CN221695860U - Six-axis C-shaped overturning positioner - Google Patents

Abstract

The utility model relates to a six-axis C-shaped overturning positioner, and belongs to the technical field of steel structure welding. The technical proposal is as follows: the head end (1) and the tail end (2) of the positioner are identical in structure, identical in configuration and symmetrically arranged and are jointly arranged on the track (3) to form a six-axis C-shaped turnover positioner, a workpiece can be turned by 90 degrees and 180 degrees, the workpiece core can be automatically adjusted, the workpiece core coincides with the turning center of the clamping turnover mechanism, and the workpiece is subjected to omnibearing assembly welding. The tail end (2) of the positioner comprises a main body walking frame (4), a fixed lifting clamping mechanism (5), a turnover lifting clamping mechanism (6), a turnover guide mechanism (7), a turnover drag chain mechanism (8) and a turnover driving mechanism (9). The utility model has high clamping and overturning efficiency and high welding rate, can automatically adjust the superposition of the workpiece core and the overturning center of the clamping and overturning mechanism, and can be suitable for various feeding forms such as transverse feeding, longitudinal feeding, lifting feeding and the like by matching with corresponding feeding devices.

Description

A six-axis C-type flip positioner

Technical Field

The utility model relates to a six-axis C-type turnover positioner, belonging to the technical field of steel structure welding.

Background Art

In recent years, with the development of welding technology, the level of industrial automation has made great progress, the application of automatic steel structure welding has become more and more extensive, and the corresponding steel structure welding clamping and flipping device has also developed by leaps and bounds. At present, the welding of H-shaped, rectangular and box-shaped steel structures with longer lengths mainly uses the following two clamping and flipping methods:

One method is to use a rotating four-jaw chuck of a machine tool, with one end face clamped and the other end tightened to achieve the clamping and displacement function. However, this method has defects. When loading the workpiece from the end face, the ends of the workpiece need to interfere with the four-jaw chuck when they are welded. Another method is a cage-type clamping and flipping mechanism, which generally includes a frame, a drive device, a circular guide rail, a clamping mechanism and other structures. This mechanism adopts the form of opening the upper cover, and the workpiece needs to be hoisted from above for clamping. The loading method is single, and the safety risk of hoisting the workpiece is relatively high.

Utility Model Content

The purpose of the utility model is to provide a six-axis C-type flip positioner with a sophisticated structure, easy manufacture and maintenance, high clamping and flipping efficiency, high welding rate, and the ability to automatically adjust the overlap of the workpiece core and the flipping center of the clamping and flipping mechanism. In conjunction with the corresponding feeding device, it can be suitable for a variety of different feeding forms such as horizontal, vertical, and hoisting, thereby solving the above-mentioned problems existing in the prior art.

The technical solution of the utility model is:

A six-axis C-type flip positioner includes a positioner head end, a positioner tail end and a track. The positioner head end and the positioner tail end have the same structure, the same configuration, and are symmetrically arranged. They are placed on the track together to form a six-axis C-type flip positioner. The workpiece can be flipped 90° and 180° and the workpiece core can be automatically adjusted to coincide with the flip center of the clamping flip mechanism, so as to perform all-round assembly welding on the workpiece; the positioner tail end includes a main walking frame, a fixed lifting clamping mechanism, a flip lifting clamping mechanism, a flip guide mechanism, a flip drag chain mechanism and a flip driving mechanism; the main walking frame provides a high-precision installation platform for the entire mechanism, and the main walking frame provides a high-precision installation platform for the main walking frame. The frame moves along the track through gear rack transmission; the fixed lifting clamping mechanism is a C-shaped structure as a whole, which can lift the workpiece for loading and unloading and clamp the workpiece; the flipping lifting clamping mechanism is a C-shaped structure as a whole, which drives the workpiece to flip; the flipping guide mechanism realizes radial positioning and axial positioning, and drives the flipping lifting clamping mechanism to flip through gear transmission; the flipping drag chain mechanism assists the drag chain to flip; the flipping drive mechanism drives the flipping lifting clamping mechanism to flip through gear transmission; the fixed lifting clamping mechanism lifts the workpiece core to the rotation center of the flipping lifting clamping mechanism, and cooperates with the flipping lifting clamping mechanism to flip, so as to realize 90° and 180° flipping of the workpiece.

