CN104016217A - Front and back blocking cover-type workpiece lifting appliance and control system thereof - Google Patents
Front and back blocking cover-type workpiece lifting appliance and control system thereof Download PDFInfo
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- CN104016217A CN104016217A CN201410257934.3A CN201410257934A CN104016217A CN 104016217 A CN104016217 A CN 104016217A CN 201410257934 A CN201410257934 A CN 201410257934A CN 104016217 A CN104016217 A CN 104016217A
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Abstract
The invention discloses a front and back blocking cover-type workpiece lifting appliance and a control system thereof. A workpiece is welded by a front inverted L-shaped workpiece unit and a rear inverted L-shaped workpiece unit integrally; the front and back blocking cover-type workpiece lifting appliance is provided with a first front rotary locating pin assembly, a second front rotary locating pin assembly, a rear rotary locating pin assembly, a front support rod assembly, a rear support rod assembly and a rear part supporting assembly, wherein the first front rotary locating pin assembly, the second front rotary locating pin assembly, the rear rotary locating pin assembly, the front support rod assembly and the rear support rod assembly are driven by air cylinders respectively, so that control is convenient; vacuum cups are arranged on the support rod assemblies, the air cylinder is adjusted by the suction cup, the position of the vacuum suction cup is adjusted and workpiece adsorption is realized; the workpiece can be reliably supported and the surface of the workpiece cannot be damaged; the control system of the front and back blocking cover type workpiece lifting appliance can enable line charging and automatic hoisting of front and rear workpieces to be realized conveniently by controlling the action of the air cylinders or the vacuum suction cups, meets the blocking welding requirement of cab workpieces, improves the product assembling efficiency and ensures the product assembling quality.
Description
Technical field
The present invention relates to handling assembly technique, relate in particular to a kind of front and back piecemeal lid formula Workpiece sling and control system thereof.
Background technology
Workpiece type in lifting industry, specification, shape etc. vary, the suspender that needs customized design and workpiece to adapt.For a kind of front and back piecemeal lid formula workpiece, it is formed by two parts workpiece assembly welding, front workpiece and rear workpiece are all approximately inversion " L-type ", and wherein the specification of front workpiece is less than the specification of rear workpiece, and the trailing flank of rear workpiece has larger size than the leading flank of front workpiece.Because workpiece has larger size and weight, cannot if use common suspender to lift, aspect location, clamping and the support of workpiece, all there is larger difficulty with manually carrying, also cause most probably workpiece deformation simultaneously.Because existing suspender lifts comparatively difficulty of above-mentioned workpiece, be also unfavorable for guaranteeing product design, be necessary to design a kind of novel sling system for the feature of this workpiece, to realize the lifting requirements of this kind of workpiece.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of front and back piecemeal lid formula Workpiece sling and control system thereof, so that the matching requirements of piecemeal lid formula workpiece before and after meeting.
For solving above technical matters, the invention provides a kind of front and back piecemeal lid formula Workpiece sling, be provided with:
The first front revolution pin assembly, comprise the first front revolution clamping cylinder, the first prelocalization pin and the first front revolution supporting plate, the cylinder barrel of described the first front revolution clamping cylinder is fixed in duel spreader frames, described the first prelocalization pin is fixed on the cylinder barrel of described the first front revolution clamping cylinder to insert in the knock hole of workpiece before the first specification, and the piston rod bottom that described the first front revolution supporting plate is fixed on described the first front revolution clamping cylinder is to hold the bottom surface of workpiece before the first specification;
The second front revolution pin assembly, comprise locating dowel pin adjusting cylinders, the second front revolution clamping cylinder, the second prelocalization pin and the second front revolution supporting plate, the cylinder barrel of described locating dowel pin adjusting cylinders is fixed in described duel spreader frames, the cylinder barrel of described the second front revolution clamping cylinder is fixed on the piston rod of described locating dowel pin adjusting cylinders, described the second prelocalization pin is fixed on the cylinder barrel of described the second front revolution clamping cylinder to insert in the knock hole of workpiece before the second specification, the piston rod bottom that described the second front revolution supporting plate is fixed on described the second front revolution clamping cylinder is to hold the bottom surface of workpiece before the second specification,
Rear revolution pin assembly, comprise rear revolution clamping cylinder, rear locating dowel pin and rear revolution supporting plate, the cylinder barrel of described rear revolution clamping cylinder is fixed in described duel spreader frames, described rear locating dowel pin is fixed on the cylinder barrel of described rear revolution clamping cylinder to insert in the knock hole of rear workpiece, and described rear revolution supporting plate is fixed on the piston rod bottom of described rear revolution clamping cylinder to hold the bottom surface of rear workpiece;
Front support rod assembly, comprise front support rod, front roll bar, front locking cylinder, anterior sucker adjusting cylinders and initial vacuum sucker, described front support rod and described duel spreader frames are hinged, the head end of described front support rod and the first end of described front roll bar are hinged, the second end of described front roll bar is connected with the piston rod of described front locking cylinder, the cylinder barrel of described front locking cylinder is fixed in described duel spreader frames, the cylinder barrel of described anterior sucker adjusting cylinders is fixed on the tail end of described front support rod, described initial vacuum sucker is fixed on the piston rod of described anterior sucker adjusting cylinders to adsorb the bottom surface of workpiece before workpiece before the first specification or the second specification,
Back support rod assembly, comprise back support rod, rear fork, rear locking cylinder and final vacuum sucker, described back support rod and described duel spreader frames are hinged, the head end of described back support rod and the first end of described rear fork are hinged, the second end of described rear fork is connected with the piston rod of described rear locking cylinder, the cylinder barrel of described rear locking cylinder is fixed in described duel spreader frames, and described final vacuum sucker is fixed on the tail end of described back support rod to adsorb the bottom surface of rear workpiece;
Back support assembly, comprise back support divider, rear portion sucker adjusting cylinders and rear portion vacuum cup, the head of described back support divider is fixed on the tail end of described duel spreader frames, the cylinder barrel of described rear portion sucker adjusting cylinders is fixed on the afterbody that is arranged on described back support divider, and described rear portion vacuum cup is fixed on the piston rod of described rear portion sucker adjusting cylinders to adsorb the trailing flank of rear workpiece.
Alternatively, the afterbody of described swing arm is provided with regulating plate, on described regulating plate, offer regulating plate elongated slot, the cylinder barrel of described sucker adjusting cylinders is locked on described regulating plate by running through the attaching parts of described regulating plate elongated slot, and the piston rod of described sucker adjusting cylinders is installed on described vacuum cup.
Alternatively, the head of described back support divider is provided with stabilizer rod.
Alternatively, be provided with the guidepost being fixed in described duel spreader frames, the guide head of described guidepost deviates from ground and inserts in the knock hole of gig with the location between described duel spreader frames and gig.
Alternatively, be provided with the top radius stay and the bottom radius stay that are fixed in described duel spreader frames, the guide head of described top radius stay is inserted in the axle sleeve of pre-installing fixture and carries out just leading towards ground, the guide head of described bottom radius stay is inserted in the knock hole of pre-installing fixture and carefully leads towards ground, to realize the location between described duel spreader frames and prepackage fixture.
Alternatively, described top radius stay comprises the stay bearing plate of alignment pin and inverted L shape, the first end of described stay bearing plate is fixed in described duel spreader frames, the second end of described stay bearing plate extends outward outside described duel spreader frames and forms stay bearing plate cantilever, and described alignment pin is fixed on described stay bearing plate cantilever.
Alternatively, on described stay bearing plate cantilever, offer some lightening holes.
Alternatively, described sucker adjusting cylinders is single-piston rod oval-section piston bar cylinder.
Alternatively, described locating dowel pin adjusting cylinders is slide rail cylinder.
