Automatic feeding and discharging system of precast pile end plate hoop robot

Abstract

The utility model provides a prefabricated pile end plate hoop robot automatic feeding and discharging system which comprises hoop production equipment, spin riveting equipment, an end plate feeding bracket used for bearing an end plate, a finished product stacking frame used for bearing spin riveting finished products, a feeding and discharging robot and a finished product discharging frame. The output end of the hoop production equipment is connected with the input end of the hoop feeding assembly, the output end of the spin riveting equipment is connected with the finished product discharging frame, the feeding and discharging robot is provided with a movable end plate grabbing assembly, and the end plate grabbing assembly can be detachably connected with an end plate. The end plate grabbing assembly can do reciprocating motion between the end plate feeding bracket and the spin riveting station and between the finished product discharging frame and the finished product stacking frame. Automatic feeding of the end plate, automatic feeding of the hoop and automatic discharging of the spin riveting finished product are achieved, unmanned operation is completely achieved, manpower is replaced with automation, the assembling efficiency of the hoop and the end plate is improved, and the labor intensity of workers is reduced.

Description

Technical Field

[0001] The utility model relates to the prefabricated pile production industry, in particular to an automatic loading and unloading system of a prefabricated pile end plate sleeve robot. Background Art

[0002] Centrifugally formed prefabricated piles are mainly composed of cement, sand and gravel, and steel skeleton. During the production process, the steel skeleton is first made, then loaded into the mold, and then poured into the cement product, and finally centrifugally formed. Figure 1 As shown, the steel bar skeleton mainly includes a main reinforcement cage 10 and an end plate assembly 20 fixed at both ends of the main reinforcement cage 10. The main reinforcement cage 10 includes a plurality of prestressed steel bars 101 arranged in a ring shape and a spiral steel bar 102 spirally welded on the outer periphery of the plurality of prestressed steel bars 101; the end plate assembly 20 includes a disc-shaped end plate 201 and a cylindrical hoop 202. The hoop 202 is partially deformed by the rotation and extrusion of the rivet cutter and is inserted into the prefabricated groove on the outer periphery of the end plate 201, thereby completing the rotary riveting fixation of the hoop 202 and the end plate 201.

[0003] In the prior art, when the end plate assembly is manufactured, the worker first manually places the end plate at the riveting station of the riveting equipment, and then manually installs the ferrule. After the two are in place, the riveting equipment is started to perform riveting connection between the ferrule and the end plate. After the connection is completed, the riveted product falls into the waiting station of the riveting equipment, and then the worker manually places the riveted product on the loading vehicle. Obviously, in the existing production process of the end plate assembly, the worker needs to be responsible for loading the end plate, loading the ferrule, and unloading the riveted product. There are many manual operation procedures, and the labor intensity of the workers in the whole process is high, which ultimately affects the assembly efficiency of the ferrule and the end plate, and the output is limited. Utility Model Content

[0004] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the utility model is to provide a robot automatic loading and unloading system for prefabricated pile end plate hoops, so as to realize automatic loading of end plates and hoops, and automatic unloading of finished riveted products.

[0005] To achieve the above-mentioned purpose, the utility model provides an automatic loading and unloading system for a prefabricated pile end plate hoop robot, comprising a hoop production device, a rotary riveting device, an end plate loading bracket for carrying the end plate, a finished product stacking rack for carrying the rotary riveted finished product, a loading and unloading robot, and a finished product unloading rack, wherein the rotary riveting device has a rotary riveting station and a hoop loading assembly, the output end of the hoop production device is connected with the input end of the hoop loading assembly, the output end of the rotary riveting device is connected with the finished product unloading rack, the loading and unloading robot has a movable end plate grasping assembly, the end plate grasping assembly can be detachably connected to the end plate, and the end plate grasping assembly can reciprocate between the end plate loading bracket and the rotary riveting station, and between the finished product unloading rack and the finished product stacking rack.

[0006] The preferred solution of the above technical solution is: the loading and unloading robot is provided with one, the end plate loading and unloading bracket, the rotary riveting equipment, the finished product unloading rack and the finished product stacking rack are distributed in a ring in sequence and surround a loading and unloading operation area, and the loading and unloading robot is arranged in the loading and unloading operation area.

[0007] The preferred embodiment of the above technical solution is: the rotary riveting equipment further comprises an end plate conveying assembly and a ferrule conveying assembly, the rotary riveting station is arranged on the conveying path of the end plate conveying assembly, and the conveying direction of the end plate conveying assembly is perpendicular to the conveying direction of the ferrule conveying assembly;

[0008] The ferrule conveying assembly is arranged between the ferrule production equipment and the ferrule feeding assembly along its conveying direction;

[0009] The ferrule production equipment, rotary riveting equipment, loading and unloading robots and finished product unloading racks are arranged in sequence along the conveying direction of the ferrule conveying assembly; the end plate loading bracket, rotary riveting equipment and finished product unloading racks are arranged in sequence along the conveying direction of the end plate conveying assembly.

