CN104071686B - Front and back lift the suspender of workpiece - Google Patents
Front and back lift the suspender of workpiece Download PDFInfo
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- CN104071686B CN104071686B CN201410258222.3A CN201410258222A CN104071686B CN 104071686 B CN104071686 B CN 104071686B CN 201410258222 A CN201410258222 A CN 201410258222A CN 104071686 B CN104071686 B CN 104071686B
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- suspender
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- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 239000000463 material Substances 0.000 claims abstract description 20
- 230000009471 action Effects 0.000 claims abstract description 11
- 230000033228 biological regulation Effects 0.000 claims description 41
- 241000817702 Acetabula Species 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 239000003381 stabilizer Substances 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 230000000740 bleeding effect Effects 0.000 claims 9
- 230000005611 electricity Effects 0.000 claims 2
- 230000004807 localization Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 24
- 230000008569 process Effects 0.000 abstract description 18
- 238000003466 welding Methods 0.000 abstract description 4
- 230000000712 assembly Effects 0.000 description 12
- 238000000429 assembly Methods 0.000 description 12
- 229910000831 Steel Inorganic materials 0.000 description 11
- 239000010959 steel Substances 0.000 description 11
- 125000006850 spacer group Chemical group 0.000 description 7
- 230000007423 decrease Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 3
- 238000011217 control strategy Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
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- 230000004069 differentiation Effects 0.000 description 1
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- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-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
- B66C1/10—Load-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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a kind of suspender front and back lifting workpiece, including in order to the front workpiece locating mechanism of location between front workpiece and duel spreader frames, in order to the rear workpiece locating mechanism of location between rear workpiece and duel spreader frames, in order to support the front workpiece end face supporting mechanism of front workpiece when lifting and in order to the rear workpiece end face supporting mechanism of workpiece and rear side surface of workpiece supporting mechanism after supporting when lifting, after rear side surface of workpiece supporting mechanism restriction, workpiece upwarps toward rear when lifting, workpiece locating mechanism front and back, front and back workpiece end face supporting mechanism is respectively provided with some cylinders, front and back workpiece end face supporting mechanism and rear side surface of workpiece supporting mechanism are respectively provided with some vacuum cups, each cylinder solenoid valve, each vacuum cup carries out action under controller manipulates.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
Technical field
The present invention relates to lifting technique, particularly relate to one and be applicable to slinger before and after inversed l-shaped sheet material workpiece
The suspender of part.
Background technology
Workpiece type in lifting industry, specification, shape etc. vary, and need specialized designs to fit mutually with workpiece
The suspender answered.For a kind of inversed l-shaped sheet material workpiece, its top and afterbody are respectively provided with bigger size,
If using common suspender to lift with manually carrying, in the location of workpiece, cannot clamp and support
All there is bigger difficulty in aspect, cause workpiece to deform the most most probably simultaneously.Because the lifting of existing suspender is above-mentioned
Workpiece is the most difficult, is also unfavorable for ensureing product quality, it is necessary to the feature for this workpiece designs a kind of new
The sling system of type, 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 front and back lifting workpiece, inversion can be met
The lifting requirements of L-shaped sheet material workpiece.
For solving above technical problem, the present invention provides a kind of suspender front and back lifting workpiece, it is adaptable to be inverted L
Shape sheet material workpiece, described inversed l-shaped sheet material workpiece includes the front workpiece of yi word pattern and the rear workpiece of L-type, described
Suspender include duel spreader frames and be arranged in described duel spreader frames in order to between front workpiece and duel spreader frames position
Front workpiece locating mechanism, in order to between rear workpiece and duel spreader frames location rear workpiece locating mechanism, in order to
The front workpiece end face supporting mechanism of front workpiece is supported and in order to the rear workpiece of workpiece after supporting when lifting when lifting
End face supporting mechanism and rear side surface of workpiece supporting mechanism, described rear side surface of workpiece supporting mechanism be arranged at described in hang
Tool framework rear with limit after workpiece lifting time upwarp toward rear, described front workpiece locating mechanism, described after
Workpiece locating mechanism, described front workpiece end face supporting mechanism and described rear workpiece end face supporting mechanism are respectively provided with
Some cylinders are with location and support workpiece, and described front workpiece end face supporting mechanism, described rear workpiece end face support machine
Structure and described rear side surface of workpiece supporting mechanism are respectively provided with some vacuum cups to adsorb workpiece, and each cylinder is respectively
Connecting electromagnetic valve to turn on/off gas circuit, each vacuum cup connects vacuum generator respectively to turn on/off gas circuit,
Each electromagnetic valve and each vacuum generator are respectively connecting to controller, and described controller is configured to according to workpiece character
And suspender state exports control signal to corresponding electromagnetic valve or vacuum generator, manipulate the cylinder of correspondence or true
Suction dish carries out action by predetermined policy.
Alternatively, described rear side surface of workpiece supporting mechanism is that the rear portion being fixedly mounted on described duel spreader frames afterbody is propped up
Support component, described back support assembly lifting time after the posterior support of described duel spreader frames workpiece.
Alternatively, described back support assembly has back support divider, and the head of described back support divider is solid
Being scheduled in described duel spreader frames, the afterbody of described back support frame extends to the back lower place Yi Ding of described duel spreader frames
The trailing flank of workpiece after living.
Alternatively, the head of described back support divider is provided with stabiliser bar.
Alternatively, the afterbody of described back support divider is provided with some vacuum with Acetabula device and vacuum pump
Sucker, the trailing flank of described Acetabula device rear adsorbable workpiece.
Alternatively, being provided with the lead being fixed in described duel spreader frames, the guide head of described lead deviates from
With to the location between described duel spreader frames and elevator in the hole, location of ground insertion elevator.
Alternatively, it is provided with location, the top bar being fixed in described duel spreader frames, leading of described top location bar
It is inserted in the axle sleeve of pre-clamps towards ground to head and carries out just guiding.
Alternatively, location, described top bar includes the gripper shoe of alignment pin and inverted L shape, the of described gripper shoe
One end is fixed in described duel spreader frames, shape outside extending described duel spreader frames outside the second end of described gripper shoe
Becoming gripper shoe cantilever, described alignment pin is fixed on described gripper shoe cantilever.