Front and back piecemeal lid formula Workpiece sling for above-mentioned, the invention provides a kind of control system, and it comprises:
Some electromagnetic valves, for controlling described the first front revolution clamping cylinder, described the second front revolution clamping cylinder, described rear revolution clamping cylinder, described locating dowel pin adjusting cylinders, described front locking cylinder, described rear locking cylinder, described anterior sucker adjusting cylinders and described rear portion sucker adjusting cylinders on/off gas circuit;
Some vacuum generators, for controlling described initial vacuum sucker, described final vacuum sucker and described rear portion vacuum cup on/off gas circuit;
Controller, for according to workpiece character and suspender state to relevant electromagnetic valve or vacuum generator output control signal, to control corresponding cylinder or sucker moves by predetermined policy.
Compared with prior art, suspender of the present invention is according to the feature of piecemeal lid formula workpiece before and after polytype, can preferably front and back workpiece be positioned and be supported, wherein: the first front revolution pin assembly, the second front revolution pin assembly are respectively to workpiece location and clamping before the first specification or the second specification, and rear revolution pin assembly is to rear workpiece location and clamping; Front support rod assembly when locking fixed pedestal the first specification or the second specification before workpiece bottom, back support rod assembly when locking after fixed pedestal before workpiece bottom; Back support assembly can support rear workpiece, to prevent the perk backward of rear workpiece; Relevant revolution pin assembly, strut bar assembly, respectively by air cylinder driven, are conveniently controlled; On relevant supporting component, vacuum cup is set, and selects sucker adjusting cylinders to regulate vacuum cup position and realize absorption of workpieces, workpiece support reliably and can defective work piece surface.The present invention is by controlling the action of relevant cylinder or vacuum cup, and before and after just can realizing easily, the automatic wire charging handling of workpiece, meets the requirement of operator's compartment piecemeal butt welding process well, has improved Product Assembly efficiency, has guaranteed the assembly quality of product.
Accompanying drawing explanation
Fig. 1 a is the front view of piecemeal lid formula Workpiece sling before and after the embodiment of the present invention;
Fig. 1 b is the left view of Fig. 1 a;
Fig. 1 c is the birds-eye view of Fig. 1 a;
Fig. 2 a is the duel spreader frames front view in suspender shown in Fig. 1 a～Fig. 1 c;
Fig. 2 b is the left view of Fig. 2 a;
Fig. 2 c is the birds-eye view of Fig. 2 a;
Fig. 3 a is the suspender Connection Block front view in suspender shown in Fig. 1 a～Fig. 1 c;
Fig. 3 b is the left view of Fig. 3 a;
Fig. 3 c is the birds-eye view of Fig. 3 a;
Fig. 4 a is the front locking cylinder base front view in suspender shown in Fig. 1 a～Fig. 1 c;
Fig. 4 b is the left view of Fig. 4 a;
Fig. 4 c is the birds-eye view of Fig. 4 a;
Fig. 5 a is the guidepost front view in suspender shown in Fig. 1 a～Fig. 1 c;
Fig. 5 b is the birds-eye view of Fig. 5 a;
Fig. 6 a is the top radius stay front view in suspender shown in Fig. 1 a～Fig. 1 c;
Fig. 6 b is the left view of Fig. 6 a;
Fig. 6 c is the birds-eye view of Fig. 6 a;
Fig. 7 a is the bottom radius stay front view in suspender shown in Fig. 1 a～Fig. 1 c;
Fig. 7 b is the birds-eye view of Fig. 7 a;
Fig. 8 a is the first front revolution pin assembly front view in suspender shown in Fig. 1 a～Fig. 1 c;
Fig. 8 b is the left view of Fig. 8 a;
Fig. 9 a is the second front revolution pin assembly front view in suspender shown in Fig. 1 a～Fig. 1 c;
Fig. 9 b is the left view of Fig. 9 a;
Figure 10 a is the rear revolution pin assembly front view in suspender shown in Fig. 1 a～Fig. 1 c;
Figure 10 b is the left view of Figure 10 a;
Figure 11 a is the front support rod assembly front view in suspender shown in Fig. 1 a～Fig. 1 c;
Figure 11 b is the left view of Figure 11 a;
Figure 12 a is the back support rod assembly front view in suspender shown in Fig. 1 a～Fig. 1 c;
Figure 12 b is the left view of Figure 12 a;
Figure 13 a is the back support assembly front view in suspender shown in Fig. 1 a～Fig. 1 c;
Figure 13 b is the left view of Figure 13 a;
Figure 13 c is the birds-eye view of Figure 13 c;
Figure 14 is the composition frame chart of piecemeal lid formula Workpiece sling control system before and after the present invention;
Figure 15 is a kind of schematic diagram of gas circuit in control system shown in Figure 14;
Figure 16 a is the pickup procedure chart of workpiece and bonnet before the first specification in control system shown in Figure 14;
Figure 16 b be shown in Figure 14 in control system before the first specification workpiece and bonnet put part procedure chart;
Figure 16 c is the pickup procedure chart of workpiece and bonnet before the second specification in control system shown in Figure 14;
Figure 16 d be shown in Figure 14 in control system before the second specification workpiece and bonnet put part procedure chart.
The specific embodiment
A preferred embodiment of the present invention, all adopts the background of 6 branch unit butt welding process for advanced high top dual horizontal truck cap in the world, disclosed a kind of front and back workpiece rational in infrastructure suspender of reaching the standard grade, and it includes but are not limited to following technical characterstic:
One, because 4 band elevator precision are not high, suspender adopts the guidance mode that just guiding refinement guiding engages while entering prepackage fixture, make suspender can enter exactly desired location grabbing workpiece at every turn;
Its two, revolution is installed locating dowel pin and supporting plate on clamping cylinder, the effect that makes it have location and hold workpiece, workpiece is in the mobile situation that play can not occur or fall part;
They are three years old, fixing sucking disk adjusting cylinders on the strut bar assembly of controlling by locking cylinder, and on sucker adjusting cylinders fixing vacuum cup, this array configuration can be taken notice of the arbitrarily angled grabbing workpiece in 0 ° to 90 °, the shared space of supporting arm assembly system before and after the utilization of sucker adjusting cylinders has reduced, the space turnover that can reserve between the workpiece of front and back, completes and picks and places part action.
Below in conjunction with accompanying drawing and specific embodiment, be elaborated.A lot of details have been set forth in the following description so that fully understand the present invention.But the present invention can implement to be much different from alternate manner described here, and those skilled in the art can do similar popularization without prejudice to intension of the present invention in the situation that, so the present invention is not subject to the restriction of following public specific embodiment.
Please represent the structure of embodiment of the present invention front and back piecemeal lid formula Workpiece slings (hereinafter to be referred as suspender) simultaneously referring to Fig. 1 a～Figure 13 c, wherein Fig. 1 a～Fig. 1 c illustrates lifting assembly structure; Fig. 2 a～Figure 13 c illustrates the major part structure of suspender.This suspender can be used for simultaneously the handling front workpiece of the first specification and rear workpiece, also can be used for the handling front workpiece of the second specification and rear workpiece simultaneously, wherein: before the first specification, workpiece is larger along the width in the longitudinal axis of symmetry direction of operator's compartment, and as east wind the second specification etc.; Workpiece is less along the width in the longitudinal axis of symmetry direction of operator's compartment before the second specification, as east wind the first specification etc.In the present embodiment, before the first specification, workpiece clamps by the first front revolution pin assembly 11 location, by front support rod assembly 7, realizes support; Before the second specification, workpiece clamps by the second front revolution pin assembly 9 location, by front support rod assembly 7, realizes support; Rear workpiece clamps by the rear revolution pin assembly 12 location, by front support rod assembly 6, realizes bottom supporting, realizes that trailing flank supports by back support assembly.Constructional drawing further combined with lifting assembly and major part describes in detail below.For simplicity, before the first specification, before workpiece and the second specification, workpiece is called front workpiece or workpiece sometimes simply, and does not carry out detailed differentiation, in the time of please reading, is noted.
