A rotating device and a rotating method for keeping the rotating center of a square-round can body unchanged

Abstract

The present application relates to a kind of rotating device and rotating method, specifically, a kind of rotating device and rotating method for keeping the rotation center of square cylindrical tank unchanged, solve the problem that existing square cylindrical tank is rotated on roller frame, operation is more complicated, seriously depend on the installation accuracy of external tooling and tank, greatly influence production efficiency and quality.The device includes multiple rotating units and control units, each rotating unit includes base, 2 propelling mechanisms, 2 guide mechanisms, 2 distance measuring mechanisms and driving equipment arranged on the base;Propelling mechanism is used for keeping the rotation center unchanged in the positive state under the cooperation of roller assembly to push square cylindrical tank rotation operation;Control unit is used to control the extension amount of propelling mechanism, the rotation amount of roller assembly and then control the positive rotation of square cylindrical tank by driving equipment.The present application method improves the coincidence degree of actual square cylindrical tank center axis and rotation axis and operation quality.

Description

TECHNICAL FIELD

[0001] The present application relates to a rotating device and a rotating method, in particular to a rotating device and a rotating method for keeping the rotating center of a square-circular tank body unchanged. BACKGROUND

[0002] With the continuous development of tank and chemical transportation industry, the volume of the container in the specified limited space is paid more and more attention, and the square-circular tank body is applied more and more widely in the liquid medium transportation. However, there is a big difference between the rotation of the square-circular tank body and the rotation of the circular tank body in the manufacturing process. The circular tank body can keep the rotating center stable when rotating on the ordinary roller frame, and the work point can be kept relatively stable during the welding, detection, assembly and other processes in the manufacturing process, thereby improving the quality and efficiency of welding, detection and assembly. Since the outer periphery of the square-circular tank body is square-circular, the rotating center of the tank body changes at any time when the tank body rotates on the ordinary roller frame, and thus the position of the work point on the tank body changes greatly. However, the welding, detection and assembly of the tank body require that the relative position of a point on the surface of the tank body be as unchanged as possible or have relatively small fluctuations.

[0003] To meet the above requirements, the current operation for the square-circular tank body generally directly fixes two rings on the end or the outer periphery of the tank body, so that the center of the ring coincides with the rotating center of the square-circular tank body, and then the tank body with the installed or welded rings is placed on the ordinary roller frame for rotating operation. Alternatively, the end of the square-circular tank body is clamped by a positioner, and the tank body is rotated along a rotating center by rotating the positioner. The first operation requires the preparation of a ring tool and the installation or spot welding of the ring on the tank body, and the installation or welding of the ring is relatively complicated, which affects the operation efficiency. In addition, the installation accuracy of the ring affects the rotating effect of the tank body, and thus affects the quality and efficiency of the assembly and welding detection operation. The second operation requires the clamping mechanism of the rotating positioner, which is relatively complex and has high manufacturing cost. Since the positioner occupies a large area, this method requires a certain equipment foundation. In addition, the process of installing the tank body to the rotating positioner is complex and takes a long time, which affects the operation efficiency. Moreover, the clamping position of the tank body by the clamping jaw of the rotating positioner has a certain accuracy requirement, which easily causes the actual rotating axis to deviate from the geometric center of the tank body, thereby affecting the subsequent welding, assembly, detection and other operations.

[0004] In summary, the existing square-circular tank body rotates on the roller frame, and the operation is relatively complicated, which seriously depends on the installation accuracy of the external tool and the tank body, and greatly affects the production efficiency and quality. SUMMARY

[0005] The application aims at solving the problem that the existing square-round tank body is rotated on a roller frame, the operation is relatively complicated, the installation precision of external tooling and the tank body is greatly relied on, and the production efficiency and quality are greatly affected, and providing a rotating device and a rotating method for keeping the rotating center of the square-round tank body unchanged.

[0006] In order to achieve the above-mentioned purpose, the application adopts the following technical scheme:

[0007] A rotating device for keeping the rotating center of the square-round tank body unchanged, which is characterized by comprising a plurality of rotating units and a control unit, each rotating unit comprising a base, two propulsion mechanisms arranged on the base, two guide mechanisms, two distance measuring mechanisms and a driving device; the plurality of rotating units are arranged below the square-round tank body along the length direction of the square-round tank body.

