Automatic assembling device for head board and tail board

Abstract

The automatic head and tail plate assembling device comprises a head and tail plate storing and feeding module, a head and tail plate bolt positioning and nailing module, a multi-station rotary table bolt assembling module and a finished product discharging roller line, wherein the head and tail plate storing and feeding module is used for storing and feeding head and tail plate materials; the head and tail plate bolt positioning and nailing module is used for bolt nailing; the multi-station rotary table bolt assembling module comprises a servo rotary table, and the servo rotary table is provided with four function stations which are switched through rotation and include a flange plate discharging station, a head and tail plate hole alignment discharging station, a manual supervision station and a bolt assembling station. According to the technical scheme, the manual supervision station serves as a head and tail plate temporary storage station, the abnormal situation, caused by hole site deviation in the machining process of consumable flange plates, of a follow-up servo tightening gun in the automatic bolt locking process can be effectively avoided, the production efficiency is guaranteed, and the influence on the productivity is reduced.

Description

Technical Field

[0001] The present application provides a head and tail plate automatic assembly device, which relates to the technical field of construction engineering. Background Art

[0002] For the production line of building piles, including the assembly of the head and tail plates and flange plate components of pipe piles, square piles, pull-out piles, wave piles, wood-grain piles, etc., the bolt locking process of the head and tail plates of the pipe pile ends in the production process of pipe piles on the market is generally that the workers put the cage reinforcement on the bottom mold, such as Figure 1-Figure 6 As shown. Manually insert flange plates at both ends of the cage reinforcement, align the head plate and tail plate with the threaded holes of the flange plates at both ends, insert bolts manually, and then use tightening tools to tighten the head plate and tail plate at both ends with the corresponding flange plate bolts.

[0003] In order to improve the assembly efficiency of the head and tail plates, the patent document CN218341471U discloses a head and tail plate assembly system in its assembly and transfer system to improve the automation efficiency. However, due to the error between the bolts and the holes and the lack of manual supervision, the automated assembly process is prone to abnormalities in the subsequent automatic tightening of the bolts due to the hole position deviation, which in turn reduces the assembly efficiency of the head and tail plates. Summary of the invention

[0004] The technical problem to be solved by the present application is: how to improve the efficiency of head and tail plate assembly.

[0005] In order to solve the above technical problems, the present application provides a head and tail plate automatic assembly device, including a head and tail plate material storage and loading module for storing and loading head and tail plate materials, a head and tail plate bolt positioning and nailing module for bolt nailing, a multi-station turntable bolt assembly module for bolt assembly, and a finished product discharge roller line;

[0006] The multi-station turntable bolt assembly module includes a servo turntable, which is provided with four functional stations switched by rotation: a flange plate unloading station, a head and tail plate hole unloading station, a manual supervision station and a bolt assembly station.

[0007] Preferably, the head and tail board storage and loading module comprises a storage truss for storing head boards and tail boards, a suction cup loading actuator arranged on the storage truss, and a roller conveying line for conveying head boards and tail boards.

[0008] Preferably, the suction cup loading actuator includes an electromagnetic suction cup that is arranged on the storage truss and can move laterally and rise and fall, and is used to suck the head plate or the tail plate and transport it to the roller conveyor line. The end of the roller conveyor line extends to the head and tail plate bolt positioning and nailing module.

[0009] Preferably, the head and tail plate bolt positioning and nailing module includes a first industrial robot and a positioning and nailing assembly, and the positioning and nailing assembly includes a nailing positioning disk, a second industrial robot, and a bolt rubbing machine; the end of the roller conveying line is arranged within the material picking range of the first industrial robot; and the nailing positioning disk defines the head and tail plate nailing stations.

[0010] Preferably, the head and tail plate bolt positioning and nailing module also includes a visual collector arranged above the nailing positioning plate, which uses visual image processing technology to identify the bolt hole positions of the head plate or the tail plate and perform angle correction.

[0011] Preferably, the multi-station turntable bolt assembly module further includes a flange plate feeding assembly and a third industrial robot for feeding the flange plate to the servo turntable.

