of the outer periphery of the end plate, so that the sleeve and the end plate are riveted and fixed.

[0026] As described above, the automatic assembly system and method for riveting the end plate and the sleeve of the pipe pile according to the present application has the following beneficial effects:

[0027] The present application can automatically complete the feeding and conveying of the end plate, the feeding and conveying of the sleeve, and the riveting of the end plate and the sleeve, realizes the continuous automatic riveting assembly of the end plate and the sleeve, reduces the labor intensity of the workers, and especially significantly improves the riveting efficiency and quality of the end plate and the sleeve, and thus improves the production efficiency and quality of the pipe pile. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 It is a structural schematic view of the end plate, which is a sectional view.

[0029] Figure 2 It is a front view of the end plate.

[0030] Figure 3 It is a structural schematic view of the sleeve.

[0031] Figure 4 It is a structural schematic view of the end plate and the sleeve after being manually assembled.

[0032] Figure 5 It is a structural schematic view of the end plate and the sleeve after being riveted.

[0033] Figure 6 It is a structural schematic view of the automatic assembly system for riveting the end plate and the sleeve of the pipe pile in the present application.

[0034] Figure 7 It is a front view of Figure 6

[0035] It is a top view of Figure 8 Figure 6

[0036] Figure 9 It is a structural schematic view of the end plate feeding device in the present application.

[0037] Figure 10 It is a front view of Figure 9

[0038] Figure 11 Figure 9 ​​​​a top view of the end plate.

[0039] Figure 12 is a schematic view of the end plate conveying device in the present application.

[0040] Figure 13 is a schematic view of the end plate conveying device in the present application. Figure 12

[0041] Figure 14 is a schematic view of the end plate conveying device in the present application. Figure 13

[0042] Figure 15 is a schematic view of the end plate conveying device in the present application. Figure 12

[0043] Figure 16 is a schematic view of the end plate conveying device in the present application. Figure 15

[0044] Figure 17 is a schematic view of the end plate conveying device in the present application.

[0045] Figure 18 is a schematic view of the end plate conveying device in the present application. Figure 17

[0046] Figure 19 is a schematic view of the end plate conveying device in the present application. Figure 17

[0047] Figure 20 is a schematic view of the end plate conveying device in the present application.

[0048] Figure 21 is a schematic view of the end plate conveying device in the present application. Figure 20

[0049] Figure 22 is a schematic view of the end plate conveying device in the present application. Figure 20

[0050] Figure 23 is a schematic view of the end plate conveying device in the present application. Figure 24

[0051] Figure 25 is a schematic view of the end plate conveying device in the present application.

[0052] Figure 26 is a schematic view of the end plate conveying device in the present application. Figure 25

[0053] Figure 27 is a schematic view of the end plate conveying device in the present application.

[0054] Figure 28 is a schematic view of the end plate conveying device in the present application. Figure 27

[0055] Figure 29 is a schematic view of the end plate conveying device in the present application.​​​​​​​​​​​Figure 27 top view of the device.

[0056] Figure 30 is a structure diagram of a set of centering translation stages and components mounted thereon in the present application. Figure 27

[0057] Figure 31 is a structure diagram of a turnover device in the present application.

[0058] Figure 32 is a front view of the device. Figure 31

[0059] Figure 33 is a top view of the device. Figure 31

[0060] Figure 34 is a structure diagram of a finished product receiving mechanism in the turnover device.

[0061] Figure 35 is a structure diagram of a finished product discharging mechanism in the turnover device.

[0062] Figures 36a to 36e is a working diagram of the turnover device.

[0063] Figure 37 and Figure 38 is a structure diagram of a stacking device in different perspectives in the present application.

[0064] Element Number Explanation

[0065] 10 end plate

[0066] 101 recess

[0067] 20 sleeve

[0068] 30 end plate feeding device

[0069] 31 first rack

[0070] 32 first conveying driving source

[0071] 33 end plate grabbing mechanism

[0072] 34 first conveying roller

[0073] 351 head receiving mechanism

[0074] 352 tail receiving mechanism

[0075] 361 receiving rack

[0076] 362 receiving lifting frame

[0077] 363 receiving support rod ​​​

[0078] 364 Material Receiving Lift Drive Source

[0079] 37 First X-axis Truss

[0080] 38 First Z-axis Truss

[0081] 39 Material Picking Lift

[0082] 310 First X-axis driving source

[0083] 311 First Z-axis driving source

[0084] 312 Transmission Shaft

[0085] 40 End plate conveying device

[0086] 41 Second rack

[0087] 42 Support Rollers

[0088] 43 Conveying scraper

[0089] 431 First V-shaped positioning groove

[0090] 44 Second Conveyor Drive Source

[0091] 451 Drive Sprocket

[0092] 452 Driven sprocket

[0093] 453 Drive chain

[0094] 46 Sprocket Cover

[0095] 50-sleeve clamp feeding device

[0096] 51 Third rack

[0097] 52 Second conveyor roller

[0098] 53 Third Conveyor Drive Source

[0099] 54 Side panels

[0100] 55 V-shaped positioning stop plate

[0101] 551 Second V-shaped positioning groove

[0102] 60-sleeve clamp material handling device

[0103] 61 Fourth rack

[0104] 62 First Y-axis Truss

[0105] 63. Transverse sliding table

[0106] 64 First Y-axis driving source

[0107] 65 lifting connection shaft

[0108] 651 shaft flange portion

[0109] 66 second Z-direction driving source

[0110] 67 sleeve grasping mechanism

[0111] 671 expansion driving source

[0112] 672 expansion center shaft

[0113] 673 expansion chassis

[0114] 674 expansion driving slider

[0115] 675 expansion block

[0116] 676 crank shaft

[0117] 677 transmission connecting rod

[0118] 68 floating pressing mechanism

[0119] 681 downward driving source

[0120] 682 floating joint

[0121] 683 sliding bushing

[0122] 684 floating pressing disc

[0123] 70 spin riveting device

[0124] 71 riveting wheel seat

[0125] 72 riveting wheel

[0126] 73 pressing driving source

[0127] 74 fifth rack

[0128] 75 centering translation slide

[0129] 751 active translation slide

[0130] 752 passive translation slide

[0131] 76 centering translation driving source

[0132] 77 centering positioning seat

[0133] 78 centering lifting driving source

[0134] 79 centering wheel

[0135] 711 crank disc

[0136] 712 first link

[0137] 713 second link

[0138] 714 moving connecting frame

[0139] 80 overturning device

[0140] 81 sixth rack

[0141] 82 receiving plate

[0142] 83 receiving driving source

[0143] 84 discharging plate

[0144] 85 discharging driving source

[0145] 86 guide shaft

[0146] 87 shaft support

[0147] 88 protective plate

[0148] 89 buffer pad

[0149] 810 file pole

[0150] 811 positioning pin

[0151] 812 cylinder mounting bracket

[0152] 90 stacking device

[0153] 91 finished product tray

[0154] 92 seventh rack

[0155] 93 finished product grabbing mechanism

[0156] 94 second X-axis truss

[0157] 95 second Y-axis truss

[0158] 96 second Z-axis truss

[0159] 97 stacking connecting frame

[0160] 110 support mold table

[0161] 120 spin riveting turntable

[0162] 130 spin riveting driving source DETAILED DESCRIPTION

[0163] The present application is herein described, by way of example only, with reference to certain embodiments thereof. It is contemplated that alterations and further modifications of the embodiments described herein, will readily occur to those skilled in the art. Thus, the above detailed description should not be construed as limiting, but merely as illustrative of widely anticipated applications of the present application.

[0164] It should be noted that the structures, proportions, sizes, etc. shown in the drawings of the present disclosure are only used to illustrate the content disclosed in the present disclosure, to enable those skilled in the art to understand and read, and are not used to limit the conditions that the present application can be implemented, and therefore do not have technical significance. Any modification of the structure, change of the proportional relationship, or adjustment of the size, without affecting the effects that can be produced by the present application and the purposes that can be achieved, should still fall within the scope of the technology disclosed by the present application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and the like used in the present specification are only for the convenience of clear description, and are not used to limit the scope of the present application. The change or adjustment of the relative relationship, without substantially changing the technical content, is also considered as the scope of the present application.

[0165] It should also be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can be a middle element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through a middle element.

[0166] In addition, the descriptions involving "first", "second", etc. in the present application are only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed by the present application.

[0167] The present application provides an automatic assembly system for pipe pile end plate 10 and sleeve 20 spin riveting, and an automatic assembly method for pipe pile end plate 10 and sleeve 20 spin riveting, which uses the automatic assembly system. As shown in Figure 1 The outer periphery of the pipe pile end plate 10 is provided with a ring of radially recessed grooves 101, and the automatic assembly system and the automatic assembly method involved in the present application are used to press the lower end of the sleeve 20 into the groove 101 of the end plate 10.

[0168] As shown in Figures 6 to 8 , and Figures 12 to 14As shown, the automatic assembly system involved in the present application comprises an end plate feeding device 30, an end plate conveying device 40, a sleeve feeding device 50, a sleeve taking device 60, a riveting device 70, a support mold table 110, a riveting rotating table 120 and a riveting driving source 130; wherein the end plate feeding device 30 is used to supply the end plate conveying device 40 with end plates 10, the end plate conveying device 40 is used to move the end plates 10 supplied by the end plate feeding device 30 to the riveting rotating table 120; the sleeve feeding device 50 is used to supply the sleeve taking device 60 with sleeves 20, the sleeve taking device 60 is used to move the sleeves 20 supplied by the sleeve feeding device 50 to the riveting rotating table 120; the support mold table 110 is fixedly arranged, the riveting rotating table 120 is rotatably installed on the support mold table 110, the riveting driving source 130 is in transmission connection with the riveting rotating table 120, drives the riveting rotating table 120 to rotate, and the riveting rotating table 120 is used to carry the end plates 10 and the sleeves 20; the riveting device 70 comprises a riveting wheel seat 71 capable of moving towards or away from the riveting rotating table 120, a riveting wheel 72 rotatably installed on the riveting wheel seat 71 through a bearing, and a pressing driving source 73 in transmission connection with the riveting wheel seat 71 and driving the riveting seat to move towards or away from the riveting rotating table 120. When the automatic assembly system is in the initial state, the riveting wheel seat 71 is in the initial position away from the riveting rotating table 120.

