CN102785116B - Moving platform 3/2 degree-of-freedom 90/180 degree turnover machine for large workpiece - Google Patents

Abstract

A 90/180-degree overturning machine for large parts with 3/2 degrees of freedom on a mobile platform. It is mainly composed of a base and upper and lower workbenches. There are rollers, the base is equipped with a driving device, and the driving rotor is equipped with a driving gear; the upper and lower workbenches are semi-cylindrical welded structural parts, and the outer circle is provided with two semi-arc-shaped support rails. There is a semi-circular arc-shaped ring gear in the middle of the frame, which meshes with the above-mentioned driving gear; a lower moving platform is arranged on the lower working platform, and the back of the lower moving platform is hinged with five driving cylinders through hinges, and the upper working platform The frame and the lower workbench are hinged through an opening and closing rotating shaft. The invention has the advantages of strong bearing capacity, 90-degree and 180-degree turning of various workpieces, fully closed gravity during the turning process, no clamping, simple structure, convenient manufacture, low cost, safety and reliability.

Description

90/180 degree turning machine for large parts with 3/2 degrees of freedom on mobile platform

technical field

The invention relates to a turning device, in particular to a mechanical device for turning large heavy-duty parts by 90 degrees and 180 degrees when the process requires it, and belongs to the large-scale auxiliary mechanical device in the technical field of heavy machine manufacturing.

Background technique

The "Twelfth Five-Year Plan" puts the revitalization of the equipment manufacturing industry in an important position, and the heavy equipment manufacturing industry is the top priority of the equipment manufacturing industry. It is an industry related to economic development and national security. The processing of large and extra-large parts Manufacturing is the basis for the development of the heavy equipment manufacturing industry, the foundation for the development of cutting-edge products in the fields of national defense, military industry, aviation, and aerospace, and the key to improving the manufacturing level and capabilities of the equipment manufacturing industry and realizing my country's transformation from a big manufacturing country to a manufacturing powerhouse.

Large heavy-duty parts in special working conditions such as extreme size and large tonnage in heavy equipment manufacturing generally require multiple transpositions and flips during the machining process. At present, the two cranes in the workshop are generally used to turn 90° or 180° with the help of soft steel wire ropes and accessories. However, these large castings and forgings or parts have large dimensions, up to 6 meters, and the single weight ranges from 10 tons to 250 tons, due to its large size and weight, large impact and instability will occur due to inertia during the turning process. Vertical lathe and other equipment, and it is easy to scratch the workpiece when turning over, it is difficult to ensure the surface quality of the workpiece, and it takes a long time to turn the workpiece every time, the labor intensity of the workers is high, and the efficiency is very low, which seriously restricts the improvement of processing quality and the whole production Increased chain productivity.

The industrial turning machine can adapt to the turning requirements of goods of different specifications, provide safe, stable and effective process transportation, and realize the operation goal of converting goods from horizontal to vertical, vertical to horizontal or 180-degree overall turning. The classification of the turning machine can be classified according to its turning angle, turning object and performance realization. Classified according to the maximum turning angle, it can be divided into 90-degree turning machine and 180-degree turning machine; classified according to the goods turned over, it can be divided into steel coil turning machine, mold turning machine and plate turning machine, etc.; classified according to the realization of performance There are mainly plate chain suspension electric turning machines, hydraulic driving turning machines and continuous quick start turning machines.

