CN217254120U - Combined type three-axis positioner with high-precision repeated positioning function - Google Patents

Abstract

The utility model relates to an equipment technical field for the hoist processing is a combination formula triaxial machine of shifting with high accuracy repeated positioning, including over-and-under type machine of shifting, over-and-under type machine of shifting lift portion front side is equipped with the machine of shifting that turns round, machine of shifting turn round portion front side is equipped with head and the tail formula machine of shifting that turns round, be equipped with the position fixing frame frock that is used for treating weldment work and carries out the location between two upset portions of machine of shifting round of head and the tail formula. The utility model discloses this triaxial machine of shifting can make the work piece turn into the flat fillet welding operation from the vertical welding operation, improves the welding quality at the work piece, reduces manual work intensity, shortens work piece preparation cycle, can also be through carrying out the turn-over to the work piece, realizes welding the both sides of work piece welding seam under the condition of not dismantling the work piece, has further improved welding efficiency.

Description

Combined type three-axis positioner with high-precision repeated positioning function

Technical Field

The utility model relates to an equipment technical field for the crane machining especially relates to a combination formula triaxial machine of shifting with high accuracy repeated positioning.

Background

The bridge crane parts are divided into standard parts and non-standard parts, the standard part demand gap is large, for example, a plurality of rod-shaped parts which are transversely arranged in parallel at intervals and plate-shaped parts which are arranged at intervals along the axial direction of the rod-shaped parts are welded, two plate-shaped parts on the outer side are positioned on two end faces of the rod-shaped parts, the existing manufacturing mode for the welding work of the standard part is manual work, due to the structural characteristics of workpieces, vertical welding work of workers is needed during the manual work, the welding position of the workpieces is difficult to weld, the labor intensity of the workers is large, the manufacturing period is long, and the productivity is not enough to meet the product demands of companies.

In order to improve the mechanical production degree of company products and build an intelligent automatic production workshop manufacturing system, a combined type three-axis positioner with high-precision repeated positioning is designed and provided.

Disclosure of Invention

The utility model aims at providing a combination formula triaxial machine of shifting with high accuracy repeated positioning just in order to solve above-mentioned problem.

The utility model discloses a following technical scheme realizes above-mentioned purpose:

the combined type three-axis positioner with high-precision repeated positioning comprises a lifting type positioner, wherein a rotary positioner is arranged on the front side of a lifting part of the lifting type positioner, a head-tail type turnover positioner is arranged on the front side of a rotary part of the rotary positioner, and a positioning frame tool for positioning a workpiece to be welded is arranged between two turnover parts of the head-tail type turnover positioner;

the positioning frame tool comprises a frame body, vertical positioning plates, mounting positioning plates, positioning blocks and V-shaped positioning supporting blocks, wherein the middle parts of the two ends of the frame body are correspondingly mounted on two overturning parts of a head-tail overturning positioner respectively, one end of the front side surface of the frame body is provided with the vertical positioning plate used for vertically positioning a workpiece to be welded, the corresponding position of the side surface of the frame body to be welded to the workpiece to be welded is provided with a plurality of mounting positioning plates, the front surface of the mounting positioning plate corresponding to a rod-shaped part in the workpiece to be welded is provided with the V-shaped positioning supporting block capable of supporting the rod-shaped part in the workpiece to be welded and transversely positioning the rod-shaped part, and the front surface of the mounting positioning plate corresponding to the plate-shaped part in the workpiece to be welded is provided with the positioning block capable of vertically positioning the plate-shaped part in the workpiece to be welded.

Preferably, over-and-under type machine of shifting includes frame, bearing frame, the frame leading flank rotates through two bearing frames that the interval set up from top to bottom and is connected with drive screw, and the drive screw thick stick body is located the position between two bearing frames and is gone up and down the transmission cooperation and have the elevator, and sliding connection is in the frame about the elevator to the gyration machine of shifting is installed to the elevator front side, the frame is equipped with and is used for driving drive screw pivoted drive arrangement.

Preferably, the front side of the base is provided with a slide rail parallel to the transmission screw rod, and the lifting block is connected to the base in a vertically sliding manner through the slide rail.