[0010] The preferred solution of the above technical solution is: the end plate loading bracket and the finished product unloading rack are arranged opposite to each other, and are staggered with the rotary riveting equipment in the conveying direction of the sleeve conveying assembly, and the end of the end plate conveying assembly is a turning conveying section, and the turning conveying section extends toward the finished product unloading rack.

[0011] The preferred solution of the above technical solution is: two loading and unloading robots are provided, namely an end plate loading robot and a finished product unloading robot;

[0012] The end plate loading bracket is arranged on one side of the rotary riveting device, an end plate loading operation area is formed between the end plate loading bracket and the rotary riveting device, the end plate loading robot is arranged in the end plate loading operation area, and the end plate grabbing component of the end plate loading robot can reciprocate between the end plate loading bracket and the rotary riveting station;

[0013] The finished product unloading rack and the finished product stacking rack are both arranged on the other side of the rotary riveting equipment. A finished product unloading operation area is surrounded by the rotary riveting equipment, the finished product unloading rack and the finished product stacking rack. The finished product unloading robot is arranged in the finished product unloading operation area. The end plate grasping component of the finished product unloading robot can reciprocate between the finished product unloading rack and the finished product stacking rack.

[0014] The preferred embodiment of the above technical solution is: the rotary riveting equipment further comprises an end plate conveying assembly and a ferrule conveying assembly, the rotary riveting station is arranged on the conveying path of the end plate conveying assembly, and the conveying direction of the end plate conveying assembly is perpendicular to the conveying direction of the ferrule conveying assembly;

[0015] The ferrule conveying assembly is arranged between the ferrule production equipment and the ferrule feeding assembly along its conveying direction;

[0016] The end plate loading operation area and the finished product unloading operation area are distributed on both sides of the rotary riveting device along the conveying direction of the end plate conveying assembly.

[0017] The preferred solution of the above technical solution is: the automatic loading and unloading system of the prefabricated pile end plate sleeve robot also includes a finished product turning and conveying device, and the output end of the rotary riveting device, the finished product turning and conveying device and the finished product unloading rack are connected in sequence;

[0018] The finished product turning and conveying equipment comprises a fixed turning frame, a turning driving source installed on the turning frame, a turning frame rotatably installed on the turning frame and capable of accommodating the finished rotary riveted products, and a feeding conveying assembly and a discharging conveying assembly respectively installed at the bottom and the top of the turning frame. The turning driving source is transmission-connected to the turning frame, and an inlet and outlet port is opened at one end of the turning frame, and the inlet and outlet port allows the finished rotary riveted products to pass through.

[0019] The preferred embodiment of the above technical solution is as follows: a coaxial driving shaft and a driven shaft are respectively fixed at both ends of the flip frame, the driving shaft and the driven shaft are rotatably supported in the flip frame, and the flip driving source is a motor, which is transmission-connected to the driving shaft.

[0020] A preferred solution of the above technical solution is: a stop plate is fixed to the other end of the flip frame, and the stop plate and the feed inlet and outlet are arranged opposite to each other.

[0021] A preferred embodiment of the above technical solution is that both the feed conveying assembly and the discharge conveying assembly include a plurality of conveying rollers rotatably mounted on the turning frame.

[0022] As described above, the automatic loading and unloading system of the prefabricated pile end plate sleeve robot involved in the utility model has the following beneficial effects:

[0023] The present application uses the end plate grabbing assembly of the loading and unloading robot to drive the end plate to move, so as to automatically place the end plate on the end plate loading bracket to the riveting station, and automatically place the riveted finished product on the finished product unloading rack to the finished product stacking rack. At the same time, the present application also uses the ferrule loading assembly to automatically place the ferrule produced by the ferrule production equipment to the riveting station. In this way, the present application realizes the automatic loading of the end plate, the automatic loading of the ferrule, and the automatic unloading of the riveted finished product, all of which are unmanned, and automation is used to replace manual labor, ultimately improving the assembly efficiency of the ferrule and the end plate, and greatly reducing the labor intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of the existing steel frame.

[0025] Figure 2 This is a structural schematic diagram of Example 1 of the automatic loading and unloading system of the prefabricated pile end plate hoop robot of the present application.

[0026] Figure 3 This is a structural schematic diagram of the second embodiment of the robot automatic loading and unloading system for precast pile end plate hoops of the present application.