[0012] Preferably, the functional station is provided with a servo self-rotating hydraulic clamping chuck for clamping the material and driving the material to rotate.

[0013] Preferably, the flange plate feeding assembly includes a flange plate feeding roller line, a feeding servo truss, and a flange plate feeding roller line. The feeding servo truss is located at the transmission end of the flange plate feeding roller line. The feeding servo truss covers the flange plate feeding roller line and the flange plate feeding roller line. The feeding servo truss is provided with an electromagnetic suction cup for sucking the flange plate on the flange plate feeding roller line and transporting it to the flange plate feeding roller line. The end of the flange plate feeding roller line is located within the material picking range of the third industrial robot.

[0014] Preferably, the flange plate discharge station is located within the material picking range of the third industrial robot, and a visual collector is provided above the head and tail plate alignment station, which corrects the alignment of the head plate or tail plate and the flange plate through visual image processing technology; a manual air cannon and a bracket are provided next to the manual supervision station; and an automatic bolt tightening machine is provided at the bolt assembly station.

[0015] Preferably, the bolt assembly station is arranged within the material picking range of the third industrial robot, and the finished product discharge roller line is arranged within the material picking range of the third industrial robot.

[0016] The manual supervision station provided by the technical solution of this application serves as a head and tail plate cache station, which can effectively solve the abnormal situation of the subsequent servo tightening gun in the automatic tightening bolt process caused by the hole position deviation during the processing of the consumable flange plate. Manually adjust the occurrence of abnormal situations in the production process to ensure production efficiency and reduce the impact on production capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of cage reinforcement in the prior art;

[0018] Figure 2 It is a schematic diagram of the bottom mold of the prior art;

[0019] Figure 3 It is a schematic diagram of a flange plate in the prior art;

[0020] Figure 4 It is a schematic diagram of a head plate in the prior art;

[0021] Figure 5 It is a schematic diagram of a tailgate in the prior art;

[0022] Figure 6 This is a schematic diagram of the installation of the bottom formwork of the pipe pile cage reinforcement in the prior art;

[0023] Figure 7 This is a schematic diagram of the overall structure of the head and tail plate automatic assembly device provided in an embodiment of the present application;

[0024] Figure 8 This is a schematic diagram of a head and tail plate material storage and loading module provided in an embodiment of the present application;

[0025] Fig. 9 This is a schematic diagram of a head and tail plate bolt positioning and nailing module provided in an embodiment of the present application;

[0026] Fig.10 This is a schematic diagram of a multi-station turntable bolt assembly module provided in an embodiment of the present application;

[0027] Fig.11 A schematic diagram of a servo turntable provided in an embodiment of the present application;

[0028] Explanation of the reference numerals: head and tail plate storage and loading module 100, storage truss 110, suction cup loading actuator 120, roller conveyor line 130, head and tail plate bolt positioning and nailing module 200, RO1 industrial robot 210, nailing positioning plate 220, scara industrial robot 230, bolt rubbing machine 240, multi-station turntable bolt assembly module 300, flange plate loading assembly 310, flange plate collection roller line 311, loading servo truss 312, flange plate loading roller line 313, servo turntable 320, flange plate discharge station 321, head and tail plate hole discharge station 322, manual supervision station 323, bolt assembly station 324, RO2 industrial robot 330, finished product discharge roller line 400. DETAILED DESCRIPTION

[0029] To make the application more obvious and easy to understand, various exemplary embodiments will be introduced below. These examples are non-limiting, and it should be understood that they are used for the more general application aspects of the illustrative device, system and method. Without departing from the substantive content and scope of the application, these embodiments can be subjected to multiple changes, and can be replaced by equivalents. In addition, multiple changes can be carried out to adapt to the purpose, content or scope of the application in order to adapt to special situations, materials, material components, treatment types, treatment actions or steps. All these changes will be within the protection scope of the application.

