A closed type automatic clamping unlimited rotation device and method

Abstract

This invention relates to a closed, automatically clamping, infinitely rotating device and method, belonging to the technical field of steel structure component production and processing equipment for prefabricated steel structure residential hidden frame systems. Technical solution: A slewing bearing (10) is installed on the upright plate of a traveling frame (9). Upper and lower clamping slewing components (5) and left and right clamping slewing components (6) are respectively arranged on both sides of the upright plate of the traveling frame. The upper and lower clamping slewing components are installed on the rotating ring of the slewing bearing. The upper and lower clamping slewing components (5), left and right clamping slewing components, slewing bearing, and traveling frame form a coaxial structure. The upper and lower clamping slewing components are connected to the left and right clamping slewing components through a central connecting arm (25), forming a single rotating unit. The beneficial effects of this invention are: it enables infinite rotation and positioning and clamping without personnel intervention, improving the stability and durability of the structure; it significantly reduces processing time, improves production efficiency, and reduces the production costs of steel structure companies.

Description

Technical Field

[0001] This invention relates to a closed, automatically clamping, infinitely rotating device and method, belonging to the technical field of steel structure component production and processing equipment for prefabricated steel structure residential hidden frame systems. Background Technology

[0002] The company will formulate the manufacturing method based on the design results. The raw materials are mainly steel plates. The manufacturing and processing are carried out in a similar way to customization. The production equipment consists of traditional plate cutting, edge processing, assembly and other processes. Although each process is assisted by production equipment, the overall level of automation is low, the requirements for skilled workers are high, the overall quality of the products is relatively large, the production efficiency is relatively low, and the production cost remains high.

[0003] In current steel structure production sites, the weld legs required for welding steel structural members (both the main body and the end plates or connecting plates) are relatively large. This necessitates manual labor, welding robots, and multiple turns, layers, and passes of welding to meet the strength requirements of the components. Therefore, a tilting and positioning device is essential. Based on market research and analysis, the currently used tilting and positioning devices fall into roughly four categories, but all have some inherent problems.

[0004] Firstly, it adopts a circular cage structure. The upper half of the ring can use an electro-hydraulic actuator to drive the hinge shaft to open and close the opening on the device. The core of the cage structure uses a screw and rocker structure on all four sides to clamp and position the components. This structure can facilitate the loading and unloading of components by conventional manufacturers using workshop cranes. The upper opening structure can make full use of the height space of the factory and is also the traditional operating habit of crane operators. However, the electro-hydraulic actuator used for opening and closing in this structure is a critical maintenance point for the device, and leakage and rod breakage occur frequently. Furthermore, when production requires matching components with larger cross-sections, the alignment angle of the loading opening needs to be increased, which also increases the self-weight of the opening and closing section, indirectly increasing the stress on the hinge shaft and the output capacity requirements of the electro-hydraulic actuator. Another drawback of this device is the manual clamping method of the four-sided lead screws. Operators must first adjust the positions of the two right-angled positioning surfaces using a ruler as a base before tightening and positioning the outer lead screw. Moreover, when two sets of devices are simultaneously carrying a component, any deviation while adjusting the reference surfaces of the two sets will trigger an overload alarm on the rotary power motor. The cycle time required for a single loading, positioning, and clamping operation of this device is approximately 30-60 minutes, depending on the operator's skill level, resulting in low efficiency.

[0005] Secondly, a circular side-opening structure is adopted, with the rotating body having side notches and clamping devices installed internally or on both sides. This device can be matched with lateral automated logistics, significantly improving the loading cycle time compared to the first device. However, due to the influence of the side notches, the clamping of the steel structure components on all four sides must be achieved at a fixed angle, and the resulting idle adjustment time also ineffectively occupies the production cycle. Moreover, the biggest drawback of this structure is the structural strength issue. The self-weight of the steel structure components ranges from several hundred kilograms to tens of tons. The open-type rotating body and the side-opening fixed base will deform after long-term operation under load, mainly due to a decrease in structural roundness. This leads to clamping misalignment, torsional resistance caused by the misalignment of the two devices, insufficient rotational driving force, or alarms. This structure can improve the loading cycle time, but due to insufficient structural strength, it results in low working accuracy, high maintenance frequency, and short equipment life.

[0006] Thirdly, it adopts a circular cage structure, with a standard roller chain drive on the outer ring and two sets of centering and clamping hydraulic cylinders embedded on both sides of the inner ring for positioning and clamping. This type of device is mainly used for clamping small-section components, and due to the influence of the hydraulic pipeline during rotation, it can only achieve turning and displacement within a range of 0-360°. It is widely used because of its low price and ease of maintenance, but it can only serve as an auxiliary device for manual operators, cannot be integrated with automated welding systems, and can only accommodate small component cross-sections.