[0169] The automatic assembly method involved in the present application uses the automatic assembly system, and comprises the following steps:

[0170] S1, the end plate feeding device 30 supplies the end plate conveying device 40 with end plates 10, and the end plate conveying device 40 conveys the end plates 10 to the riveting rotating table 120;

[0171] S2, the sleeve feeding device 50 supplies the sleeve taking device 60 with sleeves 20, the sleeve taking device 60 conveys the sleeves 20 to the riveting rotating table 120, and makes the lower end of the sleeve 20 be sleeved on the outer periphery of the end plate 10;

[0172] S3, the pressing driving source 73 acts, drives the riveting wheel seat 71 to move towards the riveting rotating table 120, the riveting wheel 72 on the riveting wheel seat 71 moves towards the sleeve 20, and the riveting wheel 72 presses the lower end of the sleeve 20 into the groove 101 on the outer periphery of the end plate 10;

[0173] S4, the riveting driving source 130 acts, drives the riveting rotating table 120 to rotate, the riveting rotating table 120 drives the end plate 10 and the sleeve 20 carried thereby to rotate, under the joint action of the rotating table and the riveting wheel 72, the riveting wheel 72 gradually presses the lower end of the sleeve 20 into the groove 101 on the outer periphery of the end plate 10, finally the riveting wheel 72 completely presses the lower end of the sleeve 20 into the groove 101 on the outer periphery of the end plate 10, the sleeve 20 and the end plate 10 are riveted and fixed, and a finished product is formed, like Figure 5As shown, rivet assembly of the end plate 10 and the sleeve 20 is completed.

[0174] Therefore, the automatic assembly system and the automatic assembly method according to the present application can automatically complete the feeding and conveying of the end plate 10, the feeding and conveying of the sleeve 20, and the rivet assembly of the end plate 10 and the sleeve 20, realize the continuous automatic rivet assembly of the end plate 10 and the sleeve 20, reduce the labor intensity of the workers, and particularly significantly improve the rivet efficiency and quality of the end plate 10 and the sleeve 20, and thus improve the production efficiency and quality of the pipe pile.

[0175] Further, as shown in Figures 6 to 8 the automatic assembly system according to the present application further comprises a turnover device 80 and a stacking device 90, the turnover device 80 is used for turning the finished product by 180° so that the end plate 10 faces upward, and the stacking device 90 is used for automatically stacking the finished product, and the turnover device 80 and the stacking device 90 are used for realizing the feeding of the finished product.

[0176] Further, as shown in Figure 12 and Figure 13 the support mold table 110 and the rivet rotating table 120 are arranged on the conveying path of the end plate conveying device 40 conveying the end plate 10, and each device in the automatic assembly system is arranged around the end plate conveying device 40 and the rivet rotating table 120. Specifically, as shown in Figures 6 to 8 the end plate feeding device 30 and the end plate conveying device 40 both convey the end plate 10 to the left, the end plate feeding device 30 is arranged at the right end side of the end plate conveying device 40 and the rivet rotating table 120, the sleeve feeding device 50 conveys the sleeve 20 to the front, the sleeve feeding device 50 is arranged at the rear end side of the end plate conveying device 40 and the rivet rotating table 120, the sleeve taking device 60 and the rivet device 70 are both arranged above the end plate conveying device 40, i.e. arranged directly above the support mold table 110 and the rivet rotating table 120, and the turnover device 80 is arranged at the left end side of the end plate conveying device 40 and the rivet rotating table 120, and the turnover device 80 is also arranged at the right end side of the stacking device 90. The preferred embodiments of each device in the automatic assembly system are described below. In addition, in the following embodiments, the X direction refers to the left-right direction, the Y direction refers to the front-rear direction, and the Z direction refers to the up-down direction.

[0177] The end plate feeding device 30

[0178] As shown in Figures 9 to 11As shown, the end plate feeding device 30 comprises a first frame 31 fixedly arranged, a first conveying component movably mounted on the first frame 31, a first conveying driving source 32 mounted on the first frame 31, an end plate grabbing mechanism 33 movably mounted on the first frame 31, and a feeding driving source. The first conveying component carries the end plate 10 thereon, the first conveying driving source 32 is in transmission connection with the first conveying component, and drives the first conveying component to move, so as to drive the first conveying component to convey the end plate 10 to the left; the end plate grabbing mechanism 33 is used for detachably grabbing the end plate 10, and the feeding driving source is in transmission connection with the end plate grabbing mechanism 33, and drives the end plate grabbing mechanism 33 to reciprocate between the first conveying component and the end plate conveying device 40, so as to drive the end plate grabbing mechanism 33 to feed the end plate 10 conveyed by the first conveying component to the end plate conveying device 40, thereby realizing that the end plate feeding device 30 supplies the end plate 10 to the end plate conveying device 40.

[0179] Preferably, the first conveying component has various forms, and can adopt a belt conveying form or a roller conveying form; in the embodiment, the first conveying component is preferably in the form of roller conveying. As shown in Figures 9 to 11 As shown, the first conveying component is a plurality of first conveying rollers 34 rotatably mounted on the first frame 31, the plurality of first conveying rollers 34 extend axially in front and back, and the plurality of first conveying rollers 34 are arranged side by side in the left-right direction; the first conveying driving source 32 is a motor, the first conveying driving source 32 is in transmission connection with the plurality of first conveying rollers 34 through a chain wheel and chain mechanism, drives the plurality of first conveying rollers 34 to rotate, and further conveys the end plate 10 to the left along the X direction. The end plate grabbing mechanism 33 also has various forms, and in the embodiment, the end plate grabbing mechanism 33 is an electric permanent magnet suction cup, which absorbs the end plate 10 after being electrified, and releases the end plate 10 after being de-energized.

[0180] As shown in Figures 9 to 11As shown, the end plate feeding device 30 further comprises a head receiving mechanism 351 arranged at the head end of the right side of the first conveying component, and a tail receiving mechanism 352 arranged at the tail end of the left side of the first conveying component; the head receiving mechanism 351 and the tail receiving mechanism 352 are identical in structure, and each comprises a fixed receiving rack 361, a receiving lifting frame 362 liftably mounted on the receiving rack 361, a plurality of receiving support rods 363 all fixed on the receiving lifting frame 362, and a receiving lifting driving source 364 mounted on the receiving rack 361; the receiving lifting driving source 364 is a pneumatic cylinder, the pneumatic cylinder piston rod of the receiving lifting driving source 364 is connected with the receiving lifting frame 362, and drives the receiving lifting frame 362 and the plurality of receiving support rods 363 thereon to move upward or downward, so that the receiving support rods 363 extend upward from the gap between two adjacent first conveying rollers 34, or the receiving support rods 363 sink downward into the gap between two adjacent first conveying rollers 34. The station of the end plate feeding device 30 at the head receiving mechanism 351 is a first receiving stacking position, and first receiving is performed; the station of the end plate feeding device 30 at the tail receiving mechanism 352 is a second receiving stacking position, and second receiving is performed. Preferably, the end plate feeding device 30 is provided with a detection switch at the second receiving stacking position, for detecting whether the end plate 10 is conveyed to the position.

[0181] As Figures 9 to 11As shown, the end plate feeding device 30 further comprises a first X-axis frame 37 fixed at the upper end of the first frame 31, a first Z-axis frame 38 movably mounted on the first X-axis frame 37 along the X direction, and a material taking lifting frame 39 movably mounted on the first Z-axis frame 38 along the Z direction; the first X-axis frame 37 extends horizontally along the X direction, and the left end of the first X-axis frame 37 is distributed above the right segment of the end plate conveying device 40; the end plate grabbing mechanism 33 is fixed at the lower end of the material taking lifting frame 39; the feeding driving source comprises a first X-direction driving source 310 and a first Z-direction driving source 311, both of which are motors. The first X-direction driving source 310 is mounted on the first Z-axis frame 38, and the motor shaft of the first X-direction driving source 310 is connected with a transmission shaft 312 extending along the X direction through a belt wheel mechanism, the transmission shaft 312 is rotatably supported on the first Z-axis frame 38, and the left and right ends of the transmission shaft 312 are connected with the first X-axis frame 37 through a set of gear and rack mechanisms respectively; when the first X-direction driving source 310 operates, the first Z-axis frame 38 is driven to move along the first X-axis frame 37 left and right through the belt wheel mechanism, the transmission shaft 312 and the gear and rack mechanism in turn, and the end plate grabbing mechanism 33 and the end plate 10 grabbed thereby are driven to move along the first X-axis frame 37 left and right. The first Z-direction driving source 311 is mounted on the first Z-axis frame 38, and the motor shaft of the first Z-direction driving source 311 is connected with the material taking lifting frame 39 through a screw and nut mechanism, driving the material taking lifting frame 39 and the end plate grabbing mechanism 33 to move up and down along the first Z-axis frame 38.

