CN104044988B - Piecemeal lid formula Workpiece sling front and back - Google Patents

Piecemeal lid formula Workpiece sling front and back Download PDF

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Publication number
CN104044988B
CN104044988B CN201410259406.1A CN201410259406A CN104044988B CN 104044988 B CN104044988 B CN 104044988B CN 201410259406 A CN201410259406 A CN 201410259406A CN 104044988 B CN104044988 B CN 104044988B
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CN
China
Prior art keywords
workpiece
cylinder
assembly
spreader frames
duel spreader
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CN201410259406.1A
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Chinese (zh)
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CN104044988A (en
Inventor
周磊
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周国文
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Priority to CN201410259406.1A priority Critical patent/CN104044988B/en
Publication of CN104044988A publication Critical patent/CN104044988A/en
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Publication of CN104044988B publication Critical patent/CN104044988B/en

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Classifications

    • 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
    • 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
    • B66C13/00Other constructional features or details
    • B66C13/18Control systems or devices
    • B66C13/20Control systems or devices for non-electric drives

Abstract

Piecemeal lid formula Workpiece sling before and after the open one of the present invention, including hanging duel spreader frames on elevator and be separately mounted in described duel spreader frames to detent mechanism on the suspender of location between described duel spreader frames and elevator, to detent mechanism under the suspender of location between described duel spreader frames and pre-clamps, to the front workpiece locating mechanism of location between front workpiece and described duel spreader frames, to the rear workpiece locating mechanism of location between rear workpiece and described duel spreader frames, the front workpiece bottom supporting mechanism of workpiece before supporting when lifting, the rear workpiece bottom supporting mechanism of workpiece after supporting when lifting, the rear workpiece trailing flank supporting mechanism of workpiece and corresponding control system after supporting when lifting.The present invention, by the location of workpiece before and after rationally arranging and supporting mechanism, can reach the standard grade and carries out handling by grabbing workpiece easily, improve the efficiency of assembling of workpiece, it is ensured that product assembly quality.

