Turning machine and control method thereof and excavator assembly line

Abstract

The present invention discloses a turning machine and its control method and excavator assembly line. The turning machine includes a clamping device for clamping a part to be turned, a turning device for rotationally driving the clamping device, a lifting device for lifting and driving the clamping device and the turning device, a lifting and locking device for locking the lifting device and sending a lifting and locking in place signal in a locked state, and a turning machine controller. The turning machine controller is configured to obtain the lifting and locking in place signal; in response to the lifting and locking in place signal, send a non-lifting action permission signal. Among them, by specially arranging a lifting and locking device in the turning machine and associating and interlocking with the whole machine control system, when and only when the lifting and locking in place signal is obtained, a non-lifting action permission signal is sent, and other operations such as turning and translation are allowed. In this way, the risk of parts falling can be avoided and the safety and reliability of the equipment can be improved.

Description

Technical Field

[0001] The present invention belongs to the field of engineering machinery, and in particular, relates to a tipping machine and a control method thereof, and an excavator assembly line. Background Art

[0002] In the excavator assembly line, the upper and lower frames of the excavator need to be aligned, which is usually done manually, through roller hoisting combined with visual inspection, to complete the frame flipping. This manual flipping method and process is extremely dangerous and difficult to operate, which can easily cause collisions between personnel and equipment, and human operating errors are also prone to occur. Therefore, fully automatic frame flipping machines have been gradually developed accordingly.

[0003] During the operation of the tilting machine, installation security is fundamental. The current automatic tilting machine usually relies on the braking function of the drive device itself to stop the movement of the equipment, but this has the risk of drive device failure and great safety hazards. It is difficult to ensure that the lifting mechanism has no risk of falling. In addition, the excavator frame is a large-scale component with large mass, which exponentially amplifies the risk of falling and damage. Summary of the invention

[0004] In view of the above-mentioned defects or shortcomings of the prior art, the present invention provides an assembly line for a tipping machine and an excavator, which is simple, practical and has more outstanding safety performance.

[0005] In order to achieve the above object, according to a first aspect of the present invention, there is provided a turning machine, comprising:

[0006] A clamping device, used for clamping the part to be flipped;

[0007] A turning device, used for rotationally driving the clamping device;

[0008] A lifting device, used for lifting and driving the clamping device and the turning device;

[0009] A lifting locking device, used to lock the lifting device and send a lifting locking position signal in a locked state; and

[0010] A flip machine controller, wherein the flip machine controller is configured as follows:

[0011] Acquire the lifting and locking in place signal;

[0012] In response to the lifting and lowering locked in place signal, a non-lifting action permission signal is issued.

[0013] In some embodiments, the turning machine controller is further configured to:

[0014] In response to the non-lifting motion permission signal, control activates the turning device.

[0015] In some embodiments, the lifting device comprises:

[0016] Lifting and fixing part;

[0017] A lifting movable part, the flipping device and the clamping device are installed on the lifting movable part and follow the lifting movement; and

[0018] The lifting drive mechanism is used to drive the lifting movable part to move up and down relative to the lifting fixed part.

[0019] In some embodiments, the lifting device further includes a lifting position sensor for detecting the lifting position of the lifting movable part, and the turning machine controller is further configured as follows:

[0020] Acquiring a lifting position detection signal of the lifting position sensor;

[0021] Determining that the lifting position detection signal is not greater than a safe lifting preset position;

[0022] The lifting and locking device is started and the lifting and locking in place signal is obtained.

[0023] In some embodiments, the lifting position sensor is a wire sensor or a laser ranging sensor arranged between the lifting fixed part and the lifting movable part, or the lifting position sensor is a travel switch arranged at the safe lifting preset position.

[0024] In some embodiments, the lifting drive mechanism includes a lifting drive hydraulic cylinder, the lifting device also includes an oil pressure sensor for detecting the cylinder oil pressure of the lifting drive hydraulic cylinder, and the turning machine controller is further configured as follows:

[0025] Acquiring a cylinder oil pressure detection signal from the oil pressure sensor;

[0026] Determining that the oil cylinder oil pressure detection signal is not greater than the oil cylinder oil pressure safety value;

[0027] The lifting and locking device is started and the lifting and locking in place signal is obtained.

[0028] In some embodiments, the lifting locking device includes a plurality of pin slots distributed along the height direction on the lifting fixed part and a pin shaft locking device installed on the lifting movable part and placed horizontally, and the pin shaft locking device includes:

[0029] A safety pin assembly comprises a pin guide sleeve and a safety pin which can be telescopically mounted in the pin guide sleeve and can be pushed into the pin groove;

[0030] A pin drive assembly, used to drive the safety pin assembly to be ejected or recovered; and

[0031] The locked-in-place sensor is used to detect the lifting and locking position of the safety pin.

[0032] In some embodiments, the pin drive assembly includes a pin drive mechanism for driving the safety pin assembly to be ejected or recovered and a drive mechanism fixing seat for fixing the pin drive mechanism, and the locked-in-place sensor is a wire sensor connected between the pin guide sleeve and the drive mechanism fixing seat;

[0033] Furthermore, the turning machine controller is further configured to, before the step of obtaining the lifting and locking in place signal of the lifting and locking device:

[0034] Obtaining an ejection distance detection signal of the wire pulling sensor;

[0035] Determine that the ejection distance detection signal is not less than the ejection distance setting value.

