CN118219412A - Automatic locking system for pipe pile die bolt and automatic pipe die closing method - Google Patents

Abstract

The application provides an automatic locking system for a pipe pile die bolt and an automatic die closing method for a pipe pile die, and relates to the technical field of pipe pile production. The automatic locking system of the die bolt comprises a detection assembly, a following assembly, a fastening assembly and a control assembly, wherein the detection assembly comprises a visual camera, and the visual camera is used for acquiring three-dimensional image information of the die; the following assembly is positioned on one side of the detection assembly and comprises a following encoder, and the following encoder is used for acquiring the position information of the die bolt; the fastening component is positioned at one end of the following component, which is far away from the detection component, and is used for locking a die clamping fastener of the die; the control assembly is respectively and electrically connected with the detection assembly, the following assembly and the fastening assembly, and comprises a central processing unit, wherein the central processing unit is used for receiving the acquired information of the vision camera and the following encoder and sending a working instruction to the fastening assembly. The application can realize automatic screwing of the bolts in the process of pipe die closing and improve the production efficiency.

Description

Automatic locking system for pipe pile die bolt and automatic pipe die closing method

Technical Field

The application relates to the technical field of pipe pile production, in particular to an automatic locking system for a pipe pile die bolt and an automatic die closing method for a pipe die.

Background

In the pipe pile production process, concrete needs to be poured through a pipe die to produce the pipe pile. The pipe die is divided into a lower die and a cover die, and concrete pouring is carried out after the cover die and the lower die are combined together. In order to prevent slurry leakage during centrifuging of the pipe die after die assembly, bolts on two sides of the pipe die are required to be screwed in the die assembly process.

In the prior art, in the die assembly process of the pipe die, bolts on two sides of the pipe die are locked in a manual tightening mode, so that the problems of high manual labor intensity, incapability of guaranteeing the tightening quality of the bolts and the like are solved. Therefore, an automatic locking system for a pipe pile die bolt and an automatic pipe die clamping method are provided.

Disclosure of Invention

In view of the above, the application aims to provide an automatic locking system for a pipe pile die bolt and an automatic die closing method for a pipe pile die, which aim to solve the technical problems that in the prior art, bolts are manually screwed, the operation quality cannot be guaranteed and the like.

In order to achieve the above purpose, the technical scheme adopted by the application is as follows:

In a first aspect, an embodiment of the present application provides an automatic locking system for a pipe pile die bolt, including:

The detection assembly comprises a visual camera, wherein the visual camera is used for acquiring three-dimensional image information of the die bolt;

The following assembly is positioned at one side of the detection assembly and comprises a following encoder, and the following encoder is used for acquiring the position information of the die bolt;

The fastening component is positioned at one end of the following component, which is far away from the detection component, and is used for locking a die clamping fastener of the die;

And the control assembly is respectively and electrically connected with the detection assembly, the following assembly and the fastening assembly, and comprises a central processing unit, wherein the central processing unit is used for receiving the acquired information of the vision camera and the following encoder and sending an operation instruction to the fastening assembly.

In one embodiment of the first aspect, the automatic locking system for the pipe pile die bolt further comprises a working platform, wherein a plurality of conveying channels are formed in the working platform, a plurality of following assemblies are arranged, each of the conveying channels is provided with a following assembly, and the fastening assembly and the die are located in the same conveying channel.

In one embodiment of the first aspect, the detection assembly further includes a mounting bracket, the mounting bracket is mounted on the working platform, a plurality of door openings are provided on the mounting bracket corresponding to the plurality of conveying channels, and the vision camera is slidably disposed on a side of the mounting bracket away from the mounting bracket.

In one embodiment of the first aspect, the detecting assembly further includes a distance measuring member, a distance between the distance measuring member and the following assembly is larger than a distance between the vision camera and the following assembly, and the distance measuring member is used for measuring a model size of the mold.

In one embodiment of the first aspect, the following assembly further includes a visual encoder, a driven wheel, and a driving belt, the visual encoder and the following encoder are oppositely disposed at the same end of the following assembly, the driven wheel is disposed at an end of the following assembly away from the following encoder, and the driving belt is in driving connection with the following encoder and the driven wheel respectively through synchronous pulleys.