Alternatively, it is provided with location, the bottom bar being fixed in described duel spreader frames, leading of described bottom location bar
It is inserted in the hole, location of pre-clamps towards ground to head and carefully guides, to realize described duel spreader frames with pre-
Location between clamps.
Alternatively, location, described bottom bar is installed on the bottom of duel spreader frames and is positioned at the side profile of duel spreader frames
Within.
Compared with prior art, the present invention, according to the feature of inversed l-shaped sheet material workpiece, arranges some revolutions fixed
Position pin assemblies realizes location and clamping to workpiece, arranges some support bar assemblies and supports workpiece when locking, relevant
Revolution pin assembly and support bar assembly are respectively by air cylinder driven, and a relevant support component is adsorbed by vacuum cup.
By rationally arranging location, clamping and a support component, and control relevant cylinder or true according to predetermined control strategy
The action of suction dish, can conveniently realize the lifting of workpiece, improves Product Assembly efficiency；Also will not simultaneously
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 a；
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 concrete in the following description
Details is so that fully understanding the present invention.But the present invention can be to be much different from alternate manner described here
Implementing, those skilled in the art can do similar popularization, therefore originally in the case of intension of the present invention
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, a front workpiece substantially word
Shape plate, the generally L-shaped plate of rear workpiece.During operation, front workpiece and rear workpiece lift by crane simultaneously, again by front after putting in place
Workpiece, together with rear workpiece assembly welding, thus constitutes inversed l-shaped sheet material workpiece.For convenience, L will be inverted
The Part I of shape sheet material workpiece end face is referred to as front workpiece end face, and the Part II of workpiece end face is referred to as rear workpiece top
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 knot of embodiment of the present invention sling system (hereinafter referred to as suspender)
Structure, 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
Handling the second specification inversed l-shaped sheet material workpiece (being called for short the second size workpiece) can be used for, wherein: first simultaneously
Width on the longitudinally asymmetric direction of principal axis of size workpiece is bigger；Width on the second longitudinally asymmetric direction of principal axis of size workpiece
Less.In the present embodiment, turn round pin assembly 11 before the front workpiece of the first size workpiece passes through first to position
Clamping, realizes supporting by front support rod assembly 7；The front workpiece of the second size workpiece turns round before second
The clamping of pin assembly 9 location, realizes supporting by front support rod assembly 7；Rear workpiece is fixed by rear revolution
Position pin assemblies 12 location clamping, workpiece support after being realized by back support rod assembly 6, by back support group
Workpiece support after part 12 realization.The structure chart combining sling system and critical piece further below comes specifically
Bright.For convenience, before the first specification before workpiece and the second specification workpiece sometimes referred to simply as front workpiece or after
Workpiece, and do not carry out detailed differentiation, noted when please read.
As shown in Fig. 1 a～Fig. 1 c, sling system mainly by duel spreader frames 1, lead 3, top location bar 4,
Pin assembly 11, rear revolution pin assembly 12, front support rod assembly is turned round before the bar 5, first of location, bottom
7, the parts such as back support rod assembly 6 and back support assembly 10 are constituted, wherein:
Duel spreader frames 1 is the body of suspender, and it connects seat by being arranged on the suspender in 1 four corners of duel spreader frames
2 hangings are on four-point band elevator (not shown).After elevator is fallen, suspender is from pre-clamps (figure
Not shown) capture after workpiece, then lifting migrating to above assembly station with automatic carriage, then by suspender and
Workpiece drops on assembly station, is finally completed corresponding assembly process.
Lead 3 is used as detent mechanism on suspender, and hexagon socket head cap screw 16, plain cushion 17, spring washer are passed through in its bottom
18 securing members such as grade are fixedly mounted in the lead mounting seat of duel spreader frames 1, and its guide head deviates from ground and inserts
In the hole, location of elevator, can position between duel spreader frames 1 and the elevator in walking, it is ensured that suspender and work
Part is easy motion hoisting, in walking process.
Top location bar 4 and location, bottom bar 5 match, as detent mechanism under suspender, wherein: top is fixed
Position bar 4 is fixedly mounted on duel spreader frames 1 by securing members such as hexagon socket head cap screw 13, plain cushion 14, spring washers 15
On the bar installing plate of location, top, its guide head can be inserted into position P1, P2 (such as Fig. 1 c) place towards ground
In prepackage fixture axle sleeve, it is achieved the first guiding to suspender Yu pre-clamps；The bottom of location, bottom bar 5 is by interior
Hex bolts 22, plain cushion 23, spring washer 24 etc. are fixedly mounted on location, the bottom bar installing plate of duel spreader frames 1,
Its guide head is inserted in the hole, location of pre-clamps towards ground, it is achieved carefully guide suspender.So,
Through the top location first guiding of bar 4 and the thin guiding of location, bottom bar 4, it is possible to preferably complete suspender with
Location between pre-clamps.
Turning round pin assembly 11 before first and be used as front workpiece (the first specification) detent mechanism, it is arranged on suspender
On framework 1, its first prelocalization pin insert before workpiece hole, location in, it turns round supporting plate before first and holds simultaneously
Front workpiece, 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, before suspender is mounted with second the most simultaneously, revolution is fixed
Position pin assemblies 9, turns round pin assembly 11 before its effect and first identical.This turns round pin assembly before second
9 is telescopic prelocalization pin assemblies, and it is installed on the front side turning round pin assembly 11 before first, mainly uses
The handling of workpiece before the second specification, turns round pin assembly 11 and is then mainly used in work before the first specification before first
The handling of part: if lifting the first size workpiece, turn round pin assembly 11 to workpiece before the first specification before first
Positioning, the revolution clamping cylinder now turning round pin assembly 9 before second needs to regain, and thus avoids producing
Interfere；If lifting the second size workpiece, then workpiece before the second specification is entered by turning round pin assembly 9 before second
Row location, now turns round pin assembly 11 before first and will not produce workpiece before the second specification and interfere.