[0036] In some embodiments, the locking-in-place sensor is a travel switch installed at a set ejection distance position, and the travel switch is configured to send the lifting and locking-in-place signal when the safety pin reaches the set ejection distance position.

[0037] Optionally, the pin drive mechanism is a hydraulic cylinder, a pneumatic cylinder or a linear motor.

[0038] According to a second aspect of the present invention, the present invention further provides an excavator assembly line, the excavator assembly line comprising the above-mentioned tipping machine.

[0039] According to a third aspect of the present invention, the present invention further provides a control method for a turning machine, characterized in that the turning machine comprises a turning device, a lifting device for lifting and driving the turning device, and a lifting locking device; the control method comprises:

[0040] Before starting the flipping device, the lifting and locking device is controlled to lock the lifting device in place.

[0041] In some embodiments, the lifting and locking device includes a safety pin and a wire sensor for detecting the extension length of the safety pin, and the control method further includes:

[0042] Detecting the ejection distance of the safety pin by the wire pull sensor;

[0043] After the ejection distance of the safety pin reaches the ejection distance setting value, it is determined that the lifting locking device has locked the lifting device in place, and the turning machine is correspondingly in a safe static state;

[0044] When the turning machine is in a safe static state, the turning device is controlled to start.

[0045] In some embodiments, the control method further comprises:

[0046] During the operation of the turnover machine, the lifting position of the lifting movable part of the lifting device is detected in real time, and when the lifting position is not greater than the safe lifting preset position, the lifting locking device is controlled to lock the lifting device in place.

[0047] In some embodiments, during the operation of the turnover machine, real-time detection of the lifting position of the lifting movable part of the lifting device and when the lifting position is not greater than a preset safety lifting position, controlling the lifting locking device to lock the lifting device in place comprises:

[0048] A laser distance measuring sensor or a wire sensor is arranged between the lifting fixed part and the lifting movable part, or a travel switch is arranged at the safe lifting preset position to determine whether the lifting position of the lifting movable part is not greater than the safe lifting preset position.

[0049] In some embodiments, the control method further comprises:

[0050] During the lifting process of the lifting device, the cylinder oil pressure of the lifting drive hydraulic cylinder of the lifting device is detected in real time, and when the cylinder oil pressure detection signal is not greater than the cylinder oil pressure safety value, the lifting locking device is controlled to lock the lifting device in place.

[0051] In the turning machine and excavator assembly line according to the present invention, a lifting locking device is specially provided in the turning machine, and the lifting locking device is interlocked with the turning machine controller which serves as the control system of the whole machine. It is set that when and only when the lifting locking device's lifting locking position signal is obtained, a non-lifting action permission signal is issued in response to the lifting locking position signal, and other operations such as turning and translation are allowed, so as to ensure safety and avoid the risk of falling of the lifting device or other components. It is particularly suitable for turning operations of large-mass and large-sized excavator underframes and other components, thereby improving the safety and reliability of the equipment.

[0052] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings are used to provide an understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention.

[0054] In the figure:

[0055] Figure 1 It is a front view of a turning machine according to a specific embodiment of the present invention;

[0056] Figure 2 for Figure 1 A partial side view of the flipping device shown;

[0057] Figure 3 for Figure 1 A top view of the flipping device shown;

[0058] Figure 4 for Figure 2 A schematic diagram of the structure of the lifting drive mechanism in FIG.

[0059] Figure 5 A schematic diagram of a control method for a turning machine according to a specific embodiment of the present invention;

[0060] Figure 6 It is a structural schematic diagram of a lifting and locking device according to a specific embodiment of the present invention;

[0061] Figure 7 for Figure 6 A side view of the lift lock assembly shown; and

[0062] Figure 8 for Figure 6 A partial enlarged view of part A.

[0063] Description of Reference Numerals

[0064] 1 Pin drive mechanism 2 Wire pull sensor

[0065] 3 Driving mechanism fixed seat 4 Pin guide sleeve

[0066] 5 Safety pin 6 Lifting movable part

[0067] 7 Lifting and fixing part 8 Lifting and driving mechanism

[0068] 9 Lift position sensor

[0069] 51 cutting inclined surface 52 radial abutting end surface

[0070] 81 Lifting drive hydraulic cylinder

[0071] 100 Clamping device 200 Flipping device

[0072] 300 Lifting device 400 Lifting locking device

[0073] 500 Horizontal propulsion device 600 Turning machine controller

[0074] 700 Parts to be turned over 800 Foundation

[0075] 301 Pin slot 302 Oil pressure sensor

[0076] 303 lifting frame 304 horizontal axis

[0077] 305 Horizontal axis sprocket 401 Locking position sensor

[0078] 3011 Pin groove bottom plane 3012 Pin groove top slope

[0079] 3013 Pin groove abutment surface DETAILED DESCRIPTION

[0080] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0081] The following describes an assembly line of a tipping machine and an excavator according to the present invention with reference to the accompanying drawings.