Preferably, the frame leading flank still is equipped with anti-collision device, anti-collision device includes the buffer support, the buffer support corresponds installs in the frame leading flank, one side that the buffer support corresponds the elevator block is equipped with the rubber buffer that can prevent elevator block and bearing frame collision.

Preferably, the lifting block is further provided with a position sensor for detecting the vertical position of the lifting block.

Preferably, the rotary positioner includes the slewing bearing cylinder, the slewing bearing cylinder corresponds the rigid coupling in over-and-under type positioner lift portion, slewing bearing cylinder front end rotates to be connected with rather than coaxial slewing bearing and connects the chuck, and the slewing bearing cylinder still is equipped with and is used for driving slewing bearing and connects chuck pivoted second drive device to slewing bearing connects the chuck front end and is equipped with end-to-end formula upset positioner.

Preferably, the head-tail type overturning positioner comprises a head-tail type positioner main body, a slewing bearing connecting flange correspondingly connected with a slewing part of the slewing positioner is arranged in the middle of the rear side face of the head-tail type positioner main body, longitudinal supports of the head-tail type positioner are arranged in the middle of two ends of the front side face of the head-tail type positioner main body, frame support modules are rotatably connected to opposite sides of the longitudinal supports of the two head-tail type positioners, the slewing central axes of the two frame support modules are collinear, and the two frame support modules are respectively and correspondingly connected with the middle parts of two ends of the frame main body;

the head-tail type overturning positioner further comprises a third driving device capable of driving at least one frame supporting module to rotate.

The beneficial effects are that:

1. the vertical position of the rotary positioner is adjusted through the lifting positioner, the angle of the head-tail type turnover positioner in a vertical plane is adjusted through the rotary positioner, the positioning frame tool is turned over through the head-tail type turnover positioner, and then the vertical position of a workpiece and the angle of the workpiece can be adjusted, so that the workpiece is converted from vertical welding operation to flat fillet welding operation, the welding quality of the workpiece in manufacturing is improved, the manual operation intensity is reduced, the workpiece manufacturing period is shortened, the workpiece can be turned over, welding on two sides of a welding seam of the workpiece is realized under the condition that the workpiece is not disassembled, and the welding efficiency is further improved;

2. the V-shaped positioning support block is adopted, so that the rod-shaped part in the workpiece to be welded can be centered and supported, the transverse deviation of the rod-shaped part in the workpiece to be welded can be prevented, the positioning block is adopted and matched with the mounting positioning plate, the plate-shaped part in the workpiece to be welded can be supported and vertically positioned, and the function of positioning the workpiece to be welded is integrally realized;

3. the device can be used in cooperation with a welding robot for positioning the workpiece to be welded in a high-precision manner and adjusting the position of the workpiece to be welded, so that the welding efficiency is further improved;

4. due to the fact that the anti-collision device is arranged, when the rotary positioner exceeds the limit position, the rotary positioner is firstly contacted with the rubber buffer, the rotary positioner gradually stops moving, collision between the rotary positioner and the bearing seat can be effectively prevented, and the rotary positioner is damaged due to the fact that the rotary positioner is subjected to large instantaneous acting force.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic structural diagram of the present invention;

fig. 2 is a right side view of the present invention;

fig. 3 is a schematic structural view of the rotary positioner of the present invention;

FIG. 4 is a schematic structural view of the head-to-tail type roll-over positioner of the present invention;

FIG. 5 is a right side view of the middle head-to-tail type turning positioner of the present invention;

fig. 6 is a schematic structural view of the middle positioning frame fixture of the present invention;

fig. 7 is a schematic structural view of the middle anti-collision device of the present invention;

FIG. 8 is a schematic view of the structure of the assembly-welded work pieces.

The reference numerals are illustrated below:

1. lifting type position changing machines; 11. a machine base; 12. a drive screw; 13. a bearing seat; 14. a lifting block; 15. a slide rail; 16. a position sensor; 2. a rotary position changing machine; 21. a slewing bearing cylinder; 22. the rotary support is connected with the chuck; 3. a head-tail type overturning positioner; 31. a head-tail type positioner main body; 32. a slewing bearing connecting flange; 33. longitudinally supporting by a head-tail type positioner; 34. a frame support module; 4. positioning a frame tool; 41. a frame body; 42. a vertical positioning plate; 43. installing a positioning plate; 44. positioning blocks; 45. a V-shaped positioning supporting block; 5. an anti-collision device; 51. a bumper bracket; 52. a rubber buffer; 6. the workpiece is to be welded.

