Box type column overturning and centering device with double arms in series and method

Abstract

The present application relates to a kind of box type column overturning centering device and method of double-arm series, belong to the component production and processing equipment technical field of assembly type steel structure house concealed frame type system.It is technical scheme that two sets of overturning positioning unit are symmetrically arranged on ground track (7);Overturning positioning unit is composed of walking frame (3), walking module (4), overturning horizontal shift module (5) and jacking positioning module (6), walking module (4) is installed at the bottom of walking frame (3), walking module (4) is slidably arranged on ground track (7), and overturning horizontal shift module and jacking positioning module are respectively arranged on both sides of walking frame.The beneficial effects of the present application are that lifting position can be automatically adjusted according to steel column parameters, and automatic 90 ° overturning surface conversion can be carried out, and the right-angle overturning structure can be converted into in-place overturning effect by cooperating with horizontal shift function;It lays a good foundation for the operation of automatic welding equipment of steel structure, ensures that automatic program is successfully carried out, and improves production efficiency.

Description

Technical Field

[0001] This invention relates to a double-arm tandem box-shaped column flipping and centering device and method, belonging to the technical field of component production and processing equipment for prefabricated steel structure residential hidden frame systems. Background Technology

[0002] As a pillar industry of the national economy, the construction industry is seeing intelligent construction become a trend due to various factors; and the intelligentization of welding equipment will become a breakthrough for the transformation and development of the manufacturing industry. Currently, most large domestic construction companies use steel structure building materials in the design and construction of steel structure buildings. Steel structures have advantages such as high strength, heavy weight, strong resistance, good material plasticity, good toughness, and large deformation, making them particularly suitable for constructing long-distance, super-high, and super-heavy buildings, and currently have a high application rate in construction projects. Steel structures are indispensable new building structures in urban buildings, warehouses, factories, and new residential buildings. However, traditional steel structure production technology is time-consuming and labor-intensive, making it difficult to simultaneously achieve quality management because human error is inevitable. The current construction market has a large demand for steel structures, and using traditional steelmaking technology makes it difficult to meet market demands for quality and production. Therefore, steel structure production requires strong support from intelligent steel structure production equipment. This equipment can strictly control all production links, simultaneously considering both quality and output, thus improving the quality of steel structures. Prefabricated steel structure buildings inherit the excellent genes of steel structures, possessing the natural advantages of being "light, fast, good, and economical." Intelligent equipment for prefabricated steel structures is favored and highly regarded by many steel structure companies due to its small footprint, low labor costs, and high product quality. Therefore, investment in the research and development of intelligent steel structure production equipment is essential and has a very broad application prospect and future. Summary of the Invention

[0003] The purpose of this invention is to provide a double-arm series-connected box-type column flipping and centering device and method, which can realize automatic face changing of box-type steel structure columns during automatic welding of beam-type connecting plate parts in four working faces and multiple node areas, while maintaining the reference of the box-type steel structure column when switching working faces. It can also provide a data communication interface for intelligent automated production equipment for steel structures, which can significantly reduce the intensity of manual operation and improve the integrity, comprehensiveness and intelligence of intelligent automated equipment, and solve the problems existing in the background technology.

[0004] The technical solution of this invention is:

[0005] A box-shaped column tilting and centering device with two arms connected in series includes two sets of tilting and positioning units, which are symmetrically arranged on a ground track. The tilting and positioning unit consists of a walking frame, a walking module, a tilting and lateral movement module, and a lifting and positioning module. The walking module is installed at the bottom of the walking frame and is slidably arranged on the ground track. The tilting and lateral movement module and the lifting and positioning module are respectively arranged on both sides of the walking frame.

[0006] The flipping and traversing module includes an active flipping arm, a driven flipping arm, an active hydraulic cylinder, a driven hydraulic cylinder, a traversing slide, and a traversing drive assembly. One end of the active hydraulic cylinder is connected to the active flipping arm, and the other end is connected to the traversing slide. One end of the driven hydraulic cylinder is connected to the active flipping arm, and the other end is connected to the driven flipping arm. The active flipping arm, the driven flipping arm, and the traversing slide are connected by a rotating shaft to form a coaxial series structure of the flipping arm and the traversing slide. The traversing drive assembly is mounted on the traversing slide.

