An automatic screw dismounting and mounting station for an automatic pipe pile pole mold assembly line

Abstract

This paper proposes an automated bolt disassembly and assembly workstation for an automated pipe pile and pole mold production line. An automated bolt disassembly and assembly device is located on the outer side of the middle of the mold drive unit. This device includes a robot, a pneumatic device, a bolt positioning device, a detection device, and a protective cover. The robots are symmetrically positioned on the left and right sides of the mold drive unit. The top of each robot is equipped with a pneumatic device and a detection device. Protective covers are installed on the outer sides of both robots. A bolt positioning device is located above the feed end of the mold drive unit of the protective cover. By allocating a separate area for bolts that previously required manual operation or a bolt rotating machine, this workstation not only achieves efficient and stable automated bolt tightening and loosening but also allows for flexible allocation of usage areas or positions. This effectively reduces the floor space required for bolt disassembly and assembly in pipe pile and pole molds, improves the overall workshop utilization rate, and optimizes the integration of the fully automated production line.

Description

Technical Field

[0001] This article belongs to the technical field of automated production line for pipe pile and pole molds, specifically involving an automatic screw disassembly and assembly workstation for an automated pipe pile and pole mold production line. Background Technology

[0002] Cement pile production is a labor-intensive industry. Traditional cement pile production lines are characterized by high labor intensity, low work efficiency, and numerous safety hazards. In particular, the dismantling and assembly area involves multiple overlapping processes, such as hoisting the upper mold, removing bolts from the upper and lower molds, removing the cement pile head and tail plates, uncovering the upper mold, demolding and hoisting the cement pile, cleaning the upper and lower molds, installing the head and tail plates, and inserting the reinforcing cage into the lower mold. Workers working together in close proximity need to avoid each other.

[0003] The automated production line for pipe piles uses a method of covering a bottom mold with a top mold, and then placing reinforcing bars between the bottom and top molds. After forming the pile by laying material between the bottom and top molds, the bottom and top molds are connected with bolts. After tensioning, centrifugation, and steam curing, the finished pipe pile is obtained. The existing production line's main process is: material laying - mold closing - tensioning - centrifugation - steam curing - demolding - cleaning the top mold and spraying release agent - cleaning the bottom mold and spraying release agent - hoisting the reinforcing bars - material laying. This production line has a low degree of automation and a relatively high demand for manual labor. The pipe molds are transported by flatcar, which is inefficient and greatly restricts capacity expansion. The transfer of pipe molds between workshops is done by crane, which requires a large number of cranes and limits maximum capacity utilization. When the pipe molds are being transported by crane, they are usually placed on the ground, and then manually cleaned, sprayed with release agent, and hoisted, requiring a large number of workers. Flatcar transfer of pipe molds is mainly single-line transfer, requiring the pipe molds to be moved from one workshop to another and then back again. This cyclical process results in wasted time and capacity.

[0004] Existing highly integrated pipe pile production lines require the opening and closing of bottom molds and top molds on the production line to achieve the reusability of pipe pile and pole molds. During the opening and closing process, a dedicated disassembly area is needed to tighten or loosen the bolts on the outside of the bottom mold and top mold by manual labor or disassembly machine before the mold opening or closing operation is performed. However, this not only reduces the working efficiency of the pipe pile production line, but also occupies a lot of limited factory space, thus failing to achieve maximum production line optimization.

[0005] Therefore, there is a need for an efficient and stable bolt removal and installation device that can be used on a mobile assembly line. During the transportation of pipe piles, the bolts can be removed, and subsequent operations can be carried out directly after the pipe piles are transported. Utility Model Content

[0006] To address the aforementioned issues, this paper proposes an automated screw disassembly and assembly workstation for an automated pipe pile pole mold production line. The pipe pile pole mold production line includes several mold driving devices arranged side-by-side and connected. Pipe pile pole molds are horizontally positioned above the mold driving devices. An automated screw disassembly and assembly device is located on the outer side of the middle of each mold driving device. This automated screw disassembly and assembly device includes a robot, a pneumatic device, a bolt positioning device, a detection device, and a protective cover. The robots are symmetrically positioned on the left and right sides of the mold driving devices. A pneumatic device and a detection device are located at the top of each robot. Protective covers are provided on the outer sides of the robots on both sides. The protective covers are mold driving devices. A bolt positioning device is provided above the feed end of the moving device, and a control panel is provided on the outside of the protective cover. There are two bolt positioning devices in total, which are vertically arranged above the left and right sides of the pipe pile pole mold. By improving the original form that required manual or bolt turning machine to allocate a separate area, it can be arbitrarily arranged on the required pipe pile pole mold moving production line according to the actual workshop environment. It can not only achieve efficient and stable automated bolt tightening and loosening, but also freely allocate the use area or position, effectively reduce the footprint of bolt assembly and disassembly of pipe pile pole mold, improve the overall workshop utilization rate, and optimize the integration of the fully automated production line.