[0027] Figure 4 This is a schematic diagram of the structure of the finished product turning and conveying equipment in this application.

[0028] Figure 5 for Figure 4 main view.

[0029] Figure 6 for Figure 4 Assembly diagram of the middle flip frame, feed conveying assembly and discharge conveying assembly.

[0030] Component number description

[0031] 10 Main reinforcement cage

[0032] 101 Prestressed steel bars

[0033] 102 Spiral steel bar

[0034] 20 End plate assembly

[0035] 201 End plate

[0036] 202 Ferrule

[0037] 30 Ferrule production equipment

[0038] 40 Riveting equipment

[0039] 41 Riveting station

[0040] 42 Ferrule feeding assembly

[0041] 43 End plate conveyor assembly

[0042] 44 Ferrule Delivery Assembly

[0043] 45 Curve conveyor section

[0044] 50 End plate loading bracket

[0045] 60 Finished product stacking rack

[0046] 70 Loading and unloading robot

[0047] 71 End plate grab assembly

[0048] 72 End plate loading robot

[0049] 73 Finished product unloading robot

[0050] 80 Finished product unloading rack

[0051] 91 Loading and unloading operation area

[0052] 92 End plate loading area

[0053] 93 Finished product unloading area

[0054] 110 Finished product turning and conveying equipment

[0055] 111 Flip rack

[0056] 112 Flip drive source

[0057] 113 Flip Box

[0058] 114 Feed conveyor assembly

[0059] 115 Discharging conveyor assembly

[0060] 116 Inlet and outlet

[0061] 117 Active shaft

[0062] 118 driven shaft

[0063] 119 Stop plate DETAILED DESCRIPTION

[0064] The following is a description of the implementation of the present invention by means of specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0065] It should be noted that the structures, proportions, sizes, etc. drawn in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the utility model, so they have no substantial technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the utility model, should still fall within the scope of the technical content disclosed by the utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and so on quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the utility model. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the utility model without substantial change of the technical content.

[0066] It should also be noted that when an element is referred to as being "fixed on" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element at the same time. When an element is referred to as being "connected to" another element, it may be directly connected to the other element or may be indirectly connected to the other element through an intermediate element.

[0067] In addition, the descriptions of "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0068] The utility model provides a robot automatic loading and unloading system for a prefabricated pile end plate and a sleeve, which is used for the rotary riveting production of the end plate and the sleeve in the prefabricated pile.

[0069] like Figure 2 or Figure 3As shown, the automatic loading and unloading system of the prefabricated pile end plate hoop robot involved in the utility model includes a hoop production device 30, a riveting device 40, an end plate feed bracket 50 for carrying the end plate, a finished product stacking rack 60 for carrying the riveted finished product, a loading and unloading robot 70, and a finished product unloading rack 80. Among them, the hoop production device 30 is used to roll and weld a fixed-length steel strip into a hoop; the riveting device 40 has a riveting station 41 and a hoop feeding assembly 42, and the output end of the hoop production device 30 is connected with the input end of the hoop feeding assembly 42; the output end of the riveting device 40 is connected with the finished product unloading rack 80. In particular, the loading and unloading robot 70 has a movable end plate grabbing assembly 71, which can be detachably connected to the end plate, and the end plate grabbing assembly 71 can reciprocate between the end plate feed bracket 50 and the riveting station 41, and between the finished product unloading rack 80 and the finished product stacking rack 60.

[0070] When the above-mentioned automatic loading and unloading system of the prefabricated pile end plate hoop robot is in operation, the steel strip enters the hoop production equipment 30 through the uncoiler, and the hoop production equipment 30 performs processes such as straightening, cutting to length, and welding on the steel strip in sequence, and then winds and welds the fixed-length steel strip into a hoop. The hoop loading assembly 42 receives the hoop output by the hoop production equipment 30 and places the hoop on the riveting station 41; at the same time, the end plate grabbing assembly 71 of the loading and unloading robot 70 moves to the end plate loading bracket 50, grabs the end plate on the end plate loading bracket 50, drives the end plate to move to the riveting station 41, and then loosens the end plate. The riveting equipment 40 rivets the end plate and the hoop at the riveting station 41 to fix them into a riveted finished product. The finished product unloading rack 80 receives the riveted finished product output by the riveting equipment 40. The end plate grabbing assembly 71 of the loading and unloading robot 70 moves to the finished product unloading rack 80, grabs the end plate of the riveted finished product on the finished product unloading rack 80, drives the riveted finished product to move to the finished product stacking rack 60, and then releases the end plate.