Description

Piecemeal lid formula Workpiece sling front and back
Technical field
The present invention relates to handling mounting technology, particularly relate to piecemeal lid formula Workpiece sling before and after one.
Background technology
Workpiece type in lifting industry, specification, shape etc. vary, and need the suspender that specialized designs and workpiece adapt.For piecemeal lid formula workpiece before and after one, it is formed by two parts workpiece assembly welding, front workpiece and rear workpiece are all approximately inversion " L-type ", and the specification of the most front workpiece is less than the specification of rear workpiece, and the trailing flank of rear workpiece has bigger size than the leading flank of front workpiece.Owing to workpiece has bigger size and weight, it is impossible to manually carrying, if using common suspender to lift, in the location of workpiece, clamping and all existing in terms of support bigger difficulty, causing 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 piecemeal lid formula Workpiece sling before and after one, in order to the matching requirements of piecemeal lid formula workpiece before and after Man Zuing.
nullFor solving above technical problem,The present invention provides piecemeal lid formula Workpiece sling before and after one,Before and after described, piecemeal lid formula workpiece can be integral with the rear workpiece assembly welding of inversed l-shaped by the front workpiece of inversed l-shaped,Described suspender include hanging duel spreader frames on elevator and be separately mounted in described duel spreader frames to detent mechanism on the suspender of location between described duel spreader frames and elevator、To detent mechanism under the suspender of location between described duel spreader frames and pre-clamps、To the front workpiece locating mechanism of location between front workpiece and described duel spreader frames、To the rear workpiece locating mechanism of location between rear workpiece and described duel spreader frames、The front workpiece bottom supporting mechanism of workpiece before supporting when lifting、The rear workpiece bottom supporting mechanism of workpiece and the rear workpiece trailing flank supporting mechanism of workpiece after supporting when lifting after supporting when lifting,Described front workpiece locating mechanism、Rear workpiece locating mechanism、Front workpiece bottom supporting mechanism、Rear workpiece bottom supporting mechanism is respectively arranged with cylinder with location、Clamping and support workpiece,Described front workpiece bottom supporting mechanism、Rear workpiece bottom supporting mechanism、Rear workpiece trailing flank supporting mechanism is respectively arranged with vacuum cup to adsorb workpiece,Each cylinder is controlled on/off source of the gas by corresponding magnetic valve respectively,Each vacuum cup is controlled on/off source of the gas by corresponding vacuum generator respectively,Controller connects each magnetic valve and vacuum generator,To export control signal according to workpiece character and suspender state to corresponding magnetic valve or vacuum generator,The cylinder or the vacuum cup that manipulate correspondence carry out action by predetermined policy.
Alternatively, described front workpiece bottom supporting mechanism includes the front support rod assembly that can swing forward in described duel spreader frames, and described front support rod assembly becomes locking attitude with the bottom surface of workpiece before supporting and clamping when lifting;The tail end of described front support rod assembly is provided with initial vacuum sucker, described initial vacuum sucker hold when lifting before the bottom surface of workpiece;Or, the tail end of described front support rod assembly is oval cylinder before being provided with, and described initial vacuum sucker is installed on described front oval cylinder;Described front support rod assembly includes front support rod, front roll bar and front locking cylinder, 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 first end of described front locking cylinder, second end of described front locking cylinder is by front locking cylinder floor installation in described duel spreader frames, and described front locking cylinder connects flow speed control valve and rapid escape valve.
Alternatively, described rear workpiece bottom supporting mechanism includes the back support rod assembly that can swing backward in described duel spreader frames, described back support rod assembly becomes locking attitude with the bottom surface of workpiece after supporting and clamping when lifting, the tail end of described back support rod assembly is provided with final vacuum sucker, described final vacuum sucker hold when lifting after the bottom surface of workpiece;Or, described back support rod assembly includes back support rod, rear fork and rear locking cylinder, 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 first end of described rear locking cylinder, second end of described rear locking cylinder is by rear locking cylinder floor installation in described duel spreader frames, and described rear locking cylinder connects flow speed control valve and rapid escape valve.
Alternatively, described rear workpiece trailing flank supporting mechanism includes the back support assembly being fixed in described duel spreader frames, and described back support assembly is the trailing flank of workpiece after lifting is withstood at present;The afterbody of described back support assembly is provided with rear vacuum sucker, described rear vacuum sucker hold when lifting after the trailing flank of workpiece;The afterbody of described back support assembly is provided with rear portion ellipse cylinder, and described rear vacuum sucker is installed on the ellipse cylinder of described rear portion, and the head of described support component is provided with stabiliser bar.