[0082] The present invention first discloses a turning machine for turning over a part 700 to be turned over, and is particularly suitable for parts 700 to be turned over that are large in mass and size, such as truss beams, etc. In the following embodiments described in conjunction with the accompanying drawings, the turning machine is applied to an excavator assembly line to turn over an excavator lower frame weighing tens of tons, etc., and the description is expanded by taking this as an example.

[0083] like Figures 1 to 3 As shown, in a specific embodiment, the turning machine includes:

[0084] A clamping device 100, used for clamping a component to be flipped 700;

[0085] The turning device 200 is used to rotationally drive the clamping device 100;

[0086] A lifting device 300, used for lifting and driving the clamping device 100 and the turning device 200;

[0087] A lifting locking device 400, used to lock the lifting device 300 and send a lifting locking position signal in a locked state; and

[0088] The turning machine controller 600 is configured as follows:

[0089] Get the lifting and locking in place signal;

[0090] In response to the lifting and lowering locking in place signal, a non-lifting action permission signal is issued.

[0091] like Figure 1As shown, the turning machine in this embodiment includes two unit parts that are symmetrically arranged on the left and right and have the same structure. Among them, the clamping device 100 may include two left and right clamping arms, and the clamping arms of the left and right units can be close to each other to clamp the part to be turned 700, see Figure 3 In the clamped state, the flipping device 200 can drive the two clamping arms holding the part to be flipped 700 to rotate in the same direction at the same time to drive the lower frame of the excavator to flip. It should be noted that this flipping machine can also be used for flipping various heavy objects, not limited to truss structures. Different clamping devices 100 can be designed accordingly for parts to be flipped 700 of different shapes.

[0092] In this embodiment, since it is located on the excavator assembly line, the turning machine also needs to lift the part 700 to be turned to a set height through the lifting device 300 before performing the turning operation to avoid any mechanical interference with the production line and its peripheral equipment.

[0093] Specifically, the RGV transport vehicle carries the lower frame of the excavator to the flipping station, and rotates 90 degrees to be placed between the two left and right units of the flipping machine; the left and right clamping arms approach each other in opposite directions, and when the clamping arms contact the lower frame of the excavator, the two clamping arms cooperate with each other to apply opposite clamping forces to the lower frame of the excavator, so as to clamp the two sides of the lower frame of the excavator, such as Figure 3 Then, the lifting device 300 can drive the clamping device 100 to clamp the lower frame of the excavator and adjust it to a set height position along the height direction, and then after the lifting locking device 400 locks the lifting device 300, the clamping device 100 is driven to rotate through the flipping device 200, so that the two clamping arms rotate in the same direction, driving the lower frame of the excavator to complete the flipping operation.

[0094] In this embodiment, the turning device 200 can be driven by a servo motor, and the turning action of the lower frame can be realized through the transmission of a reducer. The turning machine can be fully automatic and precisely controlled, which greatly improves the turning efficiency of the lower frame of the excavator and avoids the risks of manual operation errors and lifting collisions. In particular, considering the large size and mass of the lower frame of the excavator, it is safer and more reliable to lock the lifting device 300 through the lifting locking device 400 before performing the turning operation.

[0095] Therefore, the present invention accordingly discloses a control method of a turning machine, including: before starting the turning device 200, controlling the lifting and locking device 400 to lock the lifting device 300 in place. In the present invention, the turning machine includes a primary safety interlock, that is, an interlock is realized between the turning machine controller 600 and the lifting and locking device 400. When the lifting and locking device 400 is locked, the turning machine can perform other non-lifting actions, such as controlling the turning device 200 to perform a turning operation. In other words, when the turning machine performs any non-lifting action, the lifting and locking device 400 must be in a locked state.

[0096] Specifically, combined Figure 6 The control method of the lifting and locking device 400 shown is further defined as: detecting the ejection distance of the safety pin 5 by the wire sensor 2; after the ejection distance of the safety pin 5 reaches the ejection distance setting value, judging that the lifting and locking device 400 locks the lifting device 300 in place, and the turning machine is correspondingly in a safe static state; only when the turning machine is in a safe static state, the turning device 200 is controlled to start. In other words, in the first-level safety interlock, the interlock between the safety pin state of the lifting and locking device 400 and its wire sensor is also included.

[0097] See also Figure 5 In terms of control logic, the lifting locking device 400 sends a lifting locking in place signal in the locked state. After obtaining the lifting locking in place signal, the flip machine controller 600 will respond to the lifting locking in place signal and send a non-lifting action permission signal. After obtaining the non-lifting action permission signal, other functional components of the flip machine can be started. As an example, in response to the non-lifting action permission signal, the flip device 200 is controlled to start. Figure 5 As shown. In this way, when the lower frame of the excavator with a large mass is turned over, the stability of the clamping device 100 and the turning device 200 on the lifting device 300 can be ensured to avoid safety accidents such as frame collision and loosening. Moreover, through the position locking of the lifting locking device 400, the lower frame of the excavator after turning over can also perform subsequent centering operations more accurately.

