CN104016234B - Suspender control system - Google Patents

Suspender control system Download PDF

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Publication number
CN104016234B
CN104016234B CN201410258151.7A CN201410258151A CN104016234B CN 104016234 B CN104016234 B CN 104016234B CN 201410258151 A CN201410258151 A CN 201410258151A CN 104016234 B CN104016234 B CN 104016234B
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CN
China
Prior art keywords
cylinder
workpiece
suspender
sucker
assembly
Prior art date
Application number
CN201410258151.7A
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Chinese (zh)
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CN104016234A (en
Inventor
周磊
Original Assignee
周国文
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Priority to CN201410258151.7A priority Critical patent/CN104016234B/en
Publication of CN104016234A publication Critical patent/CN104016234A/en
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Publication of CN104016234B publication Critical patent/CN104016234B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/20Control systems or devices for non-electric drives
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/02Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by suction means
    • B66C1/0256Operating and control devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66CCRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42Gripping members engaging only the external or internal surfaces of the articles
    • B66C1/425Gripping members engaging only the external or internal surfaces of the articles motor actuated
    • B66C1/427Gripping members engaging only the external or internal surfaces of the articles motor actuated by hydraulic or pneumatic motors

Abstract

The invention discloses a kind of suspender control system, described suspender arranges some revolution pin assemblies that workpiece top board is positioned and clamped, the support bar assembly that workpiece top board is supported and the back support assembly that workpiece side plate is supported, described revolution pin assembly and described support bar assembly are respectively provided with some cylinders with location, clamping and support workpiece, described support bar assembly and described back support assembly are respectively provided with some vacuum cups to adsorb workpiece, described suspender control system includes: electromagnetic valve group, in order to control each cylinder activation/disconnection source of the gas;Vacuum generator group, in order to control each vacuum cup on/off source of the gas;Programmable logic controller (PLC), connects described electromagnetic valve group and vacuum generator group, in order to the cylinder of manipulation correspondence or vacuum cup.The present invention is suitable for the handling of inversed l-shaped sheet material workpiece, can meet the requirement of equipment piecemeal butt welding process, improves Product Assembly efficiency, it is ensured that the assembling quality of product.

Description

Suspender control system
Technical field
The present invention relates to lifting technique, particularly relate to a kind of suspender control system being applicable to inversed l-shaped sheet material workpiece.
Background technology
Workpiece type in lifting industry, specification, shape etc. vary, and need the suspender that specialized designs and workpiece adapt.For a kind of inversed l-shaped sheet material workpiece, its top and afterbody are respectively provided with bigger size, it is impossible to manually carrying, if using common suspender to lift, in the location of workpiece, clamp and all exist in terms of support bigger difficulty, cause workpiece to deform the most most probably simultaneously.Because the existing suspender above-mentioned workpiece of lifting is the most difficult, also it is unfavorable for ensureing product quality, it is necessary to the feature for this workpiece designs a kind of novel sling system, in order to realize the lifting requirements of this kind of workpiece.
Summary of the invention
In view of this, it is an object of the invention to provide a kind of suspender control system, the lifting requirements of inversed l-shaped sheet material workpiece can be met.
nullFor solving above technical problem,The present invention provides a kind of suspender control system,This suspender is applicable to inversed l-shaped sheet material workpiece,Described suspender arranges some revolution pin assemblies that workpiece top board is positioned and clamped、The support bar assembly that workpiece top board is supported and the back support assembly that workpiece side plate is supported,Described revolution pin assembly and described support bar assembly are respectively provided with some cylinders with location、Clamping and support workpiece,Described support bar assembly and described back support assembly are respectively provided with some vacuum cups to adsorb workpiece,It is characterized in that,Described suspender control system includes electromagnetic valve group、Vacuum generator group and programmable logic controller (PLC),Described electromagnetic valve group is configured to connect respective cylinder to control each cylinder activation/disconnection source of the gas,Described vacuum generator group is configured to connect corresponding vacuum cup to control each vacuum cup on/off source of the gas,Described programmable logic controller (PLC) is configured to connect described electromagnetic valve group and vacuum generator group,To export control signal according to workpiece character and suspender state to corresponding electromagnetic valve or vacuum generator,The cylinder or the vacuum cup that manipulate correspondence carry out action by predetermined policy.
Alternatively, described inversed l-shaped sheet material workpiece includes the front workpiece of yi word pattern and the rear workpiece of L-type, and described suspender includes:
Pin assembly is turned round before first, supporting plate is turned round including before turning round clamping cylinder, the first prelocalization pin and first before first, the cylinder barrel turning round clamping cylinder before described first is fixed in duel spreader frames, described first prelocalization pin turns round before being fixed on described first on the cylinder barrel of clamping cylinder to insert before the first specification in the hole, location of workpiece, turns round the piston rod bottom turning round clamping cylinder before supporting plate is fixed on described first to hold workpiece top board before the first specification before described first;
Pin assembly is turned round before second, cylinder is regulated including alignment pin, clamping cylinder is turned round before second, supporting plate is turned round before second prelocalization pin and second, the cylinder barrel of described alignment pin regulation cylinder is fixed in described duel spreader frames, the cylinder barrel turning round clamping cylinder before described second is fixed on the piston rod of described alignment pin regulation cylinder, described second prelocalization pin turns round before being fixed on described second on the cylinder barrel of clamping cylinder to insert before the second specification in the hole, location of workpiece, turn round before described second and turn round the piston rod bottom of clamping cylinder before supporting plate is fixed on described second to hold workpiece top board before the second specification;
Rear revolution pin assembly, after including turn round clamping cylinder, rear alignment pin and after turn round supporting plate, after described, the cylinder barrel of revolution clamping cylinder is fixed in described duel spreader frames, described rear alignment pin is fixing to turn round in the rear with in the hole, location of workpiece after inserting on the cylinder barrel of clamping cylinder, and described rear revolution supporting plate is fixing turns round the piston rod bottom of clamping cylinder in the rear to hold rear workpiece top board;
Front support rod assembly, including front support rod, front roll bar, front locking cylinder, anterior sucker regulation cylinder and initial vacuum sucker, described front support rod is hinged with described duel spreader frames, the head end of described front support rod is hinged with the first end of described front roll bar, 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 regulation cylinder 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 regulation cylinder to adsorb before the first specification workpiece top board before workpiece top board or the second specification;
Back support rod assembly, including back support rod, rear fork, rear locking cylinder and final vacuum sucker, described back support rod is hinged with described duel spreader frames, the head end of described back support rod is hinged with the first end of described rear fork, 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 with the bottom surface of workpiece after absorption;
Back support assembly, including back support divider, rear portion sucker regulation cylinder and rear vacuum sucker, 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 regulation cylinder is fixed on the afterbody being arranged on described back support divider, and described rear vacuum sucker is fixed on the piston rod of described rear portion sucker regulation cylinder with the trailing flank of workpiece after absorption.
Alternatively, the head of described back support divider is provided with stabiliser bar.
Alternatively, described anterior sucker regulation cylinder and described rear portion sucker regulation cylinder are single-piston rod oval piston bar cylinder, and described alignment pin regulation cylinder is slide rail cylinder.
Alternatively, described front locking cylinder and described rear locking cylinder connect flow speed control valve, and described front locking cylinder and described rear locking cylinder are also connected with rapid escape valve.
Alternatively, described electromagnetic valve group includes some two five-way electromagnetic valves and some two-bit triplet electromagnetic valves.
Alternatively, some positions relative set serpentine pipe, thribble or the stop valve of the connecting line of described source of the gas.
