Turnover positioning device and welding positioning mechanism

Abstract

The application discloses a turnover positioning device and a welding positioning mechanism. The turnover positioning device comprises a mounting seat and a turnover assembly. The mounting seat is arranged on a mounting platform and is spaced from a part to be welded on the mounting platform. The turnover assembly comprises a support and a pickup structure. One end of the pickup structure is rotatably arranged on the support along a transversely extending axis, and the other end of the pickup structure is detachably connected with a die through a suction structure. In the production of the same vehicle model, the die does not need to be removed for assembly operation. In the welding of different vehicle models, only different specifications of the die need to be replaced. In the machining process, the degree of automation is high, the labor intensity is reduced, and the production efficiency and positioning precision are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical equipment, in particular to a turnover positioning device and a welding positioning mechanism. BACKGROUND

[0002] The automobile body-in-white welding is originally a labor-intensive operation, but with the increasing labor cost, it is currently developing towards automation, but considering the investment cost of automation, the welding automation is more to adopt the process scheme of manual assembly robot welding operation, there are more floor assembly models in commercial vehicles, but the main structures are basically the same, the main difference lies in the length, the number of small parts and the welding position. The middle floor rear section welding has a large number of small nut plates, which are different for each vehicle model, and the most influencing factor for fixture sharing is,

[0003] The current fixture scheme is to realize the sharing of the main fixture structure by adopting one template structure for each vehicle model for positioning the small nut plate of the middle floor rear section. However, the template needs to be disassembled for each welding of the middle floor assembly, the middle floor assembly welded on the fixture needs to be removed, the next middle floor main part for welding needs to be installed, the small nut plate and the template need to be installed, and the welding operation needs to be continued. The assembly time is long, the manual labor is heavy, and it is not conducive to the switching of vehicle models. SUMMARY

[0004] The main purpose of the present application is to provide a turnover positioning device and a welding positioning mechanism, which aims to realize the sharing of multiple vehicle models and solve the problems of long assembly time and heavy manual labor in the current nut plate welding.

[0005] To achieve the above purpose, the present application provides a turnover positioning device, which comprises:

[0006] A mounting seat is arranged on a mounting platform and is spaced apart from a part to be welded on the mounting platform; and

[0007] A turnover assembly comprises a support fixed to the mounting seat and a pickup structure rotatably mounted to the support along a transversely extending axis at one end, and detachably connected to a template at the other end through a suction structure.

[0008] Optionally, the pickup structure comprises:

[0009] A mounting bracket comprises a support arm extending transversely and two extension arms arranged at both ends of the support arm, and a plurality of electromagnets are arranged on both extension arms along the length direction; and

[0010] A connecting rod is fixedly connected to the support arm at one end and hingedly mounted to the mounting seat at the other end.

[0011] The suction structure comprises the plurality of electromagnets.

[0012] Optionally, a positioning pin is arranged on each of the extension arms, and is located between two adjacent electromagnets, and is used for cooperating with a positioning hole of the die.

[0013] Optionally, the turnover assembly further comprises a resisting structure, and the resisting structure comprises:

[0014] a first mounting arm arranged between the two extension arms and spaced apart from the supporting arm;

[0015] a rotary cylinder arranged on the first mounting arm; and

[0016] a limiting baffle, one end of the limiting baffle is fixedly connected with a driving end of the rotary cylinder, so that the other end can rotate to resist a part of the die or avoid the die.

[0017] Optionally, the turnover assembly further comprises a turnover cylinder, the turnover cylinder is arranged obliquely from top to bottom and away from one side of the mounting base, a cylinder barrel of the turnover cylinder is fixed to the mounting base, and a cylinder rod of the turnover cylinder is hinged to the connecting rod.

[0018] The hinged position of the connecting rod and the mounting base is between the hinged position of the connecting rod and the cylinder rod of the turnover cylinder and the supporting arm.

[0019] Optionally, the turnover positioning device further comprises a limiting structure, the limiting structure comprises two limiting blocks arranged on upper end faces of the connecting rod and the mounting base respectively, and in the rotating stroke of the connecting rod, one of the limiting blocks can abut against the other limiting block.