Furthermore, the main traveling frame includes a main vehicle body, a traveling drive unit, a fixed side lifting driving unit, a traveling wheel box and a traveling guide wheel group. The traveling drive unit is installed on the driving side of the main vehicle body, and the driving gear of the traveling drive unit is meshed with the rack on the track to drive the main vehicle body to travel. Four sets of traveling wheel boxes are installed on both sides of the bottom of the main vehicle body, tangent to the top of the track, and support the main vehicle body; the fixed side lifting driving unit is installed on the main vehicle body, and is used to drive the lifting and lowering of the fixed lifting clamping mechanism; the traveling guide wheel group is installed on both ends of the driving side of the main vehicle body to limit the linear movement of the main vehicle body along the track.

Furthermore, the fixed lifting and clamping mechanism comprises two screw lifts symmetrically arranged on the left and right, a connecting rod, a lower support, an upper support, a synchronous toothed belt, a lifting linear guide, a lifting slider, a centering clamping frame, a clamping head, a centering linear guide, a centering slider, a centering screw, a hydraulic motor and a chain; the lower support and the upper support are installed on the main walking machine frame, and the screw lift bases are respectively arranged on the lower support and the upper support, and the two screw lifts are respectively arranged on their respective screw lift bases; the input shafts of the two screw lifts are connected together by a connecting rod, and the centering clamping frame is mounted on the screw On the lifting slide block of the lever lifter, the screw lifter drives the centering clamping frame to move up and down along the lifting linear guide rail; the clamping head of the centering clamping frame centers and clamps the workpiece, and the power mechanism drives the connecting rod to rotate through a synchronous toothed belt to realize the positioning and clamping of the workpiece and make the workpiece core coincide with the flip center; a centering linear guide rail, a centering screw and a hydraulic motor are arranged on the centering clamping frame, a centering slide block is matched and connected with the centering screw, and a clamping head is installed on the centering slide block, and a centering screw is driven to rotate by a hydraulic motor through a chain, thereby driving the clamping head to move left and right along the centering linear guide rail to clamp or release the workpiece.

Furthermore, the flipping and lifting clamping mechanism comprises two left-right symmetrically arranged screw lifts, two connecting rods, an upper hanger, a driving device, two synchronous toothed belts, two lifting linear guides, two lifting slides, two centering clamping frames, two clamping heads, two centering linear guides, two centering slides, two centering screws, two hydraulic motors and two chains; the upper hanger is installed on the flipping disk of the flipping guide mechanism, the upper hanger is hoisted with the flipping and lifting clamping mechanism, the input shafts of the two screw lifts are connected together by connecting rods, the centering clamping frame is mounted on the lifting slide of the screw lift, and the screw The second lifter drives the second centering clamping frame to move up and down along the second lifting linear guide rail; the second clamping head of the second centering clamping frame clamps the workpiece, and the driving device drives the second connecting rod to rotate through the second synchronous toothed belt, so as to realize the positioning and clamping of the workpiece and make the workpiece core coincide with the flipping center; the second centering clamping frame is provided with the second centering linear guide rail, the second centering screw and the second hydraulic motor, the second centering slider is matched and connected with the second centering screw, the second clamping head is installed on the second centering slider, and the second hydraulic motor drives the second centering screw to rotate through the second chain, so as to drive the second clamping head to move left and right along the second centering linear guide rail to clamp or release the workpiece.

Furthermore, the flipping guide mechanism includes radial guide wheels, radial eccentric wheels, flipping annular guide rails, large gear rings, L-shaped hook rings, axial guide wheels, axial eccentric wheels and flipping discs; the flipping disc is installed on the main walking frame; the radial guide wheels and radial eccentric wheels are distributed along the circumference of the flipping disc; the flipping annular guide rails and the large gear rings are respectively installed on the inner ring and outer ring of the flipping disc, the radial guide wheels are positioned on the inner circle of the flipping annular guide rails, and the radial eccentric wheels are positioned on the outer circle of the large gear rings to complete radial positioning; the axial guide wheels are circumferentially distributed on the main walking frame, the inner circle of the flipping annular guide rails is provided with L-shaped hook rings, the axial eccentric wheels are distributed along the circumference of the L-shaped hook rings, the inner side of the L-shaped hook rings are close to the axial guide wheels, and the axial eccentric wheels press the outer side of the inner circle of the flipping annular guide rails to complete axial positioning.