[0007] The mold drive device is a unidirectional translational circulating conveyor belt device. The mold drive device is equipped with a rotary encoder. Several mold drive devices are arranged horizontally with their ends aligned with each other. A V-shaped fixed conveyor belt is provided above the mold drive device. The V-shaped fixed conveyor belt is fixedly connected to the axial rotation limit of the pipe pile pole mold. The mold drive device is used to transport the pipe pile pole mold stably and smoothly, preventing the axial rotation of the pipe pile pole mold caused by the movement of the pipe pile pole mold on the drive device, ensuring that the angle of the bolt does not change, thereby improving the positioning accuracy of the robot and the bolt positioning device. The rotary encoder can accurately control the movement distance of the pipe pile pole mold by the mold drive device, thereby controlling the robot to maintain the same speed as the mold drive device.

[0008] The robot is a multi-axis controlled robotic arm. The bottom of the robot is fixed to the outside of the mold driving device, and the top of the robot is fixed to a pneumatic device and a detection device. The robot, pneumatic device and detection device are all positioned and linked through a bolt positioning device. Through the multi-axis robot, high-precision and high-stability precise control can be achieved. In addition, the pneumatic device and detection device can also accurately control the rotation of the bolt and confirm the height position of the bolt during the tightening or loosening process, ensuring that the bolt is tightened or loosened in place.

[0009] The pipe pile pole mold includes a bottom mold and a top mold. The outer side of the bottom mold is axially fixed above the mold driving device. The bottom mold and the top mold are connected in a semi-circular combination. The outer side of the connection surface of the bottom mold and the top mold are provided with a connecting fixing edge. Several bolts are provided through the connecting fixing edge. The bolts are inserted and fixed from top to bottom on the inner side of the connecting fixing edge of the top mold. The pipe pile pole mold is a combination mold with a separate upper and lower cover. By setting the connecting fixing edge of the mold combination horizontally on both sides of the mold driving device, the bolt positioning device can accurately position the bolts, and the robot can also smoothly rotate the bolts vertically.

[0010] The bolt positioning device is a three-dimensional vision inspection and positioning output device. The bolt positioning device is connected to the protective cover through a bracket. The bolt positioning device is vertically set above the connecting and fixing edges on both sides of the pipe pile pole mold. By setting the bolt positioning device at the feed port of the protective cover, each bolt on both sides of the input pipe pile pole mold can be positioned, ensuring that the bolts of the pipe pile pole mold can be stably and accurately positioned and inspected.

[0011] The protective cover is a rectangular frame with several cover plates covering the support surface. The two ends of the protective cover have an inlet and an outlet, respectively. A mold drive device is installed through the inlet and outlet of the protective cover. A bolt positioning device is installed above the inlet of the protective cover. The protective cover protects the area where the robot works, preventing personnel from accidentally entering and causing injury. In addition, the control panel and bolt detection device can be conveniently installed on the outside of the protective cover to facilitate the integration and connection of the circuit.

[0012] The pneumatic device is a pneumatic rotary wrench. It features an internal automatic lubrication system and an external automatic bolt oil spraying system. The internal lubrication ensures the lubrication of the internal sleeve during operation, allowing for direct engagement with the bolt and improving the alignment efficiency between the robot and the bolt. The external oil spraying system lubricates the bolt, preventing it from becoming stuck due to concrete pouring or steam curing, thus facilitating the installation and disassembly of the pneumatic device. Beneficial effects

[0013] By improving the original method of requiring manual labor or a separate area for bolt turning machines, the bolts can be arbitrarily arranged on the required pipe pile and pole mold moving production line according to the actual workshop environment. This not only enables efficient and stable automated bolt tightening and loosening, but also allows for free allocation of usage areas or positions. This effectively reduces the floor space occupied by bolt assembly and disassembly of pipe pile and pole molds, improves the overall workshop utilization rate, and optimizes the integration of the fully automated production line.

[0014] The mold drive device is used to transport the pipe pile pole mold stably and smoothly, preventing axial rotation caused by the movement of the pipe pile pole mold on the drive device, ensuring that the bolt angle does not change, thereby improving the positioning accuracy of the robot and the bolt positioning device. The rotary encoder can accurately control the movement distance of the pipe pile pole mold by the mold drive device, thereby controlling the robot and the mold drive device to maintain the same speed.