[0007] Fourth, it employs a multi-layered semi-circular rack and pinion structure, combined with a side-mounted centering clamping device, to achieve 90° or 180° rotation of the component. This device has a clever and complex structure and an aesthetically pleasing appearance. However, this mechanism is relatively expensive, requires high installation precision and maintenance, and takes approximately 60-120 seconds to rotate 90°. This structure is mainly used in 90° rotation operations. Summary of the Invention

[0008] The purpose of this invention is to provide a closed, automatically clamping, infinitely rotating device and method that enables infinite rotation and unmanned positioning and clamping of steel structure components when matched with automatic welding devices during the manufacturing stage. It also improves the stability and durability of the structure with a closed-loop structure and a modular assembly mode, and realizes functions such as automatic clamping and infinite rotation and repositioning of steel structure components, thus solving the problems existing in the background technology.

[0009] The technical solution of this invention is:

[0010] An enclosed, automatically clamping, infinitely rotating device comprises two sets of rotating positioning units symmetrically arranged on a track. Each rotating positioning unit consists of a traveling frame assembly, a rotating drive assembly, an upper and lower clamping rotating assembly, a left and right clamping rotating assembly, an upper and lower clamping drive assembly, and a left and right clamping drive assembly. The traveling frame assembly includes a traveling frame, a slewing bearing, and a traveling assembly. The traveling frame is mounted on the track via the traveling assembly. The slewing bearing is mounted on the upright plate of the traveling frame. The upper and lower clamping rotating assemblies and the left and right clamping rotating assemblies are respectively located on both sides of the upright plate of the traveling frame. The rotating assembly is mounted on the slewing bearing; the slewing bearing has a circular structure, and the upper and lower clamping slewing assemblies, the left and right clamping slewing assemblies, and the upright plate of the traveling frame are all provided with a central hole. The upper and lower clamping slewing assemblies, the left and right clamping slewing assemblies, the slewing bearing, and the traveling frame form a coaxial structure; the upper and lower clamping slewing assemblies are connected to the left and right clamping slewing assemblies through a central connecting arm to form a rotating whole; the slewing drive assembly, the upper and lower clamping drive assembly, and the left and right clamping drive assembly are all located at the lower part of the traveling frame, and the upper and lower clamping drive assembly and the left and right clamping drive assembly are respectively connected to the upper and lower clamping slewing assemblies and the left and right clamping slewing assemblies.

[0011] The walking assembly includes a walking wheel box, a guide assembly, and a drive assembly. The walking wheel box and the drive assembly are installed at the bottom of the walking frame, and the guide assembly is installed on the walking wheel box to realize the rolling support and guiding function when the walking frame is walking, ensuring the smooth and stable movement of the walking frame.

[0012] The upper and lower clamping rotary assembly includes an upper and lower clamping rotary table, a steering gear, a centering screw, a linear guide assembly, an upper clamping bracket, a lower clamping bracket, and an upper and lower clamping power input connector. Two sets of linear guide assemblies are vertically mounted on the upper and lower clamping rotary table. The upper ends of the two sets of linear guide assemblies are connected to the two ends of the upper clamping bracket via sliders, and the lower ends of the two sets of linear guide assemblies are connected to the two ends of the lower clamping bracket via sliders. Centering screws are provided on the outer sides of the two sets of linear guide assemblies. One end of each centering screw is connected to the two ends of the upper clamping bracket via nuts, and the other end of each centering screw is connected to the two ends of the lower clamping bracket via nuts. The two centering screws are connected in parallel via the steering gear and the drive shaft to form a single-point input. The input point of the single-point input is equipped with an upper and lower clamping power input connector, which provides a power input interface for the upper and lower clamping.

[0013] The left and right clamping rotary assembly includes a left and right clamping rotary table, a second steering mechanism, a second centering screw, a second linear guide rail assembly, a left clamping bracket, a right clamping bracket, and left and right clamping power input connectors. Two sets of second linear guide rail assemblies are horizontally mounted on the left and right clamping rotary table. The left ends of the two sets of second linear guide rail assemblies are connected to the left clamping bracket via a second slider, and the right ends of the two sets of second linear guide rail assemblies are connected to the right clamping bracket via a second slider. Centering screws are provided on the outer sides of the two sets of second linear guide rail assemblies. One end of each of the two centering screws is connected to both ends of the left clamping bracket via a second screw nut, and the other end of each of the two centering screws is connected to both ends of the right clamping bracket via a second screw nut. The two centering screws are connected in parallel through the second steering mechanism and the second drive shaft to form a single-point input. The input point of the single-point input is equipped with a left and right clamping power input connector, which provides a power input interface for left and right clamping.