[0098] In addition, the turning machine of this embodiment further includes a horizontal propulsion device 500 for driving the lifting device 300 to move horizontally. Figure 1As shown, the horizontal propulsion device 500 includes a first horizontal guide rail and a second horizontal guide rail arranged at intervals on the left and right sides of the foundation 800 and a translation drive mechanism, and the lifting device 300 is respectively installed on the first horizontal guide rail and the second horizontal guide rail arranged at intervals horizontally; the translation drive mechanism is used to drive the lifting and fixing part 7 to move horizontally on the corresponding horizontal guide rail. In this way, the left and right unit parts of the turnover machine can move along the first horizontal guide rail and the second horizontal guide rail respectively to adjust the spacing between the two clamping arms. Therefore, similarly, when and only when the clamping device 100 and the turnover device 200 are securely locked on the lifting device 300 by the lifting locking device 400, in response to the non-lifting action permission signal, the horizontal propulsion device 500 can be controlled to adjust the horizontal position to avoid the clamping device 100, the turnover device 200, etc. from falling.

[0099] It should be noted that, as an example, the left and right units of the flipping machine in this embodiment are identical in structure and composition, but it is not limited thereto. The flipping machine according to the present invention is not limited to the left and right units arranged symmetrically. In the case where the size and mass of the part to be flipped 700 are both small, the flipping machine may also have only Figure 1 One side unit part. And, Figure 1 The left and right parts of the clamping device 100, the flipping device 200, the lifting device 300 or the lifting locking device 400 may be the same or different. Only one unit part may have driving power, and the other unit part may not be equipped with a power source. The lifting locking device 400 may also only lock one side of the unit, etc.

[0100] In this embodiment, as an example, the lifting device 300 may include:

[0101] Lifting and fixing part 7;

[0102] The lifting movable part 6, the flipping device 200 and the clamping device 100 are installed on the lifting movable part 6 and move along with the lifting;

[0103] The lifting drive mechanism 8 is used to drive the lifting movable part 6 to move up and down relative to the lifting fixed part 7;

[0104] The lifting position sensor 9 is used to detect the lifting position of the lifting movable part 6 .

[0105] On this basis, the turning machine controller 600 is further configured as follows:

[0106] Acquire the lifting position detection signal of the lifting position sensor 9;

[0107] Determine that the lifting position detection signal is not greater than the safe lifting preset position;

[0108] The lifting and locking device 400 is started and a lifting and locking in place signal is obtained.

[0109] Among them, the lifting position sensor 9 can be a wire sensor 2 or a laser distance sensor arranged between the lifting fixed part 7 and the lifting movable part 6, or the lifting position sensor 9 can be a travel switch arranged at a preset position for safe lifting, etc. In this way, the lifting locking device 400 can be interlocked with the height position of the lifting movable part 6 to monitor the height position of the lifting movable part 6. When the lifting position sensor 9 monitors that the height position of the lifting movable part 6 is lower than the safety value (i.e., lower than the preset position for safe lifting), the whole machine control system (i.e., the turning machine controller 600) will automatically drive the lifting locking device 400 to lock safely to prevent the lifting device 300 from continuing to descend, thereby playing a protective role.

[0110] Accordingly, the control method according to the present invention may also include: during the operation of the turnover machine, real-time detection of the lifting position of the lifting movable part 6 of the lifting device 300 and when the lifting position is not greater than the safety lifting preset position, control the lifting locking device 400 to lock the lifting device 300 in place.

[0111] It can be seen that the turning machine of the present invention includes a secondary safety interlock, that is, the height position of the lifting movable part of the lifting device 300 is interlocked with the action of the safety pin. This is because, during the above-mentioned primary safety interlock, once an electro-hydraulic failure or invalid transmission of the control signal occurs, the system misjudges that the lifting locking device 400 has locked the lifting device 300 in place, and the clamping device 100 and the turning device 200 may slide down under the action of gravity and eventually fall to the ground, causing a serious safety accident. Therefore, the above-mentioned secondary safety interlock is needed as a redundant backup control to ensure system safety and improve equipment reliability.

[0112] Specifically, a laser distance measuring sensor or a wire sensor may be provided between the lifting fixed part 7 and the lifting movable part 6, or a travel switch may be provided at the safe lifting preset position to determine whether the lifting position of the lifting movable part 6 is not greater than the safe lifting preset position.

[0113] At the operational level, when performing a lifting action, it is necessary to monitor the height position of the lifting movable part 6 in real time to prevent large-sized components or the flip device 200 itself from mechanically interfering with the ground or other components, causing collision losses or even personal injury. Therefore, a safe lifting preset position needs to be specially set. In terms of control, see Figure 5 The turning machine controller 600 can obtain the lifting position detection signal emitted by the lifting position sensor 9 in real time; when it is determined that the lifting position detection signal is not greater than the safe lifting preset position, the lifting locking device 400 is started until the lifting locking in place signal is obtained to confirm that the locking is in place.

[0114] See also Figure 4In this embodiment, the lifting drive mechanism 8 uses a lifting drive hydraulic cylinder 81 to lift the lower frame of the excavator upward with the large thrust of the hydraulic cylinder. On this basis, the lifting device 300 may also include an oil pressure sensor 302 for detecting the oil pressure of the oil cylinder of the lifting drive hydraulic cylinder 81, and the turning machine controller 600 is further configured as follows:

[0115] Obtaining a cylinder oil pressure detection signal from the oil pressure sensor 302;

[0116] Make sure that the cylinder oil pressure detection signal is not greater than the cylinder oil pressure safety value;

[0117] The lifting and locking device 400 is started and a lifting and locking in place signal is obtained.