Alternatively, described front workpiece locating mechanism is to include front revolution clamping cylinder, prelocalization pin and the front revolution pin assembly of front revolution supporting plate, before described, revolution clamping cylinder is arranged in described duel spreader frames, described prelocalization pin is fixedly mounted on the described front cylinder barrel turning round clamping cylinder with in the hole, location of workpiece before inserting, and the described front supporting plate that turns round is arranged on the piston rod bottom of described front revolution clamping cylinder to hold the bottom surface of front workpiece.
Alternatively, described rear workpiece locating mechanism be include after turn round clamping cylinder, rear alignment pin and the rear rear revolution pin assembly turning round supporting plate, after described, revolution clamping cylinder is arranged in described duel spreader frames, the fixed installation of described rear alignment pin is turned 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 installed and turned round the piston rod bottom of clamping cylinder in the rear to hold the bottom surface of rear workpiece;Described front workpiece locating mechanism includes turning round before described in two groups pin assembly, and wherein a group of front side is flexible revolution pin assembly, and the described front revolution clamping cylinder in described flexible revolution pin assembly is installed to described duel spreader frames by slide rail cylinder.
Alternatively, on described suspender, detent mechanism includes the lead being fixedly mounted in described duel spreader frames, and the guide head of described lead deviates from the hole, location that elevator is inserted on ground.
Alternatively, under described suspender, detent mechanism includes top location bar and location, the bottom bar being fixedly mounted in described duel spreader frames, the guide head of location, described top bar is inserted in the axle sleeve of pre-clamps towards ground, and the guide head of location, described bottom bar is inserted in the hole, location of pre-clamps towards ground;Location, described top bar includes the gripper shoe of alignment pin and inverted L shape, first end of described gripper shoe is fixedly mounted in described duel spreader frames, forming gripper shoe cantilever outside extending described duel spreader frames outside second end of described gripper shoe, described alignment pin is fixedly mounted on described gripper shoe cantilever.
Alternatively, each cylinder is connected to source of the gas with automatically controlled two-bit triplet magnetic valve or 3 position-5 way magnetic valve.
Alternatively, some positions relative set helix tube, thribble or the stop valve of the connecting line of described source of the gas.
Compared with prior art, the present invention is according to the design feature of front and back's workpiece, devise a kind of brand-new before and after piecemeal lid formula Workpiece sling, it has the upper and lower detent mechanism of suspender simultaneously, forward and backward workpiece locating mechanism, forward and backward workpiece bottom supporting mechanism and rear workpiece trailing flank supporting mechanism, can preferably realize the location of suspender and pre-clamps and the location of riser, suspender and workpiece front and back, and suspender to the fixing support of front and back's workpiece and captures function, thus can realize automatically capturing of before and after's workpiece easily and reach the standard grade.Especially, this suspender enters with a fixed angle time front and back, workpiece is reached the standard grade, it is to avoid workpiece and left and right gusset, back wall and the interference problem of other pattern welding equipments.Further, front and back the yielding position of workpiece uses cylinder and vacuum cup combined support mode, is possible to prevent before and after's workpiece to deform so that it is accurate positioning of reaching the standard grade.So, suspender of the present invention just can meet the requirement of driver's cabin piecemeal butt welding process well, improves Product Assembly efficiency, it is ensured that the assembling 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 top view of Fig. 1 a;
Fig. 2 a is Fig. 1 a~duel spreader frames front view in suspender 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 suspender 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 suspender 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 suspender shown in Fig. 1 c;
Fig. 5 b is the top view of Fig. 5 a;
Fig. 6 a be Fig. 1 a~in suspender 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 suspender shown in Fig. 1 c bottom location bar front view;
Fig. 7 b is the top view of Fig. 7 a;
Fig. 8 a is Fig. 1 a~front revolution pin assembly front view in suspender shown in Fig. 1 c;
Fig. 8 b is the left view of Fig. 8 a;
Fig. 9 a is Fig. 1 a~flexible revolution pin assembly front view in suspender shown in Fig. 1 c;
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 suspender 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 suspender 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 suspender 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 suspender 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 a;
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 first front workpiece of specification and the pickup procedure chart of rear workpiece in control system shown in Figure 14;
Figure 16 b be in control system shown in Figure 14 the first front workpiece of specification and rear workpiece put part procedure chart;
Figure 16 c is the second front workpiece of specification and the pickup procedure chart of rear workpiece in control system shown in Figure 14;
Figure 16 d be in control system shown in Figure 14 the second front workpiece of specification and rear workpiece put part procedure chart.
Detailed description of the invention
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.
