A profile turnover device, method, chip and readable storage medium

Abstract

The profile turnover device comprises a feeding and discharging frame 2, a frame body 1, an X-axis moving track 3 and a controller 4. The feeding and discharging frame 2 is arranged at the side of the X-axis moving track 3 along the direction perpendicular to the X-axis moving track 3, i.e. the Y-axis direction. The X-axis moving track 3 is fixed on a horizontal plane. Two frame bodies 1 can move along the X-axis direction on the X-axis moving track 3 without interference with the feeding and discharging frame 2. The controller 4 is used for controlling the motion state and position state of the device. The technical scheme of the present application has the advantages of simple structure, ability to bear large and heavy large and long profiles, more accurate positioning, better clamping effect, elimination of various safety hazards in the profile turnover process, easy turnover, no difficulty in turnover due to accessories, greatly reduced degree of manual intervention, no manual intervention, turnover to any surface, and better realization of the automation of profile turnover.

Description

Technical Field

[0001] This invention relates to the field of profile processing equipment technology, and in particular to an automatic profile flipping device. Background Technology

[0002] In industrial production, it is often necessary to weld profiles (such as I-beams, square tubes, and channel steel). During the welding process, the profiles need to be flipped over.

[0003] In traditional processes, the turning is done manually. Not only is turning difficult, but the weld is also prone to breaking during the turning process because it is not fully cooled. If you wait for the weld to cool completely before proceeding, it will greatly affect the efficiency of the work.

[0004] To address the problems arising from manual flipping, specialized flipping devices have been designed to automate the flipping of profiles. However, the various flipping devices currently available each have the following drawbacks:

[0005] 1) The design structure is relatively complex, the manufacturing cost is high, the mechanical maintenance is difficult, and the overall maintenance cost is high.

[0006] 2) When centering and clamping, there is a large friction between the workpiece and the workpiece placement edge of the mechanism. When flipping, it can only be flipped ±90°, which is quite limiting.

[0007] 3) Not suitable for welding large, heavy, long profiles.

[0008] 4) Poor clamping effect poses a safety hazard when the profile is flipped.

[0009] To solve the above problems, a new profile flipping device is urgently needed to better automate the profile flipping process. Summary of the Invention

[0010] The technical problem solved by this invention is to provide a new profile flipping device with a simple structure, capable of bearing large and heavy long profiles, more accurate and convenient positioning, better clamping effect, eliminating a number of safety hazards in the profile flipping process, and better realizing the automation of profile flipping.

[0011] In a first aspect, embodiments of the present invention provide a profile flipping device, the device comprising:

[0012] Loading and unloading racks, frame, X-axis moving track, and controller;

[0013] The loading and unloading racks are arranged on the side of the X-axis moving track along a direction perpendicular to the X-axis moving track; the X-axis moving track is fixed on a horizontal plane; the two racks can move along the X-axis direction on the X-axis moving track without interfering with the loading and unloading racks; the controller is used to control the motion state and position state of the device.

[0014] The frame includes a telescopic slide, a lifting mechanism, a tilting mechanism, a clamp, and a support. The support is mounted on the X-axis moving track and can drive the frame to move along the X-axis moving track. The frame is in the Y direction perpendicular to the X-axis moving track. The lifting mechanism is mounted on the support and can drive the telescopic slide to move vertically. The telescopic slide is mounted on the lifting mechanism and can move horizontally in the Y direction perpendicular to the X-axis moving track. The tilting mechanism includes a tilting arm and a pusher, mounted on the support, and does not move with the lifting mechanism. The tilting arm includes a horizontal arm and a vertical arm. The vertical arm is perpendicular to the horizontal plane, and the horizontal arm is on the side of the vertical arm closer to the loading / unloading rack. The tilting arm is connected to the support via a rotating shaft and can rotate at least 90 degrees around the rotating shaft under the pusher, so that the horizontal arm rotates from a horizontal position to a vertical position. The clamp is mounted on the vertical arm of the tilting arm and can clamp or release the profile.

[0015] Before processing the profile, the two frames are moved to their respective positions according to the length of the profile to adjust the distance between the two frames and their position relative to the profile; the profile is then positioned on the loading / unloading rack.

[0016] When the profile is positioned on the loading / unloading rack, the telescopic slide is or moves below the profile; the lifting mechanism moves upward, driving the telescopic slide and the profile on the telescopic slide to a preset height 1, so as to ensure that the profile is not interfered with when approaching the vertical arm of the flipping mechanism; the profile approaches the vertical arm of the flipping mechanism and enters the positioning-clamping step.

[0017] The positioning and clamping process includes:

[0018] - As the telescopic slide moves the profile back along the Y direction and approaches the vertical arm of the flipping mechanism, the telescopic slide stops moving when the profile touches the vertical arm of the flipping arm.

[0019] - The lifting mechanism drives the telescopic slide to descend, and the profile falls onto the horizontal arm of the tilting arm;

[0020] -The clamp holds the profile;

[0021] - After the profile is clamped by the fixture, the profile is welded or flipped according to the instructions of the controller; when flipping is performed, the flipping step is entered; when welding is performed, after the welding is completed, the flipping step or the unloading step is entered according to the instructions of the controller.

[0022] The flipping step includes:

[0023] - The pusher of the flipping mechanism pushes the flipping arm to flip 90°; the horizontal arm becomes vertical, the position of the vertical arm before flipping; the vertical arm is in the horizontal direction, located on the side of the vertical horizontal arm away from the loading and unloading rack;

[0024] -The clamp has loosened;

[0025] - When the lifting mechanism rises to the preset height 2, the profile is lifted by the telescopic slide and rises together with the telescopic slide and moves to the flipping waiting position; in the flipping waiting position, the profile does not interfere with the flipping arm during the rotation of the flipping arm;

[0026] - The pusher of the flipping mechanism returns to its original position, causing the flipping arm to flip -90°. The flipping arm returns to its original position, the vertical arm is in a vertical state, and the horizontal arm is in a horizontal state, located on the side of the vertical arm closer to the loading and unloading frame.