[0015] The multi-axis robot enables precise control with high accuracy and stability. Furthermore, the pneumatic and detection devices can accurately control the rotation of the bolt and confirm its height position during the tightening or loosening process, ensuring that the bolt is tightened or loosened in place.

[0016] By fixing the connection of the mold assembly edge horizontally on both sides of the mold drive device, the bolt positioning device can accurately position the bolt, and the robot can smoothly rotate the bolt vertically.

[0017] By setting the bolt positioning device at the feed inlet of the protective cover, each bolt on both sides of the incoming pipe pile pole mold can be positioned, ensuring that the bolts of the pipe pile pole mold can be stably and accurately positioned and detected.

[0018] The protective cover protects the robot's working area, preventing accidental entry and injury to personnel. It also allows for the convenient installation of a control panel and bolt detection device on the outside of the protective cover, facilitating the integration and connection of wiring.

[0019] By installing an oil lubrication system inside the pneumatic device, the lubrication of the internal sleeve is ensured when the pneumatic wrench is used, allowing it to directly engage with the bolt and improving the alignment efficiency of the robot-bolt connection. Meanwhile, the oil spraying device on the outside of the bolt lubricates the bolt, preventing it from becoming stuck and difficult to rotate due to concrete pouring or steam curing, thus facilitating the installation and disassembly of the pneumatic device. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of an automatic screw disassembly and assembly workstation used in an automated pipe pile and pole mold production line;

[0021] Figure 2 This is a side view of an automatic screw disassembly and assembly workstation used in an automated pipe pile and pole mold production line;

[0022] In the diagram: 1. Robot, 2. Pneumatic device, 3. Mold drive device, 4. Bolt positioning device, 5. Detection device, 6. Protective cover, 7. Cover mold, 8. Bottom mold, 9. Control panel. Detailed Implementation

[0023] To enhance understanding of this utility model, the present utility model will be further described in detail below with reference to the embodiments and accompanying drawings. These embodiments are only used to explain the present utility model and do not constitute a limitation on the scope of protection of the present utility model.

[0024] 1. Robot, 2. Pneumatic device, 3. Mold drive device, 4. Bolt positioning device, 5. Detection device, 6. Protective cover, 7. Cover mold, 8. Bottom mold, 9. Control panel.

[0025] like Figure 1 , 2 As shown;

[0026] An automated screw disassembly and assembly workstation for an automated pipe pile pole mold production line is disclosed. The pipe pile pole mold production line includes several mold driving devices 3 arranged side by side and connected. Pipe pile pole molds are horizontally positioned above the mold driving devices 3. An automated screw disassembly and assembly device is located on the outer side of the middle of the mold driving devices 3. The automated screw disassembly and assembly device includes a robot 1, a pneumatic device 2, a bolt positioning device 4, a detection device 5, and a protective cover 6. The robots 1 are symmetrically arranged on the left and right sides of the mold driving devices 3. The top of the robots 1 is equipped with the pneumatic device 2 and the detection device 5. The outer sides of the robots 1 on both sides are covered by protective covers. The mold is equipped with a protective cover 6. Above the feed end of the mold drive device of the protective cover 6, there is a bolt positioning device 4. A control panel 9 is located on the outside of the protective cover 6. Two bolt positioning devices 4 are vertically positioned above the left and right sides of the mold. The mold drive device 3 is a unidirectional translational circulating conveyor belt device. A rotary encoder is installed inside the mold drive device 3. Several mold drive devices 3 are arranged horizontally with their ends aligned. A V-shaped fixed conveyor belt is located above the mold drive device 3, and the V-shaped fixed conveyor belt rotates axially with the mold. The robot 1 is a multi-axis controlled robotic arm with a fixed bottom on the outside of the mold drive device 3. The top of the robot 1 is fixed with a pneumatic device 2 and a detection device 5. The robot 1, pneumatic device 2, and detection device 5 are all positioned and linked by a bolt positioning device 4. The pipe pile pole mold includes a bottom mold 8 and a top mold 7. The bottom mold 8 is axially fixed on the outside of the mold drive device 3. The bottom mold 8 and the top mold 7 are connected in a semi-circular combination. A connecting fixing edge is provided on the outer side of the connecting surface of the bottom mold 8 and the top mold 7, and several screws are provided through this connecting fixing edge. The bolts are inserted and fixed from top to bottom on the inner side of the connecting and fixing edge of the cover mold 7. The bolt positioning device 4 is a three-dimensional vision detection and positioning output device. The bolt positioning device 4 is connected to the protective cover 6 through the bracket. The bolt positioning device 4 is vertically set above the connecting and fixing edge on both sides of the pipe pile pole mold. The protective cover 6 is a rectangular frame. The support surface of the protective cover 6 is covered with several cover plates. The two ends of the protective cover 6 are respectively provided with a feed port and a discharge port. The mold driving device 3 is provided through the feed port and the discharge port of the protective cover 6. The bolt positioning device 4 is provided above the feed port of the protective cover 6.