[0030] For any materials, dimensions, quantities introduced in the overview or detailed description, they will be examples only and are not intended to limit the subject matter of the present application. Moreover, the various implementations of the embodiments described herein will complement each other, rather than purely interchangeably, unless otherwise indicated. In other words, implementations from one embodiment can be freely combined with implementations of other embodiments, as those of ordinary skill in the art will readily appreciate, unless it is indicated that these implementations are only for replacement.

[0031] In the description of this application, it should be noted that the terms "inside", "outside", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the application is usually placed when in use, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0032] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0033] Example

[0034] The embodiment of the present application provides an automatic assembly device for head and tail plates. The head and tail plate assembly refers to assembling the head plate and the tail plate to the flange plate respectively for the pipe pile product, and locking them by bolts to obtain the head and tail plate assembly (head plate assembly and tail plate assembly). The head and tail plate assembly is used at both ends of the pipe pile. For details, please refer to Figure 1-Figure 6 First, you need to Figure 1 The cage reinforcement 1 is placed in Figure 2 In the bottom mold 2 shown in FIG. Figure 4 Header plate and Figure 5After the tail plate shown is aligned with the threaded holes of the flange plate, the bolts are inserted, and the two head plates and the tail plate are tightened with the corresponding flange plate bolts using a tightening tool to obtain the head plate assembly and the enclosure assembly, and then the head plate assembly and the enclosure assembly are respectively installed at both ends of the cage reinforcement.

[0035] The head and tail plate automatic assembly device provided in the embodiment of the present application is used to assemble the head plate or tail plate with the flange plate bolts to obtain the head and tail plate assembly, see Figure 7 , including a head and tail plate material storage and loading module 100, a head and tail plate bolt positioning and nailing module 200, a multi-station turntable bolt assembly module 300 and a finished product discharge roller line 400.

[0036] In some embodiments, see Figure 8 The head and tail board storage and loading module 100 includes a storage truss 110 for storing head boards and tail boards, a suction cup loading actuator 120 disposed on the storage truss 110, and a roller conveying line 130 for conveying head boards and tail boards. It can be understood that the storage truss 110, the suction cup loading actuator 120, and the roller conveying line 130 are all commonly used structural units in the field of automation.

[0037] Among them, the material storage truss 110 is used to store materials. The head boards and tail boards that are used and disassembled after the production line is placed in the corresponding placement positions of the material storage truss 110 according to their specifications and sizes for subsequent use; the storage of head and tail boards can record the placement quantity of different specifications through electronic control.

[0038] The suction cup loading actuator 120 is specifically an electromagnetic suction cup that can be moved laterally and raised and lowered on the storage truss 110. According to the production schedule and the specifications of the bottom mold, the electromagnetic suction cup is used to suck the head board or tail board of the required specifications and then place it on the roller conveyor line 130. The roller conveyor line 130 transports the head board or tail board placed on the roller conveyor line 130 to the loading position close to the head and tail board bolt positioning and nailing module 200.

[0039] In some embodiments, see Fig. 9 The head and tail plate bolt positioning and nailing module 200 includes an RO1 industrial robot 210 (a first industrial robot), a plurality of positioning and nailing components consisting of a nailing positioning plate 220, a scara industrial robot 230 (a second industrial robot), and a bolt rubbing machine 240. The reason for setting up a plurality of positioning and nailing components is mainly because the head plate and the tail plate have different specifications, and the hole distribution of the head plate and the tail plate is not completely consistent. The nailing positioning plate 220 needs to be set in a variety of specifications to adapt to the head and tail plates of different specifications.

[0040] The RO1 industrial robot 210 moves to the loading position of the roller conveyor line 130, and is used to grab the head board or the tail board and place it in the nailing positioning plate 220 of the corresponding specifications. The nailing positioning plate 220 defines the head and tail board nailing stations; specifically, the RO1 industrial robot 210 is a six-axis robot, and an electromagnetic suction cup is provided at the end of the movement, which absorbs the head board or the tail board in the loading position through the electromagnetic suction cup.