As shown in Fig. 1 a～Fig. 1 c, lifting assembly mainly consists of parts such as duel spreader frames 1, guidepost 3, top radius stay 4, the front revolution pin assembly 11 of bottom radius stay 5, first, rear revolution pin assembly 12 assemblies, front support rod assembly 7, back support rod assembly 6 and back support assemblies 10, wherein:
The body that duel spreader frames 1 is suspender, it is hung on four-point band elevator (scheming not shown) by being arranged on the suspender link span 2 in 1 four bights of duel spreader frames.After gig is fallen, workpiece before and after suspender captures from prepackage fixture (scheming not shown), then lifting with the automatic carriage assembly station top of dividing a word with a hyphen at the end of a line, then suspender and workpiece are dropped on assembly station, finally complete corresponding assembly process.
Guidepost 3 is as detent mechanism on suspender, its bottom is fixedly mounted on the guidepost mount pad of duel spreader frames 1 by fasteners such as socket bolt 16, plain cushion 17, bullet pads 18, its guide head deviates from ground and inserts in the knock hole of gig, can be to locating between the duel spreader frames 1 in walking and gig, guarantee suspender and workpiece hoisting, in walking process easy motion.
Top radius stay 4 and bottom radius stay 5 match, as detent mechanism under suspender, wherein: top radius stay 4 is fixedly mounted on the top radius stay adapter plate of duel spreader frames 1 by fasteners such as socket bolt 13, plain cushion 14, bullet pads 15, its guide head can be inserted in the prepackage fixture axle sleeve that position P1, P2 (as Fig. 1 c) locate towards ground, realizes the first guiding with prepackage fixture to suspender; The bottom of bottom radius stay 5 is fixedly mounted on the bottom radius stay adapter plate of duel spreader frames 1 by socket bolt 22, plain cushion 23, bullet pad 24 etc., and its guide head is inserted in the knock hole of prepackage fixture towards ground, realizes suspender is carefully led.Like this, through the first guiding of top radius stay 4 and the thin guiding of bottom radius stay 4, just can complete preferably the location between suspender and prepackage fixture.
The first front revolution pin assembly 11 is as front workpiece (the first specification) detent mechanism, it is arranged in duel spreader frames 1, its the first prelocalization pin inserts in the knock hole of front workpiece, its first front revolution supporting plate is held front workpiece simultaneously, realizes thus location, clamping between suspender and front workpiece.
The second front revolution pin assembly 9 is same as front workpiece (the second specification) detent mechanism.As Fig. 1 a～as shown in Fig. 1 c, in order to use the workpiece requirement of different product, the second front revolution pin assembly 9 has also been installed on suspender simultaneously, its effect is identical with the first front revolution pin assembly 11.This second front revolution pin assembly 9 is telescopic prelocalization pin assemblies, it is installed on the front side of the first front revolution pin assembly 11, be mainly used in the handling of the front workpiece of the first size workpiece, the first front revolution pin assembly 11 is mainly used in the handling of the front workpiece of the second size workpiece: if lifting the second size workpiece, front workpiece by 11 pairs of the second specifications of the first front revolution pin assembly positions, now the revolution clamping cylinder of the second front revolution pin assembly 9 needs to regain, and avoids thus producing and interferes; If lifting the first size workpiece, is positioned by workpiece before 9 pairs of the second front revolution pin assemblies, now the first front revolution pin assembly 11 can not produce and interfere workpiece before the first specification.
Rear revolution pin assembly 12 is as rear workpiece locating mechanism, and its structure and function and the first front revolution pin assembly 11 are similar.This rear revolution pin assembly 12 is provided with rear revolution clamping cylinder, rear locating dowel pin and rear revolution supporting plate, rear revolution clamping cylinder is arranged in duel spreader frames 1 by socket bolt 25, plain cushion 26, bullet pad 27 etc., rear locating dowel pin is inserted in the knock hole of rear workpiece, rear revolution supporting plate can be held rear workpiece simultaneously, realizes thus the location to suspender and rear workpiece.Because of the anchored object of rear revolution pin assembly 12 after workpiece basic identical in different operator'ies compartment, therefore the present embodiment arranges a pair of rear revolution pin assembly 12.
Front support rod assembly 7 is as front workpiece bottom supporting mechanism, it is arranged in duel spreader frames 1, and can under front locking cylinder drives, swing forward, and this front support rod assembly 7 becomes locking attitude when lifting, the bottom surface of workpiece before fixed pedestal, makes front workpiece grabbing in duel spreader frames 1 thus.As shown in Fig. 1 a～Fig. 1 c, front locking cylinder base 8 is arranged on the locking cylinder seat board of duel spreader frames 1 by fasteners such as socket bolt 28, plain cushion 29, bullet pads 30, one end of front locking cylinder in front support rod assembly 7 is arranged on front locking cylinder base 8, the other end is connected to front support rod assembly 7 by fork, drive thus front support rod assembly 7 to swing, before when swing puts in place, locking cylinder is from pinning front support rod assembly 7, so that fixed pedestal is lived front workpiece.
Back support rod assembly 6 is as rear workpiece bottom supporting mechanism, but it is arranged in duel spreader frames 1, and can under rear locking cylinder drives, swing backward, this back support rod assembly 6 becomes locking attitude when lifting, the bottom surface of workpiece after fixed pedestal, is sandwiched in duel spreader frames 1 rear workpiece thus.The actuating device of back support rod assembly 6 is identical with the frame mode of front support rod assembly 7 actuating devices, repeats no more.
Back support assembly 10 is as rear workpiece trailing flank supporting mechanism, it is fixedly mounted in duel spreader frames 1 by socket bolt 19, plain cushion 20, bullet pad 21 etc., the trailing flank of workpiece after lifting is withstood at present, the just not perk backward when handling of rear like this workpiece.Back support assembly 10 being only set herein, and not being provided for supporting the front support assembly of front workpiece leading flank, is due to the less cause of the leading flank size of front workpiece.
The version of the parts such as the duel spreader frames 1 in Fig. 1 a～Fig. 1 c, suspender Connection Block 2, guidepost 3, top radius stay 4, bottom radius stay 5, back support rod assembly 6, front support rod assembly 7, the front revolution pin assembly 9 of front locking cylinder base 8, second, the front revolution pin assembly 11 of back support assembly 10, first, rear revolution pin assembly 12 all has multiple implementation, below is described in detail for example.
Fig. 2 a～Fig. 2 c illustrates the structure of duel spreader frames 1, this duel spreader frames 1 by horizontal square tube 1.1, square tube 1.4 and longitudinally square tube 1.2,, the cross connection such as square tube 1.5, square tube 1.13 and square tube 1.14, the termination of each square tube can be sealed with shrouding 1.15, forms thus the skeleton of duel spreader frames 1.The suitable position of this skeleton installs plate 1.3, plate 1.7, plate 1.11, plate 1.12 additional, and support plate 1.16, support plate 1.18 etc., and at the connecting portion of relevant plate or support plate, installs gusset 1.10, gusset 1.20 etc. additional and improve intensity.Corresponding above-mentioned guidepost 3, top radius stay 4, bottom radius stay 5, back support rod assembly 6, front support rod assembly 7, front locking cylinder base 8, the second front revolution pin assembly 9, back support assembly 10, the first front revolution pin assembly 11, rear revolution pin assembly 12 etc., in duel spreader frames 1, need to arrange some adapter plates (seat), as locating dowel pin adapter plate 1.6, locating dowel pin mount pad 1.8, guidepost mount pad 1.9, locking cylinder seat board 1.17, locking cylinder seat board 1.19, etc., the duel spreader frames 1 forming thus can be installed relevant detent mechanism and supporting mechanism easily.