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.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

In the first embodiment, as shown in fig. 1 to 8, a combined three-axis positioner with high precision and repeated positioning comprises an elevation type positioner 1, wherein a rotary positioner 2 is arranged on the front side of an elevation part of the elevation type positioner 1, and specifically, the rotary central axis of a rotary part of the rotary positioner 2 is horizontally arranged; a head-tail type overturning positioner 3 is arranged on the front side of the rotating part of the rotary positioner 2, a positioning frame tool 4 for positioning a workpiece to be welded is arranged between two overturning parts of the head-tail type overturning positioner 3, and the two overturning parts of the head-tail type overturning positioner 3 are correspondingly positioned at the front end of the head-tail type overturning positioner 3 according to requirements;

the vertical position of the rotary positioner 2 can be adjusted through the lifting positioner 1, the angle of the head-tail type turnover positioner 3 in a vertical plane is adjusted through the rotary positioner 2, the positioning frame tool 4 is turned over through the head-tail type turnover positioner 3, and then the vertical position of a workpiece and the angle of the workpiece can be adjusted, so that the workpiece is converted from vertical welding operation to flat fillet welding operation, the welding quality of the workpiece is improved, the manual operation intensity is reduced, the workpiece manufacturing period is shortened, the workpiece can be turned over, welding of two sides of a welding seam of the workpiece is realized under the condition that the workpiece is not detached, and the welding efficiency is further improved;

the positioning frame tool 4 comprises a frame body 41, vertical positioning plates 42, an installation positioning plate 43, positioning blocks 44 and V-shaped positioning supporting blocks 45, the middle parts of the two ends of the frame body 41 are respectively and correspondingly installed on the two overturning parts of the head-tail type overturning positioner 3, one end of the front side surface of the frame body 41 is provided with the vertical positioning plate 42 for vertically positioning a workpiece to be welded, and the vertical positioning plate 42 can be used as a positioning original point of the workpiece, so that the three-axis positioner can be matched with a welding robot for use, and further the automatic welding function is improved;

a plurality of mounting positioning plates 43 are arranged on the side surface of the frame body 41 corresponding to the positions of the workpieces to be welded, a V-shaped positioning supporting block 45 capable of supporting and transversely positioning the rod-shaped parts in the workpieces to be welded is arranged on the front plate surface of the mounting positioning plate 43 corresponding to the rod-shaped parts in the workpieces to be welded, and a positioning block 44 capable of vertically positioning the plate-shaped parts in the workpieces to be welded is arranged on the front plate surface of the mounting positioning plate 43 corresponding to the plate-shaped parts in the workpieces to be welded;

the V-shaped positioning support block 45 is adopted, so that the rod-shaped part in the workpiece to be welded can be centered and supported, the transverse deviation of the rod-shaped part in the workpiece to be welded can be prevented, the positioning block 44 is adopted and matched with the mounting positioning plate 43, the plate-shaped part in the workpiece to be welded can be supported and vertically positioned, and the function of positioning the workpiece to be welded is integrally realized; according to the requirement, when the workpiece is clamped and fixed, the workpiece can be clamped and fixed through a pressing block structure and an electromagnetic adsorption structure, for example, the positioning block 44 and the V-shaped positioning support block 45 adopt electromagnets.