The most referring also to Fig. 1 a~Figure 13 c, the structure of piecemeal lid formula Workpiece sling (hereinafter referred to as suspender) before and after the expression embodiment of the present invention, wherein Fig. 1 a~Fig. 1 c illustrates lifting assembly structure;Fig. 2 a~Figure 13 c illustrates the critical piece structure of suspender.This suspender is by duel spreader frames 1 and is installed on the suspender in duel spreader frames 1 principal organ such as detent mechanism, front workpiece locating mechanism, rear workpiece locating mechanism, front workpiece bottom supporting mechanism, rear workpiece bottom supporting mechanism and rear workpiece trailing flank supporting mechanism under detent mechanism, suspender and forms, wherein: duel spreader frames 1 is suspender main body, it connects seat 2 by suspender and is connected on elevator, and other mechanism is mounted in duel spreader frames 1;Under suspender, detent mechanism positions between duel spreader frames and pre-clamps;Front workpiece locating mechanism positions between front workpiece and duel spreader frames;Rear workpiece locating mechanism positions between rear workpiece and duel spreader frames;Front workpiece bottom supporting mechanism supports front workpiece when lifting;Rear workpiece bottom supporting mechanism lifting time support after workpiece;Rear workpiece trailing flank supporting mechanism lifting time support after workpiece.It is understood that about location, support and the active position of supporting mechanism workpiece front and back need to select the position relatively big at front and back's thickness of workpiece, intensity is higher, deformation during to prevent before and after's workpiece handling, repeat no more.
Above-described embodiment suspender is provided with the upper and lower detent mechanism of suspender simultaneously, forward and backward workpiece locating mechanism, forward and backward workpiece bottom supporting mechanism and rear workpiece trailing flank supporting mechanism, can preferably realize suspender and pre-clamps and the location of riser, suspender and the location of workpiece (workpiece before and after i.e.) and suspender and to the fixing support of workpiece and capture function, thus meet the handling requirement of reaching the standard grade of before and after's workpiece.
As shown in Fig. 1 a~Fig. 1 c, lifting assembly is mainly made up of, wherein parts such as duel spreader frames 1, lead 3, location, top bar 4, location, bottom bar 5, front revolution pin assembly 11, rear revolution pin assembly 12, front support rod assembly 7, back support rod assembly 6 and back support assemblies 10:
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 before and 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 5 of location, top bar 4, it is possible to preferably complete the location between suspender and pre-clamps.
Front revolution pin assembly (the first revolution pin assembly) 11 is used as front workpiece locating mechanism, it is arranged in duel spreader frames 1, its prelocalization pin inserts in the hole, location of front workpiece, and before it, front workpiece held by revolution supporting plate simultaneously, is achieved in the location between suspender and front workpiece.Such as Fig. 1 a~as illustrated in figure 1 c, in order to adapt to the workpiece requirement of different product, suspender being mounted with flexible revolution pin assembly (the second revolution pin assembly) 9 the most simultaneously, its effect is identical with front revolution pin assembly 11.This flexible revolution pin assembly 9 is mainly used in the handling of workpiece before the second size workpiece, front revolution pin assembly 11 is then mainly used in the handling of workpiece before the first size workpiece: if lifting the first size workpiece, by front revolution pin assembly 11, the front workpiece of the first specification is positioned, now the revolution clamping cylinder of flexible revolution pin assembly 9 needs to regain, and thus avoids producing and interferes;If lifting the second size workpiece, then being positioned workpiece before the second specification by flexible revolution pin assembly 9, now workpiece before the second specification will not be produced and interfere by front revolution pin assembly 11.
Rear revolution pin assembly 12 is used as rear workpiece locating mechanism, and its structure and function are similar with front revolution pin assembly 11.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.
Front support rod assembly 7 is used as front workpiece bottom supporting mechanism, it is arranged in duel spreader frames 1, and can swing forward under front locking cylinder drives, and this front support rod assembly 7 becomes locking attitude when lifting, the thus fixing bottom surface supporting front workpiece 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 bottom supporting mechanism, it may be installed in duel spreader frames 1, and can swing backward under rear locking cylinder drives, and this back support rod assembly 6 becomes locking attitude when lifting, the thus bottom surface of 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 rear workpiece trailing flank supporting mechanism, and it is fixedly mounted in duel spreader frames 1 by hexagon socket head cap screw 19, plain cushion 20, spring washer 21 etc., the trailing flank of workpiece after lifting is withstood at present, and 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 connect the version of the parts such as 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, flexible revolution pin assembly 9, back support assembly 10, front revolution pin assembly 11, rear revolution pin assembly 12 and are respectively provided with multiple implementation, and 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, flexible revolution pin assembly 9, back support assembly 10, front revolution pin assembly 11, 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 Fig. 1 a~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, briefly explain 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 is realized by front revolution pin assembly 11, 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, forming gripper shoe cantilever outside extending duel spreader frames 1 side profile outside second end, gripper shoe cantilever is provided with 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 (turning round pin assembly before first) 11 before being embodied in, it is made up of, wherein parts such as front revolution clamping cylinder (turning round clamping cylinder before first) 11.2, prelocalization pin (the first prelocalization pin) 11.5 and front revolution supporting plates (turning round supporting plate before first) 11.4: front revolution clamping cylinder 11.2 is arranged in the alignment pin mounting seat 1.8 of duel spreader frames 1;Prelocalization pin 11.5 turns round before being fixedly mounted on the cylinder barrel of clamping cylinder 11.2, may be inserted in the hole, location of front workpiece;Front revolution supporting plate 11.4 turns round the piston rod bottom of clamping cylinder 11.2 before being arranged on.
