CN107953303A - Moving and turning machine device people and its multistation method for turning - Google Patents
Moving and turning machine device people and its multistation method for turning Download PDFInfo
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- CN107953303A CN107953303A CN201711499378.0A CN201711499378A CN107953303A CN 107953303 A CN107953303 A CN 107953303A CN 201711499378 A CN201711499378 A CN 201711499378A CN 107953303 A CN107953303 A CN 107953303A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/10—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting holders for tool or work
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Abstract
The invention discloses moving and turning machine device people and its multistation method for turning, belong to robot field.The moving and turning machine device people of the present invention includes turnover device, transport carriage and Crane Rail, and turnover device is arranged on transport carriage, and turnover device is transported to different processing stations along Crane Rail and carries out turning operation by transport carriage；Turnover device includes actuating unit, attitude reference device and retaining mechanism, retaining mechanism is used to fix tubular element, and actuating unit includes oil cylinder and pull rod, and pull rod is connected with retaining mechanism, oil cylinder horizontal movement driving pull rod pulls retaining mechanism upset, and attitude reference device is used for the traffic direction for controlling actuating unit.The moving and turning machine device people of the present invention can carry out turning operation in different station to workpiece, meet allegro industrial production, and overturn steadily, and production security is higher.
Description
Technical field
The present invention relates to robotic technology field, more specifically to moving and turning machine device people and its multiplexing bit flipping
Method.
Background technology
Turning robot is widely applied tipping arrangement in industrial trade, for carrying out the upset of certain angle to workpiece
Adjusted with direction, be convenient for following process.Conventional turnover device is fixed on single station completion workpiece turning more at present, difficult
To meet allegro industrial production, and turnover device common configuration is heavy, and factory and workshop carry out multiple spot transhipment and take time and effort,
Production cost is high to be unfavorable for sharp work again；Secondly, easily occur that amplitude of fluctuation is big, upset is unstable when overturning some long poles
The problem of, there are some potential safety problems.It can be seen from the above that the application for turning robot still has very big research space.
Through retrieval, the technological improvement on turnover device has a large amount of patents and discloses, such as Chinese Patent Application No.：
2016107349991, the applying date：On August 28th, 2016, invention and created name are：The turnover device that a kind of oil cylinder directly drives,
This application includes fixed lathe bed device, upset lathe bed device and turnover device, be provided with fixed lathe bed device fixed lathe bed,
First fixed seat, first rotating shaft and oil cylinder fixing base；Upset lathe bed, carrying bolt, second solid is provided with upset lathe bed device
Reservation and the second shaft；Oil cylinder and the 3rd shaft are provided with turnover device.This application is simple in structure easy to use, passes through oil
The purpose of the flexible realization upset lathe bed of cylinder piston rod.
And for example Chinese Patent Application No.：2016101733649, the applying date：On March 24th, 2016, invention and created name are：
A kind of vertical turn-down rig of the online inertia of elongated shape article, this application discloses including by means of force mechanisms, force transmission mechanism and thick stick
Gan Juguan mechanisms, are changed into lever Ju Guan mechanisms with perpendicular to the first roller by means of force mechanisms by the inertia force that elongated shape article moves ahead
Upward direction, that is, Z-direction of road horizontal plane applies from the underface of elongated shape article lifts power, lifts power by elongated shape
Article elevates certain altitude；The vertical turn-down rig of inertia is not required the active driving mechanisms such as cylinder of consuming energy or oil cylinder real
Existing elongate articles realize that zero cost realizes that stirring acts by the defeated upset elevated across and then to lateral transfer in longitudinal direction.
A kind of good upset scheme in conclusion above application case be can yet be regarded as, but ensureing switching process stationarity
And do not have obvious technological improvement in terms of realizing the quick production operation of multistation, still there is certain optimization space.
The content of the invention
1. technical problems to be solved by the inivention
It is an object of the invention to overcome, turnover device is difficult to multistation operation in the prior art and upset stationarity is bad
Deficiency, there is provided moving and turning machine device people and its multistation method for turning；
The moving and turning machine device people of the present invention, has turnover device, turnover device is simple in structure, suitable for large-size cylinder body work
The flexible upset of part, and can ensure that the clamping to workpiece is stablized, upset is steady, and production security is higher；And coordinate transport carriage
The multistation for realizing turnover device with moving track flexibly moves, and can carry out turning operation to workpiece in different station, meet
Allegro industrial production；
The present invention moving and turning machine device people multistation method for turning, it is easy to operate and can adapt to multistation production,
Switching process is steadily safe, suitable to promote and apply.
2. technical solution
To reach above-mentioned purpose, technical solution provided by the invention is：
The moving and turning machine device people of the present invention, including turnover device, matched transport carriage and Crane Rail, upset dress
It is arranged on transport carriage, turnover device is transported to different processing stations along Crane Rail and carries out turning operation by transport carriage.