[0182] Preferably, the end plate feeding device 30 further comprises a first linear guide rail assembly extending along the X direction and a second linear guide rail assembly extending along the Z direction; the first linear guide rail assembly is arranged between the first X-axis frame 37 and the first Z-axis frame 38, providing guidance for the left and right movement of the first Z-axis frame 38; the second linear guide rail assembly is arranged between the first Z-axis frame 38 and the material taking lifting frame 39, providing guidance for the up and down movement of the material taking lifting frame 39 and the end plate grabbing mechanism 33.

[0183] The working process of the above-mentioned end plate feeding device 30 for automatically feeding the end plate 10 is as follows.

[0184] I. At the first receiving position, the receiving lifting driving source 364 in the head receiving mechanism 351 is lifted up, so that the receiving support rod 363 of the head receiving mechanism 351 is higher than the upper roller surface of the first conveying roller 34; the crane puts the bundled end plate 10 onto the receiving support rod 363 of the head receiving mechanism 351 through the lifting tool; after the lifting tool is separated from the bundled end plate 10, the crane moves away with the lifting tool; the receiving lifting driving source 364 in the head receiving mechanism 351 is retracted down, so that the receiving support rod 363 of the head receiving mechanism 351 is slowly lowered until it is below the upper roller surface of the first conveying roller 34, and then the bundled end plate 10 is transferred to the first conveying roller 34.

[0185] II. The bundled end plate 10 is unbundled; the first conveying driving source 32 is operated to drive the first conveying roller 34 to rotate and convey the bundled end plate 10 to the left until it is conveyed to the predetermined position of the second receiving position.

[0186] III. At the second receiving position, after the detection switch detects that the bundled end plate 10 is conveyed to the position, the receiving lifting driving source 364 in the tail receiving mechanism 352 is lifted up, so that the receiving support rod 363 of the tail receiving mechanism 352 is higher than the upper roller surface of the first conveying roller 34; the receiving support rod 363 of the tail receiving mechanism 352 is lifted up to lift the bundled end plate 10, so that the bundled end plate 10 is separated from the first conveying roller 34.

[0187] IV. The end plate feeding device 30 can repeat steps I to III to perform the next feeding operation, so that the bundled end plate 10 is stored at the middle position of the first conveying part and the first receiving position for standby. At the same time, at the second receiving position, the first Z-direction driving source 311 is operated to drive the material taking lifting frame 39 to descend until the electric permanent magnetic suction plate arranged in a tripod at the lower end of the material taking lifting frame 39 contacts the uppermost end plate 10; the electric permanent magnetic suction plate is powered on to adsorb the end plate 10; the first Z-direction driving source 311 is reversely operated to drive the material taking lifting frame 39, the electric permanent magnetic suction plate and the adsorbed end plate 10 to move upward; the first X-direction driving source 310 is operated to drive the first Z-axis truss 38 to move leftward to the predetermined discharging position, so that the first Z-axis truss 38 drives the material taking lifting frame 39, the electric permanent magnetic suction plate and the adsorbed end plate 10 to move leftward to the predetermined discharging position; the first Z-direction driving source 311 is operated to drive the material taking lifting frame 39, the electric permanent magnetic suction plate and the adsorbed end plate 10 to descend until they are lowered to the predetermined discharging height, and then the electric permanent magnetic suction plate is powered off to release the end plate 10, and then the end plate 10 is discharged onto the end plate conveying device 40, i.e., onto the supporting roller 42; finally, the first Z-direction driving source 311 drives the electric permanent magnetic suction plate to reset along the Z-direction, and the first X-direction driving source 310 drives the first Z-axis truss 38 to reset along the X-direction, so as to prepare for the next automatic feeding of the end plate 10.

[0188] The end plate conveying device 40

[0189] As shown in Figure 12 , Figure 13 and Figure 15 , the end plate conveying device 40 comprises a fixedly arranged second rack 41, a plurality of support rollers 42 rotatably mounted on the second rack 41, a plurality of conveying blades 43 movably mounted on the second rack 41, and a second conveying driving source 44 mounted on the second rack 41. Among them, the plurality of support rollers 42 extend axially front and back, and the plurality of support rollers 42 are arranged side by side left and right, and the support rollers 42 are used to support the end plate 10. The plurality of conveying blades 43 extend horizontally front and back, and the plurality of conveying blades 43 are arranged side by side left and right, the second conveying driving source 44 is in transmission connection with the plurality of conveying blades 43, drives the plurality of conveying blades 43 distributed on the upper side of the support roller 42 to translate left, drives the end plate 10 on the support roller 42 to move left, and realizes the end plate conveying device 40 conveying the end plate 10 leftward along the X direction. The spin riveting turntable 120 is arranged at the center position of the support mold table 110, and the support mold table 110 and the spin riveting turntable 120 are arranged on the moving path of the conveying blade 43, and a plurality of support rollers 42 are arranged on the left side and the right side of the support mold table 110; in the up-down direction, the conveying blade 43 on the upper side of the support roller 42 is arranged on the upper side of the support roller 42, the support mold table 110 and the spin riveting turntable 120.

[0190] Preferably, as shown in Figure 13 and Figure 14 , the spin riveting driving source 130 is a motor connected with the spin riveting turntable 120 through a speed reducer to drive the spin riveting turntable 120 to rotate; the spin riveting driving source 130 and the speed reducer are fixed on the lower end face of the support mold table 110. Taking the conveying blade 43 distributed on the upper side of the support roller 42 as an example, the left edge side of the conveying blade 43 is provided with a first V-shaped positioning groove 431; in the left-right direction, the center line of the first V-shaped positioning groove 431 is collinear with the center line of the spin riveting turntable 120, the first V-shaped positioning groove 431 faces the end plate 10 and is used to abut the outer periphery of the end plate 10, the first V-shaped positioning groove 431 can convey the end plate 10 leftward, and has the effect of converging the end plate 10 to the center line of the first V-shaped positioning groove 431, which is beneficial to the centering of the end plate 10 and the spin riveting turntable 120.

[0191] Further, as shown in Figure 12 , Figure 15 and Figure 16 ,As shown, the end plate conveying device 40 also includes a sprocket and chain mechanism. This sprocket and chain mechanism includes a driving sprocket 451 and a driven sprocket 452, both rotatably mounted on the second frame 41, and a transmission chain 453 sleeved around the outer periphery of the driving sprocket 451 and the driven sprocket 452. The second conveying drive source 44 is a motor and is connected to the driving sprocket 451. Several conveying scrapers 43 are equally spaced and mounted on the transmission chain 453. Preferably, the sprocket and chain mechanism has sprocket covers 46 at both the driving sprocket 451 and the driven sprocket 452. The sprocket covers 46 are fixed to the second frame 41, and the driving sprocket 451 and the driven sprocket 452 are retracted inside the sprocket covers 46. The electro-permanent magnet chuck in the end plate feeding device 30 releases a single end plate 10 to the predetermined feeding position of the support roller 42; the second conveying drive source 44 is activated, conveying the end plate 10 on the support roller 42 to the left through the sprocket chain mechanism and the conveying scraper 43; each time the second conveying drive source 44 is activated, it conveys to the left by one step, one step is equal to the center distance between the two conveying scrapers 43 in the left and right direction, that is, it conveys one end plate 10 to the left, thereby conveying the single end plate 10 on the right side of the adjacent support mold table 110 to the riveting turntable 120, and conveying the riveted end plate 10 and the sleeve 20 on the riveting turntable 120 to the left side of the support roller 42 of the support mold table 110. At this time, the end plate 10 on the riveting turntable 120 is waiting to be riveted and assembled with the sleeve 20 into a finished product. After riveting, the second conveying drive source 44 conveys to the left by one step, moving the finished product from the riveting turntable 120 to the left. At the same time, it also conveys the next single end plate 10 to be riveted to the left onto the riveting turntable 120, preparing for the next assembly and riveting operation with the sleeve 20.

[0192] During operation, the feeding of stacked bundled end plates 10 on the end plate feeding device 30 and the feeding of single end plates 10 on the end plate conveying device 40 do not conflict with each other and can be carried out simultaneously to achieve continuous feeding of end plates 10.

[0193] 50 clamp feeding device

[0194] like Figures 17 to 19 As shown, the sleeve feeding device 50 includes a fixedly mounted third frame 51, a second conveying component movably mounted on the third frame 51, and a third conveying drive source 53 mounted on the third frame 51. The second conveying component carries the sleeve 20, and the third conveying drive source 53 is drively connected to the second conveying component, thereby conveying the sleeve 20 forward along the Y direction. Therefore, the conveying direction of the second conveying component is perpendicular to the conveying direction of the end plate conveying device 40. Preferably, the second conveying component can take various forms, such as belt conveying or roller conveying; in this embodiment, the second conveying component is preferably roller conveying. Figures 17 to 19As shown, the second conveying component is a plurality of second conveying rollers 52 rotatably mounted on the second frame 41, the plurality of second conveying rollers 52 extend axially left and right, and are arranged side by side in the front-rear direction; the third conveying driving source 53 is a motor, and is drivingly connected with the plurality of second conveying rollers 52 through a chain and sprocket mechanism, to drive the plurality of second conveying rollers 52 to rotate, and in turn to convey the cuff 20 forward along the Y direction.