As shown in Fig. 8 a~Fig. 8 b, concrete assembling mode is: front revolution clamping cylinder 11.2 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;Prelocalization pin installing plate 11.3 is turned round before being installed to by soket head cap screw 11.9, spring washer 11.10 on the cylinder barrel of clamping cylinder 11.2, and prelocalization pin 11.5 is fixed on prelocalization pin installing plate 11.3 by nut 11.6, plain cushion 11.7, spring washer 11.8;Front revolution supporting plate 11.4 turns round the piston rod bottom of clamping cylinder 11.2 by soket head cap screw 11.12, spring washer 11.13 before being fixed on, this front revolution supporting plate 11.4 is provided with through hole, is available for inserting 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 course of work of front revolution pin assembly 11 is: after suspender positions with pre-clamps, revolution clamping cylinder 11.2 before rotating, before driving when its piston rod stretches out, revolution supporting plate 11.4 rotates, and prelocalization pin 11.5 is inserted in the hole, location of front workpiece and positions;Contraposition is complete, and the piston rod of front revolution clamping cylinder 11.2 is regained, and front revolution supporting plate 11.4 is held the bottom surface of front workpiece, the most preferably achieved the location between suspender and front workpiece.
Fig. 9 a~Fig. 9 b illustrates the structure of a kind of flexible revolution pin assembly 9, the basic structure of this flexible revolution pin assembly (turning round pin assembly before second) 9 is similar with above-described front revolution pin assembly (turning round pin assembly before first) 11, and difference is to add a slide rail cylinder (alignment pin regulation cylinder) 9.2.The concrete structure of flexible revolution pin assembly 9 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 of revolution clamping cylinder (turning round clamping cylinder before second) 9.3 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 thus achieves the connection of slide rail cylinder 9.2 and revolution clamping cylinder 9.3;Alignment 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, and alignment pin (the second prelocalization pin) 9.6 is fixed on alignment pin installing plate 9.7 by nut 9.17, plain cushion 9.18, spring washer 9.19;Revolution supporting plate (turning round supporting plate before second) 9.5 is fixed on the piston rod bottom of revolution clamping cylinder 9.3 by soket head cap screw 9.20, and this revolution supporting plate 9.5 is provided with through hole, is available for inserting alignment pin 9.6 when piston rod is regained.
When this flexible revolution pin assembly 9 does not uses, revolution clamping cylinder 9.3 is regained by slide rail cylinder 9.2;During work, the piston rod of slide rail cylinder 9.2 reaches predetermined length, is driven alignment pin 9.6 and revolution supporting plate 9.5 to work by the revolution clamping cylinder 9.3 of bottom afterwards, and this process is identical with front revolution pin assembly 11, 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.This rear revolution pin assembly 12 is essentially identical with the structure of front revolution pin assembly 11, difference is only that both central revolution supporting plate surface configurations are different, after this is because, the bottom shape of workpiece is different from the bottom shape of front workpiece, thus requires to mate the reason of corresponding top surface shape 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;Rear alignment pin installing plate 11.3 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 rear alignment pin installing plate 11.3 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, turn round the groundwork work of pin assembly 12 afterwards It is: after suspender positions with pre-clamps that after after rotation, the piston rod of revolution clamping cylinder 122 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 as process;Contraposition is complete, and the piston rod of rear revolution clamping cylinder 12.2 is regained, and the bottom surface of 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 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;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, fixes with angle steel 7.8 with soket head cap screw 7.22, plain cushion 7.23, spring washer 7.24;Oval cylinder (anterior sucker regulation cylinder) 7.16 before being installed by regulation hexagon-headed bolt 7.18, plain cushion 7.19, spring washer 7.20 and nut 7.21 on adjustable plate 7.7, wherein have two elongated slots on adjustable plate 7.7, adjustable along elongated slot direction before the relative position of oval cylinder 7.16 and 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.
The groundwork process of above-mentioned 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, locked by front locking cylinder before so, it is positioned at front oval cylinder 7.16 action of short swing arm tail end, before making, the initial vacuum sucker 7.17 on oval cylinder 7.16 holds the bottom surface of 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 the course of work.
Back support rod assembly 6 structure shown in Figure 12 a~Figure 12 b, it is similar with front support rod assembly 7, 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 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 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 the bottom surface of 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 the course of work.