In the structure, during use, firstly, a worker puts a workpiece to be welded in place through the vertical positioning plate 42, the mounting positioning plate 43, the positioning block 44 and the V-shaped positioning support block 45, then the workpiece to be welded is clamped, then the lifting positioner 1 can be started to move the workpiece to a proper height, then the head-tail type turnover positioner 3 rotates the head-tail type turnover positioner 3 clockwise by 90 degrees through the rotary positioner 2, the frame body 41 rotates the head-tail type turnover positioner 3 clockwise by 90 degrees, then welding in the first stage is started, after the welding in the stage is completed, the head-tail type turnover positioner 3 rotates the frame body 41 clockwise by 180 degrees, the frame body 41 rotates the head-tail type turnover positioner 3 clockwise by 90 degrees, the head-tail type turnover positioner 2 rotates the head-tail type turnover positioner 3 clockwise by 180 degrees, the head-tail type turnover positioner 3 rotates the frame body 41 clockwise by 90 degrees, starting the second stage of welding, wherein after the welding in the second stage is finished, the head-tail type overturning and positioning machine 3 enables the frame body 41 to rotate 180 degrees clockwise, the head-tail type overturning and positioning machine 3 enables the frame body 41 to rotate 90 degrees clockwise, the head-tail type overturning and positioning machine 3 enables the head-tail type overturning and positioning machine 3 to rotate 90 degrees clockwise, then the workpiece is moved to the material taking height through the lifting type positioning machine 1, and then the workpiece is taken down;

on the whole, the material is put to the manual work, the location, press from both sides tightly and the repeated positioning, form a complete operation cycle, the production beat is about 16 minutes to make positioning accuracy can reach 0.1mm through the repeated positioning, consequently can carry out real-time communication interaction with welding robot as required, according to the in-service use demand, also can set up the duplex position or duplex position carries out the manufacturing work, can shorten the in-process product production manufacturing cycle by a wide margin like this, accord with the large-scale industrialization production requirement of intelligent factory.

In the second embodiment, on the basis of the first embodiment, as shown in fig. 1-2, the elevation type position changing machine 1 comprises a machine base 11 and bearing seats 13, the front side surface of the machine base 11 is rotatably connected with a transmission screw 12 through the two bearing seats 13 arranged at intervals up and down, an elevation block 14 is vertically and drivingly matched at the position, between the two bearing seats 13, of the lever body of the transmission screw 12, the elevation block 14 is vertically and slidably connected to the machine base 11, the front side of the elevation block 14 is provided with the rotation position changing machine 2, and the machine base 11 is provided with a first driving device for driving the transmission screw 12 to rotate;

according to the requirement, the first driving device comprises a driving motor, the driving motor is in transmission fit with the transmission lead screw 12 through an output end through a speed reducer, the speed reducer can adopt a worm and gear speed reducer, and the driving motor is a servo motor;

the transmission screw 12 can be driven to rotate by the first driving device, the lifting block 14 is driven to move by the transmission screw 12, and the upper and lower positions of the rotary positioner 2 can be adjusted as the rotary positioner 2 is arranged on the lifting block 14;

preferably, the front side of the base 11 is provided with two slide rails 15 parallel to the transmission screw 12, and the lifting block 14 is connected to the base 11 by the slide rails 15 in a vertically sliding manner, and the two slide rails 15 are respectively located on two sides of the transmission screw 12 as required, so that the lifting block 14 can be limited by the slide rails 15, and the smoothness of lifting of the lifting block 14 is ensured;

according to the needs, the lifting block 14 is also provided with a position sensor 16 for detecting the vertical position of the lifting block 14, so that the upper position and the lower position of the lifting block 14 can be detected through the position sensor 16, not only can the upper position and the lower position of the lifting block 14 be known, but also the signal transmitted by the position sensor 16 can be compared with the parameter of the operation of the first driving device, and the mutual detection function is realized, when the signal transmitted by the position sensor 16 is inconsistent with the parameter of the operation of the first driving device, for example, the signal transmitted by the position sensor 16 is that the lifting block 14 rises by 1.00m, and when the height of the lifting block 14 driven by the first driving device rises by 1.02m, it is described that at least one of the two values has an error, the mutual detection function is realized, and a worker is reminded of overhauling the device.

In a third embodiment, on the basis of the second embodiment, as shown in fig. 2 and 7, an anti-collision device 5 is further arranged on the front side surface of the base 11, the anti-collision device 5 includes a buffer support 51, the buffer support 51 is correspondingly mounted on the front side surface of the base 11, a rubber buffer 52 capable of preventing the lifting block 14 from colliding with the bearing seat 13 is arranged on one side of the buffer support 51 corresponding to the lifting block 14, the anti-collision device 5 is correspondingly positioned between the bearing seat 13 and the rotary positioner 2 as required, and the rubber buffer 52 faces the rotary positioner 2, specifically, the anti-collision device 5 does not affect the normal lifting of the rotary positioner 2;

the problem of equipment operation inertia, the super spacing phenomenon can appear in machine 2 that changes back, owing to adopted crashproof device 5, and the super spacing phenomenon appears in machine 2 that changes back, machine 2 that changes back at first contacts with rubber buffer 52 for machine 2 that changes back and forth gradually stops moving, can effectually prevent that machine 2 that changes back is direct to collide with bearing frame 13, leads to machine 2 that changes back to receive great effort in the twinkling of an eye, and causes the damage.