[0071] In summary, the present application uses the end plate grabbing assembly 71 of the loading and unloading robot 70 to drive the end plate to move, so as to automatically place the end plate on the end plate loading bracket 50 to the riveting station 41, and automatically place the riveted finished product on the finished product unloading rack 80 to the finished product stacking rack 60. The present application uses the ferrule loading assembly 42 to automatically place the ferrule produced by the ferrule production equipment 30 to the riveting station 41. In this way, the present application realizes the automatic loading of the end plate, the automatic loading of the ferrule, and the automatic unloading of the riveted finished product, all of which are unmanned, and automation is used to replace manual labor, ultimately improving the assembly efficiency of the ferrule and the end plate, increasing the production speed, and greatly reducing the labor intensity of workers.

[0072] Furthermore, the loading and unloading robot 70 for automatic loading of end plates and the loading and unloading robot 70 for automatic unloading of finished riveted products can be the same robot or two different robots. In this way, the automatic loading and unloading system of the prefabricated pile end plate sleeve robot has different embodiments.

[0073] Example 1 of automatic loading and unloading system of prefabricated pile end plate sleeve robot

[0074] like Figure 2 As shown, the first embodiment of the automatic loading and unloading system of the prefabricated pile end plate sleeve robot is a single robot structure, that is, a loading and unloading robot 70 is provided, which is used for both automatic loading of the end plate and automatic unloading of the finished product of the rivet. The automatic loading of the end plate and the automatic unloading of the finished product of the rivet share the structure of the same loading and unloading robot 70, saving the equipment cost of the system. Based on the structure of the single robot, the end plate loading bracket 50, the rivet equipment 40, the finished product unloading rack 80 and the finished product stacking rack 60 are sequentially distributed in a ring shape and enclose a loading and unloading operation area 91, and the loading and unloading robot 70 is arranged in the loading and unloading operation area 91. In this way, the end plate loading bracket 50, the rotary riveting device 40, the finished product unloading rack 80 and the finished product stacking rack 60 are all arranged around the periphery of the loading and unloading robot 70, shortening the distance between the end plate loading bracket 50 and the rotary riveting device 40, as well as the distance between the finished product unloading rack 80 and the finished product stacking rack 60, making it convenient for the end plate grasping assembly 71 of the loading and unloading robot 70 to reciprocate between the end plate loading bracket 50 and the rotary riveting station 41 of the rotary riveting device 40, as well as between the finished product unloading rack 80 and the finished product stacking rack 60.

[0075] Furthermore, in the first embodiment of the automatic loading and unloading system of the prefabricated pile end plate sleeve robot, Figure 2 As shown, the rotary riveting equipment 40 also includes an end plate conveying assembly 43 for conveying end plates, and a hoop conveying assembly 44 for conveying hoop. The rotary riveting station 41 is arranged on the conveying path of the end plate conveying assembly 43, and the conveying direction of the end plate conveying assembly 43 is perpendicular to the conveying direction of the hoop conveying assembly 44. For the convenience of description, the conveying direction of the end plate conveying assembly 43 is defined as the front direction, and the conveying direction of the hoop conveying assembly 44 is defined as the left direction. The rotary riveting equipment 40 having the end plate conveying assembly 43, the hoop conveying assembly 44, the rotary riveting station 41 and the hoop feeding assembly 42 is the prior art. Please refer to the end plate conveying device, hoop feeding device, hoop picking device and rotary riveting device involved in the automatic assembly system disclosed in the Chinese invention patent application with application number 202310738781.3, so it will not be described in detail here. In Example 1 of the automatic loading and unloading system of the prefabricated pile end plate hoop robot, as Figure 2As shown, along the conveying direction of the ferrule conveying assembly 44, the ferrule conveying assembly 44 is arranged between the ferrule production equipment 30 and the ferrule loading assembly 42, and the ferrule production equipment 30, the riveting equipment 40, the loading and unloading robot 70 and the finished product unloading rack 80 are arranged in sequence from right to left. Along the conveying direction of the end plate conveying assembly 43, the end plate loading bracket 50, the riveting equipment 40 and the finished product unloading rack 80 are arranged in sequence from back to front.

[0076] Preferably, if Figure 2 As shown, the end plate loading bracket 50 and the finished product unloading rack 80 are arranged front to back and are staggered with the rotary riveting device 40 in the conveying direction of the sleeve conveying assembly 44. Specifically, the end plate loading bracket 50 and the finished product unloading rack 80 are both distributed on the left side of the rotary riveting device 40. Based on this, the end plate loading bracket 50 is distributed on the left rear side of the rotary riveting device 40, and the finished product unloading rack 80 is distributed on the left front side. The end of the end plate conveying assembly 43 is a turning conveying section 45 that bends and extends toward the left front, that is, the turning conveying section 45 extends toward the finished product unloading rack 80, and the rotary riveted finished product is conveyed by turning 90 degrees.

