CN106081859A - A kind of suspender configuring suspender prepackage clamp positioning mechanism - Google Patents

Abstract

The present invention discloses a kind of suspender configuring suspender prepackage clamp positioning mechanism, it is applicable to the inversed l-shaped sheet material workpiece being made up of workpiece after workpiece before yi word pattern and L-type, suspender prepackage clamp positioning mechanism includes the first guide, the second guide, the first base and the second standard, wherein: the first guide is location, the top bar being arranged in duel spreader frames, first standard is the axle sleeve being arranged on outside pre-clamps, the end face of axle sleeve is inserted in axle sleeve towards ground realizes one-time positioning higher than the end face of pre-clamps, the guide head of location, top bar；Second guide is location, the bottom bar being arranged in duel spreader frames, and the second standard is the hole, pre-clamps location being opened in pre-clamps, and the guide head of location, bottom bar is inserted in hole, pre-clamps location towards ground and realizes second positioning.The present invention can improve Product Assembly efficiency, it is ensured that product assembly quality.

Description

A kind of suspender configuring suspender-prepackage clamp positioning mechanism

The number of patent application that the present invention is applicant to be proposed on 06 11st, 2014 is " 201410258231.2 ", title For the divisional application of the Chinese invention patent application of " suspender and prepackage clamp positioning mechanism ", entire contents is incorporated into the application Among.

Technical field

The present invention relates to lifting technique, particularly relate to a kind of configuration suspender-pre-clamping being applicable to inversed l-shaped sheet material workpiece The suspender of tool detent mechanism.

Background technology

Workpiece type in lifting industry, specification, shape etc. vary, and need what specialized designs and workpiece adapted to hang Tool.For a kind of inversed l-shaped sheet material workpiece, its top and afterbody are respectively provided with bigger size, it is impossible to manually removing Fortune, if using common suspender to lift, in the location of workpiece, clamps and all exists in terms of support bigger difficulty, simultaneously Workpiece is caused to deform the most most probably.Because the existing suspender above-mentioned workpiece of lifting is the most difficult, also it is unfavorable for ensureing product quality, The feature for this workpiece that is necessary is to design 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 the suspender of a kind of detent mechanism configuring suspender-pre-clamping, permissible Meet the lifting requirements of inversed l-shaped sheet material workpiece.

For solving above technical problem, the present invention provides a kind of suspender configuring suspender-prepackage clamp positioning mechanism, is suitable for The inversed l-shaped sheet material workpiece that after workpiece and L-type, workpiece is constituted before by yi word pattern, suspender be configured with first before revolution location pin bank Part, turn round pin assembly before second, turn round pin assembly, front support rod assembly, back support rod assembly, back support group afterwards Part, wherein:

Turn round before first and before pin assembly includes first, turn round revolution torr before clamping cylinder, the first prelocalization pin and first Plate, the cylinder barrel turning round clamping cylinder before first is fixed in duel spreader frames, and before the first prelocalization pin is fixed on first, revolution clamps To insert before the first specification in the hole, location of workpiece on the cylinder barrel of cylinder, before first, turn round revolution clamping before supporting plate is fixed on first The piston rod bottom of cylinder is to hold workpiece top board before the first specification；

Turn round pin assembly before second to include alignment pin regulation cylinder, turn round clamping cylinder, the second prelocalization before second Turning round supporting plate before pin and second, the cylinder barrel of alignment pin regulation cylinder is fixed in duel spreader frames, turns round clamping cylinder before second Cylinder barrel is fixed on the piston rod of alignment pin regulation cylinder, and the second prelocalization pin is fixed on before second the cylinder barrel turning round clamping cylinder On to insert before the second specification in the hole, location of workpiece, turn round supporting plate before second and be fixed on before second the piston turning round clamping cylinder Bar bottom is to hold workpiece top board before the second specification；

Rear revolution pin assembly turn round after including clamping cylinder, rear alignment pin and after turn round supporting plate, rear revolution clamping gas The cylinder barrel of cylinder is fixed in duel spreader frames, and rear alignment pin turns round after being fixed on the cylinder barrel of clamping cylinder with the determining of workpiece after inserting In hole, position, rear revolution supporting plate turns round the piston rod bottom of clamping cylinder to hold rear workpiece top board after being fixed on；

Front support rod assembly includes that front support rod, front roll bar, front locking cylinder, anterior sucker regulation cylinder and initial vacuum are inhaled Dish, front support rod is hinged with duel spreader frames, and the head end of front support rod is hinged with the first end of front roll bar, the second end of front roll bar with The piston rod of front locking cylinder connects, and the cylinder barrel of front locking cylinder is fixed in duel spreader frames, the cylinder barrel of anterior sucker regulation cylinder Be fixed on the tail end of front support rod, initial vacuum sucker be fixed on anterior sucker regulation cylinder piston rod on to adsorb the first specification before Workpiece top board before workpiece top board or the second specification；

Back support rod assembly includes back support rod, rear fork, rear locking cylinder and final vacuum sucker, back support rod and suspender Frame articulation, the head end of back support rod is hinged with the first end of rear fork, the second end of rear fork and the piston of rear locking cylinder Bar connects, and the cylinder barrel of rear locking cylinder is fixed in duel spreader frames, and final vacuum sucker is fixed on the tail end of back support rod with absorption The bottom surface of rear workpiece；

Back support assembly includes back support divider, rear portion sucker regulation cylinder and rear vacuum sucker, back support The head of divider is fixed on the tail end of duel spreader frames, and the cylinder barrel of rear portion sucker regulation cylinder is fixedly mounted on back support divider Afterbody, rear vacuum sucker is fixed on the piston rod of rear portion sucker regulation cylinder with the trailing flank of workpiece after absorption；

The gas circuit of suspender control system include seven two-position-five-way solenoid valves, two two-position three way magnetic valves, two three Five-way electromagnetic 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 five simultaneously Three-way electromagnetic valve, the rear revolution clamping cylinder in left side, the rear revolution clamping cylinder on right side are connected to second two-position five-way electromagnetism simultaneously Valve, before the second of left side turn round clamping cylinder, right side second before turn round clamping cylinder be connected to the 3rd two-position five-way electricity simultaneously Magnet 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 electromagnetism simultaneously Valve；