Rear revolution pin assembly 12 is used as rear workpiece locating mechanism, and before its structure and function and first, revolution is fixed
Position pin assemblies 11 is similar to.This rear revolution pin assembly 12 be provided with after turn round clamping cylinder, rear alignment pin and
Rear revolution supporting plate, rear revolution clamping cylinder is arranged on by hexagon socket head cap screw 25, plain cushion 26, spring washer 27 etc. and hangs
On tool framework 1, rear alignment pin is inserted in the hole, location of rear workpiece, and rear revolution supporting plate can hold rear workpiece simultaneously,
It is achieved in the location to suspender Yu rear workpiece.Because the rear workpiece of the location object of rear revolution pin assembly 12 exists
In distinct device (such as equipment) essentially identical, therefore the present embodiment arrange a pair after turn round pin assembly 12.
Front support rod assembly 7 is used as front workpiece end face supporting mechanism, and it is installed simultaneously as front workpiece grabbing mechanism
In duel spreader frames 1, and can swing forward under front locking cylinder drives, this front support rod assembly 7 is in lifting
Time become locking attitude, thus fixing support before workpiece so that front workpiece grabbing is in duel spreader frames 1.Such as Fig. 1 a～
Shown in Fig. 1 c, front locking cylinder base 8 is pacified by securing members such as hexagon socket head cap screw 28, plain cushion 29, spring washers 30
Being contained on the locking cylinder seat board of duel spreader frames 1, one end of the front locking cylinder in front support rod assembly 7 is installed
On front locking cylinder base 8, the other end is connected to front support rod assembly 7 by fork, props up before thus driving
Strut assembly 7 swings, when swing puts in place before locking cylinder from pinning front support rod assembly 7, in order to fixing
Prop up front workpiece.
Back support rod assembly 6 is used as rear workpiece end face supporting mechanism, and it can be pacified simultaneously as rear workpiece grabbing mechanism
Being contained in duel spreader frames 1, and can swing backward under rear locking cylinder drives, this back support rod assembly 6 is rising
Locking attitude, thus workpiece after fixing support is become so that rear workpiece is sandwiched in duel spreader frames 1 when hanging.Rear support
The driving means of bar 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), and it leads to
Cross hexagon socket head cap screw 19, plain cushion 20, spring washer 21 etc. to be fixedly mounted in duel spreader frames 1, withstand when lifting
Rear workpiece, so rear workpiece would not tilt backward when handling.Back support assembly 10 is the most only set, and
Be not provided with the front support assembly for supporting front workpiece leading flank, be due to front workpiece leading flank size relatively
Little reason.
Duel spreader frames 1 in Fig. 1 a～Fig. 1 c, suspender connect seat 2, lead 3, location, top bar 4, bottom
Before location bar 5, back support rod assembly 6, front support rod assembly 7, front locking cylinder base 8, second, revolution is fixed
Pin assembly 11, rear revolution pin assembly 12 is turned round before position pin assemblies 9, back support assembly 10, first
Being respectively provided with multiple implementation Deng the version of parts, below citing is described in detail.
Fig. 2 a～Fig. 2 c illustrates the structure of duel spreader frames 1, and this duel spreader frames 1 is by horizontal square tube 1.1, square tube
1.4 and the interconnection such as longitudinal square tube 1.2, square tube 1.5, square tube 1.13 and square tube 1.14, the end of each square tube
Available shrouding 1.15 is closed, and is consequently formed the skeleton of duel spreader frames 1.The suitable position of this skeleton install additional plate 1.3,
Plate 1.7, plate 1.11, plate 1.12, and support plate 1.16, support plate 1.18 etc., and in the connection about plate or support plate
Position installs gusset 1.10, gusset 1.20 etc. additional and improves intensity.Corresponding above-mentioned lead 3, location, top bar
4, before location, bottom bar 5, back support rod assembly 6, front support rod assembly 7, front locking cylinder base 8, second
Turn round pin assembly 11 before revolution pin assembly 9, back support assembly 10, first, turn round alignment pin afterwards
Assemblies 12 etc., duel spreader frames 1 need 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～figure
1c, the present invention determines rectangular coordinate system in such a way: set prepackage fixture vehicle body origin as O (0,0,0),
The longitudinally asymmetric axle of duel spreader frames 1 is X-axis, and front side is just；The level of the longitudinally asymmetric axle of duel spreader frames 1 is hung down
To for Y-axis, left side (i.e. the direction of arrow in Fig. 2 a) is just；And determine Z axis according to right-handed coordinate system, perpendicular
Straight is upwards just (i.e. to point to duel spreader frames 1).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, location, top bar 4 and prepackage clamp shaft
Set 31 cooperation, it is achieved the first guiding (or claiming thick guiding) between duel spreader frames 1 and pre-clamps；Pre-clamps
Hole, location is symmetrical about O O ' line, and lower location bar 5 coordinates with hole, pre-clamps location, it is achieved duel spreader frames 1
And the thin guiding between pre-clamps；So, by rationally arranging positioning shaft sleeve or position of positioning hole, Ke Yibao
Card suspender accurately aligns with pre-clamps, it is ensured that suspender is fixed in first guiding and the bottom through location, top bar 4
After the thin guiding of position bar 5, precalculated position grabbing workpiece can be enter precisely intoed every time.Additionally, position P3
(-1678 ,-1250,2420) and it be respectively provided with crashproof bearing 32, to prevent about the symmetric position of OO ' line
Collide during handling.
Be provided with in duel spreader frames 1 shown in Fig. 2 a～Fig. 2 c suspender connect seat 2 and front locking cylinder base 8, after
The accessory structures such as 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 by adding long bolt 2.2 and nut
2.3 are fixedly installed in duel spreader frames 1, and bearing pin 2.4 positions with split pin 2.5 after fixed support 2.1,
It 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 even
Joint chair 2, lifting rope is walked around suspender and is connected the bearing pin 2.4 in seat 2, it is possible to hang duel spreader frames 1 at four-point
On band elevator, elevator just can drive sling lifting and translation after starting, and makes suspender arrive predetermined position
Put operation.