[0027] -According to the controller's instructions, proceed to the positioning preparation step or the material unloading step;

[0028] The positioning preparation step includes: the telescopic slide carries the profile from the flipping waiting position to the positioning preparation position, and then moves from the positioning preparation position toward the vertical arm of the flipping arm to enter the positioning-clamping step; the positioning preparation position is located near the loading and unloading rack, with the vertical arm as the dividing line.

[0029] The material cutting process includes:

[0030] - When the profile is clamped by the clamp, the clamp is released; the lifting mechanism rises to the preset height 3, the profile is lifted by the telescopic slide, and rises together with the telescopic slide; the telescopic slide drives the profile to extend forward along the Y direction to the top of the loading and unloading rack;

[0031] - When the profile is in the flipping waiting position, the lifting mechanism and the telescopic slide cooperate to move the profile to the unloading position; the height of the unloading position is a preset height 3; the telescopic slide moves the profile forward along the Y direction to the top of the loading and unloading rack;

[0032] - When the profile reaches the top of the loading / unloading rack, the lifting mechanism descends, and the profile falls onto the loading / unloading rack.

[0033] In some embodiments, the present invention provides a profile flipping device:

[0034] The telescopic slide includes an active slide, a driven slide, and a slide drive mechanism; the slide drive mechanism directly drives the active slide to move; the active slide and the driven slide are linked together, driving the driven slide to move; both the active slide and the driven slide are provided with front and rear stops.

[0035] In some embodiments, the present invention provides a profile flipping device:

[0036] There are two driven slides; the two driven slides form a rigid body through a rigid connecting member; the driving slide is located in the middle of the two driven slides and has a tow hook; the tow hook can hook the rigid connecting member between the two driven slides, thereby driving the two driven slides to move.

[0037] In some embodiments, the present invention provides a profile flipping device:

[0038] The driven slide's platform is higher than the active slide's platform.

[0039] In some embodiments, the present invention provides a profile flipping device:

[0040] The slide drive mechanism includes a motor, a synchronous pulley, a synchronous belt, and a linear guide rail; the linear guide rail is connected to the lifting base of the lifting mechanism; the slider of the linear guide rail is mounted on the driven slide.

[0041] In some embodiments, the present invention provides a profile flipping device:

[0042] The lifting mechanism includes a lifting base, a servo motor, and a lifting transmission structure;

[0043] The lifting base includes a fixed frame and a lifting frame; the fixed frame is fixedly installed on the support of the frame body;

[0044] The servo motor is mounted on the fixed frame of the lifting base;

[0045] The lifting transmission structure includes a gear rack and a linear guide rail; the rack is fixed on the lifting frame of the lifting base; the servo motor drives the gear to move up and down, thereby pushing the meshing rack to move the lifting frame up and down; the linear guide rail is installed on the fixed frame of the lifting base and is used to control the moving direction of the lifting frame of the lifting base.

[0046] In some embodiments, the present invention provides a profile flipping device:

[0047] The loading / unloading rack is connected to the frame.

[0048] In some embodiments, the present invention provides a profile flipping device:

[0049] The controller includes:

[0050] At least one processor;

[0051] A memory coupled to the at least one processor stores executable instructions, wherein the executable instructions, when executed by the at least one processor, control the motion state and the position state of the device as described in the first aspect.

[0052] Secondly, embodiments of the present invention provide a chip, comprising:

[0053] A processor is configured to retrieve and run a computer program from memory, such that a device on which the chip is mounted controls the motion state and position state of the device as described in the first aspect.

[0054] Thirdly, embodiments of the present invention provide a computer-readable storage medium:

[0055] The computer-readable storage medium stores a computer program that, when executed by a processor, controls the motion state and position state of the device as described in the first aspect.

[0056] The beneficial effects of this invention are:

[0057] 1. Simple structure and easy to operate.

[0058] 2. The workpiece has no friction with the flipping mechanism during initial positioning.

[0059] 3. It is easy to flip and will not be difficult to flip due to attachments, which greatly reduces the degree of human intervention, and can even be done without human intervention.

[0060] 4. It can be flipped to any side. Attached Figure Description

[0061] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0062] Figure 1 This is a schematic diagram of the overall structure of the profile flipping device according to an embodiment of the present invention.

[0063] Figure 2 This is a schematic diagram of the loading and unloading of the profile flipping device according to an embodiment of the present invention.

[0064] Figure 3 This is a schematic diagram of the frame structure of the profile flipping device according to an embodiment of the present invention.

[0065] Figure 4 This is a cross-sectional view of the lifting mechanism of the profile flipping device according to an embodiment of the present invention. Detailed Implementation

[0066] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0067] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Those skilled in the art should understand that the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments in this application, those skilled in the art can make any appropriate modifications or variations to obtain all other embodiments.

[0068] In a first aspect, embodiments of the present invention provide a profile flipping device, the device comprising:

[0069] 2. Loading and unloading rack, 1. Frame, 3. X-axis moving track, and 4. Controller.

[0070] The loading / unloading rack 2 is arranged to the side of the X-axis moving track 3, which is perpendicular to the X-axis moving track 3. The X-axis moving track 3 is fixed on a horizontal plane. The two frame bodies 1 can move along the X-axis direction on the X-axis moving track 3 without interfering with the loading / unloading rack 2. The controller 4 is used to control the movement and position of the device.