In one embodiment of the first aspect, the fastening assembly comprises a fastening workpiece and a multi-axis robot, the fastening workpiece being mounted to a working end of the multi-axis robot.

In one embodiment of the first aspect, two multi-axis robots and two fastening workpieces are provided, each of the multi-axis robots is provided with one fastening workpiece, and the two multi-axis robots are disposed opposite to each other.

In one embodiment of the first aspect, the fastening assembly further includes a linear guide and a support platform, the two multi-axis robots are respectively disposed on two opposite sides of the support platform, and the multi-axis robots and the support platform are both slidably disposed on the linear guide.

In one embodiment of the first aspect, the automatic locking system for a pipe pile die bolt further comprises a conveying assembly for conveying the die sequentially through the detecting assembly, the following assembly and the fastening assembly.

In a second aspect, an embodiment of the present application further provides an automatic pipe die clamping method, which adopts the automatic locking system for a pipe pile die bolt described in any one of the above embodiments, and the automatic pipe die clamping method includes:

Placing a pipe die on the conveying assembly;

The conveying assembly conveys the pipe die to the detecting assembly, and the ranging sensor acquires the pipe die diameter information and sends the pipe die diameter information to the control assembly;

the control component adjusts the position of a visual camera according to the diameter information of the pipe die so that the visual camera is positioned above the pipe die;

The vision camera acquires three-dimensional image information of the pipe die bolt, and calculates and gives out bolt position and pipe die angle data to the control assembly;

the following component acquires displacement data of the pipe die bolt from the detection component to the fastening component, acquires position information of the pipe die bolt and sends the position information to the control component;

and the control assembly adjusts the gesture of the multi-axis robot according to the three-dimensional image information of the pipe die and the bolt position information of the pipe die, and aligns the fastening workpiece to the bolt position for bolt tightening operation.

Compared with the prior art, the application has the beneficial effects that: the application provides an automatic locking system for a pipe pile die bolt and an automatic pipe die closing method, which can be used for automatic locking of the pipe die bolt. The automatic locking system of the tubular pile die bolt comprises a detection assembly, a following assembly, a fastening assembly and a control assembly, wherein the detection assembly is used for acquiring three-dimensional image information of a die through a visual camera, and the following assembly is used for acquiring position information of the die through a following encoder. Therefore, the control assembly receives information of the detection assembly and the following assembly again, and obtains the position of the bolt of the pipe die, so that the fastening assembly is operated to be positioned at the bolt locking station and aligned with the position of the bolt, automatic screwing of the bolt in the die closing process of the pipe die is realized, the production efficiency is improved, the labor cost is reduced, and the quality problem that the bolt is missed to be screwed or the screwing moment is insufficient is solved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of an automatic locking system for pipe pile die bolts according to some embodiments of the application;

fig. 2 shows an enlarged schematic view of the portion a in fig. 1;

Fig. 3 shows an enlarged schematic view of the B part in fig. 2;

FIG. 4 is a schematic diagram of a work platform according to some embodiments of the application;

FIG. 5 is a schematic diagram of a detection assembly according to some embodiments of the application;

FIG. 6 illustrates a second schematic diagram of a detection assembly in some embodiments of the application;

FIG. 7 illustrates a third schematic diagram of a detection assembly in some embodiments of the application;

fig. 8 shows an enlarged structural schematic diagram of the portion C in fig. 7;

FIG. 9 is a schematic view showing the structure of a linear guide in some embodiments of the application;

FIG. 10 illustrates a schematic diagram of a structure for securing a workpiece in some embodiments of the application;

FIG. 11 is a flow chart illustrating an automated pipe die closing method in accordance with some embodiments of the application.