[0008] In each rotating unit, the two propulsion mechanisms, the two guide mechanisms and the two distance measuring mechanisms are symmetrically arranged on both sides of the length direction of the square-round tank body; the end of the propulsion mechanism away from the base is a telescopic end, the telescopic end of the propulsion mechanism is provided with a roller assembly, the roller assembly and the propulsion mechanism are respectively electrically connected with the driving device, the roller assembly is used for pushing the square-round tank body to a normal position, and the telescopic end of the propulsion mechanism and the roller assembly are matched to be used for pushing the square-round tank body to keep the rotating center unchanged in the normal position.

[0009] The upper end surface of the guide mechanism is parallel to the center axis of the propulsion mechanism, and the upper end of the guide mechanism is matched with the roller assembly and is used for guiding the roller assembly when the propulsion mechanism is telescopic.

[0010] The two distance measuring mechanisms are oppositely arranged, and each of the two distance measuring mechanisms is provided with a reference surface facing the square-round tank body; the two reference surfaces are symmetrical relative to the center axis of the square-round tank body, and the centers of the two reference surfaces are located on the same horizontal plane as the center axis of the square-round tank body in the normal position; the two distance measuring mechanisms are used for being connected with the control device to monitor the horizontal distance between the outer surfaces on both sides of the square-round tank body and the reference surfaces in real time, and the horizontal distance between the outer surfaces on both sides of the square-round tank body and the reference surfaces is the largest and equal when the square-round tank body is in the normal position.

[0011] The distance measuring mechanism and the driving device are respectively in communication connection with the control unit, and the control unit is used for controlling the telescopic amount of the propulsion mechanism, the rotating amount of the roller assembly and the normal rotation of the square-round tank body through the driving device.

[0012] Further, the guide mechanism comprises a guide base; the lower end of the guide base is connected with the base, the upper end surface of the guide base is an inclined surface, the inclined surface is parallel to the center axis of the propulsion mechanism, and the inclined surface is provided with a guide sliding groove matched with the roller assembly.

[0013] Further, the roller assembly comprises a U-shaped shell, a rotating shaft arranged inside the U-shaped shell, a roller, and a bearing; two ends of the rotating shaft are rotatably connected with two side walls of the U-shaped shell through the bearing, and one end of the rotating shaft is connected with the driving device; the roller is fixedly sleeved on the rotating shaft and located between the two side walls of the U-shaped shell; the bottom outer side of the U-shaped shell is matched with the guide sliding groove.

[0014] Further, the advancing mechanism comprises an advancing base and an electric push rod connected with the driving device; the advancing base is arranged on the base; the telescopic end of the electric push rod is connected with the U-shaped shell, the fixed end is arranged on the advancing base after being connected with the driving device, and the included angle between the central axis of the electric push rod and the horizontal plane is equal to the included angle between the diagonal line of the square cylindrical tank in the normal state and the horizontal plane.

[0015] Further, the distance measuring mechanism comprises distance measuring devices and mounting plates arranged symmetrically on two sides of the square cylindrical tank in the length direction and connected with the base; the two distance measuring devices are oppositely arranged on the two mounting plates.

[0016] Further, the rotating unit is two;

[0017] The driving device comprises two servo motors and two speed reducers connected with the control unit; the output shaft of one servo motor is connected with one end of the rotating shaft through the speed reducer, and the output shaft of the other servo motor is connected with the fixed end of the electric push rod through the speed reducer.

[0018] Alternatively, the driving device comprises two servo hydraulic systems connected with the control unit; one servo hydraulic system is connected with one end of the rotating shaft, and the other servo hydraulic system is connected with the fixed end of the electric push rod.

[0019] Meanwhile, the application also provides a rotating method for keeping the rotating center of the square cylindrical tank unchanged, which is based on the rotating device for keeping the rotating center of the square cylindrical tank unchanged, and has the following steps:

[0020] 1】Place the square cylindrical tank on the roller assembly, and control the roller assembly to push the square cylindrical tank to rotate through the control unit and the driving device, and simultaneously measure the horizontal distances L1 and L2 between the outer surfaces of the two sides of the square cylindrical tank and the reference plane in real time through the distance measuring mechanism;

[0021] 2】Determine whether L1 and L2 are equal and maximum:

[0022] If L1 and L2 are equal and maximum, the square cylindrical tank is in the normal state, and step 3】 is executed; otherwise, return to step 1】.