[0014] The upper and lower clamping drive assembly and the left and right clamping drive assembly are bolted to the lower part of the traveling frame. The upper and lower clamping drive assembly and the left and right clamping drive assembly are respectively set on both sides of the upright plate of the traveling frame. The upper and lower clamping drive assembly and the upper and lower clamping rotary assembly are on the same side of the upright plate of the traveling frame, and the left and right clamping drive assembly and the left and right clamping rotary assembly are on the same side of the upright plate of the traveling frame.

[0015] The upper and lower clamping drive assembly and the left and right clamping drive assembly each consist of a servo motor, a precision planetary reducer, a cylinder, a linear guide rail, and an output power connector, serving as the power supply unit for workpiece clamping. The servo motor is connected to the precision planetary reducer, which and the output power connector are mounted on the slide. The cylinder rod is connected to the slide, and the cylinder drives the slide to slide on the linear guide rail. The output power connectors of the upper and lower clamping drive assembly and the left and right clamping drive assembly are respectively matched with the upper and lower clamping power input connector and the left and right clamping power input connector. Both the upper and lower clamping drive components and the left and right clamping drive components have working positions and clearance positions. The position switching is completed by the cylinder driving the slide on the linear guide rail. The servo motor is the power source for the clamping action. When the upper and lower clamping drive components and the left and right clamping drive components are in the working position, the output power connectors of the upper and lower clamping drive components and the left and right clamping drive components respectively engage with the upper and lower clamping power input connectors and the left and right clamping power input connectors, inputting the motor power to the upper and lower clamping rotary components and the left and right clamping rotary components. A spring slide bar mechanism is provided at the interface to eliminate the impact during engagement.

[0016] The diameter of the central hole of the vertical plate of the upper and lower clamping rotary assembly, the left and right clamping rotary assembly, and the traveling frame is larger than the outer diameter of the steel structure component; the annular structure of the slewing bearing includes a fixed ring and a rotating ring, with the fixed ring located inside the rotating ring, and the inner diameter of the fixed ring being larger than the outer diameter of the steel structure component.

[0017] The fixed ring of the slewing bearing is installed on the reserved machined surface of the traveling frame, and the slewing ring of the slewing bearing is the interface of the entire slewing assembly.

[0018] The rotary positioning unit is equipped with a cable drag chain, and the cable drag chains of the two rotary positioning units share the same slide groove.

[0019] The walking frame is made of carbon steel through riveting and welding.

[0020] The rotary drive assembly includes a servo motor, an RV reducer, a drive gear, and mounting accessories.

[0021] The edges of the upper and lower clamping slewing components, the left and right clamping slewing components, the slewing bearing, and the upright plate of the traveling frame are all closed, preventing welding deformation during processing and structural deformation during use, thus improving the stability and durability of the structure.

[0022] The steering gear 1, steering gear 2, servo motor 1, precision planetary reducer, cylinder, servo motor 2, RV reducer, drive gear and mounting accessories are all equipment known and commonly used in this field.

[0023] A method for using a closed, automatically clamping, infinitely rotating device, comprising the following steps:

[0024] ① After the control system receives the parameters of the steel structure components to be produced, the two sets of rotary positioning units automatically adjust their positions so that the distance between the two sets of rotary positioning units is greater than the length of the component.

[0025] ② The control system sets the clamping zero point program, and during the loading stage, the distance between the upper clamping bracket and the lower clamping bracket is maximized, and the distance between the left clamping bracket and the right clamping bracket is maximized; when the component is transported by the automatic feeding mechanism to the two sets of rotary positioning units, the control system issues instructions to the walking component according to the component parameters, driving the two sets of rotary positioning units to move to the designated position. At this time, the two ends of the steel structure component pass through the two sets of rotary positioning units respectively. After the automatic feeding mechanism places the component on the two lower clamping brackets and returns, the next operation is performed.

[0026] ③ Feedback of various detection signals: The cylinder rod of the left and right clamping drive components extends to put the left and right clamping drive components in the working position. The output power connector and the left and right clamping power input connector of the left and right clamping drive components engage. The servo motor of the left and right clamping drive components inputs power to the left and right clamping brackets to center and position the components left and right until the torque alarm setting value of the servo motor and the encoder pulse number setting value respond simultaneously. The reverse pulse value m is input to the servo motor to slightly loosen the components on the left and right clamping brackets.