First anterior sucker regulation cylinder in left side, second anterior sucker regulation cylinder in left side are simultaneously connected with the 5th two Position five-way electromagnetic valve, first anterior sucker regulation cylinder on right side, second anterior sucker regulation cylinder on right side are simultaneously connected with the Six two-position-five-way solenoid valves, the rear portion sucker regulation cylinder in left side, the rear portion sucker regulation cylinder on right side are simultaneously connected with the 7th Individual 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 side Rear locking cylinder, the rear locking cylinder on right side are connected to second 3 position-5 way electromagnetic valve simultaneously；The front locking cylinder in left side is connected to First air bleeding valve, the front locking cylinder on right side is connected to second air bleeding valve, and the rear locking cylinder in left side is connected to the 3rd aerofluxus Valve, the rear locking cylinder on right side is connected to the 4th air bleeding valve；First air bleeding valve, second air bleeding valve are simultaneously connected with first two Position-3-way solenoid valve, the 3rd air bleeding valve, the 4th air bleeding valve are simultaneously connected with second two-position three way magnetic valve；

Left side first initial vacuum sucker, second initial vacuum sucker in left side, first initial vacuum sucker on right side, Second initial vacuum sucker on right side is connected to first vacuum generator simultaneously, the final vacuum sucker in left side, the final vacuum on right side The rear vacuum sucker in sucker and left side, the rear vacuum sucker on right side are connected to second vacuum generator simultaneously；

First two-position-five-way solenoid valve, second two-position-five-way solenoid valve, the 3rd two-position-five-way solenoid valve, the 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 two-position five-way electromagnetism Valve, first 3 position-5 way electromagnetic valve, second 3 position-5 way electromagnetic valve, first two-position three way magnetic valve, second two Three-way magnetic valve is connected on source of the gas accordingly, in order to turn on/off gas circuit under PLC controls to control phase Answer cylinder action；First vacuum generator, second vacuum generator are connected on source of the gas accordingly, in order at FPGA Controller controls lower on/off gas circuit to control corresponding vacuum cup action；Be provided with on the connecting line of source of the gas serpentine pipe, Thribble and stop valve, to constitute the gas circuit of suspender control system；

Suspender-prepackage clamp positioning mechanism includes the first guide, the second guide, the first base and the second standard, its In: the first guide is location, the top bar being arranged in duel spreader frames, and the first standard is the axle being arranged on outside pre-clamps Set, the end face of axle sleeve is inserted in axle sleeve towards ground realizes one higher than the end face of pre-clamps, the guide head of location, top bar Secondary location；Second guide is location, the bottom bar being arranged in duel spreader frames, and the second standard is for being opened in pre-clamps Hole, pre-clamps location, the guide head of location, bottom bar is inserted into towards ground that to realize secondary in hole, pre-clamps location fixed Position.

Compared with prior art, the present invention, according to the feature of inversed l-shaped sheet material workpiece, arranges some revolution location pin bank Part realizes location and clamping to workpiece, arranges some support bar assemblies and supports workpiece, relevant revolution pin assembly when locking With support bar assembly respectively by air cylinder driven, a relevant support component is adsorbed by vacuum cup.By rationally arrange location, clamping and Prop up support component, and control the action about cylinder or vacuum cup according to predetermined control strategy, workpiece can be conveniently realized Lifting, improve Product Assembly efficiency；Simultaneously the most also will not defective work piece surface and shape, it is ensured that the assembling quality of product.

Accompanying drawing explanation

Fig. 1 a is the front view of embodiment of the present invention sling system；

Fig. 1 b is the left view of Fig. 1 a；

Fig. 1 c is the top view of Fig. 1 a；

Fig. 2 a is Fig. 1 a～duel spreader frames front view in sling system shown in Fig. 1 c；

Fig. 2 b is the left view of Fig. 2 a；

Fig. 2 c is the top view of Fig. 2 a；

Fig. 3 a is Fig. 1 a～suspender in sling system shown in Fig. 1 c connects seat front view；

Fig. 3 b is the left view of Fig. 3 a；

Fig. 3 c is the top view of Fig. 3 a；

Fig. 4 a is Fig. 1 a～front locking cylinder base front view in sling system shown in Fig. 1 c；

Fig. 4 b is the left view of Fig. 4 a；

Fig. 4 c is the top view of Fig. 4 a；

Fig. 5 a is Fig. 1 a～lead front view in sling system shown in Fig. 1 c；

Fig. 5 b is the top view of Fig. 5 a；

Fig. 6 a be Fig. 1 a～in sling system shown in Fig. 1 c top location bar front view；

Fig. 6 b is the left view of Fig. 6 a；

Fig. 6 c is the top view of Fig. 6 a；

Fig. 7 a be Fig. 1 a～in sling system shown in Fig. 1 c bottom location bar front view；

Fig. 7 b is the top view of Fig. 7 a；

Fig. 8 a be Fig. 1 a～in sling system shown in Fig. 1 c first before turn round pin assembly front view；

Fig. 8 b is the left view of Fig. 8 a；

Fig. 9 a be Fig. 1 a～in sling system shown in Fig. 1 c second before turn round pin assembly front view；

Fig. 9 b is the left view of Fig. 9 a；

Figure 10 a is Fig. 1 a～rear revolution pin assembly front view in sling system shown in Fig. 1 c；

Figure 10 b is the left view of Figure 10 a；

Figure 11 a is Fig. 1 a～front support rod assembly front view in sling system shown in Fig. 1 c；

Figure 11 b is the left view of Figure 11 a；

Figure 12 a is Fig. 1 a～back support rod assembly front view in sling system shown in Fig. 1 c；

Figure 12 b is the left view of Figure 12 a；

Figure 13 a is Fig. 1 a～back support assembly front view in sling system shown in Fig. 1 c；

Figure 13 b is the left view of Figure 13 a；

Figure 13 c is the top view of Figure 13 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 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, ability Field technique personnel can do similar popularization in the case of intension of the present invention, and therefore the present invention is not by following public tool The restriction of body embodiment.

In the present embodiment, inversed l-shaped sheet material workpiece includes front workpiece and rear workpiece, front workpiece substantially in-line plate, The generally L-shaped plate of rear workpiece.During operation, front workpiece and rear workpiece lift by crane simultaneously, again by front workpiece and rear workpiece assembly welding after putting in place Together, inversed l-shaped sheet material workpiece is thus constituted.For convenience, the Part I of inversed l-shaped sheet material workpiece end face is referred to as Front workpiece end face, the Part II of workpiece end face is referred to as rear workpiece end face, the rear side surface of workpiece of side surface of workpiece.

The most referring also to Fig. 1 a～Figure 13 c, represents the structure of embodiment of the present invention sling system (hereinafter referred to as suspender), its Middle 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 The the first specification inversed l-shaped sheet material workpiece of handling simultaneously (being called for short the first size workpiece), it is possible to be used for handling the second specification simultaneously and fall Put L-shaped sheet material workpiece (being called for short the second size workpiece), wherein: the width on the first longitudinally asymmetric direction of principal axis of size workpiece is bigger； Width on the second longitudinally asymmetric direction of principal axis of size workpiece is less.In the present embodiment, the front workpiece of the first size workpiece passes through Turn round the clamping of pin assembly 11 location before first, realize supporting by front support rod assembly 7；The front work of the second size workpiece Part turns round the clamping of pin assembly 9 location before second, realizes supporting by front support rod assembly 7；After rear workpiece passes through The location clamping of revolution pin assembly 12, workpiece support after being realized by back support rod assembly 6, by back support assembly 12 Workpiece support after realization.The structure chart combining sling system and critical piece further below describes in detail.For convenience, Before first specification, before workpiece and the second specification, workpiece, sometimes referred to simply as front workpiece or rear workpiece, and does not carry out detailed district Point, noted when please read.