[0195] Further, as shown, Figures 17 to 19 The cuff feeding device 50 further includes a side baffle 54 and a V-shaped positioning stop plate 55, both fixed at the front end of the third frame 51, and both arranged above the second conveying component. The side baffle 54 has two, which are arranged symmetrically left and right at the left and right sides of the end of the second conveying component. The V-shaped positioning stop plate 55 is arranged at the end of the second conveying component, and has a second V-shaped positioning groove 551 in the middle, with the V-shaped opening facing backward, i.e. toward the cuff 20, and used to abut against the outer periphery of the cuff 20; in the front-rear direction, the center line of the second V-shaped positioning groove 551 is collinear with the center line of the spin riveting turntable 120. When the second conveying rollers 52 convey the cuff 20 forward, the cuff 20 stops moving forward when reaching the V-shaped positioning stop plate 55, and at this point, the cuff 20 of different diameter specifications has a relatively fixed center position at the V-shaped positioning stop plate 55, which serves as the positioning center for the following cuff taking device 60 to take the cuff; the side baffle 54 prevents the cuff 20 from being detached from the top of the second conveying rollers 52. After the cuff 20 is conveyed into the second V-shaped positioning groove 551, the following cuff taking device 60 can perform the taking operation; after the cuff taking device 60 completes the taking operation, the cuff feeding device 50 starts the feeding, conveying and positioning operations of the next cuff 20.

[0196] The cuff taking device 60

[0197] As shown, Figures 20 to 22As shown, the sleeve taking device 60 comprises a fixed fourth rack 61, a first Y-axis truss 62 fixed to the fourth rack 61 and extending front and back, a transverse sliding table 63 movably mounted on the first Y-axis truss 62 in the Y direction, a first Y-direction driving source 64, a lifting connecting shaft 65 movably mounted on the transverse sliding table 63 in the Z direction, a second Z-direction driving source 66, and a sleeve grabbing device 67; wherein the first Y-direction driving source 64 is in transmission connection with the transverse sliding table 63, drives the transverse sliding table 63 to move front and back, so that the transverse sliding table 63 drives the sleeve grabbing device 67 to move back and forth between the rivet mandrel rotating table 120 and the front end of the second conveying component; the second Z-direction driving source 66 is in transmission connection with the lifting connecting shaft 65, the sleeve grabbing device 67 is installed at the lower end of the lifting connecting shaft 65, the sleeve grabbing device 67 is used for detachably grabbing the sleeve 20, and the second Z-direction driving source 66 drives the sleeve grabbing device 67 to move up and down through the lifting connecting shaft 65.

[0198] Preferably, as Figures 20 to 22 shown, the first Y-direction driving source 64 is a motor installed on the transverse sliding table 63, the first Y-direction driving source 64 is connected with the first Y-axis truss 62 through a gear and rack mechanism, the gear in the gear and rack mechanism is fixed on the motor shaft of the first Y-direction driving source 64, and the rack in the gear and rack mechanism is fixed on the first Y-axis truss 62; when the motor shaft of the first Y-direction driving source 64 rotates, the transverse sliding table 63 is driven to move forward or backward along the first Y-axis truss 62 through the gear and rack mechanism. A third linear guide rail assembly extending front and back is further connected between the first Y-axis truss 62 and the transverse sliding table 63, so as to provide guidance for the front and back movement of the transverse sliding table 63. The second Z-direction driving source 66 is a motor, which is connected with the lead screws in the front and back two sets of screw nut mechanisms through two sets of synchronous wheel synchronous belt mechanisms respectively, the nuts in the front and back two sets of screw nut mechanisms are connected with the lifting connecting shaft 65, the upper end of the lifting connecting shaft 65 is integrally provided with a shaft flange part 651, the lead screws in the screw nut mechanisms are rotatably supported in the transverse sliding table 63, and the nuts in the screw nut mechanisms are fixedly connected with the shaft flange part 651.

[0199] Further, the lifting connecting shaft 65 is a hollow shaft, and the sleeve grabbing device 67 is a bulging taking and placing mechanism. As Figure 23 and Figure 24As shown, the inflation and taking-off device includes an inflation driving source 671, an inflation center shaft 672 rotatably supported in the lifting connecting shaft 65 through a bearing, and an inflation assembly installed at the lower end of the inflation center shaft 672. The inflation driving source 671 is fixed on the shaft flange part 651 at the upper end of the lifting connecting shaft 65 through the end plate 10 flange, and is in transmission connection with the upper end of the inflation center shaft 672 to drive the rotation of the inflation center shaft 672. The inflation driving source 671 is preferably a rotary cylinder, and is in transmission connection with the inflation center shaft 672 through a key to transmit rotary motion. The inflation assembly is used to extend into the sleeve 20, and includes an inflation base plate 673 fixed on the outer periphery of the lower end of the lifting connecting shaft 65 through an inflation sleeve, a plurality of inflation driving sliders 674 movably installed on the inflation base plate 673 along the radial direction of the sleeve 20, an inflation block 675 fixedly connected with each inflation driving slider 674 through a screw, a crank shaft 676 fixed at the lower end of the inflation center shaft 672, and a plurality of transmission connecting rods 677, both ends of each transmission connecting rod 677 being hingedly connected with the crank shaft 676 and the inflation driving slider 674, respectively. When the inflation driving source 671 drives the rotation of the inflation center shaft 672, the crank shaft 676 rotates together with the inflation center shaft 672, and drives the inflation block 675 to translate along the radial direction of the sleeve 20 through the transmission connecting rod 677 and the inflation driving slider 674, so as to realize the radial expansion and contraction of the plurality of inflation blocks 675, thereby detachably grabbing the sleeve 20. In the embodiment, the inflation block 675 has four fan-shaped blocks.

[0200] Further, as shown in Figure 20 , and Figure 25 and Figure 26 , the sleeve taking-off device 60 further includes a floating pressing mechanism 68, which includes a downward pressing driving source 681 installed on the transverse sliding table 63, a floating joint 682, a sliding bushing 683 which is slidably sleeved on the outer periphery of the lifting connecting shaft 65, and a floating pressing disc 684 rotatably installed on the outer periphery of the sliding bushing 683 through a bearing. The downward pressing driving source 681 is a cylinder, and the lower end of the cylinder piston rod of the downward pressing driving source 681 is connected with the sliding bushing 683 through the floating joint 682. The floating pressing disc 684 is used to press the sleeve 20 downward.

[0201] The working process of the sleeve taking-off device 60 is as follows.

[0202] I. When the sleeve 20 is transported to the material taking positioning center by the sleeve feeding device 50, the first Y-direction driving source 64 is actuated to drive the transverse sliding table 63, the lifting connecting shaft 65 and the sleeve taking and placing mechanism to move backward to the top of the material taking positioning center, reaching the center position of the sleeve 20; the second Z-direction driving source 66 is actuated to drive the lifting connecting shaft 65 and the sleeve taking and placing mechanism to move downward through the synchronous wheel synchronous belt mechanism and the screw nut mechanism; when the sleeve taking and placing mechanism moves downward to the bottom of the sleeve 20, the inflation driving source 671 is actuated to drive the inflation center shaft 672 to rotate, and the inflation driving block 674 is driven to expand radially through the transmission connecting rod 677 and the inflation driving block 674, so as to inflate the sleeve 20 and realize the grasping of the sleeve 20. Since the sleeve 20 has small wall thickness and small rigidity, the sleeve 20 is expanded outward from the inside by the inflation block 675, which can more easily ensure the roundness of the sleeve 20 after inflation and make the sleeve 20 easily assembled with the end plate 10. In addition, different specifications of the sleeve 20 correspond to different specifications of the inflation block 675, so as to ensure that the four inflation blocks 675 are just matched with the stop opening circle of the end plate 10 after inflation. Therefore, when another kind of sleeve 20 end plate 10 product with different outer diameter is produced, the inflation block 675 needs to be replaced; when replaced, the transverse sliding table 63, the lifting connecting shaft 65 and the sleeve taking and placing mechanism can be moved along the Y direction to the space opening position of the first Y-axis truss 62 through the first Y-direction driving source 64, so as to facilitate the operation of replacing the inflation block 675.

[0203] II. The second Z-direction driving source 66 is reversely actuated to drive the lifting connecting shaft 65, the sleeve taking and placing mechanism and the inflated sleeve 20 to move upward; after moving to the predetermined height, the first Y-direction driving source 64 is reversely actuated to drive the transverse sliding table 63, the lifting connecting shaft 65, the sleeve taking and placing mechanism and the inflated sleeve 20 to move forward until moving to the top of the spin riveting turntable 120, so that the sleeve 20 is aligned with the end plate 10.

[0204] III. The first Y-direction driving source 64 is actuated to drive the sleeve taking and placing mechanism and the sleeve 20 to move downward to the specified height, so that the sleeve 20 hovers above the end plate 10, a certain gap is maintained between the sleeve 20 and the end plate 10, and the sleeve taking and placing mechanism still maintains the inflation of the sleeve 20; the piston rod of the downward driving source 681 extends downward to drive the sliding bushing 683 and the floating pressing disc 684 to move downward, the floating pressing disc 684 hits the sleeve 20 downward to assemble the sleeve 20 on the outer periphery of the end plate 10, and the floating pressing disc 684 maintains the downward pressing of the sleeve 20, so as to press the sleeve 20 and the end plate 10 downward on the spin riveting turntable 120.

[0205] IV. The inflation driving source 671 is reversely actuated to drive the inflation block 675 to retract radially, so that the inflation block 675 is separated from the sleeve 20 and the sleeve 20 is released.

[0206] V. The spin rivet driving source 130 drives the spin rivet turntable 120 to rotate, and the spin rivet device 70 is combined to press all the lower ends of the sleeve hoops 20 inward into the grooves 101 on the outer periphery of the end plate 10, and the spin rivet assembly of the sleeve hoops 20 and the end plate 10 is completed.

[0207] VI. After the spin riveting is completed, the cylinder piston rod of the downward driving source 681 is reset, the sliding bushing 683 and the floating pressing disc 684 are driven to move upward and reset, the first Y-direction driving source 64 is reset, the lifting connecting shaft 65 and the expansion tight taking and placing mechanism are driven to move upward and reset, the second Z-direction driving source 66 is reset, the transverse sliding table 63, the lifting connecting shaft 65 and the expansion tight taking and placing mechanism are driven to move backward and reset, that is, to the top of the taking positioning center, and the next expansion tight taking of the sleeve hoops 20 is prepared.

