CN210063324U

CN210063324U - Clamping position adjustable centre gripping dolly and equipment of standing up

Info

Publication number: CN210063324U
Application number: CN201920367666.9U
Authority: CN
Inventors: 王宝琳; 王林志; 姜秋月
Original assignee: China Merchants Bureau Cruise Manufacturing Co Ltd
Current assignee: China Merchants Bureau Cruise Manufacturing Co Ltd
Priority date: 2019-03-21
Filing date: 2019-03-21
Publication date: 2020-02-14
Anticipated expiration: 2029-03-21

Abstract

The application discloses centre gripping position adjustable centre gripping dolly and equipment of standing up. The clamping trolley is arranged on the turning platform and comprises a trolley frame, a position adjusting assembly and a clamping assembly; the trolley frame is movably connected to the turning platform; the position adjusting assembly is arranged on the trolley frame, the clamping assembly is arranged on the trolley frame through the position adjusting assembly, and the clamping assembly is used for clamping and fixing a lifting lug on a sheet segment to be turned over so as to fix the sheet segment to be turned over on the turning-over platform; the position adjusting assembly comprises a first driving piece, a second driving piece and a third driving piece, wherein the first driving piece is used for adjusting the position of the clamping assembly in the first direction, the second driving piece is used for adjusting the position of the clamping assembly in the second direction, and the third driving piece is used for adjusting the position of the clamping assembly in the third direction so as to align the clamping assembly with the lifting lug. Above-mentioned scheme can make quick accurate centre gripping lug of centre gripping subassembly, and the centre gripping is efficient.

Description

Clamping position adjustable centre gripping dolly and equipment of standing up

Technical Field

The application relates to the field of ship manufacturing, in particular to a clamping trolley with an adjustable clamping position and a turnover device.

Background

The luxurious cruise ship is a ship product with high technology and high added value, concentrates the crystallization of modern industry and cultural art, and is a highly integrated, systematized and informationized 'marine mobile resort village', so the requirements on the construction precision and quality of the luxurious cruise ship are very high.

Because the ship segment is heavy, if the welding difficulty is high in an overhead welding mode and the welding quality cannot be guaranteed, in order to avoid the problem, the segment must be reversely manufactured and pre-outfitted by taking the platform deck as a base surface, and the turning-over operation is carried out before the assembly and the carrying. In order to ensure the safety of turning the thin plate segments in the traditional turning process, the thin plate segments and equipment need to be firmly fixed so as to prevent the thin plate segments from falling off from a high place in the turning process due to the influence of equipment faults and the self gravity of the thin plate segments.

SUMMERY OF THE UTILITY MODEL

The main technical problem who solves of this application provides a clamping position adjustable centre gripping dolly and stands up equipment, can make quick accurate centre gripping lug of centre gripping subassembly, and the centre gripping is efficient.

In order to solve the above problems, a first aspect of the present application provides a clamping trolley with an adjustable clamping position, wherein the clamping trolley is arranged on a turning platform; the clamping trolley comprises a trolley frame, a position adjusting assembly and a clamping assembly; the trolley frame is movably connected to the turnover platform; the position adjusting assembly is arranged on the trolley frame, the clamping assembly is arranged on the trolley frame through the position adjusting assembly, and the clamping assembly is used for clamping and fixing a lifting lug on a sheet segment to be turned over so as to fix the sheet segment to be turned over on the turning-over platform; defining the moving direction of the trolley frame on the turning platform as a second direction, defining the direction vertical to the second direction on a horizontal plane as a first direction, and defining the direction vertical to the horizontal plane as a third direction; the position adjusting assembly comprises a first driving piece, a second driving piece and a third driving piece, the first driving piece is used for adjusting the position of the clamping assembly in the first direction, the second driving piece is used for adjusting the position of the clamping assembly in the second direction, and the third driving piece is used for adjusting the position of the clamping assembly in the third direction so as to align the clamping assembly with the lifting lug.

According to a specific embodiment of this application, the second driving piece includes two removal tracks and removes the base, two the removal track is followed the second direction is fixed set up in the dolly frame, it follows to remove the base the first direction sets up in two remove orbital top, the centre gripping subassembly with it connects to remove the base, it is used for removing the base and removing on the removal track and drive the centre gripping subassembly removes, with the realization is in adjust in the second direction the position of centre gripping subassembly.

According to a specific embodiment of the present application, the bottom of the mobile base is provided with at least two sets of second driving wheels, at least two sets of the second driving wheels are located on two of the mobile tracks, wherein each of the mobile tracks is provided with at least one set of the second driving wheels, and the mobile base moves on the mobile tracks through the second driving wheels.

According to a specific embodiment of the application, every the both ends of moving track all are provided with spacing backing pin, spacing backing pin is used for the restriction the second drive wheel is in the last walking position of moving track.

According to a specific embodiment of this application, the second driving piece still includes along at least one spacing track that the second direction set up with set up in remove the at least one spacing gyro wheel of base bottom, spacing track fixed set up in the dolly frame, spacing gyro wheel is located on the spacing track, through spacing gyro wheel is in roll on the spacing track, in order to restrict remove the direction of travel of base.

According to a specific embodiment of the present application, the third driving piece includes connecting seat and lift cylinder, the connecting seat with it connects to remove the base, lift cylinder one end with connecting seat fixed connection, the lift cylinder other end with centre gripping subassembly fixed connection, lift cylinder is used for flexible in the third direction, in order to realize the adjustment in the third direction the position of centre gripping subassembly.

According to a specific embodiment of this application, lift cylinder includes lift cylinder sleeve and lift cylinder telescopic link, lift cylinder telescopic link inserts and arranges in the lift cylinder sleeve, lift cylinder sleeve is kept away from the one end of lift cylinder telescopic link with connecting seat fixed connection, the lift cylinder telescopic link is kept away from the telescopic one end of lift cylinder with centre gripping subassembly fixed connection.

According to a specific embodiment of the present application, the first driving member includes a clamp self-locking screw rod disposed along the first direction and a screw rod driving motor disposed at one end of the clamp self-locking screw rod, and both ends of the clamp self-locking screw rod are fixedly disposed on the movable base; the connecting base is sleeved on the clamp self-locking screw rod, the clamp self-locking screw rod is driven to rotate by the screw rod driving motor, so that the connecting base sleeved on the clamp self-locking screw rod moves on the clamp self-locking screw rod, and the position of the clamping assembly is adjusted in the first direction.

In order to solve the above problem, a second aspect of the present application provides a turn-over apparatus comprising: the turning platform is used for placing thin plate segments to be turned; the clamping trolley is the clamping trolley.

The utility model has the advantages that: be different from prior art's condition, this application is through setting up the centre gripping dolly on standing up the platform, the centre gripping dolly includes the dolly frame, position control subassembly and centre gripping subassembly, because the portable connection of dolly frame is on standing up the platform, position control subassembly sets up on the dolly frame, centre gripping subassembly passes through position control subassembly and sets up on the dolly frame, and position control subassembly includes first driving piece, second driving piece and third driving piece, through the position of first driving piece in the first direction adjustment centre gripping subassembly, the position of second driving piece in the second direction adjustment centre gripping subassembly, the position of third driving piece in the third direction adjustment centre gripping subassembly, make centre gripping subassembly can be fast with treat the alignment of lug on the sheet metal segmentation of standing up, and then realize centre gripping and fixed lug, the centre gripping is efficient, it is little to artificial demand.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of a thin plate segment turning system according to the present application;

fig. 2 is a schematic perspective view of an embodiment of the turning-over device 10 of the present application;

fig. 3 is a partial structural schematic view of the turn-over apparatus 10 of fig. 2;

fig. 4 is a front view schematically showing the turning-over apparatus 10 in fig. 2;

fig. 5 is a left side view schematically showing the turning-over apparatus 10 in fig. 2;

fig. 6a to 6c are schematic diagrams of the turning process of the turning device 10 of the present application;

FIG. 7 is a schematic perspective view of an embodiment of the clamping cart of the present application;

FIG. 8 is a perspective view of another aspect of an embodiment of the clamping cart of the present application;

FIG. 9 is a schematic view of a portion of the clamping cart of FIG. 7

FIG. 10 is a front view of the clamping cart of FIG. 7;

FIG. 11 is a left side elevational schematic view of the clamping carriage of FIG. 7;

FIG. 12 is a schematic perspective view of an embodiment of a clamp assembly 1012 of the present clamp cart;

FIG. 13 is a schematic flow chart diagram illustrating an embodiment of a method for turning over a sheet segment according to the present application;

FIG. 14 is a schematic flow chart illustrating an embodiment of a method for turning a sheet segment 180 degrees using a turning apparatus in the turning method for turning a sheet segment according to the present application;

FIG. 15 is a schematic flow chart diagram illustrating an embodiment of a method for securing a sheet segment to a turn-over platform according to the present invention;

FIG. 16 is a flowchart illustrating an embodiment of a clamping alignment method according to the present application.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work all belong to the protection scope of the present invention.