Furthermore, the flipping drag chain mechanism comprises an arc hanger, a lifting drag chain, an outer arc drag chain guide groove, an inner arc drag chain guide groove, a flipping drag chain, an arc guide groove at the fixed end of the flipping drag chain and a cable fixing arc plate; the arc hanger is installed on the flipping disk of the flipping guide mechanism, the inner and outer arc drag chain guide grooves and the outer arc drag chain guide groove are respectively installed on both sides of the arc hanger, the movable end of the flipping drag chain that can be bent forward and backward is installed in the inner arc drag chain guide groove, the movable end of the lifting drag chain is installed in the outer arc drag chain guide groove, the control cable enters the lifting drag chain from the flipping drag chain through the threading hole of the arc hanger, and the fixed end of the lifting drag chain is installed on the second centering clamping frame; the cable fixing arc plate and the arc guide groove at the fixed end of the flipping drag chain are installed on the main walking machine frame, the fixed end of the flipping drag chain is installed on the outer ring of the arc guide groove at the fixed end of the flipping drag chain, and the control cable is introduced into the fixed end of the flipping drag chain through the cable fixing arc plate.

Furthermore, the flipping drive mechanism includes a mounting seat, a motor mounting plate, a servo motor, an RV reducer and a pinion; the RV reducer is installed on the mounting seat, the pinion is installed at the output end of the RV reducer, the servo motor is installed on the motor mounting plate, and the servo motor output shaft is connected to the RV reducer input shaft; after the flipping drive mechanism is assembled, it is installed on the main walking frame, the pinion is engaged with the large ring gear in the flipping guide mechanism, and the servo motor drives the large ring gear to rotate by driving the pinion to achieve 90° or 180° flipping of the workpiece.

The positive effects of the utility model are as follows: compact structure, easy manufacture, convenient maintenance, high clamping and turning efficiency, high welding rate, and the ability to automatically adjust the overlap between the workpiece core and the turning center of the clamping and turning mechanism. In conjunction with corresponding feeding devices, it can be applied to various feeding methods such as horizontal, vertical, and hoisting.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the overall structure of an embodiment of the utility model;

2 is a schematic diagram of the tail end structure of the positioner according to an embodiment of the utility model;

Figure 3 is a schematic diagram of the main walking frame of the utility model embodiment;

FIG4 is a schematic diagram of a fixed lifting and clamping mechanism according to an embodiment of the utility model;

5 is a schematic diagram of a flip lifting clamping mechanism according to an embodiment of the utility model;

FIG6 is a schematic diagram of a flip guide mechanism according to an embodiment of the present utility model;

7 is a schematic diagram of a flip drag chain mechanism according to an embodiment of the utility model;

8 is a three-dimensional schematic diagram of a flip drag chain mechanism according to an embodiment of the utility model;

9 is a schematic diagram of a flip drive mechanism according to an embodiment of the utility model;

Figure 10 is a schematic diagram of the working state of the utility model embodiment;

In the figure: the head end of the positioner 1, the tail end of the positioner 2, the track 3, the main walking frame 4, the fixed lifting clamping mechanism 5, the flip lifting clamping mechanism 6, the flip guide mechanism 7, the flip drag chain mechanism 8, the flip drive mechanism 9, the safety mechanism 10, the main vehicle body 11, the walking drive part 12, the fixed side lifting drive part 13, the walking wheel box 14, the walking guide wheel group 15, the screw lift 16, the workpiece detection switch 17, the lower support 18, the upper support 19, the synchronous toothed belt 120, the lifting linear guide 121, the lifting slider 122, the centering clamping frame 123, the clamping head 124, the centering linear guide 125, the centering slider 126, the centering screw 127, the hydraulic motor 128, the chain 129, the encoder 130, the drag chain 31, the connecting rod 132, the conductive strip 133, the screw lift 234, the connecting rod 235, the upper hanger 36, the driving device 37, synchronous toothed belt 2, 38, lifting linear guide 2, 39, lifting slide 2, 40, centering clamping frame 2, 41, clamping head 2, 42, centering linear guide 2, 43, centering slide 2, 44, centering screw 2, 45, hydraulic motor 2, 46, chain 2, 47, encoder 2, 48, workpiece detection switch 2, 49, conductive strip 2, 50, radial guide roller 51, radial eccentric wheel 52, flip annular guide 53, large gear ring 54, L-shaped hook ring 55, axial guide roller 56, axial eccentric wheel 57, flip plate 58, arc hanger 59, outer arc drag chain guide groove 60, lifting drag chain 61, inner arc drag chain guide groove 62, flip drag chain 63, flip drag chain fixed end arc guide groove 64, cable fixing arc plate 65, flip drag chain elastic support 66, mounting seat 67, motor mounting plate 68, servo motor 69, RV reducer 70, pinion 71, workpiece 72.