Further, turnover device includes actuating unit, attitude reference device and retaining mechanism, and retaining mechanism, which is used for fixation, to be treated
The tubular element of upset, actuating unit include oil cylinder and pull rod, and pull rod is connected with retaining mechanism, and oil cylinder horizontal movement driving pull rod is drawn
Dynamic retaining mechanism is overturn around a certain axis, and attitude reference device is used for the traffic direction for controlling actuating unit.
Further, connecting plate is equipped with the top of the telescopic rod of oil cylinder, head rod is equipped between the both ends of connecting plate,
The both ends of head rod have been respectively articulated with pull rod, and the other end of two pull rods is respectively hinged at the top both sides of retaining mechanism,
The on both sides of the middle of retaining mechanism is also respectively hinged in the fixed column of pedestal both sides.
Further, the second connecting rod, and pull rod and are equipped between two ends of the pull rod away from head rod
Two connecting rods are hinged, and the both ends of the second connecting rod correspond to respectively to be hinged with the top both sides of retaining mechanism；The fixation of pedestal both sides
The 3rd connecting rod is equipped between column, the both ends of the 3rd connecting rod are corresponding with the on both sides of the middle of retaining mechanism hinged respectively；Oil cylinder water
Flat movement driving pull rod pulls retaining mechanism to be overturn around the 3rd connecting rod.
Further, uniform intervals borrow power bar equipped with least one between head rod and the second connecting rod, by means of power
Bar is parallel with pull rod.
Further, attitude reference device includes being arranged on the guide rail of pedestal both sides, the flexible side of guide rail and oil cylinder telescopic rod
To parallel, the both ends of connecting plate are respectively equipped with and the matched sliding block of guide rail.
Further, guide rail includes bottom rail, and the both sides of bottom rail are arranged with to be tilted the first of extension and inside contract section inwardly,
First inside contract be extended with straight up above section in prolong section, the both sides for inside prolonging section are arranged with overhanging section of outward-dipping extension,
Overhanging section of top is extended with extension section straight up, and both sides are arranged with second to extend internally and inside contract section at the top of extension section, and two
The second of side is connected between inside contracting section by horizontal plane；Sliding block is engaged with guide rail in its outer Slideslip.
Further, front limit device and rear limiter, front limit are equipped with along the telescopic direction of oil cylinder telescopic rod on pedestal
Device is arranged on the front of oil cylinder telescopic rod, and rear limiter is arranged on the rear of oil cylinder telescopic rod.
Further, the top determined tight lock part and tight lock part of living, determine tight lock part that retaining mechanism includes being detachably connected
Both ends of the both sides respectively with the second connecting rod are hinged, and are determined both ends of the on both sides of the middle of tight lock part respectively with the 3rd connecting rod and are hinged,
Determine tight lock part bottom and be equipped with the extension rod extended downwardly, extension rod bottom is equipped with the pallet for being used to support tubular element；Tight lock part living
With determining to fix by locking member between tight lock part.
The multistation method for turning of the moving and turning machine device people of the present invention, using moving and turning machine device people as described above,
After turnover device is transported to a certain station by transport carriage, oil cylinder horizontal movement simultaneously drives pull rod to pull retaining mechanism to connect around the 3rd
Extension bar is overturn.
3. beneficial effect
Using technical solution provided by the invention, compared with prior art, there is following remarkable result：
(1) moving and turning machine device people of the invention, including turnover device, transport carriage and Crane Rail, transport carriage edge
Crane Rail moves to different station, and turnover device is arranged on transport carriage, it is possible to achieve turnover device is in different station
Flexible turning operation, that is, realize flexible upset of the workpiece in different station, and transhipment behaviour of the turnover device between different station
Make simplicity, transport carriage operation quick and stable, disclosure satisfy that allegro industrial production.
(2) moving and turning machine device people of the invention, is equipped with connecting plate at the top of the telescopic rod of oil cylinder, between the both ends of connecting plate
Equipped with head rod, the both ends of head rod have been respectively articulated with pull rod, and the other end of pull rod is hinged on the top of retaining mechanism
Portion both sides, by the cooperation of pull rod, keep the horizontal movement of oil cylinder telescopic rod, and the is converted to the point type movement of oil cylinder telescopic rod
The wire type movement of two connecting rods, and the long range wire type of retaining mechanism is pulled with the second connecting rod and completes rotary movement, upset
Stationarity and security be all significantly improved, prevent tubular element from larger vibration occur and sliding etc., avoid causing tubular element table
Surface damage and security incident etc..