Alternatively, described suspender is provided with the lead being fixed in described duel spreader frames, the guide head of described lead deviate from ground insert elevator location hole in to the location between described duel spreader frames and elevator.
Alternatively, described suspender is provided with the top location bar being fixed in described duel spreader frames and location, bottom bar, the guide head of location, described top bar is inserted in the axle sleeve of pre-clamps towards ground and carries out just guiding, the guide head of location, described bottom bar is inserted in the hole, location of pre-clamps towards ground and carefully guides, to realize the location between described duel spreader frames and pre-clamps.
Alternatively, location, described top bar includes the gripper shoe of alignment pin and inverted L shape, first end of described gripper shoe is fixed in described duel spreader frames, forms gripper shoe cantilever outside extending described duel spreader frames outside the second end of described gripper shoe, and described alignment pin is fixed on described gripper shoe cantilever.
Compared with prior art, the present invention is according to the feature of inversed l-shaped sheet material workpiece, some revolution pin assemblies are set workpiece is realized location and clamping, some support bar assemblies are set and support workpiece when locking, about revolution pin assembly and support bar assembly respectively by air cylinder driven, a relevant support component is adsorbed by vacuum cup.By rationally arranging location, clamping and a support component, and control the action about cylinder or vacuum cup according to predetermined control strategy, the lifting of workpiece can be conveniently realized, improve Product Assembly efficiency;Simultaneously the most also will not defective work piece surface and shape, it is ensured that the assembling quality of product.
Accompanying drawing explanation
Fig. 1 a is the front view of embodiment of the present invention sling system;
Fig. 1 b is the left view of Fig. 1 a;
Fig. 1 c is the top view of Fig. 1 a;
Fig. 2 a is Fig. 1 a~duel spreader frames front view in sling system shown in Fig. 1 c;
Fig. 2 b is the left view of Fig. 2 a;
Fig. 2 c is the top view of Fig. 2 a;
Fig. 3 a is Fig. 1 a~suspender in sling system shown in Fig. 1 c connects seat front view;
Fig. 3 b is the left view of Fig. 3 a;
Fig. 3 c is the top view of Fig. 3 a;
Fig. 4 a is Fig. 1 a~front locking cylinder base front view in sling system shown in Fig. 1 c;
Fig. 4 b is the left view of Fig. 4 a;
Fig. 4 c is the top view of Fig. 4 a;
Fig. 5 a is Fig. 1 a~lead front view in sling system shown in Fig. 1 c;
Fig. 5 b is the top view of Fig. 5 a;
Fig. 6 a be Fig. 1 a~in sling system shown in Fig. 1 c top location bar front view;
Fig. 6 b is the left view of Fig. 6 a;
Fig. 6 c is the top view of Fig. 6 a;
Fig. 7 a be Fig. 1 a~in sling system shown in Fig. 1 c bottom location bar front view;
Fig. 7 b is the top view of Fig. 7 a;
Fig. 8 a be Fig. 1 a~in sling system shown in Fig. 1 c first before turn round pin assembly front view;
Fig. 8 b is the left view of Fig. 8 a;
Fig. 9 a be Fig. 1 a~in sling system shown in Fig. 1 c second before turn round pin assembly front view;
Fig. 9 b is the left view of Fig. 9 a;
Figure 10 a is Fig. 1 a~rear revolution pin assembly front view in sling system shown in Fig. 1 c;
Figure 10 b is the left view of Figure 10 a;
Figure 11 a is Fig. 1 a~front support rod assembly front view in sling system shown in Fig. 1 c;
Figure 11 b is the left view of Figure 11 a;
Figure 12 a is Fig. 1 a~back support rod assembly front view in sling system shown in Fig. 1 c;
Figure 12 b is the left view of Figure 12 a;
Figure 13 a is Fig. 1 a~back support assembly front view in sling system shown in Fig. 1 c;
Figure 13 b is the left view of Figure 13 a;
Figure 13 c is the top view of Figure 13 c;
Figure 14 is the composition frame chart of the control system of sling system of 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 the first specification inversed l-shaped sheet material workpiece in control system shown in Figure 14;
Figure 16 b be in control system shown in Figure 14 the first specification inversed l-shaped sheet material workpiece put part procedure chart;
Figure 16 c is the pickup procedure chart of the second specification inversed l-shaped sheet material workpiece in control system shown in Figure 14;
Figure 16 d be in control system shown in Figure 14 the second specification inversed l-shaped sheet material workpiece put part procedure chart.
Detailed description of the invention
It is described in detail with specific embodiment below in conjunction with accompanying drawing.Elaborate a lot of detail in the following description so that fully understanding the present invention.But the present invention can implement to be much different from alternate manner described here, those skilled in the art can do similar popularization in the case of intension of the present invention, and therefore the present invention is not limited by following public specific embodiment.
In the present embodiment, inversed l-shaped sheet material workpiece includes front workpiece and rear workpiece, front workpiece substantially in-line plate, the generally L-shaped plate of rear workpiece.During operation, front workpiece and rear workpiece lift by crane simultaneously, after putting in place again by front workpiece together with rear workpiece assembly welding, thus constitute inversed l-shaped sheet material workpiece.For convenience, by the most front for the Part I of inversed l-shaped sheet material workpiece end face workpiece end face, the Part II of workpiece end face is referred to as rear workpiece end face, the rear side surface of workpiece of side surface of workpiece.
The most referring also to Fig. 1 a~Figure 13 c, represents the structure of embodiment of the present invention sling system (hereinafter referred to as suspender), and wherein Fig. 1 a~Fig. 1 c illustrates sling system structure;Fig. 2 a~Figure 13 c illustrates the critical piece structure of suspender.This suspender can be used to handling the first specification inversed l-shaped sheet material workpiece simultaneously (being called for short the first size workpiece), also can be used for handling the second specification inversed l-shaped sheet material workpiece (being called for short the second size workpiece), wherein: the width on the first longitudinally asymmetric direction of principal axis of size workpiece is bigger simultaneously;Width on the second longitudinally asymmetric direction of principal axis of size workpiece is less.In the present embodiment, the front workpiece of the first size workpiece turns round the clamping of pin assembly 11 location before first, realizes supporting by front support rod assembly 7;The front workpiece of the second size workpiece turns round the clamping of pin assembly 9 location before second, realizes supporting by front support rod assembly 7;Rear workpiece is by the clamping of rear revolution pin assembly 12 location, workpiece support after being realized by back support rod assembly 6, workpiece support after being realized by back support assembly 12.The structure chart combining sling system and critical piece further below describes in detail.For convenience, before the first specification, before workpiece and the second specification, workpiece, sometimes referred to simply as front workpiece or rear workpiece, and does not carry out detailed differentiation, is noted when please read.
As shown in Fig. 1 a~Fig. 1 c, sling system is mainly made up of, wherein parts such as revolution pin assembly 11, rear revolution pin assembly 12, front support rod assembly 7, back support rod assembly 6 and back support assemblies 10 before duel spreader frames 1, lead 3, location, top bar 4, location, bottom bar 5, first:
Duel spreader frames 1 is the body of suspender, and it is hung on four-point band elevator (not shown) by being arranged on the suspender connection seat 2 in 1 four corners of duel spreader frames.After elevator is fallen, suspender is workpiece after pre-clamps (not shown) captures, and then lifts by crane and migrates to above assembly station with automatic carriage, then dropping on assembly station by suspender and workpiece, being finally completed corresponding assembly process.
Lead 3 is used as detent mechanism on suspender, its bottom is fixedly mounted in the lead mounting seat of duel spreader frames 1 by securing members such as hexagon socket head cap screw 16, plain cushion 17, spring washers 18, its guide head deviates from the hole, location that elevator is inserted on ground, can position between duel spreader frames 1 and the elevator in walking, it is ensured that suspender and workpiece be easy motion hoisting, in walking process.