[0041] The head and tail plate bolt positioning and nailing module 200 also includes a visual collector arranged above the nailing positioning disk 220, which identifies the bolt hole positions of the head plate or the tail plate through visual image processing, and repeatedly places the head plate or the tail plate through the RO1 industrial robot 210 to correct the angle, or rotates the nailing positioning disk 220 after the head plate or the tail plate is placed to correct the angle, so as to achieve accurate positioning of the head plate or the tail plate on the nailing positioning disk 220, so that the head plate or the tail plate always maintains the correct orientation in the subsequent process.

[0042] The bolt rubbing machine 240 is used to continuously provide bolts and place them in the slideway bolt cache. The scara industrial robot 230 is used to grab the screws from the bolt cache and place the bolts into the holes of the head plate or tail plate using the positioning holes of the nail positioning plate 220. In a further embodiment, the nail positioning plate 220 is a rotatable plate that can drive the head plate or tail plate to rotate. The scara industrial robot 230 can place the bolts at a fixed angle. After the nail positioning plate 220 cooperates to drive the head plate or tail plate to rotate a certain angle, the scara industrial robot 230 continues to grab and place the bolts. After repeated multiple times, the nailing and placement of all bolts on the head plate or tail plate is completed.

[0043] In some embodiments, see Fig.10 The multi-station turntable bolt assembly module 300 includes a flange plate feed assembly 310, a servo turntable 320 and an RO2 industrial robot 330 (a third industrial robot). The flange plate feed assembly 310 includes a flange plate feed roller line 311, a feed servo truss 312, and a flange plate feed roller line 313. The feed servo truss 312 is located at the transmission end of the flange plate feed roller line 311, and the feed servo truss 312 covers the flange plate feed roller line 311 and the flange plate feed roller line 313.

[0044] The flange plate collecting drum line 311 is used to collect flange plates that have been used up in the production line. The flange plates are manually suspended by a crane and placed in the flange plate collecting drum line 311. The flange plate collecting drum line 311 drives the drum driven by a motor to transport the collected flange plates to the inner side of the material picking range of the loading servo truss 312.

[0045] Conventionally, an electromagnetic suction cup that can move horizontally and up and down is provided on the loading servo truss 312. According to the production schedule, the electromagnetic gripper absorbs the corresponding flange plate and places it on the flange plate loading roller line 313. The flange plate loading roller line 313 transports the flange plate to the material picking range side of the RO2 industrial robot 330.

[0046] See also Fig.11 The servo turntable 320 is provided with four counterclockwise rotating functional stations, namely, the flange plate unloading station 321, the head and tail plate hole unloading station 322, the manual supervision station 323 and the bolt assembly station 324. It can be understood that, due to the different hole positions or specifications of the head plate and the tail plate structure, each functional station specifically includes at least two stations corresponding to different plate types and specifications.

[0047] Specifically, a servo self-rotating hydraulic clamping chuck is provided on the functional station, which can realize the functions of clamping materials and driving the materials to rotate. The specifications of the hydraulic clamping chuck are larger than flange plates of different specifications, thereby meeting the clamping requirements of flange plates of different specifications.

[0048] The four functional stations are all arranged on the servo turntable 320, and the materials can be rotated to make the materials pass through each functional station in turn. First, the RO2 industrial robot 330 electromagnetically absorbs the flange plate on the flange plate feeding roller line 313 and places it on the flange plate unloading station 321; after the unloading is completed, the servo turntable 320 rotates counterclockwise 90°, and the flange plate rotates to the head and tail plate hole unloading station 322, where a visual collector is arranged to identify the placement of the flange plate through visual image processing, and the servo self-rotating hydraulic clamping chuck drives the flange plate to rotate and adjust the position to ensure that the position of the flange plate matches the head plate or the tail plate, and the RO1 industrial robot 210 absorbs the head plate or the tail plate that has been nailed from the nail positioning disk 220, and aligns it with the flange plate hole position located at the head and tail plate hole unloading station 322; after the head and tail plates are unloaded, the servo turntable 320 continues to rotate counterclockwise 90° so that the flange plate with the holes completed is The plate and the head and tail plates enter the manual supervision station 323, and the flange plate and the head and tail plates with completed holes are temporarily stored here. After the head and tail plate components of the bolt assembly station 324 are discharged, the servo turntable 320 continues to rotate counterclockwise by 90° so that the flange plate and the head and tail plates with completed holes enter the bolt assembly station 324, and the bolts are tightened by the automatic bolt tightening machine (prior art, refer to the existing public document: a bolt and nut automatic assembly and detection machine disclosed in the Chinese utility model patent with publication number CN207840625U) arranged next to the bolt assembly station 324. The automatic bolt tightening machine drives the electric servo tightening gun to descend through the cylinder, and the sleeve on the tightening gun head is inserted into the bolt cap on the head and tail plate. The servo tightening gun starts to tighten the bolt. After the servo tightening gun completes the bolt tightening, the cylinder retracts and pulls the servo tightening gun to a high position. After the bolt assembly is completed, the automatic bolt tightening machine exits the bolt assembly station 324 to avoid interfering with subsequent processes.