[0071] The frame 1 includes a telescopic slide 6, a lifting mechanism 9, a tilting mechanism 7, a clamp 5, and a support 8. The support 8 is mounted on the X-axis moving track 3 and can move the frame 1 along the X-axis moving track 3. The frame 1 is in the Y direction perpendicular to the X-axis moving track 3. The lifting mechanism 9 is mounted on the support 8 and can move the telescopic slide 6 vertically. The telescopic slide 6 is mounted on the lifting mechanism 9 and can move horizontally in the Y direction perpendicular to the X-axis moving track 3. The tilting mechanism 7 includes a tilting arm 71 and a pusher 72, mounted on the support 8, and does not move with the lifting mechanism 9. The tilting arm 71 includes a horizontal arm 711 and a vertical arm 712, the vertical arm 712 being perpendicular to the horizontal plane, and the horizontal arm 711 being on the side of the vertical arm 712 closest to the loading / unloading rack 2. The tilting arm 71 is connected to the support 8 via a rotating shaft and can rotate at least ninety degrees around the rotating shaft under the push of the pusher 72, so that the horizontal arm 711 rotates from a horizontal position to a vertical position. The clamp 5 is mounted on the vertical arm 712 of the tilting arm 71 and can clamp or release the profile.

[0072] Before processing the profile, the two frames 1 are moved to their respective positions according to the length of the profile, so as to adjust the distance between the two frames 1 and their position relative to the profile. The profile is then positioned on the loading / unloading rack 2.

[0073] When the profile is positioned on the loading / unloading rack 2, the telescopic slide 6 is positioned or moved below the profile. The lifting mechanism 9 moves upward, causing the telescopic slide 6 and the profile on it to rise together to a preset height 1, ensuring that the profile is not interfered with as it approaches the vertical arm 712 of the flipping mechanism 7. The profile approaches the vertical arm 712 of the flipping mechanism 7 and enters the positioning-clamping step.

[0074] The positioning and clamping process includes:

[0075] - As the telescopic slide 6 drives the profile to retract along the Y direction and approach the vertical arm 712 of the flipping mechanism 7, the telescopic slide 6 stops moving when the profile touches the vertical arm 712 of the flipping arm 71.

[0076] - The lifting mechanism 9 drives the telescopic slide 6 to descend, and the profile lands on the horizontal arm 711 of the flipping arm 71.

[0077] - The clamp 5 clamps the profile.

[0078] - Once the profile is clamped by the fixture 5, it is either welded or flipped according to the instructions of the controller 4. When flipping is performed, the flipping step is initiated. When welding is performed, after the welding is completed, the profile is either flipped or unloaded according to the instructions of the controller 4.

[0079] The flipping step includes:

[0080] - The pusher 72 of the flipping mechanism 7 pushes the flipping arm 71 to flip 90°. The horizontal arm 711 becomes vertical, the position of the vertical arm 712 before flipping. The vertical arm 712 is in the horizontal direction, located on the side of the vertical horizontal arm 711 away from the loading / unloading rack 2.

[0081] - The clamp 5 is released.

[0082] - The lifting mechanism 9 rises to the preset height 2, and the profile is lifted by the telescopic slide 6, rising together with the telescopic slide 6 and moving to the flipping waiting position. In the flipping waiting position, the profile does not interfere with the flipping arm 71 during its rotation.

[0083] - The pusher 72 of the flipping mechanism 7 returns to its original position, causing the flipping arm 71 to flip by -90°. The flipping arm 71 rotates back to its original position, the vertical arm 712 is in a vertical state, and the horizontal arm 711 is in a horizontal state, located on the side of the vertical arm 712 closest to the loading and unloading rack 2.

[0084] -According to the instructions of the controller 4, proceed to the positioning preparation step or the material unloading step.

[0085] The positioning preparation step includes: the telescopic slide 6 carrying the profile moves from the flipping waiting position to the positioning preparation position, and then moves from the positioning preparation position toward the vertical arm 712 of the flipping arm 71 to enter the positioning-clamping step. The positioning preparation position is located near the loading / unloading rack 2, with the vertical arm 712 as the dividing point.

[0086] The material cutting process includes:

[0087] When the profile is clamped by the clamp 5, the clamp 5 is released. The lifting mechanism 9 rises to the preset height 3, and the profile is lifted by the telescopic slide 6, rising together with the telescopic slide 6. The telescopic slide 6 drives the profile to extend forward along the Y direction, above the loading / unloading rack 2.

[0088] When the profile is in the flipping waiting position, the lifting mechanism 9 and the telescopic slide 6 cooperate to move the profile to the unloading position. The height of the unloading position is a preset height 3. The telescopic slide 6 moves the profile forward along the Y direction to above the loading / unloading rack 2.

[0089] When the profile reaches above the loading / unloading rack 2, the lifting mechanism 9 descends, and the profile falls onto the loading / unloading rack 2.

[0090] In this embodiment, as Figure 1The diagram shown is a schematic representation of the overall structure of the profile flipping device. The device includes the loading / unloading rack 2, the frame 1, the X-axis moving track 3, and the controller 4.

[0091] like Figure 2 The diagram shows the loading and unloading of the profile flipping device. The main function of the loading / unloading rack 2 is to place the profile before or after the start of the operation, leaving a certain gap under the profile for the telescopic slide 6 to insert to lift or lower the profile. The configuration of the loading / unloading rack 2 depends on the site conditions. For example, it can be a bracket integrated with the frame 1 as shown in the figure; it can be a separate bracket placed on the ground, either high or low; or other types of tracks, such as linear guides, linear bearings, ground rail pulleys, etc.; when the frame 1 is in a low position, it is also possible to leave a groove on the ground or plane for the telescopic slide 6 to insert. When the profile has tooling that acts as a support or has a special structure that can leave the gap under the profile for the telescopic slide 6 to insert to lift or lower the profile, then the location of the loading / unloading rack 2 is the place where the profile is placed before or after the start of the operation. The loading / unloading rack 2 is arranged to the side of the X-axis moving track 3, perpendicular to the X-axis moving track 3. The location of the loading / unloading rack 2 marks the boundary between the working area and the non-working area. Special attention must be paid to the safety factors of this location, especially when loading / unloading is done manually or requires manual assistance.