Fig. 4 a～Fig. 4 c illustrates the structure of front locking cylinder base 8, and this front locking cylinder base 8 is by riser 8.1
Constitute with base plate 8.2, wherein: base plate 8.2 is fixed to hang by hexagon socket head cap screw 28, plain cushion 29, spring washer 30
On the locking cylinder base plate of tool framework 1；Riser 8.1 is fixed on base plate 8.2 and forms support, in order to by bearing pin group
Part installs the front locking cylinder in front support rod assembly 7.The structure of rear locking cylinder base is similar to, because of in figure
Do not identify, do 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, hang
Accurate positioning between tool and workpiece.To this end, the embodiment of the present invention is provided with detent mechanism on corresponding suspender, hangs
The lower detent mechanism of tool, front workpiece locating mechanism and rear workpiece locating mechanism, wherein on suspender positioning function by guiding
Post 3 realizes, and under suspender, positioning function is realized jointly by top location bar 4 and location, bottom bar 5, and front workpiece is fixed
Position mechanism realizes by turning round pin assembly 11 before first, and rear workpiece locating mechanism is by rear revolution pin assembly
12 realize, and are 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 to hang
In the lead mounting seat 1.9 of tool framework 1, wherein round steel 3.1 is upside down installed on base plate 3.2.Work as suspender
After mentioning certain altitude, the guide head on round steel 3.1 top is ready for insertion in the hole, location of elevator, so
Allow for realizing between duel spreader frames 1 and elevator location, it is thus possible to prevent suspender from producing rolling during dividing a word with a hyphen at the end of a line
Dynamic, 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, top is fixed
Position bar 4 includes the parts such as the gripper shoe 4.1 of alignment pin 4.2 and inverted L shape, wherein: the first of gripper shoe 4.1
End is fixedly mounted in duel spreader frames 1, forms gripper shoe cantilever outside extending duel spreader frames 1 outside the second end,
Some lightening holes can be offered on this gripper shoe cantilever；Alignment pin 4.2 is fixedly mounted on gripper shoe cantilever, it
Guide head be inserted in the axle sleeve of pre-clamps towards ground, thus can serve as between suspender and pre-clamps
Just guide.
As shown in Fig. 6 a～Fig. 6 c, the concrete assembling mode of location, top bar 4 is: the gripper shoe 4.1 of inverted L shape
The first end (bottom) and base plate 4.4 fix, base plate 4.4 is fixed to suspender frame by standard connector such as bolts
Gusset 4.5 is installed additional to improve intensity between the top of frame 1, and base plate 4.4 and gripper shoe 4.1；Gripper shoe 4.1
The second end (tail end) set 4.3 of stationary positioned bearing pin 4.2 is set, wherein suit alignment pin 4.2 with interior
Hex screw 4.6 fastens, and is consequently formed location, top bar 4 assembly.Require to install according to earlier figures 1a～Fig. 1 c
After in duel spreader frames 1, 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, this bottom location bar 5 and lead 3 more phase
Seemingly, its structure is relatively simple: its base plate 5.2 is fixedly installed to duel spreader frames 1 by standard connector such as bolts
On, the head of round steel 5.1 is installed on base plate 5.2, and its guide head is inserted into the location of pre-clamps towards ground
Kong Zhong.After suspender drops to crawl position, the guide head on round steel 5.1 top is inserted into the location of pre-clamps
Kong Zhong so that duel spreader frames 1 and pre-clamps realize thin location.So, on aforementioned, bar 4 is being positioned
Just after guide-localization, then carry out thin guide-localization with location, bottom herein bar 5, it is ensured that suspender enter precisely intos
To crawl position, enable suspender successfully grabbing workpiece.
Fig. 8 a～Fig. 8 b shows the implementation of a kind of front workpiece locating mechanism, and it returns before being embodied in first
Turn pin assembly 11, turned round by before turning round clamping cylinder the 11.2, first prelocalization pin 11.5 and first before first
Supporting plate 11.4 parts such as grade are constituted, wherein: turn round clamping cylinder 11.2 before first and be arranged on the location of duel spreader frames 1
On pin mount 1.8；First prelocalization pin 11.5 is fixedly mounted on the cylinder barrel turning round clamping cylinder 11.2 before first
On, may be inserted in the hole, location of front workpiece；Revolution clamping gas before supporting plate 11.4 is arranged on first is turned round before first
The piston rod bottom of cylinder 11.2.
As shown in Fig. 8 a～Fig. 8 b, concrete assembling mode is: turn round clamping cylinder 11.2 before first by plate six
Angle screw 11.11 is installed on plate 11.1, then is installed in duel spreader frames 1 by plate 11.1；Alignment pin installing plate
11.3 are installed to turn round before first on the cylinder barrel of clamping cylinder 11.2 by soket head cap screw 11.9, spring washer 11.10,
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
On；Revolution folder before supporting plate 11.4 is fixed on first by soket head cap screw 11.12, spring washer 11.13 is turned round before first
The piston rod bottom of tight cylinder 11.2, this turns round supporting plate 11.4 before first and is provided with through hole, is available for piston rod when regaining
Insert the first prelocalization pin 11.5.
See Fig. 8 a～Fig. 8 b, with reference to Fig. 1 a～Fig. 1 c, before first, turn round the basic work of pin assembly 11
It is: after suspender positions with pre-clamps before rotating first, to turn round clamping cylinder 11.2 as work process, it
Turning round supporting plate 11.4 before driving first when piston rod stretches out to rotate, the first prelocalization pin 11.5 is inserted into front workpiece
Location positions in hole；Para-position is complete, and the piston rod turning round clamping cylinder 11.2 before first is regained, before first
Front workpiece held by revolution supporting plate 11.4, the most preferably achieves the location between suspender and front workpiece.