After searching the existing literature, it is found that the technical data about the turning machine are mainly concentrated on the medium and small turning machines, while there are few documents or technical data on the large heavy-duty turning machine. Chinese patent 201020289783.7 discloses a bogie frame turning machine for passenger cars. The frame turning machine mainly realizes turning over several main types of H-shaped and U-shaped frames at present, and realizes automatic control. Chinese patent 201020547051.3 discloses a H-shaped steel 180-degree mobile turning machine. The technical solution is to install a driving mechanism on the trolley to drive its horizontal movement; the two ends of the rotating shaft are installed in the shaft seat, and the shaft seat uses fasteners They are respectively fixed on both sides of the trolley, which can turn the H-shaped steel 180 degrees, effectively avoid the danger of driving and lifting, improve the quality of welds, reduce labor intensity, and improve work efficiency. Comparative analysis found that the turning machines disclosed above that can realize 180-degree turning have a common deficiency, that is, their structure or driving type cannot be better applied to turning over large and heavy-duty parts. Large heavy-duty parts are widely used in nuclear power, hydropower, thermal power, transportation, aerospace and other industries. Its manufacturing capacity and level directly determine the manufacturing capacity and level of related equipment. In order to improve the production efficiency of its manufacturing and processing, a A device that can realize the automatic turning of workpieces.

Contents of the invention

In order to overcome the above-mentioned deficiencies in the existing turning equipment or devices, the present invention provides a turning machine with 3/2 degrees of freedom and 90/180 degrees of freedom on the mobile platform. , stable, and with a variety of accessories, it can realize 90-degree and 180-degree flips for workpieces with various shapes and sizes.

The technical solution adopted by the present invention to solve its technical problems is as follows:

The present invention mainly includes a base, an upper workbench and a lower workbench, wherein: the base is a welded structure, and its axial ends are provided with mutually parallel arc-shaped foundations composed of vertical support plates with an inner concave arc. Roller table, supporting rollers are arranged on the arc-shaped basic roller table, a drive device is provided on the symmetrical center line of the base, and a drive gear is provided on the drive rotor; the upper and lower workbenches are semi-cylindrical welded structural parts, and the outer The two ends of the circle are respectively fixedly connected with two semi-circular arc-shaped support rails along the circumferential direction. The semi-circular support rails are in rolling contact with the arc-shaped foundation roller table in the above-mentioned base to realize the functions of bearing, supporting and positioning. In the middle of the upper and lower workbenches, there is a semi-arc-shaped ring gear parallel to the semi-arc-shaped support track. The two sets of support rails on the upper and lower workbenches and the middle ring gear are staggered from each other in the axial direction. The two arc-shaped ring gears are meshed with the drive gears of the above-mentioned driving device respectively; a lower moving platform is arranged on the table of the lower workbench, and five hydraulic pressure hydraulic pressure plates are connected symmetrically to the lateral center line of the lower moving platform on the back of the lower moving platform. Oil cylinder, each hydraulic cylinder is hinged with the lower mobile platform through a hinge, which together constitute the mobile pair connection of the mobile platform, which can move up and down to adapt to workpieces of different heights; Irons, long V-shaped irons, short V-shaped irons, oblique V-shaped irons and other accessories can realize 90-degree and 180-degree turning of workpieces such as straight tube joints, transition joints, pancakes, and heads. The upper workbench and the lower workbench are hingedly connected by an opening and closing rotation axis, and the opening and closing rotation axis is located at the place where the rotation center axis of the whole vehicle coincides with the rotation center axes of the upper and lower workbenches. The driving device in the base transmits the motion power to the upper and lower workbenches through the semicircular arc ring gear, and then the whole can realize unobstructed, slow, stable and continuous rolling motion in situ, forming a complete workpiece turning 90 degrees and 180 degrees High-degree dual-function turning machine. The upper workbench can be turned counterclockwise around the opening and closing rotation axis by driving 90 degrees to open. When the upper workbench is opened, the parts are hoisted in. After closing, the upper and lower workbenches form a cylindrical whole with the turned workpiece. At this time, the two sets of ring gears and rails on the upper and lower workbenches are still located in the same cylindrical surface, and the overall 180-degree continuous roll can be realized through the overall drive system; if the upper movable workbench is opened 90 degrees and locked, the overall The central angle of the cylinder is 270 degrees, which can be turned 90 degrees.