[0077] Furthermore, if Figure 2 As shown, the first embodiment of the automatic loading and unloading system of the prefabricated pile end plate sleeve robot also includes a finished product turning conveying device 110, and the output end of the rotary riveting device 40, the finished product turning conveying device 110 and the finished product unloading rack 80 are connected in sequence. In the rotary riveted finished product output by the rotary riveting device 40, the end plate is distributed at the lower end of the sleeve; the rotary riveting device 40 outputs the rotary riveted finished product with the end plate distributed at the bottom to the finished product turning conveying device 110, and the finished product turning conveying device 110 turns the rotary riveted finished product 180° so that the end plate is distributed at the top; thereafter, the finished product turning conveying device 110 outputs the rotary riveted finished product with the end plate distributed at the top to the finished product unloading rack 80, so as to facilitate the grabbing of the end plate grabbing component 71 of the loading and unloading robot 70.

[0078] The operation process of the first embodiment of the automatic loading and unloading system of the prefabricated pile end plate hoop robot is as follows: the hoop production equipment 30 winds and welds the fixed-length steel strip into a hoop, and conveys the hoop to the left to the hoop conveying assembly 44, and the hoop conveying assembly 44 conveys the hoop to the left to the designated position. The end plate grabbing assembly 71 of the loading and unloading robot 70 moves to the end plate loading bracket 50, grabs the end plate on the end plate loading bracket 50, and places the end plate on the end plate conveying assembly 43, and the end plate conveying assembly 43 conveys the end plate forward to the riveting station 41; the end plate grabbing assembly 71 of the loading and unloading robot 70 releases the end plate and exits. The hoop loading assembly 42 grabs the hoop on the hoop conveying assembly 44, and puts the hoop on the end plate at the riveting station 41. The riveting equipment 40 rivets the end plate and the hoop to a riveted finished product at the riveting station 41. Repeat the above process, and the end plate conveying assembly 43 will output the previous riveted product forward while conveying the next end plate forward to the riveting station 41. In this way, the riveted product is conveyed by the turning conveying section 45 at the end of the end plate conveying assembly 43 at a 90° turn, and then is sent to the finished product turning conveying device 110. The finished product turning conveying device 110 turns the riveted product 180° as a whole, and then outputs the riveted product to the left to the finished product unloading rack 80. The end plate grabbing assembly 71 of the loading and unloading robot 70 moves to the finished product unloading rack 80, grabs the end plate at the upper end of the riveted product on the finished product unloading rack 80, and stacks the riveted product on the finished product stacking rack 60. The end plate grabbing assembly 71 of the loading and unloading robot 70 releases the end plate and exits. Since the end plate conveying assembly 43 conveys the end plate and the finished riveted products simultaneously, combined with the flipping operation of the finished product flipping conveying equipment 110, the operation time of the loading and unloading robot 70 is relatively ample; and, each time the riveting is completed, the ferrule conveying assembly 44 and the end plate conveying assembly 43 will replenish new end plates and ferrules to ensure the overall riveting rhythm of the system.

[0079] Example 2 of automatic loading and unloading system of prefabricated pile end plate sleeve robot

[0080] like Figure 3As shown, the second embodiment of the automatic loading and unloading system of the prefabricated pile end plate sleeve robot is a dual robot structure, that is, two loading and unloading robots 70 are provided, namely, an end plate loading robot 72 and a finished product unloading robot 73. The end plate loading robot 72 is only used for automatic loading of the end plate, and the finished product unloading robot 73 is only used for automatic unloading of the riveted finished product. Based on the dual robot structure, the end plate loading bracket 50 is arranged on one side of the riveting device 40, and an end plate loading operation area 92 is formed between the end plate loading bracket 50 and the riveting device 40. The end plate loading robot 72 is arranged in the end plate loading operation area 92, and the end plate grabbing assembly 71 of the end plate loading robot 72 can reciprocate between the end plate loading bracket 50 and the riveting station 41 to realize automatic loading of the end plate. The finished product unloading rack 80 and the finished product stacking rack 60 are both arranged on the other side of the rotary riveting equipment 40. A finished product unloading operation area 93 is surrounded by the rotary riveting equipment 40, the finished product unloading rack 80 and the finished product stacking rack 60. The finished product unloading robot 73 is arranged in the finished product unloading operation area 93. The end plate grasping assembly 71 of the finished product unloading robot 73 can reciprocate between the finished product unloading rack 80 and the finished product stacking rack 60 to realize automatic unloading of the rotary riveted finished products.