Be understandable that, the size of this duel spreader frames 1 should adapt with prepackage fixture.Simultaneously, with reference to 1a～Fig. 1 c, the present invention determines rectangular coordinate system in such a way: establishing prepackage fixture vehicle body origin is O (0,0,0), and longitudinal axis of symmetry of duel spreader frames 1 is X-axis, and front side is for just; The level of longitudinal axis of symmetry of duel spreader frames 1 is vertical is Y-axis, and left side (being the direction of arrow in Fig. 2 a) is for just; And determine Z axis according to right-handed system, straight up for just (pointing to duel spreader frames 1).Can determine thus the critical positions coordinate relevant with duel spreader frames, for example: the origin of duel spreader frames is O ' (600,700,2420); Position P1 (100 ,-1250,2715), P2 (100,1250,2715) locate to install respectively prepackage fixture axle sleeve 31, top radius stay 4 coordinates with prepackage fixture axle sleeve 31, realizes the first guiding (or claiming thick guiding) between duel spreader frames 1 and prepackage fixture; Prepackage fixture knock hole is symmetrical about O O ' line, and lower radius stay 5 coordinates with prepackage fixture knock hole, realizes the thin guiding between duel spreader frames 1 and prepackage fixture; Like this, by positioning shaft sleeve or position of positioning hole are rationally set, can guarantee that suspender and prepackage fixture accurately align, and guarantee that suspender, after the thin guiding of the first guiding through top radius stay 4 and bottom radius stay 5, can enter desired location grabbing workpiece at every turn exactly.In addition, position P3 (1678 ,-1250,2420) and it arrange respectively crashproof bearing 32 about the symmetric position of OO ' line, bump preventing in handling process.
The accessory structures such as suspender Connection Block 1 and front locking cylinder base 8, rear locking cylinder base are installed, below difference brief description shown in Fig. 2 a～Fig. 2 c in duel spreader frames 1.
In suspender Connection Block as shown in Fig. 3 a～Fig. 3 c, fixed support 2.1 is fixedly installed in duel spreader frames 1 by adding long bolt 2.2 and nut 2.3, and bearing pin 2.4 is rear with spring cotter 2.5 location through fixed support 2.1, forms thus suspender Connection Block 2.The corner location of the duel spreader frames 1 in the present embodiment is all installed a suspender Connection Block 2, lifting rope is walked around the bearing pin 2.4 in suspender Connection Block 2, just can be by duel spreader frames 1 hanging on four-point band elevator, gig just can drive sling lifting and translation after starting, and makes suspender arrive preposition operation.
Fig. 4 a～Fig. 4 c illustrates the structure of front locking cylinder base 8.1, and this front locking cylinder base 8 consists of riser 8.1 and base plate 8.2, wherein: base plate 8.2 is fixed on the locking cylinder base plate of duel spreader frames 1 by socket bolt 28, plain cushion 29, bullet pad 30; Riser 8.1 is fixed on base plate 8.2 and forms support, in order to the front locking cylinder in front stretching bar assembly 7 to be installed by Assembly of pin.The structure of rear locking cylinder base is similar, because not identifying in figure, at this, does not launch to describe.
For the front workpiece of successfully handling and rear workpiece, should guarantee between suspender and prepackage fixture, gig accurate positioning between suspender and workpiece.For this reason, the embodiment of the present invention is provided with on corresponding suspender detent mechanism, front workpiece locating mechanism and rear workpiece locating mechanism under detent mechanism, suspender, wherein on suspender, positioning function is realized by guidepost 3, under suspender, positioning function is realized jointly by top radius stay 4 and bottom radius stay 5, front workpiece locating mechanism is realized by the first front revolution pin assembly 11, rear workpiece locating mechanism is realized by rear revolution pin assembly 12, below these parts is described in detail.
In guidepost structure as shown in Fig. 5 a～Fig. 5 b, guidepost 3 consists of round steel 3.1 and base plate 3.2, base plate 3.2 can be fixedly installed on the guidepost mount pad 1.9 of duel spreader frames 1 by socket bolt 16, plain cushion 17, bullet pad 18 (as Fig. 1 a～Fig. 3 b), and wherein round steel 3.1 is inverted and is installed on base plate 3.2.When suspender is mentioned after certain altitude, the guide head on round steel 3.1 tops just can be inserted in the knock hole of gig, so just make to realize and locating between duel spreader frames 1 and gig, thereby can prevent that suspender from producing and rocking in the process of dividing a word with a hyphen at the end of a line, and finally guarantees the smooth running of suspender and workpiece.
Referring to Fig. 6 a～Fig. 6 c, the structure of top radius stay 4 is shown.Simultaneously with reference to figure 1a～Fig. 1 c, top radius stay 4 comprises the parts such as stay bearing plate 4.1 of alignment pin 4.2 and inverted L shape, wherein: the first end of stay bearing plate 4.1 is fixedly mounted in duel spreader frames 1, the second end extends outward outside duel spreader frames 1 and forms stay bearing plate cantilever, can offer some lightening holes on this stay bearing plate cantilever; Alignment pin 4.2 is fixedly mounted on stay bearing plate cantilever, and its guide head is inserted in the axle sleeve of prepackage fixture towards ground, thus can be as the first guiding between suspender and prepackage fixture.
As shown in Fig. 6 a～Fig. 6 c, the concrete assembling mode of top radius stay 4 is: the first end (bottom) of the stay bearing plate 4.1 of inverted L shape is fixing with base plate 4.4, base plate 4.4 is fixed to the top of duel spreader frames 1 by standard attaching partss such as bolts, and between base plate 4.4 and stay bearing plate 4.1, installs gusset 4.5 additional to improve intensity; Second end (tail end) of stay bearing plate 4.1 arranges the cover 4.3 of stationary positioned bearing pin 4.2, is wherein set with alignment pin 4.2 fastening with socket head cap screw 4.6, forms thus top radius stay 4 assemblies.After requiring to be installed in duel spreader frames 1 according to earlier figures 1a～Fig. 1 c, just can utilize prepackage fixture axle sleeve 31 to carry out preliminary guiding.
Fig. 7 a～Fig. 7 c shows the structure of bottom radius stay 5, this bottom radius stay 5 is comparatively similar to guidepost 3, its structure is comparatively simple: its base plate 5.2 is fixedly installed in duel spreader frames 1 by standard attaching partss such as bolts, the head of round steel 5.1 is installed on base plate 5.2, and its guide head is inserted in the knock hole of prepackage fixture towards ground.When suspender drops to behind crawl position, the guide head on round steel 5.1 tops is inserted in the knock hole of prepackage fixture, makes duel spreader frames 1 and prepackage fixture realize thin location.Like this, after the first guide-localization through radius stay on aforementioned 4, then carry out thin guide-localization with bottom radius stay 5 herein, can guarantee that suspender enters into crawl position exactly, make successfully grabbing workpiece of suspender.
Fig. 8 a～Fig. 8 b shows a kind of implementation of front workpiece locating mechanism, it is embodied in the first front revolution pin assembly 11, by parts such as the first front revolution clamping cylinder 11.2, the first prelocalization pin 11.5 and the first front revolution supporting plates 11.4, formed, wherein: the first front revolution clamping cylinder 11.2 is arranged on the locating dowel pin mount pad 1.8 of duel spreader frames 1; The first prelocalization pin 11.5 is fixedly mounted on the cylinder barrel of the first front revolution clamping cylinder 11.2, can insert in the knock hole of front workpiece; The first front revolution supporting plate 11.4 is arranged on the piston rod bottom of the first front revolution clamping cylinder 11.2.
As shown in Fig. 8 a～Fig. 8 b, specifically assembling mode is: the first front revolution clamping cylinder 11.2 is installed on plate 11.1 by plate socket head cap screw 1111, then is installed in duel spreader frames 1 by plate 11.1; Locating dowel pin adapter plate 11.3 is installed on the cylinder barrel of the first front revolution clamping cylinder 11.2 by socket head cap screw 11.9, bullet pad 11.10, and the first prelocalization pin 11.5 is fixed on locating dowel pin adapter plate 11.3 by nut 11.6, plain cushion 11.7, bullet pad 11.8; The first front revolution supporting plate 11.4 is fixed on the piston rod bottom of the first front revolution clamping cylinder 11.2 by socket head cap screw 11.12, bullet pad 11.13, this first front revolution supporting plate 11.4 is provided with through hole, inserts the first prelocalization pin 11.5 in the time of can regaining for piston rod.