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular systems, structures, connections, techniques, etc. in order to provide a thorough understanding of the present application.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a thin plate segment turning system according to the present application. In this embodiment, the thin plate segment turning system comprises a carrying device 20, a transport vehicle 30 and a turning device 10. The number of the handling device 20 and the transport vehicle 30 may be one or more, for example, 2, 3, etc., and may be set according to actual needs, which is not limited herein, and the three may be connected by wire or wirelessly to implement direct cooperation of the thin plate segment turning system, or indirectly communicate with each other without direct connection, and implement indirect cooperation by manual operation.

The turning device 10 is used as a main device for turning the thin plate segment and provides a platform for placing and turning the thin plate segment in the turning process.

The handling device 20 is a multi-action handling device 20 for vertically lifting and horizontally handling the thin plate segments within a certain range, and is mainly used for placing the thin plate segments on the turnover device 10, and the handling device 20 of the present application can not work in the turnover process of the thin plate segments and the transfer process after the turnover of the thin plate segments is completed. The handling device 20 in the present application may be a crane, such as a bridge crane, and may be transversely arranged above a workshop, a warehouse or a stock yard for hoisting materials; of course, other types of lifting devices are possible, and are not limited herein.

The transporter 30 is a device for placing and transporting the sheet sections, and primarily provides a platform for placing and transporting the sheet sections during pre-and post-inversion operations. And the transporter 30 of the present application may also be used to: when the thin plate is segmented and needs to be further processed, the thin plate can be directly segmented and arranged on the transport vehicle 30 for processing, the transport vehicle 30 does not need to be fixed on another tool clamp, a workpiece is detached from the tool clamp after the thin plate is processed, the workload can be greatly reduced, and the working efficiency is improved.

It can be understood that the sheet segment turning system of the present application is applicable to any project which needs to realize the handling and turning operation of sheet segments and other ship superstructure segments, it can be understood that the sheet segments which need to be turned can be flat sheet segments, and the size of the sheet segments should be within the design size range of the turning device 10, the sheet segment turning system can be arranged in any place which is applicable to the turning operation of the sheet segments, such as indoor places like workshops and warehouses, and the turning operation can be performed without being affected by outdoor weather.

In order to better understand the thin plate segment turning system of the present application, taking the thin plate segment turning system disposed in the workshop and turning the thin plate segment of the luxury mail steamer as an example, six aspects of the placement of the thin plate segment, the fixation of the thin plate segment, the lifting of the thin plate segment, the turning process of the thin plate segment, the transfer of the turned thin plate segment and the resetting of the turning device 10 after the transfer of the thin plate segment are respectively explained.

Firstly, the thin plate is placed in a segmented mode.

The sheet segment turning system comprises a carrying device 20, a transport vehicle 30 and a turning device 10, so that the carrying device 20 of the sheet segment turning system can be matched with the transport vehicle 30 to place a sheet segment to be turned on the turning device 10, and preparation is provided for turning the sheet segment.

Referring to fig. 1 to fig. 5, fig. 2 is a schematic perspective view of an embodiment of a turning-over apparatus 10 of the present application, fig. 3 is a schematic partial structure of the turning-over apparatus 10 of fig. 2, fig. 4 is a schematic front view of the turning-over apparatus 10 of fig. 2, and fig. 5 is a schematic left view of the turning-over apparatus 10 of fig. 2. The sheet segmentation turning system is arranged in a workshop, the turning device 10 is arranged on the indoor ground, the turning device 10 comprises a turning platform 100, the bottom of the turning platform 100 is provided with supporting legs 1000, and the turning platform 100 is used for placing a sheet to be turned on; the transport vehicle 30 can travel on the floor of the workshop; the carrying equipment 20 is a bridge crane and is arranged above the turnover equipment 10, the carrying equipment 20 comprises a bridge frame 200 transversely erected at the upper part of the workshop, a running mechanism 201 moving on the bridge frame 200 and a hoisting mechanism 202 arranged at the lower end of the running mechanism 201, the running mechanism 201 and the hoisting mechanism 202 jointly form a hoisting trolley of the bridge crane, and the running height of the bridge frame 200 at the upper part of the workshop is larger than the maximum height of the turnover equipment 10.

Before the sheet segment to be turned is placed on the turning equipment 10, the supporting legs 1000 at the bottom of the turning platform 100 are well supported with the ground, so that the upper surface of the turning platform 100 is kept horizontal, and then the sheet segment which is pre-outfitted is transported to a preset position close to the turning equipment 10 by a transport vehicle 30; after the transportation vehicle 30 humps the thin plate segments to reach the preset position, one or more carrying devices 20 lift and transport the thin plate segments on the transportation vehicle 30 to the position right above the turnover platform 100, and then slowly place the thin plate segments on the upper surface of the turnover platform 100, thereby completing the work of placing the thin plate segments to be turned on the turnover device 10.

It can be understood that, in order to fix the thin plate segment on the turning platform 100, the clamping device 101 is disposed on the turning platform 100, and accordingly, a plurality of lifting lugs need to be disposed on one surface of the thin plate segment facing the turning platform 100, and the thin plate segment is fixed on the turning platform 100 through the cooperation of the lifting lugs and the clamping device 101, wherein the arrangement of the lifting lugs in the thin plate segment needs to take into consideration the weight and the distribution of the weight of the actual thin plate segment, so as to prevent the thin plate segment from generating large deformation during the turning process. Therefore, a plurality of protruding lifting lugs are arranged on one surface of the sheet segment facing the turnover platform 100, and when the sheet segment to be turned is placed on the turnover device 10, the arrangement positions of the lifting lugs on the sheet segment need to be noticed, so that the lifting lugs are prevented from colliding with or abutting against the turnover platform 100.

And secondly, fixing the thin plate in a segmented manner.

The turnover device 10 comprises a turnover platform 100 and a clamping device 101, wherein the clamping device 101 is used for being matched with a lifting lug on a sheet segment so as to fix the sheet segment on the turnover platform 100 and provide preparation for turning over the sheet segment.

As shown in fig. 2, fig. 2 is a schematic structural diagram of an embodiment of the turning-over device 10 of the present application. Turnover equipment 10 is including turnover platform 100 and clamping device 101, turnover platform 100 includes the platform frame 1001 that is formed by three first frame roof beams 10010 of parallel arrangement and the concatenation of two second frame roof beams 10011 with first frame roof beam 10010 perpendicular setting and sets up in the supporting leg 1000 of platform frame 1001 bottom, platform frame 1001 is cut apart into two the same platform regions by the first frame roof beam 10010 that is located in the middle, all be provided with a plurality of in every platform region and be on a parallel with a supporting beam 10012 that second frame roof beam 10011 set up, a plurality of supporting beam 10012 equally divide into a plurality of work area with the platform region, at least one clamping device 101 has all been arranged in every work area. In each working area, a traveling rail 10013 is disposed on each of the support beam 10012 and the second frame beam 10011, it is understood that the four outermost working areas include one support beam 10012 and a part of the second frame beam 10011, and the other working areas include two support beams 10012.

The clamping device 101 in the present application may be specifically a clamping cart, and of course, the clamping device 101 in the present application may also be implemented in other manners, please refer to fig. 7 to 12, and refer to fig. 2 and 3, where fig. 7 is a schematic perspective view of an embodiment of the clamping cart in the present application, fig. 8 is a schematic perspective view of another perspective view of an embodiment of the clamping cart in the present application, fig. 9 is a schematic partial structure of the clamping cart in fig. 7, fig. 10 is a schematic front view of the clamping cart in fig. 7, fig. 11 is a schematic left view of the clamping cart in fig. 7, and fig. 12 is a schematic perspective view of an embodiment of a clamping assembly 1012 in the clamping cart in the present application. The clamping trolley comprises a trolley frame 1010, a walking assembly 1011 and a clamping assembly 1012 arranged on the trolley frame 1010, wherein the clamping assembly 1012 is used for clamping and fixing a lifting lug on the thin plate segment; the two sides of the trolley frame 1010 are slightly narrower than the distance between two adjacent support beams 10012, the traveling assembly 1011 includes at least two first driving wheels 10110 and at least two driven wheels 10111 disposed on the two sides of the trolley frame 1010, wherein the single side includes at least one first driving wheel 10110 and at least one driven wheel 10111, the first driving wheel 10110 and the driven wheel 10111 are exposed outside the trolley frame 1010, and the first driving wheel 10110 and the driven wheel 10111 are used for rolling on the traveling track 10013, so as to drive the trolley frame 1010 to travel on the traveling track 10013. It can be understood that the first driving wheel 10110 is connected to a first driving motor (not shown), and the first driving wheel 10110 is driven by the first driving motor to rotate, so as to drive the cart frame 1010 and the driven wheel 10111 to walk on the walking track 10013.

Further, the traveling track 10013 disposed on the support beam 10012 and the second frame beam 10011 may include a traveling surface (not shown) and a positioning surface (not shown) perpendicular to the traveling surface, the first driving wheel 10110 and the driven wheel 10111 specifically travel on the traveling surface, first positioning holes (not shown) are arranged on the positioning surface along the traveling direction of the clamping cart, at least two first positioning pins 10100 are disposed on two sides of the cart frame 1010 and the height position corresponding to the positioning surface, and after the clamping cart travels to the target position, the cart frame 1010 is fixed at the target position by the cooperation of the first positioning pins 10100 and the first positioning holes on the positioning surface.