The beneficial effects of the present invention are: the turning mechanism of the turning machine adopts the rolling principle to realize the turning of the workpiece, and the bearing capacity is greatly enhanced; the workpieces with various shapes and sizes can be turned over 90 degrees and 180 degrees by cooperating with various accessories; the turning process It is fully enclosed in medium gravity without clamping; it integrates 90-degree and 180-degree turning functions, and has comprehensive functions; the turning machine has a simple structure, a small overall height, convenient manufacture, low cost, and is safe and reliable.

Description of drawings

Fig. 1 is a schematic diagram of the structure of the present invention.

Fig. 2 is a schematic diagram of the structure of the upper and lower workbenches of the present invention.

Fig. 3 is a schematic diagram of the working condition of the inverted straight cylinder section of the present invention.

Fig. 4 is a schematic diagram of the present invention's working state of flipping pancakes.

Fig. 5 is a schematic diagram of the working condition of the inverted head of the present invention.

Fig. 6 is a schematic diagram of the working condition of the inversion transition joint of the present invention.

In the figure: 1. Upper workbench, 2. Lower workbench, 3. Opening and closing rotating shaft, 4. Base, 5. Support rail, 6. Semicircular ring gear, 7. Hydraulic cylinder, 8. Downward movement Platform, 9. Block accessories.

Detailed ways

The following is an embodiment of the present invention. With reference to accompanying drawings 1 and 2, the mobile platform 3/2 degree of freedom large-scale 90/180 degree turning machine in this embodiment consists of three parts: a machine base, a turning cart, and a combined workbench. constitute.

The base 4 is a welded structure, and its axial ends are provided with mutually parallel arc-shaped basic roller tables formed by vertical support plates with concave arcs on the upper part, and supporting rollers are arranged on the arc-shaped basic roller tables. A drive device is provided on the symmetrical center line of the base, and a drive gear is provided on the drive rotor;

The upper workbench 1 and the lower workbench 2 are all semi-cylindrical welded structural parts, and two semicircular arc-shaped support rails 5 are fixedly connected to the two ends of the outer circle along the circumferential direction. The arc-shaped basic roller table in the base is in rolling contact to realize the functions of bearing, supporting and positioning. In the middle of the upper and lower workbenches, there is a semi-arc-shaped ring gear 6 parallel to the semi-arc-shaped support rail. The two sets of support rails on the upper and lower workbenches and the middle ring gear are staggered from each other in the axial direction. The above-mentioned two arc-shaped ring gears mesh with the two driving gears of the base respectively, and the motion power is transmitted to the upper and lower workbenches through the semi-circular arc-shaped ring gears to realize motion and power transmission. A lower mobile platform 8 is arranged on the table of the lower working platform. The back of the lower mobile platform is symmetrically connected to the lateral center line of the lower mobile platform. Five hydraulic cylinders 7 are connected, and each hydraulic cylinder is hinged to the lower mobile platform by a hinge. Together, they form the mobile pair connection of the mobile platform, which can move up and down to adapt to workpieces of different heights; by adding rotary V-shaped irons, long V-shaped irons, short V-shaped irons, oblique V-shaped irons and other pad accessories Realize the 90-degree and 180-degree turning of workpieces such as straight tube joints, transition joints, pancakes, and heads. The upper workbench and the lower workbench are connected by 3 hinges of the opening and closing rotation axis. The upper workbench can be turned counterclockwise around the opening and closing rotation axis of the workbench by driving 90 degrees to open. When the upper workbench is opened, the parts are hoisted and closed. Finally, the upper and lower workbenches and the turned workpiece form a cylindrical whole. At this time, the two sets of ring gears and tracks on the upper and lower workbenches are still located in the same cylindrical surface, and the 180-degree rotation can be realized through the overall drive system. The whole can continue to roll; if the upper workbench is opened 90 degrees and then locked, the central angle of the whole cylinder is 270 degrees at this time, and 90 degrees can be turned over.