In the fourth embodiment, on the basis of the first embodiment, as shown in fig. 2 to 3, the rotary positioner 2 includes a rotary support column 21, the rotary support column 21 is fixedly connected to the lifting part of the elevation type positioner 1 correspondingly, a rotary support connection chuck 22 coaxial with the rotary support column 21 is rotatably connected to the front end of the rotary support column 21, a second driving device for driving the rotary support connection chuck 22 to rotate is further provided on the rotary support column 21, and a head-tail type inversion positioner 3 is provided on the front end of the rotary support connection chuck 22; according to the requirement, the inside of the slewing bearing column 21 is of a hollow structure, the second driving device is arranged in the inner cavity of the slewing bearing column 21, and the specific position of the second driving device is not shown in the figure;

according to the requirement, the middle part of the front end face of the slewing bearing connecting chuck 22 is provided with a jack coaxial with the slewing bearing connecting chuck 22, the front end face of the slewing bearing connecting chuck 22 is also uniformly and annularly provided with a plurality of sliding grooves along the radial direction of the front end face, the inner ends of the sliding grooves are correspondingly communicated with the jack, and the sliding grooves can be T-shaped sliding grooves or dovetail-shaped sliding grooves according to the requirement, so that connecting flanges of different types can be installed, and the coaxiality of the connecting flanges and the slewing bearing connecting chuck 22 can be ensured;

the swivel bearing coupling chuck 22 may also be provided with a swivel bearing lubrication hole as required, which may reduce wear of the swivel bearing coupling chuck 22 during rotation;

according to the requirement, the second driving device comprises a servo motor, and the output end of the servo motor is in transmission fit with the slewing bearing connecting chuck 22 through a worm gear speed reducer;

the rotary support connecting chuck 22 can be driven to rotate by the second driving device, and the rotary support connecting chuck 22 drives the head-tail type overturning positioner 3 to rotate.

Fifth embodiment, on the basis of the first embodiment, as shown in fig. 4 to 5, the head-to-tail type inversion positioner 3 includes a head-to-tail type positioner main body 31, a slewing bearing connecting flange 32 correspondingly connected to a slewing part of the slewing positioner 2 is disposed in the middle of the rear side surface of the head-to-tail type positioner main body 31, longitudinal supports 33 of the head-to-tail type positioner are disposed in the middle of both ends of the front side surface of the head-to-tail type positioner main body 31, frame support modules 34 are rotatably connected to opposite sides of the longitudinal supports 33 of the two head-to-tail type positioners, the central axes of slewing of the two frame support modules 34 are collinear, the two frame support modules 34 are respectively correspondingly connected to the middle of both ends of the frame body 41, specifically, the outer end of the frame support module 34 is a main body structure rotatably connected to the corresponding longitudinal supports 33 of the head-to-tail type positioner, the inner end of the frame support module 34 is an L-shaped structure matched with the frame body 41, this makes the mounting of the frame body 41 more secure;

the head-tail type overturning positioner 3 further comprises a third driving device capable of driving at least one frame supporting module 34 to rotate, wherein the third driving device is one or two servo motors according to requirements, and when the third driving device is two servo motors, the two servo motors are synchronous motors;

the frame supporting modules 34 can be driven to rotate through the third driving device, and the frame body 41 can be sequentially driven to turn over due to the collinear rotation central axes of the two frame supporting modules 34, so that the function of turning over the workpiece to be welded is realized.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (7)