For convenience of description, the present application defines a direction in which the gripping carriage travels on the travel rail 10013 as a second direction, a direction perpendicular to the second direction on a horizontal plane as a first direction, and a direction perpendicular to the horizontal plane as a third direction.

The clamping assembly 1012 of the present application may be a U-shaped clamp, the U-shaped clamp includes two clamping plates 10120 and a connecting plate 10121 located between the two clamping plates 10120, the two clamping plates 10120 are arranged in parallel and perpendicular to the first direction, the connecting plate 10121 is fixedly connected to the bottoms of the two clamping plates 10120; the section of the U-shaped clamp along the plane perpendicular to the second direction is of a U-shaped structure, the groove of the U-shaped structure is used for accommodating the lifting lug on the thin plate section, namely when the U-shaped clamp clamps the lifting lug of the thin plate section, the lifting lug is specifically positioned between the two clamping plates 10120. It can be understood that the U-shaped clamp further comprises a third positioning pin 10122, a third positioning hole 10123 is correspondingly formed in the two clamping plates 10120, and since the lifting lug is formed by the thin plate in a segmented manner, after the lifting lug is located between the two clamping plates 10120, in order to clamp and fix the lifting lug by the U-shaped clamp, the third positioning hole 10123 in the two clamping plates 10120 is aligned with the lifting lug, and then the third positioning pin 10122 sequentially penetrates through the third positioning hole 10123 of one clamping plate 10120, the lifting lug is located after the lifting lug passes through the third positioning hole 10123 of the other clamping plate 10120, that is, the U-shaped clamp can be fixed to the lifting lug, so that the clamping and fixing of the lifting lug are realized.

Further, the gripping carriage may also include a position adjustment assembly including a first drive 1014, a second drive 1015, and a third drive 1016; a first actuator 1014 is used to adjust the position of the clevis in a first direction, a second actuator 1015 is used to adjust the position of the clevis in a second direction, and a third actuator 1016 is used to adjust the position of the clevis in a third direction.

Further, the second driving member 1015 includes two moving rails 10150 and a moving base 10151, the two moving rails 10150 are disposed along the second direction, the two moving rails 10150 are fixedly disposed in the cart frame 1010, the bottom of the moving base 10151 is provided with at least two sets of second driving wheels 10152, the at least two sets of second driving wheels 10152 are disposed on the two moving rails 10150, wherein each moving rail 10150 is provided with at least one set of second driving wheels 10152, the second driving wheels 10152 are provided with a power cylinder 10156 or a motor for driving the second driving wheels 10152 to rotate, the moving base 10151 is disposed above the two moving rails 10150 along the first direction, and the moving base 10151 moves on the moving rails 10150 through the second driving wheels 10152; the first driving member 1014 includes a clamp self-locking screw 10140 disposed in a first direction and a screw driving motor 10141 disposed at one end of the clamp self-locking screw 10140, anchor clamps auto-lock lead screw 10140 both ends are fixed to be set up on removing base 10151, third driving piece 1016 includes connecting seat 10160 and lift cylinder 10161, connecting seat 10160 cover is established on anchor clamps auto-lock lead screw 10140, lift cylinder 10161 includes lift cylinder sleeve (not shown) and lift cylinder telescopic link (not shown), the piston motion just can be made in arranging lift cylinder sleeve to the lift cylinder telescopic link, lift cylinder sleeve keeps away from the one end and connecting seat 10160 fixed connection of lift cylinder telescopic link, the lift cylinder telescopic link is kept away from the telescopic one end of lift cylinder and is fixed with the U type clamp, the lift cylinder telescopic link can stretch out and draw back in the third direction, lift cylinder 10161 is used for adjusting the height that presss from both sides with lift cylinder telescopic link fixed connection's U type. It can be understood that the lead screw driving motor 10141 drives the clamp self-locking lead screw 10140 to rotate, so that the connecting seat 10160 sleeved on the clamp self-locking lead screw 10140 moves on the clamp self-locking lead screw 10140, and then the U-shaped clamp connected with the connecting seat 10160 through the lifting oil cylinder 10161 is driven to move in a first direction, and the position of the U-shaped clamp can be adjusted in the first direction; the second driving wheel 10152 moves on the moving track 10150 to drive the moving base 10151 and the U-shaped clamp indirectly arranged on the moving base 10151 through the clamp self-locking screw rod 10140, the connecting seat 10160 and the lifting oil cylinder 10161 to move in the second direction, so that the position of the U-shaped clamp can be adjusted in the first direction; the telescopic rod of the lifting oil cylinder stretches in the third direction, so that the U-shaped clamp connected with the lifting oil cylinder is driven to move in the third direction, and the position of the U-shaped clamp can be adjusted in the third direction.

As an implementation manner, the second driving member 1015 may further include at least one limiting rail 10153 disposed along the second direction and at least one limiting roller 10154 disposed at the bottom of the movable base 10151, the limiting rail 10153 is fixedly disposed in the trolley frame 1010, the limiting roller 10154 is located on the limiting rail 10153, when the movable base 10151 moves on the movable rail 10150 through the second driving wheel 10152, since the limiting roller 10154 rolls on the limiting rail 10153, the movable base 10151 may be restricted from deviating from the movable rail 10150, so that the movable base 10151 can more stably walk on the movable rail 10150.

As an implementation manner, both ends of each moving track 10150 may be provided with a limit stop pin 10155, and the limit stop pins 10155 are used to limit the position on the moving track 10150 where the second driving wheel 10152 can travel to be between the limit stop pins 10155 at both ends, so as to prevent the second driving wheel 10152 from running out of both ends of the moving track 10150.

It can be understood that the bottom of the trolley frame 1010 can also be provided with a battery 10101 and a hydraulic station 10102, the battery 10101 is electrically connected with various driving motors in the clamping trolley and used for supplying power to the driving motors, the hydraulic station 10102 is connected with various oil cylinders in the clamping trolley and used for supplying liquid serving as a working medium to the oil cylinders, and the power of the hydraulic station 10102 is supplied by the battery 10101.

As an implementation manner, the surface of the clamping cart is further provided with a displacement sensor 1013, in the present application, the displacement sensor 1013 may be disposed at the front and the back of the clamping cart, where the front and the back of the clamping cart refer to two surfaces of the cart frame 1010 that are perpendicular to the traveling direction of the clamping cart on the traveling track 10013, and through the displacement sensor 1013, the clamping cart may sense a specific position on the traveling track 10013, and further, the clamping cart may sense its position through the displacement sensor 1013 to move to a target position. In addition, the surface of the clamping trolley can be further provided with a distance sensor 1017, the distance sensors 1017 can be arranged in front of and behind the clamping trolley in the same way, through the distance sensor 1017, the clamping trolley can sense whether obstacles exist on a walking path of the clamping trolley, for example, lifting lugs or other clamping trolleys with segmented thin plates exist on the walking path, the distance between the clamping trolley and the obstacles in the front can be detected through the distance sensor 1017, and then when the distance detected by the distance sensor 1017 is smaller than a preset threshold value, the clamping trolley can control the first driving motor to stop driving the first driving wheel 10110 to rotate or reversely control the first driving motor to drive the first driving wheel 10110 to rotate, so that the clamping trolley stops or reversely moves to avoid collision with the obstacles in the front.

Further, the clamping trolley comprises a receiving assembly 1018, and the receiving assembly 1018 specifically comprises a fixing seat 10180, at least two beam oil cylinders 10182 and a beam 10181; fixing base 10180 sets up fixedly in dolly frame 1010, every crossbeam hydro-cylinder 10182 all includes crossbeam hydro-cylinder sleeve (not shown in the figure) and crossbeam hydro-cylinder telescopic link (not shown in the figure), crossbeam hydro-cylinder telescopic link inserts and arranges in crossbeam hydro-cylinder sleeve and can do the piston motion, crossbeam hydro-cylinder sleeve keeps away from the one end and the fixing base 10180 fixed connection of crossbeam hydro-cylinder telescopic link, crossbeam hydro-cylinder telescopic link is kept away from telescopic one end and crossbeam 10181 fixed connection of crossbeam hydro-cylinder, crossbeam 10181 arranges along the first direction, crossbeam hydro-cylinder telescopic link can stretch out and draw back in the third direction, crossbeam hydro-cylinder 10182 is used for adjusting the height of crossbeam 10181 with it fixed connection. It can be understood that receiving assembly 1018 may further include a beam positioning sleeve 10183 fixedly connected to the beam cylinder sleeve and a beam positioning post 10184 extending downward from beam 10181, and beam positioning post 10184 is inserted into beam positioning sleeve 10183, wherein a second positioning hole 10185 is formed on beam positioning post 10184 along the third direction, and beam positioning sleeve 10183 is provided with a second positioning pin (not shown), and after beam 10181 is adjusted to the target height, beam 10181 is fixed to the target height by the second positioning pin and second positioning hole 10185.