(3) moving and turning machine device people of the invention, attitude reference device include being arranged on the guide rail of pedestal both sides, guide rail and oil cylinder
The telescopic direction of telescopic rod is parallel, and the both ends of connecting plate are respectively equipped with stretches drive with the matched sliding block of guide rail, oil cylinder telescopic rod
When dynamic pull rod pulls retaining mechanism, connecting plate is moved horizontally along guide rail, and the cooperation of sliding block and guide rail can ensure two lateral bracing struts
Direction of motion stability and Movement consistency, ensure upset stationarity.
(4) moving and turning machine device people of the invention, guide rail include bottom rail, and the both sides of bottom rail are equipped with inwardly inclined first
Inside contract section, first inside contract be extended with section in prolong section, the both sides for inside prolonging section are equipped with outward-dipping overhanging section, and overhanging section of top is prolonged
Stretching has extension section, and both sides are equipped with second to extend internally and inside contract section at the top of extension section, and the second of both sides inside contract and pass through water between section
Plane connects.This design can form sliding block effective stop, ensure that sliding block is only capable of, along the even running of rail length direction, preventing
Sliding block is upwardly separated from guide rail, especially after retaining mechanism is overturn again in reseting procedure, prevents pull rod from driving connecting plate to take off upwards
From guide rail, ensure the directional stability of oil cylinder telescopic rod horizontal movement, stationarity that the upset of ultimate guarantee retaining mechanism resets and
Security.
(5) moving and turning machine device people of the invention, what retaining mechanism included being detachably connected determines tight lock part and tight lock part living,
Determine tight lock part bottom and be equipped with to be used to support the pallet of tubular element, be engaged by determining tight lock part and tight lock part living, is particularly suitable for pair
Tubular element carries out stable holding, and four tilt linkages are trapped among tubular element periphery and lock, and realize the symmetrical multiple spot to tubular element
Clamp, ensure clamping stability, and can effectively strengthen the self structure intensity for determining tight lock part and tight lock part living, coordinate pallet, it is real
Now to the form of the support of tubular element bottom, the locking of side wall circulating type, it is not in loosen to slide in switching process to ensure tubular element
De- problem, ensures turning-over safety.
(6) the multistation method for turning of moving and turning machine device people of the invention, being stretched by control cylinder can realize and turn over
Rotary speed is adjustable, meets productive temp；Protected at the same time using reliable brake, power-off is held tightly so that is possessed at an arbitrary position
Cut off self-lock function, also using stationary positioned and closed-loop control, is in desired vertical state after ensureing retaining mechanism upset, positions
Precision is high.
Brief description of the drawings
Fig. 1 is the use state diagram of turnover device in the present invention；
Fig. 2 is the structure diagram of turnover device in the present invention；
Fig. 3 is the main structure diagram of turnover device in the present invention；
Fig. 4 is the left view structural representation of turnover device in the present invention；
Fig. 5 is the overlooking the structure diagram of turnover device in the present invention；
Fig. 6 is the structure diagram of retaining mechanism in the present invention；
Fig. 7 is the structure diagram of limiting plate in the present invention；
Fig. 8 is the cross section structure schematic diagram of middle guide of the present invention；
Fig. 9 is the main structure diagram of tight lock part living in the present invention；
Figure 10 is the overlooking the structure diagram of tight lock part living in the present invention；
Figure 11 is the structure diagram of the moving and turning machine device people of the present invention.
Label declaration in schematic diagram：
100th, pedestal；101st, front limit device；102nd, rear limiter；
200th, attitude reference device；201st, support base；202nd, gusset；203rd, guide rail；204th, first section is inside contracted；205th, it is interior to prolong section；
206th, overhanging section；207th, extension section；208th, second section is inside contracted；
300th, actuating unit；301st, oil cylinder；302nd, limiting plate；303rd, connecting plate；304th, head rod；305th, pull rod；
306th, the second connecting rod；307th, fixed column；308th, the 3rd connecting rod；309th, bracing piece；310th, bearing plate；311st, sliding block；312、
Guard plate；
400th, retaining mechanism；500th, tubular element；
600th, tight lock part is determined；601st, fixed section；602nd, the first vertical section；603rd, the second vertical section；604th, the first tilting section；
605th, interlude；606th, the second tilting section；607th, short circuit section；608th, longitudinal sections；609th, extension rod；610th, pallet；611st, strengthen
Plate；612nd, support plate；613rd, floor；
700th, tight lock part living；701st, construction section；702nd, traversing section；703rd, outer oblique section；704th, interior oblique section；705th, vertical section；
706th, locking member；707th, straight slot；
800th, transport carriage；900th, Crane Rail.
Embodiment
To further appreciate that present disclosure, with reference to attached drawing, the present invention is described in detail.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Easy to describe the present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for description purpose, and it is not intended that instruction or hint relative importance.
With reference to embodiment, the invention will be further described.