Fig. 9 a～Fig. 9 b illustrate before a kind of second turn round pin assembly 9 structure, it be one telescopic before
Revolution pin assembly.This turns round before second before the basic structure and above-described first of pin assembly 9 time
Turning pin assembly 11 to be similar to, difference is to add an alignment pin regulation cylinder i.e. slide rail cylinder 9.2.The
The concrete structure turning round pin assembly 9 before two is: slide rail cylinder 9.2 by hexagon socket head cap screw 9.8, plain cushion 9.9,
Spring washer 9.10 is vertically mounted in slide rail cylinder mounting seat 9.1, and this slide rail cylinder mounting seat 9.1 is by interior six
Corner bolt 9.21, plain cushion 9.22, spring washer 9.23 are fixed in duel spreader frames 1；Clamping cylinder 9.3 is turned round before second
Cylinder barrel receive cylinder even by hexagon socket head cap screw 9.11, spring washer 9.14 and hexagon socket head cap screw 9.13, spring washer 9.14
On fishplate bar 9.4, the piston rod of this cylinder connecting plate 9.4 and slide rail cylinder 9.2 is fixed, and thus achieves slide rail gas
The connection of clamping cylinder 9.3 is turned round before cylinder 9.2 and second；Second prelocalization pin installing plate 9.7 is by interior hexagonal spiral shell
Nail 9.15, spring washer 9.16 are installed to turn round before second on the cylinder barrel of clamping cylinder 9.3, the second prelocalization pin 9.6
It is fixed on the second prelocalization pin installing plate 9.7 by nut 9.17, plain cushion 9.18, spring washer 9.19；Second time
The plate 9.5 that asks is fixed on the piston rod bottom turning round clamping cylinder 9.3 before second by soket head cap screw 9.20,
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 turns round clamping cylinder before second
9.3 regain；During work, the piston rod of slide rail cylinder 9.2 reaches predetermined length, afterwards by before the second of bottom
Revolution clamping cylinder 9.3 drives the second prelocalization pin 9.6 and the second revolution supporting plate 9.5 to work, this process and the
Turn round pin assembly 11 before one identical, repeat no more.
Figure 10 a～Figure 10 b show after turn round pin assembly 12 structure, it by rear revolution clamping cylinder 12.2,
The parts such as rear alignment pin 12.5 and rear revolution supporting plate 12.4 are constituted, wherein: rear revolution clamping cylinder 12.2 passes through
Rear locking cylinder floor installation is on the alignment pin installing plate 1.6 of duel spreader frames 1；The rear fixing peace of alignment pin 12.5
Turn round after being contained 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
The piston rod bottom of clamping cylinder 12.2 is turned round after being arranged on.Return before this rear revolution pin assembly 12 and first
The structure turning pin assembly 11 is essentially identical, and difference is only that both central revolution supporting plate surface configurations not
With, this is because rear workpiece shapes is different from front workpiece shapes, thus require coupling respective shapes revolution supporting plate
Reason.
As shown in Figure 10 a～Figure 10 b, the concrete assembling mode of rear revolution pin assembly 12 is: turn round folder afterwards
Tight cylinder 12.2 is installed on plate 12.1, and plate 12.1 is pacified by hexagon socket head cap screw 25, plain cushion 26, spring washer 27
Install in duel spreader frames 1；Alignment pin installing plate 12.3 is installed to by soket head cap screw 12.9, spring washer 12.10
On the cylinder barrel of rear revolution clamping cylinder 12.2, rear alignment pin 12.5 is by nut 12.6, plain cushion 12.7, spring washer
12.8 are fixed on alignment pin installing plate 12.3；Rear revolution supporting plate 12.4 is by soket head cap screw 12.12, spring washer
12.13 be fixed on after turn round clamping cylinder 12.2 piston rod bottom, 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
As process it is: after suspender positions with pre-clamps, when after rotation, the piston rod of revolution clamping cylinder 11.2 stretches out
Turning round supporting plate 12.4 after drive to rotate, rear alignment pin 12.5 is inserted in the hole, location of rear workpiece and positions；Right
Position is complete, and the piston rod of rear revolution clamping cylinder 12.2 is regained, and rear revolution supporting plate 12.4 holds rear workpiece, thus
Preferably achieve the location between suspender and rear workpiece.
Above by detent mechanism under detent mechanism, suspender on suspender and front workpiece locating mechanism and rear workpiece location
Mechanism achieves the guide-localization of suspender and elevator, suspender and pre-clamps and suspender and workpiece.Basis at this
On, need to be optimized design 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,
It is described in detailed below.
Figure 11 a～Figure 11 b illustrates the structure of front support rod assembly 7, and this front support rod assembly 7 is relatively short
Swing arm, its specifically the mode of assembling be: some spacers 7.6 are located in the middle of two opposed front end panels 7.1, respectively every
Overlap and fasten with hexagon-headed bolt 7.2, plain cushion 7.3, spring washer 7.4, nut 7.5 etc. at 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 pendulum
Arm (i.e. front support rod)；Axle 7.9, spacer 7.10, spacer 7.11, split pin 7.12 are passed through in the top of short swing arm
And the shaft assembly that nut 7.13 is constituted is hinged on the front support rod assembly support plate of duel spreader frames 1；The head of short swing arm
Hold the pin assemblies constituted by axle 7.14, split pin 7.12 and nut 7.13 hinged with front roll bar 7.15, before this
Fork 7.15 is connected to the piston rod of front locking cylinder, and the cylinder barrel of front locking cylinder is fixed and before duel spreader frames 1
On locking cylinder base 8, short swing arm when front locking cylinder stretches, just can be driven to rotate around duel spreader frames 1；Short
The afterbody of swing arm arranges the vacuum cup 7.17 with Acetabula device and vacuum pump, and its Acetabula device is when lifting
Workpiece before absorption, 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 whole initial vacuum sucker 7.17.Anterior sucker regulation cylinder 7.16 is single-piston rod oval piston bar gas
Anterior sucker regulation cylinder 7.16 in cylinder, i.e. 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 uses turret head after adjusting angle
Bolt 7.28, plain cushion 7.29, spring washer 7.30, nut 7.31 are fixed with front end panel 7.1；Anterior sucker regulation gas
Cylinder 7.16 soket head cap screw 7.22, plain cushion 7.23, spring washer 7.24 are fixed with angle steel 7.8；On adjustable plate 7.7
By regulation hexagon-headed bolt 7.18, plain cushion 7.19, spring washer 7.20 and nut 7.21, anterior sucker regulation cylinder is installed
7.16.Wherein having two adjustable plate elongated slots on adjustable plate 7.7, the cylinder barrel of anterior sucker regulation cylinder 7.16 is by passing through
Wear the connector of adjustable plate elongated slot and be locked on adjustable plate 7.7, the piston rod peace of anterior sucker regulation cylinder 7.16
Dress initial vacuum sucker 7.17.Thus, along elongated slot direction scalable anterior sucker regulation cylinder 7.16 and short swing arm tail end
Relative position；Thus can adjust initial vacuum sucker 7.17 position in short swing arm, it is ensured that it is to front workpiece
There is a preferable Support Position.