Top location bar 4 and location, bottom bar 5 match, as detent mechanism under suspender, wherein: location, top bar 4 is fixedly mounted on location, the top bar installing plate of duel spreader frames 1 by securing members such as hexagon socket head cap screw 13, plain cushion 14, spring washers 15, its guide head can be inserted in the prepackage fixture axle sleeve at position P1, P2 (such as Fig. 1 c) place towards ground, it is achieved the first guiding to suspender Yu pre-clamps;The bottom of location, bottom bar 5 is fixedly mounted on location, the bottom bar installing plate of duel spreader frames 1 by hexagon socket head cap screw 22, plain cushion 23, spring washer 24 etc., and its guide head is inserted in the hole, location of pre-clamps towards ground, it is achieved carefully guide suspender.So, through first guiding and the thin guiding of location, bottom bar 4 of location, top bar 4, it is possible to preferably complete the location between suspender and pre-clamps.
Turn round pin assembly 11 before first and be used as front workpiece (the first specification) detent mechanism, it is arranged in duel spreader frames 1, its the first prelocalization pin inserts in the hole, location of front workpiece, it turns round supporting plate before first and holds front workpiece simultaneously, is achieved in the location between suspender and front workpiece, clamping.
Turn round pin assembly 9 before second and also act as front workpiece (the second specification) detent mechanism.Such as Fig. 1 a~as illustrated in figure 1 c, in order to adapt to the workpiece requirement of different product, turning round pin assembly 9 before suspender is mounted with second the most simultaneously, before its effect and first, revolution pin assembly 11 is identical.This turns round pin assembly 9 before second is telescopic prelocalization pin assemblies, it is installed on the front side turning round pin assembly 11 before first, it is mainly used in the handling of workpiece before the second specification, the handling of workpiece before pin assembly 11 is then mainly used in the first specification is turned round: if lifting by crane the first size workpiece before first, by turning round pin assembly 11 before first, workpiece before first specification is positioned, the revolution clamping cylinder now turning round pin assembly 9 before second needs to regain, and thus avoids producing and interferes;If lifting the second size workpiece, then workpiece before the second specification is positioned by turning round pin assembly 9 before second, now turn round pin assembly 11 before first and workpiece before second specification will not be produced and interfere.
Rear revolution pin assembly 12 is used as rear workpiece locating mechanism, and its structure and function are similar with revolution pin assembly 11 before first.This rear revolution pin assembly 12 be provided with after turn round clamping cylinder, rear alignment pin and after turn round supporting plate, rear revolution clamping cylinder is arranged in duel spreader frames 1 by hexagon socket head cap screw 25, plain cushion 26, spring washer 27 etc., rear alignment pin is inserted in the hole, location of rear workpiece, rear revolution supporting plate can hold rear workpiece simultaneously, is achieved in the location to suspender Yu rear workpiece.After because of the location object of rear revolution pin assembly 12 being, workpiece is essentially identical in distinct device (such as equipment), therefore the present embodiment turns round pin assembly 12 after arranging a pair.
Front support rod assembly 7 is used as front workpiece end face supporting mechanism, it is arranged in duel spreader frames 1 simultaneously as front workpiece grabbing mechanism, and can swing forward under front locking cylinder drives, this front support rod assembly 7 becomes locking attitude when lifting, thus workpiece before fixing support so that front workpiece grabbing is in duel spreader frames 1.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 securing members such as hexagon socket head cap screw 28, plain cushion 29, spring washers 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, front support rod assembly 7 is thus driven to swing, before when swing puts in place, locking cylinder is from pinning front support rod assembly 7, in order to fixes and supports front workpiece.
Back support rod assembly 6 is used as rear workpiece end face supporting mechanism, it may be installed in duel spreader frames 1 simultaneously as rear workpiece grabbing mechanism, and can swing backward under rear locking cylinder drives, this back support rod assembly 6 becomes locking attitude when lifting, thus workpiece after fixing support so that rear workpiece is sandwiched in duel spreader frames 1.The driving means of back support rod assembly 6 is identical with the frame mode of front support rod assembly 7 driving means, repeats no more.
Back support assembly 10 is used as side surface of workpiece supporting mechanism (or side surface of workpiece supporting mechanism after claiming), it is fixedly mounted in duel spreader frames 1 by hexagon socket head cap screw 19, plain cushion 20, spring washer 21 etc., workpiece after withstanding when lifting, so rear workpiece would not tilt backward when handling.Back support assembly 10 is the most only set, and is not provided with the front support assembly for supporting front workpiece leading flank, be due to the less reason of the leading flank size of front workpiece.
Duel spreader frames 1 in Fig. 1 a~Fig. 1 c, suspender turn round the version of the parts such as pin assembly 11, rear revolution pin assembly 12 and are respectively provided with multiple implementation before turning round pin assembly 9, back support assembly 10, first before connecting seat 2, lead 3, location, top bar 4, location, bottom bar 5, back support rod assembly 6, front support rod assembly 7, front locking cylinder base 8, second, below citing is described in detail.
Fig. 2 a~Fig. 2 c illustrates the structure of duel spreader frames 1, this duel spreader frames 1 is by interconnections such as square tube 1.2, square tube 1.5, square tube 1.13 and the square tubes 1.14 of horizontal square tube 1.1, square tube 1.4 and longitudinal direction, the termination of each square tube can be closed with shrouding 1.15, is consequently formed 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, and support plate 1.16, support plate 1.18 etc. additional, and installs gusset 1.10, gusset 1.20 etc. additional at the connecting portion about plate or support plate and improve intensity.Corresponding above-mentioned lead 3, location, top bar 4, location, bottom bar 5, back support rod assembly 6, front support rod assembly 7, front locking cylinder base 8, pin assembly 9 is turned round before second, back support assembly 10, pin assembly 11 is turned round before first, rear revolution pin assembly 12 etc., need in duel spreader frames 1 to arrange some installing plates (seat), such as alignment pin installing plate 1.6, alignment pin mounting seat 1.8, lead mounting seat 1.9, locking cylinder seat board 1.17, locking cylinder seat board 1.19, ..., etc., the duel spreader frames 1 being consequently formed can install relevant detent mechanism and supporting mechanism easily.
It is understood that the size of this duel spreader frames 1 should adapt with pre-clamps.With reference to 1a~Fig. 1 c, the present invention determines rectangular coordinate system in such a way: setting prepackage fixture vehicle body origin is X-axis as O (0,0,0), the longitudinally asymmetric axle of duel spreader frames 1, and front side is just;The level of the longitudinally asymmetric axle of duel spreader frames 1 is vertical for Y-axis, and left side (i.e. the direction of arrow in Fig. 2 a) is just;And determine Z axis according to right-handed coordinate system, it is just (i.e. to point to duel spreader frames 1) straight up.Thus may determine that the critical positions coordinate relevant with duel spreader frames, such as: the origin of duel spreader frames is O ' (-600,700,2420);Position P1 (-100 ,-1250,2715), P2 (-100,1250,2715) place is respectively mounted prepackage fixture axle sleeve 31, and location, top bar 4 coordinates with prepackage fixture axle sleeve 31, it is achieved the first guiding (or claiming thick guiding) between duel spreader frames 1 and pre-clamps;Hole, pre-clamps location is symmetrical about O O ' line, and lower location bar 5 coordinates with hole, pre-clamps location, it is achieved the thin guiding between duel spreader frames 1 and pre-clamps;So, by rationally arranging positioning shaft sleeve or position of positioning hole, can ensure that suspender accurately aligns with pre-clamps, it is ensured that suspender, after guiding through the first guiding of location, top bar 4 and the thin of location, bottom bar 5, can enter precisely into precalculated position grabbing workpiece every time.Additionally, position P3 (-1678 ,-1250,2420) and it be respectively provided with crashproof bearing 32, to prevent from colliding during handling about the symmetric position of OO ' line.