[0020] Optionally, the mounting base comprises:

[0021] two supporting bases arranged on the mounting platform in a transverse direction and spaced apart;

[0022] a sliding table slidingly mounted on the two supporting bases in a longitudinal direction;

[0023] the turnover assembly is arranged on the sliding table and between the two supporting bases.

[0024] Optionally, each of the supporting bases is provided with a stop block at two ends in the longitudinal direction, so as to limit the active stroke of the sliding table.

[0025] The present application further provides a welding positioning mechanism, comprising:

[0026] a mounting platform for positioning and mounting a part to be welded;

[0027] A plurality of clamps are arranged on the mounting platform in a circumferential direction and are used to position the circumferential side of the parts to be welded.

[0028] A turnover positioning device is arranged on one side of the mounting platform in a longitudinal direction and is spaced from the plurality of clamps.

[0029] A template is detachably mounted on the pickup structure of the turnover positioning device and can be in contact with the upper surface of the parts to be welded under the driving of the pickup structure. Each of the templates comprises a plurality of positioning frames arranged in a circumferential direction and used to position a plurality of nut plates through magnetic attraction.

[0030] Optionally, the template comprises:

[0031] A mounting frame comprises two first beams arranged oppositely and two second beams connected to the two ends of the two first beams.

[0032] At least one positioning beam is arranged between the two first beams and connected to the two first beams. Part of the positioning beam is formed with an adsorbing surface for cooperation with the adsorbing structure of the turnover positioning device.

[0033] In the technical scheme, the mounting seat is spaced from the parts to be welded. Initially, the pickup structure extends in the up-down direction. In the working process, the template is first adsorbed and fixed on the pickup structure through the adsorbing structure, and then the pickup structure is driven to rotate, thereby driving the template to turn over and realize the adhesion with the upper surface of the parts to be welded on the mounting platform. The template is used to mount a plurality of nut plates. At this time, the plurality of nut plates are positioned on the parts to be welded under the action of the turnover assembly. After welding by the welding robot, the pickup structure can be driven in reverse to lift the template from the product, and then the reinstallation of the nut plate and the replacement of the parts to be welded can be performed. In the production of the same vehicle model, the template does not need to be dismounted for mounting operation. In the welding of different vehicle models, only different specifications of templates need to be replaced. In the machining process, the degree of automation is high, the labor intensity is reduced, and the production efficiency and positioning accuracy are improved. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings from the structures shown in the drawings without creative labor.

[0035] Figure 1 A perspective view of an embodiment (one state) of the welding positioning mechanism provided by the present application.

[0036] Figure 2 for Figure 1 perspective view of the welding positioning mechanism (another state)

[0037] Figure 3 for Figure 1 perspective view of the flipping positioning device

[0038] Figure 4 for Figure 1 perspective view of the pickup structure and the matching of the die

[0039] Figure 5 for Figure 2 perspective view of the flipping positioning device

[0040] Figure 6 for Figure 1 perspective view of one embodiment of the die

[0041] Figure 7 for Figure 1 perspective view of another embodiment of the die

[0042] BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Reference Name Reference Name 1000 Welding positioning mechanism 223 Positioning pin 100 Turnover positioning device 23 Electromagnet 1 Mounting seat 241 First mounting arm 11 Supporting seat 242 Rotary cylinder 111 Stop block 243 Limiting baffle 12 Sliding table 25 Turnover cylinder 21 Supporting seat 261 Limiting block 22 Pickup structure 200 Mounting platform 221 Mounting frame 300 Clamp 2211 Supporting arm 400 Template 2212 Extension arm 401 Positioning frame 222 Connecting rod 402 Suction adhesion surface

[0044] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work under the premise that the specific working conditions are changed, belong to the scope of protection of the present application.

[0046] It should be noted that if the directionality indication is involved in the embodiments of the present application, the directionality indication is only used to explain the relative position relationship, movement condition and the like between the components in a certain specific posture, and if the specific posture is changed, the directionality indication is also changed accordingly.