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 respectively mounted plate 10.1, plate 10.11 or shrouding 10.10 etc., is consequently formed back support divider.The stabiliser bar installed above 10.15 of 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 divider, rear portion ellipse cylinder (the single-piston rod oval piston cylinder 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, rear portion sucker regulation cylinder) 10.4, the trailing flank of workpiece after rear vacuum sucker 10.6 holds when handling, prevents rear workpiece from upwarping.
Above example all uses the background of 6 pieces of sub-unit butt welding process for advanced high top dual horizontal truck cap in the world, disclose a kind of rational in infrastructure before and after Workpiece sling, it includes but are not limited to techniques below feature:
One, owing to 4 band elevator precision are the highest, suspender uses when entering pre-clamps and just guides the guidance mode that refinement guiding engages, and makes suspender can enter precisely into precalculated position grabbing workpiece every time;
Its two, revolution clamping cylinder installs alignment pin and supporting plate so that it is having location and hold the effect of workpiece, workpiece will not occur play in movement or fall the situation of part;
They are three years old, by oval cylinder fixing on the support bar assembly that locking cylinder controls, and fix vacuum cup on oval cylinder, this combining form can take notice of 0 ° to 90 ° interior arbitrarily angled grabbing workpiece, the utilization of oval cylinder then reduces the space shared by before and after's supporting arm assembly system, the space turnover that can reserve between workpiece front and back, completes to pick and place part action.
Before and after above-mentioned, piecemeal lid formula Workpiece sling operates the most convenient, and its basic operation process is as follows:
One, piecemeal lid formula Workpiece sling pickup action front and back
1, before and after general point is soldered into, workpiece is placed in pre-clamps;
2, decline after the control system of suspender receives signal, now before and after locking cylinder stretch out, before and after suspender, support bar assembly is in 90 ° with front and back 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, the positioning process hole of workpiece before and after corresponding alignment pin entrance in suspender forward and backward revolution pin assembly, 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 held before and after's workpiece the most at a certain angle, the most corresponding vacuum cup air-breathing front and back, makes before and after's workpiece securely fix, and now front and back workpiece disengages with pre-clamps;
5, suspender receives clamping crawl and completes signal, and suspender is mentioned by 4 band elevators.
Two, front and back piecemeal lid formula Workpiece sling 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, before and after suspender drives, workpiece enters precalculated position, and owing to suspender has been adjusted to certain angle before and after gripping during workpiece, therefore front and back 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 oval cylinder shrinks, simultaneously before and after locking cylinder stretch out, front and back workpiece engages with left and right gusset, front and back turns round clamping cylinder and 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 piecemeal lid formula Workpiece sling before and after the present invention, it is provided with some magnetic valves (group), some vacuum generators (group) and controller, air cylinder group, vacuum cup group, wherein:
Magnetic 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, (include as the front revolution pin assembly 11 turning round pin assembly before first whether to open or close about positioning component, as the flexible revolution pin assembly 9 turning round pin assembly 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, output is connected to the signal input part of magnetic valve, control signal is exported to relevant magnetic 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 lifting assembly of Fig. 1 a~Fig. 1 c, pin assembly (turning round pin assembly before first) 11 is turned round before being provided with two groups, flexible revolution pin assembly (turning round pin assembly before second) 9, rear revolution pin assembly 12, two groups of front support rod assemblies 7, back support rod assembly 6, 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 are (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 magnetic 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 magnetic 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;Helix tube 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 the location of suspender and pre-clamps and the location of elevator, suspender and workpiece front and back, and suspender to the fixing support of front and back's workpiece and captures function, thus can realize automatically capturing of before and after's workpiece easily and reach the standard grade;Owing to suspender enters with a fixed angle when front and back, workpiece is reached the standard grade, it is to avoid workpiece and left and right gusset, back wall and the interference problem of other pattern welding equipments;Additionally, front and back the yielding position of workpiece uses cylinder and vacuum cup combined support mode, it is possible to prevent before and after's workpiece to deform so that it is accurate positioning of reaching the standard grade;Thus this suspender can meet the requirement of workpiece (such as driver's cabin) piecemeal butt welding process well, improves Product Assembly efficiency, it is ensured that the assembling quality of product.
As can be seen here, the exclusive technology used based on above example is that domestic production is more attractive in appearance, the driver's cabin of safety and low cost provides possibility, thus has 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 (3)