In a specific application scenario, in the process of placing the sheet segment to be turned over on the turning-over device 10, the clamping trolley needs to be adjusted to a position which can be adapted to the lifting lugs according to the distribution condition of the lifting lugs on the sheet segment to be turned over and other related parameters, for example, some protruding parts exist on the sheet segment to be turned over; first, the trolley frame 1010 is moved to a target position by the cooperation of the traveling assembly 1011 and the traveling rail 10013, and then the position of the clevis is adjusted in the first direction, the second direction and the third direction by the first driving member 1014, the second driving member 1015 and the third driving member 1016 of the position adjusting assembly; before the sheet segment is placed on the turnover platform 100 by the carrying device 20, the cross beams 10181 in the respective receiving assemblies 1018 should be adjusted to the same horizontal height by the cross beam oil cylinders 10182 by each clamping trolley, then all the cross beams 10181 at the same horizontal height support the sheet segment together when the carrying device 20 places the sheet segment on all the cross beams 10181, and in the process of placing the sheet segment on the cross beams 10181, the lifting lug should be inserted between two clamping plates 10120 of the U-shaped clamp corresponding to the lifting lug, and then the lifting lug and the lifting lug are fixed in position after the lifting lug passes through the third positioning hole 10123 of one clamping plate 10120, the ear hole of the lifting lug and the third positioning hole 10123 of the other clamping plate 10120 in sequence by the third positioning pin 10122, so as to clamp and fix the lifting lug. It can be understood that during the process of placing the thin plates on the cross beam 10181 in sections, the lifting lug may not be completely inserted between the two clamping plates 10120 of the U-shaped clamp corresponding thereto, or the ear hole of the lifting lug may not be completely aligned with the third positioning hole 10123 of the two clamping plates 10120, and at this time, the position of the U-shaped clamp may be adjusted again in the first direction, the second direction and the third direction by the first driving member 1014, the second driving member 1015 and the third driving member 1016 of the position adjusting assembly, so that the lifting lug is inserted between the two clamping plates 10120 of the U-shaped clamp corresponding thereto, and the ear hole of the lifting lug is completely aligned with the third positioning hole 10123 of the two clamping plates 10120.

And thirdly, lifting the thin plate in a segmented manner.

The turning device 10 of the present application further comprises a lifting device 102, and the lifting device 102 is used for lifting the turning platform 100, the clamping device 101 on the turning platform 100 and the thin plate segment clamped and fixed by the clamping device 101 as a whole, so as to provide further preparation for turning the thin plate segment.

For example, the lifting device 102 includes a lifting beam 1021 arranged at a side of the turn-over platform 100, and the lifting beam 1021 is connected with a middle position of the corresponding side of the turn-over platform 100 through a rotating shaft 1022; the lifting device 102 can lift or lower the lifting beam 1021 to drive the turning platform 100 connected with the lifting beam 1021 and the sheet segment to be turned fixed on the turning platform 100 to ascend or descend together. The middle position of the side of turn-over platform 100 to which rotation shaft 1022 is connected in this application refers to the middle area of the side of turn-over platform 100, and is not limited to the right middle position.

In an embodiment, referring to fig. 2 to 5, the lifting device 102 includes four columns 1020 and two lifting beams 1021, the four columns 1020 are disposed at four corners of the periphery of the turn-over platform 100, the two lifting beams 1021 are disposed in parallel with the second frame beam 10011, and are respectively arranged at both sides of the turn-over platform 100, each lifting beam 1021 is positioned between two upright posts 1020 near one side thereof, the middle position of each lifting beam 1021 is respectively connected with the position corresponding to the end part of the first frame beam 10010 positioned at the middle of the turn-over platform 100 through a rotating shaft 1022, each upright post 1020 is further correspondingly provided with a lifting driving assembly 1023, the end part of each lifting beam 1021 is connected with the lifting driving assembly 1023 of the corresponding upright post 1020, four lifting driving assemblies 1023 are used for lifting or descending the two lifting beams 1021 along the direction of the upright posts 1020, and drives the turn-over platform 100 connected to the lifting beam 1021 via the rotation shaft 1022 to ascend or descend together. In addition, the side surfaces of the four upright posts 1020 are provided with diagonal draw bars 1024, and the diagonal draw bars 1024 are used for supporting the upright state of the upright posts 1020 and preventing the upright posts from inclining so as to ensure the safe operation of the lifting device 102.

It is understood that, when the lifting drive assembly 1023 lifts or lowers the two lifting beams 1021 and the turn-over platform 100, a connecting assembly can be further disposed between the second frame beam 10011 of the turn-over platform 100 and the lifting beams 1021 for keeping the turn-over platform 100 balanced, and the structure of the connecting assembly is not limited herein, and may be, for example, a temporarily disposed rope or a welded plate.

Further, promote drive assembly 1023 and can include the crown block 10230, the running block 10231, wire rope 10232 and hoisting winch 10233, wherein, crown block 10230 is fixed to be set up in the stand 1020 top, the end fixed connection of running block 10231 and the lift beam 1021 that corresponds, be connected through wire rope 10232 between crown block 10230 and the running block 10231, and wire rope 10232 is connected with hoisting winch 10233, twine wire rope 10232 in order to promote the lift beam 1021 with running block 10231 fixed connection through hoisting winch 10233, realize the promotion to the sheet metal segmentation on the platform 100 of turning over.

Fourthly, turning over the thin plate in a segmenting mode.

The turning-over device 10 of the present application further comprises a turning-over driving device 103, and after the lifting device 102 lifts the turning-over platform 100, the clamping device 101 on the turning-over platform 100 and the sheet segments clamped and fixed by the clamping device 101 to a preset height as a whole, the turning-over driving device 103 can drive the turning-over platform 100 to rotate 180 degrees around the rotating shaft 1022 relative to the lifting beam 1021, so as to turn over the sheet segments.

Please refer to fig. 2 to fig. 6c, wherein fig. 6a to fig. 6c are schematic diagrams of the turning process of the turning apparatus 10 of the present application. It can be understood that, since the turn-over platform 100 is turned 180 degrees around the rotation axis 1022 after being lifted to the preset height, when the turn-over platform 100 is rotated 90 degrees around the rotation axis 1022, the downward end of the turn-over platform 100 is closest to the ground, and at this time, it should be ensured that the point closest to the ground does not contact the ground, and since the rotation axis 1022 is connected to the position corresponding to the end of the first frame beam 10010 of the turn-over platform 100 located in the middle, that is, the preset height should be greater than half of the length of the second frame beam 10011, it can be ensured that the turn-over platform 100 does not collide with the ground in the process of turning 180 degrees around the rotation axis 1022 after being lifted to the. In the present application, a height detector (not shown) may be disposed on the lifting device 102, for example, at the bottom of the lifting beam 1021, after the lifting beam 1021 is lifted to a certain height, the height of the lifting beam 1021 and the ground can be detected by the height detector, and when the height of the lifting beam 1021 and the ground is detected to be less than or equal to half of the length of the second frame beam 10011, the lifting device 102 continues to lift the lifting beam 1021, so as to ensure that the height of the turnover platform 100 is greater than half of the length of the second frame beam 10011 when the turnover platform 100 is lifted to a preset height. In addition, two ends of the bottom of each lifting beam 1021 can be respectively provided with a height detector, and the four height detectors are used for detecting whether the heights of the two ends of the two lifting beams 1021 are consistent in the process of ascending or descending the two lifting beams 1021, namely, the turning platform 100 can keep the heights of the four corners to be the same in the process of ascending or descending.

The turnover driving device 103 comprises two rotating disks 1030 and four turnover cylinders 1031, wherein each rotating disk 1030 is correspondingly sleeved on a rotating shaft 1022, the rotating disks 1030 coaxially rotate with the rotating shaft 1022 sleeved on the rotating disks 1030, each rotating disk 1030 is provided with at least two connecting holes (not shown), each lifting beam 1021 is provided with two turnover cylinders 1031, each turnover cylinder 1031 comprises a turnover cylinder sleeve 10310 and a turnover cylinder telescopic rod 10311, the turnover cylinder telescopic rod 10311 is inserted in the turnover cylinder sleeve 10310 and can perform piston movement, one end of the turnover cylinder sleeve 10310, which is far away from the turnover cylinder telescopic rod 10311, is hinged with the lifting beam 1021, one end of the turnover cylinder telescopic rod 10311, which is far away from the turnover cylinder sleeve 10310, is connected with one corresponding connecting hole on the rotating disk 1030, the rotating disk 1030 and the turnover cylinder 10311 can rotate around the connecting holes, namely, the rotating disks 1030 and the turnover cylinder telescopic rods 10311 are rotatably connected by taking the connecting holes as shafts, the four turnover cylinders 1031 are installed at positions which are axisymmetrical with the first frame beam 10010 positioned in the middle of the turnover platform 100, and the four turnover cylinders 1031 are used for applying pushing force or pulling force to the two rotating disks 1030 in a matching manner, so that the rotating disks 1030 rotate and drive the rotating shafts 1022 sleeved on the rotating disks 1030 to coaxially rotate, further the turnover platform 100, the thin plate segments clamped and fixed by the clamping devices 101 and the clamping devices 101 on the turnover platform 100 rotate as a whole, and finally the thin plate segments can be rotated by 180 degrees to turn over the thin plate segments.