[0047] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, the technical solutions of various embodiments can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor in the protection scope required by the present application.

[0048] The automobile body-in-white welding is originally a labor-intensive operation, but with the increasing labor cost, it is currently developing rapidly towards automation, but considering the investment cost of automation, the welding automation is more to adopt the process scheme of manual assembly robot welding operation, there are more floor assembly models in commercial vehicles, but the main structure is basically the same, the main difference is the length, the number of small parts and the welding position. The middle floor rear section welding has a large number of small nut plates, which are different for each vehicle model, and the most influencing factor for fixture sharing is,

[0049] The current fixture scheme is to realize the sharing of the main fixture structure by using one mold structure for each vehicle model for positioning the small nut plate of the middle floor rear section. But each time a middle floor assembly is welded, the mold needs to be removed, the middle floor assembly welded on the fixture needs to be removed, the next middle floor main part for welding needs to be installed, the small nut plate and the mold need to be installed, and the welding operation needs to be continued. The assembly time is long, the labor intensity is large, and it is not conducive to the switching of vehicle models.

[0050] Therefore, the present application provides a turnover positioning device and a welding positioning mechanism, which aims to realize multi-vehicle model sharing and solve the problems of long nut plate welding assembly time and large labor intensity. Figures 1 to 7 The present application provides an embodiment of a welding positioning mechanism.

[0051] Please refer to Figures 1 to 2The welding positioning mechanism 1000 comprises a mounting platform 200, a plurality of clamps 300, a turnover positioning device 100 and a template 400, the mounting platform 200 is used for positioning and mounting a part to be welded; the plurality of clamps 300 are arranged on the mounting platform 200 in a circumferential direction and are used for positioning the circumferential side of the part to be welded together, the turnover positioning device 100 is arranged on one side of the mounting platform 200 in a longitudinal direction and is spaced from the plurality of clamps 300, and is used for the position corresponding to the position where the nut plate of the part to be welded needs to be welded, the template 400 is detachably mounted on the pickup structure 22 of the turnover positioning device 100 and can be in contact with the upper surface of the part to be welded under the driving of the pickup structure 22, each of the templates 400 comprises a plurality of positioning frames 401 arranged in a circumferential direction, and the plurality of positioning frames 401 are used for positioning and mounting a plurality of nut plates through magnetic attraction.

[0052] Specifically, each of the positioning frames 401 is provided with an electromagnet 23, so that the nut plate mounting operation can be directly performed in an open state without the need to detach the template 400 from the turnover positioning device 100, and the operation is more convenient.

[0053] Please refer to Figures 3 to 5 The turnover positioning device 100 comprises a mounting seat 1 and a turnover assembly, the mounting seat 1 is arranged on the mounting platform 200 and is spaced from the part to be welded on the mounting platform 200, the turnover assembly comprises a support 21 and a pickup structure 22, the support 21 is fixed to the mounting seat 1, and one end of the pickup structure 22 is rotatably mounted to the support 21 along an axis extending in a transverse direction, and the other end is detachably connected to the template 400 through an adsorption structure.

[0054] In the technical scheme, the mounting seat 1 is spaced from the part to be welded, initially, the pickup structure 22 extends in an up-down direction, in the working process, the template 400 is first adsorbed and fixed on the pickup structure 22 through the adsorption structure, then the pickup structure 22 is driven to rotate, thereby driving the template 400 to turn over and realize the lamination with the upper surface of the part to be welded on the mounting platform 200, the template 400 is used for mounting a plurality of nut plates, at this time, the plurality of nut plates are positioned on the product under the action of the turnover assembly, after the welding by the welding robot is completed, the pickup structure 22 can be reversely driven to lift the template 400 from the product, then the reinstallation of the nut plate and the replacement of the part to be welded can be performed, that is, the template 400 does not need to be detached for mounting operation under the production of the same vehicle type, only the template 400 of different specifications needs to be replaced in the welding of different vehicle types, in the machining process, the degree of automation is high, the labor intensity is reduced, and the production efficiency and the positioning precision are improved.