[0027] ④ The system automatically runs the upper and lower clamping program. The cylinder rod of the upper and lower clamping drive component extends to put the upper and lower clamping drive component in the working position. The output power connector of the upper and lower clamping drive component and the upper and lower clamping power input connector engage. The servo motor of the upper and lower clamping drive component inputs power to the upper clamping bracket and the lower clamping bracket to perform upper and lower centering and positioning of the component until the torque alarm setting value of the servo motor and the encoder pulse number setting value respond simultaneously.

[0028] ⑤ Input a positive pulse value m to the servo motor of the left and right clamping drive components to the left and right clamping components of the left and right clamping brackets;

[0029] ⑥ The control system issues a command to retract the cylinder rod so that both the upper and lower clamping drive components and the left and right clamping drive components are in the avoidance position, and the output power connectors of the upper and lower clamping drive components and the left and right clamping drive components are respectively disconnected from the upper and lower clamping power input connectors and the left and right clamping power input connectors.

[0030] ⑦ The control system issues commands to activate the slewing drive assembly, and the two sets of slewing positioning units drive the steel structure components to rotate, providing stable and continuous slewing motion for the production of steel structure components.

[0031] The beneficial effects of this invention are: it enables steel structure components to rotate infinitely and be positioned and clamped without human intervention when matched with automatic welding devices during the manufacturing stage; and it improves the stability and durability of the structure with a closed-loop structure and a modular assembly mode; it also provides a data communication interface for intelligent automated steel structure production equipment, embedding various action commands into the parameter system of the automated equipment to realize functions such as automatic clamping and infinite rotation and repositioning of steel structure components; it significantly reduces processing time, improves production efficiency, reduces production costs for steel structure companies, and enriches and improves the factory manufacturing solution for prefabricated building structural components. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structure of the present invention;

[0033] Figure 2 This is a schematic diagram of the rotary positioning unit structure of the present invention;

[0034] Figure 3 This is a perspective view of the rotary positioning unit of the present invention;

[0035] Figure 4 This is a schematic diagram of the walking frame assembly structure of the present invention;

[0036] Figure 5 This is a schematic diagram showing the connection between the upper and lower clamping rotary assembly and the left and right clamping rotary assembly of the present invention;

[0037] Figure 6This is a schematic diagram of the upper and lower clamping rotary assembly structure of the present invention;

[0038] Figure 7 This is a schematic diagram of the left and right clamping rotary assembly structure of the present invention;

[0039] Figure 8 This is a schematic diagram of the upper and lower clamping drive assembly structure of the present invention;

[0040] Figure 9 This is a cross-sectional view of the upper and lower clamping drive assembly of the present invention;

[0041] In the diagram: 1. Rotary positioning unit 1; 2. Rotary positioning unit 2; 3. Walking frame assembly; 4. Rotary drive assembly; 5. Upper and lower clamping rotary assembly; 6. Left and right clamping rotary assembly; 7. Upper and lower clamping drive assembly; 8. Left and right clamping drive assembly; 9. Walking frame; 10. Rotary bearing; 11. Upper and lower clamping rotary table; 12. Steering gear 1; 13. Centering screw 1; 14. Linear guide rail assembly 1; 15. Upper clamping bracket; 16. Lower clamping bracket; 17. Upper and lower clamping power input connector; 18. Left and right clamping rotary table; 19. Steering gear 2; 20. Centering screw 2; 21. Linear guide rail assembly 2; 22. Left clamping bracket; 23. Right clamping bracket; 24. Left and right clamping power input connector; 25. Center connecting arm; 26. Walking assembly; 27. Servo motor 1; 28. Precision planetary reducer; 29. ​​Cylinder; 30. Linear guide rail; 31. Output power connector. Detailed Implementation

[0042] The invention will be further illustrated below with reference to the accompanying drawings and examples.

[0043] An enclosed, automatically clamping, infinitely rotating device includes two sets of rotating positioning units, namely Rotary Positioning Unit 1 and Rotary Positioning Unit 2. Rotary Positioning Unit 1 and Rotary Positioning Unit 2 are symmetrical. The components within Rotary Positioning Unit 1 and Rotary Positioning Unit 2 are configured identically. Each set of rotating positioning units consists of a walking frame assembly 3, a rotating drive assembly 4, an upper and lower clamping rotating assembly 5, a left and right clamping rotating assembly 6, an upper and lower clamping drive assembly 7, and a left and right clamping drive assembly 8.

[0044] See attached document Figure 1 Rotary positioning unit 1 and rotary positioning unit 2 are symmetrical. Both are supported by the walking assembly 26 and mounted on the track. They are equipped with cable drag chains with common sliding grooves, which can realize PLC parameterized control.