As an implementation manner, the distances from the connection hole on the rotary plate 1030 to the center of the rotation shaft 1022 sleeved on the rotary plate 1030 are all equal.

As another possible implementation manner, three connecting holes are formed in each rotating disc 1030, and an included angle between any two connecting holes in the rotating disc 1030 and a connecting line of centers of the rotating shafts 1022 sleeved on the rotating disc 1030 is 120 degrees.

The turning platform 100 and the sheet segment turning process will be explained with reference to fig. 2 to 6 c. As shown in fig. 6a, after the lifting device 102 lifts the turning platform 100, the clamping device 101 on the turning platform 100 and the thin plate segment clamped and fixed by the clamping device 101 to a preset height as a whole, the turning cylinder 1031 on the left side begins to contract, and the turning cylinder 1031 on the right side also begins to contract, at this time, the turning cylinder 1031 on the left side applies a pulling force to the rotating disc 1030, the turning cylinder 1031 on the right side also applies a pulling force to the rotating disc 1030, because the distances from the connecting holes on the rotating disc 1030 to the center of the rotating shaft 1022 sleeved by the rotating disc 1030 are equal, and the included angle between any two connecting holes on the rotating disc 1030 and the connecting line of the center of the rotating shaft 1022 sleeved by the rotating disc 1030 is 120 degrees, the moment for rotating the rotating disc 1030 counterclockwise is generated when the turning cylinder 1031 on the left side applies a pulling force to the rotating disc 1030 and the turning cylinder, thus, the rotary disk 1030 can rotate counterclockwise about the rotary shaft 1022; since the rotating disc 1030 and the rotating shaft 1022 sleeved on the rotating disc 1030 rotate coaxially, the rotating shaft 1022 can also rotate counterclockwise, so as to drive the turning platform 100 connected with the rotating shaft 1022, the clamping device 101 on the turning platform 100 and the thin plate segment clamped and fixed by the clamping device 101 to rotate counterclockwise around the rotating shaft 1022 as a whole. When the rotation reaches the first position, as shown in fig. 6b, at this time, the intersection point of the extending direction of the tilt cylinder telescopic rod 10311 of the right-side tilt cylinder 1031 and the vertical direction passing through the center of the rotation shaft 1022 is located above the center of the rotation shaft 1022, at this time, the left-side tilt cylinder 1031 is continuously kept contracted while the right-side tilt cylinder 1031 is adjusted to start extending, at this time, the left-side tilt cylinder 1031 applies a tensile force to the rotation plate 1030 while the right-side tilt cylinder 1031 applies a pushing force to the rotation plate 1030, because the intersection point of the extending direction of the tilt cylinder telescopic rod 10311 of the right-side tilt cylinder 1031 and the vertical direction passing through the center of the rotation shaft 1022 is located above the center of the rotation shaft 1022, the left-side tilt cylinder 1031 applies a tensile force to the rotation plate 1030 and the right-, the rotating disc 1030 can continue to rotate counterclockwise around the rotating shaft 1022, and thus the turning platform 100 connected to the rotating shaft 1022, the clamping device 101 on the turning platform 100, and the thin plate segment clamped and fixed by the clamping device 101 as a whole can continue to rotate counterclockwise around the rotating shaft 1022. When the rotation continues to reach the second position, as shown in fig. 6c, the intersection point of the extending direction of the tilt cylinder telescopic rod 10311 of the left tilt cylinder 1031 and the vertical direction passing through the center of the rotation shaft 1022 is located below the center of the rotation shaft 1022, the extension of the right tilt cylinder 1031 is continued while the extension of the left tilt cylinder 1031 is adjusted, the right tilt cylinder 1031 applies a thrust to the rotation plate 1030, the left tilt cylinder 1031 also applies a thrust to the rotation plate 1030, and since the intersection point of the extending direction of the tilt cylinder telescopic rod 10311 of the left tilt cylinder 1031 and the vertical direction passing through the center of the rotation shaft 1022 is located below the center of the rotation shaft 1022, the moment that the rotation of the rotation plate 1030 is counterclockwise generated by the left tilt cylinder 1031 applying a thrust to the rotation plate 1030 and the thrust of the right tilt cylinder 1031 to the rotation plate 1030, the rotating disc 1030 can continue to rotate counterclockwise around the rotating shaft 1022, and further drive the turning platform 100 connected to the rotating shaft 1022, the clamping device 101 on the turning platform 100 and the thin plate segments clamped and fixed by the clamping device 101 to continue to rotate counterclockwise around the rotating shaft 1022 as a whole, and stop the extension and retraction of all the turnover cylinders 1031 until the thin plate segments rotate 180 degrees counterclockwise around the rotating shaft 1022, thereby completing the turning operation of the thin plate segments. It can be understood that, in the process of turning, the stretching direction of the left-side turning cylinder 1031 and the stretching direction of the right-side turning cylinder 1031 of the present application do not pass through the center of the rotating shaft 1022 at the same time, so that it can be ensured that, in the process of stretching and retracting, at least one force exerted on the rotating disc 1030 by stretching and retracting of the left-side turning cylinder 1031 and the right-side turning cylinder 1031 can generate a moment that causes the rotating disc 1030 to rotate around the rotating shaft 1022, that is, there is no situation that the rotating disc 1030 cannot rotate because the acting forces are all along the center direction of the rotating.

Referring to fig. 7 to 12, as an implementation manner, the clamping cart further includes a protection component 1019, and the protection component 1019 includes at least two backer self-locking screw rods 10190 and a beam backer 10191; crossbeam 10181 is worn to locate along the second direction by backer auto-lock lead screw 10190, and every backer auto-lock lead screw 10190 is located the one end that is close to the U type and presss from both sides all with crossbeam backer 10191 fixed connection, the other end is connected with a side direction drive motor 10192, crossbeam backer 10191 and crossbeam 10181 parallel arrangement. In the process of fixing the thin plate in sections, after the third positioning pin 10122 sequentially penetrates through the third positioning hole 10123 of one clamping plate 10120, the ear hole of the lifting lug and the third positioning hole 10123 of the other clamping plate 10120 to fix the position of the U-shaped clamp and the corresponding lifting lug, each lateral transmission motor 10192 drives the corresponding backer self-locking screw rod 10190 to rotate, so that the beam backer 10191 fixedly connected with one end, close to the U-shaped clamp, of the backer self-locking screw rod 10190 abuts against the side face of the U-shaped clamp. It can be understood that all clamping trolleys of the present application are all arranged towards the same direction, and when the clamping trolleys are turned over by 90 degrees, all the cross beam supports 10191 should be turned over to the lower side of the U-shaped clamp. Because the lug of this application sheet metal segmentation is worn to sell fixedly with the fixed mode of U type clamp for mechanical type, consequently, 180 degrees in-process is sectioned to the sheet metal, the lift hydro-cylinder 10161 that the U type pressed from both sides in the earlier stage of the upset receives the sheet metal segmentation along the gravity of perpendicular to lift hydro-cylinder 10161 direction less, but the lift hydro-cylinder 10161 that presss from both sides in middle stage and later stage of the upset receives the sheet metal segmentation along the gravity of perpendicular to lift hydro-cylinder 10161 direction very big, and lean on the mountain 10191 to support in the side of U type clamp through the crossbeam, and lean on the mountain 10191 all to be located the below that the U type pressed from both sides in middle and later stage in the upset originally the sheet metal segmentation that the lift hydro-cylinder 10161 that is pressed from both sides by the U type was born along the gravity of perpendicular to lift hydro-cylinder 10161's direction mainly by the crossbeam 10191, thereby can avoid the damage of the lift hydro-cylinder.

Further, protection component 1019 still includes two at least side direction powerful guide rods 10193, and the both ends of crossbeam backer 10191 respectively set up one at least side direction powerful guide rod 10193, and side direction powerful guide rod 10193 one end is connected with crossbeam 10181, and the other end is connected with crossbeam backer 10191, and two at least side direction powerful guide rods 10193 are used for bearing the weight of the sheet metal segmentation that crossbeam backer 10191 received in the upset.

Further, in order to enable the gravity of the sheet segment born by the lifting oil cylinder 10161 of the U-shaped clamp in the middle and later periods of turning along the direction perpendicular to the lifting oil cylinder 10161 to be mainly born by the beam rest 10191, a notch 10124 can be further formed in the position, abutted against the beam rest 10191, of the U-shaped clamp, when the beam rest 10191 abuts against the side face of the U-shaped clamp, the side face position of the notch 10124 can be further abutted against, and the lifting oil cylinder 10161 of the U-shaped clamp can be used for jacking the U-shaped clamp so that the bottom face position of the notch 10124 of the U-shaped clamp abuts against the lower surface of the beam rest 10191.

Fifthly, transferring the thin plate sections after turning over.

The lifting device 102 in the turning-over device 10 of the present application is further configured to lower the turning-over platform 100, the clamping device 101 on the turning-over platform 100, and the sheet segment clamped and fixed by the clamping device 101 as a whole, and to transfer the turned-over sheet segment by the transportation vehicle 30 in the sheet segment turning-over system.

