CN106115454A

CN106115454A - A kind of suspender being applicable to before and after's piecemeal lid formula workpiece

Info

Publication number: CN106115454A
Application number: CN201610788268.5A
Authority: CN
Inventors: 周磊
Original assignee: Individual
Current assignee: Individual
Priority date: 2014-06-11
Filing date: 2014-06-11
Publication date: 2016-11-16
Also published as: CN104044988A; CN104044988B

Abstract

The present invention discloses a kind of suspender being applicable to before and after's piecemeal lid formula workpiece, workpiece is integral with rear workpiece assembly welding by the front workpiece of inversed l-shaped, suspender is provided with detent mechanism on suspender, including the lead being fixedly mounted in duel spreader frames, the guide head of lead deviates from the hole, location that elevator is inserted on ground；Detent mechanism under suspender, including the top location bar being fixedly mounted in duel spreader frames and location, bottom bar, the guide head of location, top bar is inserted in the axle sleeve of pre-clamps towards ground, and the guide head of location, bottom bar is inserted in the hole, location of pre-clamps towards ground；Location, top bar includes the gripper shoe of alignment pin and inverted L shape, and the first end of gripper shoe is fixedly mounted in duel spreader frames, forms gripper shoe cantilever outside extending duel spreader frames outside the second end of gripper shoe, and alignment pin is fixedly mounted on gripper shoe cantilever.The present invention can improve workpiece efficiency of assembling, it is ensured that product assembly quality.

Description

A kind of suspender being applicable to before and after's piecemeal lid formula workpiece

The number of patent application that the present invention is applicant to be proposed on 06 11st, 2014 is " 201410259406.1 ", title For the divisional application of the Chinese invention patent application of " piecemeal lid formula Workpiece sling front and back ", entire contents be incorporated into the application it In.

Technical field

The present invention relates to handling mounting technology, particularly relate to a kind of suspender being applicable to before and after's piecemeal lid formula workpiece.

Background technology

Workpiece type in lifting industry, specification, shape etc. vary, and need what specialized designs and workpiece adapted to hang Tool.For piecemeal lid formula workpiece before and after one, it is formed by two parts workpiece assembly welding, and front workpiece is all approximately with rear workpiece Being inverted " L-type ", the specification of the most front workpiece is less than the specification of rear workpiece, and the trailing flank of rear workpiece is than the front side mask of front workpiece There is bigger size.Owing to workpiece has bigger size and weight, it is impossible to manually carrying, if using common suspender Lift, in the location of workpiece, clamp and all exist in terms of support bigger difficulty, cause workpiece to become the most most probably simultaneously Shape.Because the existing suspender above-mentioned workpiece of lifting is the most difficult, also it is unfavorable for ensureing product quality, it is necessary to for this workpiece Feature designs a kind of novel sling system, in order to realize the lifting requirements of this kind of workpiece.

Summary of the invention

In view of this, it is an object of the invention to provide piecemeal lid formula Workpiece sling before and after one, in order to meet and front and back divide The matching requirements of block lid formula workpiece.

For solving above technical problem, the present invention provides a kind of suspender being applicable to before and after's piecemeal lid formula workpiece, Qian Houfen Block lid formula workpiece is integral with the rear workpiece assembly welding of inversed l-shaped by the front workpiece of inversed l-shaped, and before suspender is configured with first, revolution is fixed Position pin assemblies, turn round pin assembly before second, turn round pin assembly, front support rod assembly, back support rod assembly, rear portion afterwards Prop up support component, 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 includes hanging duel spreader frames on elevator, duel spreader frames is provided with to duel spreader frames and elevator it Between location suspender on detent mechanism, between duel spreader frames and pre-clamps location suspender under detent mechanism；Determine on suspender Position mechanism includes the lead being fixedly mounted in duel spreader frames, and the guide head of lead deviates from ground and inserts the location of elevator Kong Zhong；Under suspender, detent mechanism includes top location bar and location, the bottom bar being fixedly mounted in duel spreader frames, and top positions The guide head of bar is inserted in the axle sleeve of pre-clamps towards ground, and the guide head of location, bottom bar is inserted into prepackage towards ground In the hole, location of fixture；Location, top bar includes the gripper shoe of alignment pin and inverted L shape, and the first end of gripper shoe is fixedly mounted on In duel spreader frames, forming gripper shoe cantilever outside extending duel spreader frames outside the second end of gripper shoe, alignment pin fixedly mounts On gripper shoe cantilever.