[0023] 3】According to the rotating condition of the square cylindrical tank, the control unit controls the advancing mechanism to cooperate with the roller assembly through the driving device, so as to complete the rotation of the square cylindrical tank while keeping the rotating center unchanged.

[0024] Further, step 1】 is specifically:

[0025] Place the square round tank on the roller, and the control unit controls the roller to drive the square round tank to rotate through the driving device and the rotating shaft, and simultaneously measures the horizontal distances L1 and L2 of the two outer surfaces of the square round tank on the two sides from the two reference surfaces in real time by using the distance measuring device.

[0026] Further, step 3】 is specifically:

[0027] The control unit controls the electric push rod to compensate for the displacement difference Lp between the initial center axis of the square round tank and the rotating center axis in cooperation with the roller through the driving device according to the rotating condition of the square round tank, so as to complete the rotation of the square round tank with the rotating center unchanged.

[0028] Further, in step 2】 the square round tank in the normal position is specifically:

[0029] The displacement difference Lp between the initial center axis of the square round tank and the rotating center axis is 0, and then the two outer surfaces on the sides of the square round tank are marked.

[0030] The beneficial effects of the present application are:

[0031] 1. The rotating device for keeping the rotating center of the square round tank unchanged solves the problems of the rotating center jumping and up-and-down fluctuation of the square round tank during the rotating operation of the ordinary roller frame, so that the square round tank can rotate with the center axis as the fixed rotating shaft, reduces the problem of the position change of the square round tank from the working personnel and the machine during the welding, assembly and inspection of the working points on the surface of the square round tank, and reduces the working difficulty of the machine and the personnel.

[0032] 2. The rotating device for keeping the rotating center of the square round tank unchanged can reduce the complexity of the rotating equipment mechanism, reduce the floor area, and avoid using the foundation and other fixed bases.

[0033] 3. The rotating device for keeping the rotating center of the square round tank unchanged eliminates the need to install the rotating ring and other auxiliary tools during rotation, improves the working efficiency and the placing convenience of the square round tank, and avoids welding the corresponding connecting blocks and the like on the surface of the square round tank.

[0034] 4. The rotating method for keeping the rotating center of the square round tank unchanged improves the coincidence degree of the center axis of the actual square round tank and the rotating axis and the working quality, and better meets the adaptation requirements of the digital equipment.

[0035] 5. The application is a rotation method for keeping the rotation center of a square-circular tank unchanged, which can realize the fast alignment and adjustment of the square-circular tank, and improves the positioning accuracy of the weld and operation point when applied in welding and flaw detection operations. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 is a structural schematic view of an embodiment of the rotation device for keeping the rotation center of a square-circular tank unchanged of the application;

[0037] Figure 2 is a structural schematic view of a roller assembly in an embodiment of the rotation device for keeping the rotation center of a square-circular tank unchanged of the application;

[0038] Figure 3 is a structural schematic view of the roller assembly and the guide mechanism in an embodiment of the rotation device for keeping the rotation center of a square-circular tank unchanged of the application;

[0039] Figure 4 is a structural schematic view of two rotation units in an embodiment of the rotation device for keeping the rotation center of a square-circular tank unchanged of the application;

[0040] Figure 5 is a structural schematic view of the reference surface of the distance measuring device and the horizontal distance between the two sides of the outer surface of the square-circular tank in an embodiment of the rotation device for keeping the rotation center of a square-circular tank unchanged of the application;

[0041] Figure 6 is a structural schematic view of the displacement difference of the rotation center axis compensated by the electric push rod in an embodiment of the rotation device for keeping the rotation center of a square-circular tank unchanged of the application, wherein the extension distance of the electric push rod is L3 and L4 respectively.

[0042] BRIEF DESCRIPTION OF DRAWINGS

[0043] 1 - base, 2 - guide mechanism, 21 - guide base, 3 - propulsion mechanism, 31 - propulsion base, 4 - mounting plate, 5 - electric push rod, 6 - roller assembly, 7 - guide chute, 61 - U-shaped shell, 62 - rotation shaft, 63 - roller, 64 - bearing, 8 - distance measuring device, 9 - square-circular tank, 10 - flange, 11 - distance measuring mechanism. DETAILED DESCRIPTION