Suspender is installed in duel spreader frames 1 shown in Fig. 2 a~Fig. 2 c and connects the accessory structure such as seat 2 and front locking cylinder base 8, rear locking cylinder base, brief description individually below.
Suspender as shown in Fig. 3 a~Fig. 3 c connects in seat, and 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 positions with split pin 2.5 after fixed support 2.1, is consequently formed suspender and connects seat 2.The corner location of the duel spreader frames 1 in the present embodiment is respectively mounted a suspender and connects seat 2, lifting rope is walked around suspender and is connected the bearing pin 2.4 in seat 2, just can duel spreader frames 1 be hung on four-point band elevator, elevator just can drive sling lifting and translation after starting, and makes suspender arrive predetermined position operation.
Fig. 4 a~Fig. 4 c illustrates the structure of front locking cylinder base 8, and this front locking cylinder base 8 is made up of, wherein riser 8.1 and base plate 8.2: base plate 8.2 is fixed on the locking cylinder base plate of duel spreader frames 1 by hexagon socket head cap screw 28, plain cushion 29, spring washer 30;Riser 8.1 is fixed on base plate 8.2 and forms support, in order to be installed the front locking cylinder in front support rod assembly 7 by Assembly of pin.The structure of rear locking cylinder base is similar to, and because not identifying in figure, does not launch at this to describe.
For the front workpiece of successfully handling and rear workpiece, it should be ensured that between suspender and pre-clamps, elevator, accurate positioning between suspender and workpiece.For this, 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 lead 3, under suspender, positioning function is realized jointly by top location bar 4 and location, bottom bar 5, front workpiece locating mechanism realizes by turning round pin assembly 11 before first, rear workpiece locating mechanism is realized by rear revolution pin assembly 12, is described these parts in detail below.
In guide post structure as shown in Fig. 5 a~Fig. 5 b, lead 3 is made up of round steel 3.1 and base plate 3.2, base plate 3.2 can pass through hexagon socket head cap screw 16, plain cushion 17, spring washer 18 (such as Fig. 1 a~Fig. 3 b) are fixedly installed in the lead mounting seat 1.9 of duel spreader frames 1, and wherein round steel 3.1 is upside down installed on base plate 3.2.After certain altitude mentioned by suspender, the guide head on round steel 3.1 top is ready for insertion in the hole, location of elevator, thus make to realize between duel spreader frames 1 and elevator location, rock it is thus possible to prevent suspender from producing during dividing a word with a hyphen at the end of a line, final guarantee suspender and the even running of workpiece.
See Fig. 6 a~Fig. 6 c, it is shown that the structure of location, top bar 4.With reference to Fig. 1 a~Fig. 1 c, location, top bar 4 includes the parts such as the gripper shoe 4.1 of alignment pin 4.2 and inverted L shape, wherein: the first end of gripper shoe 4.1 is fixedly mounted in duel spreader frames 1, form gripper shoe cantilever outside extending duel spreader frames 1 outside second end, this gripper shoe cantilever can offer some lightening holes;Alignment pin 4.2 is fixedly mounted on gripper shoe cantilever, and its guide head is inserted in the axle sleeve of pre-clamps towards ground, thus can serve as the first guiding between suspender and pre-clamps.
As shown in Fig. 6 a~Fig. 6 c, the concrete assembling mode of location, top bar 4 is: first end (bottom) of the gripper shoe 4.1 of inverted L shape is fixed with base plate 4.4, base plate 4.4 is fixed to the top of duel spreader frames 1 by standard connector such as bolts, and installs gusset 4.5 between base plate 4.4 and gripper shoe 4.1 additional to improve intensity;Second end (tail end) of gripper shoe 4.1 arranges the set 4.3 of stationary positioned bearing pin 4.2, is wherein set with alignment pin 4.2 and fastens with soket head cap screw 4.6, is consequently formed location, top bar 4 assembly.After requiring to be installed in duel spreader frames 1 according to earlier figures 1a~Fig. 1 c, so that it may utilize prepackage fixture axle sleeve 31 to carry out preliminary guiding.
Fig. 7 a~Fig. 7 B shows the structure of location, bottom bar 5, location, this bottom bar 5 is the most similar to lead 3, its structure is relatively simple: its base plate 5.2 is fixedly installed in duel spreader frames 1 by standard connector 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 hole, location of pre-clamps towards ground.After suspender drops to crawl position, the guide head on round steel 5.1 top is inserted in the hole, location of pre-clamps so that duel spreader frames 1 and pre-clamps realize thin location.So, after the first guide-localization positioning bar 4 on aforementioned, then carry out thin guide-localization with location, bottom herein bar 5, it is ensured that suspender enter precisely intos crawl position, enables suspender successfully grabbing workpiece.
Fig. 8 a~Fig. 8 b shows the implementation of a kind of front workpiece locating mechanism, it turns round pin assembly 11 before being embodied in first, constituted, wherein by turning round the parts such as supporting plate 11.4 before turning round clamping cylinder the 11.2, first prelocalization pin 11.5 and first before first: turn round clamping cylinder 11.2 before first and be arranged in the alignment pin mounting seat 1.8 of duel spreader frames 1;First prelocalization pin 11.5 is fixedly mounted on the cylinder barrel turning round clamping cylinder 11.2 before first, may be inserted in the hole, location of front workpiece;Turn round supporting plate 11.4 before first and be arranged on the piston rod bottom turning round clamping cylinder 11.2 before first.
As shown in Fig. 8 a~Fig. 8 b, concrete assembling mode is: turns round clamping cylinder 11.2 before first and is installed on plate 11.1 by plate soket head cap screw 11.11, then is installed in duel spreader frames 1 by plate 11.1;Alignment pin installing plate 11.3 is installed to by soket head cap screw 11.9, spring washer 11.10 turn round on the cylinder barrel of clamping cylinder 11.2 before first, and the first prelocalization pin 11.5 is fixed on alignment pin installing plate 11.3 by nut 11.6, plain cushion 11.7, spring washer 11.8;Turning round supporting plate 11.4 before first and be fixed on the piston rod bottom turning round clamping cylinder 11.2 before first by soket head cap screw 11.12, spring washer 11.13, this turns round supporting plate 11.4 before first and is provided with through hole, is available for inserting the first prelocalization pin 11.5 when piston rod is regained.
See Fig. 8 a~Fig. 8 b, with reference to Fig. 1 a~Fig. 1 c, the groundwork work process turning round pin assembly 11 before first is: after suspender positions with pre-clamps, clamping cylinder 11.2 is turned round before rotating first, turning round supporting plate 11.4 before driving first when its piston rod stretches out to rotate, the first prelocalization pin 11.5 is inserted in the hole, location of front workpiece and positions;Para-position is complete, and the piston rod turning round clamping cylinder 11.2 before first is regained, and turns round supporting plate 11.4 and holds front workpiece, the most preferably achieve the location between suspender and front workpiece before first.