[0208] The spin rivet device 70

[0209] The spin rivet device 70 is arranged above the spin rivet turntable 120. As shown in Figures 27 to 30 , the spin rivet device 70 further comprises a fifth rack 74 fixedly arranged, two centering translation sliding tables 75 movably mounted on the fifth rack 74 in the Y-direction, a centering translation driving source 76 mounted on the fifth rack 74, a centering transmission mechanism, a centering positioning seat 77 movably mounted on each centering translation sliding table 75, a centering lifting driving source 78 mounted on the centering translation sliding table 75, and a centering wheel 79 rotatably mounted on the centering positioning seat 77 through a bearing; wherein the centering translation sliding tables 75 are front and back, and the components mounted thereon are front and back symmetrical structures; the centering translation driving source 76 is in transmission connection with the two centering translation sliding tables 75 through the centering transmission mechanism, and drives the two centering translation sliding tables 75 to move radially towards or away from the end plate 10; the centering lifting driving source 78 is a cylinder, and the cylinder piston rod of the centering lifting driving source 78 is connected with the centering positioning seat 77, and drives the centering positioning seat 77 and the components mounted thereon to move up and down together; the pressing driving source 73 is fixed on the centering positioning seat 77, the pressing driving source 73 is a cylinder, and the cylinder piston rod of the pressing driving source 73 is connected with the rivet wheel seat 71, and drives the rivet wheel seat 71 and the rivet wheel 72 to move forward or backward together, so that the rivet wheel 72 approaches or moves away from the end plate 10 on the spin rivet turntable 120. Preferably, one centering wheel 79 is arranged on the left and right sides of the rivet wheel 72, and then four centering wheels 79 are arranged in the spin rivet device 70, and the center of the circle surrounded by the four centering wheels 79 coincides with the center of the spin rivet turntable 120; with the outer circle position of the end plate 10 as the positioning reference, the four centering wheels 79 are all used to be in tangential contact with the outer periphery of the end plate 10, and can adapt to end plates 10 with different outer circle diameters.

[0210] Further, as shown in Figures 27 to 29As shown, the two centering translation slides 75, the front one is defined as the active translation slide 751, and the rear one is defined as the passive translation slide 752. The centering translation drive source 76 is a cylinder, the piston rod of which is connected to the active translation slide 751, and the centering transmission mechanism includes a crank disc 711 rotatably mounted on the fifth rack 74, a first connecting rod 712, a second connecting rod 713, and a movable connecting frame 714 movably mounted on the fifth rack 74, both ends of the first connecting rod 712 are hingedly connected to the active translation slide 751 and one end of the crank disc 711 respectively, both ends of the second connecting rod 713 are hingedly connected to the other end of the crank disc 711 and the movable connecting frame 714 respectively, and the passive translation slide 752 is fixed to the movable connecting frame 714. When the piston rod of the cylinder of the centering translation drive source 76 extends backward, it directly drives the active translation slide 751 to translate backward; at the same time, the piston rod of the cylinder of the centering translation drive source 76 also drives the movable connecting frame 714 and the passive translation slide 752 to move forward through the crank disc 711, the first connecting rod 712 and the second connecting rod 713, and drives the two centering translation slides 75 to move towards each other. Conversely, when the piston rod of the cylinder of the centering translation drive source 76 retracts forward, it drives the two centering translation slides 75 to move away from each other.

[0211] Preferably, as Figure 27 As shown, the two centering translation slides 75 are both provided with fourth linear guide rail assemblies extending front and back between the centering translation slides 75 and the fifth rack 74, which provide guidance for the front and back movement of the centering translation slides 75. As Figure 30 As shown, the outer circumferential surface of the centering wheel 79 has a guiding taper, which is beneficial for the riveting assembly of the sleeve 20 and the end plate 10. The centering positioning seat 77 is provided with a fifth linear guide rail assembly extending up and down between the centering positioning seat 77 and the centering translation slide 75, which provides guidance for the up and down movement of the centering positioning seat 77.

[0212] The working process of the above-mentioned riveting device 70 is as follows.

[0213] I. In the initial state, the piston rod of the cylinder of the centering lifting drive source 78 is in the state of retracting upward, so that the centering positioning seat 77, as well as the centering wheel 79 and the riveting wheel 72 mounted thereon, are all in the state of rising.

[0214] II. When the conveying scraper 43 conveys the end plate 10 to the center position of the spin riveting turntable 120, the cylinder piston rod of the centering lifting driving source 78 is lowered to drive the centering wheels 79 and the riveting wheels 72 to descend to the outside of the end plate 10. The cylinder piston rod of the centering translation driving source 76 is extended backward to drive the two centering translation slides 75 to move toward each other, thus driving the front two centering wheels 79 and the rear two centering wheels 79 to move toward each other, and then forcing the end plate 10 to be aligned with the geometric center of the spin riveting turntable 120 and kept, thereby positioning the end plate 10 on the spin riveting turntable 120 for the second time, and ensuring that the center of the end plate 10 is in the geometric center position of the spin riveting turntable 120.

[0215] III. After the sleeve 20 is aligned and assembled on the outer periphery of the end plate 10 by the sleeve taking device 60, the sleeve taking device 60 presses the sleeve 20 downward, and then releases the sleeve 20, thereby pressing the sleeve 20 and the end plate 10 on the spin riveting turntable 120. Then, the cylinder piston rod of the pressing driving source 73 is extended toward the end plate 10 to drive the riveting wheels 72 to move toward the groove 101 of the end plate 10, and the riveting wheels 72 are extended relative to the centering wheels 79 to press the lower end of the sleeve 20 into the groove 101 of the end plate 10.

[0216] IV. The spin riveting driving source 130 drives the spin riveting turntable 120 to rotate, and the riveting wheels 72 press the lower end of the sleeve 20 into the groove 101 of the outer periphery of the end plate 10 little by little, so that the sleeve 20 and the end plate 10 are riveted into a firm whole. In this process, the sleeve 20 and the end plate 10 rotate with the spin riveting turntable 120, so that the centering wheels 79 are passively rotated, i.e., the centering wheels 79 have a floating function.

[0217] The turnover device 80

[0218] As shown in Figures 31 to 33 , the turnover device 80 comprises a sixth rack 81 fixedly arranged, and a finished product receiving mechanism and a finished product discharging mechanism both mounted on the sixth rack 81. The finished product receiving mechanism comprises a receiving plate 82 rotatably mounted on the sixth rack 81, and a receiving driving source 83 mounted on the sixth rack 81, the receiving plate 82 is used to carry the finished product formed after the sleeve 20 and the end plate 10 are riveted, and the receiving driving source 83 is in transmission connection with the receiving plate 82 to drive the receiving plate 82 to rotate, so that the receiving plate 82 is switched between the horizontal state and the vertical state. The finished product discharging mechanism comprises a discharging plate 84 rotatably mounted on the sixth rack 81, and a discharging driving source 85 mounted on the sixth rack 81, the discharging plate 84 is also used to carry the finished product, and the discharging driving source 85 is in transmission connection with the discharging plate 84 to drive the discharging plate 84 to rotate, so that the discharging plate 84 is switched between the horizontal state and the vertical state. The receiving plate 82 and the discharging plate 84 are arranged side by side in the left-right direction, the receiving plate 82 is arranged on the right side, and the discharging plate 84 is arranged on the left side.

[0219] Further, the turnover device 80 also comprises a control system, and the finished product receiving mechanism also comprises a sensor installed on the sixth rack 81 or the receiving plate 82 for sensing whether there is a product on the receiving plate 82; the sensor and the receiving drive source 83 are both in communication connection with the control system. When the control system judges according to the feedback of the sensor that there is a product on the receiving plate 82, the control system can control the receiving drive source 83 to act, so as to drive the receiving plate 82 to turn upward to the vertical state. The type of the sensor is various, for example, the sensor can be a gravity sensor installed on the receiving plate 82, or a photoelectric sensor installed on the sixth rack 81, or an infrared sensor installed on the sixth rack 81, etc., as long as it can be used to detect whether there is a product on the receiving plate 82.

[0220] Further, as shown in Figure 32 and Figure 36a , the receiving drive source 83 and the discharging drive source 85 are both air cylinders. Moreover, the air cylinders constituting the receiving drive source 83 are two, which are distributed on the front and back sides of the receiving plate 82; as shown in Figure 34 , the front and back side edges of the back of the receiving plate 82 are both fixed with air cylinder mounting brackets 812, the piston rods of the air cylinders constituting the receiving drive source 83 are hinged to the air cylinder mounting brackets 812, and the cylinder bodies of the air cylinders constituting the receiving drive source 83 are hinged to the sixth rack 81. Similarly, the air cylinders constituting the discharging drive source 85 are two, which are distributed on the front and back sides of the discharging plate 84; as shown in Figure 35 , the front and back side edges of the back of the discharging plate 84 are also both fixed with air cylinder mounting brackets 812, the piston rods of the air cylinders constituting the discharging drive source 85 are hinged to the air cylinder mounting brackets 812, and the cylinder bodies of the air cylinders constituting the discharging drive source 85 are hinged to the sixth rack 81. Of course, in other embodiments, the receiving drive source 83 and the discharging drive source 85 can also adopt motors, hydraulic cylinders, etc.