Referring to Fig. 8 a～Fig. 8 b, simultaneously with reference to figure 1a～Fig. 1 c, the groundwork working process of the first front revolution pin assembly 11 is: after suspender and prepackage fixture are located, rotate the first front revolution clamping cylinder 11.2, its piston rod drives the first front revolution supporting plate 11.4 to rotate while stretching out, the first prelocalization pin 11.5 is inserted in the knock hole of front workpiece and positions; Contraposition is complete, and the piston rod of the first front revolution clamping cylinder 11.2 is regained, and the bottom surface that the first front revolution supporting plate 11.4 is held front workpiece, has better realized the location between suspender and front workpiece thus.
Fig. 9 a～Fig. 9 b illustrates a kind of structure of the second front revolution pin assembly 9, and it is a kind of telescopic front revolution pin assembly.The basic structure of this second front revolution pin assembly 9 and above-described the first front revolution pin assembly 11 are similar, and it is slide rail cylinder 9.2 that difference is to have increased a locating dowel pin adjusting cylinders.The concrete structure of the second front revolution pin assembly 9 is: slide rail cylinder 9.2 is arranged on slide rail cylinder mount pad 9.1 vertically by socket bolt 9.8, plain cushion 9.9, bullet pad 9.10, and this slide rail cylinder mount pad 9.1 is fixed in duel spreader frames 1 by socket bolt 9.21, plain cushion 9.22, bullet pad 9.23; The cylinder barrel of the second front revolution clamping cylinder 9.3 is received on cylinder connecting panel 9.4 by socket bolt 9.11, bullet pad 9.14 and socket bolt 9.13, bullet pad 9.14, this cylinder connecting panel 9.4 fixes with the piston rod of slide rail cylinder 9.2, realized being thus connected of slide rail cylinder 9.2 and the second front revolution clamping cylinder 9.3; The second prelocalization pin adapter plate 9.7 is installed on the cylinder barrel of the second front revolution clamping cylinder 9.3 by socket head cap screw 9.15, bullet pad 9.16, and the second prelocalization pin 9.6 is fixed on the second prelocalization pin adapter plate 9.7 by nut 9.17, plain cushion 9.18, bullet pad 9.19; The second revolution supporting plate 9.5 is fixed on the piston rod bottom of the second front revolution clamping cylinder 9.3 by socket head cap screw 9.20, this second revolution supporting plate 9.5 is provided with through hole, inserts the second prelocalization pin 9.6 in the time of can regaining for piston rod.
When this second front revolution pin assembly 9 is not used, slide rail cylinder 9.2 is regained the second front revolution clamping cylinder 9.3; During work, the piston rod of slide rail cylinder 9.2 reaches predetermined length, the second front revolution clamping cylinder 9.3 by bottom drives the second prelocalization pin 9.6 and the second revolution supporting plate 9.5 work afterwards, and this process is identical with the first front revolution pin assembly 11, repeats no more.
Figure 10 a～Figure 10 b shows the structure of rear revolution pin assembly 12, it consists of parts such as rear revolution clamping cylinder 12.2, rear locating dowel pin 12.5 and rear revolution supporting plates 12.4, wherein: turn round afterwards clamping cylinder 12.2 by rear locking cylinder floor installation on the locating dowel pin adapter plate 1.6 of duel spreader frames 1; Rear locating dowel pin 12.5 is fixedly mounted on the cylinder barrel of rear revolution clamping cylinder 12.2, can insert in the knock hole of rear workpiece; Rear revolution supporting plate 12.4 is arranged on the piston rod bottom of rear revolution clamping cylinder 12.2.This rear revolution pin assembly 12 is basic identical with the structure of rear revolution pin assembly 11, difference is only that the rear revolution supporting plate surface configuration in the middle of both is different, this is because the bottom shape of rear workpiece is different with the bottom shape of rear workpiece, thereby requires the cause of the corresponding end face shape revolution of coupling supporting plate.
As shown in Figure 10 a～Figure 10 b, the concrete assembling mode of rear revolution pin assembly 12 is: turn round afterwards clamping cylinder 12.2 and be installed on plate 12.1, plate 12.1 is installed in duel spreader frames 1 by socket bolt 25, plain cushion 26, bullet pad 27; Locating dowel pin adapter plate 12.3 is installed on the cylinder barrel of rear revolution clamping cylinder 12.2 by socket head cap screw 12.9, bullet pad 12.10, and rear locating dowel pin 12.5 is fixed on locating dowel pin adapter plate 12.3 by nut 12.6, plain cushion 12.7, bullet pad 12.8; Rear revolution supporting plate 12.4 is fixed on the piston rod bottom of rear revolution clamping cylinder 12.2 by socket head cap screw 12.12, bullet pad 12.13, this rear revolution supporting plate 12.4 is provided with through hole, locating dowel pin 12.5 after inserting in the time of can regaining for piston rod.
As Figure 10 a～Figure 10 b, simultaneously with reference to figure 1a～Fig. 1 c, the groundwork working process of rear revolution pin assembly 11 is: after suspender and prepackage fixture are located, after driving when after rotating, the piston rod of revolution clamping cylinder 11.2 stretches out, revolution supporting plate 11.4 rotates, and rear locating dowel pin 11.5 is inserted in the knock hole of rear workpiece and positions; Contraposition is complete, and the piston rod of rear revolution clamping cylinder 11.2 is regained, and rear revolution supporting plate 11.4 is held the bottom surface of rear workpiece, has better realized thus the location between suspender and rear workpiece.
By detent mechanism under detent mechanism, suspender on suspender and front workpiece locating mechanism and rear workpiece locating mechanism, realized above the guide-localization of suspender and gig, suspender and prepackage fixture and suspender and workpiece.On this basis, need to be optimized the supporting mechanism of the relevant front workpiece of design, rear workpiece, so that grabbing workpiece reliably.This specifically realizes by front support rod assembly 7, back support rod assembly 6 and back support assembly 10, below is described in detail.
Figure 11 a～Figure 11 b illustrates the structure of front support rod assembly 7, this front support rod assembly 7 is relatively short swing arm, its concrete assembling mode is: some spacers 7.6 are located in the middle of two opposed front end panels 7.1, each spacer 7.6 for place hex bolt 7.2, plain cushion 7.3, bullet pad 7.4, nut 7.5 etc. fastening, front end panel 7.1 bottoms connect by socket bolt 7.25, bullet pad 7.26, hexagon thin nut 7.27, form thus as short swing arm (being front support rod); The Shaft assembly that the top of end swing arm consists of axle 7.9, spacer 7.10, spacer 7.11, spring cotter 7.12 and nut 7.13 is hinged on the front support rod assembly support plate of duel spreader frames 1; Pin assemblies and front roll bar 7.15 that the head end of short swing arm consists of axle 7.14, spring cotter 7.12 and nut 7.13 are hinged, this front roll bar 7.15 is connected to the piston rod of front locking cylinder, on the fixing front locking cylinder base 8 with duel spreader frames 1 of the cylinder barrel of front locking cylinder, front locking cylinder just can drive short swing arm around duel spreader frames 1 rotation when flexible; The afterbody setting of short swing arm has the vacuum cup 7.17 of Acetabula device and vacuum pump, the bottom surface of its Acetabula device workpiece before when lifting absorption, the so just front workpiece of fixed pedestal reliably.