Embodiment 1
As shown in Figure 1-Figure 11, the moving and turning machine device people of the present embodiment includes turnover device, transport carriage 800 and driving
Track 900, turnover device are arranged on transport carriage 800 that (pedestal 100 of turnover device can be secured by bolts in transport carriage
On 800), transport carriage 800 is engaged with the Crane Rail 900 of producing line, and transport carriage 800 (can be used a variety of by power set
Device powered by conventional energy) drives edge Crane Rail 900 moves to different station, and turnover device is arranged on transport carriage 800, and can
To realize flexible turning operation of the turnover device in different station, that is, realize flexible upset of the workpiece in different station, and overturn
Transfer operation of the device between different station is easy, and transport carriage 800 runs quick and stable, disclosure satisfy that allegro industry is raw
Production.
Specifically, the turnover device of the present embodiment, including pedestal 100, pedestal 100 are equipped with actuating unit 300, Direction Finder
Structure 200 and retaining mechanism 400, retaining mechanism 400 are used to fix tubular element 500 to be flipped, and actuating unit 300 includes oil cylinder
301 and pull rod 305, pull rod 305 be connected with retaining mechanism 400, oil cylinder 301 pass through horizontal movement drive pull rod 305 pull locking
Mechanism 400 is overturn around a certain axis, realizes the angle upset to tubular element 500, easy to following process, attitude reference device 200 is then
For controlling the traffic direction of actuating unit 300, the steady of switching process is ensured.
Specifically, as shown in Fig. 2, being equipped with connecting plate 303 at the top of the telescopic rod of oil cylinder 301, between the both ends of connecting plate 303
Equipped with head rod 304, the both ends of head rod 304 have been respectively articulated with pull rod 305, the other end point of two pull rods 305
The top both sides of retaining mechanism 400 are not hinged on, and the on both sides of the middle of retaining mechanism 400 is also respectively hinged at 100 both sides of pedestal
In fixed column 307；In more detail, it is equipped with the second connecting rod between two ends of the pull rod 305 away from head rod 304
306, and 305 and second connecting rod 306 of pull rod is hinged, the both ends of the second connecting rod 306 correspond to the top with retaining mechanism 400 respectively
Portion both sides are hinged；100 both sides of pedestal are respectively equipped with bearing plate 310 (being located at detent mechanism rear), and the top of bearing plate 310 is equipped with perpendicular
Straight fixed column 307, is equipped with bracing piece 309 between bearing plate 310 and fixed column 307, and three surrounds triangle, reinforcement structure
Intensity；Be equipped with the 3rd connecting rod 308 between the fixed column 307 of 100 both sides of pedestal, the both ends of the 3rd connecting rod 308 respectively with lock
The on both sides of the middle of tight mechanism 400 corresponds to hinged；301 horizontal movement of oil cylinder driving pull rod 305 pulls retaining mechanism 400 to connect around the 3rd
Extension bar 308 is overturn.
As shown in Fig. 2, connecting plate 303 is T-shaped structure plate in the present embodiment, including it is parallel with head rod 304 compared with
Long section and the relatively short section extended from the longer section of centre, as shown in fig. 7, limiting plate 302, oil cylinder should be connected with compared with short section lower part
301 telescopic rods are connected with the limiting plate 302, and at least two pieces of guard plates 312, guard plate 312 are also arranged with limiting plate 302 and is pushed up
Portion and the relatively short section of connecting plate 303 are connected.On pedestal 100 101 He of front limit device is equipped with along the telescopic direction of 301 telescopic rod of oil cylinder
Limiter 102 afterwards, front limit device 101 are arranged on the front of 301 telescopic rod of oil cylinder, and rear limiter 102 is arranged on 301 telescopic rod of oil cylinder
Rear, can specifically use conventionally form in a variety of industries such as limit switch or limiting plate, this will not be detailed here, front limit device 101
It is engaged respectively with limiting plate 302 with rear limiter 102, for accurately being controlled the stroke of 301 telescopic rod of oil cylinder, so that
The flip angle to retaining mechanism 400 is controlled, realizes that Multi-angle adjustable is overturn.