[0044] As Figure 1As shown in the figure, a rotating device for keeping the rotating center of a square round tank body unchanged comprises two rotating units and a control unit, each rotating unit comprises a base 1, two propulsion mechanisms 3 arranged on the base 1, two guide mechanisms 2, two distance measuring mechanisms 11 and a driving device; a plurality of rotating units are arranged below the square round tank body 9 along the length direction of the square round tank body 9; in each rotating unit, the two propulsion mechanisms 3, the two guide mechanisms 2 and the two distance measuring mechanisms 11 are symmetrically arranged on both sides of the square round tank body 9 along the length direction; the end of the propulsion mechanism 3 away from the base 1 is a telescopic end, the telescopic end of the propulsion mechanism 3 is provided with a roller assembly 6, the roller assembly 6 and the propulsion mechanism 3 are respectively electrically connected with the driving device, the roller assembly 6 is used for pushing the square round tank body 9 to rotate to a normal position, and the telescopic end of the propulsion mechanism 3 cooperates with the roller assembly 6 to push the square round tank body 9 to rotate with the rotating center unchanged in the normal position; the upper end surface of the guide mechanism 2 is parallel to the central axis of the propulsion mechanism 3, and the upper end of the guide mechanism 2 is adapted to the roller assembly 6 to guide the roller assembly 6 when the propulsion mechanism 3 is telescopic.

[0045] The two distance measuring mechanisms 11 are oppositely arranged, and each of the two distance measuring mechanisms 11 is provided with a reference surface facing the square round tank body 9; the two reference surfaces are symmetric with respect to the central axis of the square round tank body 9, and the centers of the two reference surfaces are located on the same horizontal plane as the central axis of the square round tank body 9 in the normal position; the two distance measuring mechanisms 11 are used for being connected with a control device to monitor the horizontal distance between the outer surfaces on both sides of the square round tank body 9 and the reference surfaces in real time, and the horizontal distance between the outer surfaces on both sides of the square round tank body 9 and the reference surfaces is the largest and equal when the square round tank body 9 is in the normal position; the distance measuring mechanism 11 and the driving device are respectively communicatively connected with the control unit, and the control unit is used for controlling the telescopic amount of the propulsion mechanism 3, the rotation amount of the roller assembly 6 and the normal rotation of the square round tank body 9 through the driving device.

[0046] As shown in the figure, Figure 2 , Figure 3 The guide mechanism 2 comprises a guide base 21; the lower end of the guide base 21 is connected with the base 1, the upper end surface of the guide base 21 is an inclined surface, the inclined surface is parallel to the central axis of the propulsion mechanism 3, and the inclined surface is provided with a guide sliding groove 7 adapted to the roller assembly 6. The roller assembly 6 comprises a U-shaped housing 61, a rotating shaft 62 arranged inside the U-shaped housing 61, a roller 63 and a bearing 64; the two ends of the rotating shaft 62 are respectively rotatably connected with the two side walls of the U-shaped housing 61 through the bearings 64, and one end of the rotating shaft 62 is connected with the driving device; the roller 63 is fixedly sleeved on the rotating shaft 62 and located between the two side walls of the U-shaped housing 61; the outer side of the bottom of the U-shaped housing 61 is adapted to the guide sliding groove 7.

[0047] As shown in the figure, Figure 4As shown, the advancing mechanism 3 includes an advancing base 31 and an electric push rod 5 connected with the driving device; the advancing base 31 is arranged on the base 1; the telescopic end of the electric push rod 5 is connected with the U-shaped shell 61, the fixed end is arranged on the advancing base 31 after being connected with the driving device, and the included angle between the central axis of the electric push rod 5 and the horizontal plane is equal to the included angle between the diagonal line of the square cylindrical tank 9 in the normal state and the horizontal plane. The distance measuring mechanism 11 includes distance measuring devices 8, mounting plates 4 connected with both sides of the base 1 and corresponding to the two sides of the square cylindrical tank 9 along the length direction; the distance measuring devices 8 are arranged on the mounting plates 4, and two-by-two corresponding.