As shown in Fig. 2 a～Fig. 2 b, short swing arm afterbody is provided with the adjusting cylinders of initial vacuum sucker 7.17, to adjust the ranging coverage of initial vacuum sucker 7.17.Anterior sucker adjusting cylinders 7.16 is single-piston rod oval-section piston bar cylinder, be anterior sucker adjusting cylinders anterior sucker adjusting cylinders 7.16 in Fig. 2 a～Fig. 2 b, the concrete mounting means of it and initial vacuum sucker 7.17 is: short swing arm tail end is installed angle steel 7.8 and regulating plate 7.7; Regulating plate 7.7 is fixed with front end panel 7.1 with hex bolt 7.28, plain cushion 7.29, bullet pad 7.30, nut 7.31 after adjusting angle; Anterior sucker adjusting cylinders anterior sucker adjusting cylinders 7.16 use socket head cap screws 7.22, plain cushion 7.23, bullet pad 7.24 are fixed with angle steel 7.8; On regulating plate 7.7, by adjusting hex bolt 7.18, plain cushion 7.19, bullet pad 7.20 and nut 7.21, anterior sucker adjusting cylinders anterior sucker adjusting cylinders 7.16 are installed.Wherein on regulating plate 7.7, have two regulating plate elongated slots, the cylinder barrel of anterior sucker adjusting cylinders 7.16 is locked on regulating plate 7.7 by running through the attaching parts of regulating plate elongated slot, and the piston rod of anterior sucker adjusting cylinders 7.16 is installed initial vacuum sucker 7.17.Thus, the relative position with short swing arm tail end along the adjustable anterior sucker adjusting cylinders 7.16 of elongated slot direction; So just can adjust initial vacuum sucker 7.17 positions in short swing arm, guarantee that it has a good Support Position to front workpiece.
The groundwork process of above-mentioned front support rod assembly 7 is: in the suspender decline stage, the short swing arm of front support rod assembly 7 becomes vertical state substantially, can not cause interference to front workpiece thus; In the handling stage, the short swing arm of front support rod assembly 7 is at the driving lower swing certain angle (as 90 °) of front locking cylinder, so, by front locking cylinder, locked, be positioned at anterior sucker adjusting cylinders 7.16 actions of short swing arm tail end, make initial vacuum sucker 7.17 on anterior sucker adjusting cylinders 7.16 hold the bottom surface of front workpiece, short like this swing arm is workpiece before fixed pedestal reliably just, finally make suspender capture before workpiece complete the handling of front workpiece.The way of realization of this crawl structure is comparatively easy, can capture reliably front workpiece, in working process, can front workpiece not produced and be interfered, and also can not cause damage to the surface of front workpiece.
Back support rod assembly 6 structures shown in Figure 12 a～Figure 12 b, it and front support rod assembly 7 are similar, and larger difference is not arrange single-piston rod oval-section piston cylinder, and this matches with rear workpiece shape.
As shown in Figure 12 a～Figure 12 b, back support rod assembly 6 is relatively long swing arm (rear workpiece size is greater than front workpiece size), its concrete assembling mode is: some spacers 6.6 are located in the middle of two opposed rear bearing sheets 6.1, each spacer 6.6 for place hex bolt 6.2, plain cushion 6.3, bullet pad 6.4, nut 6.5 etc. fastening, form long arm swing (being back support rod); The top of long arm swing is hinged on the back support rod assembly support plate of duel spreader frames 1 by the Assembly of pin of axle 6.8, spacer 6.9, spacer 6.10, spring cotter 6.12 and nut 6.11; Pin assemblies and rear fork 6.14 that the head end of long arm swing consists of axle 6.13, spring cotter 6.12 and nut 6.11 are hinged, this rear fork 6.14 is connected to the piston rod of rear locking cylinder, on the fixing rear locking cylinder base with duel spreader frames 1 of the cylinder barrel of rear locking cylinder, rear locking cylinder just can drive long arm swing around duel spreader frames 1 rotation when flexible; The tail end of long arm swing, by fixed installation angle steel 6.7 such as hex bolt 6.16, plain cushion 6.3, bullet pad 6.4, nuts 6.5, is installed final vacuum sucker 6.15 on angle steel 6.7, when long arm swing swing puts in place, final vacuum sucker 6.15 can hold the bottom surface of rear workpiece; When back support rod assembly 6 is locked at lifting attitude by rear locking cylinder, its tail end, by the bottom surface of workpiece after final vacuum sucker 6.15 fixed pedestals, is realized the crawl of rear workpiece thus.
Please also refer to Fig. 1 a～Fig. 1 c, the groundwork process of back support rod assembly 6 is: in the decline stage of suspender, the long arm swing of back support rod assembly 6 becomes vertical state substantially, can not cause interference to rear workpiece thus; In the handling stage, the long arm swing of back support rod assembly 6 arrives the angle of basic horizontal at the driving lower swing of rear locking cylinder, then by rear locking cylinder, locked, the final vacuum sucker 6.15 that is positioned at long arm swing tail end holds the bottom surface of rear workpiece, workpiece after long arm swing fixed pedestal like this, finally make suspender capture after workpiece and complete after the handling of workpiece.The way of realization of this crawl structure is comparatively easy, can capture reliably rear workpiece, in working process, can rear workpiece not produced and be interfered, and also can not cause damage to rear surface of the work.
Figure 13 a～Figure 13 c illustrates the structure of back support assembly 10, and simultaneously referring to Fig. 1 a～Fig. 1 c, this back support assembly 10 is arranged on the afterbody of duel spreader frames 1 by fasteners such as socket bolt 19, plain cushion 20, bullet pads 21.In this back support assembly 10, square tube 10.2, square tube 10.3 cross connections, the port of pipe with plate 10.1, plate 10.11 or shrouding 10.10 sealings, forms back support skeleton respectively thus.Stabilizer rod 10.15 is installed to keep balance in the top of skeleton, angle steel 10.5 is installed by socket bolt 10.12, plain cushion 10.13, bullet pad 10.14 in the below of skeleton, on angle steel 10.5, pass through the rear portion sucker adjusting cylinders (single-piston rod oval-section piston cylinder) 10.4 of socket bolt 10.7, plain cushion 10.8, bullet pad 10.9 mounting strap vacuum cups 10.6, when handling rear portion vacuum cup 10.6 hold after the trailing flank of workpiece, prevent that rear workpiece from upwarping.
Above-mentioned front and back piecemeals lid formula Workpiece sling can be used for the handling front workpiece of the first specification and rear workpiece simultaneously, also can be used for the handling front workpiece of the second specification and rear workpiece simultaneously, and the operating process under two kinds of situations is substantially similar, operates all comparatively convenient.Situation was an example in the past, and its basic operation process is as follows:
One, the front and back piecemeal lid formula workpiece suspender pickup action of reaching the standard grade
1, will divide the front and back workpiece being soldered to be placed on prepackage fixture;
2, the control system of suspender declines after receiving signal, and now front and back locking cylinder stretches out, and before and after suspender, strut bar assembly and front and back locking cylinder are in 90 °;
3, by the guide-localization of upper and lower part radius stay and the location of forward and backward revolution pin assembly, suspender accurately enters pickup position, the positioning process hole of workpiece before and after corresponding locating dowel pin in the forward and backward revolution pin assembly of suspender enters, now suspender receives the signal that puts in place, and forward and backward revolution clamping cylinder half-twist also clamps;
4, front and back locking cylinder shrinks, and back and front supporting bar assembly is opened, and workpiece before and after holding at a certain angle respectively, and before and after the while is corresponding, vacuum cup is air-breathing, and before and after making, workpiece is firmly fixing, and now front and back workpiece is thrown off with prepackage fixture;
5, suspender receives to clamp and captures settling signal, and 4 band elevators are mentioned suspender.