[0221] Further, as shown in Figure 32 , Figure 34 , and Figure 36a , the finished product receiving mechanism comprises front and back extending guide shafts 86, the left end and / or the right end of the guide shafts 86 are rotatably supported in the sixth rack 81 through bearings, the front and back ends of the bottom left side of the receiving plate 82 are both fixed with shaft supports 87, the guide shafts 86 of the finished product receiving mechanism are fixedly arranged in the shaft supports 87, so that the receiving plate 82 is rotatably installed on the sixth rack 81; and in the left and right directions, the air cylinder mounting brackets 812 of the back of the receiving plate 82 are distributed on the right side of the shaft supports 87, that is, the hinge centers of the receiving drive source 83 and the receiving plate 82 and the hinge centers of the receiving plate 82 and the sixth rack 81 are arranged in staggered positions. Similarly, as shown in Figure 32 , Figure 35 , and Figure 36aAs shown, the finished product discharging mechanism also includes front and rear extending guide shafts 86, the left end and / or the right end of the guide shafts 86 is rotatably supported in the sixth rack 81 through bearings, the bottom right side of the discharging plate 84 is fixed with shaft supports 87 at both front and rear ends, the guide shafts 86 of the finished product discharging mechanism are fixed in the shaft supports 87, thereby rotatably mounting the discharging plate 84 to the sixth rack 81; and, in the left and right direction, the cylinder mounting supports 812 of the back of the discharging plate 84 are distributed on the left side of the shaft supports 87, i.e. the articulation center of the discharging driving source 85 and the discharging plate 84 is arranged left and right staggered with the articulation center of the discharging plate 84 and the sixth rack 81.

[0222] Further, as shown in Figure 34 the front edge side and the rear edge side of the front of the receiving plate 82 are fixed with left and right extending protective plates 88; when the finished product is carried on the receiving plate 82, the two protective plates 88 of the front of the receiving plate 82 are distributed on the outer peripheral side of the finished product, avoiding the finished product sliding out from the front or rear side of the receiving plate 82. The left end side of the front of the receiving plate 82 is fixed with two front and rear arranged stop rods 810, in the process of the finished product being turned up by the receiving plate 82, the finished product abuts against the stop rods 810 of the front of the receiving plate 82, avoiding the finished product from being separated from the receiving plate 82, also ensuring that the finished product can be turned up with the receiving plate 82. In addition, the left end side of the front of the receiving plate 82 is also fixed with two buffer pads 89, one buffer pad 89 is distributed between the front stop rod 810 and the left end of the front protective plate 88, the other buffer pad 89 is distributed between the rear stop rod 810 and the left end of the rear protective plate 88, when the finished product contacts the stop rod 810, the buffer pad 89 can play a certain buffering effect, avoiding the deformation of the sleeve 20.

[0223] Further, as shown in Figure 35 the front edge side and the rear edge side of the front of the discharging plate 84 are fixed with left and right extending protective plates 88; when the finished product is carried on the discharging plate 84, the two protective plates 88 of the front of the discharging plate 84 are distributed on the outer peripheral side of the finished product, avoiding the finished product sliding out from the front or rear side of the discharging plate 84. The right end side of the front of the discharging plate 84 is fixed with two front and rear arranged stop rods 810, in the process of the finished product being turned down with the discharging plate 84 to the horizontal state, the finished product abuts against the stop rods 810 of the front of the discharging plate 84, avoiding the finished product from being separated from the discharging plate 84, also ensuring that the finished product can be turned down with the discharging plate 84. In addition, the right end side of the front of the discharging plate 84 is also fixed with two buffer pads 89, one buffer pad 89 is distributed between the front stop rod 810 and the right end of the front protective plate 88, the other buffer pad 89 is distributed between the rear stop rod 810 and the right end of the rear protective plate 88, when the finished product contacts the stop rod 810, the buffer pad 89 can play a certain buffering effect, avoiding the deformation of the sleeve 20.

[0224] Further, as shown in Figure 31 andFigure 35 As shown, a plurality of positioning pins 811 are fixed on the front surface of the discharge plate 84; when the finished product is carried on the discharge plate 84, the positioning pins 811 are used to abut against the outer circumferential side of the cuff 20, realizing positioning of the finished product, and under the action of the positioning pins 811, the buffer pad 89, the stop lever 810 and the protective plate 88, the finished product is reliably kept on the discharge plate 84.

[0225] The working process of the above-mentioned turnover device 80 is as follows.

[0226] I. Initial state: as shown in Figure 36a The cylinder piston rod of the receiving driving source 83 is extended by a preset length, so that the receiving plate 82 is kept in an inclined state, and the included angle between the receiving plate 82 and the horizontal plane is about 15°; alternatively, the receiving driving source 83 keeps the receiving plate 82 in a horizontal state; the cylinder piston rod of the discharge driving source 85 is extended, so that the discharge plate 84 is kept in a vertical state, and the included angle between the discharge plate 84 and the horizontal plane is 90°.

[0227] II. Sensing incoming material: as shown in Figure 36b The finished product is pushed to the receiving plate 82 by the conveying scraper 43, and the end of the cuff 20 riveted with the end plate 10 is on the lower side; the control system judges that there is finished product on the receiving plate 82 according to the feedback of the sensor.

[0228] III. Docking: as shown in Figure 36c The cylinder piston rod of the receiving driving source 83 is continuously extended, driving the receiving plate 82 to rotate upward to a vertical state, and the receiving plate 82 and the discharge plate 84 are arranged opposite to each other in the left-right direction, i.e., they are arranged opposite to each other along the length direction of the cuff 20; the receiving plate 82 drives the finished product to rotate together, so that the finished product is in a horizontal state, and the right end of the cuff 20 fixed with the end plate 10 and the left end of the cuff 20 not fixed with the end plate 10 are respectively in contact with the receiving plate 82 and the discharge plate 84.

[0229] IV. The discharge plate 84 is turned downward to a discharge state: as shown in Figure 36d The cylinder piston rod of the discharge driving source 85 is retracted, driving the discharge plate 84 to slowly rotate downward to a horizontal state; in this process, the cylinder piston rod of the receiving driving source 83 does not act, keeping the receiving plate 82 in a vertical state, then the finished product is slowly turned downward together with the discharge plate 84 under the action of its own gravity and the limiting action of the receiving plate 82, until it is turned to a horizontal position of 180°, and after turning, the end of the cuff 20 riveted with the end plate 10 is on the upper side, and the trumpet mouth of the cuff 20 faces downward.

[0230] V. The material is taken away: as shown in Figure 36e After the finished product is turned by 180°, the following stacking device 90 removes the finished product from the turnover device 80.

[0231] Six, reset to the initial state: the cylinder piston rod of the receiving driving source 83 retracts a certain length, so that the receiving plate 82 overturns downward until the angle between the receiving plate 82 and the horizontal plane is about 15°; the cylinder piston rod of the discharging driving source 85 extends, so that the discharging plate 84 remains in the vertical state; then, wait for the overturning operation of the next finished product, and enter the next cycle.

[0232] The stacking device 90

[0233] As shown in Figure 37 and Figure 38 , the stacking device 90 includes a finished product tray 91, a seventh rack 92 fixedly arranged, a finished product grabbing mechanism 93 movably mounted on the seventh rack 92, and a stacking driving source mounted on the seventh rack 92, the stacking driving source is in transmission connection with the finished product grabbing mechanism 93, and drives the finished product grabbing mechanism 93 to reciprocate between the finished product tray 91 and the discharging plate 84, and the finished product grabbing mechanism 93 is used for detachably grabbing the finished product. When the overturning device 80 completes the 180° overturning of the finished product, the finished product grabbing mechanism 93 moves to the discharging plate 84 of the overturning device 80 and grabs the finished product on the discharging plate 84; then, the finished product grabbing mechanism 93 moves to the finished product tray 91 and releases the finished product, so that the finished product can be automatically stacked on the finished product tray 91. Through the overturning and stacking of the finished product, the automatic discharging of the finished product is realized. Preferably, the finished product grabbing mechanism 93 is an electric permanent magnet suction cup, which sucks the finished product after being electrified to realize grabbing.

[0234] Further, as shown in Figure 37 and Figure 38 , the finished product tray 91 and the overturning device 80 are arranged in the seventh rack 92, and the overturning device 80 is arranged close to the right side of the seventh rack 92, and the finished product tray 91 is arranged close to the left side of the seventh rack 92, so as to reduce the occupied space and also reduce the movement stroke of the finished product grabbing mechanism 93.

[0235] Further, as shown in Figure 37 and Figure 38As shown, the movement structure of the finished product grabbing mechanism 93 is that the stacking device 90 further comprises a second X-axis truss 94 fixed on the seventh rack 92 and extending left and right, a second Y-axis truss 95 movably mounted on the second X-axis truss 94 in the X direction, a second Z-axis truss 96 movably mounted on the second Y-axis truss 95 in the Y direction, and a stacking connecting rack 97 movably mounted on the second Z-axis truss 96 in the Z direction; the stacking driving source comprises a second X-direction driving source, a second Y-direction driving source and a third Z-direction driving source, all of which are motors, the second X-direction driving source is in transmission connection with the second Y-axis truss 95, the second Y-direction driving source is in transmission connection with the second Z-axis truss 96, and the third Z-direction driving source is in transmission connection with the stacking connecting rack 97, and the finished product grabbing mechanism 93 is fixed on the stacking connecting rack 97.