As shown in Fig. 1 a～Fig. 1 c, sling system is mainly by duel spreader frames 1, lead 3, location, top bar 4, location, bottom Turn round before bar 5, first pin assembly 11, rear revolution pin assembly 12, front support rod assembly 7, back support rod assembly 6 and after Portion props up support component 10 parts such as grade and constitutes, wherein:

Duel spreader frames 1 is the body of suspender, and it is hung by being arranged on the suspender connection seat 2 in 1 four corners of duel spreader frames On four-point band elevator (not shown).After elevator is fallen, suspender is work after pre-clamps (not shown) captures Part, then lifts by crane and migrates to above assembly station with automatic carriage, then dropping on assembly station by suspender and workpiece, finally Complete corresponding assembly process.

Lead 3 is used as detent mechanism on suspender, and its bottom is tight by hexagon socket head cap screw 16, plain cushion 17, spring washer 18 etc. Firmware is fixedly mounted in the lead mounting seat of duel spreader frames 1, and its guide head deviates from ground and inserts the hole, location of elevator In, can position between duel spreader frames 1 and the elevator in walking, it is ensured that suspender and workpiece are hoisting, in walking process steadily Motion.

Top location bar 4 and location, bottom bar 5 match, as detent mechanism under suspender, wherein: location, top bar 4 leads to Cross the securing members such as hexagon socket head cap screw 13, plain cushion 14, spring washer 15 to be fixedly mounted on location, the top bar installing plate of duel spreader frames 1, 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 to suspender and prepackage The first guiding of fixture；The bottom of location, bottom bar 5 is fixedly mounted on suspender by hexagon socket head cap screw 22, plain cushion 23, spring washer 24 etc. On location, the bottom bar installing plate of framework 1, its guide head is inserted in the hole, location of pre-clamps towards ground, it is achieved to hanging Tool carefully guides.So, through first guiding and the thin guiding of location, bottom bar 4 of location, top bar 4, it is possible to the completeest Become the location between suspender and pre-clamps.

Turning round pin assembly 11 before first and be used as front workpiece (the first specification) detent mechanism, it is arranged on duel spreader frames 1 On, its first prelocalization pin insert before workpiece hole, location in, it turns round supporting plate before first and holds front workpiece simultaneously, is achieved in To 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 9 before second is scalable Prelocalization pin assemblies, it is installed on the front side turning round pin assembly 11 before first, is mainly used in workpiece before the second specification Handling, turns round the handling of workpiece before pin assembly 11 is then mainly used in the first specification: if lifting by crane the first specification work before first Part, is positioned workpiece before the first specification by turning round pin assembly 11 before first, now turns round pin assembly 9 before second Revolution clamping cylinder need regain, thus avoid produce interfere；If lifting the second size workpiece, then before second, turn round alignment pin Workpiece before second specification is positioned by assembly 9, and now turning round pin assembly 11 before first will not be to workpiece before the second specification Produce and interfere.

Rear revolution pin assembly 12 is used as rear workpiece locating mechanism, turns round alignment pin before its structure and function and first Assembly 11 is similar to.This rear revolution pin assembly 12 be provided with after turn round clamping cylinder, rear alignment pin and after turn round supporting plate, return afterwards Turn clamping cylinder to be arranged in duel spreader frames 1, after rear alignment pin is inserted into by hexagon socket head cap screw 25, plain cushion 26, spring washer 27 etc. In the hole, location of workpiece, rear revolution supporting plate can hold rear workpiece simultaneously, is achieved in the location to suspender Yu rear workpiece.Because of rear time The rear workpiece of location object turning pin assembly 12 is essentially identical in distinct device (such as equipment), therefore the present embodiment arranges one To rear revolution pin assembly 12.

Front support rod assembly 7 is used as front workpiece end face supporting mechanism, and it is arranged on simultaneously as front workpiece grabbing mechanism and hangs On tool framework 1, and can swing forward under front locking cylinder drives, this front support rod assembly 7 becomes locking attitude when lifting, by Workpiece before this fixing support so that front workpiece grabbing is in duel spreader frames 1.As shown in Fig. 1 a～Fig. 1 c, front locking cylinder base 8 It 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, front support One end of front locking cylinder in bar assembly 7 is arranged on front locking cylinder base 8, and the other end is connected to front support by fork Bar assembly 7, thus drive front support rod assembly 7 swing, when swing puts in place before locking cylinder from pin front support rod assembly 7, Front workpiece is supported so that fixing.

Back support rod assembly 6 is used as rear workpiece end face supporting mechanism, and it may be installed simultaneously as rear workpiece grabbing mechanism In duel spreader frames 1, and can swing backward under rear locking cylinder drives, this back support rod assembly 6 becomes locking attitude when lifting, Thus workpiece after fixing support so that rear workpiece is sandwiched in duel spreader frames 1.The driving means of back support rod assembly 6 and front support The frame mode of bar assembly 7 driving means is identical, 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 passes through interior six Corner bolt 19, plain cushion 20, spring washer 21 etc. are fixedly mounted in duel spreader frames 1, workpiece after withstanding when lifting, and so rear workpiece exists Would not tilt backward during handling.Back support assembly 10 is the most only set, and is not provided with for supporting front workpiece leading flank Front support assembly, 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 seat 2, lead 3, location, top bar 4, location, bottom bar 5, Pin assembly 9, back support group is turned round before back support rod assembly 6, front support rod assembly 7, front locking cylinder base 8, second The version turning round the parts such as pin assembly 11, rear revolution pin assembly 12 before part 10, first is respectively provided with multiple realization Mode, 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 indulges To the interconnection such as square tube 1.2, square tube 1.5, square tube 1.13 and square tube 1.14, shrouding 1.15 envelope can be used in the termination of each square tube Close, be 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 additional, and props up Plate 1.16, support plate 1.18 etc., and install gusset 1.10, gusset 1.20 etc. additional at the connecting portion about plate or support plate and improve by force Degree.Corresponding above-mentioned lead 3, location, top bar 4, location, bottom bar 5, back support rod assembly 6, front support rod assembly 7, front lock Turn round pin assembly 11 before turning round pin assembly 9, back support assembly 10, first before tight air cylinder base 8, second, return afterwards Turn pin assembly 12 etc., duel spreader frames 1 needs arrange some installing plates (seat), as alignment pin installing plate 1.6, alignment pin are installed Seat 1.8, lead mounting seat 1.9, locking cylinder seat board 1.17, locking cylinder seat board 1.19 ..., etc., it is consequently formed Duel spreader frames 1 can install relevant detent mechanism and supporting mechanism easily.