Two, the front and back piecemeal lid formula workpiece suspender of reaching the standard grade is put part action
1, suspender is waiting for that position receives important document signal, and self-moving carriage walking puts in place, 4 band elevator fast-descendings, and after dropping to certain altitude descending at slow speed;
2, by detent mechanism, lead, before and after suspender drives, workpiece enters desired location, due to suspender before and after gripping during workpiece adjusted to certain angle, therefore before and after workpiece enter Shi Buhui and the interference of left and right gusset;
3, receive and put in place after signal, all vacuum cup is died, and sucker adjusting cylinders shrinks, and front and back locking cylinder stretches out simultaneously, and front and back workpiece engages with left and right gusset, and front and back revolution clamping cylinder unclamps;
4, suspender receives and puts part settling signal, and 4 band elevators rise, and automatic carriage turns back to wait position and waits for a grabbing workpiece, and suspender completes puts part action.
In order to improve the degree of automation of above-mentioned suspender, for above-described suspender, can build easily corresponding control system, further combined with Figure 14～Figure 16 d, be described.
Referring to Figure 14, represent the composition of the control system block diagram of piecemeal lid formula Workpiece sling before and after the present invention, it is provided with some electromagnetic valves (group), some vacuum generators (group) and controller, cylinder line, vacuum cup group, wherein:
Electromagnetic valve group is linked in gas circuit, control the first front revolution clamping cylinder, the second front revolution clamping cylinder, rear revolution clamping cylinder, locating dowel pin adjusting cylinders, front locking cylinder, rear locking cylinder, anterior sucker adjusting cylinders and rear portion sucker adjusting cylinders on/off gas circuit, to whether open or close relevant positioning component, (comprise the first front revolution pin assembly 7, the second front revolution pin assembly 9, rear revolution pin assembly 6) or supporting component (comprise front support rod assembly 11, back support rod assembly 12 and back support assembly 10), and the position of whether adjusting relevant vacuum cup,
Vacuum generator group is linked in gas circuit, controls initial vacuum sucker, final vacuum sucker and rear portion vacuum cup on/off gas circuit, so that corresponding absorption workpiece whether;
Controller, mouth is connected to the signal input part of electromagnetic valve, according to workpiece character and suspender state, to relevant electromagnetic valve or vacuum generator, export control signal, to control corresponding cylinder or sucker, by predetermined policy, move, thereby finally according to predetermined strategy, realize the pickup of workpiece and put part.
Referring to Figure 15, be the example of a kind of gas circuit implementation structure in Figure 14, the gas circuit in control system of the present invention is not limited to the type of attachment that this example provides.For simplicity, the layout in the following ways of the Reference numeral in this figure: the first field letter representation component type, as be connected with the version of this numeral element of numeral, for example k23 represents two-position three way electric control solenoid valve; The second field numeral element number; The 3rd field numeral element is positioned at the direction of suspender, and left side is a, and right side is b; The suspender parts sequence number of the 4th field numeral component installation location; The numbering of the 5th field numeral element in suspender parts; The similar elements sequence number of the 6th field numeral element in suspender parts.For example, x.3.b.7.17.1 represent the 3rd vacuum cup, it is positioned on the right side front support rod assembly 7 of suspender, and it is first vacuum cup in this front support rod assembly 7, and its components list at front support rod assembly is shown 7.17.
In the lifting assembly of Fig. 1 a～Fig. 1 c, be provided with two group of first front revolution pin assembly 9 of front revolution pin assembly 7, second, rear revolution pin assembly 6, two groups of front support rod assemblies 11, back support rod assembly 12, one group of back support assembly 10, therefore be provided with accordingly following control element in Figure 15: six clamping cylinders (j.1.a.11.2, j.2.b.11.2, j.3.a.12.2, j.4.b.12.2, j.5.a.9.3, j.6.b.9.3) and two slide rail cylinders (h.1.a.9.2, h.1.b.9.2); Four locking cylinders (s.1.a.7, s.2.b.7, s.3.a.6, s.4.b.6), six oval cylinders (t.1.a.7.16.1, t.2.a.7.16.2, t.3.b.7.16.1, t.4.b.7.16.2, t.5.a.10.4, t.6.b.10.4) and eight vacuum cups (x.1.a.7.17.1, x.2.a.7.17.2, x.3.b.7.17.1, x.4.b.7.17.2, x.5.a.6.15, x.6.b.6.15, x.7.b.10.6, x.8.b.10.6).
In Figure 15, six locking cylinders, two slide rail cylinders, six oval cylinders are connected on source of the gas by two five-way electromagnetic valves (k25.1, k25.2, k25.3, k25.4, k25.5, k25.6) respectively; Four locking cylinders are respectively by 3 position-5 way electromagnetic valve (k35.1, k35.2) be connected on source of the gas, these four locking cylinders be connected to governor valve (v.1, v.2, v.3, v.4), (p.1, p.2 four locking cylinders also connect quick exhaust valve by two-bit triplet electromagnetic valve (k23.1, k23.2) simultaneously, p.3, p.4); Like this, all power elements are all reasonably connected on source of the gas; Spiral tube lxg, thribble slg and shutoff valve jzf can be set on the connecting line of source of the gas, form thus control gas circuit.Be understandable that, above-mentioned gas circuit power element also can adopt other connection mode, repeats no more.
In control system described in Figure 14, controller specifically can be controlled by the control policy shown in Figure 16 a～Figure 16 d, is below described.
Process when Figure 16 a represents the front workpiece of the first specification and rear workpiece pickup, is specially: suspender declines, and front locking cylinder and rear locking cylinder are opened; Suspender declines and puts in place, front locking cylinder and rear locking cylinder are closed, anterior sucker adjusting cylinders and rear portion sucker adjusting cylinders stretch out, and initial vacuum sucker, final vacuum sucker and rear portion vacuum cup adsorb, and the first front revolution clamping cylinder and rear revolution clamping cylinder are closed; Other pneumatic element is closed and is failure to actuate.
The process that Figure 16 b is illustrated in the front workpiece of the first specification and rear workpiece while putting part, be specially: the first front revolution clamping cylinder and rear revolution clamping cylinder are opened, initial vacuum sucker, final vacuum sucker and rear portion vacuum cup are died, anterior sucker adjusting cylinders and rear portion sucker adjusting cylinders are retracted, front locking cylinder and rear locking cylinder are opened, and suspender rises; Other pneumatic element is closed and is failure to actuate.
Process when Figure 16 c is illustrated in the front workpiece of the second specification and rear workpiece pickup, is specially: locating dowel pin adjusting cylinders stretches out; Suspender declines, and front locking cylinder and rear locking cylinder are opened; Suspender declines and puts in place, front locking cylinder and rear locking cylinder are closed, anterior sucker adjusting cylinders and rear portion sucker adjusting cylinders stretch out, and initial vacuum sucker, final vacuum sucker and rear portion vacuum cup adsorb, and the second front revolution clamping cylinder and rear revolution clamping cylinder are closed; Other pneumatic element is closed and is failure to actuate.
Figure 16 d is illustrated in the part process of putting that the front workpiece of the second specification and rear workpiece are put part, be specially: the second front revolution clamping cylinder and rear revolution clamping cylinder are opened, initial vacuum sucker, final vacuum sucker and rear portion vacuum cup are died, anterior sucker adjusting cylinders and rear portion sucker adjusting cylinders are retracted, front locking cylinder and rear locking cylinder are opened, suspender rises, and other pneumatic element is closed and is failure to actuate.
Described in above embodiment, suspender and control system can realize suspender and the location of pre-installing location, suspender and the front and back workpiece of fixture and gig preferably, and suspender is to the fixed pedestal of front and back workpiece and crawl function, can realize easily thus the automatic capturing of front and back workpiece and reach the standard grade; Because suspender enters with a fixed angle when front and back workpiece is reached the standard grade, avoided the interference problem of workpiece and left and right gusset, back wall and other pattern welding equipments; In addition, workpiece yielding position in front and back adopts cylinder and vacuum cup combined support mode, and workpiece deformation before and after can preventing, makes its accurate positioning of reaching the standard grade; This suspender can meet the requirement of operator's compartment piecemeal butt welding process well thus, has improved Product Assembly efficiency, guarantees the assembly quality of product.