The present embodiment completes the upset to retaining mechanism 400 by the horizontal movement of 301 telescopic rod of oil cylinder, works as oil cylinder
When 301 telescopic rods protract, the horizontal reach of limiting plate 302, connecting plate 303 is driven, that is, drives pull rod 305 to be pulled along the second connection
Bar 306, that is, be pulled along retaining mechanism 400, makes it that angle upset occur around the 3rd connecting rod 308, can be by retaining mechanism 400
The upset of tubular element 500 placed vertically is horizontal positioned, so as to according to the actual requirements or pour out and held inside tubular element 500
Material, or secondary operation etc. is carried out to 500 outer surface of tubular element.The present embodiment not directly drives locking using oil cylinder 301
(conventional 301 telescopic rod of oil cylinder is directly connected to the structure to be overturn to the mode of mechanism 400, is point between telescopic rod and upset structure
Shape fixes driving), but pass through the cooperation of pull rod 305, the horizontal movement of holding 301 telescopic rod of oil cylinder, with 301 telescopic rod of oil cylinder
Point contact movement be converted to the wire type contact movement of the second connecting rod 306, and with the second connecting rod 306 to retaining mechanism
400 wide scope wire type, which pulls, completes rotary movement, and the stationarity and security of upset are all significantly improved, and connecting plate 303
T-shaped structure, limiting plate 302, guard plate 312 design, not only facilitate enhancing overall construction intensity and stability, more help
In by the point-like connection driving of 301 telescopic rod of oil cylinder is converted into whole face formula, line type connection drives, robust motion and security
Further enhance, prevent tubular element 500 from larger vibration slip etc. occur, avoid causing 500 surface damage of tubular element and safety
Accident etc..
Attitude reference device 200 includes being arranged on the guide rail 203 of 100 both sides of pedestal, specifically, 100 liang of pedestal in the present embodiment
Side is parallel along its length to be equipped with support base 201, and the both sides uniform intervals of support base 201 are equipped with gusset 202 triangular in shape, add
Strong structure intensity；The top of support base 201 is equipped with guide rail 203, and guide rail 203 is parallel with the telescopic direction of 301 telescopic rod of oil cylinder, connection
The both ends of plate 303 are respectively equipped with sliding block 311 matched with guide rail 203, and 301 telescopic rod of oil cylinder driving pull rod 305 pulls locking
During mechanism 400, connecting plate 303 is moved horizontally along guide rail 203, and sliding block 311 and the cooperation of guide rail 203 can ensure two lateral bracing struts
305 direction of motion stability and Movement consistency, ensures upset stationarity.
Embodiment 2
The moving and turning machine device people of the present embodiment, basic structure is the same as embodiment 1, further, turning in the present embodiment
Uniform intervals (are not drawn equipped with least one by means of power bar between rotary device, wherein 304 and second connecting rod 306 of head rod
Go out), it is two in the present embodiment, two are borrowed that power bar is parallel with pull rod 305 respectively, and the setting by means of power bar can further enhance entirety
Structural strength and stability, and strengthen effective support to 304 and second connecting rod 306 of head rod, prevent its movement from becoming
Shape, ensures its robust motion.
Embodiment 3
The moving and turning machine device people of the present embodiment, basic structure is the same as embodiment 2, further, turning in the present embodiment
Rotary device, as shown in figure 8, guide rail 203 includes bottom rail, the both sides of bottom rail are arranged with to be tilted the first of extension and inside contracts section inwardly
204, first inside contract the top of section 204 be extended with straight up in prolong section 205, inside prolong section 205 both sides be arranged with it is outward-dipping
Overhanging section 206 of extension, overhanging section 206 top are extended with extension section 207 straight up, and 207 top both sides of extension section are symmetrically set
There is extend internally second to inside contract section 208, the second of both sides inside contract and connected by horizontal plane between section 208.Sliding block 311 and guide rail
203 are engaged in its outer Slideslip, i.e. 311 lower inside of sliding block offers embedding with 203 matched sliding slot of guide rail, guide rail 203
Enter in the sliding slot, when 301 telescopic rod of oil cylinder driving pull rod 305 pulls retaining mechanism 400, the sliding block 311 at 303 both ends of connecting plate is
Moved along 203 length direction of guide rail, the second design for inside contracting section 208 helps to ensure close at the top of sliding block 311 and guide rail 203
Coordinate, first inside contracts section 204, interior prolong being equipped with for section 205 and overhanging section 206 and formed in the both sides of 203 length direction of guide rail
Embedded groove, is correspondingly provided with the lug boss coordinated in the embedded groove on sliding block 311, overhanging section of 206 pairs of sliding blocks 311 formed with
Effect stops, ensures that sliding block 311 is only capable of being upwardly separated from guide rail 203 along 203 length direction even running of guide rail, anti-limited slip block 311, especially
It again in reseting procedure (when 301 telescopic rod of oil cylinder inside contracts movement), prevents pull rod 305 from driving after the upset of retaining mechanism 400
Connecting plate 303 is upwardly separated from guide rail 203, that is, prevents from driving 301 telescopic rod of oil cylinder above to carry, and ensures the horizontal fortune of 301 telescopic rod of oil cylinder
Dynamic directional stability, ultimate guarantee retaining mechanism 400 overturn the stationarity and security in reseting procedure.