[0118] Correspondingly, the control method may also include: during the lifting process of the lifting device 300, real-time detection of the cylinder oil pressure of the lifting drive hydraulic cylinder 81 of the lifting device 300, and when the cylinder oil pressure detection signal is not greater than the cylinder oil pressure safety value, controlling the lifting locking device 400 to lock the lifting device 300 in place.

[0119] In other words, the turning machine of the present invention includes a three-level safety interlock, that is, the oil pressure state of the hydraulic cylinder is interlocked with the action of the safety pin. The control system monitors the oil pressure state in the driving hydraulic cylinder of the lifting device in real time. When the oil pressure is lower than the safety value, the control system automatically drives the safety pin to be ejected to protect the turning machine. Expandably, not limited to the lifting driving hydraulic cylinder 81, in the lifting working state, interlock control can be performed for any possible fault to ensure the safety of the equipment and operation.

[0120] In this way, during operation, the lifting locking device 400 can be interlocked with the oil pressure of the lifting driving hydraulic cylinder 81. The control system of the turnover machine can monitor the oil pressure state in the lifting driving hydraulic cylinder 81 of the lifting device 300. When it is determined that the oil pressure of the hydraulic cylinder is lower than the safety value, the control system immediately controls the lifting locking device 400 to start the safety locking protection. Figure 5 As shown, the turning machine controller 600 monitors the oil pressure status in the lifting drive hydraulic cylinder 81 of the lifting device 300 in real time, that is, obtains the cylinder oil pressure detection signal in real time. When the oil pressure is lower than the preset cylinder oil pressure safety value, the turning machine controller 600 will automatically control the start of the lifting locking device 400 until the lifting locking in place signal is obtained, confirming that it is locked in place to protect the turning machine from falling.

[0121] It can be seen that in the turning machine of the present invention, the lifting locking device 400 forms a three-level safety interlock with the non-lifting action, the height position of the lifting movable part 6, and the oil pressure state in the lifting drive hydraulic cylinder 81 respectively. The three-level safety interlock can exist independently or in combination to avoid the risk of falling of the lifting components.

[0122] Among them, in terms of control logic, there is a first-level safety interlock between the lifting locking device 400 and the non-lifting action, and the locking relationship between the lifting locking device 400 and the height position of the lifting movable part 6, and between the lifting locking device 400 and the oil pressure state in the lifting drive hydraulic cylinder 81 is a second-level safety interlock based on the first-level safety interlock, and the two second-level independent interlocks are independent of each other and have no connection.

[0123] In the specific structure of the lifting device 300, as shown in FIG. Figure 1 , Figure 2 As shown, the lifting fixed part 7 is in the shape of a column and is provided with lateral lifting rails on both sides. The lifting movable part 6 includes a lifting frame 303 for installing the turning device 200 and the clamping device 100. As an example, Figure 2 The lifting frame 303 shown is a vertical flat plate, and the flip device 200 and the clamping device 100 are mounted on the lifting frame 303 to follow the lifting movement. The lifting frame 303 is lifted and lowered on the lifting fixing part 7 in an embracing sliding manner, that is, the two sides of the lifting frame 303 can extend sliders to slide into the lateral lifting rails on the two sides of the lifting fixing part 7, so that the lifting frame 303 can be lifted and lowered more stably and reliably along the column-shaped lifting fixing part 7.

[0124] like Figure 4 As shown, as a structural example of the lifting drive mechanism 8, the upwardly extending piston rod of the lifting drive hydraulic cylinder 81 is connected to a horizontal transverse axis 304, and transverse axis sprockets 305 are respectively provided at both ends of the horizontal transverse axis 304. A lifting chain (not shown in the figure) can be wound around the transverse axis sprocket 305, and one end of the lifting chain is fixed, and the other end is connected to the lifting frame 303. In this way, when the lifting drive hydraulic cylinder 81 is lifted upward, the transverse axis sprocket 305 engages and moves along the lifting chain. Since one end of the lifting chain is fixed (for example, it can be fixed to the lifting fixing part 7 or other components), the other end is connected to the lifting frame 303 as a connecting end, so that the connecting end of the lifting chain can drive the lifting frame 303 to rise or fall. Figure 4 The lifting drive mechanism 8 shown can distribute the single-point thrust of the hydraulic cylinder more evenly in the horizontal width direction of the lifting frame 303. Combined with the embracing sliding lifting of the lifting frame 303 on the lifting fixing part 7, the lifting movement of the lifting frame 303 is more stable and smooth, and is more suitable for the lifting movement of large-size and large-mass components.

[0125] It is understood by those skilled in the art that the lifting locking device 400 is used to lock the lifting device 300, and can be, for example, a braking component for the lifting drive hydraulic cylinder 81, or a braking component for the lifting movable part 6. The lifting locking device 400 can have a variety of structural forms in its own structure and installation structure, which are not listed here one by one.