DETAILED DESCRIPTION

The present invention will be further described below through embodiments in conjunction with the accompanying drawings.

A six-axis C-type flip positioner comprises a positioner head end 1, a positioner tail end 2 and a track 3. The positioner head end 1 and the positioner tail end 2 have the same structure, the same configuration and are symmetrically arranged. They are placed on the track 3 together to form a six-axis C-type flip positioner, which can flip the workpiece 90° and 180° and can automatically adjust the workpiece core to coincide with the flip center of the clamping flip mechanism, and perform all-round assembly welding on the workpiece; the positioner tail end 2 comprises a main walking frame 4, a fixed lifting clamping mechanism 5, a flip lifting clamping mechanism 6, a flip guide mechanism 7, a flip drag chain mechanism 8 and a flip driving mechanism 9; the main walking frame 4 provides a high-precision installation platform for the entire mechanism, and the main walking frame 4 provides a high-precision installation platform for the main walking frame 4. The walking frame 4 moves along the track 3 through the gear rack transmission; the fixed lifting clamping mechanism 5 is a C-shaped structure as a whole, which can lift the workpiece for loading and unloading and clamp the workpiece; the flipping lifting clamping mechanism 6 is a C-shaped structure as a whole, which drives the workpiece to flip; the flipping guide mechanism 7 realizes radial positioning and axial positioning, and drives the flipping lifting clamping mechanism 6 to flip through gear transmission; the flipping drag chain mechanism 8 assists the flipping of the drag chain; the flipping drive mechanism 9 drives the flipping lifting clamping mechanism 6 to flip through gear transmission; the fixed lifting clamping mechanism 5 lifts the workpiece core to the rotation center of the flipping lifting clamping mechanism 6, and cooperates with the flipping lifting clamping mechanism 6 to flip, so as to realize 90 degree and 180 degree flipping of the workpiece.

The main walking frame 4 includes a main vehicle body 11, a walking drive unit 12, a fixed side lifting drive unit 13, a walking wheel box 14 and a walking guide wheel group 15. The walking drive unit 12 is installed on the driving side of the main vehicle body 11. The driving gear of the walking drive unit 12 is engaged with the rack on the track 3 to drive the main vehicle body 11 to walk. Four sets of walking wheel boxes 14 are installed on both sides of the bottom of the main vehicle body 11, tangent to the top of the track 3, and support the main vehicle body 11; the fixed side lifting drive unit 13 is installed on the main vehicle body 11, and is used to drive the lifting of the fixed lifting clamping mechanism 5; the walking guide wheel group 15 is installed on both ends of the driving side of the main vehicle body 11 to limit the straight line movement of the main vehicle body 11 along the track 3.

The fixed lifting and clamping mechanism 5 comprises two screw lifts 16 arranged symmetrically on the left and right, a connecting rod 32, a lower support 18, an upper support 19, a synchronous toothed belt 20, a lifting linear guide 21, a lifting slider 22, a centering clamping frame 23, a clamping head 24, a centering linear guide 25, a centering slider 26, a centering screw 27, a hydraulic motor 28 and a chain 29; the lower support 18 and the upper support 19 are installed on the main walking frame 4, and the screw lift bases are respectively arranged on the lower support 18 and the upper support 19, and the two screw lifts 16 are respectively arranged on their respective screw lift bases; the input shafts of the two screw lifts 16 are connected together by a connecting rod 32, and the centering clamping frame 23 is mounted on the screw lift On the lifting slide block 22 of the lowering machine 16, the screw lifter 16 drives the centering clamping frame 23 to move up and down along the lifting linear guide rail 21; the clamping head 24 of the centering clamping frame 23 centers and clamps the workpiece, and the power mechanism drives the connecting rod 32 to rotate through the synchronous toothed belt 20 to achieve the positioning and clamping of the workpiece and make the workpiece core coincide with the turning center; the centering clamping frame 23 is provided with a centering linear guide rail 25, a centering screw 27 and a hydraulic motor 28, the centering slide block 26 is matched and connected with the centering screw 27, and the clamping head 24 is installed on the centering slide block 26. The centering screw 27 is driven to rotate by the hydraulic motor 28 through the chain 29, driving the clamping head 24 to move left and right along the centering linear guide rail 25 to clamp or release the workpiece.