Fig. 9 a~Fig. 9 b illustrates the structure turning round pin assembly 9 before a kind of second, and it is a kind of telescopic front revolution pin assembly.This turns round the basic structure of pin assembly 9 before second with to turn round pin assembly 11 before above-described first similar, distinguishes and is that adding an alignment pin regulates cylinder i.e. slide rail cylinder 9.2.The concrete structure turning round pin assembly 9 before second is: slide rail cylinder 9.2 is vertically mounted in slide rail cylinder mounting seat 9.1 by hexagon socket head cap screw 9.8, plain cushion 9.9, spring washer 9.10, and this slide rail cylinder mounting seat 9.1 is fixed in duel spreader frames 1 by hexagon socket head cap screw 9.21, plain cushion 9.22, spring washer 9.23;The cylinder barrel turning round clamping cylinder 9.3 before second is received on cylinder connecting plate 9.4 by hexagon socket head cap screw 9.11, spring washer 9.14 and hexagon socket head cap screw 9.13, spring washer 9.14, the piston rod of this cylinder connecting plate 9.4 and slide rail cylinder 9.2 is fixed, and turns round the connection of clamping cylinder 9.3 before thus achieving slide rail cylinder 9.2 and second;Second prelocalization pin installing plate 9.7 is installed to by soket head cap screw 9.15, spring washer 9.16 turn round on the cylinder barrel of clamping cylinder 9.3 before second, and the second prelocalization pin 9.6 is fixed on the second prelocalization pin installing plate 9.7 by nut 9.17, plain cushion 9.18, spring washer 9.19;Second revolution supporting plate 9.5 is fixed on the piston rod bottom turning round clamping cylinder 9.3 before second by soket head cap screw 9.20, and this second revolution supporting plate 9.5 is provided with through hole, is available for inserting the second prelocalization pin 9.6 when piston rod is regained.
This turns round pin assembly 9 before second when not using, and slide rail cylinder 9.2 is regained turning round clamping cylinder 9.3 before second;During work, the piston rod of slide rail cylinder 9.2 reaches predetermined length, driving the second prelocalization pin 9.6 and the second revolution supporting plate 9.5 to work by turning round clamping cylinder 9.3 before the second of bottom afterwards, before this process and first, revolution pin assembly 11 is identical, repeats no more.
Figure 10 a~Figure 10 b turns round the structure of pin assembly 12 after showing, it is made up of, wherein parts such as rear revolution clamping cylinder 12.2, rear alignment pin 12.5 and rear revolution supporting plates 12.4: rear revolution clamping cylinder 12.2 by rear locking cylinder floor installation on the alignment pin installing plate 1.6 of duel spreader frames 1;Rear alignment pin 12.5 turns round after being fixedly mounted on the cylinder barrel of clamping cylinder 12.2, may be inserted in the hole, location of rear workpiece;Rear revolution supporting plate 12.4 turns round the piston rod bottom of clamping cylinder 12.2 after being arranged on.The structure turning round pin assembly 11 before this rear revolution pin assembly 12 and first is essentially identical, difference is only that both central revolution supporting plate surface configurations are different, after this is because, workpiece shapes is different from front workpiece shapes, thus requires the reason of coupling respective shapes revolution supporting plate.
As shown in Figure 10 a~Figure 10 b, the concrete assembling mode of rear revolution pin assembly 12 is: rear revolution clamping cylinder 12.2 is installed on plate 12.1, and plate 12.1 is installed in duel spreader frames 1 by hexagon socket head cap screw 25, plain cushion 26, spring washer 27;Alignment pin installing plate 12.3 is turned round after being installed to by soket head cap screw 12.9, spring washer 12.10 on the cylinder barrel of clamping cylinder 12.2, and rear alignment pin 12.5 is fixed on alignment pin installing plate 12.3 by nut 12.6, plain cushion 12.7, spring washer 12.8;Rear revolution supporting plate 12.4 turns round the piston rod bottom of clamping cylinder 12.2 by soket head cap screw 12.12, spring washer 12.13 after being fixed on, this rear revolution supporting plate 12.4 is provided with through hole, alignment pin 12.5 after being available for inserting when piston rod is regained.
Such as Figure 10 a~Figure 10 b, with reference to Fig. 1 a~Fig. 1 c, the groundwork work process of rear revolution pin assembly 12 is: after suspender positions with pre-clamps, after after rotation, the piston rod of revolution clamping cylinder 12.2 drives when stretching out, revolution supporting plate 12.4 rotates, and rear alignment pin 12.5 is inserted in the hole, location of rear workpiece and positions;Para-position is complete, and the piston rod of rear revolution clamping cylinder 12.2 is regained, and rear workpiece held by rear revolution supporting plate 12.4, the most preferably achieves the location between suspender and rear workpiece.
The guide-localization of suspender and elevator, suspender and pre-clamps and suspender and workpiece is achieved above by detent mechanism under detent mechanism, suspender on suspender and front workpiece locating mechanism and rear workpiece locating mechanism.On this basis, design is needed to be optimized about front workpiece, the supporting mechanism of rear workpiece, in order to reliably grabbing workpiece.This realizes in particular by front support rod assembly 7, back support rod assembly 6 and back support assembly 10, is described in detailed below.
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, fasten with hexagon-headed bolt 7.2, plain cushion 7.3, spring washer 7.4, nut 7.5 etc. at each spacer 7.6, front end panel 7.1 bottom is connected by hexagon socket head cap screw 7.25, spring washer 7.26, hexagon thin nut 7.27, is consequently formed as short swing arm (i.e. front support rod);The shaft assembly that the top of short swing arm is consisted of axle 7.9, spacer 7.10, spacer 7.11, split pin 7.12 and nut 7.13 is hinged on the front support rod assembly support plate of duel spreader frames 1;The pin assemblies that the head end of short swing arm is consisted of axle 7.14, split pin 7.12 and nut 7.13 is hinged with front roll bar 7.15, 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, short swing arm when front locking cylinder stretches, just can be driven to rotate around duel spreader frames 1;The afterbody of short swing arm arranges the vacuum cup 7.17 with Acetabula device and vacuum pump, and its Acetabula device is the front workpiece of absorption when lifting, this makes it possible to be securely fixed workpiece before support.
As shown in Figure 11 a~Figure 11 b, short swing arm afterbody is provided with the regulation cylinder of initial vacuum sucker 7.17, to adjust the operating distance of initial vacuum sucker 7.17.Anterior sucker regulation cylinder 7.16 is single-piston rod oval piston bar cylinder, i.e. anterior sucker regulation cylinder 7.16 in Figure 11 a~Figure 11 b, it and the specifically side of installation of initial vacuum sucker 7.17 Formula is: short swing arm tail end installs angle steel 7.8 and adjustable plate 7.7;Adjustable plate 7.7 is fixed with front end panel 7.1 with hexagon-headed bolt 7.28, plain cushion 7.29, spring washer 7.30, nut 7.31 after adjusting angle;Anterior sucker regulation cylinder 7.16 soket head cap screw 7.22, plain cushion 7.23, spring washer 7.24 are fixed with angle steel 7.8;By regulation hexagon-headed bolt 7.18, plain cushion 7.19, spring washer 7.20 and nut 7.21, anterior sucker regulation cylinder 7.16 is installed on adjustable plate 7.7.Wherein having two adjustable plate elongated slots on adjustable plate 7.7, the cylinder barrel of anterior sucker regulation cylinder 7.16 is locked on adjustable plate 7.7 by running through the connector of adjustable plate elongated slot, and the piston rod of anterior sucker regulation cylinder 7.16 installs initial vacuum sucker 7.17.Thus, along the relative position of elongated slot direction scalable anterior sucker regulation cylinder 7.16 with short swing arm tail end;Thus can adjust initial vacuum sucker 7.17 position in short swing arm, it is ensured that it has a preferable Support Position to front workpiece.