1. before and after a piecemeal lid formula Workpiece sling, described before and after piecemeal lid formula workpiece can be by inversed l-shaped before Workpiece is integral with the rear workpiece assembly welding of inversed l-shaped, it is characterised in that described suspender includes that hanging is at elevator On duel spreader frames and be separately mounted in described duel spreader frames between described duel spreader frames and elevator position Suspender on detent mechanism, to detent mechanism, right under the suspender of location between described duel spreader frames and pre-clamps The front workpiece locating mechanism of location between front workpiece and described duel spreader frames, to rear workpiece and described duel spreader frames it Between location rear workpiece locating mechanism, lifting time support before workpiece front workpiece bottom supporting mechanism, lifting Time support after workpiece rear workpiece bottom supporting mechanism and lifting time support after workpiece rear workpiece trailing flank support Mechanism, at the bottom of described front workpiece locating mechanism, rear workpiece locating mechanism, front workpiece bottom supporting mechanism, rear workpiece Face supporting mechanism be respectively arranged with cylinder with location, clamp and support workpiece, described front workpiece bottom supporting mechanism, Rear workpiece bottom supporting mechanism, rear workpiece trailing flank supporting mechanism are respectively arranged with vacuum cup to adsorb workpiece, Each cylinder is controlled on/off source of the gas by corresponding magnetic valve respectively, and each vacuum cup is sent out by corresponding vacuum respectively Raw device controls on/off source of the gas, and controller connects each magnetic valve and vacuum generator, in order to according to workpiece character And suspender state exports control signal to corresponding magnetic valve or vacuum generator, manipulate the cylinder of correspondence or true Suction dish carries out action by predetermined policy;
Described front workpiece locating mechanism and described rear workpiece locating mechanism use revolution pin assembly, described front work Part bottom supporting mechanism and described rear workpiece bottom supporting mechanism use support bar assembly, described rear workpiece trailing flank Supporting mechanism uses back support assembly;
Described front workpiece bottom supporting mechanism includes the front support rod group that can swing forward in described duel spreader frames Part, described front support rod assembly becomes locking attitude with the bottom surface of workpiece before supporting and clamping when lifting;Before described The tail end of support bar assembly is provided with initial vacuum sucker, described initial vacuum sucker hold when lifting before the end of workpiece Face;Or, the tail end of described front support rod assembly is oval cylinder before being provided with, and described initial vacuum sucker is installed on Before described on oval cylinder;Described front support rod assembly includes front support rod, front roll bar and front locking cylinder, institute Stating front support rod hinged with described duel spreader frames, the head end of described front support rod cuts with scissors with the first end of described front roll bar Connecing, the second end of described front roll bar is connected with the first end of described front locking cylinder, the of described front locking cylinder Two ends by front locking cylinder floor installation in described duel spreader frames, described front locking cylinder connect flow speed control valve and Rapid escape valve;
Described rear workpiece bottom supporting mechanism includes the back support rod group that can swing backward in described duel spreader frames Part, described back support rod assembly become when lifting locking attitude with the bottom surface of workpiece after supporting and clamping, described after The tail end of support bar assembly is provided with final vacuum sucker, described final vacuum sucker hold when lifting after the end of workpiece Face;Or, described back support rod assembly includes back support rod, rear fork and rear locking cylinder, described rear 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, described Second end of rear fork is connected with the first end of described rear locking cylinder, and the second end of described rear locking cylinder passes through Rear locking cylinder floor installation is in described duel spreader frames, and described rear locking cylinder connects flow speed control valve and Quick air-discharge Valve;
Described rear workpiece trailing flank supporting mechanism includes the back support assembly being fixed in described duel spreader frames, institute State back support assembly trailing flank of workpiece after lifting is withstood at present;The afterbody of described back support assembly is installed Have rear vacuum sucker, described rear vacuum sucker hold when lifting after the trailing flank of workpiece;Described rear portion is propped up The afterbody of support component is provided with rear portion ellipse cylinder, and described rear vacuum sucker is installed on described rear portion ellipse cylinder On, the head of described support component is provided with stabiliser bar;
Described front workpiece locating mechanism is to include front revolution clamping cylinder, prelocalization pin and front time of front revolution supporting plate Turning pin assembly, described front revolution clamping cylinder is arranged in described duel spreader frames, and described prelocalization pin is fixed Be arranged on described before revolution clamping cylinder cylinder barrel on insert before workpiece hole, location in, described before revolution supporting plate It is arranged on the piston rod bottom of described front revolution clamping cylinder to hold the bottom surface of front workpiece;
Described rear workpiece locating mechanism be include after turn round clamping cylinder, rear alignment pin and rear turn round supporting plate rear time Turning pin assembly, described rear revolution clamping cylinder is arranged in described duel spreader frames, and described rear alignment pin is fixed Install turn round in the rear on the cylinder barrel of clamping cylinder with insert after workpiece hole, location in, described after turn round supporting plate Install and turn round the piston rod bottom of clamping cylinder in the rear to hold the bottom surface of rear workpiece;Described front workpiece positions Mechanism includes revolution pin assembly before described in two groups, and wherein a group of front side is flexible revolution pin assembly, Described front revolution clamping cylinder in described flexible revolution pin assembly is installed to described suspender by slide rail cylinder On framework;
Each cylinder is connected to source of the gas with automatically controlled two-bit triplet magnetic valve or 3 position-5 way magnetic valve;
Some positions relative set helix tube, thribble or the stop valve of the connecting line of described source of the gas;
Described revolution pin assembly includes:
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 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 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;
Described support bar assembly includes:
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 before workpiece 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;
Described back support assembly includes: 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, described rear portion sucker regulation cylinder Cylinder barrel is fixedly mounted on the afterbody of described back support divider, and described rear vacuum sucker is fixed on described rear portion and inhales With workpiece after absorption on the piston rod of dish regulation cylinder;
Front and back the gas circuit of piecemeal lid formula Workpiece sling control system include seven two-position-five-way solenoid valves, two two Three-way magnetic valve, two 3 position-5 way magnetic 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 anterior sucker regulation cylinder on right side, second the anterior 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 magnetic valve simultaneously, left The rear locking cylinder of side, the rear locking cylinder on right side are connected to second 3 position-5 way magnetic 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 magnetic valve, second 3 position-5 way magnetic 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 under control of the controller On/off gas circuit is to control respective cylinder action;First vacuum generator, second vacuum generator are corresponding It is connected on source of the gas, in order to on/off gas circuit is to control corresponding vacuum cup action under control of the controller;Gas Helix tube, thribble and stop valve it is provided with, to constitute the control gas circuit of suspender on the connecting line in source.
2. piecemeal lid formula Workpiece sling front and back as claimed in claim 1, it is characterised in that fixed on described suspender Position mechanism includes the lead being fixedly mounted in described duel spreader frames, and the guide head of described lead deviates from ground Insert in the hole, location of elevator.
3. piecemeal lid formula Workpiece sling front and back as claimed in claim 1, it is characterised in that fixed under described suspender Position mechanism includes top location bar and location, the bottom bar being fixedly mounted in described duel spreader frames, and described top is fixed Position bar guide head be inserted in the axle sleeve of pre-clamps towards ground, described bottom location bar guide head towards Ground is inserted in the hole, location of pre-clamps;Location, described top bar includes the support of alignment pin and inverted L shape Plate, the first end of described gripper shoe is fixedly mounted in described duel spreader frames, and the second end of described gripper shoe is overhanging Forming gripper shoe cantilever outside described duel spreader frames, described alignment pin is fixedly mounted on described gripper shoe and hangs On arm.
CN201410259406.1A 2014-06-11 2014-06-11 Piecemeal lid formula Workpiece sling front and back CN104044988B (en)