Referring to fig. 1 to 12, in a specific embodiment, after the turning cylinder 1031 is used to cooperate to apply a pushing force or a pulling force to the rotating disc 1030, so that the rotating disc 1030 rotates and drives the rotating shaft 1022 sleeved by the rotating disc 1030 to coaxially rotate, the sheet segments clamped and fixed by the turning platform 100, the clamping device 101 on the turning platform 100 and the clamping device 101 rotate as a whole, and finally the sheet segments are turned 180 degrees, the transport vehicle 30 firstly travels to a designated position below the turning platform 100, and at this time, a shelf for placing the sheet segments can be carried on the transport vehicle 30; then, by releasing the brake of the hoisting winch 10233, the wire rope 10232 is retracted reversely to slowly descend the lifting beam 1021 fixedly connected with the movable pulley block 10231 and drive the turning-over platform 100, the clamping device 101 on the turning-over platform 100 and the sheet segment clamped and fixed by the clamping device 101 to slowly descend until the sheet segment is stably placed on the transport cart 30. The position of the U-shaped clamp in the third direction is adjusted through the third driving piece 1016 in sequence, the third positioning pin 10122 is made to exit from the third positioning hole 10123 and the ear hole of the lifting lug after the third positioning pin 10122 does not bear downward pressure, the second positioning pin exits from the second positioning hole 10185, the backer self-locking screw rod 10190 is driven through the lateral transmission motor 10192 to adjust the position between the beam backer 10191 and the U-shaped clamp, the pressure between the beam backer 10191 and the U-shaped clamp is released, the height of the beam 10181 is adjusted through the beam oil cylinder 10182 to retract the beam 10181, and the complete separation of the thin plate section and the clamping trolley is completed. And then, a steel wire rope 10232 is wound by a lifting winch 10233 to lift the lifting beam 1021 fixedly connected with the movable pulley block 10231, the turnover platform 100 is lifted to a preset height again, and meanwhile, the transport vehicle 30 can carry the turned sheet segment to the next station so as to transfer the turned sheet segment.

And sixthly, resetting the turnover device 10 after the thin plate is transferred in a segmented mode.

The turnover driving device 103 in the turnover device 10 of the present application is further configured to continue to drive the turnover platform 100 to rotate 180 degrees around the rotation axis 1022 relative to the lifting beam 1021, so as to reset the turnover platform 100 after turnover, and lower the turnover platform 100 after reset to a state where the turnover platform 100 is stably contacted with the ground through the lifting device 102 in the turnover device 10, thereby completing the reset of the turnover device 10 after sheet segment transfer.

For the related work flow and details, please refer to the contents of the first to fifth aspects, which are not described herein again.

It is understood that the turn-over apparatus 10 in the sheet segment turn-over system does not necessarily include all of the above-mentioned devices, such as the turn-over platform 100, the holding device 101, the lifting device 102, and the turn-over driving device 103, which may be arranged according to the desired operation selection portion of the turn-over apparatus 10, and each device does not necessarily include all of the respective components or parts, which may be arranged according to the desired operation selection portion of the respective device; correspondingly, the sheet segment turnover system may comprise only some of the six aspects described above for effecting sheet turnover, for example, the sheet segment turnover system may comprise only the second to fourth aspects, in which case the sheet segment turnover system may comprise only the turnover device 10.

The following continues to describe in detail the functions and methods that can be achieved by the sheet segment turning system, turning apparatus 10 and gripping trolley.

The application provides a flow description of an embodiment of a turning method for thin plate segmentation. Referring to fig. 13, fig. 13 is a schematic flow chart of an embodiment of a turning method for turning a sheet segment according to the present application. In the embodiment, the method is applied to a sheet segmented turning-over system consisting of carrying equipment, a transport vehicle and turning-over equipment, wherein the turning-over equipment comprises a turning-over platform, a lifting device and a turning-over driving device, the lifting device comprises two lifting beams arranged at two sides of the turning-over platform, the middle position of each lifting beam is respectively connected with the middle position of the side surface of the turning-over platform through a rotating shaft, and the turning-over platform can rotate around the rotating shaft relative to the lifting beams; the method comprises the following steps:

s131: the transport vehicle is matched with the carrying equipment to place the thin plate to be turned over on the turning-over platform in a segmented manner.

S132: the lifting device lifts the lifting beam to lift the turning platform connected with the lifting beam through the rotating shaft and the sheet to be turned fixed on the turning platform to a preset height together.

S133: the turning driving device drives the rotating shaft to rotate so as to drive the turning platform fixedly connected with the rotating shaft and the sheet segment to be turned fixed on the turning platform to rotate together relative to the lifting beam by a set angle, so that the sheet segment to be turned is turned.

S134: the lifting device lowers the lifting beam to place the turnover platform which is turned over and the turned sheet segment fixed on the turnover platform on the transport vehicle and separate the turned sheet segment from the turnover platform, and the turned sheet segment is transferred to the next station by the transport vehicle.

S135: the turning-over equipment which is separated from the turned-over thin plate in a segmented way is reset through the matching of the lifting device and the turning-over driving device.

The set angle is an arbitrary angle, for example, 180 degrees. As an implementation mode, the lifting device further comprises four stand columns, the side surfaces of the stand columns are provided with diagonal draw bars, each stand column is also correspondingly provided with a lifting driving assembly, each lifting driving assembly can comprise a fixed pulley block, a movable pulley block, a steel wire rope and a lifting winch, wear-resistant slide blocks can be arranged at two ends of the lifting beam, and the slide blocks slide in the stand columns; the upward pulling force of the lifting beam is provided by a lifting winch, is transmitted through a fixed pulley block and a movable pulley block, and is lifted to the highest position to be braked by the lifting winch; the turning platform is turned by the joint action of the extension or the shortening of two groups of hydraulic turning cylinders at two sides.

The sheet segment turning system in this embodiment may be the sheet segment turning system in the structural embodiment described above, so that the turning method of the sheet segment in this embodiment can be understood by combining the related structural schematic diagram and the related text description. It can be understood that each step in the method flow in this embodiment may be adjusted and refined according to actual needs, for example, corresponding flow steps are added according to the specific structure of the sheet segment turning system, and the specific steps may be understood and supplemented by combining the above-mentioned related schematic structural diagram and the text description of the related structure, and detailed description and explanation of each flow step are not repeated here.

Through the mode, the sheet subsection turning-over system in the application adopts the mode that the middle positions of two lifting beams arranged at two sides of a turning-over platform are respectively connected with the middle position of the side surface of the turning-over platform through a rotating shaft, so that the turning-over platform can rotate around the rotating shaft relative to the lifting beams, and further the turning-over platform connected with the lifting beams through the rotating shaft and the sheet subsection fixed on the turning-over platform can be lifted to the preset height together by lifting the lifting beams, and then the turning-over platform can rotate 180 degrees around the rotating shaft relative to the lifting beams, so that the turning-over effect of the sheet subsection is realized, the turning-over operation of the sheet subsection is simple and convenient, and the; and because the middle positions of the two lifting beams are respectively connected with the middle positions of the two side surfaces of the turnover platform through a rotating shaft, the preset height of the turnover platform which is lifted only needs to be not less than half of the width of the turnover platform, the occupied operation space is small, and the turnover platform is particularly suitable for indoor places such as workshops, warehouses and the like.

The application provides a flow description of an embodiment of a method for rotating a sheet section by 180 degrees by using a turnover device in a turnover method of the sheet section. Referring to fig. 14, fig. 14 is a schematic flow chart of an embodiment of a method for turning a sheet segment by 180 degrees using a turning apparatus in the turning method for turning a sheet segment according to the present application. In the embodiment, the method is applied to the turnover equipment consisting of a turnover platform, a lifting device and a turnover driving device, wherein the lifting device comprises two lifting beams arranged at two sides of the turnover platform, the middle position of each lifting beam is respectively connected with the middle position of the side surface of the turnover platform through a rotating shaft, and the turnover platform can rotate around the rotating shaft relative to the lifting beams; the turnover driving device comprises two rotating disks and four turnover oil cylinders, each rotating disk is correspondingly sleeved on a rotating shaft, the rotating disks and the rotating shafts sleeved with the rotating disks rotate coaxially, each rotating disk is provided with at least two connecting holes, each lifting beam is provided with two turnover oil cylinders, one end of each turnover oil cylinder is fixedly connected with the lifting beam, the other end of each turnover oil cylinder is telescopically connected with one connecting hole on the corresponding rotating disk, the rotating disks and the turnover oil cylinders can rotate around the connecting holes, and the installation positions of the four turnover oil cylinders are axisymmetrical by using the connecting line of the two rotating shafts; the method comprises the following steps:

s141: after the turning platform and the sheet to be turned over fixed on the turning platform are lifted to a preset height by the lifting device in a segmented manner, the turning disc rotates around the rotating shaft by a set angle through matching of extension and contraction of the turning oil cylinder positioned on the left side and extension and contraction of the turning oil cylinder positioned on the right side, and then the turning platform connected with the rotating shaft and the sheet to be turned over fixed on the turning platform are driven to rotate around the rotating shaft by a set angle as a whole.

It is understood that the set angle may be any angle, 180 degrees in this embodiment. The extension and the contraction of the overturning oil cylinder on the left side and the extension and the contraction of the overturning oil cylinder on the right side are matched to apply a moment capable of enabling the rotating disc to rotate around the rotating shaft in the same direction to the rotating disc, and therefore the rotating disc can rotate around the rotating shaft.