[0045] See attached document Figure 2 , 3The walking frame assembly 3 is driven by an independent walking assembly 26 to adjust the position of the two sets of rotary positioning units along the length of the steel structure component. Within the individual rotary positioning unit, the walking frame 9 serves as the structural carrier, designed according to functional zoning and ease of processing and assembly. Each functional module is bolted to the walking frame for easy maintenance and replacement of easily damaged parts. As shown in the figure, the rotary drive assembly 4 is installed at the bottom of the walking frame 9 to provide power output for the rotary motion. The upper and lower clamping rotary assemblies 5 and the left and right clamping rotary assemblies 6 are respectively installed on both sides of the upright plate of the walking frame 9, forming a coaxial structure with the walking frame 9. The upper and lower clamping drive assemblies 7 and the left and right clamping drive assemblies 8 are both located at the bottom of the walking frame 9 and are arranged on both sides of the upright plate of the walking frame 9, which facilitates cable management and ensures uniform force distribution at the bottom of the walking frame 9. The upper and lower clamping drive assemblies 7 and the left and right clamping drive assemblies 8 are connected to the upper and lower clamping rotary assemblies 5 and the left and right clamping rotary assemblies 6 as needed.

[0046] See attached document Figure 4 , 5 The bottom layer of the walking frame 9 has a reserved mounting surface for the walking assembly 26, which provides the walking traction force. The walking assembly 26 includes a walking wheel box, a guide assembly, and a drive assembly. The walking wheel box and drive assembly are installed at the bottom of the walking frame 9, and the guide assembly is installed on the walking wheel box to realize the rolling support and guiding function of the walking frame 9 when it moves, ensuring the smooth and stable movement of the walking frame 9. The inner ring of the slewing bearing 10 fixes the outer ring for rotation. The fixing ring of the slewing bearing 10 is installed on the reserved machining surface of the walking frame 9. The upper and lower clamping slewing assembly 5 is installed on the slewing ring of the slewing bearing 10. The left and right clamping slewing assembly 6 is connected to the central connecting arm 25 to fix it to the upper and lower clamping slewing assembly 5 into a rotating whole. The slewing ring of the slewing bearing 10 is the interface of the rotating whole of the device.

[0047] See attached document Figure 6 The upper and lower clamping rotary table 11 is the main structure of the upper and lower clamping rotary assembly 5. Two sets of linear guide rail assemblies 14 are vertically installed on the upper and lower clamping rotary table 11. The upper clamping bracket 15 and the lower clamping bracket 16 are respectively connected by a slider. The upper clamping bracket 15 and the lower clamping bracket 16 are respectively connected to the nuts in the centering screws 13 on both sides. The centering screws 13 on both sides are connected in parallel by the steering gear 12 and the drive shaft to form a single point input. The upper and lower clamping power input connector 17 is installed at this input point to reserve a power input interface for the upper and lower clamping.

[0048] See attached document Figure 7The left and right clamping rotary table body 18 is the main structure of the left and right clamping rotary assembly 6. Two sets of linear guide rail assemblies 21 are horizontally installed on the left and right clamping rotary table body 18. The left clamping bracket 22 and the right clamping bracket 23 are respectively connected by slider 2. The left clamping bracket 22 and the right clamping bracket 23 are respectively connected to the screw nuts 2 in the centering screws 20 on both sides. The centering screws 20 on both sides are connected in parallel by the steering gear 29 and the transmission shaft 2 to form a single point input 2. The left and right clamping power input connector 24 is installed at this input point to reserve the power input interface for the left and right clamping.

[0049] See attached document Figure 8 , 9 The upper and lower clamping drive assembly 7 and the left and right clamping drive assembly 8 are both composed of a servo motor 27, a precision planetary reducer 28, a cylinder 29, a linear guide rail 30, and an output power connector 31, etc., and are the power supply units for workpiece clamping. The upper and lower clamping drive assembly 7 and the left and right clamping drive assembly 8 are bolted to the bottom of the traveling frame 9. The upper and lower clamping drive assembly 7 and the left and right clamping drive assembly 8 are both located at the lower right corner of the traveling frame 9, on both sides of the upright plate of the traveling frame 9. The upper and lower clamping drive assembly 7 and the upper and lower clamping rotary assembly 5 are on the same side of the upright plate of the traveling frame 9, and the left and right clamping drive assembly 8 and the left and right clamping rotary assembly 6 are on the traveling frame. On the same side of the upright plate 9; the upper and lower clamping drive assembly 7 and the left and right clamping drive assembly 8 both have working positions and clearance positions. The cylinder 29 drives the slide to switch positions on the linear guide rail 30. The servo motor 27 is the power source for the clamping action. When the upper and lower clamping drive assembly 7 and the left and right clamping drive assembly 8 are in the working position, the output power connectors 31 of the upper and lower clamping drive assembly 7 and the left and right clamping drive assembly 8 respectively engage with the upper and lower clamping power input connector 17 and the left and right clamping power input connector 24 to input the motor power to the upper and lower clamping rotary assembly 5 and the left and right clamping rotary assembly 6. A spring slide mechanism is provided at the interface to eliminate the impact during engagement.