An encoder 30 is installed on the output shaft side of the hydraulic motor 28 to control the movement accuracy of the clamping head 24; a conductive strip 33 is installed on the centering clamping frame 23 to support the workpiece and conduct the welding ground wire, and a workpiece detection switch 17 is fixed at both ends of the conductive strip 33 to detect whether there is a workpiece.

The flipping and lifting clamping mechanism 6 comprises two screw lifts 34 arranged symmetrically on the left and right, a connecting rod 35, an upper hanger 36, a driving device 37, a synchronous toothed belt 38, a lifting linear guide 39, a lifting slider 40, a centering clamping frame 41, a clamping head 42, a centering linear guide 43, a centering slider 44, a centering screw 45, a hydraulic motor 46 and a chain 47; the upper hanger 36 is installed on the flipping disk 58 of the flipping guide mechanism 7, the upper hanger 36 hoists the flipping and lifting clamping mechanism 6, and the input shafts of the two screw lifts 34 are connected together by the connecting rod 35, the centering clamping frame 41 is mounted on the lifting slider 40 of the screw lift 34, and the screw The elevator 234 drives the centering clamping frame 241 to move up and down along the lifting linear guide rail 239; the clamping head 242 of the centering clamping frame 241 centers and clamps the workpiece, and the driving device 37 drives the connecting rod 235 to rotate through the synchronous toothed belt 238 to realize the positioning and clamping of the workpiece and make the workpiece core coincide with the turning center; the centering clamping frame 241 is provided with a centering linear guide rail 243, a centering screw 245 and a hydraulic motor 246, the centering slider 244 is matched and connected with the centering screw 245, the clamping head 242 is installed on the centering slider 244, and the hydraulic motor 246 drives the centering screw 245 to rotate through the chain 247, driving the clamping head 242 to move left and right along the centering linear guide rail 243 to clamp or release the workpiece.

An encoder 48 is installed on the output shaft side of the hydraulic motor 46 to control the movement accuracy of the clamping head 42; a conductive strip 50 is installed on the centering clamping frame 41 to support the workpiece and conduct the welding ground wire, and a workpiece detection switch 49 is fixed at both ends of the conductive strip 50 to detect whether there is a workpiece.

The flip guide mechanism 7 includes a radial guide roller 51, a radial eccentric wheel 52, a flip annular guide rail 53, a large gear ring 54, an L-shaped hook ring 55, an axial guide roller 56, an axial eccentric wheel 57 and a flip disk 58; the flip disk 58 is installed on the main walking frame 4; the radial guide roller 51 and the radial eccentric wheel 52 are distributed along the circumference on the flip disk 58; the flip annular guide rail 53 and the large gear ring 54 are respectively installed on the inner ring and the outer ring of the flip disk 58, the radial guide roller 51 is positioned on the inner circle of the flip annular guide rail 53, and the radial eccentric wheel 52 is positioned on the outer circle of the large gear ring 54 to complete radial positioning; the axial guide roller 56 is circumferentially arranged on the main walking frame 4, the inner circle of the flip annular guide rail 53 is provided with an L-shaped hook ring 55, and the axial eccentric wheel 57 is distributed along the circumference of the L-shaped hook ring, the inner side of the L-shaped hook ring is close to the axial guide roller 56, and the axial eccentric wheel 57 presses the outer side of the inner circle of the flip annular guide rail 53 to complete axial positioning.

The turning plate 58 is driven to turn over by gear transmission.

The flip drag chain mechanism 8 comprises an arc hanger 59, a lifting drag chain 61, an outer arc drag chain guide groove 60, an inner arc drag chain guide groove 62, a flip drag chain 63, an arc guide groove 64 at the fixed end of the flip drag chain and a cable fixing arc plate 65; the arc hanger 59 is installed on the flip plate 58 of the flip guide mechanism 7, the inner and outer arc drag chain guide grooves 62 and the outer arc drag chain guide groove 60 are respectively installed on both sides of the arc hanger 59, the moving end of the flip drag chain 63 which can be bent forward and backward is installed in the inner arc drag chain guide groove 62, and the moving end of the lifting drag chain 61 is installed in the inner arc drag chain guide groove 62. It is installed in the outer arc-shaped drag chain guide groove 60, and the control cable enters the lifting drag chain 61 from the flip drag chain 63 through the threading hole of the arc-shaped hanger 59. The fixed end of the lifting drag chain 61 is installed on the centering clamping frame 41 on the flipping side of the outer arc-shaped drag chain guide groove 60; the cable fixing arc plate 65 and the flip drag chain fixed end arc guide groove 64 are installed on the main walking machine frame 4, and the fixed end of the flip drag chain 63 is installed on the outer circle of the flip drag chain fixed end arc guide groove 64, and the control cable is introduced into the fixed end of the flip drag chain 63 through the cable fixing arc plate 65.