The turning-over device in this embodiment may be the turning-over device in the structural embodiment described above, and therefore, the method for rotating the sheet segment by 180 degrees by using the turning-over device in this embodiment may be understood by combining the related structural schematic diagram and the related text description. It can be understood that each step in the method flow in this embodiment may be adjusted and refined according to actual needs, for example, corresponding flow steps are added according to the specific structure of the turning-over device, and the specific steps may be understood and supplemented by combining the above-mentioned related schematic structural diagram and the text description of the related structure, and detailed description and explanation of each flow step are not repeated here.

It can be understood that, in the turnover device in this embodiment, two lifting beams are arranged on two sides of the turnover platform, the middle position of each lifting beam is connected with the middle position of the side surface of the turnover platform through a rotating shaft, a rotating disc is sleeved on each rotating shaft, two turnover cylinders are arranged on each lifting beam, one end of each turnover cylinder is fixedly connected with the lifting beam, the other end of each turnover cylinder is connected with a connecting hole on the corresponding rotating disc in a telescopic manner, because the turnover platform can rotate around the rotating shafts relative to the lifting beams, the rotating discs and the rotating shafts sleeved on the rotating discs rotate coaxially, the rotating discs and the turnover cylinders can rotate around the connecting holes, so that the rotating discs rotate 180 degrees around the rotating shafts through the matching of the extension and the contraction of the turnover cylinders on the left side and the extension and the contraction of the turnover cylinders on the right side, and further, the turnover platform connected with the rotating shafts and the sheet, the turnover speed of the thin plate segment can be controlled by the turnover oil cylinder in the turnover process, so that the stability of the equipment structure is prevented from being influenced by the larger acceleration in the turnover process, and the turnover process is very safe; and the turnover platform is matched with the lifting beam through the turnover oil cylinder, the rotating disc and the connecting shaft, so that turnover power can be provided for the turnover platform during turnover and balance can be kept when the turnover platform is not turned over.

The present application provides a flow description of an embodiment of a method for securing a sheet segment to a turn-over platform. Referring to fig. 15, fig. 15 is a schematic flow chart illustrating an embodiment of a method for fixing a thin plate segment to a turn-over platform according to the present application. In the embodiment, the method is applied to the turnover equipment comprising a turnover platform and a clamping trolley; the turnover platform comprises a platform frame formed by splicing three first frame beams arranged in parallel and two second frame beams arranged perpendicular to the first frame beams, the platform frame is divided into two same platform areas by the first frame beams positioned in the middle, each platform area is provided with a plurality of supporting beams arranged in parallel with the second frame beams, the platform areas are uniformly divided into a plurality of working areas by the supporting beams, and each working area is provided with a walking track on the supporting beams and the second frame beams; the clamping trolley comprises a trolley frame, a walking assembly and a clamping assembly arranged on the trolley frame; the walking assembly is used for rolling on the walking track to drive the trolley frame to walk on the walking track; the positioning surface of the walking track is provided with a first positioning hole, the two sides of the trolley frame are respectively provided with at least two first positioning pins at the height positions corresponding to the positioning surface, and after the clamping trolley walks to a target position, the trolley frame is fixed at the target position through the cooperation of the first positioning pins and the first positioning holes on the positioning surface; the clamping assembly is a U-shaped clamp, the U-shaped clamp comprises two clamping plates and a connecting plate fixedly connected with the bottoms of the two clamping plates, and a groove for accommodating a lifting lug on the thin plate section is formed between the two clamping plates; the U-shaped clamp also comprises a third positioning pin, the two clamping plates are correspondingly provided with third positioning holes, and after the lifting lug is positioned between the two clamping plates, the third positioning pin is matched with the third positioning holes and the lug holes of the lifting lug so that the clamping trolley clamps and fixes the lifting lug; the method comprises the following steps:

s151: after the clamping trolley rolls on the walking track through the walking assembly and drives the trolley frame to walk to a target position on the walking track, the clamping trolley is matched with the first positioning hole on the positioning surface of the walking track through the first positioning pin so that the trolley frame is fixed at the target position.

S152: and placing the lifting lug on the sheet segment to be turned over at the position between the two clamping plates of the corresponding U-shaped clamp, and aligning the third positioning hole on the two clamping plates with the ear hole of the lifting lug.

S153: and after the third positioning pin sequentially penetrates through the third positioning hole of one clamping plate, the lug hole of the lifting lug and the third positioning hole of the other clamping plate, the U-shaped clamp and the corresponding lifting lug are clamped and fixed.

S154: after the U-shaped clamps of all the clamping trolleys clamp and fix the corresponding lifting lugs, the fixing between the sheet segment to be turned and the turning platform is completed.

The turning device in this embodiment may be the turning device in the structural embodiment described above, and therefore, the fixing method between the thin plate segment and the turning platform in this embodiment may be understood by combining the related structural schematic diagram and the related text description. It can be understood that each step in the method flow in this embodiment may be adjusted and refined according to actual needs, for example, corresponding flow steps are added according to the specific structure of the turning-over device, and the specific steps may be understood and supplemented by combining the above-mentioned related schematic structural diagram and the text description of the related structure, and detailed description and explanation of each flow step are not repeated here.

The turning-over equipment utilizes the U-shaped clamp of the clamping trolley to clamp and fix the lifting lugs of the thin plate segments, and the clamping trolley and the turning-over platform are fixed in position in the turning-over process, so that the thin plate segments can be effectively fixed with the turning-over platform, the reliability is high, and the impact on the thin plate segments in the turning-over process is small; and each working area is provided with a clamping trolley, so that the thin plate segments can be fixed at different positions, the stress of the thin plate segments is uniform in the turning process, and the generated deformation is small.

The present application provides a flowchart illustration of an embodiment of a clamping alignment method. Referring to fig. 16, fig. 16 is a schematic flowchart illustrating an embodiment of a clamping alignment method according to the present application. In the embodiment, the method is applied to a clamping trolley consisting of a trolley frame, a U-shaped clamp and a position adjusting component; the U-shaped clamp comprises two clamping plates and a connecting plate fixedly connected with the bottoms of the two clamping plates, and a groove for accommodating a lifting lug on the thin plate section is formed between the two clamping plates; the U-shaped clamp also comprises a third positioning pin, the two clamping plates are correspondingly provided with third positioning holes, and after the lifting lug is positioned between the two clamping plates, the lifting lug is clamped and fixed by the clamping trolley through the cooperation of the third positioning pin, the third positioning holes and the lug holes of the lifting lug; the position adjusting assembly comprises a first driving piece, a second driving piece and a third driving piece; the first driving piece is used for adjusting the position of the U-shaped clamp in a first direction, the second driving piece is used for adjusting the position of the U-shaped clamp in a second direction, and the third driving piece is used for adjusting the position of the U-shaped clamp in a third direction; the method comprises the following steps:

s161: after the trolley frame and the turnover platform are relatively fixed, the positions of the U-shaped clamps in the first direction and the second direction are adjusted through the matching of the first driving piece and the second driving piece, so that lifting lugs on the thin plate sections are inserted into grooves formed between the two clamping plates of the U-shaped clamps.

S162: the positions of the U-shaped clamps in the second direction and the third direction are adjusted through the matching of the second driving piece and the third driving piece, so that the third positioning holes in the two clamping plates are aligned with the ear holes of the lifting lugs.

The clamping cart in this embodiment may be the clamping cart in the above structural embodiment, so that the clamping alignment method in this embodiment can be understood by combining the related structural schematic diagram and the related text description. It can be understood that each step in the method flow in this embodiment may be adjusted and refined according to actual needs, for example, corresponding flow steps are added according to the specific structure of the clamping cart, and the specific steps may be understood and supplemented by combining the above-mentioned related schematic structural diagram and the text description of the related structure, and detailed description and explanation of each flow step are not repeated here.

According to the clamping trolley, the first driving piece, the second driving piece and the third driving piece are used for adjusting the position of the U-shaped clamp in the first direction, the second direction and the third direction respectively, so that the third positioning holes in the two clamping plates of the U-shaped clamp can be aligned to the lug holes of the lifting lugs, and the clamping trolley is matched with the third positioning holes and the lug holes of the lifting lugs through the third positioning pins to clamp and fix the lifting lugs; through the position adjustment of the U-shaped clamp in a plurality of directions, the U-shaped clamp can fast and accurately clamp the lifting lug, and the clamping efficiency is high.