[0236] The working process of the stacking device 90 is that: in the initial state, the finished product grabbing mechanism 93 faces the end plate 10 on the discharge plate 84; the third Z-direction driving source rotates to drive the stacking connecting rack 97 and the finished product grabbing mechanism 93 to move downward together until the finished product grabbing mechanism 93 is electrified to adsorb the finished product; the third Z-direction driving source reversely rotates to drive the stacking connecting rack 97 and the finished product grabbing mechanism 93 to move upward together; the second Y-direction driving source rotates to drive the second Z-axis truss 96, the stacking connecting rack 97 and the finished product grabbing mechanism 93 to move forward together; the second X-direction driving source rotates to drive the second Y-axis truss 95, the second Z-axis truss 96, the stacking connecting rack 97 and the finished product grabbing mechanism 93 to move left and right together, and the displacement of the finished product grabbing mechanism 93 in the X direction and the Y direction is driven by the second X-direction driving source and the second Y-direction driving source, so that the finished product adsorbed by the finished product grabbing mechanism 93 is moved to the preset stacking coordinate center position; then, the third Z-direction driving source drives the finished product grabbing mechanism 93 to move downward to the preset height, the finished product grabbing mechanism 93 is de-energized to release the finished product, and then the finished product is automatically stacked from the turnover device 80 to the finished product tray 91. Finally, the second X-direction driving source, the second Y-direction driving source and the third Z-direction driving source are reset respectively, and are ready for the next finished product adsorption and stacking operation.

[0237] Preferably, the second X-direction driving source is in transmission connection with the second Y-axis truss 95 through a gear and rack mechanism, the second Y-direction driving source is in transmission connection with the second Z-axis truss 96 through a gear and rack mechanism, and the second X-direction driving source is in transmission connection with the stacking connecting rack 97 through a gear and rack mechanism or a screw and nut mechanism. A sixth linear guide rail assembly extending left and right is arranged between the second X-axis truss 94 and the second Y-axis truss 95 to provide guidance for the left and right movement of the second Y-axis truss 95; a seventh linear guide rail assembly extending forward and backward is arranged between the second Y-axis truss 95 and the second Z-axis truss 96 to provide guidance for the forward and backward movement of the second Z-axis truss 96; and an eighth linear guide rail assembly extending upward and downward is arranged between the second Z-axis truss 96 and the stacking connecting rack 97 to provide guidance for the upward and downward movement of the stacking connecting rack 97.

[0238] In summary, the working process of the automatic assembly system with the above structure is as follows:

[0239] I. The trolley hoists the bundled end plate 10 to the first receiving pile position of the end plate feeding device 30 through the lifting tool, and the bundled end plate 10 is stably dropped on the first conveying roller 34 through the head receiving mechanism 351; the first conveying roller 34 conveys the bundled end plate 10 to the left; after the bundled end plate 10 is conveyed to the left to the second receiving pile position, the bundled end plate 10 is separated from the first conveying roller 34 through the tail receiving mechanism 352; then the end plate grabbing mechanism 33 is lowered to adsorb a single end plate 10, and then the single end plate 10 is moved to the feeding station of the supporting roller 42.

[0240] II. The conveying scraper 43 conveys the single end plate 10 on the supporting roller 42 to the left by a net step distance P, which is determined according to the outer diameter of the end plate 10, to ensure that the end plate 10 with different outer diameters can be conveyed to the center position of the spin riveting turntable 120 each time.

[0241] III. After the single end plate 10 is conveyed to the spin riveting turntable 120, the centering lifting drive source 78 drives the two centering translation slides 75 to move towards each other, and the four centering wheels 79 perform secondary positioning on the end plate 10 on the spin riveting turntable 120, to ensure that the end plate 10 is more accurately kept at the center position of the spin riveting turntable 120, while keeping the rotation freedom of the end plate 10 around the rotation axis direction of the spin riveting turntable 120.

[0242] IV. The second conveying roller 52 conveys the sleeve 20 to the receiving and positioning center, and then the expanding and taking mechanism reaches the receiving and positioning center and then moves downward; after reaching the position, the expanding and taking mechanism expands the sleeve 20; then the expanding and taking mechanism moves the sleeve 20 to the position above the end plate 10 and the spin riveting turntable 120, and the center of the sleeve 20, the center of the end plate 10 and the center of the spin riveting turntable 120 are aligned vertically; the expanding and taking mechanism moves the sleeve 20 downward, so that the sleeve 20 hovers above the end plate 10; then the floating pressing mechanism 68 strikes the sleeve 20 downward, and the sleeve 20 is assembled on the outer periphery of the end plate 10, so that the sleeve 20 enters the stop position of the end plate 10, and the downward pressing of the sleeve 20 is kept.

[0243] V. The inflation of the sleeve 20 by the inflation taking and placing mechanism; the riveting wheel 72 is extended by the pressure driving source 73, the rotary riveting turntable 120 is rotated by the rotary riveting driving source 130, the rotary riveting turntable 120 drives the end plate 10, the sleeve 20 and the floating pressure disc 684 to rotate together, and the sleeve 20 is gradually pressed into the groove 101 of the end plate 10. After a certain time of riveting, the sleeve 20 and the end plate 10 are firmly riveted, then the riveting wheel 72 and the centering wheel 79 retreat from the finished product and rise to reset, the floating pressure disc 684 rises to reset, the inflation taking and placing mechanism rises to reset and moves to the top of the taking positioning center again, and waits for the next sleeve 20 to be inflated and taken.

[0244] VI. The finished product on the rotary riveting turntable 120 is scraped to the supporting roller 42 by the conveying scraper 43, and the next single end plate 10 is scraped to the rotary riveting turntable 120, and the steps three to six are repeated to prepare the rotary riveting of the next end plate 10 and sleeve 20.

[0245] VII. With the left scraping of the conveying scraper 43, the finished product is scraped to the receiving plate 82 of the turnover device 80, the receiving driving source 83 drives the receiving plate 82 to rotate upward to the vertical state, and the discharging driving source 85 drives the discharging plate 84 to rotate slowly downward to the horizontal state, so that the finished product is turned over by 180°, and the end plate 10 is riveted to one end of the sleeve 20 on the upper side, and the trumpet mouth of the sleeve 20 faces downward.

[0246] VIII. The finished product grabbing mechanism 93 moves to the top of the finished product and then moves downward, the finished product grabbing mechanism 93 is electrified to adsorb the finished product, and then moves the finished product to the predetermined coordinate position of the finished product tray 91. Thus, the whole process operation of the rotary riveting assembly of the sleeve 20 and the end plate 10 is completed.

[0247] The application can realize the automatic feeding and positioning of the end plate 10, the automatic feeding and positioning of the sleeve 20, the automatic assembly of the sleeve 20 and the end plate 10, the automatic riveting of the sleeve 20 and the end plate 10, the discharging of the finished product, the automatic turnover of the finished product, and the automatic stacking of the finished product, greatly reducing the labor intensity of the workers, especially significantly improving the riveting efficiency and quality of the end plate 10 and the sleeve 20, and improving the production efficiency and quality of the pipe pile.

[0248] In summary, the application effectively overcomes the shortcomings of the prior art and has high industrial utilization value.

[0249] The above embodiments are only illustrative of the principles of the present application and its efficacy, and are not intended to limit the present application. Any modification or change made by any person skilled in the art without departing from the spirit and scope of the present application shall be covered by the claims of the present application.

Claims

1. An automatic assembly system for spin riveting of a pipe pile end plate (10) and a sleeve (20), characterized by: The end plate feeding device (30), the end plate conveying device (40), the sleeve feeding device (50), the sleeve taking device (60), the riveting device (70), the fixedly arranged support mold table (110), the rotatably installed riveting rotating table (120) on the support mold table (110), and the riveting driving source (130) in transmission connection with the riveting rotating table (120), the end plate conveying device (40) is used for moving the end plate (10) supplied by the end plate feeding device (30) to the riveting rotating table (120), the sleeve taking device (60) is used for moving the sleeve (20) supplied by the sleeve feeding device (50) to the riveting rotating table (120), the riveting device (70) comprises a riveting wheel base (71) capable of moving towards or away from the riveting rotating table (120), a riveting wheel (72) rotatably installed on the riveting wheel base (71), and a pressing driving source (73) in transmission connection with the riveting wheel base (71); The end plate conveying device (40) comprises a second rack (41) arranged fixedly, a plurality of support rollers (42) rotatably installed on the second rack (41), a plurality of conveying scrapers (43) movably installed on the second rack (41), and a second conveying driving source (44) installed on the second rack (41); the second conveying driving source (44) is in transmission connection with the conveying scrapers (43), the support mold table (110) is arranged on the moving path of the conveying scrapers (43); a plurality of support rollers (42) are arranged on both sides of the support mold table (110) along the moving direction of the conveying scrapers (43); the conveying scrapers (43) are arranged on the upper side of the support rollers (42), the support mold table (110) and the riveting rotating table (120).

2. The automated assembly system of claim 1, wherein: The end plate feeding device (30) comprises a first rack (31) arranged fixedly, a first conveying component movably installed on the first rack (31), a first conveying driving source (32) installed on the first rack (31), an end plate grabbing mechanism (33) movably installed on the first rack (31), and a feeding driving source, the first conveying driving source (32) is in transmission connection with the first conveying component, the feeding driving source is in transmission connection with the end plate grabbing mechanism (33), and the end plate grabbing mechanism (33) is driven to reciprocate between the first conveying component and the end plate conveying device (40).

3. The automated assembly system of claim 2, wherein: The first conveying component is a plurality of first conveying rollers (34) rotatably mounted on the first rack (31), the end plate feeding device (30) further comprises a head receiving mechanism (351) and a tail receiving mechanism (352) arranged at the head and tail of the first conveying component respectively, the head receiving mechanism (351) and the tail receiving mechanism (352) both comprise a receiving rack (361) fixedly arranged, a receiving lifting frame (362) liftably mounted on the receiving rack (361), a plurality of receiving supporting rods (363) fixed to the receiving lifting frame (362), and a receiving lifting drive source (364) mounted on the receiving rack (361), the receiving lifting drive source (364) is in transmission connection with the receiving lifting frame (362), and the receiving supporting rods (363) can extend upward from the gap between two adjacent first conveying rollers (34).