[0055] It can be understood that the sizes of the different specifications of the said backrest 400 are different, and the number of the corresponding setting positioning frame 401 is different. In the embodiment, each of the said backrest 400 is a frame structure. Please refer to Figures 6 to 7 The said backrest 400 includes a mounting frame, at least one positioning beam, the mounting frame includes two oppositely arranged first beams and two second beams connecting the two ends of the two first beams, the positioning beam is arranged between the two first beams and connected to the two first beams, and part of the positioning beam is formed with an adsorbing fitting surface 402 for cooperating with the adsorbing structure of the turnover positioning device 100. The frame structure has good strength and light weight. In the embodiment, two positioning beams are arranged at intervals and located at the middle position of the mounting frame. A circular block structure of magnetic material is welded on each of the positioning beams, and the end face thereof serves as the adsorbing fitting surface 402. The number of the adsorbing fitting surface 402 depends on the setting of the adsorbing structure.

[0056] In order to adapt to the structure of the said backrest 400, please refer to Figures 3 to 4 The said pickup structure 22 includes a mounting bracket 221 and a connecting rod 222. The mounting bracket 221 includes a support arm 2211 extending in the transverse direction and two extension arms 2212 arranged at the two ends of the support arm 2211. A plurality of electromagnets 23 are arranged at intervals along the length direction of each of the two extension arms 2212. One end of the connecting rod 222 is fixedly connected with the support arm 2211, and the other end is hingedly mounted to the mounting seat 1. The adsorbing structure includes the plurality of electromagnets 23. The two extension arms 2212 correspond to the two positioning beams of the said backrest 400 respectively. The setting of the adsorbing fitting surface 402 on each of the positioning beams is consistent with the setting of the electromagnets 23 on each of the extension arms 2212 in terms of number and orientation, which facilitates adsorbing and fixing and has good stability, and can prevent the said backrest 400 from being deflected. In the embodiment, two electromagnets 23 are arranged on each of the extension arms 2212, and two adsorbing fitting surfaces 402 are formed on each of the positioning beams. When the electromagnets 23 are energized, the installation of the backrest 400 can be ensured to be stable. When it is necessary to replace the backrest 400 of the vehicle model, the electromagnets 23 can be cut off to remove the backrest 400 and install the backrest 400 of a new specification.

[0057] It should be noted that in other embodiments, the adsorbing structure can also be a vacuum chuck for adsorbing and fixing the backrest 400, which will not be described in detail here.

[0058] Further, in the embodiment, the mounting bracket 221 is a spliced structure obtained by assembling a plurality of splicing blocks by bolts. The two extension arms 2212 are obtained by splicing the splicing blocks of different shapes in the up-down direction and on different planes. The support arm 2211 is connected with the two extension arms 2212 through two oppositely arranged L-shaped bent plates.

[0059] In order to improve the stability of positioning, in the backrest 400, two adjacent adsorption surfaces 402 are provided with a positioning hole on each positioning beam, and a positioning pin 223 is arranged on each extension arm 2212, which is arranged between two adjacent electromagnets 23 and is used for penetrating and matching with the positioning hole of the backrest 400 to realize installation positioning and rotation stopping through pin hole matching.

[0060] In addition, the turnover assembly further comprises a resisting structure, which comprises a first mounting arm 241, a rotating air cylinder 242 and a limiting baffle 243. The first mounting arm 241 is arranged between the two extension arms 2212 and is arranged in a spaced manner with the support arm 2211. The rotating air cylinder 242 is arranged on the first mounting arm 241. One end of the limiting baffle 243 is fixedly connected with the driving end of the rotating air cylinder 242, so that the other end can rotate to resist part of the backrest 400 or avoid the backrest 400. Please refer to Figure 4 In the initial state, the limiting baffle 243 extends in the transverse direction to adsorb and install the backrest 400. After installation, the rotating air cylinder 242 is driven to rotate the limiting baffle 243 by 90° to abut against one of the first beams of the backrest 400, so as to press-fit the backrest 400 on the mounting frame 221, realize mechanical limiting, keep the backrest 400 closely attached to the electromagnets 23, and enable the electromagnets 23 to provide sufficient adsorption force.