[0007] The lifting and positioning module includes a lifting base, a lifting hydraulic cylinder, a lifting slider, a centering drive assembly, a centering transmission guide assembly, and a centering clamp. The lifting base is slidably connected to the lifting guide rail on the traveling frame via the lifting slider. One end of the lifting hydraulic cylinder is mounted on the traveling frame, and the other end is mounted on the lifting base. The centering drive assembly drives the centering transmission guide assembly to perform a centering linear motion. Centering clamps are respectively installed on the sliding plates on both sides of the centering transmission guide assembly. The connected centering transmission guide assembly, centering drive assembly, and centering clamps are installed as a whole on the lifting base.

[0008] The walking module includes a walking wheel box, a guide component, and a drive component. The walking wheel box and the drive component are installed at the bottom of the walking frame, and the guide component is installed on the walking wheel box to realize the rolling support and guiding function when the walking module walks, ensuring the smooth and stable movement of the walking module.

[0009] The active tilting arm has a tilting shaft hole 1 at one end and a tilting shaft hole 2 and a series connection shaft hole at the other end; the driven tilting arm has a tilting shaft hole 3 and a tilting shaft hole 4 at both ends, and a tilting arm rotation shaft hole at the top of the transverse slide; the active tilting arm is connected to the cylinder rod lug of the active hydraulic cylinder through the tilting shaft hole 1, and the bottom of the active hydraulic cylinder is hinged to the transverse slide, forming a three-point support hinge structure; the active tilting arm is connected to the bottom of the driven hydraulic cylinder through the series connection shaft hole, and the driven tilting arm is connected to the cylinder rod lug of the driven hydraulic cylinder through the tilting shaft hole 3, and the driven tilting arm is connected in series with the active tilting arm through the driven hydraulic cylinder; the axes of the tilting shaft hole 2, the tilting shaft hole 4 and the tilting arm rotation shaft hole are the same, and the active tilting arm, the driven tilting arm and the transverse slide are connected together through the tilting shaft hole 2, the tilting shaft hole 4, the tilting arm rotation shaft hole and the rotation shaft.

[0010] The walking frame is equipped with a linear guide rail at the bottom and a lifting guide rail on the side. The flipping and lateral movement module is mounted on the reserved mounting surface at the bottom of the walking frame via the linear guide rail, and the lifting and positioning module is mounted on the reserved mounting surface on the side of the walking frame via the lifting guide rail.

[0011] The bottom of the transverse slide block is provided with a guide rail slider mounting surface and a hinge seat mounting surface. The guide rail slider is provided on the guide rail slider mounting surface of the transverse slide block. The guide rail slider is slidably mounted on the linear guide rail. The bottom of the active hydraulic cylinder is mounted on the hinge seat mounting surface through the hinge seat.

[0012] The bottom of the transverse slide is provided with a rack, and the transverse slide meshes with the transverse drive assembly through the rack.

[0013] Both the active tilting arm and the driven tilting arm are hollow box-shaped structures, with the active hydraulic cylinder and the driven hydraulic cylinder respectively embedded inside the active tilting arm and the driven tilting arm.

[0014] The distance between the series-connected shaft hole and the first flip shaft hole is greater than the distance between the second flip shaft hole and the first flip shaft hole.

[0015] The walking frame is made of carbon steel through riveting and welding.

[0016] The flip positioning unit is equipped with a cable drag chain, and the cable drag chains of the two flip positioning units share the same slide groove.

[0017] The drive assembly consists of a servo motor, a reducer, and an output gear, while the centering drive assembly consists of a servo motor, a reducer, and an output gear.

[0018] The active hydraulic cylinder, driven hydraulic cylinder, and lifting hydraulic cylinder are all connected to the hydraulic system, and the tilting and positioning unit is connected to the control system.

[0019] The active hydraulic cylinder, driven hydraulic cylinder, lifting hydraulic cylinder, lifting slider, servo motor one, reducer one, output gear one, servo motor two, reducer two and output gear two are all devices known and commonly used in the art.

[0020] A method for using a double-arm tandem box-shaped column flipping and centering device, employing the aforementioned flipping and centering device, includes the following steps:

[0021] ① After the control system receives the parameters of the box-shaped column to be produced, the two sets of flipping and positioning units automatically adjust their positions. The centering drive component drives the centering clamp to the loading position. The lifting hydraulic cylinder rod extends to push the lifting and positioning module to the high position. The workpiece lifting surface of the lifting and positioning module is higher than the flipping and transverse module. The centering clamp clamps the box-shaped column and then releases it, so that the centroid axis of the box-shaped column after the initial loading is completed is coplanar with the rotation axis of the flipping and transverse module.