The upper workbench can be regarded as an operating arm with 1 degree of freedom; the lower workbench can be regarded as another operating arm with 2 degrees of freedom (one degree of freedom is shared by the whole), when the drive acts on the upper workbench , the degree of freedom of the system is 1; when the drive acts on the lower workbench, the degree of freedom of the system is 2 (one degree of freedom is shared by the whole); when the drive changes between the two half cylinders, the degrees of freedom of the two arms are exchanged. The overall drive can be transformed between two half cylinders to form a 3-degree-of-freedom 2-redundant, dual-arm joint operating system. That is to say, the whole can realize barrier-free, slow, stable and continuous in-situ rolling motion, forming a dual-function turning machine capable of completing workpiece turning 90 degrees and 180 degrees.

The base is in rolling contact with the two semi-circular support rails of the upper and lower workbenches to bear the load. The upper and lower workbenches can achieve rolling motion relative to the machine base, while restraining the other three movements and two rotational movements; The upper and lower workbenches are connected by a rotating pair through the opening and closing rotation axis of the workbench, and the other three are moved, and the two rotational movements are constrained.

The 90-degree turning process of the "big straight tube section" is shown in Figure 3. The specific working process is as follows: When the 90-degree working state is turned, the upper workbench is turned 90 degrees, and the end faces of the upper and lower workbenches are L-shaped, and the upper workbench is locked. Bench; select the corresponding accessories according to the type of workpiece; drive the hydraulic cylinder group to raise the lower mobile platform to the specified height; hoist the corresponding spacer accessories 9, place them on the upper workbench, and then hoist the workpiece , so that the workpiece and the V-shaped pad iron are close and tight; the overall drive system starts to work, so that the upper and lower workbenches together with the V-shaped pad iron and the workpiece roll 90 degrees as a whole, and the workpiece and accessories are lifted out to complete 90 degrees. degree flip task.

The 180-degree turning process of cakes, heads, and transitional workpieces is shown in Figure 4, Figure 5, and Figure 6. The specific working process is as follows: When the 180-degree working state is used, the upper workbench is turned 90 degrees, and the upper and lower work The end face of the table is L-shaped, lock the upper workbench, hoist in the corresponding spacer accessories 9 as required, and then hoist the workpiece, so that the upper workbench turns 90 degrees clockwise, close the upper workbench, and Combine the upper and lower workbenches, pad accessories, and workpieces together to form a cylindrical whole; the overall drive system starts to work, making the upper and lower workbenches together with the workpiece roll through 90 to 180 degrees, and the original lower workbench is now located at Upper side: Open the lower workbench on the upper side, the upper and lower worktables form an L shape, take out the workpiece, and complete the 180-degree flip of the workpiece.

Claims (1)

1. A 90/180-degree turning machine for large parts with 3/2 degrees of freedom on a mobile platform, mainly including a base, an upper workbench and a lower workbench, characterized in that the base is a welded structure, and its axial ends Both are equipped with arc-shaped base roller tables parallel to each other formed by vertical support plates with concave arcs on the upper part. Idler rollers are arranged on the arc-shaped base roller tables. A drive device is installed on the symmetrical center line of the base. There are driving gears; the upper and lower workbenches are semi-cylindrical welded structural parts, and the two ends of the outer circle are respectively fixedly connected with two semicircular arc-shaped support rails along the circumferential direction. The arc-shaped foundation roller table is in rolling contact; there is a semi-arc-shaped ring gear parallel to the semi-arc-shaped support track in the middle of the upper and lower workbenches, and the two sets of support rails on the upper and lower workbenches are connected to the middle ring gear. The positions along the axial direction are staggered from each other, and the above-mentioned two arc-shaped ring gears are meshed with the driving gear of the above-mentioned driving device respectively; a lower moving platform is arranged on the table surface of the lower working platform, and the lateral centerline of the moving platform is moved below the back of the lower moving platform There are five hydraulic cylinders in a symmetrical connection, and each hydraulic cylinder is hinged with the lower mobile platform through a hinge, which together constitute the mobile pair connection of the mobile platform; the upper workbench and the lower workbench are hinged through the opening and closing rotating shaft , the opening and closing rotation axis is located at the place where the central axis of rotation of the vehicle coincides with the central axes of rotation of the upper and lower workbenches.