It is understood that the size of this duel spreader frames 1 should adapt with pre-clamps.With reference to 1a～Fig. 1 c, this Invention determines rectangular coordinate system in such a way: set prepackage fixture vehicle body origin as O (0,0,0), duel spreader frames 1 vertical Being X-axis to axis of symmetry, front side is just；The level of the longitudinally asymmetric axle of duel spreader frames 1 is vertical for Y-axis, left side (i.e. arrow in Fig. 2 a Direction) just it is；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 are respectively mounted prepackage fixture axle sleeve 31, location, top bar 4 with Prepackage fixture axle sleeve 31 coordinates, it is achieved the first guiding (or claiming thick guiding) between duel spreader frames 1 and pre-clamps；Pre-clamps is fixed Hole, position 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 pre-clamps it Between thin guiding；So, by rationally arranging positioning shaft sleeve or position of positioning hole, it is ensured that suspender is with pre-clamps accurately Align, it is ensured that suspender, every time can be exactly after guiding through the first guiding of location, top bar 4 and the thin of location, bottom bar 5 Enter precalculated position grabbing workpiece.Additionally, position P3 (-1678 ,-1250,2420) and it divide about the symmetric position of OO ' line Crashproof bearing 32 is not set, to prevent from colliding during handling.

Suspender is installed in duel spreader frames 1 shown in Fig. 2 a～Fig. 2 c connect seat 2 and front locking cylinder base 8, lock gas afterwards The accessory structures such as cylinder bottom seat, brief description individually below.

Suspender as shown in Fig. 3 a～Fig. 3 c connects in seat, and fixed support 2.1 is solid by adding long bolt 2.2 and nut 2.3 Dingan County installs in duel spreader frames 1, 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, and lifting rope is walked around suspender and connected seat 2 In bearing pin 2.4, it is possible to duel spreader frames 1 is hung on four-point band elevator, elevator start after just can drive Sling lifting and translation, make suspender arrive predetermined position operation.

Fig. 4 a～Fig. 4 c illustrates the structure of front locking cylinder base 8.18, and this front locking cylinder base 8 is by riser 8.1 and the end Plate 8.2 is constituted, wherein: base plate 8.2 is fixed to the locking cylinder of duel spreader frames 1 by hexagon socket head cap screw 28, plain cushion 29, spring washer 30 On base plate；Riser 8.1 is fixed on base plate 8.2 and forms support, before being installed in front support rod assembly 7 by Assembly of pin Locking cylinder.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, suspender and work Accurate positioning between part.To this end, the embodiment of the present invention is provided with on corresponding suspender detent mechanism under detent mechanism, suspender, front Workpiece locating mechanism and rear workpiece locating mechanism, wherein on suspender, positioning function is realized by lead 3, under suspender positioning function by Top location bar 4 and location, bottom bar 5 realize jointly, and front workpiece locating mechanism realizes by turning round pin assembly 11 before first, Rear workpiece locating mechanism is realized by rear revolution pin assembly 12, is described these parts in detail below.

In guide post structure as shown in Fig. 5 a～Fig. 5 b, lead 3 is made up of round steel 3.1 and base plate 3.2, base plate 3.2 Can pass through hexagon socket head cap screw 16, plain cushion 17, spring washer 18 (such as Fig. 1 a～Fig. 3 b) are fixedly installed to the lead of duel spreader frames 1 and install On seat 1.9, wherein round steel 3.1 is upside down installed on base plate 3.2.After certain altitude mentioned by suspender, leading of round steel 3.1 top To head ready for insertion in the hole, location of elevator, thus make to realize between duel spreader frames 1 and elevator location, thus Can prevent from suspender from producing during dividing a word with a hyphen at the end of a line to rock, 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 wraps The parts such as the gripper shoe 4.1 including alignment pin 4.2 and inverted L shape, wherein: the first end of gripper shoe 4.1 is fixedly mounted on suspender frame On frame 1, outside extending duel spreader frames 1 outside the second end, form gripper shoe cantilever, this gripper shoe cantilever can offer some losss of weight Hole；Alignment pin 4.2 is fixedly mounted on gripper shoe cantilever, and its guide head is inserted into the axle sleeve of pre-clamps towards ground In, 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: the first end of the gripper shoe 4.1 of inverted L shape (bottom) and base plate 4.4 is fixed, and base plate 4.4 is fixed to the top of duel spreader frames 1, and base plate by standard connector such as bolts Gusset 4.5 is installed additional to improve intensity between 4.4 and gripper shoe 4.1；Second end (tail end) of gripper shoe 4.1 arranges fixed locating stud The set 4.3 of axle 4.2, is wherein set with alignment pin 4.2 and fastens with soket head cap screw 4.6, is consequently formed 4 groups of the bar in location, top Part.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 Guide.

Fig. 7 a～Fig. 7 b shows the structure of location, bottom bar 5, and location, this bottom bar 5 is the most similar to lead 3, its knot 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 peace of round steel 5.1 Installing on base plate 5.2, its guide head is inserted in the hole, location of pre-clamps towards ground.When suspender drops to crawl position After, 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, more carefully guide calmly with location, bottom herein bar 5 Position, 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, and before it is embodied in first, revolution is fixed Position pin assemblies 11, is turned round the portions such as supporting plate 11.4 by before turning round clamping cylinder the 11.2, first prelocalization pin 11.5 and first before first Part is constituted, wherein: turns round clamping cylinder 11.2 before first and is arranged in the alignment pin mounting seat 1.8 of duel spreader frames 1；Determine before first Position pin 11.5 is fixedly mounted on the cylinder barrel turning round clamping cylinder 11.2 before first, may be inserted in the hole, location of front workpiece；The Turn round supporting plate 11.4 before one and be arranged on the piston rod bottom turning round clamping cylinder 11.2 before first.

As shown in Fig. 8 a～Fig. 8 b, concrete assembling mode is: turn round clamping cylinder 11.2 before first by hexagonal spiral shell in plate Nail 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 is by interior hexagonal Screw 11.9, spring washer 11.10 are installed to turn round before first on the cylinder barrel of clamping cylinder 11.2, and the first prelocalization pin 11.5 passes through spiral shell Mother 11.6, plain cushion 11.7, spring washer 11.8 are fixed on alignment pin installing plate 11.3；Supporting plate 11.4 is turned round by interior hexagonal before first Screw 11.12, spring washer 11.13 are fixed on the piston rod bottom turning round clamping cylinder 11.2 before first, and this turns round supporting plate before first 11.4 are provided with through hole, are available for inserting the first prelocalization pin 11.5 when piston rod is regained.