[0022] ② The flipping and lateral movement module moves laterally to one side of the box column. The lateral movement position is the designated position for flipping the box column. After reaching this position, the hydraulic system controls the active hydraulic cylinder rod to extend and drive the active flipping arm to change from 0° to 90°. At this time, the driven hydraulic cylinder switches to the floating state. The driven hydraulic cylinder rod extends freely through the drive of the active flipping arm series shaft. The vertical surface of the active flipping arm coincides with the width surface of the box column and contacts it. The driven flipping arm remains at 0°.

[0023] ③ The hydraulic system locks the flow of the chambers on both sides of the driven hydraulic cylinder rod to keep the driven hydraulic cylinder rod in the extended state. At this time, the lifting hydraulic cylinder rod retracts, driving the lifting and positioning module to the low position and placing the box column on the driven tilting arm.

[0024] ④ The hydraulic system drives the active hydraulic cylinder rod to retract. During the retraction of the active hydraulic cylinder rod, the driven tilting arm lifts the box column to complete the tilting action from 0° to 90°. At the same time, the active tilting arm changes from 90° to 0° and the driven tilting arm changes from 0° to 90°.

[0025] ⑤ The lateral movement drive component drives the flipping lateral movement module to move laterally in the opposite direction of the box column flipping, so as to make the centroid axis of the box column in place consistent with that before flipping, that is, to convert the right angle flipping structure into an in-place flipping effect.

[0026] ⑥ The hydraulic system drives the driven hydraulic cylinder rod to retract, causing the driven tilting arm to change from 90° to 0°.

[0027] ⑦ The lifting hydraulic cylinder rod extends to push the lifting and positioning module to a high position. At this time, the lifting and positioning module lifts the workpiece away from the flipping and transverse module, and the centering drive component drives the centering clamping block to clamp the box column for production use.

[0028] ⑧ Run the automatic zeroing program of the transverse drive component to return the flip transverse module to its initial position, ready for the next round of 90° flip process.

[0029] The beneficial effects of this invention are: it can automatically adjust the lifting position according to the steel column parameters and automatically perform a 90° flip-over transformation. Furthermore, in conjunction with the lateral movement function, it can convert the right-angle flip structure into an in-situ flip effect. Specifically, for box-section steel columns, it can achieve a 90° in-situ angle switch around its centroidal axis. After the box-section steel column completes the face-changing operation, when welding connecting plate parts, the lifting and positioning module can lift it into position and provide positioning and clamping functions, ensuring that the positioning reference of the box-section steel column will not change due to external forces during the welding of connecting plate parts. This lays a good foundation for the operation of automated steel structure welding equipment, ensures the smooth operation of the automatic program, improves production efficiency and product processing quality and precision, reduces operator skill requirements and labor intensity, and thus reduces production costs. It provides strong support for meeting the needs of rapid production development and has great value for widespread application. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the present invention;

[0031] Figure 2 This is a schematic diagram of the flip positioning unit structure of the present invention;

[0032] Figure 3 This is a partial schematic diagram of the walking module of the present invention;

[0033] Figure 4 This is a schematic diagram of the flip-and-shift module structure of the present invention;

[0034] Figure 5 This is a schematic diagram of the lifting and positioning module structure of the present invention;

[0035] In the diagram: 1. Flipping and positioning unit 1; 2. Flipping and positioning unit 2; 3. Walking frame; 4. Walking module; 5. Flipping and lateral movement module; 6. Lifting and positioning module; 7. Ground track; 8. Walking wheel box; 9. Guide assembly; 10. Drive assembly; 11. Active flipping arm; 12. Driven flipping arm; 13. Driven hydraulic cylinder; 14. Lateral movement slide; 15. Lateral movement drive assembly; 16. Lifting base; 17. Lifting hydraulic cylinder; 18. Lifting slider; 19. Centering drive assembly; 20. Centering transmission guide assembly; 21. Centering clamp; 22. Detailed Implementation

[0036] The invention will be further illustrated below with reference to the accompanying drawings and examples.