Description of main reference numerals:

100-an automatic locking system for the pipe pile die bolt; 110-a detection component; 111-a vision camera; 112-mounting a bracket; 1121-door opening; 113-ranging elements; 114-area array radar; 120-a follower assembly; 121-a following encoder; 122-visual encoder; 123-driven wheel; 124-a drive belt; 130-a fastening assembly; 131-multiaxis robot; 132-fastening the workpiece; 1321-mounting rack; 1322-connecting rod; 1323-sleeve; 133-linear guide rail; 134-a support platform; 140-a transport assembly; 150-an operation platform; 151-conveyor lanes; 160-a control assembly;

200-pipe die.

Detailed Description

Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the existing pipe pile production process, a pipe die is clamped by manually holding a wind gun at a tightening station, a nut is sleeved into a wind gun sleeve through human eye observation and hand-eye matching, a wind gun tightening bolt is opened, and a flat car moves manually and is tightened until the pipe die bolt is completely tightened. Therefore, there are the following problems: the field manual labor intensity is high, the noise hazard is high, and the safety risk is high; because the screw bolt is manually judged to be screwed down, the screwing time is not fixed, and the screwing torque is not fixed; the problem of missing bolts is solved; the whole process is judged by manpower, data communication is absent, and the automation and informatization degree are low.

The embodiment of the application provides an automatic locking system 100 for pipe pile die bolts, which can be used for die locking of dies, in particular for die locking of prestressed pipe pile dies 200. The automatic locking system 100 for the pipe pile die bolt can realize automatic bolt screwing in the die assembly process of the pipe die 200, improve the production efficiency, reduce the labor cost and improve the quality problem of insufficient bolt missing or screwing torque.

As shown in fig. 1, the automatic locking system 100 for pipe pile die bolts includes a detection assembly 110, a follower assembly 120, a fastening assembly 130, and a control assembly 160. The detection assembly 110 comprises a visual camera 111, wherein the visual camera 111 is used for acquiring three-dimensional image information of a die bolt; the following assembly 120 is located at one side of the detecting assembly 110, the following assembly 120 comprises a following encoder 121, and the following encoder 121 is used for acquiring position information of a die bolt; the fastening assembly 130 is positioned at one end of the following assembly 120 away from the detecting assembly 110, and the fastening assembly 130 is used for locking a clamping fastener of the die; the control component 160 is electrically connected with the detection component 110, the following component 120 and the fastening component 130, and the control component 160 comprises a central processor, and the central processor is used for receiving the acquired information of the vision camera 111 and the following encoder 121 and sending corresponding operation instructions to the fastening component 130. Such as adjusting the position of the vision camera, adjusting the work posture of the fastening assembly, etc.

For ease of understanding, the die in the embodiments of the present application may be referred to by the die 200 of the pre-stressed pipe pile, and the clamp fasteners may be fastening bolts. The pipe die 200 comprises a bottom die and a cover die, and the bottom die and the cover die can be locked by a die clamping bolt. The assembly and disassembly of the bottom die and the cover die are realized through the screwing and loosening of the die clamping bolts, so that the pipe die 200 can be reused.

By way of example, the control assembly 160 may include an external control box and a processing computer located within the external control box and receiving information and transmitting instructions via a central processor in the processing computer.

The pipe die 200 continues to move toward the locking station, passing sequentially through the sensing assembly 110, the follower assembly 120, and the tightening assembly 130. When the pipe die 200 reaches the inspection assembly 110, the vision camera 111 acquires three-dimensional image information of the pipe die 200 to acquire bolt position of the pipe die 200 and pipe die 200 angle data, and transmits the information to the control assembly 160. The following assembly 120 is disposed adjacent to the vision assembly, when the pipe die 200 reaches the detecting assembly 110, the pipe die 200 abuts against the following encoder 121 through the conveying plate, and as the pipe die 200 moves, the following encoder 121 rotates along with the pipe die 200, so as to obtain the movement parameters of the pipe die 200, and the movement parameters are sent to the control assembly 160 so as to obtain the position coordinates of the pipe die 200. The fastening assembly 130 is located at one end of the following assembly 120 far away from the detecting assembly 110, the control assembly 160 obtains the bolt position of the pipe die 200, and adjusts the posture of the fastening assembly 130 through the initial position of the fastening assembly 130, so that the fastening assembly 130 is aligned with the fastening bolt to carry out locking operation, the automatic locking of the bolt of the pipe die 200 is completed, the production efficiency is improved, the locking strength of the bolt is ensured, and the phenomenon of missing of the bolt is avoided.