[0092] The X-axis moving track 3 should be fixed to a horizontal surface. This horizontal surface can be the ground or a large work platform. The X-axis moving track 3 should be reliably fixed to ensure safety during operation. When the profile is heavy, the X-axis moving track 3 should be able to bear a large load, such as by providing support rails or using linear guides. Figure 2 In this design, the X-axis moving track 3 includes a frame X-axis moving track 31 and a loading / unloading rack X-axis moving track 32, providing better support for the device. Of course, when the loading / unloading rack 2 and the frame 1 are an integrated structure, the loading / unloading rack 2 is suspended from the frame 1 without the bottom support of the loading / unloading rack X-axis moving track 32, which is also acceptable in some cases. When the loading / unloading rack 2 adopts a separate design, it can be moved manually or by other means, in which case the loading / unloading rack X-axis moving track 32 is not necessary.

[0093] When the two frames 1 move along the X-axis direction on the X-axis moving track 3, they should not interfere with the loading and unloading rack 2, or at least they should be able to avoid interference and have taken measures to avoid interference.

[0094] The controller 4 is a PLC or microcontroller or other control device that can control the motion and position of each component or device in the device, and can also monitor the motion and position of each component or device in the device through sensors.

[0095] like Figure 3The diagram shows the frame structure of the profile flipping device. The frame 1 includes a telescopic slide 6, a lifting mechanism 9, a flipping mechanism 7, a clamp 5, and a support 8. Most of the components of the frame 1—the telescopic slide 6, the lifting mechanism 9, the flipping mechanism 7, and the support 8—are arranged along the Y-direction, perpendicular to the X-axis moving track 3. The movement of the frame 1 on the X-axis moving track 3 can be achieved through various conventional methods, such as using wheels mounted at the bottom of the support 8 to reduce friction through rolling; using a servo motor to drive a gear that meshes with a rack to rotate the X-axis moving track 3, thus moving the frame 1 to the corresponding position; other methods include a servo motor driving a lead screw and linear guide, a servo motor driving a chain and sprocket and linear guide, and a servo motor driving a worm gear and linear guide. The lifting mechanism 9 includes a lifting transmission structure and a lifting base, which is connected to the support 8. A servo motor can also be used for driving to achieve precise positioning. The lifting mechanism 9 can drive the telescopic slide 6 to move vertically. That is, the telescopic slide 6 is mounted on the lifting mechanism 9, and the lifting mechanism 9 should be able to support the telescopic slide 6 and the profile's rise and fall throughout the entire horizontal movement range of the telescopic slide 6. The telescopic slide 6 can move horizontally on the lifting mechanism 9 along a direction perpendicular to the X-axis moving track 3, that is, along the Y-direction. The telescopic slide 6 can be driven in various ways, such as by a servo motor driving a synchronous belt pulley to rotate, thereby feeding material horizontally via a synchronous belt, or by means of gears and racks, lead screws, chains and sprockets, worm gears, etc. The tilting mechanism 7 includes the tilting arm 71 and the pusher 72, which are mounted on the support 8 and do not move with the lifting mechanism 9. The tilting arm 71 includes a horizontal arm 711 and a vertical arm 712. Under normal circumstances, that is, when no tilting task is being performed, the horizontal arm 711 is located on the side of the vertical arm 712 closer to the loading / unloading rack 2. The tilting arm 71 is connected to the support 8 via a rotating shaft. When selecting and arranging the pusher 72, it should be ensured that under the push of the pusher 72, the tilting arm 71 can rotate at least 90 degrees around the rotating shaft, so that the horizontal arm 711 moves from a horizontal position to the position where the vertical arm 712 was before the rotation. The pusher 72 can adopt various structures such as hydraulic cylinders, electric cylinders, lead screws, worm gears, and racks and pinions. The clamp 5 is installed on the vertical arm 712 of the tilting arm 71, as shown in the figure. It is a pneumatic clamp 5 that can easily clamp or release the profile. The clamp 5 can also use hydraulic cylinders, electric cylinders, etc., as the driving force. The clamping force of the clamp 5 should be sufficient to ensure that the profile safely tilts as the tilting arm 71 tilts.

[0096] Before processing the profile, the frame 1 should be adjusted and ready. For example, depending on the length of the profile, the two frames 1 should be moved to their respective positions to adjust the distance between them and their position relative to the profile, preparing for inserting the profile into the work area. Before entering the work area, the profile should be positioned on the loading / unloading rack 2. If the loading / unloading rack 2 is connected to the frame 1, it will move to a suitable position to accommodate the profile as the frame 1 moves. If it is a separate loading / unloading rack 2, it should be moved to a suitable position before the profile is placed on it.

[0097] When the profile is positioned on the loading / unloading rack 2, the telescopic slide 6 should already be below the profile or immediately move downwards towards the profile, ready to move the profile to the work area. The lifting mechanism 9 moves upwards, driving the telescopic slide 6 and the profile on it upwards to the preset height 1. During the process of the profile approaching the vertical arm 712 of the tilting mechanism 7, care should be taken to avoid interference and collisions during the movement. Possible interferences include: the profile itself has a special structure with some protruding parts positioned low, which may cause collisions; there may also be protruding blocks between the loading / unloading rack 2 and the vertical arm 712 to prevent excessive impact from accidental movement of the profile. When the profile approaches the vertical arm 712 of the tilting mechanism 7, the positioning-clamping step begins.