[0037] A double-arm tandem box-shaped column tilting and centering device includes two sets of symmetrical tilting and positioning units. Each set of tilting and positioning units consists of a traveling frame 3, a traveling module 4, a tilting and lateral movement module 5, and a lifting and positioning module 6. The traveling frame 3 serves as the carrier of this device and is driven by an independent traveling module 4 to adjust the position of the two sets of tilting and positioning units along the length of the box-shaped column. The tilting and lateral movement module 5 and the lifting and positioning module 6 are respectively located on both sides of the traveling frame 3 to ensure structural symmetry and standardize functional zoning.

[0038] Preferably, the walking frame 3 is made of carbon steel by riveting and welding. The layout of each functional module and pipeline layout are taken into account in a comprehensive manner to ensure structural strength, optimize machining process, and facilitate assembly personnel operation by reserving operation holes.

[0039] Preferably, the walking module 4 includes a walking wheel box 8, a guide assembly 9, and a drive assembly 10. A standardized wheel box from the crane industry is introduced, simplifying the structure and reducing costs. The guide assembly 9 is installed on the end face of the walking wheel box 8. Both the walking wheel box 8 and the drive assembly 10 are bolted to the walking frame 3, forming a servo-controlled walking module.

[0040] Preferably, the flipping and traversing module 5 includes an active flipping arm 11, a driven flipping arm 12, an active hydraulic cylinder 13, a driven hydraulic cylinder 14, a traversing slide 15, and a traversing drive assembly 16. Both the active flipping arm 11 and the driven flipping arm 12 are in a mating configuration, with a rotating shaft passing through them to form a coaxial structure. One end of the active hydraulic cylinder 13 is connected to the active flipping arm 11, and the other end is connected to the traversing slide 15. One end of the driven hydraulic cylinder 14 is connected to the active flipping arm 11, and the other end is connected to the driven flipping arm 12, thus forming a coaxial series structure of the flipping arm and the traversing slide. The traversing drive assembly 16 is mounted on the traversing slide 15 to provide traversing force for the flipping and traversing module 5.

[0041] Preferably, the lifting and positioning module 6 includes a lifting base 17, a lifting hydraulic cylinder 18, a lifting slider 19, a centering drive assembly 20, a centering transmission guide assembly 21, and a centering clamp 22. One end of the lifting hydraulic cylinder 18 is mounted on the traveling frame 3 of the double-arm tandem box-shaped column tilting centering device, and the other end is mounted on the lifting base 17. The lifting base 17 is connected to the lifting guide rail on the traveling frame 3 through the lifting slider 19. The centering transmission guide assembly 21 meshes with the centering drive assembly 20 through an intermediate gear and is mounted on the centering clamp 22. The connected centering transmission guide assembly 21, centering drive assembly 20, and centering clamp 22 are mounted as a whole on the lifting base 17.

[0042] In this embodiment, the two sets of flip positioning units are flip positioning unit 1 and flip positioning unit 2. Flip positioning unit 1 and flip positioning unit 2 are symmetrical. The internal module configurations of flip positioning unit 1 and flip positioning unit 2 are the same. Each set of flip positioning units consists of a walking frame 3, a walking module 4, a flipping and lateral movement module 5, and a lifting and positioning module 6.

[0043] See attached document Figure 1 The flip positioning unit 1 and flip positioning unit 2 are symmetrical and are both installed on the ground track 7. They are equipped with cable drag chains with common sliding grooves, which can realize PLC parameterized control.

[0044] See attached document Figure 2 Within the separate flipping and positioning unit, the walking frame 3 serves as the structural carrier. It is designed according to the functional zoning and the concept of convenient processing and assembly. Each functional module is installed on the walking frame 3 by bolt fixing, which facilitates later maintenance and replacement of vulnerable parts. The walking module 4 is installed at the bottom of the walking frame 3, providing a medium for the flipping and positioning unit to travel on the track. The flipping and lateral movement module 5 is fixed to the reserved mounting surface at the bottom of the walking frame 3 with the lower linear guide rail as the connection medium. The lifting and positioning module 6 is fixed to the reserved mounting surface on the back vertical surface of the walking frame 3 with the vertical guide rail as the connection medium.

[0045] See attached document Figure 3The bottom layer of the walking frame 3 has a reserved mounting surface for the walking wheel box 8 and the drive assembly 10. The guide assembly 9 is installed on the end face of the walking wheel box 8. The two are fixedly installed on the bottom layer of the walking frame 3 in the form of a component to realize the rolling support and guiding function of the structure when walking, and to ensure the smooth and stable movement of the structure when walking and moving. The drive assembly 10 consists of a servo motor, a reducer and an output gear. It converts the rotational torque of the servo motor into the driving force for the linear movement of the structural unit. The programmable control of the PLC enables the walking module 4 to achieve linear movement under the drive of the rack.