[0050] This invention has a specially designed and developed computing and control system that can automatically adjust the position of two sets of rotary positioning units and run the automatic program of each module according to the parameter settings of the box column. This enables the steel structure components to be connected with automatic logistics and automatic welding equipment in automated production, and achieves stable and unlimited rotation of the steel structure components at rounded corners and during multi-layer and multi-pass welding.

[0051] A method for using a closed, automatically clamping, infinitely rotating device, comprising the following steps:

[0052] ① After the control system receives the parameters of the steel structure components to be produced, the rotary positioning unit 1 and rotary positioning unit 2 automatically adjust their positions (the internal algorithm is based on the component length and length reference) so that the distance between the two sets of rotary positioning units is greater than the component length.

[0053] ② The control system sets the clamping zero point program. During the loading stage, the distance between the upper clamping bracket 15 and the lower clamping bracket 16 is maximized, and the distance between the left clamping bracket 22 and the right clamping bracket 23 is maximized. When the component is transported by the automatic feeding mechanism to the two sets of rotary positioning units, the control system issues instructions to the walking component 26 according to the component parameters, driving the two sets of rotary positioning units to move to the designated position. At this time, the two ends of the steel structure component pass through the two sets of rotary positioning units respectively. After the automatic feeding mechanism places the component on the two lower clamping brackets 16 and returns, the next operation is performed.

[0054] ③ After completing the first two steps, the feedback of various detection signals in the structure will be triggered. The cylinder rod of the cylinder 29 of the left and right clamping drive assembly 8 will extend to put the left and right clamping drive assembly 8 into the working position (at this time, the output power connector 31 and the left and right clamping power input connector 24 of the left and right clamping drive assembly 8 will engage). The servo motor 27 of the left and right clamping drive assembly 8 will input power to the left clamping bracket 22 and the right clamping bracket 23 to center and position the component left and right until the torque alarm setting value of the servo motor 27 and the encoder pulse number setting value respond simultaneously. The reverse pulse value m is input to the servo motor 27 to the left clamping bracket 22 and the right clamping bracket 23 to slightly loosen the component.

[0055] ④ After completing process ③, the system will automatically run the upper and lower clamping program. The cylinder rod of cylinder 29 of the upper and lower clamping drive assembly 7 will extend to put the upper and lower clamping drive assembly 7 into the working position (at this time, the output power connector 31 and the upper and lower clamping power input connector 17 of the upper and lower clamping drive assembly 7 are engaged). The servo motor 27 of the upper and lower clamping drive assembly 7 will input power to the upper clamping bracket 15 and the lower clamping bracket 16 to perform upper and lower centering and positioning of the component until the torque alarm setting value of the servo motor 27 and the encoder pulse number setting value respond simultaneously.

[0056] ⑤ Input a positive pulse value m to the servo motor 27 of the left and right clamping drive assembly 8 to the left and right clamping components of the left clamping bracket 22 and the right clamping bracket 23;

[0057] ⑥ The control system issues a command to retract the cylinder rod of cylinder 29 so that both the upper and lower clamping drive assembly 7 and the left and right clamping drive assembly 8 are in the avoidance position (at this time, the output power connector 31 of the upper and lower clamping drive assembly 7 and the left and right clamping drive assembly 8 are disengaged from the upper and lower clamping power input connector 17 and the left and right clamping power input connector 24 respectively).

[0058] ⑦ The control system issues commands to activate the rotary drive assembly 4, and the two sets of rotary positioning units drive the steel structure components to rotate, providing stable and continuous rotary motion for the production of steel structure components.

[0059] This invention provides an automatic clamping, infinitely rotating closed-loop rotary device. During the fabrication of steel structure components, to avoid weld defects or stress concentration at weld seams that could lead to building quality issues, continuous welding is required at the rounded corners of rectangular tubes. This invention significantly reduces the processing time for steel structure manufacturing companies while ensuring structural strength and functional requirements. It shifts the processing mode of non-standard parts from being primarily manual to being primarily automated, reducing production costs for steel structure companies and promoting the adoption of automated equipment for steel structure components. Furthermore, it enriches and improves the factory manufacturing solutions for prefabricated building structural components.