[0098] The steps in this positioning-clamping process should be understood as complementary, and there is no absolute order unless explicitly stated. During the process of the telescopic slide 6 retracting the profile along the Y direction and approaching the vertical arm 712 of the flipping mechanism 7, the process of the lifting mechanism 9 lowering the telescopic slide 6 can be simultaneous or phased and sequential. For example, the lifting mechanism 9 lowers slightly first, and the telescopic slide 6 moves a certain distance before lowering further. The process of the profile touching the vertical arm 712 of the flipping arm 71 and the telescopic slide 6 stopping, and the process of the profile landing on the horizontal arm 711 of the flipping arm 71, can occur sequentially or simultaneously. The clamping process of the fixture 5 can also occur simultaneously or in phases. The fixture 5 may initially be open quite wide, but as the profile approaches and lowers, the fixture 5 gradually closes until it is finally clamped. As shown in the figure, the vertical downward speed of the clamp 5 can be a phased, variable-speed movement. It first descends rapidly to a certain position at a higher speed, then gradually approaches at a slower speed, and finally clamps slowly at an even lower speed. Similarly, the process of the profile approaching the vertical arm 712 of the flipping mechanism 7 and the process of the profile landing on the horizontal arm 711 of the flipping arm 71 are the same. These three processes are not sequential; they are simply executed in a coordinated manner to ultimately achieve precise positioning of the profile on the flipping mechanism 7 and clamping it by the clamp 5. When welding or flipping the profile, it must be ensured that the profile is clamped by the clamp 5. Only when the profile is clamped can the welding or flipping of the profile ensure quality and safety. The welding or flipping command is acquired and issued by the controller 4. The controller 4 can obtain the required operation type for the profile through a host computer, other controllers 4, or manual input. When flipping is performed, the flipping step begins. During the welding process, the welding process is controlled by other equipment and systems. This device only provides the necessary conditions for the welding process. After the welding is completed, according to the instructions of the controller 4, the process can directly proceed to the unloading step, moving the profile out of the work area, thus completing the operation; alternatively, it can proceed to the flipping step to prepare for welding on the other side, or the profile can be adjusted to a suitable position before the unloading step. Furthermore, it should be noted that when the front of the profile contacts the vertical arm 712 of the flipping arm 71, it will experience resistance from the vertical arm 712. The servo motor can detect that the torque exceeds the set value, thus stopping its rotation, and the profile stops moving. At this point, the profile's positioning on the flipping arm 71 has been achieved. This process achieves frictionless positioning.

[0099] The steps in this flipping process are not strictly required to be in the correct order; overlapping is permissible as long as safety is ensured. During the flipping mechanism 7, when the pusher 72 pushes the flipping arm 71 to flip 90°, for safety reasons, the clamp 5 should not be released until the flipping process is complete. However, if releasing the clamp 5 near completion will not cause a sudden change in the profile's position, it is permissible to release it earlier. During the release of the clamp 5, the flipping is complete, the horizontal arm 711 has become vertical (previously the position of the vertical arm 712), and the vertical arm 712 is horizontal, located on the side of the horizontal arm 711 away from the loading / unloading rack 2. The clamp 5 has also changed from vertical to horizontal, ensuring that lifting the profile will not interfere with the clamp 5. The timing of these steps can overlap. The preset height 2 reached by the lifting mechanism 9 is the height of the flipping waiting position. There are several possibilities for the flipping waiting position. The general principle is to ensure that the profile does not interfere with the flipping arm 71 during its rotation, i.e., to avoid the rotation range of the flipping arm 71. After the profile is lifted by the telescopic slide 6, it rises together with the telescopic slide 6. During the process of moving to the flipping waiting position, there may be no horizontal movement or there may be horizontal movement. The horizontal movement may be forward or backward, which can be set according to actual needs. Here are a few possible examples:

[0100] 1) The preset height 2 of the lifting mechanism 9 ensures that the bottom surface of the profile is higher than the highest surface of the horizontal arm 711 and the vertical arm 712 of the tilting arm 71 when they are in a vertical state. During the rotation of the tilting arm 71, the profile is always in a high position, so it does not interfere with the tilting arm 71.

[0101] 2) The preset height 2 ensures that the bottom surface of the profile is higher than the highest surface of the vertical arm 712 when it is in a horizontal state, and the telescopic slide 6 retracts to a safe position, that is, away from the vertical arm 712. During the rotation of the flip arm 71, the profile is not above the vertical arm 712 of the flip arm 71, thus avoiding interference with the flip arm 71.

[0102] 3) The preset height 2 of the lifting mechanism 9 ensures that the bottom surface of the profile is higher than the highest surface of the horizontal arm 711 of the tilting arm 71 when it is in a vertical state. Before the rotation of the tilting arm 71, the telescopic slide 6 moves the profile forward in the horizontal direction to the side of the vertical arm 712 near the loading / unloading rack 2, which is outside the rotation range of the tilting arm 71. During the rotation of the tilting arm 71, interference with the tilting arm 71 is avoided.

[0103] In addition, a phased movement method can be used to avoid interference during the rotation process. Since there are many ways to avoid interference, they will not be listed here. During this rotation, the state of the clamp 5 depends on its design; it may be able to rotate normally regardless of whether it is in an open or clamped state, but it may be better to be in a clamped state.

[0104] The rotation and return of the tilting arm 71 is driven by the pusher 72 of the tilting mechanism 7. After the tilting arm 71 rotates -90°, the vertical arm 712 is in a vertical position, and the horizontal arm 711 is in a horizontal position, located on the side of the vertical arm 712 closest to the loading / unloading rack 2, thus returning to its pre-tilt position. This step and subsequent steps may overlap in timing. According to the instructions of the controller 4, the positioning preparation step can begin after the rotation process starts, as long as the speed is not too fast and does not interfere with the rotating arm. Of course, it is safer to start after the rotation process is over. If the profile is in a safe position on the side of the rotating arm closest to the loading / unloading rack 2 when the rotation process starts, directly entering the unloading step will not affect the rotation process. Of course, from a safety perspective, it is more reliable to start the unloading step after the rotation process is over.