[0046] See attached document Figure 4 The transverse slide 15 is the main structural body of the flipping transverse module 5. The top of the transverse slide 15 is provided with a rotating shaft hole for the flipping arm, and the bottom is provided with a guide rail slider mounting surface and an active hydraulic cylinder bottom hinge mounting surface, thereby realizing the flipping of the two flipping arms supported at the top and the bottom is connected to the walking frame 3 in a sliding manner and provides a power output support point for the active hydraulic cylinder 13. In addition to the slider, the bottom of the transverse slide 15 is also equipped with a long rack. The transverse drive component 16 is fixedly installed in the opposite direction at the lower part of the walking frame 3. The programmable control of the PLC enables the two structural units to achieve parametric walking and displacement.

[0047] The two tilting arms have a hollow box-shaped structure, and the tilting hydraulic cylinders are embedded inside the tilting arms;

[0048] The active tilting arm 11 is provided with three pivot holes. The front hole (tilting pivot hole one) is used to connect the cylinder rod lug of the active hydraulic cylinder. The rear tilting pivot hole (tilting pivot hole two) is used to install the active tilting arm 11 on the transverse slide 15 by means of a shaft connection. At the same time, the bottom of the active hydraulic cylinder is installed at the bottom of the transverse slide 15 in the form of a hinge seat. At this time, the transverse slide 15, the active tilting arm 11 and the active hydraulic cylinder 13 form a three-point support hinge connection. The rear side of the tilting pivot hole (tilting pivot hole two) at the rear of the active tilting arm 11 is provided with a pivot hole for the driven hydraulic cylinder 14 to be connected in series.

[0049] The driven tilting arm 12 is provided with two rotating shaft holes. The front hole (tilting shaft hole three) is used to connect the driven hydraulic cylinder rod lug seat. The rear tilting shaft hole (tilting shaft hole four) is used to install the driven tilting arm 12 on the transverse slide 15 by a shaft connection (this hole is coaxial with the tilting arm rotation shaft hole provided on the top of the transverse slide 15 and the tilting shaft hole at the tail of the active tilting arm 11, and the three parts are connected together by a rotating shaft). The lug seat at the bottom of the driven hydraulic cylinder is connected to the series connection of the tail of the active tilting arm 11 by a shaft hole. In this way, the driven tilting arm 12 is connected to the active tilting arm 11 in series through the driven hydraulic cylinder 14.

[0050] See attached document Figure 5The lifting slider 19 connects the lifting base 17 to the linear guide rail on the back of the walking frame 3 and provides the medium for lifting and sliding. The lifting hydraulic cylinder 18 is located below the lifting base 17 and is fixed to the walking frame 3 by bolts. The centering drive component 20 is installed in the lower middle part of the lifting base 17 and drives the centering transmission guide component 21 to move linearly for centering through the transition gear. The centering clamp 22 is installed on the slide plates on both sides of the centering transmission guide component 21. The centering drive component 20 consists of a servo motor 2, a reducer 2 and an output gear 2. It converts the rotational torque of the servo motor 2 into the driving force for linear movement. The PLC programmable control enables the centering clamp 22 to achieve parametric movement.

[0051] This invention has a specially designed and developed computing and control system that can automatically adjust the position of two flipping positioning units and automatically run the program of each module according to the parameters of the box column (such as length parameters, cross-sectional parameters, etc.). This enables the box column components to perform truly automated operation when switching working surfaces at 90°. At the same time, it reserves data and communication ports so that it can be connected and cooperate with automated logistics and robot-related work.

[0052] A method for using a double-arm tandem box-shaped column flipping and centering device, comprising the following steps:

[0053] (1) After the control system of the device of the present invention receives the parameters of the box column to be produced, the flipping positioning unit 1 and the flipping positioning unit 2 automatically adjust their positions (the internal algorithm comprehensively considers the lifting position, work area avoidance, interference problem caused by the change of workpiece shape after the flipping state change, etc.); the centering drive component 20 drives the centering clamp 22 to the loading position according to the parameterized calculation results (the internal algorithm calculates the loading position required for workpieces of different cross-sectional sizes according to the relationship between cross-sectional size and safety distance, aiming to eliminate redundant travel to improve the compactness and work efficiency of each module's action); the lifting hydraulic cylinder rod extends to push the lifting positioning module 6 to the high position. At this time, the workpiece lifting surface of the lifting positioning module 6 is higher than that of the flipping transverse module 5, which aims to use the hydraulic system to withstand the impact force generated when the box column is loaded, and protect the structural accuracy and life of the flipping transverse module 5; the centering clamp 22 clamps and releases the box column to center it, so that the centroidal axis of the box column after the initial loading is completed is coplanar with the flipping axis of the flipping transverse module 5.