Claims

1. A closed, automatically clamping, infinitely rotating device, characterized in that: It includes two sets of rotary positioning units, which are symmetrically arranged on the track. Each set of rotary positioning units consists of a traveling frame assembly (3), a rotary drive assembly (4), an upper and lower clamping rotary assembly (5), a left and right clamping rotary assembly (6), an upper and lower clamping drive assembly (7), and a left and right clamping drive assembly (8). The traveling frame assembly (3) includes a traveling frame (9), a rotary bearing (10), and a traveling assembly (26). The traveling frame (9) is set on the track through the traveling assembly (26). The rotary bearing (10) is installed on the upright plate of the traveling frame (9). The upper and lower clamping rotary assembly (5) and the left and right clamping rotary assembly (6) are respectively set on both sides of the upright plate of the traveling frame (9). The upper and lower clamping rotary assembly (5) is installed on the rotary bearing (10). 0) On; the slewing bearing (10) is a circular structure. The vertical plates of the upper and lower clamping slewing assembly (5), the left and right clamping slewing assembly (6) and the walking frame (9) are all provided with central holes. The upper and lower clamping slewing assembly (5), the left and right clamping slewing assembly (6), the slewing bearing (10) and the walking frame (9) form a coaxial structure. The upper and lower clamping slewing assembly (5) is connected to the left and right clamping slewing assembly (6) through the central connecting arm (25) to form a slewing whole. The slewing drive assembly (4), the upper and lower clamping drive assembly (7) and the left and right clamping drive assembly (8) are all located at the lower part of the walking frame (9). The upper and lower clamping drive assembly (7) and the left and right clamping drive assembly (8) are connected to the upper and lower clamping slewing assembly (5) and the left and right clamping slewing assembly (6) respectively. The upper and lower clamping rotary assembly (5) includes an upper and lower clamping rotary table (11), a steering gear (12), a centering screw (13), a linear guide assembly (14), an upper clamping bracket (15), a lower clamping bracket (16), and an upper and lower clamping power input connector (17). Two sets of linear guide assemblies (14) are vertically mounted on the upper and lower clamping rotary table (11). The upper ends of the two sets of linear guide assemblies (14) are respectively connected to the two ends of the upper clamping bracket (15) through sliders, and the lower ends of the two sets of linear guide assemblies (14) are respectively connected to the lower clamping bracket (15) through sliders. The two ends of the frame (16) are connected; the outer sides of the two sets of linear guide rail assemblies (14) are respectively provided with centering screws (13), one end of the two centering screws (13) is connected to the two ends of the upper clamping bracket (15) through screw nuts, and the other end of the two centering screws (13) is connected to the two ends of the lower clamping bracket (16) through screw nuts; the two centering screws (13) are connected in parallel through the steering gear (12) and the drive shaft to form a single point input. The input point of the single point input is equipped with the upper and lower clamping power input connector (17) to reserve the power input interface for the upper and lower clamping. The left and right clamping rotary assembly (6) includes a left and right clamping rotary table body (18), a second steering gear (19), a second centering screw (20), a second linear guide rail assembly (21), a left clamping bracket (22), a right clamping bracket (23), and a left and right clamping power input connector (24). Two sets of second linear guide rail assemblies (21) are horizontally mounted on the left and right clamping rotary table body (18). The left ends of the two sets of second linear guide rail assemblies (21) are connected to the left clamping bracket (22) through a second slider, and the right ends of the two sets of second linear guide rail assemblies (21) are connected to the right clamping bracket (22) through a second slider. The frame (23) is connected; the outer sides of the two sets of linear guide rail assemblies (21) are respectively provided with centering screws (20), one end of the two centering screws (20) is connected to the two ends of the left clamping bracket (22) through screw nuts (2), and the other end of the two centering screws (20) is connected to the two ends of the right clamping bracket (23) through screw nuts (2); the two centering screws (20) are connected in parallel through steering gear (19) and drive shaft (2) to form a single-point input (2), and the input point of the single-point input (2) is equipped with left and right clamping power input connectors (24) to reserve power input interfaces for left and right clamping; The upper and lower clamping drive assembly (7) and the left and right clamping drive assembly (8) are both composed of a servo motor (27), a precision planetary reducer (28), a cylinder (29), a linear guide rail (30), and an output power connector (31). The servo motor (27) and the precision planetary reducer (28) are connected. The precision planetary reducer (28) and the output power connector (31) are set on the slide. The cylinder rod of the cylinder (29) is connected to the slide. The cylinder (29) drives the slide to slide on the linear guide rail (30). The output power connector (31) of the upper and lower clamping drive assembly (7) and the left and right clamping drive assembly (8) are respectively matched with the upper and lower clamping power input connector (17) and the left and right clamping power input connector (24).