See Fig. 8 a～Fig. 8 b, with reference to Fig. 1 a～Fig. 1 c, before first, turn round the groundwork work of pin assembly 11 It is: after suspender positions with pre-clamps to turn round clamping cylinder 11.2 before rotating first, carry when its piston rod stretches out as process Turning round supporting plate 11.4 before dynamic first to rotate, the first prelocalization pin 11.5 is inserted in the hole, location of front workpiece and positions；Para-position Complete, the piston rod turning round clamping cylinder 11.2 before first is regained, and turns round supporting plate 11.4 and hold front workpiece, the most preferably before first Achieve the location between suspender and front workpiece.

Fig. 9 a～Fig. 9 b illustrates the structure turning round pin assembly 9 before a kind of second, and it is a kind of telescopic front revolution Pin assembly.This turns round revolution pin assembly before the basic structure and above-described first of pin assembly 9 before second 11 are similar to, and difference is to add an alignment pin regulation cylinder i.e. slide rail cylinder 9.2.Pin assembly 9 is turned round before second Concrete structure is: slide rail cylinder 9.2 is vertically mounted to slide rail cylinder by hexagon socket head cap screw 9.8, plain cushion 9.9, spring washer 9.10 In mounting seat 9.1, this slide rail cylinder mounting seat 9.1 is fixed on suspender by hexagon socket head cap screw 9.21, plain cushion 9.22, spring washer 9.23 On framework 1；The cylinder barrel of clamping cylinder 9.3 is turned round by hexagon socket head cap screw 9.11, spring washer 9.14 and hexagon socket head cap screw before second 9.13, spring washer 9.14 is received on cylinder connecting plate 9.4, and the piston rod of this cylinder connecting plate 9.4 and slide rail cylinder 9.2 is fixed, by This turns round the connection of clamping cylinder 9.3 before achieving slide rail cylinder 9.2 and second；Second prelocalization pin installing plate 9.7 is by interior Hex screw 9.15, spring washer 9.16 are installed to turn round before second on the cylinder barrel of clamping cylinder 9.3, and the second prelocalization pin 9.6 passes through Nut 9.17, plain cushion 9.18, spring washer 9.19 are fixed on the second prelocalization pin installing plate 9.7；Second revolution supporting plate 9.5 is by interior Hex screw 9.20 is fixed on the piston rod bottom turning round clamping cylinder 9.3 before second, and this second revolution supporting plate 9.5 is provided with logical Hole, is available for inserting the second prelocalization pin 9.6 when piston rod is regained.

This turns round pin assembly 9 before second when not using, and slide rail cylinder 9.2 is received turning round clamping cylinder 9.3 before second Return；During work, the piston rod of slide rail cylinder 9.2 reaches predetermined length, turns round clamping cylinder 9.3 afterwards before the second of bottom Drive the second prelocalization pin 9.6 and the second revolution supporting plate 9.5 to work, before this process and first, turn round pin assembly 11 phase With, 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, after The parts such as alignment pin 12.5 and rear revolution supporting plate 12.4 are constituted, wherein: rear revolution clamping cylinder 12.2 is by the bottom of rear locking cylinder Seat is arranged on the alignment pin installing plate 1.6 of duel spreader frames 1；Rear alignment pin 12.5 turns round clamping cylinder 12.2 after being fixedly mounted on Cylinder barrel on, may be inserted in the hole, location of rear workpiece；Rear revolution supporting plate 12.4 turns round the work of clamping cylinder 12.2 after being arranged on Stopper rod bottom.The structure turning round pin assembly 11 before this rear revolution pin assembly 12 and first is essentially identical, and difference only exists Different in both central rear revolution supporting plate surface configurations, this is because rear workpiece shapes is different from front workpiece shapes, thus want Seek the reason of coupling respective shapes revolution supporting plate.

As shown in Figure 10 a～Figure 10 b, the concrete assembling mode of rear revolution pin assembly 12 is: turn round clamping cylinder afterwards 12.2 are 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；Location Pin installing plate 12.3 turns round on the cylinder barrel of clamping cylinder 12.2 after being installed to by soket head cap screw 12.9, spring washer 12.10, fixed afterwards Position pin 12.5 is fixed on alignment pin installing plate 12.3 by nut 12.6, plain cushion 12.7, spring washer 12.8；Rear revolution supporting plate 12.4 The piston rod bottom of clamping cylinder 12.2 is turned round by soket head cap screw 12.12, spring washer 12.13, this rear revolution torr after being fixed on Plate 12.4 is provided with through hole, alignment pin 12.5 after being available for inserting when piston rod is regained.

Such as Figure 10 a～Figure 10 b, with reference to Fig. 1 a～Fig. 1 c, the groundwork of rear revolution pin assembly 12 is worked Cheng Shi: after suspender positions with pre-clamps, revolution torr after the piston rod of revolution clamping cylinder 12.2 drives when stretching out after rotation Plate 12.4 rotates, and rear alignment pin 12.5 is inserted in the hole, location of rear workpiece and positions；Para-position is complete, turns round clamping cylinder afterwards The piston rod of 12.2 is regained, and rear workpiece held by rear revolution supporting plate 12.4, the most preferably achieves determining between suspender and rear workpiece Position.

Above by detent mechanism under detent mechanism, suspender on suspender and front workpiece locating mechanism and rear workpiece locating mechanism Achieve the guide-localization of suspender and elevator, suspender and pre-clamps and suspender and workpiece.On this basis, need further Optimize design about front workpiece, the supporting mechanism of rear workpiece, in order to reliably grabbing workpiece.This is in particular by front support rod Assembly 7, back support rod assembly 6 and back support assembly 10 realize, and are 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 concrete assembling mode is: some spacers 7.6 are located in the middle of two opposed front end panels 7.1, use turret head at each spacer 7.6 Bolt 7.2, plain cushion 7.3, spring washer 7.4, nut 7.5 etc. fasten, and hexagon socket head cap screw 7.25, spring washer are passed through in front end panel 7.1 bottom 7.26, hexagon thin nut 7.27 connects, and is consequently formed as short swing arm (i.e. front support rod)；The top of short swing arm by axle 7.9, The shaft assembly that spacer 7.10, spacer 7.11, split pin 7.12 and nut 7.13 are constituted is hinged to the front support rod group of duel spreader frames 1 On part support plate；The head end of short swing arm is by axle 7.14, split pin 7.12 and the pin assemblies of nut 7.13 composition and front roll bar 7.15 Hinged, this front roll bar 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；The afterbody of short swing arm Arranging the vacuum cup 7.17 with Acetabula device and vacuum pump, its Acetabula device is the front workpiece of absorption when lifting, thus Workpiece before support can be securely fixed.