[0105] This positioning preparation step prepares the material for the positioning-clamping step, primarily ensuring the profile is in a suitable position before proceeding. If the flipping waiting position is suitable, it can serve as the positioning preparation position, allowing the profile to directly approach the vertical arm 712 of the flipping arm 71 for the positioning-clamping step. If the flipping waiting position is unsuitable, the telescopic slide 6 carries the profile from the flipping waiting position to the positioning preparation position, and then moves it from the positioning preparation position towards the vertical arm 712 of the flipping arm 71 for the positioning-clamping step. The positioning preparation position, with the vertical arm 712 as the dividing line, is located near the loading / unloading rack 2. A slightly lower height is preferable for safety, but does not affect the normal operation of subsequent steps.

[0106] The unloading step provides solutions for two scenarios: 1) When the profile is clamped by the clamp 5, the clamp 5 should be released first. The lifting mechanism 9 rises, and the profile is lifted by the telescopic slide 6, rising together with the telescopic slide 6 to the preset height 3. When there is manual assistance in the area where the loading / unloading rack 2 is located, the preset height 3 should be set with human safety in mind. The telescopic slide 6 drives the profile forward along the Y direction to above the loading / unloading rack 2. 2) When the profile is in the flipping waiting position, the lifting mechanism 9 and the telescopic slide 6 cooperate to drive the profile to the unloading position. The flipping waiting position may also be the same as the unloading position. The height of the unloading position is the preset height 3. Similarly, when there is manual assistance in the area where the loading / unloading rack 2 is located, the preset height 3 should be set with human safety in mind. 3) Before performing this unloading step, the profile may also be in a position other than the first two scenarios. In this case, the movement process of the profile should be designed according to the actual situation. It should be ensured that the profile does not interfere with the movement. The telescopic slide 6 moves the profile forward along the Y direction to above the loading / unloading rack 2. Finally, when the profile reaches above the loading / unloading rack 2, the lifting mechanism 9 descends, and the profile lands on the loading / unloading rack 2. Unloading is complete.

[0107] It should be noted that the steps in this embodiment only describe the necessary processes that need to be used after disassembly. In actual use, these basic processes can be combined to form various motion modes. These combinations are simple variations based on the basic processes and should still fall within the protection scope of this embodiment.

[0108] In some embodiments, the present invention provides a profile flipping device:

[0109] The telescopic slide 6 includes an active slide 61, a driven slide 62, and a slide drive mechanism. The slide drive mechanism directly drives the active slide 61 to move. The active slide 61 and the driven slide 62 are linked, causing the driven slide 62 to move. Both the active slide 61 and the driven slide 62 are provided with front and rear stops.

[0110] In this embodiment, the telescopic slide 6 is not a single piece, but includes an active slide 61, a driven slide 62, and a slide drive mechanism, as shown in the figure. The slide drive mechanism directly drives the active slide 61 to move, and then the active slide 61 drives the driven slide 62 to move. Both the active slide 61 and the driven slide 62 are provided with front and rear stops. When the active slide 61 starts to move, the situation may be complex. It is possible that the profile will move directly with the active slide 61 and the driven slide 62 under the action of friction. It is also possible that because the friction is small, it is insufficient to drive the profile to move, and when the stop on the active slide 61 located behind the profile pushes the profile forward, the profile begins to move with the active slide 61 and the driven slide 62. It is possible that the stop block on the active slide 61, located behind the profile, pushes the profile forward, while the stop block on the driven slide 62, located in front of the profile, clamps the profile from the front, thus ensuring the safety of the profile during movement. The state of the profile and the active and driven slides 61 and 62 is affected by various factors, such as the coefficient of friction and area of ​​the contact surfaces of the profile and the active and driven slides 61 and 62, the weight and shape of the profile, and the connection method of the active and driven slides 61 and 62. In various situations, the stop blocks of the active and driven slides 61 and 62 of the telescopic slide 6 provide protection from the front and rear of the profile, which is of great benefit to ensuring production safety at the work site. It should be noted that when the telescopic slide 6 needs to lift the profile, care should be taken to avoid interference between the stop blocks on the telescopic slide 6 and the profile. Specifically, the position of the stop should be kept as neat as possible, or even coplanar, so as to facilitate the placement of the front and rear stops on the front and rear sides of the profile and avoid interference.

[0111] In some embodiments, the present invention provides a profile flipping device:

[0112] There are two driven slides 62. The two driven slides 62 form a rigid body through a rigid connecting member. The driving slide 61 is located between the two driven slides 62 and has a tow hook. The tow hook can hook onto the rigid connecting member between the two driven slides 62, thereby driving the two driven slides 62 to move.

[0113] In this embodiment, there are two driven slides 62, which are rigidly connected by a rigid connector to ensure consistent frictional force on the profile. The driving slide 61 is located between the two driven slides 62 and has a hook. The hook can engage the rigid connector between the two driven slides 62, thereby moving the two driven slides 62. The symmetrical design of the middle and two sides ensures symmetrical and uniform force on the profile, resulting in stable movement. The rigid connector can be H-shaped, C-shaped, X-shaped, etc., and the hook can be C-shaped, L-shaped, etc., as long as the rigid connector and hook cooperate to enable the driving slide 61 to drag the driven slide 62. Since there are many possible shapes for the rigid connector and hook, they are not listed here. Under no-load conditions, the hook of the active slide 61 will engage the rigid connector in the middle of the driven slide 62, thereby moving the driven slide 62 and preventing the connection between the two from breaking. Under heavy load conditions: when the hook and the stop of the active slide 61 are an integral structure, the hook of the active slide 61 will first contact the profile, moving the profile and the driven slide 62; when the hook and the stop of the active slide 61 are separate structures, the stop of the active slide 61 may directly push the profile to move, and the contact between the hook and the rigid connector may be more complex.