As can be seen here, the exclusive technology adopting based on above embodiment for domestic production is more attractive in appearance, safety and cheaply operator's compartment provide may, thereby there is good application prospect.
Although the present invention with preferred embodiment openly as above; but it is not for limiting the present invention; any those skilled in the art without departing from the spirit and scope of the present invention; can make possible change and modification, so protection scope of the present invention should be as the criterion with the scope that the claims in the present invention were defined.
Claims (10)
1. before and after, a piecemeal lid formula Workpiece sling, is characterized in that, is provided with:
The first front revolution pin assembly, comprise the first front revolution clamping cylinder, the first prelocalization pin and the first front revolution supporting plate, the cylinder barrel of described the first front revolution clamping cylinder is fixed in duel spreader frames, described the first prelocalization pin is fixed on the cylinder barrel of described the first front revolution clamping cylinder to insert in the knock hole of workpiece before the first specification, and the piston rod bottom that described the first front revolution supporting plate is fixed on described the first front revolution clamping cylinder is to hold the bottom surface of workpiece before the first specification;
The second front revolution pin assembly, comprise locating dowel pin adjusting cylinders, the second front revolution clamping cylinder, the second prelocalization pin and the second front revolution supporting plate, the cylinder barrel of described locating dowel pin adjusting cylinders is fixed in described duel spreader frames, the cylinder barrel of described the second front revolution clamping cylinder is fixed on the piston rod of described locating dowel pin adjusting cylinders, described the second prelocalization pin is fixed on the cylinder barrel of described the second front revolution clamping cylinder to insert in the knock hole of workpiece before the second specification, the piston rod bottom that described the second front revolution supporting plate is fixed on described the second front revolution clamping cylinder is to hold the bottom surface of workpiece before the second specification,
Rear revolution pin assembly, comprise rear revolution clamping cylinder, rear locating dowel pin and rear revolution supporting plate, the cylinder barrel of described rear revolution clamping cylinder is fixed in described duel spreader frames, described rear locating dowel pin is fixed on the cylinder barrel of described rear revolution clamping cylinder to insert in the knock hole of rear workpiece, and described rear revolution supporting plate is fixed on the piston rod bottom of described rear revolution clamping cylinder to hold the bottom surface of rear workpiece;
Front support rod assembly, comprise front support rod, front roll bar, front locking cylinder, anterior sucker adjusting cylinders and initial vacuum sucker, described front support rod and described duel spreader frames are hinged, the head end of described front support rod and the first end of described front roll bar are hinged, the second end of described front roll bar is connected with the piston rod of described front locking cylinder, the cylinder barrel of described front locking cylinder is fixed in described duel spreader frames, the cylinder barrel of described anterior sucker adjusting cylinders is fixed on the tail end of described front support rod, described initial vacuum sucker is fixed on the piston rod of described anterior sucker adjusting cylinders to adsorb the bottom surface of workpiece before workpiece before the first specification or the second specification,
Back support rod assembly, comprise back support rod, rear fork, rear locking cylinder and final vacuum sucker, described back support rod and described duel spreader frames are hinged, the head end of described back support rod and the first end of described rear fork are hinged, the second end of described rear fork is connected with the piston rod of described rear locking cylinder, the cylinder barrel of described rear locking cylinder is fixed in described duel spreader frames, and described final vacuum sucker is fixed on the tail end of described back support rod to adsorb the bottom surface of rear workpiece;
Back support assembly, comprise back support divider, rear portion sucker adjusting cylinders and rear portion vacuum cup, the head of described back support divider is fixed on the tail end of described duel spreader frames, the cylinder barrel of described rear portion sucker adjusting cylinders is fixed on the afterbody that is arranged on described back support divider, and described rear portion vacuum cup is fixed on the piston rod of described rear portion sucker adjusting cylinders to adsorb the trailing flank of rear workpiece.
2. front and back as claimed in claim 1 piecemeal covers formula Workpiece sling, it is characterized in that, the afterbody of described swing arm is provided with regulating plate, on described regulating plate, offer regulating plate elongated slot, the cylinder barrel of described sucker adjusting cylinders is locked on described regulating plate by running through the attaching parts of described regulating plate elongated slot, and the piston rod of described sucker adjusting cylinders is installed on described vacuum cup.
3. front and back as claimed in claim 1 piecemeal lid formula Workpiece sling, is characterized in that, the head of described back support divider is provided with stabilizer rod.
4. front and back as claimed in claim 1 piecemeal covers formula Workpiece sling, it is characterized in that, be provided with the guidepost being fixed in described duel spreader frames, the guide head of described guidepost deviates from ground and inserts in the knock hole of gig with the location between described duel spreader frames and gig.
5. front and back as claimed in claim 1 piecemeal covers formula Workpiece sling, it is characterized in that, be provided with the top radius stay and the bottom radius stay that are fixed in described duel spreader frames, the guide head of described top radius stay is inserted in the axle sleeve of pre-installing fixture and carries out just leading towards ground, the guide head of described bottom radius stay is inserted in the knock hole of pre-installing fixture and carefully leads towards ground, to realize the location between described duel spreader frames and prepackage fixture.
6. front and back as claimed in claim 5 piecemeal covers formula Workpiece sling, it is characterized in that, described top radius stay comprises the stay bearing plate of alignment pin and inverted L shape, the first end of described stay bearing plate is fixed in described duel spreader frames, the second end of described stay bearing plate extends outward outside described duel spreader frames and forms stay bearing plate cantilever, and described alignment pin is fixed on described stay bearing plate cantilever.
7. front and back as claimed in claim 6 piecemeal lid formula Workpiece sling, is characterized in that, on described stay bearing plate cantilever, offers some lightening holes.
8. front and back as claimed in claim 1 piecemeal lid formula Workpiece sling, is characterized in that, described sucker adjusting cylinders is single-piston rod oval-section piston bar cylinder.
9. front and back as claimed in claim 1 piecemeal lid formula Workpiece sling, is characterized in that, described locating dowel pin adjusting cylinders is slide rail cylinder.
10. the control system that is applicable to the front and back piecemeal lid formula Workpiece sling as described in claim 1～9 any one, is characterized in that, comprising:
Some electromagnetic valves, for controlling described the first front revolution clamping cylinder, described the second front revolution clamping cylinder, described rear revolution clamping cylinder, described locating dowel pin adjusting cylinders, described front locking cylinder, described rear locking cylinder, described anterior sucker adjusting cylinders and described rear portion sucker adjusting cylinders on/off gas circuit;
Some vacuum generators, for controlling described initial vacuum sucker, described final vacuum sucker and described rear portion vacuum cup on/off gas circuit;
Controller, for according to workpiece character and suspender state to relevant electromagnetic valve or vacuum generator output control signal, to control corresponding cylinder or sucker moves by predetermined policy.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410257934.3A CN104016217A (en) | 2014-06-11 | 2014-06-11 | Front and back blocking cover-type workpiece lifting appliance and control system thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410257934.3A CN104016217A (en) | 2014-06-11 | 2014-06-11 | Front and back blocking cover-type workpiece lifting appliance and control system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390609A (en) * | 2020-04-15 | 2020-07-10 | 成都飞机工业（集团）有限责任公司 | Large-scale wallboard part processing and fixing auxiliary device |
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| JP2000229777A (en) * | 1999-02-09 | 2000-08-22 | Sekisui Chem Co Ltd | Hoisting device for plate member |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111390609A (en) * | 2020-04-15 | 2020-07-10 | 成都飞机工业（集团）有限责任公司 | Large-scale wallboard part processing and fixing auxiliary device |
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Address after: Huang Shan Zhen 311809 Zhejiang city of Shaoxing province Zhuji City, the East Road No. 66 Zhuji Gengxing environmental protection equipment Co. Ltd. Applicant after: Zhou Guowen Address before: 311809, No. 166, Du Jia Cun, Dong Xiang Township, Zhuji, Zhejiang, Shaoxing Applicant before: Zhou Guowen |
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Application publication date: 20140903 |