Above-mentioned front support rod assembly 7 is a kind of workpiece grabbing mechanism, and the groundwork process of front support rod assembly 7 is: in the suspender decline stage, and the short swing arm of front support rod assembly 7 becomes vertical state substantially, causes interference thus without to front workpiece;In the handling stage, the short swing arm of front support rod assembly 7 is at the driving lower swing certain angle (such as 90 °) of front locking cylinder, then locked by front locking cylinder, it is positioned at anterior sucker regulation cylinder 7.16 action of short swing arm tail end, the initial vacuum sucker 7.17 on anterior sucker regulation cylinder 7.16 is made to hold front workpiece, the shortest swing arm just can be securely fixed workpiece before support, finally makes suspender capture front workpiece and complete the handling of front workpiece.The way of realization of this crawl structure is relatively simple, it is possible to workpiece before reliably capturing, and will not produce front workpiece and interfere, also the surface of front workpiece will not be caused damage in work process.
Back support rod assembly 6 structure shown in Figure 12 a~Figure 12 b, it is similar with front support rod assembly 7, is also a kind of workpiece grabbing mechanism, and bigger difference is to be not provided with single-piston rod oval piston cylinder, and this matches with rear workpiece shapes.
As shown in Figure 12 a~Figure 12 b, back support rod assembly 6 is relatively long swing arm (rear workpiece size is more 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, fasten with hexagon-headed bolt 6.2, plain cushion 6.3, spring washer 6.4, nut 6.5 etc. at each spacer 6.6, form long arm swing (i.e. 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, split pin 6.12 and nut 6.11;The pin assemblies that the head end of long arm swing is consisted of axle 6.13, split pin 6.12 and nut 6.11 is hinged with rear fork 6.14, 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, long arm swing when rear locking cylinder stretches, just can be driven to rotate around duel spreader frames 1;The tail end of long arm swing, by fixed installation angle steel 6.7 such as hexagon-headed bolt 6.16, plain cushion 6.3, spring washer 6.4, nuts 6.5, angle steel 6.7 is installed final vacuum sucker 6.15, and long arm swing swings final vacuum sucker 6.15 when putting in place can hold rear workpiece;When back support rod assembly 6 is locked at lifting attitude by rear locking cylinder, its tail end, by workpiece after the fixing support of final vacuum sucker 6.15, is achieved in the crawl of rear workpiece.
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, and the long arm swing of back support rod assembly 6 becomes vertical state substantially, causes interference thus without to rear workpiece;In the handling stage, the long arm swing of back support rod assembly 6 drives lower swing to the angle of basic horizontal at rear locking cylinder, then locked by rear locking cylinder, the final vacuum sucker 6.15 being positioned at long arm swing tail end holds rear workpiece, so long arm swing is fixing support after workpiece, workpiece the handling of workpiece after completing after finally making suspender capture.The way of realization of this crawl structure is relatively simple, it is possible to workpiece after reliably capturing, and will not produce rear workpiece and interfere, also rear surface of the work will not be caused damage in work process.
Figure 13 a~Figure 13 c illustrates the structure of back support assembly 10, referring also to Fig. 1 a~Fig. 1 c, and this back support assembly 10 is arranged on the afterbody of duel spreader frames 1 by securing members such as hexagon socket head cap screw 19, plain cushion 20, spring washers 21.In this back support assembly 10, square tube 10.2, square tube 10.3 interconnection, the port of pipe is closed with plate 10.1, plate 10.11 or shrouding 10.10 respectively, is consequently formed back support divider.The stabiliser bar installed above 10.15 of back support divider is to keep balance, angle steel 10.5 is installed by hexagon socket head cap screw 10.12, plain cushion 10.13, spring washer 10.14 in the lower section of back support divider, rear portion sucker regulation cylinder (single-piston rod oval piston cylinder) 10.4 of band vacuum cup 10.6 is installed by hexagon socket head cap screw 10.7, plain cushion 10.8, spring washer 10.9 on angle steel 10.5, when handling, rear vacuum sucker 10.6 holds the rear workpiece at workpiece rear portion, and after preventing workpiece rear portion, workpiece upwarps.
Above-mentioned sling system can be used to the handling front workpiece of the first specification and rear workpiece simultaneously, it is possible to is used for the handling front workpiece of the second specification and rear workpiece, the operating process basic simlarity under two kinds of situations simultaneously, operates the most convenient.As a example by former, its basic operation process is as follows:
One, the first size workpiece pickup action
1, point forward and backward workpiece being soldered is placed in pre-clamps;
2, declining after the control system of suspender receives signal, the most forward and backward locking cylinder stretches out, and suspender back and front supporting bar assembly is in 90 ° with forward and backward locking cylinder;
3, by guide-localization and the location of forward and backward revolution pin assembly of location, upper and lower part bar, suspender accurately enters pickup position, corresponding alignment pin in suspender forward and backward revolution pin assembly enters the end face positioning process hole of forward and backward workpiece, now suspender receives the signal that puts in place, and forward and backward revolution clamping cylinder half-twist also clamps;
4, forward and backward locking cylinder shrinks, back and front supporting bar assembly is opened, and holds the end face of forward and backward workpiece the most at a certain angle, the most corresponding forward and backward vacuum cup air-breathing, making forward and backward workpiece securely fix, the most forward and backward workpiece disengages with pre-clamps;
5, suspender receives clamping crawl and completes signal, and suspender is mentioned by 4 band elevators.
Two, the first size workpiece puts part action
1, suspender is waiting that position receives important document signal, and self-moving carriage walking puts in place, 4 band elevator rapid decrease, and descending at slow speed after dropping to certain altitude;
2, being guided by detent mechanism, suspender drives forward and backward workpiece to enter precalculated position, and owing to suspender has been adjusted to certain angle when gripping forward and backward workpiece, the most forward and backward workpiece will not be interfered with left and right gusset when entering;
3, after receiving the signal that puts in place, whole vacuum cups are died, and sucker regulation cylinder shrinks, and the most forward and backward locking cylinder stretches out, and forward and backward workpiece engages with the left and right gusset of equipment (such as driver's cabin), and forward and backward revolution clamping cylinder unclamps;
4, suspender receives and puts part and complete signal, and 4 band elevators rise, and automatic carriage returns to wait that position waits grabbing workpiece, and suspender completes to put part action.
In order to improve the automaticity of above-mentioned suspender, corresponding control system can be built easily for above-described suspender, be described further combined with Figure 14~Figure 16 d.
Seeing Figure 14, represent the control system composition frame chart of sling system of the present invention, it is provided with some electromagnetic valves (group), some vacuum generators (group) and controller, air cylinder group, vacuum cup group, wherein:
Electromagnetic valve group is linked in gas circuit, clamping cylinder is turned round before controlling first, clamping cylinder is turned round before second, rear revolution clamping cylinder, alignment pin regulation cylinder, front locking cylinder, rear locking cylinder, anterior sucker regulation cylinder and rear portion sucker regulation cylinder activation/disconnection gas circuit, whether to open or close relevant positioning component (to turn round pin assembly 11 before including first, pin assembly 9 is turned round before second, rear revolution pin assembly 12) or support component (include front support rod assembly 7, back support rod assembly 6 and back support assembly 10), and whether adjust the position about vacuum cup;
Vacuum generator group is linked in gas circuit, controls initial vacuum sucker, final vacuum sucker and rear vacuum sucker on/off gas circuit, in order to adsorb workpiece the most accordingly;
Controller, it is preferably programmable logic controller (PLC) (PLC), outfan is connected to the signal input part of electromagnetic valve and vacuum generator, control signal is exported to relevant electromagnetic valve or vacuum generator according to workpiece character and suspender state, to manipulate corresponding cylinder or sucker to carry out action by predetermined policy, thus finally realize the pickup of workpiece according to predetermined strategy and put part.