An overturning drag chain elastic support 66 is provided between the overturning drag chain 63 and the cable fixing arc plate 65. The overturning drag chain elastic support 66 is used to support the overturning drag chain 63 to prevent it from sinking when the overturning plate is overturned by 90 degrees.

The flipping drive mechanism 9 includes a mounting seat 67, a motor mounting plate 68, a servo motor 69, an RV reducer 70 and a pinion 71; the RV reducer 70 is mounted on the mounting seat 67, the pinion 71 is mounted on the output end of the RV reducer 70, the servo motor 69 is mounted on the motor mounting plate 68, and the output shaft of the servo motor 69 is connected to the input shaft of the RV reducer 70; after the flipping drive mechanism is assembled, it is installed on the main walking frame 4, the pinion 71 is engaged with the large ring gear 54 in the flipping guide mechanism 7, and the servo motor 69 drives the large ring gear 54 to rotate by driving the pinion 71 to realize a 90° or 180° flip of the workpiece.

The utility model is also provided with a safety mechanism 10 to realize the safety monitoring function of the equipment when installing the workpiece. The safety mechanism 10 includes a pressure switch and a photoelectric switch. The pressure switch is installed on the hydraulic pipeline to monitor the clamping state in real time. The photoelectric switch is installed on the inside and outside of the positioner. The inside photoelectric switch detects whether there is an object intrusion when the positioner is flipping, and the outside photoelectric switch detects whether there is an obstacle in the walking direction when the positioner is walking.

The method of using the utility model comprises the following steps:

The forklift truck drives to the side of the positioner, and the telescopic fork lifts the workpiece 72 and goes deep into the C-shaped structure of the positioner. The fork descends and places the workpiece 72 on the conductive strip 1 and the conductive strip 2.

The fixed lifting and clamping mechanism 5 lifts the workpiece 72 to the turning center of the positioner and clamps the workpiece 72 in the center; at this time, the accessories on the welding workpiece 72 can be assembled;

The flip lifting clamping mechanism 6 rises to be flush with the fixed lifting clamping mechanism 5 and clamps the workpiece 72 in the center; the clamping head of the fixed lifting clamping mechanism 5 opens and descends to the zero position to prevent the workpiece 72 from flipping;

The flip lifting clamping mechanism 6 flips 90 degrees and then stops, and the fixed lifting clamping mechanism 5 rises to hold the workpiece 72 and clamp the workpiece 72 in the center;

The clamping head 2 of the flip lifting clamping mechanism 6 is opened and lowered to the zero position, and then rotated back to the zero position; at this time, the accessories on the welding workpiece 72 can be assembled;

Then, the workpiece 72 is turned over 90 degrees according to the above method until the accessory groups on the four sides of the workpiece 72 are welded.

The utility model uses a fixed lifting clamping mechanism in conjunction with a flip lifting clamping mechanism to flip the workpiece 90° or 180°, and can automatically adjust the workpiece core and the flip center of the clamping flip mechanism to coincide. The clamping jaws are simple and practical, occupying little space, providing sufficient operating space for the welding of steel structures, and can perform all-round assembly welding of the workpiece. The fixed lifting clamping mechanism has the function of lifting and supporting the workpiece, and can be used in conjunction with the corresponding feeding device for various different feeding methods such as horizontal, vertical, and hoisting.

In the driving mechanism of the utility model, a large torque output can be achieved by meshing the small gear with the large gear ring in the flip lifting clamping mechanism. At the same time, the flip guide mechanism can ensure the smooth operation of the flip lifting clamping mechanism while the workpiece is rotating, and the structure is compact and easy to control. The flip drag chain mechanism of the utility model effectively solves the problem of the spatial interlacing of the flip power distribution and the lifting power distribution of the flip lifting clamping mechanism, so that they can act independently and complement each other in the same mechanism.