[0054] (2) After the control system of the device of the present invention receives the parameters of the box-shaped column to be produced, the flipping and lateral movement module 5 moves laterally to one side of the box-shaped column according to the parameterized calculation results (at this time, the box-shaped column is supported by the lifting and positioning module 6, and the box-shaped column is higher than the flipping and lateral movement module 5). This lateral movement position is the designated position for flipping the box-shaped column of this model. After reaching this position, the hydraulic system controls the active hydraulic cylinder rod to extend and drive the active flipping arm 11 to change from 0° to 90° (at this time, the driven hydraulic cylinder 14 switches to the floating state, and the driven hydraulic cylinder rod extends freely through the drive of the tail series shaft of the active flipping arm 11). At this time, the active flipping arm 11 is in the 90° state and its vertical surface is exactly in contact with the width vertical surface of the box-shaped column. The driven flipping arm 12 is in the 0° state because the driven hydraulic cylinder 14 is in the floating state and due to gravity.

[0055] (3) After completing the first two steps, the angle detection signal and angle encoding data feedback in the structure will be triggered. The hydraulic system locks the flow of the chambers on both sides of the driven hydraulic cylinder piston rod to keep the driven hydraulic cylinder rod extended. At this time, the lifting hydraulic cylinder rod retracts and drives the lifting positioning module 6 to the low position and places the box column on the driven tilting arm 12.

[0056] (4) The hydraulic system drives the active hydraulic cylinder rod to retract. Since the position of the driven hydraulic cylinder rod has been locked in step (3) (at this time, the driven tilting arm 12, the driven hydraulic cylinder 14 and the active tilting arm 11 are connected in series with the shaft stroke fixed in a triangular form as rigid bodies), the driven tilting arm 12 lifts the box column to complete the tilting action from 0° to 90° during the retraction of the active hydraulic cylinder rod. At the same time, the active tilting arm 11 changes from 90° to 0° and the driven tilting arm 12 changes from 0° to 90°.

[0057] (5) While performing step (4), the transverse drive component 16 drives the flip transverse module 5 to move in the opposite direction of the box column flipping according to the parameterized calculation results. The flipping displacement is calculated by combining the cross-sectional dimensions of the box column and the distance between the two flipping arms and the rotation axis, so as to realize that the centroid axis of the box column in the flipped position is consistent with that before flipping, that is, the right angle flipping structure is converted into the in-place flipping effect.

[0058] (6) After completing steps (4) and (5) simultaneously, the angle detection signal and angle encoding data feedback within the structure will be triggered. The hydraulic system drives the driven hydraulic cylinder rod to retract, causing the driven tilting arm 12 to change from 90° to 0°.

[0059] (7) After completing the first six steps, the lifting hydraulic cylinder rod extends to push the lifting and positioning module 6 to the high position. At this time, the lifting and positioning module 6 lifts the workpiece away from the flipping and transverse module 5, and the centering drive component 20 drives the centering clamping block 22 to clamp the box column for production use.

[0060] (8) After completing the first seven steps, run the automatic zeroing program of the transverse drive component 16 to return the flip transverse module 5 to the initial position and prepare for the next round of 90° flip process.