In a specific application scenario, the turning method for the thin plate segment, which can be implemented by the thin plate segment turning system of the present application, specifically includes the following steps: 1) 6-8 lifting lugs with the same specification are arranged on the thin plate segment to be turned over, and the welding of each lifting lug is ensured to be in place; 2) the thin plate is transported by a transport vehicle to be segmented to a position to be lifted beside the turnover equipment; 3) the turnover equipment is prepared, so that the supporting legs at the bottom of the turnover platform are well supported with the ground, and the turnover equipment can work normally; 4) manually identifying the lifting lugs of the thin plate sections, and calling the position arrangement of the lifting lugs of the thin plate sections and other related parameters, such as the protruding height of some parts protruding out of the plane; 5) the clamping trolley moves to a proper position in the working area according to the parameter information and is matched with a first positioning hole in the walking track through a first positioning pin so that the clamping trolley is fixed at the position, and then the beam oil cylinder supplies oil to push the beam to ascend to the proper position and is matched with a second positioning hole through a second positioning pin so that the beam is fixed at the height; 6) the U-shaped clamp of the clamping trolley can move to a proper position in three directions of XYZ simultaneously through the position adjusting assembly, wherein the clamp is driven by a screw rod driving motor to lock a nut below the U-shaped clamp to move in the X direction, the clamp is driven by a screw rod to drive the nut below the U-shaped clamp to rotate by self-locking the screw rod, the second driving wheel is driven by power oil cylinders to rotate on a moving track in the Y direction from Y directions on two sides, linear motion is guaranteed by a limiting roller and the limiting track, and linear motion is realized in the; 7) hoisting the thin plate segment from the transport vehicle to a position 100mm above the turnover platform by using a crane for pre-positioning, and carrying out manual visual inspection; 8) the thin plate segment is slowly put down by a crane, and the lifting lug is inserted into a U-shaped clamp of the clamping trolley and is contacted and placed on a cross beam of the clamping trolley; 9) adjusting the positions of the U-shaped clamps, aligning the ear holes of the lifting lugs with third positioning holes on the U-shaped clamps, fixing the lifting lugs through third positioning pins, driving the beam backer to abut against the side surfaces of the U-shaped clamps by a lateral transmission motor, and adjusting the positions of the U-shaped clamps to enable the openings of the U-shaped clamps to be in contact with the side surfaces and the lower surfaces of the beam backer; 10) after the U-shaped clamp is adjusted in place and the thin plate is fixed in a segmented mode, starting four lifting winches to lift the lifting beam; 11) after the lifting beam and the turnover platform are lifted to a preset height, the lifting winch is braked and clasped to stop lifting, and the height is locked; 12) the turnover oil cylinders on two sides of the rotating shaft work, and the turnover platform is pushed to turn 180 degrees around the rotating shaft at a constant speed through the matching of extension and shortening of the turnover oil cylinders on two sides; 13) after the turnover is finished, the carrying shelf of the transport vehicle moves to a designated position below the turnover platform; 14) the lifting winch loosens the brake, the lifting beam is slowly descended to the height, and the brake is carried out when the distance between the lowest part of the thin plate section and the shelf is 100 mm; 15) adjusting the position of the transport vehicle, and after the manual visual inspection is qualified, continuing to lower the height of the lifting beam until the thin plate is completely and stably contacted with the shelf in a segmentation manner; 16) after the U-shaped clamp adjusts the position through the lifting oil cylinder to enable the third positioning pin to have no positive pressure, the third positioning pin is pulled out from the lug hole of the lifting lug and a third positioning hole in the U-shaped clamp; 17) withdrawing the second positioning hole through a second positioning pin, driving a backer self-locking screw rod through a lateral transmission motor to adjust the position between the beam backer and the U-shaped clamp, releasing the pressure between the beam backer and the U-shaped clamp, and adjusting the height of the beam through a beam oil cylinder to withdraw the beam to complete the complete separation of the thin plate section from the clamping trolley; 18) after the thin plate segments are completely separated from all the clamping trolleys, starting a lifting winch to pull the lifting beam to rise to a proper height for braking; 19) the thin plate is transported by the transport vehicle to the next station in a subsection mode; 20) the turnover oil cylinder pushes the turnover platform to reset for 180 degrees, and after the reset is completed, the lifting beam descends to a position where the supporting legs of the turnover platform are stably contacted with the ground, so that the reset of the turnover equipment is realized, and a cycle is completed.

The thin plate subsection turning-over system does not need a crane in the actual turning-over process of the thin plate subsection, occupies a small area, has high field utilization rate, and can turn over the ship body subsection indoors without being influenced by weather conditions; the turning of the thin plate segment is controlled by the stretching of the turning oil cylinder, the turning speed of the thin plate segment can be controlled to be almost constant, little acceleration does not exist or exists in the turning process, and the impact is small in the turning process; adopt a plurality of centre gripping dollies to make sheet metal segmentation and stand up the platform fixed firm, even the hydro-cylinder became invalid in the upset process, can not lead to the sheet metal segmentation to drop from the eminence to can change after accomplishing the upset, stand up the security height.

In the several embodiments provided in this application, it should be understood that the disclosed methods, systems, apparatuses, devices, and components may be implemented in other manners. For example, the above-described apparatus or device embodiments are merely illustrative, and for example, a device or a component may be divided into only one logical function, and an actual implementation may have another division, for example, a plurality of components or two pieces may be combined or may be integrated into another device, or some features may be omitted, or may not be executed. In addition, the connections shown or discussed may be direct or indirect and may be electrical, mechanical or otherwise configured depending on the particular characteristics.

Parts or components described as separate parts may or may not be physically separate, and parts or components displayed as units may or may not be physical units, may be located in one place, or may be distributed in a plurality of places. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

The above embodiments are merely examples and are not intended to limit the scope of the present disclosure, and all modifications, equivalents, and flow charts using the contents of the specification and drawings of the present disclosure or those directly or indirectly applied to other related technical fields are intended to be included in the scope of the present disclosure.

Claims

1. A clamping trolley with an adjustable clamping position is characterized in that the clamping trolley is arranged on a turnover platform; the clamping trolley comprises a trolley frame, a position adjusting assembly and a clamping assembly;

the trolley frame is movably connected to the turnover platform; the position adjusting assembly is arranged on the trolley frame, the clamping assembly is arranged on the trolley frame through the position adjusting assembly, and the clamping assembly is used for clamping and fixing a lifting lug on a sheet segment to be turned over so as to fix the sheet segment to be turned over on the turning-over platform;

defining the moving direction of the trolley frame on the turning platform as a second direction, defining the direction vertical to the second direction on a horizontal plane as a first direction, and defining the direction vertical to the horizontal plane as a third direction; the position adjusting assembly comprises a first driving piece, a second driving piece and a third driving piece, the first driving piece is used for adjusting the position of the clamping assembly in the first direction, the second driving piece is used for adjusting the position of the clamping assembly in the second direction, and the third driving piece is used for adjusting the position of the clamping assembly in the third direction so as to align the clamping assembly with the lifting lug.

2. The clamping trolley according to claim 1,

the second driving part comprises two moving tracks and a moving base, the two moving tracks are fixedly arranged in the trolley frame along the second direction, the moving base is arranged above the two moving tracks along the first direction, the clamping assembly is connected with the moving base, and the moving base is used for moving on the moving tracks and driving the clamping assembly to move so as to adjust the position of the clamping assembly in the second direction.

3. The clamping trolley according to claim 2,

the bottom of the movable base is provided with at least two groups of second driving wheels, the at least two groups of second driving wheels are positioned on the two movable rails, at least one group of second driving wheels is arranged on each movable rail, and the movable base moves on the movable rails through the second driving wheels.

4. The clamping trolley according to claim 3,

and two ends of each moving track are provided with limiting stop pins which are used for limiting the traveling position of the second driving wheel on the moving track.

5. The clamping trolley according to claim 2,

the second driving piece further comprises at least one limiting track arranged along the second direction and at least one limiting roller arranged at the bottom of the movable base, the limiting track is fixedly arranged in the trolley frame, the limiting roller is located on the limiting track, and the limiting roller rolls on the limiting track to limit the running direction of the movable base.

6. The clamping trolley according to claim 2,

the third driving piece comprises a connecting seat and a lifting oil cylinder, the connecting seat is connected with the movable base, one end of the lifting oil cylinder is fixedly connected with the connecting seat, the other end of the lifting oil cylinder is fixedly connected with the clamping assembly, and the lifting oil cylinder is used for stretching in the third direction to adjust the position of the clamping assembly in the third direction.

7. The clamping trolley according to claim 6,

the lifting oil cylinder comprises a lifting oil cylinder sleeve and a lifting oil cylinder telescopic rod, the lifting oil cylinder telescopic rod is inserted into the lifting oil cylinder sleeve, one end, far away from the lifting oil cylinder telescopic rod, of the lifting oil cylinder sleeve is fixedly connected with the connecting seat, and one end, far away from the lifting oil cylinder sleeve, of the lifting oil cylinder telescopic rod is fixedly connected with the clamping assembly.

8. The clamping trolley according to claim 6,

the first driving piece comprises a clamp self-locking screw rod arranged along the first direction and a screw rod driving motor arranged at one end of the clamp self-locking screw rod, and two ends of the clamp self-locking screw rod are fixedly arranged on the movable base;

the connecting base is sleeved on the clamp self-locking screw rod, the clamp self-locking screw rod is driven to rotate by the screw rod driving motor, so that the connecting base sleeved on the clamp self-locking screw rod moves on the clamp self-locking screw rod, and the position of the clamping assembly is adjusted in the first direction.

9. A turn-over apparatus, comprising:

the turning platform is used for placing thin plate segments to be turned;

a gripping carriage as claimed in any one of claims 1 to 8.