[0081] Furthermore, if Figure 3 As shown, the rotary riveting device 40 in the second embodiment of the automatic loading and unloading system of the prefabricated pile end plate hoop robot also includes an end plate conveying assembly 43 for conveying the end plate forward, and a hoop conveying assembly 44 for conveying the hoop to the left. The rotary riveting station 41 is arranged on the conveying path of the end plate conveying assembly 43, and the conveying direction of the end plate conveying assembly 43 is perpendicular to the conveying direction of the hoop conveying assembly 44. Along the conveying direction of the hoop conveying assembly 44, the hoop conveying assembly 44 is arranged between the hoop production equipment 30 and the hoop loading assembly 42, and the hoop production equipment 30 and the rotary riveting device 40 are distributed from right to left in sequence. Along the conveying direction of the end plate conveying assembly 43, the end plate loading operation area 92 is distributed on the rear side of the rotary riveting device 40, and the finished product unloading operation area 93 is distributed on the front side of the rotary riveting device 40. In this way, the end plate loading bracket 50 and the end plate loading robot 72 are arranged at the rear side of the rotary riveting device 40; and the finished product unloading rack 80, the finished product unloading robot 73 and the finished product stacking rack 60 are arranged at the front side of the rotary riveting device 40, and the rotary riveting device 40, the finished product unloading rack 80 and the finished product stacking rack 60 are preferably distributed in a ring around the finished product unloading robot 73. The second embodiment of the automatic loading and unloading system of the precast pile end plate sleeve robot adopts the above layout, and the entire system is relatively compact in the length space in the left and right directions, has a short length in the left and right directions, and is suitable for areas with small spaces.

[0082] Furthermore, if Figure 3As shown, the second embodiment of the automatic loading and unloading system of the prefabricated pile end plate sleeve robot also includes a finished product flipping conveying device 110. The output end of the rotary riveting device 40, the finished product flipping conveying device 110 and the finished product unloading rack 80 are connected in sequence from back to front. The finished product flipping conveying device 110 flips the rotary riveted finished product 180° so that the end plate is distributed on the top, which is convenient for the end plate grabbing assembly 71 of the finished product unloading robot 73 to grab.

[0083] The operation flow of the second embodiment of the automatic loading and unloading system of the prefabricated pile end plate hoop robot is as follows: the hoop production equipment 30 winds and welds the fixed-length steel strip into a hoop, and conveys the hoop to the left to the hoop conveying assembly 44, and the hoop conveying assembly 44 conveys the hoop to the left to the designated position. The end plate grabbing assembly 71 of the end plate loading robot 72 moves to the end plate loading bracket 50, grabs the end plate on the end plate loading bracket 50, and places the end plate on the end plate conveying assembly 43, and the end plate conveying assembly 43 conveys the end plate forward to the riveting station 41; the end plate grabbing assembly 71 of the end plate loading robot 72 releases the end plate and exits. The hoop loading assembly 42 grabs the hoop on the hoop conveying assembly 44, and puts the hoop on the end plate at the riveting station 41. The riveting equipment 40 rivets the end plate and the hoop to a riveted finished product at the riveting station 41. Repeat the above process, and the end plate conveying assembly 43 will output the previous riveted product forward while conveying the next end plate forward to the riveting station 41, so that the riveted product is forwarded to the finished product turning conveying device 110. The finished product turning conveying device 110 turns the riveted product as a whole 180°, and then outputs the riveted product forward to the finished product unloading rack 80. The end plate grabbing assembly 71 of the finished product unloading robot 73 moves to the finished product unloading rack 80, grabs the end plate at the upper end of the riveted product on the finished product unloading rack 80, and stacks the riveted products on the finished product stacking rack 60. The end plate grabbing assembly 71 of the finished product unloading robot 73 releases the end plate and exits.

[0084] Furthermore, in the two embodiments of the above-mentioned automatic loading and unloading system of the prefabricated pile end plate sleeve robot, the end plate grabbing component 71 is an electromagnet; the electromagnet is energized to adsorb the end plate, thereby grabbing the end plate or the finished product of the spin riveting; the electromagnet is de-energized to release the adsorption, thereby releasing the end plate or the finished product of the spin riveting. Figure 2 and Figure 3 As shown, the finished product unloading rack 80 also has a plurality of conveying rollers for conveying the finished product of the spin riveting to a designated position for accurate grasping by the end plate grabbing assembly 71. Preferably, the finished product unloading rack 80 is provided with a V-shaped stopper at its conveying end to more reliably position the finished product of the spin riveting at a designated position.