[0061] This invention provides an automatic device integrating walking displacement, flipping, lateral movement, and positioning functions. Multiple node areas of box-section steel columns and beam-type connecting plate parts may change position and coverage area due to factors such as floor height and steel beam load during the building design process. This invention can automatically adjust the lifting position according to the steel column parameters and automatically perform a 90° flipping transformation. Furthermore, in conjunction with the lateral movement function, it can convert the right-angle flipping structure into an in-situ flipping effect. That is, for box-section steel columns, it can achieve in-situ 90° angle switching around its centroidal axis. When welding connecting plate parts, the box-section steel column that has completed the face-changing operation can be lifted into position by the jacking and positioning module, which provides positioning and clamping functions to ensure that the positioning reference of the box-section steel column will not change due to external forces during the welding of connecting plate parts. Furthermore, the device of this invention is positioned entirely beneath the steel column component during use. Compared to conventional positioner-type structures, it eliminates the need for a flipping device to occupy the working space on the sides, front, back, and top of the steel structure component. Moreover, flipping and lateral movement are performed simultaneously. Compared to conventional push-over flipping devices, this invention eliminates the tipping impact during the flipping process and can simultaneously complete the flipping and axis return functions. This lays a solid foundation for the operation of automated steel structure welding equipment, ensures the smooth operation of automatic programs, improves production efficiency and product processing quality and precision, reduces operator skill requirements and labor intensity, and thus reduces production costs. It provides strong support for meeting the needs of rapid production development and has great value for widespread application.

Claims

1. A box column overturning and centering device with double arms in series, characterized in that: The application relates to a two-set overturning positioning unit which is symmetrically arranged on a ground track (7); the overturning positioning unit is composed of a walking frame (3), a walking module (4), an overturning horizontal moving module (5) and a jacking positioning module (6); the walking module (4) is arranged at the bottom of the walking frame (3) and is slidably arranged on the ground track (7); the overturning horizontal moving module (5) and the jacking positioning module (6) are arranged at the two sides of the walking frame (3) respectively. The overturning horizontal moving module (5) comprises a driving overturning arm (11), a driven overturning arm (12), a driving hydraulic cylinder (13), a driven hydraulic cylinder (14), a horizontal moving sliding seat (15) and a horizontal moving driving assembly (16); one end of the driving hydraulic cylinder (13) is connected with the driving overturning arm (11), and the other end is connected with the horizontal moving sliding seat (15); one end of the driven hydraulic cylinder (14) is connected with the driving overturning arm (11), and the other end is connected with the driven overturning arm (12); the driving overturning arm (11), the driven overturning arm (12) and the horizontal moving sliding seat (15) are connected through a rotating shaft, thereby forming a coaxial series connection structure of the overturning arms and the horizontal moving sliding seat; the horizontal moving driving assembly (16) is arranged on the horizontal moving sliding seat (15); One end of the driving overturning arm (11) is provided with a overturning shaft hole one, the other end is provided with a overturning shaft hole two and a series connection shaft hole; the two ends of the driven overturning arm (12) are respectively provided with a overturning shaft hole three and a overturning shaft hole four, and the top of the horizontal moving sliding seat (15) is provided with an overturning arm rotating shaft hole; the driving overturning arm (11) is connected with the cylinder rod ear seat of the driving hydraulic cylinder through the overturning shaft hole one, the cylinder bottom of the driving hydraulic cylinder is hinged with the horizontal moving sliding seat (15), the horizontal moving sliding seat (15), the driving overturning arm (11) and the driving hydraulic cylinder (13) form a three-point supporting hinged structure; the driving overturning arm (11) is connected with the cylinder bottom of the driven hydraulic cylinder through the series connection shaft hole, the driven overturning arm (12) is connected with the cylinder rod ear seat of the driven hydraulic cylinder (14) through the overturning shaft hole three, and the driven overturning arm (12) is connected with the driving overturning arm (11) in series through the driven hydraulic cylinder (14); the axes of the overturning shaft hole two, the overturning shaft hole four and the overturning arm rotating shaft hole are the same, and the driving overturning arm (11), the driven overturning arm (12) and the horizontal moving sliding seat (15) are connected together through the overturning shaft hole two, the overturning shaft hole four, the overturning arm rotating shaft hole and the rotating shaft; The jacking positioning module (6) comprises a lifting base (17), a lifting hydraulic cylinder (18), a lifting sliding block (19), a centering driving assembly (20), a centering transmission guiding assembly (21) and a centering clamping block (22), the lifting base (17) is slidably connected with the lifting guide rail on the walking frame (3) through the lifting sliding block (19), one end of the lifting hydraulic cylinder (18) is installed on the walking frame (3), and the other end is installed on the lifting base (17); the centering driving assembly (20) drives the centering transmission guiding assembly (21) to make a centering linear motion, and the centering clamping blocks (22) are respectively installed on the sliding plates on the two sides of the centering transmission guiding assembly (21); the centering transmission guiding assembly (21), the centering driving assembly (20) and the centering clamping blocks (22) are integrally installed on the lifting base (17).