Compared with prior art, the present invention according to the construction features of front and back's workpiece, devise a kind of brand-new before and after piecemeal Lid formula Workpiece sling, it has the upper and lower detent mechanism of suspender, forward and backward workpiece locating mechanism, the support of forward and backward workpiece bottom simultaneously Mechanism and rear workpiece trailing flank supporting mechanism, can preferably realize suspender and pre-clamps and the location of riser, suspender with The location of workpiece, and suspender front and back is to the fixing support of front and back's workpiece and captures function, before and after thus can realizing easily Automatically capturing of workpiece is reached the standard grade.Especially, this suspender enters with a fixed angle time front and back, workpiece is reached the standard grade, it is to avoid workpiece with The interference problem of left and right gusset, back wall and other pattern welding equipments.Further, front and back the yielding position of workpiece uses cylinder with true Suction dish combined support mode, is possible to prevent before and after's workpiece to deform so that it is accurate positioning of reaching the standard grade.So, suspender of the present invention is with regard to energy Meet the requirement of driver's cabin piecemeal butt welding process well, improve Product Assembly efficiency, it is ensured that the assembling quality of product.

Accompanying drawing explanation

Fig. 1 a is the front view of piecemeal lid formula Workpiece sling before and after the embodiment of the present invention；

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

Fig. 1 c is the top view of Fig. 1 a；

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

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

Fig. 2 c is the top view of Fig. 2 a；

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

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

Fig. 3 c is the top view of Fig. 3 a；

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

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

Fig. 4 c is the top view of Fig. 4 a；

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

Fig. 5 b is the top view of Fig. 5 a；

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

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

Fig. 6 c is the top view of Fig. 6 a；

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

Fig. 7 b is the top view of Fig. 7 a；

Fig. 8 a is Fig. 1 a～front revolution pin assembly front view in suspender shown in Fig. 1 c；

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

Fig. 9 a is Fig. 1 a～flexible revolution pin assembly front view in suspender shown in Fig. 1 c；

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

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

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

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

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

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

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

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

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

Figure 13 c is the top view of Figure 13 a；

Figure 14 is the composition frame chart of piecemeal lid formula Workpiece sling control system before and after the present invention；

Figure 15 is a kind of schematic diagram of gas circuit in control system shown in Figure 14；

Figure 16 a is the first front workpiece of specification and the pickup procedure chart of rear workpiece in control system shown in Figure 14；

Figure 16 b be in control system shown in Figure 14 the first front workpiece of specification and rear workpiece put part procedure chart；

Figure 16 c is the second front workpiece of specification and the pickup procedure chart of rear workpiece in control system shown in Figure 14；

Figure 16 d be in control system shown in Figure 14 the second front workpiece of specification and rear workpiece put part procedure chart.

Detailed description of the invention

Elaborate a lot of detail in the following description so that fully understanding the present invention.But the present invention can be with Much being different from alternate manner described here to implement, those skilled in the art can be in the situation without prejudice to intension of the present invention Under do similar popularization, therefore the present invention is not limited by following public specific embodiment.

The most referring also to Fig. 1 a～Figure 13 c, before and after representing the embodiment of the present invention, piecemeal lid formula Workpiece sling (hereinafter referred to as hangs Tool) structure, wherein Fig. 1 a～Fig. 1 c illustrates lifting assembly structure；Fig. 2 a～Figure 13 c illustrates the critical piece structure of suspender.Should Suspender is by duel spreader frames 1 and is installed on the suspender in duel spreader frames 1 detent mechanism under detent mechanism, suspender, front workpiece location Mechanism, rear workpiece locating mechanism, front workpiece bottom supporting mechanism, rear workpiece bottom supporting mechanism and rear workpiece trailing flank support machine Gou Deng principal organ forms, and wherein: duel spreader frames 1 is suspender main body, it connects seat 2 by suspender and is connected on elevator, its Its mechanism is mounted in duel spreader frames 1；Under suspender, detent mechanism positions between duel spreader frames and pre-clamps；Front workpiece is fixed Position mechanism positions between front workpiece and duel spreader frames；Rear workpiece locating mechanism positions between rear workpiece and duel spreader frames；Before Workpiece bottom supporting mechanism supports front workpiece when lifting；Rear workpiece bottom supporting mechanism lifting time support after workpiece；Rear work Part trailing flank supporting mechanism lifting time support after workpiece.It is understood that relevant location, support and supporting mechanism are front The active position of rear workpiece need to select the position relatively big at front and back's thickness of workpiece, intensity is higher, during to prevent before and after's workpiece handling Deformation, repeats no more.

Above-described embodiment suspender is provided with the upper and lower detent mechanism of suspender, forward and backward workpiece locating mechanism, forward and backward workpiece simultaneously Bottom supporting mechanism and rear workpiece trailing flank supporting mechanism, can preferably realize determining of suspender and pre-clamps and riser Position, the location of suspender and workpiece (workpiece before and after i.e.) and suspender are to the fixing support of workpiece and capture function, thus meet The handling requirement of reaching the standard grade of workpiece front and back.

As shown in Fig. 1 a～Fig. 1 c, lifting assembly is mainly by duel spreader frames 1, lead 3, location, top bar 4, location, bottom Bar 5, front revolution pin assembly 11, rear revolution pin assembly 12, front support rod assembly 7, back support rod assembly 6 and rear portion are propped up Support component 10 parts such as grade are constituted, 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 before and after pre-clamps (not shown) captures Workpiece, then lifts by crane and migrates to above assembly station with automatic carriage, then dropping on assembly station by suspender and workpiece, Complete corresponding assembly process eventually.