2. The enclosed, automatically clamping, infinitely rotating device according to claim 1, characterized in that: The walking assembly (26) includes a walking wheel box, a guide assembly and a drive assembly. The walking wheel box and the drive assembly are installed at the bottom of the walking frame (9), and the guide assembly is installed on the walking wheel box to realize the rolling support and guiding function of the walking frame (9) when it walks, and to ensure the smooth and stable movement of the walking frame (9) when it moves.

3. The enclosed, automatically clamping, infinitely rotating device according to claim 2, characterized in that: The diameter of the central hole of the vertical plate of the upper and lower clamping rotary assembly (5), the left and right clamping rotary assembly (6) and the walking frame (9) is larger than the outer diameter of the steel structure component; the annular structure of the slewing bearing (10) includes a fixed ring and a rotating ring, the fixed ring is set inside the rotating ring, and the inner diameter of the fixed ring is larger than the outer diameter of the steel structure component.

4. The enclosed, automatically clamping, infinitely rotating device according to claim 3, characterized in that: The fixing ring of the slewing bearing (10) is installed on the reserved machining surface of the traveling frame, and the slewing ring of the slewing bearing (10) is the interface of the slewing whole.

5. The enclosed, automatically clamping, infinitely rotating device according to claim 2, characterized in that: The rotary positioning unit is equipped with a cable drag chain, and the cable drag chains of the two rotary positioning units share the same slide groove.

6. The enclosed, automatically clamping, infinitely rotating device according to claim 2, characterized in that: The walking frame is made of carbon steel through riveting and welding.

7. A method of using a closed, automatically clamping, infinitely rotating device, employing the infinitely rotating device according to any one of claims 2-6, characterized in that... It includes the following steps: ① After the control system receives the parameters of the steel structure components to be produced, the two sets of rotary positioning units automatically adjust their positions so that the distance between the two sets of rotary positioning units is greater than the length of the component. ② The control system sets the clamping zero point program. During the loading stage, the distance between the upper clamping bracket (15) and the lower clamping bracket (16) is maximized, and the distance between the left clamping bracket (22) and the right clamping bracket (23) is maximized. When the component is transported by the automatic feeding mechanism to the two sets of rotary positioning units, the control system issues instructions to the walking component (26) according to the component parameters, driving the two sets of rotary positioning units to move to the designated position. At this time, the two ends of the steel structure component pass through the two sets of rotary positioning units respectively. After the automatic feeding mechanism places the component on the two lower clamping brackets (16) and returns, the next operation is performed. ③ When each detection signal is fed back, the cylinder rod of the cylinder (29) of the left and right clamping drive assembly (8) extends to put the left and right clamping drive assembly (8) into the working position. The output power connector (31) and the left and right clamping power input connector (24) of the left and right clamping drive assembly (8) engage. The servo motor (27) of the left and right clamping drive assembly (8) inputs power to the left clamping bracket (22) and the right clamping bracket (23) to center and position the component left and right until the torque alarm setting value and the encoder pulse number setting value of the servo motor (27) respond simultaneously. The reverse pulse value m is input to the servo motor (27) to the left clamping bracket (22) and the right clamping bracket (23) to slightly loosen the component. ④ The system automatically runs the upper and lower clamping program. The cylinder rod of the cylinder (29) of the upper and lower clamping drive assembly (7) extends to put the upper and lower clamping drive assembly (7) into the working position. The output power connector (31) of the upper and lower clamping drive assembly (7) and the upper and lower clamping power input connector (17) mesh. The servo motor (27) of the upper and lower clamping drive assembly (7) inputs power to the upper clamping bracket (15) and the lower clamping bracket (16) to perform upper and lower centering positioning of the component until the torque alarm setting value of the servo motor (27) and the encoder pulse number setting value respond simultaneously. ⑤ Input a positive pulse value m to the servo motor (27) of the left and right clamping drive assembly (8) to the left and right clamping components of the left clamping bracket (22) and the right clamping bracket (23); ⑥ The control system issues a command to retract the cylinder rod of the cylinder (29) so that the upper and lower clamping drive assembly (7) and the left and right clamping drive assembly (8) are both in the avoidance position, and the output power connector (31) of the upper and lower clamping drive assembly (7) and the left and right clamping drive assembly (8) are disengaged from the upper and lower clamping power input connector (17) and the left and right clamping power input connector (24) respectively. ⑦ The control system issues instructions to make the slewing drive assembly (4) move, and the two sets of slewing positioning units drive the steel structure components to slewing, providing stable and continuous slewing motion for the production of steel structure components.

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