Embodiment 4
The moving and turning machine device people of the present embodiment, basic structure is the same as embodiment 3, further, turning in the present embodiment
Rotary device, what retaining mechanism 400 therein included being detachably connected determines tight lock part 600 and tight lock part 700 living, determines tight lock part 600
Both ends of the top both sides respectively with the second connecting rod 306 be hinged, determine the on both sides of the middle of tight lock part 600 respectively with the 3rd connecting rod
308 both ends are hinged, and are determined 600 bottom of tight lock part and are equipped with the extension rod 609 extended downwardly, 609 bottom of extension rod, which is equipped with, is used for branch
Support the pallet 610 of tubular element 500；Tight lock part 700 living and determine to fix by locking member 706 between tight lock part 600.
More specifically, as shown in fig. 6, determining tight lock part 600 includes the identical upper frame and underframe of structure, upper frame is with
Connected between frame by longitudinal sections 608, wherein upper frame includes fixed section parallel with the second connecting rod 306 and that both ends are hinged
601, the both ends of fixed section 601, which are respectively perpendicular, is extended with the first vertical section 602 and the second vertical section 603 (is respectively positioned on horizontal position
Put), the outer end of the first vertical section 602 is equipped with the first tilting section 604 moved closer to fixed section 601, the second vertical section 603
Outer end be equipped with the second tilting section 606 for being moved closer to fixed section 601, the first tilting section 604 and the second tilting section 606 it
Between be connected with interlude 605, interlude 605 is parallel with fixed section 601 and short circuit is equipped between interlude 605 and fixed section 601
Section 607；First tilting section 604 and the second tilting section 606 are symmetrical；By vertical between every two sections of link positions of upper frame
Connected to section 608 with the same location of underframe.Wherein underframe bottom is additionally provided with the extension rod 609 extended downwardly, extension rod
609 bottoms are equipped with pallet 610, are specially that 605 both ends of interlude of underframe are equipped with the extension rod 609 extended downwardly, and lower frame
Also it is correspondingly provided with the floor 613 for tilting and extending on the fixed section 601 of frame respectively with two extension rods 609 to be connected, reinforcement structure is strong
Degree；609 bottom of extension rod is equipped with support plate 612, and pallet 610 is arranged in support plate 612, and the both sides of support plate 612 are set respectively
There is the reinforcing plate 611 of triangle, further ensure that pallet 610 supports stablizing for tubular element 500.
Tight lock part 700 living includes the identical upper frame and lower frame of structure in the present embodiment, between upper frame and lower frame
Connected by vertical section 705, specifically, upper frame includes the traversing section 702 with 601 parallel distribution of fixed section, traversing section 702
One end is equipped with vertically extending construction section 701, and the other end of traversing section 702 is equipped with outer tiltedly section 703 inclined laterally, construction section
Interior tiltedly section 704 is equipped between 701 and outer tiltedly section 703；Interior tiltedly angle α is acute angle between section 704 and construction section 701, interior tiltedly section 704
Angle β is obtuse angle between outer tiltedly section 703；701 both ends of construction section of upper frame are equipped with the installation of vertical section 705 and lower frame
701 both ends of section are connected, and outer tiltedly 703 both ends of section of upper frame are equipped with vertical section 705 and outer tiltedly 703 both ends of section of lower frame are consolidated
Even；Wherein locked respectively with determining tight lock part 600 by locking member 706 near the both ends for two vertical sections 705 for determining tight lock part 600
Tightly, which can be set to latch, and bolt hole is offered on latch, now determine 600 He of tight lock part by bolt lock consolidation
Tight lock part 700 living is detachably connected；Further, wherein on the locking member 706 at 705 both ends of vertical section, open up for
Straight slot 707, bolt will determine tight lock part 600 through the straight slot 707 and tight lock part 700 living is locked, and straight slot 707 is opened up so that being easy to
Installing and dismounting work tight lock part 700, without the bolt of both sides is all screwed out.As shown in Fig. 9 orientation, 705 liang of the vertical section in left side
The locking member 706 at end is opened up as bolt hole, is opened up on the locking member 706 at 705 both ends of vertical section on right side as straight slot 707, dismounting
When screw out the clamping screw in left side, the clamping screw on right side is then unscrewed, without whole back-outs, you can tight lock part 700 living is whole
Body, which moves to left, to be removed, efficient operation easy to produce.
The present embodiment is engaged by determining tight lock part 600 and tight lock part 700 living, is particularly suitable for carrying out surely tubular element 500
Clamp is held, and four tilt linkages are trapped among 500 periphery of tubular element and lock, and realizes the symmetrical multiple spot clamping to tubular element 500, is protected
Clamping stability is demonstrate,proved, and can effectively strengthen the self structure intensity for determining tight lock part 600 and tight lock part 700 living, coordinates pallet 610,
Realize the form to the support of 500 bottom of tubular element, the locking of side wall circulating type, ensure that tubular element 500 will not go out in switching process
Slippage problem is now loosened, ensures turning-over safety.