[0048] In the embodiment, the base 1 is the basis of the whole device; the guide base 21 is the mounting base 1 of the guide chute 7; the advancing base 31 is the support seat of the electric push rod 5; the mounting plate 4 is the mounting seat of the distance measuring device 8; the electric push rod 5 is used for providing corresponding thrust for the roller assembly 6 and accurately pushing the roller assembly 6 to a specified displacement, and the telescopic end of the electric push rod 5 is connected with the bottom of the U-shaped shell 61 of the roller assembly 6 through the threaded flange 10 to realize accurate pushing; the stroke of the electric push rod 5 is greater than the maximum diagonal line of the square cylindrical tank 9 minus the minimum width or height. The roller 63 can accurately control the rotating speed and move along the axis direction of the electric push rod 5; the guide chute 7 mainly guides the roller 63 and is used for keeping the roller 63 always in a stable state; the distance measuring device 8 is mainly used for measuring the horizontal distance from the outer surface of the two sides of the square cylindrical tank 9 to the reference surface of the distance measuring device 8. The driving device includes two servo motors and two speed reducers connected with the control unit; the output shaft of one of the servo motors is connected with one end of the rotating shaft 62 through the speed reducer, and the output shaft of the other servo motor is connected with the fixed end of the electric push rod 5 through the speed reducer; in other embodiments, the driving device includes two servo hydraulic systems connected with the control unit, one of the servo hydraulic systems is connected with one end of the rotating shaft 62, and the other servo hydraulic system is connected with the fixed end of the electric push rod 5.

[0049] The rotating device for keeping the rotating center of the square cylindrical tank unchanged mainly aims to keep the central axis position of the square cylindrical tank 9 always in an unchanged state when the square cylindrical tank 9 rotates, so that the square cylindrical tank 9 is in a minimum jumping state when working. When the roller 63 is started to rotate, the electric push rod 5 synchronously pushes the roller 63 along the axis direction of the electric push rod 5 to make the roller 63 move according to the calculated compensation amount, so that the initial central axis of the square cylindrical tank 9 coincides with the rotating central axis.

[0050] In order to ensure that the initial state of the square-circular tank 9 rotation is the positive position state (i.e. the distance between the two sides of the square-circular tank 9 and the center axis is equal). At this time, the roller 63 is in the initial state, when the horizontal distance between the two sides of the square-circular tank 9 and the reference surface of the distance measuring device 8 is not equal, the distance measuring device 8 is used to detect the horizontal distance between the two sides of the square-circular tank 9 and the reference surface of the distance measuring device 8 in real time until the distance measuring device 8 measures that the horizontal distance between the two sides of the square-circular tank 9 and the reference surface of the distance measuring device 8 is equal, at this time, the square-circular tank 9 is in the positive position state. The application uses the propulsion mechanism 3 to push the roller assembly 6 to adjust the relative position of the center axis of the square-circular tank 9, ensures that the square-circular tank 9 rotates around a fixed rotation axis, and does not need to install an auxiliary rotating ring (a circular ring fixed in the tank for assisting the square-circular tank 9 to rotate), and does not need to configure an end clamping welding positioner, and the square-circular tank 9 can be directly placed on the device to realize stable center rotation.

[0051] Meanwhile, the application also provides a rotation method for keeping the rotation center of the square-circular tank unchanged, and the rotation method based on the above-mentioned rotation device for keeping the rotation center of the square-circular tank unchanged comprises the following steps:

[0052] 1】After the two propulsion mechanisms 3 are in the preset initial state, the square-circular tank 9 is placed on the roller 63, the control unit controls the roller 63 to drive the square-circular tank 9 to rotate through the driving device and the rotation shaft 62, and the distance measuring device 8 is used to measure the horizontal distance L1 and L2 between the two sides of the square-circular tank 9 and the two reference surfaces respectively in real time;

[0053] 2】Judge whether L1 and L2 are equal and maximum:

[0054] If L1 and L2 are equal and maximum, the square-circular tank 9 is in the positive position state, the displacement difference Lp between the initial center axis of the square-circular tank 9 and the rotation center axis is 0, then the two sides of the square-circular tank 9 are marked (for the next operation), and step 3】 is executed; otherwise, return to step 1】;

[0055] 3】The control unit controls the electric push rod 5 to compensate the displacement difference Lp between the initial center axis of the square-circular tank 9 and the rotation center axis through the driving device according to the rotation condition of the square-circular tank 9, and the roller 63 is retracted or extended, so that the square-circular tank 9 keeps the rotation center unchanged and rotates.