[0085] Furthermore, in the two embodiments of the above-mentioned precast pile end plate sleeve automatic loading and unloading system, the finished product turning and conveying device 110 has the same structure. The preferred structure of the finished product turning and conveying device 110 is: Figures 4 to 6As shown, the finished product turning and conveying device 110 includes a fixed turning frame 111, a turning drive source 112 installed on the turning frame 111, a turning frame 113 rotatably installed on the turning frame 111 and capable of accommodating the finished rotary riveted products, and a feed conveying assembly 114 and a discharge conveying assembly 115 respectively installed at the bottom and the top of the turning frame 113. The turning drive source 112 is transmission-connected to the turning frame 113, and an inlet and outlet port 116 is provided at one end of the turning frame 113, and the inlet and outlet port 116 allows the finished rotary riveted products to pass through.

[0086] In the initial state, the inlet and outlet 116 of the flip frame 113 is opposite to the end of the end plate conveying assembly 43, and the feed conveying assembly 114 is arranged below. The finished product of the rivet outputted by the end plate conveying assembly 43 of the rivet equipment 40 enters the flip frame 113 through the inlet and outlet 116, and the middle end plate of the rivet finished product is at the bottom and contacts with the feed conveying assembly 114, and the feed conveying assembly 114 conveys all the rivet finished products into the flip frame 113. Afterwards, the flip driving source 112 drives the flip frame 113 to rotate 180°, and the flip frame 113 drives the rivet finished product to flip 180° as a whole, so that the middle end plate of the rivet finished product is at the top; the inlet and outlet 116 of the flip frame 113 is opposite to the finished product unloading rack 80, and the discharge conveying assembly 115 is arranged below, and the rivet finished product contacts with the discharge conveying assembly 115. Then, the discharging conveying assembly 115 conveys the finished spin-riveted products out, and the finished spin-riveted products are moved out of the turning frame 113 through the inlet and outlet 116 and conveyed to the finished product unloading rack 80 .

[0087] Furthermore, if Figures 4 to 6 As shown, a coaxial driving shaft 117 and a driven shaft 118 are fixed to both ends of the flip frame 113, and both the driving shaft 117 and the driven shaft 118 are rotatably supported in the flip frame 111. The flip driving source 112 is a motor and is connected to the driving shaft 117 through a gear box.

[0088] Preferably, if Figure 4 and Figure 5 As shown, a stopper plate 119 is fixed to the other end of the flip frame 113, and the stopper plate 119 and the inlet and outlet port 116 are arranged opposite each other. During the flipping process, the stopper plate 119 reliably keeps the finished product of the spin riveting in the flip frame 113 to prevent the finished product of the spin riveting from falling out of the flip frame 113. Figure 4 and Figure 6 As shown, the feed conveying assembly 114 and the discharge conveying assembly 115 both include a plurality of conveying rollers rotatably mounted on the turning frame 111 .

[0089] In summary, the utility model effectively overcomes various shortcomings of the prior art and has high industrial utilization value.

[0090] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the technology may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed in the present invention shall still be covered by the claims of the present invention.

Claims

1. A prefabricated pile end plate ferrule robot automatic loading and unloading system, comprising a ferrule production device (30) and a rotary riveting device (40), wherein the rotary riveting device (40) has a rotary riveting station (41) and a ferrule feeding assembly (42), wherein the output end of the ferrule production device (30) is connected to the input end of the ferrule feeding assembly (42), and characterized in that: It also includes an end plate loading bracket (50) for carrying the end plate, a finished product stacking rack (60) for carrying the finished rotary riveted products, a loading and unloading robot (70), and a finished product unloading rack (80). The output end of the rotary riveting equipment (40) is connected to the finished product unloading rack (80). The loading and unloading robot (70) has a movable end plate grasping component (71). The end plate grasping component (71) can be detachably connected to the end plate. The end plate grasping component (71) can reciprocate between the end plate loading bracket (50) and the rotary riveting station (41), and between the finished product unloading rack (80) and the finished product stacking rack (60).

2. The automatic loading and unloading system of the prefabricated pile end plate sleeve robot according to claim 1 is characterized in that: The loading and unloading robot (70) is provided with one, and the end plate loading bracket (50), the rotary riveting device (40), the finished product unloading rack (80) and the finished product stacking rack (60) are sequentially distributed in a ring shape and surround a loading and unloading operation area (91), and the loading and unloading robot (70) is arranged in the loading and unloading operation area (91).