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, before adjusting The operating distance of vacuum cup 7.17.Anterior sucker regulation cylinder 7.16 be single-piston rod oval piston bar cylinder, i.e. Figure 11 a～ Anterior sucker regulation cylinder 7.16 in Figure 11 b, it with the concrete mounting means of initial vacuum sucker 7.17 is: short swing arm tail end established angle Steel 7.8 and adjustable plate 7.7；Adjustable plate 7.7 uses hexagon-headed bolt 7.28, plain cushion 7.29, spring washer 7.30, nut after adjusting angle 7.31 fix with front end panel 7.1；Anterior sucker regulation cylinder 7.16 soket head cap screw 7.22, plain cushion 7.23, spring washer 7.24 and Angle steel 7.8 is fixed；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 Anterior sucker regulation cylinder 7.16.Wherein having two adjustable plate elongated slots on adjustable plate 7.7, the cylinder barrel of anterior sucker regulation cylinder 7.16 leads to Cross and run through the connector of adjustable plate elongated slot and be locked on adjustable plate 7.7, before the piston rod of anterior sucker regulation cylinder 7.16 is installed Vacuum cup 7.17.Thus, along the relative position of elongated slot direction scalable anterior sucker regulation cylinder 7.16 with short swing arm tail end；This Sample just can adjust initial vacuum sucker 7.17 position in short swing arm, it is ensured that it has a preferable Support Position to front workpiece.

Above-mentioned front support rod assembly 7 is a kind of workpiece grabbing mechanism, and the groundwork process of front support rod assembly 7 is: The suspender decline stage, the short swing arm of front support rod assembly 7 substantially becomes vertical state, causes interference thus without to front workpiece；? The handling stage, the short swing arm of front support rod assembly 7 at the driving lower swing certain angle (such as 90 °) of front locking cylinder, then by Front locking cylinder is locked, and is positioned at anterior sucker regulation cylinder 7.16 action of short swing arm tail end so that anterior sucker regulation cylinder 7.16 On initial vacuum sucker 7.17 hold front workpiece, the shortest swing arm just can be securely fixed support before workpiece, finally make 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 before reliably capturing Workpiece, will not produce front workpiece in work process and interfere, also the surface of front workpiece will not be caused damage.

Back support rod assembly 6 structure shown in Figure 12 a～Figure 12 b, it is similar with front support rod assembly 7, is also a kind of Workpiece grabbing mechanism, bigger difference is to be not provided with single-piston rod oval piston cylinder, and this is and rear workpiece shapes phase Coupling.

As shown in Figure 12 a～Figure 12 b, back support rod assembly 6 is that (rear workpiece size is more than front workpiece in relatively long swing arm Size), its specifically the mode of assembling be: some spacers 6.6 are located in the middle of two opposed rear bearing sheets 6.1, use at each spacer 6.6 Hexagon-headed bolt 6.2, plain cushion 6.3, spring washer 6.4, nut 6.5 etc. fasten, and form long arm swing (i.e. back support rod)；Long arm swing upper Portion is hinged to 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 On back support rod assembly support plate；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 with Rear fork 6.14 is hinged, and this rear fork 6.14 is connected to the piston rod of rear locking cylinder, and the cylinder barrel of rear locking cylinder is fixed and hung On the rear locking cylinder base of tool framework 1, 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 the fixed installation angle steel 6.7 such as hexagon-headed bolt 6.16, plain cushion 6.3, spring washer 6.4, nut 6.5, angle steel 6.7 Upper installation final vacuum sucker 6.15, long arm swing swings final vacuum sucker 6.15 when putting in place can hold rear workpiece；Work as back support rod When assembly 6 is locked at lifting attitude by rear locking cylinder, its tail end is by workpiece after the fixing support of final vacuum sucker 6.15, thus The crawl of workpiece after realization.

Please also refer to Fig. 1 a～Fig. 1 c, the groundwork process of back support rod assembly 6 is: in the decline stage of suspender, The long arm swing of back support rod assembly 6 becomes vertical state substantially, causes interference thus without to rear workpiece；In the handling stage, prop up afterwards The long arm swing of strut assembly 6 rear locking cylinder drive lower swing to the angle of basic horizontal, then locked by rear locking cylinder Tightly, the final vacuum sucker 6.15 being positioned at long arm swing tail end holds rear workpiece, workpiece after the fixing support of such long arm swing, finally makes to hang Tool capture after workpiece the handling of workpiece after completing.The way of realization of this crawl structure is relatively simple, it is possible to reliably capture Rear workpiece, will not produce rear workpiece in work process and interfere, 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 back support group Part 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.This back support group In part 10, square tube 10.2, square tube 10.3 interconnection, the port of pipe closes with plate 10.1, plate 10.11 or shrouding 10.10 respectively, It is consequently formed back support divider.The stabiliser bar installed above 10.15 of back support divider is to keep balance, back support divider Lower section by hexagon socket head cap screw 10.12, plain cushion 10.13, spring washer 10.14, angle steel 10.5 is installed, by interior six on angle steel 10.5 Corner bolt 10.7, plain cushion 10.8, spring washer 10.9 install rear portion sucker regulation cylinder (the single-piston rod ellipse of band vacuum cup 10.6 Shape piston-cylinder) 10.4, when handling, rear vacuum sucker 10.6 holds the rear workpiece at workpiece rear portion, prevents work behind workpiece rear portion Part upwarps.

Above-mentioned sling system can be used to simultaneously the handling front workpiece of the first specification and rear workpiece, it is possible to be used for handling the simultaneously The two front workpiece of specification and rear workpiece, the operating process basic simlarity under two kinds of situations, operate the most convenient.With former As a example by situation, 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, forward and backward of suspender Strut assembly is in 90 ° with forward and backward locking cylinder；

3, by guide-localization and the location of forward and backward revolution pin assembly of location, upper and lower part bar, suspender accurately enters Pickup position, the corresponding alignment pin in suspender forward and backward revolution pin assembly enters the end face positioning process hole of forward and backward workpiece, Now suspender receives the signal that puts in place, and forward and backward revolution clamping cylinder half-twist also clamps；

4, forward and backward locking cylinder shrinks, and back and front supporting bar assembly is opened, and held forward and backward workpiece the most at a certain angle End face, the most corresponding forward and backward vacuum cup air-breathing, make forward and backward workpiece securely fix, the most forward and backward workpiece with prepackage Fixture disengages；

5, suspender receives clamping crawl and completes signal, and suspender is mentioned by 4 band elevators.