Above-mentioned front support rod assembly 7 is a kind of workpiece grabbing mechanism, the groundwork process of front support rod assembly 7
Being: in the suspender decline stage, the short swing arm of front support rod assembly 7 becomes vertical state substantially, thus without to front
Workpiece causes interference；In the handling stage, the short swing arm of front support rod assembly 7 is at the driving bottom of front locking cylinder
Dynamic certain angle (such as 90 °), is then locked by front locking cylinder, is positioned at the anterior sucker regulation of short swing arm tail end
Cylinder 7.16 action so that the initial vacuum sucker 7.17 on anterior sucker regulation cylinder 7.16 holds front workpiece, this
The short swing arm of sample just can be securely fixed workpiece before support, finally makes suspender capture front workpiece and complete front workpiece
Handling.The way of realization of this crawl structure is relatively simple, it is possible to workpiece before reliably capturing, in work process
Front workpiece will not be produced and interfere, also damage will not be caused in the surface of front workpiece.
Back support rod assembly 6 structure shown in Figure 12 a～Figure 12 b, it is similar with front support rod assembly 7, also
Being a kind of workpiece grabbing mechanism, bigger difference is to be not provided with single-piston rod oval piston cylinder, and this is
Match with rear workpiece shapes.
As shown in Figure 12 a～Figure 12 b, back support rod assembly 6 is that (rear workpiece size is more than in relatively long swing arm
Front workpiece size), its specifically the mode of assembling be: some spacers 6.6 are located in two opposed rear bearing sheets 6.1
Between, fasten with hexagon-headed bolt 6.2, plain cushion 6.3, spring washer 6.4, nut 6.5 etc. at each spacer 6.6, formed
Long arm swing (i.e. back support rod)；Axle 6.8, spacer 6.9, spacer 6.10, split pin are passed through in the top of long arm swing
6.12 and the Assembly of pin of nut 6.11 be hinged on the back support rod assembly support plate of duel spreader frames 1；Long arm swing
The pin assemblies that head end is consisted of axle 6.13, split pin 6.12 and nut 6.11 is hinged with rear fork 6.14, should
Rear fork 6.14 is connected to the piston rod of rear locking cylinder, and the cylinder barrel of rear locking cylinder is fixing and duel spreader frames 1
On rear locking cylinder base, long arm swing when rear locking cylinder stretches, just can be driven to rotate around duel spreader frames 1；Long
The tail end of swing arm is by fixed installation angle steel such as hexagon-headed bolt 6.16, plain cushion 6.3, spring washer 6.4, nuts 6.5
6.7, angle steel 6.7 is installed final vacuum sucker 6.15, long arm swing swings final vacuum sucker 6.15 when putting in place and can inhale
Workpiece after living；When back support rod assembly 6 by rear locking cylinder be locked at lifting attitude time, its tail end by rear very
Workpiece after the fixing support of suction dish 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 of suspender
In the stage, 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 arrives basic horizontal at the lower swing that drives of rear locking cylinder
Angle, is then locked by rear locking cylinder, and 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.This
The way of realization capturing structure is relatively simple, it is possible to workpiece after reliably capturing, will not be to rear work in work process
Part produces interferes, and also rear surface of the work will not be caused damage.
Figure 13 a～Figure 13 c illustrates the structure of back support assembly 10, referring also to Fig. 1 a～Fig. 1 c, this rear portion
Prop up support component 10 and be arranged on duel spreader frames 1 by securing members such as hexagon socket head cap screw 19, plain cushion 20, spring washers 21
Afterbody.In this back support assembly 10, square tube 10.2, square tube 10.3 interconnection, the port of pipe is respectively
Close with plate 10.1, plate 10.11 or shrouding 10.10, be consequently formed back support divider.Back support divider
Stabiliser bar 10.15 installed above with keep balance, the lower section of back support divider by hexagon socket head cap screw 10.12,
Plain cushion 10.13, spring washer 10.14 install angle steel 10.5, by hexagon socket head cap screw 10.7, plain cushion on angle steel 10.5
10.8, spring washer 10.9 installs rear portion sucker regulation cylinder (the single-piston rod oval piston of band vacuum cup 10.6
Cylinder) 10.4, when handling, rear vacuum sucker 10.6 holds the rear workpiece at workpiece rear portion, prevents workpiece rear portion
Rear 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 be used for hanging simultaneously
Transport the second front workpiece of specification and rear workpiece, the operating process basic simlarity under two kinds of situations, operate the most more
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, before suspender,
Back support rod 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 is accurate
Really entering pickup position, the corresponding alignment pin in suspender forward and backward revolution pin assembly enters forward and backward workpiece
End face positioning process hole, 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, and back and front supporting bar assembly opens, and before holding the most at a certain angle,
The end face of rear workpiece, the most corresponding forward and backward vacuum cup air-breathing, make forward and backward workpiece securely fix, now
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, and 4 band elevators are quick
Decline, 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, owing to suspender is in gripping
Being adjusted to certain angle during 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, 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), forward and backward revolution folder
Tight cylinder unclamps；
4, suspender receives and puts part and complete signal, and 4 band elevators rise, and automatic carriage returns to wait position
Waiting grabbing workpiece, suspender completes to put part action.
In order to improve the automaticity of above-mentioned suspender, can build easily accordingly for above-described suspender
Control system, 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, control to turn round before first clamping cylinder, turn round before second clamping cylinder,
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, in order to whether open or close relevant positioning component and (include the
Pin assembly 9, rear revolution pin assembly 12 is turned round before turning round pin assembly 11, second before one) or
Whether support component (includes front support rod assembly 7, back support rod assembly 6 and back support assembly 10), and adjust
The whole 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, preferably programmable logic controller (PLC) (PLC), outfan is connected to electromagnetic valve and vacuum generator
Signal input part, export to relevant electromagnetic valve or vacuum generator according to workpiece character and suspender state and control letter
Number, in order to manipulate corresponding cylinder or sucker and carry out action by predetermined policy, thus final according to predetermined strategy
Realize the pickup of workpiece and put part.