Embodiment 5
The multistation method for turning of the moving and turning machine device people of the present embodiment, using moving and turning machine device as described above
People, operates according to following steps：
Step 1: turnover device is fixed on transport carriage 800, tubular element 500 is placed on retaining mechanism by cantilever crane
In 400, specifically, tubular element 500 contacted with pallet 610 it is steady after, tight lock part 700 living and will determine tight lock part 600 and lock, completion
The fastening of tubular element 500；
Moved Step 2: transport carriage 800 drives turnover device to carry out station along Crane Rail 900, be moved to and position is set
Postpone, 301 horizontal movement of oil cylinder of turnover device simultaneously drives pull rod 305 to pull retaining mechanism 400 to be carried out around the 3rd connecting rod 308
Upset；Specifically, oil cylinder 301 ejects telescopic rod, and sliding block 311 is moved to hydraulic station direction, and oil cylinder 301 drives limiting plate 302, connects
303 equidirectional reach of fishplate bar, that is, drive pull rod 305 to be pulled along the second connecting rod 306, that is, be pulled along retaining mechanism 400, make
Angle upset occurs around the 3rd connecting rod 308 in it, and 301 telescopic rod of oil cylinder is moved to then just complete in 90 ° during front limit 101 position of device
Upset, tubular element 500 is horizontal positioned, other ancillary equipments can be used to carry out following process to tubular element 500 at this time；
Step 3: after 500 horizontal processing of tubular element, 301 telescopic rod retraction of oil cylinder, is moved to rear limiter 102
When putting, retaining mechanism 400 is recovered vertical display, can be hung out using crane around 90 ° of 308 returning of the 3rd connecting rod, tubular element 500.
It can realize that reversal rate is adjustable, meets productive temp by control cylinder 301 in the present embodiment；It is provided with the same time
Mechanically and electrically gas shielded, is protected using reliable brake, and power-off is held tightly so that possess the function that cuts off self-lock at an arbitrary position,
Stationary positioned and closed-loop control are also used, ensures that retaining mechanism 400 is in desired vertical state after overturning, positioning accuracy is high.
The present embodiment coordinates different station movement of the transport carriage 800 on Crane Rail 900, it is possible to achieve multistation
Turning operation, disclosure satisfy that allegro industrial production；And tubular element 500 is clamped in whole switching process and is stablized, upset is flat
Surely, production security is higher.
Schematically the present invention and embodiments thereof are described above, this describes no restricted, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited thereto.So if common skill of this area
Art personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution
Similar frame mode and embodiment, are within the scope of protection of the invention.
Claims (10)
1. moving and turning machine device people, it is characterised in that：Including turnover device, matched transport carriage (800) and Crane Rail
(900), turnover device is arranged on transport carriage (800), and transport carriage (800) transports turnover device along Crane Rail (900)
Turning operation is carried out to different processing stations.
2. moving and turning machine device people according to claim 1, it is characterised in that：Turnover device include actuating unit (300),
Attitude reference device (200) and retaining mechanism (400), retaining mechanism (400) are used to fix tubular element to be flipped (500), engine
Structure (300) includes oil cylinder (301) and pull rod (305), and pull rod (305) is connected with retaining mechanism (400), the horizontal fortune of oil cylinder (301)
Dynamic driving pull rod (305) pulls retaining mechanism (400) to be overturn around a certain axis, and attitude reference device (200) is used to control engine
The traffic direction of structure (300).
3. moving and turning machine device people according to claim 2, it is characterised in that：It is equipped with the top of the telescopic rod of oil cylinder (301)
Connecting plate (303), head rod (304), the both ends point of head rod (304) are equipped between the both ends of connecting plate (303)
Pull rod (305) is not hinged with, and the other end of two pull rods (305) is respectively hinged at the top both sides of retaining mechanism (400), locking
The on both sides of the middle of mechanism (400) is also respectively hinged in the fixed column (307) of pedestal (100) both sides.
4. moving and turning machine device people according to claim 3, it is characterised in that：Two pull rods (305) are away from the first connection
The second connecting rod (306) is equipped between the end of bar (304), and pull rod (305) and the second connecting rod (306) are hinged, second connects
The both ends of extension bar (306) correspond to be hinged with the top both sides of retaining mechanism (400) respectively；The fixed column of pedestal (100) both sides
(307) it is equipped with the 3rd connecting rod (308) between, the both ends of the 3rd connecting rod (308) middle part two with retaining mechanism (400) respectively
Side corresponds to hinged；Oil cylinder (301) horizontal movement driving pull rod (305) pull retaining mechanism (400) around the 3rd connecting rod (308) into
Row upset.