Seeing Figure 15, realize the example of structure for a kind of gas circuit 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 convenience, the layout in the following ways of the reference in this figure: the first field letter representation component type, the version of then this numeral expression element is represented as being connected with numeral, such as k23 represents two-position three way electric control solenoid valve;Second Field Count word table shows element number;3rd Field Count word table shows that element is positioned at the direction of suspender, and left side is a, and right side is b;4th Field Count word table shows the spreader component sequence number of component installation location;5th Field Count word table shows element numbering in spreader component;6th Field Count word table shows element similar elements sequence number in spreader component.Such as, x.3.b.7.17.1 representing 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 it is expressed as 7.17 at the parts of front support rod assembly.
In the sling system of Fig. 1 a~Fig. 1 c, pin assembly 9, rear revolution pin assembly 12, two groups of front support rod assemblies 7, back support rod assemblies 6 are turned round before turning round pin assembly 11, second before being provided with two group first, one group of back support assembly 10, therefore Figure 15 has been arranged in correspondence with following control element: six clamping cylinders are (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 are (s.1.a.7, s.2.b.7, s.3.a.6, s.4.b.6), six oval cylinders are (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 are (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 fig .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) it is connected on source of the gas, (v.1, v.2, v.3 these four locking cylinders are connected to flow speed control valve, v.4), (p.1, p.2 four locking cylinders connect rapid escape valve also by two-bit triplet electromagnetic valve (k23.1, k23.2) simultaneously, p.3, p.4);So, all of executive component is the most reasonably connected on source of the gas;Serpentine pipe lxg, thribble slg and stop valve jzf can be set on the connecting line of source of the gas, thus constitute control gas circuit.It is understood that above-mentioned gas circuit executive component can also use other connected mode, repeat no more.
In control system described in Figure 14, controller specifically can be controlled by the control strategy as shown in Figure 16 a~Figure 16 d, described herein below.
Figure 16 a represents process when the first front workpiece of specification and rear workpiece pickup, particularly as follows: suspender declines, front locking cylinder and rear locking cylinder are opened;Suspender decline puts in place, front locking cylinder and rear locking cylinder Guan Bi, anterior sucker regulation cylinder and rear portion sucker regulation cylinder stretch out, and initial vacuum sucker, final vacuum sucker and rear vacuum sucker adsorb, the first front revolution clamping cylinder and rear revolution clamping cylinder Guan Bi;Other pneumatic element is closed and is failure to actuate.
Figure 16 b represents the process when the first front workpiece of specification and rear workpiece put part, particularly as follows: the first front revolution clamping cylinder and rear revolution clamping cylinder are opened, initial vacuum sucker, final vacuum sucker and rear vacuum sucker are died, anterior sucker regulation cylinder and rear portion sucker regulation cylinders retract, front locking cylinder and rear locking cylinder are opened, and suspender rises;Other pneumatic element is closed and is failure to actuate.
Figure 16 c represents the process when the second front workpiece of specification and rear workpiece pickup, particularly as follows: alignment pin regulation cylinder stretches out;Suspender declines, and front locking cylinder and rear locking cylinder are opened;Suspender decline puts in place, front locking cylinder and rear locking cylinder Guan Bi, anterior sucker regulation cylinder and rear portion sucker regulation cylinder stretch out, and initial vacuum sucker, final vacuum sucker and rear vacuum sucker adsorb, the second front revolution clamping cylinder and rear revolution clamping cylinder Guan Bi;Other pneumatic element is closed and is failure to actuate.
Figure 16 d represents puts part process what the second front workpiece of specification and rear workpiece put part, particularly as follows: the second front revolution clamping cylinder and rear revolution clamping cylinder are opened, initial vacuum sucker, final vacuum sucker and rear vacuum sucker are died, anterior sucker regulation cylinder and rear portion sucker regulation cylinders retract, front locking cylinder and rear locking cylinder are opened, suspender rises, and other pneumatic element is closed and is failure to actuate.
Suspender described in above example and control system can preferably realize suspender and pre-clamps and the location of the location of elevator, suspender and rear workpiece, and suspender to the fixing support of rear workpiece and captures function, after thus can realizing easily, automatically capturing of workpiece is reached the standard grade;Owing to suspender enters with a fixed angle when rear workpiece is reached the standard grade, it is to avoid top cover and left and right gusset, back wall and the interference problem of other pattern welding equipments;After additionally, the yielding position of workpiece uses cylinder and vacuum cup combined support mode, is possible to prevent rear workpiece to deform so that it is accurate positioning of reaching the standard grade;Thus this suspender can meet the requirement of equipment piecemeal butt welding process well, improves Product Assembly efficiency, it is ensured that the assembling quality of product.
As can be seen here, use the exclusive technology of sling system to be that domestic production is more attractive in appearance based on above example, the large-sized sheet material stamped workpieces equipment of safety and low cost provides possibility, thus there is preferable application prospect.
Although the present invention is open as above with preferred embodiment; but it is not for limiting the present invention; any those skilled in the art are without departing from the spirit and scope of the present invention; can make possible variation and amendment, therefore protection scope of the present invention should be defined in the range of standard with the claims in the present invention.

Claims (5)

1. a suspender control system, this suspender is applicable to inversed l-shaped sheet material workpiece, if described suspender is arranged The dry support bar turning round pin assembly, workpiece top board being supported that workpiece top board is positioned and clamps Assembly and the back support assembly that workpiece side plate is supported, described revolution pin assembly and described support Bar assembly is respectively provided with some cylinders to position, to clamp and support workpiece, described support bar assembly and described rear portion Prop up support component and be respectively provided with some vacuum cups to adsorb workpiece, it is characterised in that described suspender control system bag Including electromagnetic valve group, vacuum generator group and programmable logic controller (PLC), described electromagnetic valve group is configured to connect phase Answering cylinder to control each cylinder activation/disconnection source of the gas, described vacuum generator group is configured to connect corresponding vacuum and inhales Dish is to control each vacuum cup on/off source of the gas, and described programmable logic controller (PLC) is configured to connect described electricity Magnet valve group and vacuum generator group, in order to send out to corresponding electromagnetic valve or vacuum according to workpiece character and suspender state Raw device output control signal, the cylinder or the vacuum cup that manipulate correspondence carry out action by predetermined policy;
Described inversed l-shaped sheet material workpiece includes the front workpiece of yi word pattern and the rear workpiece of L-type, described suspender bag Include;
Pin assembly is turned round, before turning round clamping cylinder, the first prelocalization pin and first before first before first Revolution supporting plate, the cylinder barrel turning round clamping cylinder before described first is fixed in duel spreader frames, described first prelocalization Pin turns round to insert before the first specification in the hole, location of workpiece on the cylinder barrel of clamping cylinder before being fixed on described first, Turn round before described first before supporting plate is fixed on described first and turn round the piston rod bottom of clamping cylinder to hold the first rule Workpiece top board before lattice;
Turn round pin assembly before second, including alignment pin regulation cylinder, turn round before second clamping cylinder, second Turning round supporting plate before prelocalization pin and second, the cylinder barrel of described alignment pin regulation cylinder is fixed in described duel spreader frames, Turn round the cylinder barrel of clamping cylinder before described second to be fixed on the piston rod of described alignment pin regulation cylinder, described the Two prelocalization pins turn round before being fixed on described second on the cylinder barrel of clamping cylinder with the determining of workpiece before inserting the second specification In hole, position, turn round before described second and turn round the piston rod bottom of clamping cylinder with torr before supporting plate is fixed on described second Live workpiece top board before the second specification;