See Figure 15, realize the example of structure, the gas in control system of the present invention for a kind of gas circuit in Figure 14
Road is not limited to the type of attachment that this example provides.For convenience, the reference in this figure is in the following ways
Layout: the first field letter representation component type, represents the structure shape of then this numeral expression element as being connected with numeral
Formula, such as k23 represent two-position three way electric control solenoid valve；Second Field Count word table shows element number；3rd field
Numeral represents 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 that element is installed
The spreader component sequence number of position；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 represent that the 3rd vacuum is inhaled
Dish, it is positioned on the right side front support rod assembly 7 of suspender, and it is first in this front support rod assembly 7
Vacuum cup, 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, return before turning round pin assembly 11, second before being provided with two group first
Turn pin assembly 9, rear revolution pin assembly 12, two groups of front support rod assemblies 7, back support rod assemblies 6,
One group of back support assembly 10, therefore Figure 15 has been arranged in correspondence with following control element: six clamping cylinders
(j.1.a.11.2, j.2.b.11.2, j.3.a.12.2, j.4.b.12.2, j.5.a.9.3, j.6.b.9.3) and two slide rail cylinders
(h.1.a.9.2, h.1.b.9.2)；Four locking cylinders (s.1.a.7, s.2.b.7, s.3.a.6, s.4.b.6), six ellipse
Circle cylinder is (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)
With eight vacuum cups (x.1.a.7.17.1, x.2.a.7.17.2, x.3.b.7.17.1, x.4.b.7.17.2, x.5.a.6.15,
X.6.b.6.15, x.7.b.10.6, x.8.b.10.6).
In fig .15, six locking cylinders, two slide rail cylinders, six oval cylinders are respectively by two five-ways
Electromagnetic valve (k25.1, k25.2, k25.3, k25.4, k25.5, k25.6) is connected on source of the gas；Four locking gas
Cylinder is connected on source of the gas by 3 position-5 way electromagnetic valve (k35.1, k35.2) respectively, and these four locking cylinders are connected to
Flow speed control valve (v.1, v.2, v.3, v.4), simultaneously four locking cylinders also by two-bit triplet electromagnetic valve (k23.1,
K23.2) rapid escape valve is connected (p.1, p.2, p.3, p.4)；So, all of executive component is the most reasonable
Be 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 company
Connect mode, repeat no more.
In control system described in Figure 14, controller specifically can enter by the control strategy as shown in Figure 16 a～Figure 16 d
Row controls, described herein below.
Figure 16 a represents process when the first front workpiece of specification and rear workpiece pickup, particularly as follows: suspender declines, and front lock
Tight 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 are carried out
Absorption, 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: revolution folder before first
Tight cylinder and rear revolution clamping cylinder are opened, and initial vacuum sucker, final vacuum sucker and rear vacuum sucker are died, front
Sucker regulation cylinder and rear portion sucker regulate cylinders retract, and 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 gas
Cylinder stretches out；Suspender declines, and front locking cylinder and rear locking cylinder are opened；Suspender decline put in place, front locking cylinder and
Rear locking cylinder closes, and anterior sucker regulation cylinder and rear portion sucker regulation cylinder stretch out, 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: return before second
Turning clamping cylinder and rear revolution clamping cylinder is opened, initial vacuum sucker, final vacuum sucker and rear vacuum sucker are disconnected
Gas, anterior sucker regulates cylinder and rear portion sucker regulation cylinders retract, and 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 determining of suspender and pre-clamps and elevator
Position, the location of suspender and rear workpiece, and suspender are to the fixing support of rear workpiece and capture function, the most permissible
After 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,
Avoid top cover and left and right gusset, back wall and the interference problem of other pattern welding equipments；After additionally, workpiece is yielding
Position uses cylinder and vacuum cup combined support mode, is possible to prevent rear workpiece to deform so that it is location standard of reaching the standard grade
Really；Thus this suspender can meet the requirement of equipment piecemeal butt welding process well, improves Product Assembly efficiency,
Ensure the assembling quality of product.
As can be seen here, based on above example use sling system exclusive technology be domestic production more attractive in appearance,
The large-sized sheet material stamped workpieces equipment 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 ability
Field technique personnel without departing from the spirit and scope of the present invention, can make possible variation and amendment, because of
This protection scope of the present invention should be defined in the range of standard with the claims in the present invention.
Claims (7)
1. the suspender front and back lifting workpiece, it is adaptable to inversed l-shaped sheet material workpiece, described inversed l-shaped plate
Material workpiece includes the front workpiece of yi word pattern and the rear workpiece of L-type, it is characterised in that described suspender includes suspender frame
Frame and be arranged in described duel spreader frames in order to between front workpiece and duel spreader frames location front workpiece localization machine
Structure, in order to between rear workpiece and duel spreader frames location rear workpiece locating mechanism, in order to lifting time support before
The front workpiece end face supporting mechanism of workpiece and in order to the rear workpiece end face supporting mechanism of workpiece after supporting when lifting with
And rear side surface of workpiece supporting mechanism, described rear side surface of workpiece supporting mechanism be arranged at the rear of described duel spreader frames with
After restriction workpiece lifting time upwarp toward rear, described front workpiece locating mechanism, described rear workpiece locating mechanism,
Described front workpiece end face supporting mechanism and described rear workpiece end face supporting mechanism are respectively provided with some cylinders with location
With support workpiece, described front workpiece end face supporting mechanism, described rear workpiece end face supporting mechanism and described rear work
Part lateral support mechanism is respectively provided with some vacuum cups to adsorb workpiece, and each cylinder connects electromagnetic valve respectively to connect
On/off opens gas circuit, and each vacuum cup connects vacuum generator respectively to turn on/off gas circuit, each electromagnetic valve and Ge Zhen
Empty generator is respectively connecting to controller, and described controller is configured to according to workpiece character and suspender state to phase
The electromagnetic valve answered or vacuum generator output control signal, manipulate corresponding cylinder or vacuum cup by predetermined plan
Slightly carry out action；
Described front workpiece locating mechanism and described rear workpiece locating mechanism use revolution pin assembly, described front work
Part end face supporting mechanism and described rear workpiece end face supporting mechanism use support bar assembly, described rear workpiece trailing flank
Supporting mechanism uses back support assembly；
Described rear side surface of workpiece supporting mechanism is the back support assembly being fixedly mounted on described duel spreader frames afterbody,
Described back support assembly lifting time after the posterior support of described duel spreader frames workpiece；
Described back support assembly has back support divider, and the head of described back support divider is fixed on described
In duel spreader frames, the afterbody of described back support frame extends to the back lower place of described duel spreader frames to withstand rear workpiece
Trailing flank；
The afterbody of described back support divider is provided with some vacuum cups with Acetabula device and vacuum pump, institute
State the trailing flank of Acetabula device rear adsorbable workpiece；
Described inversed l-shaped sheet material workpiece includes the front workpiece of yi word pattern and the rear workpiece of L-type；
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
To adsorb workpiece on the piston rod of dish regulation cylinder；
Described gas circuit includes seven two-position-five-way solenoid valves, two two-position three way magnetic valves, two 3 position-5 way electricity
Magnet valve, 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 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 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
Serpentine pipe, thribble and stop valve it is provided with, to constitute the control gas circuit of suspender on the connecting line in source.