As shown in conjunction with fig. 1 and 4, in some embodiments, the automatic locking system 100 for pipe pile die bolts further includes a working platform 150, where the working platform 150 is provided with a plurality of conveying channels 151, and the follower assemblies 120 are provided with a plurality of follower assemblies 120, and each conveying channel 151 is provided with a follower assembly 120, and the fastening assembly 130 and the die are located in the same conveying channel 151.

Illustratively, the work platform 150 may be a planar support work piece or a shop floor.

In this embodiment, three conveying paths 151 are provided. The fastening assembly 130 can optionally select one conveying channel 151 to perform fastening operation, and then the two conveying channels 151 can perform operation stations such as loading, covering and tensioning of the bottom die and the cover die first, so as to realize alternate operation of a plurality of pipe dies 200. The transfer of the pipe die 200 on the conveyor 151 may be accomplished by a lifting robot.

Of course, in other embodiments, the number of the conveying channels 151 is not limited to three in the above embodiments, such as two, four, five, etc., and may be reasonably set according to practical situations.

As shown in conjunction with fig. 1 and 5, in some embodiments, the detection assembly 110 further includes a mounting bracket 112, the mounting bracket 112 is mounted on the working platform 150, and the mounting bracket 112 is provided with a plurality of door openings 1121 corresponding to the plurality of conveying channels 151, and the vision camera 111 is slidably disposed on a side of the mounting bracket 112 away from the mounting bracket 112.

Illustratively, the mounting bracket 112 is comprised of a plurality of posts and a transverse plate secured to the posts, with one end of the posts remote from the transverse plate secured to the work platform 150, and the vision camera 111 slidably mounted to the transverse plate. The movement of the visual camera 111 is realized through the electric control guide rail, so that the position of the visual camera 111 is adjusted, and the three-dimensional image of the pipe die 200 is accurately acquired.

In this embodiment, the mounting bracket 112 is composed of four columns and a transverse plate, and two adjacent columns are spaced apart, so as to form a door opening 1121 corresponding to the three conveying channels 151, so as to facilitate the passage of the pipe die 200. The two vision cameras 111 are provided, and through the two vision cameras 111 arranged oppositely, the two vision cameras 111 are respectively positioned at two sides of the pipe die 200 in the operation process, and simultaneously acquire fastening bolt positions at the two sides and generate a three-dimensional image.

As shown in fig. 6 and 7, in some embodiments, the detecting component 110 further includes a distance measuring component 113, where the distance between the distance measuring component 113 and the following component 120 is greater than the distance between the vision camera 111 and the following component 120, and the distance measuring component 113 is used to measure the model size of the mold.

Referring to fig. 8, the distance measuring member 113 is slidably disposed on the mounting bracket 112 through a guide rail, and the distance measuring member 113 may be a laser distance measuring device, which vertically emits a distance measuring laser to the working platform 150. During operation, the distance measuring piece 113 moves to the position above the conveying channel 151 of the fastening station of the pipe die 200, the distance between the distance measuring piece 113 and the operation platform 150 is obtained, and when the pipe die 200 reaches the position below the laser distance measuring device, the distance between the distance measuring piece 113 and the pipe die 200 is obtained, so that the pipe diameter of the pipe die 200 is obtained, and the model of the pipe die 200 is obtained. Depending on the model of the pipe die 200, the two vision cameras 111 can adjust the interval therebetween by means of the air cylinder so as to be adapted to the model of the pipe die 200.

In other embodiments, as shown in fig. 7 and 8, the detecting assembly 110 further includes an area array radar 114, and by setting the area array radar 114, the detecting assembly 110 can obtain information about whether the lifting manipulator is separated from the pipe die 200, so as to control the start of the conveying flat car, and convey the pipe die 200.