[0056] As Figure 5As shown, when the square cylindrical tank 9 is hoisted to the device, the square cylindrical tank 9 is in a non-orthogonal state, the horizontal distance between the reference surface of the distance measuring device 8 and the outer surface of the two sides of the square cylindrical tank 9 is L1 and L2 respectively, and L1≠L2; At this time, the center axis of the square cylindrical tank 9 and the center axis after rotation will have a displacement difference Lp, at this time, only the roller 63 rotates (since the square cylindrical tank 9 and the roller 63 gradually slip during operation, at this time the electric push rod 5 is not moved, only the roller 63 rotates), at the same time, the distance measuring device 8 is used to compare the difference between L1 and L2 in real time, when the difference between L1 and L2 is 0 and the maximum, it indicates that the square cylindrical tank 9 has been in the rotation state, at this time it can be used as the zero point positioning for welding, flaw detection, assembly and other operations. Taking the welding operation as an example, when the welding machine recognizes that the square cylindrical tank 9 is in the orthogonal state, the welding machine starts to weld, the square cylindrical tank 9 starts to rotate, and the electric push rod 5 starts to move along its axis direction synchronously.

[0057] As shown in the figure, Figure 6 As shown, during the rotation in the orthogonal state, the extension distance of the electric push rod 5 is L3 and L4 respectively, which is used to compensate the displacement difference Lp of the rotation center axis, by continuously adjusting L3 and L4, the stability of the center axis of the square cylindrical tank 9 is realized, finally the rotation stability of the square cylindrical tank 9 is realized, until the operation is completed and restored to the orthogonal state, the square cylindrical tank 9 is translated out of the work station by the crown block or the bottom translation vehicle, and the operation is completed.

Claims

1. A rotation device for maintaining the rotational center of a square-round can body constant, characterized by: The application relates to a rotating device for keeping the rotating center of a square-cylindrical tank unchanged, which comprises multiple rotating units and a control unit, each rotating unit comprises a base (1), two propelling mechanisms (3), two guiding mechanisms (2), two distance measuring mechanisms (11) and a driving device, and the multiple rotating units are arranged below a square-cylindrical tank (9) along the length direction of the square-cylindrical tank (9). In each rotating unit, the two propelling mechanisms (3), the two guiding mechanisms (2) and the two distance measuring mechanisms (11) are symmetrically arranged on the two sides of the length direction of the square-cylindrical tank (9); the end of the propelling mechanism (3) away from the base (1) is a telescopic end, the telescopic end of the propelling mechanism (3) is provided with a roller assembly (6), the roller assembly (6) and the propelling mechanism (3) are electrically connected with the driving device respectively, the roller assembly (6) is used for pushing the square-cylindrical tank (9) to rotate to a normal position, and the telescopic end of the propelling mechanism (3) and the roller assembly (6) are matched and used for pushing the square-cylindrical tank (9) to keep the rotating center unchanged in the normal position; the upper end surface of the guiding mechanism (2) is parallel to the central axis of the propelling mechanism (3), and the upper end of the guiding mechanism (2) is matched with the roller assembly (6) and used for guiding the roller assembly (6) when the propelling mechanism (3) is telescopic; the two distance measuring mechanisms (11) are oppositely arranged and are respectively provided with reference surfaces facing the square-cylindrical tank (9); the two reference surfaces are symmetric relative to the central axis of the square-cylindrical tank (9), and the centers of the two reference surfaces are located on the same horizontal plane as the central axis of the square-cylindrical tank (9) in the normal position; the two distance measuring mechanisms (11) are used for being connected with a control device, real-time monitoring the horizontal distance between the outer surfaces on the two sides of the square-cylindrical tank (9) and the reference surfaces, and the horizontal distance between the outer surfaces on the two sides of the square-cylindrical tank (9) and the reference surfaces is the largest and equal when the square-cylindrical tank (9) is in the normal position; the distance measuring mechanism (11) and the driving device are respectively in communication connection with the control unit, and the control unit is used for controlling the telescopic amount of the propelling mechanism (3), the rotating amount of the roller assembly (6) and the normal rotation of the square-cylindrical tank (9) through the driving device.

2. The rotating device for keeping the rotating center of a square-cylindrical tank unchanged according to claim 1, wherein the guiding mechanism (2) comprises a guiding base (21). the lower end of the guiding base (21) is connected with the base (1), the upper end surface of the guiding base (21) is an inclined surface, the inclined surface is parallel to the central axis of the propelling mechanism (3), and the inclined surface is provided with a guiding sliding groove (7) matched with the roller assembly (6).