2. the suspender front and back lifting workpiece as claimed in claim 1, it is characterised in that described back support is kept off
The head of frame is provided with stabiliser bar.
3. the suspender front and back lifting workpiece as claimed in claim 1, it is characterised in that be provided with and be fixed on institute
State the lead in duel spreader frames, the guide head of described lead deviate from ground insert elevator hole, location in
To the location between described duel spreader frames and elevator.
4. the suspender front and back lifting workpiece as claimed in claim 1, it is characterised in that be provided with and be fixed on institute
Stating location, the top bar in duel spreader frames, the guide head of location, described top bar is inserted into pre-clamps towards ground
Axle sleeve in carry out just guiding.
5. the suspender front and back lifting workpiece as claimed in claim 4, it is characterised in that location, described top bar
Including alignment pin and the gripper shoe of inverted L shape, the first end of described gripper shoe is fixed in described duel spreader frames,
Gripper shoe cantilever is formed, described alignment pin outside extending described duel spreader frames outside second end of described gripper shoe
It is fixed on described gripper shoe cantilever.
6. the suspender front and back lifting workpiece as claimed in claim 1, it is characterised in that be provided with and be fixed on institute
Stating location, the bottom bar in duel spreader frames, the guide head of location, described bottom bar is inserted into pre-clamps towards ground
Hole, location in carefully guide, to realize the location between described duel spreader frames and pre-clamps.
7. the suspender front and back lifting workpiece as claimed in claim 6, it is characterised in that location, described bottom bar
Within the bottom being installed on duel spreader frames and the side profile being positioned at duel spreader frames.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410258222.3A CN104071686B (en) | 2014-06-11 | 2014-06-11 | Front and back lift the suspender of workpiece |
| CN201610788764.0A CN106115457A (en) | 2014-06-11 | 2014-06-11 | A kind of suspender being applicable to inversed l-shaped sheet material workpiece |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410258222.3A CN104071686B (en) | 2014-06-11 | 2014-06-11 | Front and back lift the suspender of workpiece |
Related Child Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610788764.0A Division CN106115457A (en) | 2014-06-11 | 2014-06-11 | A kind of suspender being applicable to inversed l-shaped sheet material workpiece |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104071686A CN104071686A (en) | 2014-10-01 |
| CN104071686B true CN104071686B (en) | 2016-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410258222.3A Active CN104071686B (en) | 2014-06-11 | 2014-06-11 | Front and back lift the suspender of workpiece |
| CN201610788764.0A Pending CN106115457A (en) | 2014-06-11 | 2014-06-11 | A kind of suspender being applicable to inversed l-shaped sheet material workpiece |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610788764.0A Pending CN106115457A (en) | 2014-06-11 | 2014-06-11 | A kind of suspender being applicable to inversed l-shaped sheet material workpiece |
Country Status (1)
| Country | Link |
|---|---|
| CN (2) | CN104071686B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114988267B (en) * | 2021-03-02 | 2024-09-17 | 华晨宝马汽车有限公司 | Motor lifting tool and use method thereof |
| CN114669943B (en) * | 2022-03-23 | 2023-12-19 | 上汽通用五菱汽车股份有限公司 | Welding tool for front coaming |
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| 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 |
| CN202744161U (en) * | 2012-08-10 | 2013-02-20 | 济南吉利汽车有限公司 | Car door assembly handling fixture |
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| EP0146437A1 (en) * | 1983-11-14 | 1985-06-26 | Thomas Norman Urquhart | Electrodeposition system and method therefor |
| CN2747207Y (en) * | 2004-09-10 | 2005-12-21 | 中国重型汽车集团有限公司 | Novel driver's cab slings for lifting loads |
| CN2861106Y (en) * | 2005-12-02 | 2007-01-24 | 中国重型汽车集团有限公司 | Heavy-type automobile top-cover hanger |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN104071686A (en) | 2014-10-01 |
| CN106115457A (en) | 2016-11-16 |
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Address after: Huang Shan Zhen 311809 Zhejiang city of Shaoxing province Zhuji City, the East Road No. 66 Zhuji Gengxing environmental protection equipment Co. Ltd. Applicant after: Zhou Guowen Address before: 311809, No. 166, Du Jia Cun, Dong Xiang Township, Zhuji, Zhejiang, Shaoxing Applicant before: Zhou Guowen |
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Inventor after: Yu Jianlin Inventor before: Zhou Lei |
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Effective date of registration: 20170509 Address after: 226000, Jiangsu, Nantong province Tongzhou District Stone Town Industrial Park Southern District Patentee after: Nantong Hongtu Health Technology Co. Ltd. Address before: Huang Shan Zhen 311809 Zhejiang city of Shaoxing province Zhuji City, the East Road No. 66 Zhuji Gengxing environmental protection equipment Co. Ltd. Patentee before: Zhou Guowen |
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