[0126] exist Figures 6 to 8In one structural form shown, the lifting locking device 400 adopts a mechanical locking method, including a plurality of pin slots 301 distributed along the height direction on the lifting fixed part 7 and a pin shaft locking device arranged horizontally and installed on the lifting movable part 6 to follow the lifting. The pin shaft locking device includes:

[0127] The safety pin assembly comprises a pin guide sleeve 4 and a safety pin 5 which can be telescopically installed in the pin guide sleeve 4 and can be pushed into the pin groove 301;

[0128] A pin drive assembly, used to drive the safety pin assembly to eject or retract; and

[0129] The locked position sensor 401 is used to detect the lifting and locking position of the safety pin 5.

[0130] Specifically, the pin shaft locking device can be driven by a pin shaft driving mechanism 1 such as a hydraulic cylinder, a pneumatic cylinder or a linear motor to push out or retract the safety pin 5. When the safety pin 5 is pushed out, it can be inserted into the pin groove 301 on the lifting and fixing part 7 to support the lifting device 300.

[0131] Among them, the pin guide sleeve 4 can be used as a mounting seat for the safety pin 5, which can be extended and retracted synchronously with the safety pin 5, and can play a role in protecting the outer shell, limiting the radial position, and guiding the telescopic movement. The locked-in-place sensor 401 can be, for example, one or more travel switches, or a laser distance sensor, etc. As an example, a travel switch can be used to monitor the ejection and recovery status of the safety pin 5 as needed. That is, the locked-in-place sensor 401 can be a travel switch installed at a set ejection distance position, and the travel switch is configured to send a lifting and locking-in-place signal when the safety pin 5 reaches the set ejection distance position.

[0132] However, in this embodiment, a wire pull sensor 2 is particularly used. On this basis, the pin drive assembly includes a pin drive mechanism 1 for driving the safety pin 5 assembly to be ejected or recovered and a drive mechanism fixing seat 3 for fixing the pin drive mechanism 1, so that the wire pull sensor 2 can be connected between the pin guide sleeve 4 and the drive mechanism fixing seat 3. In this way, on the basis of setting the pin guide sleeve 4 and the drive mechanism fixing seat 3, the wire pull sensor 2 can be used to monitor the ejection distance of the safety pin 5 at all times to monitor whether the safety pin 5 is ejected or recovered in place.

[0133] On the basis of adopting the above-mentioned pin locking device, in the first-level safety interlock between the above-mentioned lifting locking device 400 and the non-lifting action, the turning machine controller 600 can be further configured to first obtain the ejection distance detection signal of the wire sensor 2 before obtaining the lifting and locking in place signal of the lifting and locking device 400, and then send the lifting and locking in place signal when it is determined that the ejection distance detection signal is not less than the ejection distance setting value.

[0134] In order to achieve smooth and reliable locking of the lock pin, the lock pin and the pin hole are also optimized in a targeted manner in this embodiment. Figure 6 , Figure 8 As shown, the end of the safety pin 5 is formed with a cutting inclined surface 51 for guiding contact, and the end end surface of the safety pin 5 includes the cutting inclined surface 51 and a radial abutting end surface 52 perpendicular to the central axis direction of the safety pin 5.

[0135] Correspondingly, the pin slot 301 is recessed in the horizontal direction on the lifting and fixing part 7 to form a stepped support step, so that the safety pin 5 can be safely locked at any height, thereby ensuring the safety protection of the turning machine at any height. At the same time, a guide design is adopted to ensure that the safety pin 5 can be fully inserted into the pin slot 301.

[0136] Specifically, the pin slot 301 may include:

[0137] The bottom plane of the pin groove 3011 is a horizontal plane;

[0138] The pin groove top inclined surface 3012 is formed as a guide contact inclined surface matching the cutting inclined surface 51; and

[0139] The pin groove abutting surface 3013 is matched with the radial abutting end surface 52 . The pin groove abutting surface 3013 is a vertical plane and is connected between the pin groove bottom plane 3011 and the pin groove top inclined surface 3012 .

[0140] See also Figure 8 In the process of ejecting the safety pin 5, if the safety pin 5 is not aligned horizontally with the pin groove 301 but slightly misaligned vertically, when the end of the safety pin 5 enters the pin groove 301, the top of the radial abutting end face 52 (i.e., the boundary between the cutting inclined surface 51 and the radial abutting end face 52) may first abut against the top inclined surface 3012 of the pin groove; the safety pin 5 continues to be ejected ( Figure 8 When the safety pin 5 continues to extend to the left, the lifting locking device 400 on the lifting movable part 6 is pushed downward, and the top end of the radial abutting end face 52 slides downward along the top inclined surface 3012 of the pin groove until the radial abutting end face 52 and the pin groove abutting surface 3013 are completely abutted and fitted.

[0141] Alternatively, the safety pin 5 is not horizontally aligned with the pin groove 301, but slightly offset vertically. When the end of the safety pin 5 enters the pin groove 301, due to the difference in the inclination angles of the cutting inclined surface 51 and the pin groove top inclined surface 3012, the top of the pin groove top inclined surface 3012 may first abut against the cutting inclined surface 51, and then when the safety pin 5 continues to be ejected, it also pushes the lifting and locking device 400 on the lifting movable part 6 to move downward until the radial abutting end face 52 is completely abutted and fit with the pin groove abutting surface 3013.