1. The utility model provides a combination formula triaxial machine of shifting with high accuracy repeated positioning which characterized in that: the welding machine comprises a lifting type position changing machine (1), wherein a rotary position changing machine (2) is arranged on the front side of a lifting part of the lifting type position changing machine (1), a head-tail type overturning position changing machine (3) is arranged on the front side of a rotary part of the rotary position changing machine (2), and a positioning frame tool (4) used for positioning a workpiece to be welded is arranged between two overturning parts of the head-tail type overturning position changing machine (3);

the positioning frame tool (4) comprises a frame body (41), a vertical positioning plate (42), an installation positioning plate (43), a positioning block (44) and a V-shaped positioning supporting block (45), the middle parts of the two ends of the frame body (41) are respectively and correspondingly arranged on the two turning parts of the head-tail turning positioner (3), one end of the front side surface of the frame body (41) is provided with a vertical positioning plate (42) for vertically positioning a workpiece to be welded, a plurality of mounting positioning plates (43) are arranged on the side surface of the frame body (41) corresponding to the positions of the workpieces to be welded, a V-shaped positioning supporting block (45) which can support and transversely position the rod-shaped part in the workpiece to be welded is arranged on the front plate surface of the mounting positioning plate (43) corresponding to the rod-shaped part in the workpiece to be welded, and a positioning block (44) capable of vertically positioning the plate-shaped part in the workpiece to be welded is arranged on the front plate surface of the mounting positioning plate (43) corresponding to the plate-shaped part in the workpiece to be welded.

2. The machine according to claim 1, characterized in that it comprises: over-and-under type machine of shifting (1) includes frame (11), bearing frame (13), two bearing frames (13) that frame (11) leading flank set up through upper and lower interval rotate and are connected with drive screw (12), and drive screw (12) thick stick body is located about the position between two bearing frames (13) transmission cooperation has elevator (14), and sliding connection about elevator (14) in frame (11) to rotary machine of shifting (2) are installed to elevator (14) front side, frame (11) are equipped with and are used for driving drive screw (12) pivoted drive arrangement.

3. The combined three-axis positioner with high-precision repeated positioning function according to claim 2, wherein: the front side of the base (11) is provided with a sliding rail (15) parallel to the transmission screw rod (12), and the lifting block (14) is vertically connected to the base (11) in a sliding manner through the sliding rail (15).

4. The combined three-axis positioner with high-precision repeated positioning function according to claim 2, wherein: the anti-collision device is characterized in that the front side face of the base (11) is further provided with an anti-collision device (5), the anti-collision device (5) comprises a buffer support (51), the buffer support (51) is correspondingly installed on the front side face of the base (11), and one side, corresponding to the lifting block (14), of the buffer support (51) is provided with a rubber buffer (52) capable of preventing the lifting block (14) from colliding with the bearing seat (13).

5. The combined three-axis positioner with high-precision repeated positioning function according to claim 2, wherein: the lifting block (14) is also provided with a position sensor (16) for detecting the vertical position of the lifting block.

6. The combined three-axis positioner with high-precision repeated positioning function according to claim 1, wherein: the rotary positioner (2) comprises a rotary support cylinder (21), the rotary support cylinder (21) corresponds to the rigid coupling in the lifting part of the lifting positioner (1), the front end of the rotary support cylinder (21) is rotatably connected with a rotary support connecting chuck (22) coaxial with the rotary support cylinder, the rotary support cylinder (21) is further provided with a second driving device for driving the rotary support connecting chuck (22) to rotate, and the front end of the rotary support connecting chuck (22) is provided with a head-tail type turnover positioner (3).

7. The machine according to claim 1, characterized in that it comprises: the head-tail type overturning positioner (3) comprises a head-tail type positioner main body (31), the middle of the rear side face of the head-tail type positioner main body (31) is provided with a slewing bearing connecting flange (32) correspondingly connected with a slewing part of the slewing positioner (2), the middle parts of two ends of the front side face of the head-tail type positioner main body (31) are respectively provided with a head-tail type positioner longitudinal support (33), opposite sides of the two head-tail type positioner longitudinal supports (33) are respectively and rotatably connected with a frame support module (34), the slewing central axes of the two frame support modules (34) are collinear, and the two frame support modules (34) are respectively and correspondingly connected with the middle parts of two ends of a frame body (41);

the head-tail type overturning and positioning machine (3) further comprises a third driving device capable of driving at least one frame supporting module (34) to rotate.

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