[0114] In some embodiments, the present invention provides a profile flipping device:

[0115] The surface of the driven slide 62 is higher than the surface of the active slide 61.

[0116] In this embodiment, the design of the driven slide 62 having a higher platform than the active slide 61 means that when the profile falls onto the telescopic slide 6, the driven slide 62 bears the weight, while the active slide 61 does not, thus reducing the driving force required to push the profile.

[0117] In some embodiments, the present invention provides a profile flipping device:

[0118] The slide drive mechanism includes a motor, a synchronous pulley, a synchronous belt, and a linear guide. The linear guide is connected to the lifting base of the lifting mechanism 9. The slider of the linear guide is mounted on the driven slide 62.

[0119] In this embodiment, the slider of the linear guide is mounted on the driven slide 62, and the track of the linear guide is mounted on the lifting base. That is, the driven slide 62 and the lifting base are connected, thus allowing it to withstand a larger load. Furthermore, when the front surface of the profile contacts the tilting arm and encounters resistance during movement, the motor detects that the torque exceeds the set value and immediately stops rotating, thus stopping the profile's movement immediately. At this point, the workpiece's positioning on the tilting arm is complete. This positioning process is not only accurate and convenient but also involves minimal friction.

[0120] In some embodiments, the present invention provides a profile flipping device:

[0121] The lifting mechanism 9 includes a lifting base, a servo motor, and a lifting transmission structure.

[0122] The lifting base includes a fixed frame and a lifting frame 91. The fixed frame is fixedly installed on the support 8 of the frame body 1.

[0123] The servo motor is mounted on the fixed frame of the lifting base.

[0124] The lifting transmission structure includes a gear rack 92 and a linear guide rail 93. The rack is fixed to the lifting frame 91 of the lifting base. The servo motor drives the gear to move up and down, which in turn drives the meshing rack to move the lifting frame 91 up and down. The linear guide rail 93 is mounted on the fixed frame of the lifting base and is used to control the direction of movement of the lifting frame 91 of the lifting base.

[0125] In this embodiment, as Figure 4 The diagram shows a cross-sectional view of the lifting mechanism of the profile flipping device. A servo motor is mounted on the fixed frame of the lifting base of the lifting mechanism 9. The output shaft of the servo motor drives the gear to rotate, thereby pushing the meshing rack to move the lifting frame 91 connected to it up and down. A slider is mounted on the lifting base, and a guide rail of the linear guide rail 93 (the linear guide rail 93 moves in the same direction as the rack) is mounted on the lifting frame 91 to guide the lifting frame 91 and bear a large load. Alternatively, the lifting mechanism 9 can also achieve the lifting function through other structures such as a lead screw.

[0126] In some embodiments, the present invention provides a profile flipping device:

[0127] The loading / unloading rack 2 is connected to the frame 1.

[0128] In this embodiment, the loading / unloading rack 2 is connected to the frame 1, enabling synchronous movement with the frame 1. When the specifications of the profile change, the relative positions of the loading / unloading rack 2 and the frame 1 remain fixed, avoiding interference between the loading / unloading rack 2 and the lifting mechanism 9. This also facilitates the device's position control of the profile, as frequently changing relative positions increase the difficulty of positioning. Furthermore, there is no need to move the loading / unloading rack 2 separately, increasing ease of use.