[0142] In addition, in this embodiment, the height spacing between any two adjacent pin slots 301 on the lifting and fixing part 7 is set to 60 mm, and this spacing can be adjusted accordingly according to actual use conditions. In addition, the lifting and locking device 400 in this embodiment is installed on the lifting and moving part 6 to follow the lifting, and the pin slot 301 is set on the lifting and fixing part 7, but it is not limited to this, and the positions can also be interchanged.

[0143] In addition, the present invention also correspondingly discloses an excavator assembly line having the above-mentioned tipping machine.

[0144] As an example, in an excavator assembly line, the specific operation process may be:

[0145] The lifting drive hydraulic cylinder 81 in the lifting device 300 drives the lifting frame 303 to descend to the workpiece position, and the turning machine controller 600 controls the lifting locking device 400 to lift and lock. Then, the horizontal propulsion device 500 pushes the lifting device 300 to move along the horizontal slide rail, driving the two clamping arms on the left and right sides to approach each other and fit with the workpiece to complete the workpiece positioning, and the two clamping arms clamp the two sides of the excavator lower frame and complete the frame clamping. The turning machine controller 600 controls the lifting locking device 400 to release the lifting lock, and at the same time, the lifting drive hydraulic cylinder 81 drives the lifting frame 303 to rise, and stops rising when it reaches the lower frame flipping position, and controls the lifting locking device 400 through the turning machine controller 600 to complete the lifting lock. Then, after obtaining the non-lifting action permission signal, the turning machine controller 600 controls the turning device 200 to start, drives the clamping device 100 to rotate, so that the excavator lower frame rotates 180°. After the flipping is completed, the lifting locking device 400 is controlled to release the lifting lock, and the lifting drive hydraulic cylinder 81 drives the lifting frame 303 to descend until the lower frame of the excavator lands on the RGV transport vehicle.

[0146] Then, the clamping arm of the clamping device 100 can release the lower frame of the excavator, and the horizontal propulsion device 500 retreats. At the same time, the lifting drive hydraulic cylinder 81 of the lifting device 300 can drive the lifting frame 303 to rise to the waiting position; the RGV transport vehicle rotates 90°, and after the work of the next workstation is completed, it carries the workpiece to enter the next workstation, completing a cycle, and the turning machine enters the waiting state.

[0147] In summary, it can be seen that the turning machine of the present invention can effectively protect the lifting device and almost avoid the risk of the lifting device falling. The safety pin uses a wire sensor to monitor the ejection distance of the safety pin, and can provide real-time feedback on the position of the safety pin to facilitate the monitoring and control of the safety pin. The safety pin can be interlocked with the whole machine control system. When and only when the safety pin reaches the lifting and locking position, the turning machine can perform other non-lifting actions, such as turning actions, for safety reasons. In addition, the position of the safety pin and the lifting device is interlocked, and a wire sensor can be installed between the lifting motion part and the lifting fixed part to monitor the distance between the two. When the height difference between the two is less than the safety distance, the whole machine control system can immediately control the safety pin to automatically eject for safety protection. The lifting device of the turning machine can be driven by a hydraulic cylinder, and the safety pin is interlocked with the oil pressure state of the hydraulic cylinder of the lifting device. Once the oil pressure of the hydraulic cylinder is lower than the safety value, the safety pin will automatically eject to protect the turning machine.

[0148] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0149] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0150] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0151] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A turning machine, characterized in that: The turning machine comprises: A clamping device (100) for clamping a component to be flipped (700); A turning device (200) for rotationally driving the clamping device (100); A lifting device (300) is used to lift and drive the clamping device (100) and the flipping device (200), the lifting device (300) comprising a lifting fixed part (7), a lifting movable part (6) and a lifting driving mechanism (8), the flipping device (200) and the clamping device (100) are installed on the lifting movable part (6) and follow the lifting movement, and the lifting driving mechanism (8) is used to drive the lifting movable part (6) to move relative to the lifting fixed part (7); A lifting locking device (400) is used to lock the lifting device (300) and send a lifting locking position signal in a locked state; and A turning machine controller (600), wherein the turning machine controller (600) is configured as follows: Acquire the lifting and locking in place signal; In response to the lifting and locking in place signal, a non-lifting action permission signal is issued; The lifting device (300) further comprises a lifting position sensor (9) for detecting the lifting position of the lifting movable part (6), and the turning machine controller (600) is further configured as follows: Acquiring a lifting position detection signal from the lifting position sensor (9); Determining that the lifting position detection signal is not greater than a safe lifting preset position; Starting the lifting and locking device (400) and obtaining the lifting and locking in place signal; The lifting drive mechanism (8) comprises a lifting drive hydraulic cylinder (81), the lifting device (300) further comprises an oil pressure sensor (302) for detecting the oil pressure of the oil cylinder of the lifting drive hydraulic cylinder (81), and the turning machine controller (600) is further configured as follows: During the lifting process of the lifting device (300), obtaining a cylinder oil pressure detection signal of the oil pressure sensor (302); Determining that the oil cylinder oil pressure detection signal is not greater than the oil cylinder oil pressure safety value; The lifting and locking device (400) is started and the lifting and locking in place signal is obtained.