4. The automated assembly system of claim 2, wherein: The conveying direction of the first conveying component and the conveying direction of the end plate conveying device (40) are consistent and both are along the X direction to convey the end plate (10), and the end plate feeding device (30) is arranged along the X direction on one side of the end plate conveying device (40); the end plate feeding device (30) further comprises a first X-axis truss (37) fixed on the upper end of the first rack (31), a first Z-axis truss (38) movably mounted on the first X-axis truss (37) along the X direction, and a material taking lifting frame (39) liftably mounted on the first Z-axis truss (38) along the Z direction, and the end plate grabbing mechanism (33) is mounted on the material taking lifting frame (39), and the feeding drive source comprises a first X-direction drive source (310) in transmission connection with the first Z-axis truss (38), and a first Z-direction drive source (311) in transmission connection with the material taking lifting frame (39).

5. The automated assembly system of claim 1, wherein: The end plate conveying device (40) further comprises a chain wheel and chain mechanism, the chain wheel and chain mechanism comprises a driving chain wheel (451) and a driven chain wheel (452) both rotatably mounted on the second rack (41), and a transmission chain (453) sleeved on the outer periphery of the driving chain wheel (451) and the driven chain wheel (452), and the second conveying drive source (44) is a motor connected with the driving chain wheel (451), and a plurality of conveying scrapers (43) are equidistantly mounted on the transmission chain (453).

6. The automated assembly system of claim 1, wherein: The conveying scraper (43) is provided with a first V-shaped positioning groove (431) facing the end plate (10) and used for abutting against the outer periphery of the end plate (10).

7. The automated assembly system of claim 1, wherein: The sleeve feeding device (50) comprises a third rack (51) fixedly arranged, a second conveying component movably mounted on the third rack (51), and a third conveying drive source (53) mounted on the third rack (51), and the third conveying drive source (53) is in transmission connection with the second conveying component; the second conveying component conveys the sleeve (20) along the Y direction, the conveying direction of the second conveying component is perpendicular to the conveying direction of the end plate conveying device (40), and the sleeve feeding device (50) is arranged along the Y direction on one side of the end plate conveying device (40).

8. The automated assembly system of claim 7, wherein: The sleeve loading device (50) further comprises side baffles (54) and a V-shaped positioning stop plate (55) which are both fixed to the third rack (51) and arranged on the upper side of the second conveying component, the side baffles (54) are two and symmetrically arranged on the two sides of the end of the second conveying component in the direction perpendicular to the conveying direction of the second conveying component, and the V-shaped positioning stop plate (55) is arranged at the end of the second conveying component and is provided with a second V-shaped positioning groove (551) which faces the sleeve (20) and is used for abutting against the outer periphery of the sleeve (20).

9. The automated assembly system of claim 1, wherein: The sleeve loading device (60) comprises a fourth rack (61) fixedly arranged, a first Y-axis frame (62) fixed to the fourth rack (61), a transverse sliding table (63) movably mounted on the first Y-axis frame (62) in the Y direction, a first Y-direction driving source (64) in transmission connection with the transverse sliding table (63), a lifting connecting shaft (65) movably mounted on the transverse sliding table (63) in the Z direction, a second Z-direction driving source (66), and a sleeve grabbing device (67) mounted on the lifting connecting shaft (65).

10. The automated assembly system of claim 9, wherein: The lifting connecting shaft (65) is a hollow shaft, and the sleeve grabbing device (67) is a tension take-off mechanism; the tension take-off mechanism comprises a tension driving source (671) mounted on the upper end of the lifting connecting shaft (65), a tension center shaft (672) rotatably supported in the lifting connecting shaft (65), and a tension assembly mounted on the lower end of the tension center shaft (672), the tension driving source (671) is in transmission connection with the upper end of the tension center shaft (672), the tension assembly is used for extending into the sleeve (20), and the tension assembly comprises a tension base plate (673) fixed to the outer periphery of the lower end of the lifting connecting shaft (65), a plurality of tension driving sliding blocks (674) movably mounted on the tension base plate (673) in the radial direction of the sleeve (20), a plurality of tension blocks (675) fixedly connected with the tension driving sliding blocks (674), a crank shaft (676) fixed to the lower end of the tension center shaft (672), and a plurality of transmission connecting rods (677) hingedly connected at both ends with the crank shaft (676) and the tension driving sliding blocks (674) respectively.

11. The automated assembly system of claim 9, wherein: The sleeve loading device (60) further comprises a floating pressing mechanism (68), the floating pressing mechanism (68) comprises a pressing driving source (681) mounted on the transverse sliding table (63), a floating joint (682), a sliding bushing (683) movably arranged on the outer periphery of the lifting connecting shaft (65), and a floating pressing disc (684) rotatably mounted on the outer periphery of the sliding bushing (683), the pressing driving source (681) is connected with the sliding bushing (683) through the floating joint (682), and the floating pressing disc (684) is used for pressing the sleeve (20) downward.

12. The automated assembly system of claim 1, wherein: The spin riveting device (70) further comprises a fixedly arranged fifth rack (74), two centering translation slides (75) movably mounted on the fifth rack (74), a centering translation drive source (76) mounted on the fifth rack (74), a centering transmission mechanism, a centering positioning seat (77) liftably mounted on each centering translation slide (75), a centering lifting drive source (78) mounted on the centering translation slide (75), and a centering wheel (79) rotatably mounted on the centering positioning seat (77), the centering translation drive source (76) is in transmission connection with the two centering translation slides (75) through the centering transmission mechanism, and drives the two centering translation slides (75) to move radially towards or away from each other along the end plate (10), the centering lifting drive source (78) is in transmission connection with the centering positioning seat (77), the pressing drive source (73) is fixed on the centering positioning seat (77), and the centering wheels (79) are arranged on both sides of the riveting wheel (72), and the centering wheels (79) are used for tangential contact with the outer periphery of the end plate (10).

13. The automated assembly system of claim 12, wherein: The two centering translation slides (75) are respectively a driving translation slide (751) and a driven translation slide (752), the centering translation drive source (76) is a cylinder, the piston rod of the cylinder is connected with the driving translation slide (751), the centering transmission mechanism comprises a crank disc (711) rotatably mounted on the fifth rack (74), a first connecting rod (712), a second connecting rod (713), and a movable connecting frame (714) movably mounted on the fifth rack (74), both ends of the first connecting rod (712) are hingedly connected with the driving translation slide (751) and one end of the crank disc (711) respectively, both ends of the second connecting rod (713) are hingedly connected with the other end of the crank disc (711) and the movable connecting frame (714) respectively, and the driven translation slide (752) is fixed on the movable connecting frame (714).

14. The automated assembly system of claim 1, wherein: Further comprising a turnover device (80), the turnover device (80) comprises a fixedly arranged sixth rack (81), and a finished product receiving mechanism and a finished product discharging mechanism both mounted on the sixth rack (81); the finished product receiving mechanism comprises a receiving plate (82) rotatably mounted on the sixth rack (81), and a receiving drive source (83) mounted on the sixth rack (81), the receiving drive source (83) is in transmission connection with the receiving plate (82); the finished product discharging mechanism comprises a discharging plate (84) rotatably mounted on the sixth rack (81), and a discharging drive source (85) mounted on the sixth rack (81), the discharging drive source (85) is in transmission connection with the discharging plate (84); the receiving plate (82) and the discharging plate (84) are both used for carrying the end plate (10) and the sleeve (20); when the receiving drive source (83) drives the receiving plate (82) to rotate to a vertical state, and the discharging drive source (85) drives the discharging plate (84) to rotate to a vertical state, the receiving plate (82) and the discharging plate (84) are relatively arranged along the length direction of the sleeve (20).

15. The automated assembly system of claim 14, wherein: Also included is a palletizing device (90) comprising a finished product tray (91), a fixedly arranged seventh rack (92), a finished product grabbing mechanism (93) movably mounted on the seventh rack (92), and a palletizing drive source mounted on the seventh rack (92) and in transmission connection with the finished product grabbing mechanism (93) to drive the finished product grabbing mechanism (93) to reciprocate between the finished product tray (91) and the discharge plate (84), the finished product grabbing mechanism (93) being used to detachably grab the end plate (10) and the sleeve (20).

16. An automatic assembly method for spin riveting of a pipe pile end plate (10) and a sleeve (20), characterized in that: The automatic assembly method using the automatic assembly system for the pipe pile end plate (10) and the sleeve (20) riveting as claimed in any one of claims 1-15 comprises the following steps: S1, the end plate feeding device (30) supplies the end plate (10) to the end plate conveying device (40), and the end plate conveying device (40) conveys the end plate (10) to the riveting turntable (120); S2, the sleeve feeding device (50) supplies the sleeve (20) to the sleeve taking device (60), and the sleeve taking device (60) conveys the sleeve (20) to the riveting turntable (120); S3, the pressing drive source (73) is actuated to drive the riveting wheel seat (71) to move towards the riveting turntable (120) until the riveting wheel (72) presses the lower end of the sleeve (20) into the groove (101) on the outer periphery of the end plate (10); S4, the riveting drive source (130) is actuated to drive the riveting turntable (120) to rotate, and the riveting turntable (120) drives the end plate (10) and the sleeve (20) to rotate until the riveting wheel (72) presses the lower end of the sleeve (20) into the groove (101) on the outer periphery of the end plate (10), and the sleeve (20) and the end plate (10) are riveted and fixed.

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