As shown in conjunction with fig. 2 and 3, in some embodiments, the following assembly 120 further includes a visual encoder 122, a driven wheel 123, and a driving belt 124, where the visual encoder 122 and the following encoder 121 are disposed at the same end of the following assembly 120, and the driven wheel 123 is disposed at an end of the following assembly 120 away from the following encoder 121, and the driving belt 124 is in driving connection with the following encoder 121 and the driven wheel 123 through synchronous pulleys, respectively.

Illustratively, the visual encoder 122 and the following encoder are both connected with the driving belt 124 through synchronous pulleys and pin shafts, so that in the conveying process of the pipe die 200, the following encoder 121 obtains the moving parameters of the pipe die 200, and forms a three-dimensional movement model of the pipe die 200 through the visual encoder 122, and after obtaining the moving parameters of the pipe die 200, the central processing unit operates the fastening assembly 130 to synchronously perform the bolt fastening operation along with the movement of the pipe die 200.

As shown in fig. 2, in some embodiments, the fastening assembly 130 includes a fastening workpiece 132 and a multi-axis robot 131, the fastening workpiece 132 being mounted to a working end of the multi-axis robot 131.

Illustratively, the fastening workpiece 132 may be a pneumatic wrench or an electric wrench. In this embodiment, the fastening workpiece 132 may be a pneumatic wrench. The multi-axis robot 131 may have a plurality of rotational degrees of freedom to manipulate the fastening workpiece 132 for corresponding attitude adjustment so that the fastening workpiece 132 precisely aligns the fastening bolts while following the movement of the pipe die 200.

Referring to fig. 10, the fastening workpiece 132 includes a mounting frame 1321, a connecting rod 1322 and a sleeve 1323, one side of the mounting frame 1321 is connected with the working end of the multi-axis robot 131, the connecting rod 1322 is installed in the mounting frame 1321, one end of the connecting rod 1322 is connected with the cylinder, and the other end of the connecting rod is sleeved with the sleeve 1323. Under the action of the cylinder, the connecting rod 1322 drives the sleeve 1323 to rotate, and the bolt is screwed.

As shown in fig. 1, in some embodiments, two multi-axis robots 131 and fastening workpieces 132 are provided, and each multi-axis robot 131 is equipped with one fastening workpiece 132, and the two multi-axis robots 131 are disposed opposite to each other.

By way of example, through the relative arrangement of the two multi-axis robots 131, during operation, the two multi-axis robots 131 move to the corresponding fastening operation conveying channel 151, the two multi-axis robots 131 are respectively located at two opposite sides of the conveying channel 151, and when the pipe die 200 arrives, the two fastening workpieces 132 screw down the bolts at two sides of the pipe die 200 at the same time, so that the production efficiency is improved.

As shown in fig. 9, in some embodiments, the fastening assembly 130 further includes a linear guide 133 and a support platform 134, the two multi-axis robots 131 are respectively disposed on two opposite sides of the support platform 134, and the multi-axis robots 131 and the support platform 134 are both slidably disposed on the linear guide 133.

Illustratively, both the support platform 134 and the multi-axis robot 131 may be controlled by the linear guide 133 and moved simultaneously to align the support platform 134 with the opposing transport lanes 151. When the pipe die 200 reaches the multi-axis robot 131, support is provided to the pipe die 200 by the support platform 134 until the pipe die 200 is far from the fastening station.

As shown in fig. 1, in some embodiments, the tubular pile die bolt automatic locking system 100 further comprises a conveying assembly 140, the conveying assembly 140 being configured to convey the die sequentially through the detection assembly 110, the follower assembly 120, and the fastening assembly 130.

By way of example, the transport assembly 140 may be a transport cart that is motorized to drive the road wheels after the pipe form 200 is placed on the cart. When the flatcar reaches the detection assembly 110, the flatcar is attached to the following encoder 121, and then the displacement of the pipe die 200 is acquired in the moving process. The conveying component 140 conveys the pipe die 200 to a corresponding station, after the pipe die 200 is fastened, the pipe die 200 is transported by the lifting manipulator, and the flatcar is retracted to carry out feeding conveying of the next pipe die 200.