5. moving and turning machine device people according to claim 4, it is characterised in that：Head rod (304) and the second connection
Uniform intervals borrow power bar equipped with least one between bar (306), parallel with pull rod (305) by means of power bar.
6. moving and turning machine device people according to claim 2, it is characterised in that：Attitude reference device (200) includes being arranged on base
The guide rail (203) of seat (100) both sides, guide rail (203) is parallel with the telescopic direction of oil cylinder (301) telescopic rod, connecting plate (303)
Both ends are respectively equipped with and guide rail (203) matched sliding block (311).
7. moving and turning machine device people according to claim 6, it is characterised in that：Guide rail (203) includes bottom rail, and the two of bottom rail
Side is arranged with to be tilted the first of extension and inside contracts section (204) inwardly, first inside contract and be extended with straight up above section (204) in
Prolong section (205), the both sides for inside prolonging section (205) are arranged with overhanging section (206) of outward-dipping extension, above overhanging section (206)
Extension section (207) is extended with straight up, and extension section (207) top both sides are arranged with second to extend internally and inside contract section
(208), the second of both sides is connected between inside contracting section (208) by horizontal plane；Sliding block (311) is engaged at it with guide rail (203)
Outer Slideslip.
8. moving and turning machine device people according to claim 2, it is characterised in that：It is flexible along oil cylinder (301) on pedestal (100)
The telescopic direction of bar is equipped with front limit device (101) and rear limiter (102), and front limit device (101) is arranged on oil cylinder (301) telescopic rod
Front, rear limiter (102) be arranged on oil cylinder (301) telescopic rod rear.
9. moving and turning machine device people according to claim 4, it is characterised in that：Retaining mechanism (400) includes detachably connecting
What is connect determines tight lock part (600) and tight lock part living (700), determine the top both sides of tight lock part (600) respectively with the second connecting rod (306)
Both ends be hinged, determine both ends of the on both sides of the middle of tight lock part (600) respectively with the 3rd connecting rod (308) and be hinged, determine tight lock part
(600) bottom is equipped with the extension rod (609) extended downwardly, and extension rod (609) bottom is equipped with the support for being used to support tubular element (500)
Disk (610)；Tight lock part (700) living and determine between tight lock part (600) by locking member (706) fixation.
10. the multistation method for turning of moving and turning machine device people, it is characterised in that using as described in claim any one of 1-9
Moving and turning machine device people, after turnover device is transported to a certain station by transport carriage (800), oil cylinder (301) horizontal movement is simultaneously
Driving pull rod (305) pulls retaining mechanism (400) to be overturn around the 3rd connecting rod (308).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711499378.0A CN107953303B (en) | 2017-12-29 | 2017-12-29 | Mobile overturning robot and multi-station overturning method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711499378.0A CN107953303B (en) | 2017-12-29 | 2017-12-29 | Mobile overturning robot and multi-station overturning method thereof |
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| Publication Number | Publication Date |
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| CN107953303A true CN107953303A (en) | 2018-04-24 |
| CN107953303B CN107953303B (en) | 2023-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711499378.0A Active CN107953303B (en) | 2017-12-29 | 2017-12-29 | Mobile overturning robot and multi-station overturning method thereof |
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Cited By (7)
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| CN109139037A (en) * | 2018-10-29 | 2019-01-04 | 安徽唐兴机械装备有限公司 | It is a kind of for dismounting the turnover device of push-bench |
| CN109484829A (en) * | 2019-01-02 | 2019-03-19 | 广东和胜工业铝材股份有限公司 | Workpiece transfer |
| CN109625867A (en) * | 2018-12-03 | 2019-04-16 | 东莞东聚电子电讯制品有限公司 | A kind of middle section track precision turnover mechanism |
| CN111908377A (en) * | 2020-07-06 | 2020-11-10 | 中交武汉港湾工程设计研究院有限公司 | Heavy construction quick assembling and disassembling structure and manufacturing method thereof |
| CN112743514A (en) * | 2020-12-24 | 2021-05-04 | 华中科技大学 | Equipment suitable for automatic transportation and upset of acoustic resonance mixing container |
| CN115008431A (en) * | 2022-08-08 | 2022-09-06 | 四川精诚致远门窗工程有限公司 | Turnover operation table for metal door and window processing |
| CN117485860A (en) * | 2023-10-24 | 2024-02-02 | 蚌埠市高远光电有限公司 | Screen turning device for liquid crystal display panel production |
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| CN112743514A (en) * | 2020-12-24 | 2021-05-04 | 华中科技大学 | Equipment suitable for automatic transportation and upset of acoustic resonance mixing container |
| CN115008431A (en) * | 2022-08-08 | 2022-09-06 | 四川精诚致远门窗工程有限公司 | Turnover operation table for metal door and window processing |
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