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CN201410259406.1A CN104044988B (en) 2014-06-11 2014-06-11 Piecemeal lid formula Workpiece sling front and back

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CN201410259406.1A CN104044988B (en) 2014-06-11 2014-06-11 Piecemeal lid formula Workpiece sling front and back
CN201610788268.5A CN106115454A (en) 2014-06-11 2014-06-11 A kind of suspender being applicable to before and after's piecemeal lid formula workpiece

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CN201610788268.5A CN106115454A (en) 2014-06-11 2014-06-11 A kind of suspender being applicable to before and after's piecemeal lid formula workpiece

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CN202279617U (en) * 2011-10-24 2012-06-20 青岛力磁电气有限公司 Electric permanent-magnet hoisting hanger for steel plate
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CN203903759U (en) * 2014-06-11 2014-10-29 周国文 Front and rear partitioned cover type workpiece hanger

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JP2000229777A (en) * 1999-02-09 2000-08-22 Okayama Sekisui Kogyo Kk Hoisting device for plate member
CN201250047Y (en) * 2008-06-15 2009-06-03 魏龙淮 Composite board special hanger
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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Publication number Priority date Publication date Assignee Title
US5193873A (en) * 1989-12-15 1993-03-16 Centro De Investigacion Y. Asistencia Tecnica Del Estado De Queretaro, A.C. Sugar cane grab
CN202279617U (en) * 2011-10-24 2012-06-20 青岛力磁电气有限公司 Electric permanent-magnet hoisting hanger for steel plate
CN103224191A (en) * 2013-04-09 2013-07-31 湖北华昌达智能装备股份有限公司 Front and rear cover on-line spreader of high-top twin truck cab
CN203903759U (en) * 2014-06-11 2014-10-29 周国文 Front and rear partitioned cover type workpiece hanger

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