As shown in fig. 11, the embodiment of the present application further provides an automatic pipe die 200 clamping method, and the automatic locking system 100 for the pipe pile die bolt in any of the above embodiments is adopted. The automatic die assembly method of the pipe die 200 comprises the following steps:

s10, placing the pipe die 200 on the conveying assembly 140.

After the multi-axis robot 131 and the vision camera 111 select one of the three conveying paths 151, the selected one is transferred to a conveying trolley of the conveying path 151 of the fastening station through a hoisting manipulator, and the preliminary covering and tensioning of the bottom die and the cover die are completed.

S20, the conveying component 140 conveys the pipe die 200 to the detecting component 110, and the distance measuring component 113 acquires the diameter information of the pipe die 200 and sends the diameter information to the control component 160.

The information that the hoisting manipulator is separated from the pipe die 200 is acquired through the area array radar 114, and the pipe die 200 is conveyed by the conveying flat car. When reaching the lower side of the distance measuring piece 113, the distance measuring piece 113 obtains the pipe diameter model of the pipe die 200.

S30, the control assembly 160 adjusts the position of the vision camera 111 according to the diameter information of the pipe die 200, so that the vision camera 111 is positioned above the pipe die 200.

According to the model of the pipe die 200, the control component 160 controls the vision cameras 111 to adjust the positions, so that the distance between the two vision cameras 111 is adjusted to be the size matched with the pipe diameter, and the vision cameras 111 can accurately acquire the information of the pipe die 200.

S40, the visual camera 111 collects three-dimensional image information of the pipe die 200, and calculates and gives data of the bolt position and the angle of the pipe die 200 to the control assembly 160.

The vision camera 111 is internally provided with a corresponding operation program, after the pipe die 200 information is acquired, a three-dimensional model is generated through the operation program, and the bolt position and the pipe die 200 angle data are calculated and given to the control component 160.

S50, the follower module 120 acquires displacement data of the pipe die 200 from the detecting module 110 to the fastening module 130, and acquires positional information of the pipe die 200 and sends the positional information to the control module 160.

After the pipe die 200 reaches the detection assembly 110, the flat car is attached to the following encoder 121, the following encoder 121 starts counting, the advancing amount of the pipe die 200 is obtained, and the advancing amount is converted into a three-dimensional model through the visual encoder 122 and is sent to the control assembly 160.

S60, the control unit 160 adjusts the posture of the multi-axis robot 131 based on the three-dimensional image information and the positional information of the pipe die 200, aligns the fastening workpiece 132 to the bolt position, and performs the bolt tightening operation.

The control component 160 provides the bolt position information of the pipe die 200 according to the detection component 110 and the following component 120, adjusts the gesture of the multi-axis robot 131, aligns the tail end sleeve 1323 of the fastening workpiece 132 with the bolt position, accurately sleeves the bolt, simultaneously turns on the switch to tighten the bolt, and the tail end of the multi-axis robot 131 moves along with the flat carriage in the tightening process. After the bolts are screwed, the multi-axis robot 131 is lifted, the sleeve 1323 of the fastening workpiece 132 is separated from the nuts, the multi-axis robot 131 requests a position signal of the next bolt, the vision camera 111 gives corresponding bolt position and angle data of the pipe die 200, the control assembly 160 controls the multi-axis robot 131 again according to the bolt position information to sleeve the bolts into the sleeve 1323 of the fastening workpiece 132 and screw the bolts, and the process is repeated until the whole pipe die 200 is screwed completely.

The pipe die 200 bolts are completely screwed down, the multi-axis robot 131 returns to the waiting machine position, the flatcar starts to return, the vision camera 111 is opened, the state of the pipe die 200 bolts starts to be scanned, whether the bolts are unscrewed or not and the bolts are not unscrewed are judged through an internal algorithm of vision software, if the bolts are abnormal, an alarm signal is given, and manual processing is prompted. And after the flat car returns to the position, a position signal is given to prompt the lifting manipulator to take materials. And checks whether the other lane 151 flatcar is ready, the multi-axis robot 131 and the inspection module 110 switch to the next lane 151, and start tightening the next pipe die 200. When one conveying passage 151 performs fastening operation, other conveying passages 151 can perform preliminary covering and tensioning of the corresponding bottom die and cover die, so that alternate operation of different conveying passages 151 is performed, and production efficiency is improved.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.