3. The automatic loading and unloading system of the precast pile end plate sleeve robot according to claim 2 is characterized in that: The rotary riveting device (40) further comprises an end plate conveying assembly (43) and a ferrule conveying assembly (44); the rotary riveting station (41) is arranged on a conveying path of the end plate conveying assembly (43); and the conveying direction of the end plate conveying assembly (43) is perpendicular to the conveying direction of the ferrule conveying assembly (44); The ferrule conveying assembly (44) is arranged between the ferrule production equipment (30) and the ferrule feeding assembly (42) along its conveying direction; The ferrule production equipment (30), the rotary riveting equipment (40), the loading and unloading robot (70) and the finished product unloading rack (80) are arranged in sequence along the conveying direction of the ferrule conveying assembly (44); the end plate loading bracket (50), the rotary riveting equipment (40) and the finished product unloading rack (80) are arranged in sequence along the conveying direction of the end plate conveying assembly (43).

4. The automatic loading and unloading system for precast pile end plate sleeves according to claim 3 is characterized in that: The end plate material loading bracket (50) and the finished product unloading rack (80) are arranged opposite to each other and are arranged offset with respect to the rotary riveting device (40) in the conveying direction of the ferrule conveying assembly (44); the end of the end plate conveying assembly (43) is a turning conveying section (45), and the turning conveying section (45) extends toward the finished product unloading rack (80).

5. The automatic loading and unloading system of the precast pile end plate sleeve robot according to claim 1 is characterized in that: The loading and unloading robots (70) are provided with two, namely an end plate loading robot (72) and a finished product unloading robot (73); The end plate feed bracket (50) is arranged on one side of the rotary riveting device (40), an end plate feed operation area (92) is formed between the end plate feed bracket (50) and the rotary riveting device (40), the end plate feed robot (72) is arranged in the end plate feed operation area (92), and the end plate grabbing component (71) of the end plate feed robot (72) can reciprocate between the end plate feed bracket (50) and the rotary riveting station (41); The finished product unloading rack (80) and the finished product stacking rack (60) are both arranged on the other side of the rotary riveting device (40); a finished product unloading operation area (93) is formed between the rotary riveting device (40), the finished product unloading rack (80) and the finished product stacking rack (60); the finished product unloading robot (73) is arranged in the finished product unloading operation area (93); and the end plate grabbing component (71) of the finished product unloading robot (73) can reciprocate between the finished product unloading rack (80) and the finished product stacking rack (60).

6. The automatic loading and unloading system for precast pile end plate sleeves according to claim 5 is characterized in that: The rotary riveting device (40) further comprises an end plate conveying assembly (43) and a ferrule conveying assembly (44); the rotary riveting station (41) is arranged on a conveying path of the end plate conveying assembly (43); and the conveying direction of the end plate conveying assembly (43) is perpendicular to the conveying direction of the ferrule conveying assembly (44); The ferrule conveying assembly (44) is arranged between the ferrule production equipment (30) and the ferrule feeding assembly (42) along its conveying direction; The end plate loading operation area (92) and the finished product unloading operation area (93) are distributed on both sides of the rotary riveting device (40) along the conveying direction of the end plate conveying assembly (43).

7. The automatic loading and unloading system of the precast pile end plate sleeve robot according to claim 1 is characterized in that: It also includes a finished product turning and conveying device (110), wherein the output end of the rotary riveting device (40), the finished product turning and conveying device (110) and the finished product unloading rack (80) are connected in sequence; The finished product turning and conveying device (110) comprises a fixed turning frame (111), a turning driving source (112) mounted on the turning frame (111), a turning frame (113) rotatably mounted on the turning frame (111) and capable of accommodating the finished product of the rotary riveting, and a feeding conveying assembly (114) and a discharging conveying assembly (115) respectively mounted on the bottom and top of the turning frame (113), the turning driving source (112) being transmission-connected to the turning frame (113), and an inlet and outlet port (116) is provided at one end of the turning frame (113), and the inlet and outlet port (116) allows the finished product of the rotary riveting to pass through.

8. The automatic loading and unloading system for precast pile end plate sleeves according to claim 7 is characterized in that: A coaxial driving shaft (117) and a driven shaft (118) are respectively fixed at both ends of the flip frame (113); the driving shaft (117) and the driven shaft (118) are both rotatably supported in the flip frame (111); and the flip driving source (112) is a motor, which is drivingly connected to the driving shaft (117).

9. The automatic loading and unloading system of the precast pile end plate sleeve robot according to claim 7 is characterized in that: A stop plate (119) is fixed to the other end of the flip frame (113), and the stop plate (119) and the material inlet and outlet (116) are arranged opposite to each other.

10. The precast pile end plate sleeve robot automatic loading and unloading system according to claim 7 is characterized in that: The feed conveying assembly (114) and the discharge conveying assembly (115) both include a plurality of conveying rollers rotatably mounted on the turning frame (111).

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