Two, the first size workpiece puts part action

1, suspender is waiting that position receives important document signal, and self-moving carriage walking puts in place, 4 band elevator rapid decrease, And after dropping to certain altitude descending at slow speed；

2, being guided by detent mechanism, suspender drives forward and backward workpiece to enter precalculated position, owing to suspender is forward and backward in gripping Being adjusted to certain angle during 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 gas Cylinder stretches out, and forward and backward workpiece engages with the left and right gusset of equipment (such as driver's cabin), and forward and backward revolution clamping cylinder unclamps；

4, suspender receives and puts part and complete signal, and 4 band elevators rise, and automatic carriage returns to wait that position waits Grabbing workpiece, suspender completes to put part action.

In order to improve the automaticity of above-mentioned suspender, corresponding control can be built easily for above-described suspender System processed, is described further combined with Figure 14～Figure 16 d.

See Figure 14, represent the control system composition frame chart of sling system of the present invention, its be 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, controls to turn round before first clamping cylinder, turns round clamping cylinder before second, turns round afterwards Clamping cylinder, alignment pin regulation cylinder, front locking cylinder, rear locking cylinder, anterior sucker regulation cylinder and rear portion sucker regulation gas Cylinder on/off gas circuit, in order to whether open or close relevant positioning component (turn round before including first pin assembly 11, the Turn round pin assembly 9, rear revolution pin assembly 12 before two) or a 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, control initial vacuum sucker, final vacuum sucker and rear vacuum sucker connect/ Disconnect gas circuit, in order to adsorb workpiece the most accordingly；

Controller, preferably programmable logic controller (PLC) (PLC), outfan is connected to the signal of electromagnetic valve and vacuum generator Input, exports control signal according to workpiece character and suspender state to relevant electromagnetic valve or vacuum generator, in order to manipulation phase Cylinder or the sucker answered 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 does not limits In the type of attachment that this example is given.For convenience, the reference layout in the following ways in this figure: the first field word Matrix shows component type, represents the version of then this numeral expression element as being connected with numeral, and such as k23 represents two-position three way electricity Control electromagnetic 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, 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 that element is at suspender Numbering in parts；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 in this front support rod assembly 7 First 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, before turning round pin assembly 11, second before being provided with two group first, revolution is fixed Position pin assemblies 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 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 cylinder (s.1.a.7, s.2.b.7, s.3.a.6, s.4.b.6), six oval cylinders (t.1.a.7.16.1, t.2.a.7.16.2, t.3.b.7.16.1, t.4.b.7.16.2, t.5.a.10.4, t.6.b.10.4) and Eight vacuum cups 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 respectively by two five-way electromagnetic valves (k25.1, k25.2, k25.3, k25.4, k25.5, k25.6) is connected on source of the gas；Four locking cylinders are respectively by three five Three-way electromagnetic valve (k35.1, k35.2) is connected on source of the gas, and (v.1, v.2, v.3, v.4), these four locking cylinders are connected to flow speed control valve (p.1, p.2, four locking cylinders connect rapid escape valve also by two-bit triplet electromagnetic valve (k23.1, k23.2) simultaneously P.3, p.4)；So, all of executive component is the most reasonably connected on source of the gas；Serpentine pipe can be set on the connecting line of source of the gas Lxg, thribble slg and stop valve jzf, thus constitute control gas circuit.It is understood that above-mentioned gas circuit executive component is also Other connected mode can be used, 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 System, 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 locking gas Cylinder and rear locking cylinder are opened；Suspender decline put in place, front locking cylinder and rear locking cylinder Guan Bi, anterior sucker regulation cylinder and after Portion's sucker regulation cylinder stretches out, and initial vacuum sucker, final vacuum sucker and rear vacuum sucker adsorb, revolution clamping before first 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 clamping gas before first Cylinder and rear revolution clamping cylinder are opened, and initial vacuum sucker, final vacuum sucker and rear vacuum sucker are died, anterior sucker regulation cylinder And rear portion sucker regulates cylinders retract, front locking cylinder and rear locking cylinder are opened, and suspender rises；Other pneumatic element is closed not Action.

Figure 16 c represents the process when the second front workpiece of specification and rear workpiece pickup, particularly as follows: alignment pin regulation cylinder is stretched Go out；Suspender declines, and front locking cylinder and rear locking cylinder are opened；Suspender decline puts in place, and front locking cylinder and rear locking cylinder close Closing, anterior sucker regulation cylinder and rear portion sucker regulation cylinder stretch out, and initial vacuum sucker, final vacuum sucker and rear vacuum sucker enter Row absorption, 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: revolution clamping before second Cylinder and rear revolution clamping cylinder are opened, and initial vacuum sucker, final vacuum sucker and rear vacuum sucker are died, anterior sucker regulation gas Cylinder and rear portion sucker regulate cylinders retract, and front locking cylinder and rear locking cylinder are opened, and suspender rises, and other pneumatic element is closed It is failure to actuate.

Suspender described in above example and control system can preferably realize suspender and pre-clamps and the location of elevator, The location of suspender and rear workpiece, and suspender to the fixing support of rear workpiece and captures function, after thus can realizing easily Automatically capturing of workpiece is reached the standard grade；Owing to suspender enters with a fixed angle when rear workpiece is reached the standard grade, it is to avoid top cover and left and right sides Enclose, back wall and the interference problem of other pattern welding equipments；After additionally, the yielding position of workpiece uses cylinder and vacuum cup combination Support mode, is possible to prevent rear workpiece to deform so that it is accurate positioning of reaching the standard grade；Thus this suspender can meet equipment piecemeal welding well The requirement of technique, improves Product Assembly efficiency, it is ensured that the assembling quality of product.

As can be seen here, the exclusive technology of sling system is used to be that domestic production is more attractive in appearance, safety based on above example And the large-sized sheet material stamped workpieces equipment of low cost provides possibility, thus there is preferable application prospect.

Although the present invention is open as above with preferred embodiment, but it is not for limiting the present invention, any this area skill Art personnel without departing from the spirit and scope of the present invention, can make possible variation and amendment, the therefore guarantor of the present invention The scope of protecting should be defined in the range of standard with the claims in the present invention.