Claims (10)

1. An automatic locking system for a pipe pile die bolt, comprising:

The detection assembly comprises a visual camera, wherein the visual camera is used for acquiring three-dimensional image information of the die bolt;

the following assembly is positioned at one side of the detection assembly and comprises a following encoder, and the encoder is used for acquiring the position information of the die bolt;

The fastening component is positioned at one end of the following component, which is far away from the detection component, and is used for locking a die clamping fastener of the die;

And the control assembly is respectively and electrically connected with the detection assembly, the following assembly and the fastening assembly, and comprises a central processing unit, wherein the central processing unit is used for receiving the acquired information of the vision camera and the following encoder and sending an operation instruction to the fastening assembly.

2. The automatic locking system of pipe pile die bolts according to claim 1, further comprising a working platform, wherein a plurality of conveying channels are arranged on the working platform, a plurality of following assemblies are arranged on the working platform, one following assembly is arranged on each conveying channel, and the fastening assembly and the die are located on the same conveying channel.

3. The automatic locking system of pipe pile die bolts according to claim 2, wherein the detection assembly further comprises a mounting bracket mounted on the working platform, a plurality of door openings are formed in the mounting bracket corresponding to the conveying channels, and the vision camera is slidably arranged on one side, far away from the mounting bracket, of the mounting bracket.

4. The automatic locking system of pipe pile die bolts according to claim 1, wherein the detecting assembly further comprises a distance measuring member, a distance between the distance measuring member and the following assembly is larger than a distance between the vision camera and the following assembly, and the distance measuring member is used for measuring model sizes of the die.

5. The automatic locking system of pipe pile die bolts according to claim 1, wherein the following assembly further comprises a visual encoder, a driven wheel and a transmission belt, the visual encoder and the following encoder are oppositely arranged at the same end of the following assembly, the driven wheel is arranged at one end of the following assembly far away from the following encoder, and the transmission belt is respectively in transmission connection with the following encoder and the driven wheel through synchronous pulleys.

6. The automatic locking system of pipe pile die bolts according to claim 1, wherein said fastening assembly comprises a fastening workpiece and a multi-axis robot, said fastening workpiece being mounted at a working end of said multi-axis robot.

7. The automatic locking system of pipe pile die bolts according to claim 6, wherein two multi-axis robots and two fastening workpieces are provided, one fastening workpiece is mounted on each multi-axis robot, and the two multi-axis robots are arranged oppositely.

8. The automatic locking system of pipe pile die bolts according to claim 7, wherein the fastening assembly further comprises a linear guide rail and a supporting platform, wherein the two multi-axis robots are respectively arranged on two opposite sides of the supporting platform, and the multi-axis robots and the supporting platform are both slidably arranged on the linear guide rail.

9. The automatic pipe pile die bolt locking system of any one of claims 1 to 8, further comprising a conveying assembly for conveying the die sequentially through the detection assembly, the follower assembly and the fastening assembly.

10. An automatic pipe die clamping method, characterized in that the automatic pipe die clamping method comprises the following steps of:

Placing a pipe die on the conveying assembly;

The conveying assembly conveys the pipe die to the detecting assembly, and the ranging sensor acquires the pipe die diameter information and sends the pipe die diameter information to the control assembly;

the control component adjusts the position of a visual camera according to the diameter information of the pipe die so that the visual camera is positioned above the pipe die;

The vision camera acquires three-dimensional image information of the pipe die bolt, and calculates and gives out bolt position and pipe die angle data to the control assembly;

the following component acquires displacement data of the pipe die bolt from the detection component to the fastening component, acquires position information of the pipe die and sends the position information to the control component;

And the control assembly adjusts the gesture of the multi-axis robot according to the three-dimensional image information of the pipe die and the position information of the pipe die bolt, and aims the fastening workpiece at the position of the bolt to carry out the bolt tightening operation.