Rear revolution pin assembly, including after turn round clamping cylinder, rear alignment pin and after turn round supporting plate, described after The cylinder barrel of revolution clamping cylinder is fixed in described duel spreader frames, and described rear alignment pin is fixing turns round folder in the rear With in the hole, location of workpiece after inserting on the cylinder barrel of tight cylinder, described rear revolution supporting plate is fixing turns round folder in the rear The piston rod bottom of tight cylinder is to hold rear workpiece top board;
Front support rod assembly, including front support rod, front roll bar, front locking cylinder, anterior sucker regulation cylinder and front Vacuum cup, described front support rod is hinged with described duel spreader frames, the head end of described front support rod and described forward swing First end of bar is hinged, and the second end of described front roll bar is connected with the piston rod of described front locking cylinder, described before The cylinder barrel of locking cylinder is fixed in described duel spreader frames, and the cylinder barrel of described anterior sucker regulation cylinder is fixed on described The tail end of front support rod, described initial vacuum sucker is fixed on the piston rod of described anterior sucker regulation cylinder with absorption Workpiece top board before workpiece top board or the second specification before first specification;
Back support rod assembly, including back support rod, rear fork, rear locking cylinder and final vacuum sucker, described after Support bar is hinged with described duel spreader frames, and the head end of described back support rod is hinged with the first end of described rear fork, Second end of described rear fork is connected with the piston rod of described rear locking cylinder, and the cylinder barrel of described rear locking cylinder is solid Being scheduled in described duel spreader frames, described final vacuum sucker is fixed on the tail end of described back support rod with workpiece after absorption Bottom surface;
Back support assembly, including back support divider, rear portion sucker regulation cylinder and rear vacuum sucker, institute The head stating back support divider is fixed on the tail end of described duel spreader frames, the cylinder of described rear portion sucker regulation cylinder Cylinder is fixedly mounted on the afterbody of described back support divider, and described rear vacuum sucker is fixed on described rear portion sucker With the trailing flank of workpiece after absorption on the piston rod of regulation cylinder;
Described anterior sucker regulation cylinder and described rear portion sucker regulation cylinder are single-piston rod oval piston bar gas Cylinder, described alignment pin regulation cylinder is slide rail cylinder;
Described front locking cylinder and described rear locking cylinder connect flow speed control valve, and described front locking cylinder and described after Locking cylinder is also connected with rapid escape valve;
Described electromagnetic valve group includes some two five-way electromagnetic valves and some two-bit triplet electromagnetic valves;
Some positions relative set serpentine pipe, thribble or the stop valve of the connecting line of described source of the gas;
The gas circuit of described suspender control system include seven two-position-five-way solenoid valves, two two-position three way magnetic valves, Two 3 position-5 way electromagnetic valves, two vacuum generators and four air bleeding valves, wherein:
Left side first before turn round clamping cylinder, right side first before turn round clamping cylinder be connected to first two simultaneously Position five-way electromagnetic valve, the rear revolution clamping cylinder in left side, the rear revolution clamping cylinder on right side are connected to second simultaneously Two-position-five-way solenoid valve, turn round before the second of left side clamping cylinder, right side second before turn round clamping cylinder simultaneously It is connected to the 3rd two-position-five-way solenoid valve;
The alignment pin regulation cylinder in left side, the alignment pin regulation cylinder on right side are connected to the 4th two-position five-way electricity simultaneously Magnet valve;
First anterior sucker regulation cylinder in left side, second anterior sucker regulation cylinder in left side are simultaneously connected with the 5th Individual two-position-five-way solenoid valve, first posterior sucker regulation cylinder on right side, second the posterior sucker regulation gas on right side Cylinder is simultaneously connected with the 6th two-position-five-way solenoid valve, rear portion sucker regulation cylinder, the rear portion sucker on right side in left side Regulation cylinder is simultaneously connected with the 7th two-position-five-way solenoid valve;
The front locking cylinder in left side, the front locking cylinder on right side are connected to first 3 position-5 way electromagnetic valve simultaneously, left The rear locking cylinder of side, the rear locking cylinder on right side are connected to second 3 position-5 way electromagnetic valve simultaneously;Before Zuo Ce Locking cylinder is connected to first air bleeding valve, and the front locking cylinder on right side is connected to second air bleeding valve, the rear lock in left side Tight cylinder is connected to the 3rd air bleeding valve, and the rear locking cylinder on right side is connected to the 4th air bleeding valve;First air bleeding valve, Second air bleeding valve is simultaneously connected with first two-position three way magnetic valve, and the 3rd air bleeding valve, the 4th air bleeding valve are same Time connect second two-position three way magnetic valve;
First initial vacuum sucker in left side, second initial vacuum sucker in left side, first initial vacuum on right side Sucker, second initial vacuum sucker on right side are connected to first vacuum generator simultaneously, the final vacuum sucker in left side, The final vacuum sucker on right side and the rear vacuum sucker of the rear vacuum sucker in left side, right side are connected to second simultaneously Individual vacuum generator;
First two-position-five-way solenoid valve, second two-position-five-way solenoid valve, the 3rd two-position-five-way solenoid valve, 4th two-position-five-way solenoid valve, the 5th two-position-five-way solenoid valve, the 6th two-position-five-way solenoid valve, the 7th Individual two-position-five-way solenoid valve, first 3 position-5 way electromagnetic valve, second 3 position-5 way electromagnetic valve, first two Position-3-way solenoid valve, second two-position three way magnetic valve are connected on source of the gas accordingly, in order in FPGA control Device processed controls lower on/off gas circuit to control respective cylinder action;First vacuum generator, second vacuum Generator is connected on source of the gas accordingly, in order to turn on/off gas circuit under PLC controls to control Corresponding vacuum cup action;Serpentine pipe, thribble and stop valve it is provided with, to constitute on the connecting line of source of the gas The control gas circuit of suspender control system.
2. suspender control system as claimed in claim 1, it is characterised in that the head of described back support divider Portion is provided with stabiliser bar.
3. suspender control system as claimed in claim 1, it is characterised in that described suspender is provided with and is fixed on Lead in described duel spreader frames, the guide head of described lead deviates from the hole, location that elevator is inserted on ground With to the location between described duel spreader frames and elevator.
4. suspender control system as claimed in claim 1, it is characterised in that described suspender is provided with and is fixed on Top location bar in described duel spreader frames and location, bottom bar, the guide head of location, described top bar is towards ground Being inserted in the axle sleeve of pre-clamps and carry out just guiding, the guide head of location, described bottom bar is inserted into towards ground The hole, location of pre-clamps carefully guides, to realize the location between described duel spreader frames and pre-clamps.
5. suspender control system as claimed in claim 4, it is characterised in that it is fixed that location, described top bar includes Position bearing pin and the gripper shoe of inverted L shape, the first end of described gripper shoe is fixed in described duel spreader frames, described Forming gripper shoe cantilever outside extending described duel spreader frames outside second end of fagging, described alignment pin is fixed on On described gripper shoe cantilever.
CN201410258151.7A 2014-06-11 2014-06-11 Suspender control system CN104016234B (en)

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CN2036940U (en) * 1988-09-29 1989-05-03 夏永泽 Vacuum suction blank machine
US7543868B1 (en) * 2005-04-13 2009-06-09 The Caldwell Group, Inc. Mechanically actuated vacuum lifting device
CN101229899A (en) * 2007-09-26 2008-07-30 江苏工业学院 Turnable vacuum disc suction machine for duct piece
CN101863097B (en) * 2010-02-12 2012-07-18 泰兴汤臣压克力有限公司 Automatic glass separating device
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