Claims (7)

1. A six-axis C-type flip positioner, characterized in that it comprises a positioner head end (1), a positioner tail end (2) and a track (3), wherein the positioner head end (1) and the positioner tail end (2) have the same structure, the same configuration and are symmetrically arranged, and are placed on the track (3) to form a six-axis C-type flip positioner, which can flip a workpiece 90° and 180° and can automatically adjust the workpiece core to coincide with the flip center of the clamping flip mechanism, and perform all-round assembly welding on the workpiece; the positioner tail end (2) comprises a main walking frame (4), a fixed lifting clamping mechanism (5), a flip lifting clamping mechanism (6), a flip guide mechanism (7), a flip drag chain mechanism (8) and a flip driving mechanism (9); the main walking frame (4) The fixed lifting clamping mechanism (5) is a C-shaped structure as a whole, which can lift the workpiece for loading and unloading and clamp the workpiece; the flip lifting clamping mechanism (6) is a C-shaped structure as a whole, which can drive the workpiece to flip; the flip guide mechanism (7) can realize radial positioning and axial positioning, and can drive the flip lifting clamping mechanism (6) to flip through gear transmission; the flip drag chain mechanism (8) assists the flipping of the drag chain; the flip driving mechanism (9) drives the flip lifting clamping mechanism (6) to flip through gear transmission; the fixed lifting clamping mechanism (5) lifts the workpiece core to the rotation center of the flip lifting clamping mechanism (6), and cooperates with the flip lifting clamping mechanism (6) to flip, so as to realize 90° and 180° flipping of the workpiece. 2. A six-axis C-type flip positioner according to claim 1, characterized in that: the main walking frame (4) comprises a main vehicle body (11), a walking drive unit (12), a fixed side lifting drive unit (13), a walking wheel box (14) and a walking guide wheel group (15), the walking drive unit (12) is installed on the driving side of the main vehicle body (11), the driving gear of the walking drive unit (12) is meshed with the rack on the track (3), driving the main vehicle body (11) to walk, four sets of walking wheel boxes (14) are installed on both sides of the bottom of the main vehicle body (11), tangent to the top of the track (3), and supporting the main vehicle body (11); the fixed side lifting drive unit (13) is installed on the main vehicle body (11) for driving the lifting of the fixed lifting clamping mechanism (5); the walking guide wheel group (15) is installed at both ends of the driving side of the main vehicle body (11) to limit the linear movement of the main vehicle body (11) along the track (3). 3. A six-axis C-type flip positioner according to claim 2, characterized in that: the fixed lifting clamping mechanism (5) comprises two screw lifts (16) arranged symmetrically on the left and right, a connecting rod (32), a lower support (18), an upper support (19), a synchronous toothed belt (20), a lifting linear guide rail (21), a lifting slider (22), a centering clamping frame (23), a clamping head (24), a centering linear guide rail (25), A middle slider (26), a centering screw (27), a hydraulic motor (28) and a chain (29); the lower support (18) and the upper support (19) are mounted on the main walking frame (4); screw lift bases are respectively arranged on the lower support (18) and the upper support (19); the two screw lifts (16) are respectively arranged on their respective screw lift bases; the input shafts of the two screw lifts (16) are connected to a connecting rod (32) The centering clamping frame (23) is mounted on a lifting slide block (22) of a screw lift (16), and the screw lift (16) drives the centering clamping frame (23) to move up and down along a lifting linear guide rail (21); the clamping head (24) of the centering clamping frame (23) center-clamps the workpiece, and the power mechanism drives the connecting rod (32) to rotate through a synchronous toothed belt (20), thereby achieving positioning and clamping of the workpiece and making the workpiece core coincide with the turning center; the centering clamping frame (23) is used for centering and clamping the workpiece, and ... A centering linear guide rail (25), a centering lead screw (27) and a hydraulic motor (28) are arranged on the clamping frame (23); a centering slide block (26) is matched and connected with the centering lead screw (27); a clamping head (24) is mounted on the centering slide block (26); a hydraulic motor (28) drives the centering lead screw (27) to rotate through a chain (29), thereby driving the clamping head (24) to move left and right along the centering linear guide rail (25) to clamp or release a workpiece. 