[0049] After the flange plate and the head and tail plates are assembled at the bolt assembly station 324, the finished head and tail plate assembly is obtained. The servo turntable 320 continues to rotate counterclockwise 90° so that the finished head and tail plate assembly returns to the flange plate discharge station 321, which is the material picking range of the RO2 industrial robot 330. The RO2 industrial robot 330 electromagnetically absorbs the head and tail plate assembly and places it on the finished product discharge roller line 400 next to it. The head and tail plate assembly is transported by the motor-driven roller for subsequent pipe pile production processes.

[0050] In a further embodiment, a manual air gun and a bracket are provided next to the manual supervision station 323, where manual supervision is performed. When there is a small deviation between the hole position of the head and tail plates and the bolt hole position of the flange plate, the hole position can be adjusted manually, and the bolts can be pre-tightened by the manual air gun and bracket configured here, so as to facilitate manual timely handling of the abnormality. At the same time, the manual supervision station 323 also serves as a cache station for the head and tail plates, which can effectively solve the abnormal situation of the subsequent servo tightening gun in the automatic tightening of the bolts caused by the hole position deviation during the processing of the consumable flange plate. Manual supervision can quickly adjust the occurrence of abnormal situations in the production process to ensure production efficiency and reduce the impact on production capacity.

[0051] Therefore, based on the automatic assembly device for head and tail boards provided in the embodiment of the present application, the workload of manual handling of head and tail boards is replaced by industrial robots that automatically grab and carry head / tail boards, thereby reducing the number of people employed and reducing labor intensity; the application of industrial robots and visual image recognition technology has upgraded the original discrete operation mode to a process-based operation mode, so that the operations of each process are connected in series with the entire production line, while breaking the traditional information silos and connecting with MES production information, ensuring the production information of each production process, improving production efficiency, and reducing labor intensity.

[0052] For the various action structures mentioned above, the actions they implement often need to be implemented by a driving structure. For the driving structure of each action structure, the part not mentioned in the text can refer to the corresponding structure shown in the accompanying drawings. Different from the action structure shown in the accompanying drawings, technical personnel in this field can also easily think of using other action structures to replace it. For example, according to the action to be implemented by the action structure, select a suitable driver such as a motor, a push rod, an electric screw, a cylinder, an oil cylinder, etc. to implement the corresponding action. The implementation method of the present application is not strictly limited to the use of the driving structure shown in the accompanying drawings.

[0053] In addition, for the field of industrial production automation, various types of action actuators are used to execute related actions, various types of sensors are used to collect data as the basis for determining the execution of related actions, and automated operations are established by connecting control terminals. According to specific application scenarios and action requirements, relevant control programs are programmed, tested, run, and debugged. This is very easy for technical personnel in this field to think of and does not require creative labor; in addition, the automatic assembly device for head and tail plates provided in this application does not limit the combination of manual control and program automatic control by technicians. Technicians can adjust the relevant control programs according to convenience needs or directly adopt manual control. It can be understood that the relevant control programs are prior art, and the automatic assembly device for head and tail plates provided in this application does not involve the protection of control programs.