[0061] Further, the application does not limit the specific form of the pickup structure 22 driven to turn over, which can be driven to rotate by a motor gear. In the embodiment, the turnover assembly further comprises a turnover air cylinder 25, which is arranged obliquely from top to bottom away from one side of the mounting base 1. The cylinder barrel of the turnover air cylinder 25 is fixed to the mounting base 1, and the cylinder rod of the turnover air cylinder 25 is hingedly connected with the connecting rod 222. The hinged position of the connecting rod 222 and the mounting base 1 is between the hinged position of the connecting rod 222 and the cylinder rod of the turnover air cylinder 25 and the support arm 2211. In the initial state, please refer to Figure 3 The turnover air cylinder 25 is arranged obliquely, and the cylinder rod is retracted. At this time, the pickup structure 22 is pulled to extend in the up-down direction. In the state change, please refer to Figure 5 The cylinder rod is extended, and the angle of the cylinder barrel of the turnover air cylinder 25 is changed to extend in the up-down direction. Under the hinged cooperation of each part, the pickup structure 22 is rotated by 90°.

[0062] It can be understood that, considering the different shapes of the parts to be welded, the pickup structure 22 can also be rotated by an angle less than 90° when rotated to a specified position, and at this time the jig 400 is in contact with the inclined surface of the part to be welded.

[0063] In order to prevent the mounting frame 221 from shaking in the longitudinal direction relative to the support 21 after the turnover due to the local clearance fit, the turnover positioning device 100 further comprises a limiting structure in this embodiment, which comprises two limiting blocks 261 respectively arranged on the upper end surfaces of the connecting rod 222 and the mounting seat 1, and in the rotating stroke of the connecting rod 222, one of the limiting blocks 261 can drive the other limiting block 261 to abut and fit. Specifically, the two limiting blocks 261 abut and fit through the end surfaces, and at the same time, the rotating stroke of the mounting frame 221 is limited. In order to provide better fitting effect, preferably, the end surfaces of the two limiting blocks 261 abutting against each other are arranged in an arc shape, that is, one of the end surfaces of the two limiting blocks 261 abutting against each other is convex and the other is concave. In other embodiments, the limiting structure can be in the form of a clamping convex and a clamping groove.

[0064] It should be noted that in this embodiment, the two limiting blocks 261 are fixed by bolts and can be replaced after wear.

[0065] Considering that the positions of the parts to be welded of different specifications positioned on the mounting platform 200 will change, in an embodiment, the mounting seat 1 comprises two support seats 11 and a sliding table 12, the two support seats 11 are arranged on the mounting platform 200 in a transverse direction, the sliding table 12 is installed on the two support seats 11 in a longitudinal direction, and the turnover assembly is arranged on the sliding table 12 and between the two support seats 11. In this way, the position of the turnover assembly relative to the mounting platform 200 can be adjusted, so that the position of the sliding table 12 can be adjusted according to different vehicle models, and the versatility is stronger.

[0066] Further, the two ends of each support seat 11 in the longitudinal direction are provided with a stop block 111 for limiting the movement stroke of the sliding table 12. Each stop block 111 is a multi-segment bent plate fixed by bolts, thereby limiting the sliding table 12 in the longitudinal direction.

[0067] The clamp 300 arranged on the mounting platform 200 in the present application can position the part to be welded through the end surface and the hole, and can be a manual clamp, a pneumatic clamp or an electric clamp, which is not limited here.

[0068] In the technical solution of the present application, the electromagnet 23 and the rotary air cylinder 242 clamp the die 400, realize automatic overturning and direct assembly, only need to replace the die 400 interface when switching the vehicle type, and set the sliding table 12 for switching the length of multiple vehicle types, realize sharing of multiple vehicle types, reduce the working hours of manual operation, and improve the efficiency of manual operation. The die 400 for positioning multiple nut plates can be locked on the picking structure 22, realize automatic positioning of multiple small nut plates, the die 400 only need to be replaced when switching the vehicle type, and do not need to be removed under the production of the same vehicle type. The die 400 for positioning multiple nut plates can be driven by the rotary air cylinder to leave the welded middle floor assembly, realize that the middle floor assembly can be carried out by the robot, and the die 400 does not need to be manually removed.