2. The turning machine according to claim 1, characterized in that: The turning machine controller (600) is further configured as follows: In response to the non-lifting action permission signal, the control starts the turning device (200).

3. The turning machine according to claim 1, characterized in that: The lifting position sensor (9) is a wire sensor (2) or a laser distance sensor arranged between the lifting fixed part (7) and the lifting movable part (6); or the lifting position sensor (9) is a travel switch arranged at the preset safe lifting position.

4. The turning machine according to any one of claims 1 to 3, characterized in that: The lifting locking device (400) comprises a plurality of pin grooves (301) distributed along the height direction on the lifting fixed part (7) and a pin shaft locking device installed on the lifting movable part (6) and arranged horizontally, and the pin shaft locking device comprises: A safety pin assembly comprises a pin guide sleeve (4) and a safety pin (5) which can be telescopically mounted in the pin guide sleeve (4) and can be pushed into the pin groove (301); A pin drive assembly, used to drive the safety pin assembly to be ejected or recovered; and The locked position sensor (401) is used to detect the lifting and locking position of the safety pin (5).

5. The turning machine according to claim 4, characterized in that: The pin drive assembly comprises a pin drive mechanism (1) for driving the safety pin assembly to be ejected or recovered and a drive mechanism fixing seat (3) for fixing and installing the pin drive mechanism (1); the locked-in-place sensor (401) is a wire sensor (2) connected between the pin guide sleeve (4) and the drive mechanism fixing seat (3); Furthermore, the turning machine controller (600) is further configured to, before the step of obtaining the lifting and locking in place signal of the lifting and locking device (400): Obtaining an ejection distance detection signal of the wire pulling sensor (2); Determine that the ejection distance detection signal is not less than the ejection distance setting value.

6. The turning machine according to claim 4, characterized in that: The locking in place sensor (401) is a travel switch installed at a set ejection distance position, and the travel switch is configured to send the lifting and locking in place signal when the safety pin (5) reaches the set ejection distance position.

7. The turning machine according to any one of claims 1 to 3, characterized in that: The turning machine further comprises a horizontal propulsion device (500) for driving the lifting device (300) to move horizontally, and the horizontal propulsion device (500) comprises: A first horizontal guide rail and a second horizontal guide rail, the first horizontal guide rail and the second horizontal guide rail being arranged horizontally and spaced apart from each other and the lifting device (300) being respectively installed on the first horizontal guide rail and the second horizontal guide rail; and The translation driving mechanism is used to drive the lifting and fixing part (7) to move horizontally on the corresponding horizontal guide rail.

8. An excavator assembly line, characterized in that: The excavator assembly line includes a tipping machine according to any one of claims 1 to 7.

9. A control method for a turning machine, characterized in that: The turning machine comprises a turning device (200), a lifting device (300) for lifting and driving the turning device (200), and a lifting and locking device (400); the control method comprises: Before starting the flipping device (200), controlling the lifting and locking device (400) to lock the lifting device (300) in place; The control method further comprises: During the operation of the turnover machine, the lifting position of the lifting movable part (6) of the lifting device (300) is detected in real time, and when the lifting position is not greater than a preset safety lifting position, the lifting locking device (400) is controlled to lock the lifting device (300) in place.

10. The control method of the turning machine according to claim 9, characterized in that: The lifting and locking device (400) comprises a safety pin (5) and a wire sensor (2) for detecting the extension length of the safety pin (5), and the control method further comprises: Detecting the ejection distance of the safety pin (5) by means of the wire pulling sensor (2); After the ejection distance of the safety pin (5) reaches the ejection distance setting value, it is determined that the lifting and lowering locking device (400) has locked the lifting and lowering device (300) in place, and the turning machine is correspondingly in a safe static state; When the turning machine is in a safe static state, the turning device (200) is controlled to start.

11. The control method of the turning machine according to claim 9, characterized in that: The lifting device (300) comprises a lifting fixed part (7), a lifting movable part (6) and a lifting drive mechanism (8). During the operation of the turnover machine, the lifting position of the lifting movable part (6) of the lifting device (300) is detected in real time and when the lifting position is not greater than a safe lifting preset position, the lifting locking device (400) is controlled to lock the lifting device (300) in place, comprising: A laser distance measuring sensor or a wire sensor is arranged between the lifting fixed part (7) and the lifting movable part (6), or a travel switch is arranged at the safe lifting preset position, so as to judge whether the lifting position of the lifting movable part (6) is not greater than the safe lifting preset position.

12. The control method of the turning machine according to claim 9 or 10, characterized in that: The control method further comprises: During the lifting process of the lifting device (300), the oil pressure of the lifting drive hydraulic cylinder (81) of the lifting device (300) is detected in real time, and when the oil pressure detection signal of the oil pressure of the oil cylinder is not greater than the safety value of the oil pressure of the oil cylinder, the lifting locking device (400) is controlled to lock the lifting device (300) in place.

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