[0054] The above is only a preferred embodiment of the present application, and is not any formal or substantial limitation to the present application. It should be pointed out that ordinary technicians in this technical field can make several improvements and supplements without departing from the present application, and these improvements and supplements should also be regarded as the protection scope of the present application. Any technician familiar with this profession, without departing from the content and scope of the present application, can make some changes, modifications and evolutions of the technical content disclosed above, which are equivalent embodiments of the present application; at the same time, any changes, modifications and evolutions of any equivalent changes made to the above-mentioned implementation methods based on the substantial technology of the present application are still within the scope of the technical solution of the present application.

Claims

1. A head and tail plate automatic assembly device, characterized in that: It includes a head and tail board storage and loading module for storing and loading head and tail board materials, a head and tail board bolt positioning and nailing module for bolt nailing, a multi-station turntable bolt assembly module for bolt assembly, and a finished product discharge roller line; The multi-station turntable bolt assembly module includes a servo turntable, which is provided with four functional stations switched by rotation: a flange plate unloading station, a head and tail plate hole unloading station, a manual supervision station and a bolt assembly station.

2. The head and tail plate automatic assembly device according to claim 1, characterized in that: The head and tail board storage and loading module comprises a storage truss for storing head boards and tail boards, a suction cup loading actuator arranged on the storage truss, and a roller conveying line for conveying head boards and tail boards.

3. The head and tail plate automatic assembly device according to claim 2, characterized in that: The suction cup feeding actuator includes an electromagnetic suction cup that can be moved laterally and raised and lowered on the material storage truss, and is used to suck the head plate or the tail plate and transport it to the roller conveying line. The end of the roller conveying line extends to the head and tail plate bolt positioning and nailing module.

4. The head and tail plate automatic assembly device according to claim 2, characterized in that: The head and tail plate bolt positioning and nailing module includes a first industrial robot and a positioning and nailing assembly, and the positioning and nailing assembly includes a nailing positioning disk, a second industrial robot, and a bolt rubbing machine; the end of the roller conveying line is arranged within the material picking range of the first industrial robot; the nailing positioning disk defines the head and tail plate nailing stations.

5. The head and tail plate automatic assembly device according to claim 4, characterized in that: The head and tail plate bolt positioning and nailing module also includes a visual collector arranged above the nailing positioning plate, which uses visual image processing technology to identify the bolt hole positions of the head plate or the tail plate and perform angle correction.

6. The head and tail plate automatic assembly device according to claim 1, characterized in that: The multi-station turntable bolt assembly module also includes a flange plate feeding assembly and a third industrial robot for feeding the flange plate to the servo turntable.

7. The head and tail plate automatic assembly device according to claim 6, characterized in that: The functional station is provided with a servo self-rotating hydraulic clamping chuck for clamping materials and driving the materials to rotate.

8. The head and tail plate automatic assembly device according to claim 6, characterized in that: The flange plate feeding assembly includes a flange plate feeding roller line, a feeding servo truss, and a flange plate feeding roller line. The feeding servo truss is located at the transmission end of the flange plate feeding roller line. The feeding servo truss covers the flange plate feeding roller line and the flange plate feeding roller line. The feeding servo truss is provided with an electromagnetic suction cup for sucking the flange plate on the flange plate feeding roller line and transporting it to the flange plate feeding roller line. The end of the flange plate feeding roller line is located within the material picking range of the third industrial robot.

9. The head and tail plate automatic assembly device according to claim 6, characterized in that: The flange plate unloading station is located within the material picking range of the third industrial robot. A visual collector is provided above the head and tail plate alignment station, and the head plate or tail plate and flange plate hole alignment are corrected through visual image processing technology. A manual air cannon and a bracket are provided next to the manual supervision station. The bolt assembly station is provided with an automatic bolt tightening machine.

10. The head and tail plate automatic assembly device according to claim 9, characterized in that: The bolt assembly station is arranged within the material picking range of the third industrial robot, and the finished product discharge roller line is arranged within the material picking range of the third industrial robot.

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