[0069] In addition, in order to facilitate the picking operation of the operator, two pairs of two handles are arranged on the die 400 for the operator to hold.

[0070] The above only describes the preferred embodiments of the present application, and does not limit the patent range of the present application. Any equivalent structural transformation, direct / indirect application in other related technical fields under the inventive concept of the present application, and the contents of the present application are included in the patent protection range of the present application.

Claims

1. A welding positioning mechanism, characterized by, The application relates to a welding device for welding nuts to a workpiece, comprising: an installation platform for positioning and installing a workpiece to be welded; a plurality of clamps arranged on the installation platform in a circumferential direction and used for positioning and installing a circumferential side of the workpiece to be welded; a turnover positioning device arranged on one side of the installation platform in a longitudinal direction and spaced from the plurality of clamps; and a template detachably installed on a pickup structure of the turnover positioning device and capable of being in contact with an upper surface of the workpiece to be welded under the driving of the pickup structure, wherein each template comprises a plurality of positioning frames arranged in a circumferential direction and used for positioning and installing a plurality of nut plates through magnetic attraction. The turnover positioning device is used for selectively driving different templates into contact with the workpiece to be welded, and the turnover positioning device comprises: a mounting seat arranged on the installation platform and spaced from the workpiece to be welded on the installation platform; and a turnover assembly comprising a support fixed to the mounting seat and a pickup structure rotatably installed on the support through an axis extending in a transverse direction, and one end of the pickup structure is connected to the template through an adsorption structure in a detachable mode. The pickup structure comprises a mounting frame comprising a support arm extending in a transverse direction and two extension arms arranged at two ends of the support arm, and a plurality of electromagnets are arranged on the two extension arms in a length direction; and a connecting rod fixedly connected to the support arm at one end and hingedly connected to the mounting seat at the other end; and the adsorption structure comprises the plurality of electromagnets. The turnover assembly further comprises a turnover cylinder arranged on a side away from the mounting seat in a slanting mode from top to bottom, a cylinder barrel of the turnover cylinder is fixed to the mounting seat, and a cylinder rod of the turnover cylinder is hingedly connected to the connecting rod; wherein the hinged position of the connecting rod and the mounting seat is between the hinged position of the connecting rod and the cylinder rod of the turnover cylinder and the support arm.

2. The welding positioning mechanism of claim 1, wherein, A positioning pin is further arranged on each extension arm and located between two adjacent electromagnets, and is used for cooperating with a positioning hole of the template.

3. The welding positioning mechanism of claim 1, wherein, The turnover assembly further comprises a resisting structure comprising: a first mounting arm arranged between the two extension arms and spaced from the support arm; a rotating cylinder arranged on the first mounting arm; and a limiting baffle fixedly connected to a driving end of the rotating cylinder at one end, so that the other end can be rotated to resist a part of the template or avoid the template.

4. The welding positioning mechanism of claim 1, wherein, The turnover positioning device further comprises a limiting structure comprising two limiting blocks arranged on upper end faces of the connecting rod and the mounting seat respectively, and one of the limiting blocks can be driven to abuttingly cooperate with the other limiting block in the rotating stroke of the connecting rod.

5. The welding positioning mechanism of claim 1, wherein, The mounting seat comprises: two support seats arranged on the installation platform in a transverse direction; a sliding table longitudinally slidably installed on the two support seats; and the turnover assembly is arranged on the sliding table and between the two support seats.

6. The welding positioning mechanism of claim 5, wherein, Each support seat is provided with a stop block at two longitudinal ends, and is used for limiting the active stroke of the sliding table.

7. The welding positioning mechanism of claim 1, wherein, The template comprises: The mounting frame comprises two first beams arranged oppositely and two second beams connecting two ends of the two first beams. At least one positioning beam is arranged between the two first beams and connected with the two first beams, and a part of the positioning beam is formed with an adsorbing surface for matching with the adsorbing structure of the turnover positioning device.

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