[0129] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A profile turning method, characterized in that, The method uses a profile turnover device, the device comprises: The upper and lower feeding frame (2), the frame body (1), the X-axis moving track (3) and the controller (4); The upper and lower feeding frame (2) is arranged on the side of the X-axis moving track (3) along the direction perpendicular to the X-axis moving track (3); the X-axis moving track (3) is fixed on the horizontal plane; the two frame bodies (1) can move along the X-axis direction on the X-axis moving track (3) without interference with the upper and lower feeding frame (2); the controller (4) is used for controlling the motion state and position state of the device; The frame body (1) comprises a telescopic sliding table (6), a lifting mechanism (9), a turnover mechanism (7), a clamp (5) and a support (8); the support (8) is installed on the X-axis moving track (3) and can drive the frame body (1) to move along the X-axis moving track (3); the frame body (1) is in the Y direction perpendicular to the X-axis moving track (3); the lifting mechanism (9) is installed on the support (8) and can drive the telescopic sliding table (6) to move along the vertical direction; the telescopic sliding table (6) is installed on the lifting mechanism (9) and can move on the horizontal plane in the Y direction perpendicular to the X-axis moving track (3); the turnover mechanism (7) comprises a turnover arm (71) and a pusher (72) and is installed on the support (8) without moving with the lifting mechanism (9); the turnover arm (71) comprises a horizontal arm (711) and a vertical arm (712), the vertical arm (712) is perpendicular to the horizontal plane, and the horizontal arm (711) is on the side of the vertical arm (712) close to the upper and lower feeding frame (2); the turnover arm (71) is connected with the support (8) through a rotating shaft and can rotate at least ninety degrees around the rotating shaft under the pushing of the pusher (72), so that the horizontal arm (711) rotates from the horizontal position to the vertical position; the clamp (5) is installed on the vertical arm (712) of the turnover arm (71) and can clamp or release the profile; Before the profile operation, according to the length of the profile, the two frame bodies (1) are respectively moved to the corresponding positions to adjust the distance between the two frame bodies (1) and the position relative to the profile; the profile is positioned on the upper and lower feeding frame (2); When the profile is positioned on the upper and lower feeding frame (2), the telescopic sliding table (6) is under or moved to the profile; the lifting mechanism (9) moves upward to drive the telescopic sliding table (6) and the profile on the telescopic sliding table (6) to move upward to the preset height 1, so as to ensure that the profile is not interfered in the process of approaching the vertical arm (712) of the turnover mechanism (7); the profile approaches the vertical arm (712) of the turnover mechanism (7) and enters the positioning and clamping step; The positioning and clamping step comprises: - the telescopic slide (6) stops moving when the profile touches the vertical arm (712) of the turning arm (71) during the process of the telescopic slide (6) driving the profile to retract along the Y direction backward, close to the vertical arm (712) of the turning mechanism (7); - the lifting mechanism (9) drives the telescopic slide (6) to descend, and the profile falls on the horizontal arm (711) of the turning arm (71); - the clamp (5) clamps the profile; - after the profile is clamped by the clamp (5), the profile is welded or turned according to the instruction of the controller (4); when the turning is performed, the turning step is entered; when the welding is performed, after the welding is completed, the turning step or the discharging step is entered according to the instruction of the controller (4); the turning step includes: - the pusher (72) of the turning mechanism (7) pushes the turning arm (71) to turn 90°; the horizontal arm (711) becomes vertical, and the position of the vertical arm (712) before turning; the vertical arm (712) is in a horizontal direction, and is located on the side of the vertical arm (711) away from the feeding and discharging rack (2); - the clamp (5) is loosened; - the lifting mechanism (9) rises to a preset height 2, the profile is lifted by the telescopic slide (6), and rises and moves to a turning waiting position together with the telescopic slide (6); in the turning waiting position, the profile does not interfere with the turning arm (71) during the rotation of the turning arm (71); - the pusher (72) of the turning mechanism (7) returns to the original position, drives the turning arm (71) to turn -90°, and the turning arm (71) returns to the original position; the vertical arm (712) is in a vertical state, and the horizontal arm (711) is in a horizontal state and is located on the side of the vertical arm (712) close to the feeding and discharging rack (2); - according to the instruction of the controller (4), the positioning preparation step or the discharging step is entered; the positioning preparation step includes: the telescopic slide (6) carrying the profile moves from the turning waiting position to a positioning preparation position, and then moves close to the vertical arm (712) of the turning arm (71) from the positioning preparation position to enter the positioning-clamping step; the positioning preparation position is located close to the feeding and discharging rack (2) with the vertical arm (712) as a boundary; the discharging step includes: - when the profile is clamped by the clamp (5), the clamp (5) is loosened; the lifting mechanism (9) rises to a preset height 3, the profile is lifted by the telescopic slide (6), and rises together with the telescopic slide (6); the telescopic slide (6) drives the profile to extend forward along the Y direction to above the feeding and discharging rack (2); When the profile is located at the turnover waiting position, the lifting mechanism (9) and the telescopic slide table (6) cooperate to drive the profile to the unloading position; the height of the unloading position is a preset height 3; the telescopic slide table (6) drives the profile to extend forward along the Y direction to above the feeding and discharging rack (2); When the profile reaches above the feeding and discharging rack (2), the lifting mechanism (9) descends, and the profile falls on the feeding and discharging rack (2); The lifting mechanism (9) comprises a lifting base, a servo motor and a lifting transmission structure; The lifting base comprises a fixed frame and a lifting frame (91); the fixed frame is fixedly installed on the support (8) of the rack body (1); The servo motor is installed on the fixed frame of the lifting base; The lifting transmission structure comprises a gear and a rack (92) and a linear guide rail (93); the rack is fixed on the lifting frame (91) of the lifting base; the servo motor drives the gear to move up and down, thereby driving the rack in meshing to drive the lifting frame (91) to move up and down; the linear guide rail (93) is installed on the fixed frame of the lifting base, and is used for controlling the moving direction of the lifting frame (91) of the lifting base.

2. The method according to claim 1, wherein: The telescopic slide table (6) comprises a driving slide table (61), a driven slide table (62) and a slide table driving mechanism; the slide table driving mechanism directly drives the driving slide table (61) to move; the driving slide table (61) and the driven slide table (62) are linked to drive the driven slide table (62) to move; the driving slide table (61) and the driven slide table (62) are both provided with front and rear stoppers.

3. The method according to claim 2, wherein: The driven slide table (62) has two; the two driven slide tables (62) constitute a rigid body through a hard connecting piece; the driving slide table (61) is located in the middle of the two driven slide tables (62) and has a towing hook; the towing hook can hook the hard connecting piece between the two driven slide tables (62), thereby driving the two driven slide tables (62) to move.

4. The method according to any one of claims 2 or 3, wherein: The table surface of the driven slide table (62) is higher than that of the driving slide table (61).

5. The method according to any one of claims 2 or 3, wherein: The slide table driving mechanism comprises a motor, a synchronous pulley, a synchronous belt and a linear guide rail; the linear guide rail is connected with the lifting base of the lifting mechanism (9); the slider of the linear guide rail is installed on the driven slide table (62).

6. The method according to claim 1, wherein: The feeding and discharging rack (2) is connected with the rack body (1).

7. The method according to claim 1, wherein: The controller (4) comprises: at least one processor; a memory coupled with the at least one processor, the memory storing executable instructions that, when executed by the at least one processor, implement control of the motion state and the position state of the apparatus as recited in claim 1.

8. A chip, characterized by comprising: a processor for calling and running a computer program from a memory, so that the device installed with the chip implements control of the motion state and the position state of the method as recited in claim 1 when executed.

9. A computer-readable storage medium, characterized in that, a computer program stored on the computer readable storage medium, which, when executed by a processor, implements control of the motion state and the position state of the method as recited in claim 1.

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