[0027] Implementation example;

[0028] 1. The mold driving device 3 gradually transports the pipe pile mold toward the inside of the protective cover 6, and the mold driving device 3 transports the pipe pile pole mold to below the bolt positioning device 4.

[0029] 2. The two bolt positioning devices 4 at the top position the recessed bolts on both sides of the pipe pile pole mold. The bolt positioning devices 4 detect the position of the bolts and transmit the position signal.

[0030] 3. The signal transmission device transmits the bolt position signal to robot 1, and the multi-axis movement of robot 1 on both sides of mold drive device 3 moves to above the bolt.

[0031] 4. The pneumatic device 2 starts working and is controlled by the robot 1 to perform bolt installation and removal work. When the pneumatic device 2 descends or rises to the set target position for bolt tightening or loosening, the detection device 5 transmits the signal back to the robot 1, and the robot 1 returns to the starting position. During this process, the rotary encoder on the mold drive device 3 records the walking data and transmits the signal back to the robot 1, thereby controlling the robot 1 and the mold drive device 3 to maintain the same speed.

[0032] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. An automatic screw disassembly and assembly workstation for an automated pipe pile pole mold production line, the pipe pile pole mold production line comprising several mold driving devices arranged side by side and connected, with pipe pile pole molds horizontally positioned above the mold driving devices, characterized in that... An automated bolt assembly / disassembly device is provided on the outer side of the middle part of the mold driving device. The automated bolt assembly / disassembly device includes a robot, a pneumatic device, a bolt positioning device, a detection device, and a protective cover. The robots are symmetrically arranged on the left and right sides of the mold driving device. The top of the robot is equipped with a pneumatic device and a detection device. The outer sides of the robots on both sides are covered with protective covers. The bolt positioning device is located above the feed end of the mold driving device of the protective cover. The outer side of the protective cover is equipped with a control panel. There are two bolt positioning devices in total. The two bolt positioning devices are vertically arranged above the left and right sides of the pipe pile pole mold.

2. The automatic screw disassembly and assembly workstation for an automated pipe pile and pole mold production line according to claim 1, characterized in that, The mold driving device is a unidirectional translational circulating conveyor belt. The mold driving device is equipped with a rotary encoder inside. Several mold driving devices are arranged horizontally with their ends aligned with each other. A V-shaped fixed conveyor belt is provided above the mold driving device. The V-shaped fixed conveyor belt is fixedly connected to the pipe pile pole mold for axial rotation limit.

3. The automatic screw disassembly and assembly workstation for an automated pipe pile and pole mold production line according to claim 1, characterized in that, The robot is a multi-axis controlled robotic arm. The bottom of the robot is fixedly located on the outside of the mold driving device, and the top of the robot is fixedly equipped with a pneumatic device and a detection device. The robot, the pneumatic device, and the detection device are all positioned and linked by a bolt positioning device.

4. The automatic screw disassembly and assembly workstation for an automated pipe pile and pole mold production line according to claim 1, characterized in that, The pipe pile pole mold includes a bottom mold and a top mold. The outer side of the bottom mold is axially fixed above the mold driving device. The bottom mold and the top mold are connected to each other in a semi-circular combination. The outer side of the connection surface of the bottom mold and the top mold is provided with a connecting fixing edge. Several bolts are provided through the connecting fixing edge. The bolts are inserted and fixed from top to bottom on the inner side of the connecting fixing edge of the top mold.

5. The automatic screw disassembly and assembly workstation for an automated pipe pile and pole mold production line according to claim 4, characterized in that, The bolt positioning device is a three-dimensional vision detection and positioning output device. The bolt positioning device is connected to the protective cover through a bracket. The bolt positioning device is vertically installed above the connecting and fixing edges on both sides of the pipe pile pole mold.

6. The automatic screw disassembly and assembly workstation for an automated pipe pile and pole mold production line according to claim 1, characterized in that, The protective cover is a rectangular frame, and the support surface of the protective cover is covered with several cover plates. The two ends of the protective cover are respectively provided with a feed port and a discharge port. A mold driving device is provided through the feed port and the discharge port of the protective cover. A bolt positioning device is provided above the feed port of the protective cover.

7. The automatic screw disassembly and assembly workstation for an automated pipe pile and pole mold production line according to claim 1, characterized in that, The pneumatic device is a pneumatic rotary wrench. The pneumatic device is equipped with an automatic oiling and lubrication device inside and an automatic bolt oiling device on the outside.

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