2. The box column overturning and centering device of double-arm series according to claim 1, characterized in that: The walking module (4) comprises a walking wheel box (8), a guiding assembly (9) and a driving assembly (10), the walking wheel box (8) and the driving assembly (10) are installed at the bottom of the walking frame (3), and the guiding assembly (9) is installed on the walking wheel box (8), so that the rolling support and guiding functions of the walking module (4) during walking are realized, and the smoothness and stability of the walking module (4) during walking displacement are ensured.

3. The box column tilting and centering device of claim 1, wherein: The walking frame (3) is provided with a linear guide rail at the bottom and a lifting guide rail at the side, the turnover transverse moving module (5) is arranged on the bottom reserved mounting surface of the walking frame (3) through the linear guide rail, and the jacking positioning module (6) is arranged on the side reserved mounting surface of the walking frame (3) through the lifting guide rail.

4. The box column overturning and centering device of double-arm series according to claim 3, characterized in that: The bottom of the transverse moving sliding seat (15) is provided with a guide rail sliding block mounting surface and a hinge seat mounting surface, the guide rail sliding block mounting surface of the transverse moving sliding seat (15) is provided with a guide rail sliding block, and the guide rail sliding block is slidably arranged on the linear guide rail.

5. The box column tilting and centering device of claim 1, wherein: The driving hydraulic cylinder (13) and the driven hydraulic cylinder (14) are respectively embedded in the driving turnover arm (11) and the driven turnover arm (12).

6. The box column overturning and centering device of double-arm series according to claim 1 or 2, characterized in that: The walking frame (3) is made of carbon steel by riveting and welding.

7. The box column overturning and centering device of double-arm series according to claim 1 or 2, characterized in that: The turnover positioning unit is provided with a cable drag chain, and the cable drag chains of the two sets of turnover positioning units share a same sliding groove.

8. A method for using a box column overturning and centering device with double arms in series, using the overturning and centering device according to any one of claims 1-7, characterized in that The method comprises the following steps: After the control system receives the parameters of the box column to be produced, the two sets of turnover positioning units automatically adjust the positions, the centering driving assembly (20) drives the centering clamping blocks (22) to the workpiece loading position, the lifting hydraulic cylinder rod is extended to push the jacking positioning module (6) to the high position, the workpiece lifting surface of the jacking positioning module (6) is higher than the turnover transverse moving module (5), the centering clamping blocks (22) are centered and clamped to loosen, so that the centroid axis of the initial loading completed box column is coplanar with the rotation axis of the turnover transverse moving module (5); 2. The hydraulic system controls the main hydraulic cylinder rod to extend to drive the main turning arm (11) to change from 0° to 90°, at this time the driven hydraulic cylinder (14) is switched to a floating state, the driven hydraulic cylinder rod is freely extended through the driving of the main turning arm (11) series shaft, the main turning arm (11) upright surface coincides with the box column width upright surface, the driven turning arm (12) remains at 0°; 3. The hydraulic system locks the flow of the driven hydraulic cylinder rod two sides to keep the driven hydraulic cylinder rod extended, at this time the lifting hydraulic cylinder rod is retracted to drive the lifting positioning module (6) to the low position and place the box column on the driven turning arm (12); 4. The hydraulic system drives the main hydraulic cylinder rod to retract, in the process of retraction of the main hydraulic cylinder rod, the driven turning arm (12) lifts the box column to complete the 0° to 90° turning action, at the same time the main turning arm (11) changes from 90° to 0°, the driven turning arm (12) changes from 0° to 90°; 5. The horizontal movement driving assembly (16) drives the turning horizontal movement module (5) to move in the opposite direction of the box column turning, so as to realize that the centroid axis of the turned box column is consistent with the turning before, that is, the right angle turning structure is converted into the original turning effect; 6. The hydraulic system drives the driven hydraulic cylinder rod to retract to drive the driven turning arm to change from 90° to 0°; 7. The lifting hydraulic cylinder rod is extended to push the lifting positioning module (6) to the high position, at this time the lifting positioning module (6) lifts the workpiece to separate from the turning horizontal movement module (5), the centering driving assembly (20) drives the centering clamp block (22) to clamp the box column for production use; 8. The horizontal movement driving assembly (16) is operated to return to zero automatically to make the turning horizontal movement module (5) return to the initial position, ready for the next 90° turning process.

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