Claims (3)

1. the suspender configuring suspender-prepackage clamp positioning mechanism, it is adaptable to be made up of workpiece after workpiece before yi word pattern and L-type Inversed l-shaped sheet material workpiece, it is characterised in that suspender turns round pin assembly, turns round alignment pin before second before being configured with first Assembly, turn round pin assembly, front support rod assembly, back support rod assembly, back support assembly afterwards, wherein:

Turn round before first and turn round supporting plate before turning round clamping cylinder, the first prelocalization pin and first before pin assembly includes first, The cylinder barrel turning round clamping cylinder before first is fixed in duel spreader frames, and the first prelocalization pin turns round clamping cylinder before being fixed on first Cylinder barrel on to insert before the first specification in the hole, location of workpiece, turn round before first before supporting plate is fixed on first and turn round clamping cylinder Piston rod bottom to hold workpiece top board before the first specification；

Turn round before second pin assembly include alignment pin regulation cylinder, turn round before second clamping cylinder, the second prelocalization pin and Turning round supporting plate before second, the cylinder barrel of alignment pin regulation cylinder is fixed in duel spreader frames, turns round the cylinder barrel of clamping cylinder before second Be fixed on alignment pin regulation cylinder piston rod on, the second prelocalization pin be fixed on before second on the cylinder barrel turning round clamping cylinder with Insert before the second specification in the hole, location of workpiece, turn round supporting plate before second and be fixed on before second at the bottom of the piston rod turning round clamping cylinder Hold to hold workpiece top board before the second specification；

Rear revolution pin assembly turn round after including clamping cylinder, rear alignment pin and after turn round supporting plate, rear revolution clamping cylinder Cylinder barrel is fixed in duel spreader frames, and rear alignment pin turns round after being fixed on the cylinder barrel of clamping cylinder with the hole, location of workpiece after inserting In, rear revolution supporting plate turns round the piston rod bottom of clamping cylinder to hold rear workpiece top board after being fixed on；

Front support rod assembly includes front support rod, front roll bar, front locking cylinder, anterior sucker regulation cylinder and initial vacuum sucker, front Support bar is hinged with duel spreader frames, and the head end of front support rod is hinged with the first end of front roll bar, the second end of front roll bar and front lock The piston rod of tight cylinder connects, and the cylinder barrel of front locking cylinder is fixed in duel spreader frames, and the cylinder barrel of anterior sucker regulation cylinder is fixed At the tail end of front support rod, initial vacuum sucker is fixed on the piston rod of anterior sucker regulation cylinder to adsorb workpiece before the first specification Workpiece top board before top board or the second specification；

Back support rod assembly includes back support rod, rear fork, rear locking cylinder and final vacuum sucker, back support rod and duel spreader frames Hinged, the head end of back support rod is hinged with the first end of rear fork, and the second end of rear fork connects with the piston rod of rear locking cylinder Connecing, the cylinder barrel of rear locking cylinder is fixed in duel spreader frames, and final vacuum sucker is fixed on the tail end of back support rod with work after absorption The bottom surface of part；

Back support assembly includes back support divider, rear portion sucker regulation cylinder and rear vacuum sucker, back support divider Head be fixed on the tail end of duel spreader frames, the cylinder barrel of rear portion sucker regulation cylinder is fixedly mounted on the tail of back support divider Portion, rear vacuum sucker is fixed on the piston rod of rear portion sucker regulation cylinder with the trailing flank of workpiece after absorption；

The gas circuit of suspender control system includes seven two-position-five-way solenoid valves, two two-position three way magnetic valves, two 3 position-5 ways Electromagnetic 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-position five-way electricity simultaneously Magnet valve, the rear revolution clamping cylinder in left side, the rear revolution clamping cylinder on right side are connected to second two-position-five-way solenoid valve simultaneously, left Before the second of side turn round clamping cylinder, right side second before turn round clamping cylinder be connected to the 3rd two-position-five-way solenoid valve simultaneously；

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 solenoid valve simultaneously；

First anterior sucker regulation cylinder in left side, second anterior sucker regulation cylinder in left side are simultaneously connected with the 5th two five Three-way electromagnetic valve, first anterior sucker regulation cylinder on right side, second anterior sucker regulation cylinder on right side are simultaneously connected with the 6th Two-position-five-way solenoid valve, the rear portion sucker regulation cylinder in left side, the rear portion sucker regulation cylinder on right side are simultaneously connected with the 7th two Position five-way electromagnetic 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, the rear lock in left side Tight cylinder, the rear locking cylinder on right side are connected to second 3 position-5 way electromagnetic valve simultaneously；The front locking cylinder in left side is connected to first Individual air bleeding valve, the front locking cylinder on right side is connected to second air bleeding valve, and the rear locking cylinder in left side is connected to the 3rd air bleeding valve, right The rear locking cylinder of side is connected to the 4th air bleeding valve；First air bleeding valve, second air bleeding valve are simultaneously connected with first two three Three-way electromagnetic valve, the 3rd air bleeding valve, the 4th air bleeding valve are simultaneously connected with second two-position three way magnetic valve；

First initial vacuum sucker in left side, second initial vacuum sucker in left side, first initial vacuum sucker, the right side on right side Second initial vacuum sucker be 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 is connected to second vacuum generator simultaneously；

First two-position-five-way solenoid valve, second two-position-five-way solenoid valve, the 3rd two-position-five-way solenoid valve, the 4th two Five-way electromagnetic valve, the 5th two-position-five-way solenoid valve, the 6th two-position-five-way solenoid valve, the 7th two-position-five-way solenoid valve, the One 3 position-5 way electromagnetic valve, second 3 position-5 way electromagnetic valve, first two-position three way magnetic valve, second two-position three way electricity Magnet valve is connected on source of the gas accordingly, in order to turn on/off gas circuit under PLC controls to control respective cylinder Action；First vacuum generator, second vacuum generator are connected on source of the gas accordingly, in order at programmable logic controller (PLC) Control lower on/off gas circuit to control corresponding vacuum cup action；Serpentine pipe, thribble it is provided with on the connecting line of source of the gas And stop valve, to constitute the gas circuit of suspender control system；

Suspender-prepackage clamp positioning mechanism includes the first guide, the second guide, the first base and the second standard, wherein: the One guide is location, the top bar being arranged in duel spreader frames, and the first standard is the axle sleeve being arranged on outside pre-clamps, axle The end face of set is higher than the end face of pre-clamps, and the guide head of location, top bar is inserted in axle sleeve towards ground and realizes once determining Position；Second guide is location, the bottom bar being arranged in duel spreader frames, and the second standard is be opened in pre-clamps pre- Hole, clamps location, the guide head of location, bottom bar is inserted in hole, pre-clamps location towards ground and realizes second positioning.

2. suspender as claimed in claim 1, it is characterised in that location, top bar is installed on the top of duel spreader frames and extends outward Outside duel spreader frames side profile；Bottom location bar be installed on duel spreader frames bottom and be positioned at duel spreader frames side profile it In.

3. suspender as claimed in claim 2, it is characterised in that location, top bar includes the gripper shoe of alignment pin and inverted L shape, First end of gripper shoe is fixedly mounted in duel spreader frames, forms support outside extending duel spreader frames outside the second end of gripper shoe Plate cantilever, alignment pin is fixedly mounted on gripper shoe cantilever, wherein offers some lightening holes on gripper shoe cantilever.