4. A six-axis C-type flip positioner according to claim 3, characterized in that: the flip lifting clamping mechanism (6) comprises two screw lifts (34) arranged symmetrically on the left and right, two connecting rods (35), an upper hanger (36), a driving device (37), two synchronous toothed belts (38), two lifting linear guides (39), two lifting slide blocks (40), two centering clamping frames (41), two clamping heads (42), two centering linear guides (43), two centering slide blocks (44), two centering screws (45), two hydraulic motors (46) and two chains (47); the upper hanger (36) is installed on the flip disk (58) of the flip guide mechanism (7), the upper hanger (36) hoists the flip lifting clamping mechanism (6), and the input shafts of the two screw lifts (34) are connected together through the connecting rod (35), and the centering clamping frame (41) is mounted on the screw lift. On the lifting slide block 2 (40) of the second (34), the screw lift 2 (34) drives the centering clamping frame 2 (41) to move up and down along the lifting linear guide rail 2 (39); the clamping head 2 (42) of the centering clamping frame 2 (41) center-clamps the workpiece, and the driving device (37) drives the connecting rod 2 (35) to rotate through the synchronous toothed belt 2 (38), thereby achieving the positioning and clamping of the workpiece and making the workpiece core overlap with the turning center; the centering clamping frame 2 (41 ) is provided with a centering linear guide rail 2 (43), a centering screw 2 (45) and a hydraulic motor 2 (46); a centering slide block 2 (44) is matched and connected with the centering screw 2 (45); a clamping head 2 (42) is installed on the centering slide block 2 (44); a hydraulic motor 2 (46) drives the centering screw 2 (45) to rotate through a chain 2 (47), thereby driving the clamping head 2 (42) to move left and right along the centering linear guide rail 2 (43) to clamp or release the workpiece. 5. A six-axis C-type flip positioner according to claim 4, characterized in that: the flip guide mechanism (7) comprises a radial guide roller (51), a radial eccentric wheel (52), a flip annular guide rail (53), a large gear ring (54), an L-shaped hook ring (55), an axial guide roller (56), an axial eccentric wheel (57) and a flip plate (58); the flip plate (58) is installed on the main walking frame (4); the radial guide roller (51) and the radial eccentric wheel (52) are on the flip plate (58) The turning annular guide rail (53) and the large gear ring (54) are respectively mounted on the inner ring and the outer ring of the turning plate (58); the radial guide roller (51) is positioned on the inner circle of the turning annular guide rail (53); the radial eccentric wheel (52) is positioned on the outer circle of the large gear ring (54) to complete radial positioning; the axial guide roller (56) is circumferentially arranged on the main walking frame (4); the inner circle of the turning annular guide rail (53) is provided with an L-shaped hook ring (55); the axial eccentric wheel (57) is distributed along the circumference of the L-shaped hook ring (55); the inner side of the L-shaped hook ring (55) is closely attached to the axial guide roller (56); the axial eccentric wheel (57) is pressed against the outer side of the inner circle of the turning annular guide rail (53) to complete axial positioning. 6. A six-axis C-type flip positioner according to claim 4, characterized in that: the flip drag chain mechanism (8) comprises an arc hanger (59), a lifting drag chain (61), an outer arc drag chain guide groove (60), an inner arc drag chain guide groove (62), a flip drag chain (63), an arc guide groove (64) at the fixed end of the flip drag chain and a cable fixing arc plate (65); the arc hanger (59) is installed on the flip plate (58) of the flip guide mechanism (7), the inner and outer arc drag chain guide grooves (62) and the outer arc drag chain guide groove (60) are respectively installed on both sides of the arc hanger (59), and the movable end of the flip drag chain (63) that can be bent forward and backward is installed The movable end of the lifting and lowering drag chain (61) is installed in the inner arc-shaped drag chain guide groove (62) and in the outer arc-shaped drag chain guide groove (60). The control cable enters the lifting and lowering drag chain (61) from the flip drag chain (63) through the threading hole of the arc-shaped hanger (59). The fixed end of the lifting and lowering drag chain (61) is installed on the second centering clamping frame (41). The cable fixing arc plate (65) and the flip drag chain fixed end arc guide groove (64) are installed on the main walking machine frame (4). The fixed end of the flip drag chain (63) is installed on the outer ring of the flip drag chain fixed end arc guide groove (64). The control cable is introduced into the fixed end of the flip drag chain (63) through the cable fixing arc plate (65). 7. A six-axis C-type flip positioner according to claim 4, characterized in that: the flip drive mechanism (9) comprises a mounting seat (67), a motor mounting plate (68), a servo motor (69), an RV reducer (70) and a pinion (71); the RV reducer (70) is mounted on the mounting seat (67), the pinion (71) is mounted on the output end of the RV reducer (70), the servo motor (69) is mounted on the motor mounting plate (68), and the output shaft of the servo motor (69) is connected to the input shaft of the RV reducer (70); the flip drive mechanism (9) is mounted on the main walking frame (4), the pinion (71) is meshed with the large ring gear (54) in the flip guide mechanism (7), and the servo motor (69) drives the large ring gear (54) to rotate by driving the pinion gear (71) to achieve 90° or 180° flipping of the workpiece.