3. The rotating device for keeping the rotating center of a square-cylindrical tank unchanged according to claim 2, wherein the roller assembly (6) comprises a U-shaped shell (61), a rotating shaft (62) arranged in the U-shaped shell (61), a roller (63) and a bearing (64). the two ends of the rotating shaft (62) are respectively rotatably connected with the two side walls of the U-shaped shell (61) through the bearings (64), and one end of the rotating shaft (62) is connected with the driving device; the roller (63) is fixedly sleeved on the rotating shaft (62) and located between the two side walls of the U-shaped shell (61). ​ ​ The bottom outer side of the U-shaped shell (61) is matched with the guide chute (7).

4. The rotating device of claim 3, wherein: The advancing mechanism (3) comprises an advancing base (31) and an electric push rod (5) connected with the driving device; The advancing base (31) is arranged on the base (1); The telescopic end of the electric push rod (5) is connected with the U-shaped shell (61), and the fixed end is arranged on the advancing base (31) after being connected with the driving device, and the included angle between the central axis of the electric push rod (5) and the horizontal plane is equal to the included angle between the diagonal line of the square cylindrical tank (9) in the normal state and the horizontal plane.

5. The rotating device of claim 4, wherein: The distance measuring mechanism (11) comprises distance measuring devices (8) and mounting plates (4) arranged symmetrically on both sides of the square cylindrical tank (9) in the length direction and connected with the base (1); The two distance measuring devices (8) are arranged oppositely on the two mounting plates (4).

6. The rotating device of claim 1, wherein: The rotating unit is two; The driving device comprises two servo motors and two speed reducers connected with the control unit; The output shaft of one servo motor is connected with one end of the rotating shaft (62) through the speed reducer, and the output shaft of the other servo motor is connected with the fixed end of the electric push rod (5) through the speed reducer. Or, the driving device comprises two servo hydraulic systems connected with the control unit, one of which is connected with one end of the rotating shaft (62), and the other is connected with the fixed end of the electric push rod (5).

7. A rotation method for keeping the rotation center of a square round can body constant, based on the rotation device for keeping the rotation center of a square round can body constant according to claim 5, characterized in that, The steps include: 1) Place the square cylindrical tank (9) on the roller assembly (6), and control the roller assembly (6) to push the square cylindrical tank (9) to rotate by the control unit through the driving device, and simultaneously measure the horizontal distances L1 and L2 between the outer surfaces of the two sides of the square cylindrical tank (9) and the reference planes in real time by the distance measuring mechanism (11); 2) Determine whether L1 and L2 are equal and maximum: If they are equal and maximum, the square cylindrical tank (9) is in the normal state, and step 3) is performed; otherwise, return to step 1); 3) The control unit controls the advancing mechanism (3) to cooperate with the roller assembly (6) to complete the rotation of the square cylindrical tank (9) while keeping the rotation center unchanged according to the rotation of the square cylindrical tank (9) through the driving device.

8. The method of claim 7, wherein the step of rotating the square can body about the center of rotation is performed by rotating the square can body about the center of rotation in a first direction and then rotating the square can body about the center of rotation in a second direction opposite the first direction. Step 1) is specifically: Place the square cylindrical tank (9) on the roller (63), and control the roller (63) to drive the square cylindrical tank (9) to rotate by the control unit through the driving device and the rotating shaft (62), and simultaneously measure the horizontal distances L1 and L2 between the outer surfaces of the two sides of the square cylindrical tank (9) and the two reference planes by the distance measuring devices (8).

9. The method of claim 8, wherein the step of rotating the square can body about the center of rotation is performed by rotating the square can body about the center of rotation in a first direction and then rotating the square can body about the center of rotation in a second direction opposite the first direction. Step 3) is specifically: The control unit controls the electric push rod (5) to cooperate with the roller (63) to extend or retract to compensate for the displacement difference Lp between the initial central axis and the rotating central axis of the square cylindrical tank (9) according to the rotating condition of the square cylindrical tank (9), so as to complete the rotation of the square cylindrical tank (9) with the rotating center unchanged.

10. The method of claim 9, wherein the step of rotating the square can body about the center of rotation is performed by rotating the square can body about the center of rotation in a first direction and then rotating the square can body about the center of rotation in a second direction opposite the first direction. In step 2), the square cylindrical tank (9) is in a normal position, specifically: The displacement difference Lp between the initial central axis and the rotating central axis of the square cylindrical tank (9) is 0, and then the two side outer surfaces of the square cylindrical tank (9) are marked.

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