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 5 of location, top bar 4, it is possible to the completeest Become the location between suspender and pre-clamps.

Front revolution pin assembly (the first revolution pin assembly) 11 is used as front workpiece locating mechanism, and it is arranged on suspender On framework 1, its prelocalization pin inserts in the hole, location of front workpiece, and before it, front workpiece held by revolution supporting plate simultaneously, and it is right to be achieved in Location between suspender and front workpiece.Such as Fig. 1 a～as illustrated in figure 1 c, in order to adapt to the workpiece requirement of different product, on suspender also It is mounted with flexible revolution pin assembly (the second revolution pin assembly) 9, its effect and front revolution pin assembly 11 simultaneously Identical.This flexible revolution pin assembly 9 is mainly used in the handling of workpiece before the second size workpiece, and front revolution pin assembly 11 are mainly used in the handling of workpiece before the first size workpiece: if lifting the first size workpiece, by front revolution pin assembly 11 Positioning the front workpiece of the first specification, now the revolution clamping cylinder of flexible revolution pin assembly 9 needs to regain, and thus keeps away Exempt to produce and interfere；If lifting the second size workpiece, then by flexible revolution pin assembly 9, workpiece before second is positioned, this Turn round pin assembly 11 time before and workpiece before the second specification will not be produced interference.

Rear revolution pin assembly 12 is used as rear workpiece locating mechanism, its structure and function and front revolution pin assembly 11 are 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, turn round folder afterwards Tight cylinder is arranged in duel spreader frames 1 by hexagon socket head cap screw 25, plain cushion 26, spring washer 27 etc., and rear alignment pin is inserted into rear workpiece Hole, location in, rear revolution supporting plate can hold rear workpiece simultaneously, is achieved in the location to suspender Yu rear workpiece.

Front support rod assembly 7 is used as front workpiece bottom supporting mechanism, and it is arranged in duel spreader frames 1, and can be in front locking Swinging forward under air cylinder driven, this front support rod assembly 7 becomes locking attitude, the thus end of workpiece before fixing support when lifting Face 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 passes through hexagon socket head cap screw 28, the securing member such as plain cushion 29, spring washer 30 is arranged on the locking cylinder seat board of duel spreader frames 1, the front lock in front support rod assembly 7 One end of tight cylinder is arranged on front locking cylinder base 8, and the other end is connected to front support rod assembly 7 by fork, thus drives Dynamic front support rod assembly 7 swings, when swing puts in place before locking cylinder from pinning front support rod assembly 7, in order to fixing support Front workpiece.

Back support rod assembly 6 is used as rear workpiece bottom supporting mechanism, and it may be installed in duel spreader frames 1, and can be at rear lock Swinging backward under tight air cylinder driven, this back support rod assembly 6 becomes locking attitude when lifting, thus fixes the end of workpiece after supporting Face so that rear workpiece is sandwiched in duel spreader frames 1.The driving means of back support rod assembly 6 and front support rod assembly 7 driving means Frame mode is identical, repeats no more.

Back support assembly 10 is used as rear workpiece trailing flank supporting mechanism, and it passes through hexagon socket head cap screw 19, plain cushion 20, spring washer 21 etc. are fixedly mounted in duel spreader frames 1, the trailing flank of workpiece after lifting is withstood at present, so afterwards workpiece when handling the most not Can tilt backward.Back support assembly 10 is the most only set, and is not provided with the front support for supporting front workpiece leading flank Assembly, is 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, Back support rod assembly 6, front support rod assembly 7, front locking cylinder base 8, flexible revolution pin assembly 9, back support assembly 10, the version of the parts such as front revolution pin assembly 11, rear revolution pin assembly 12 is respectively provided with multiple implementation, with Lower 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 Tight air cylinder base 8, flexible revolution pin assembly 9, back support assembly 10, front revolution pin assembly 11, turn round location afterwards Pin assemblies 12 etc., duel spreader frames 1 need arrange some installing plates (seat), 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 suspender frame being consequently formed Frame 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, and this front locking cylinder base 8 is by riser 8.1 and base plate 8.2 are constituted, wherein: base plate 8.2 is fixed at the bottom of the locking cylinder of duel spreader frames 1 by hexagon socket head cap screw 28, plain cushion 29, spring washer 30 On plate；Riser 8.1 is fixed on base plate 8.2 and forms support, in order to be installed the front lock in front support rod assembly 7 by Assembly of pin Tight 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 is realized by front revolution pin assembly 11, rear work Part detent 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, forming gripper shoe cantilever outside extending duel spreader frames 1 side profile outside the second end, gripper shoe cantilever is provided with some Lightening hole；Alignment pin 4.2 is fixedly mounted on gripper shoe cantilever, and its guide head is inserted into the axle of pre-clamps towards ground In set, 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 c 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 it turns round alignment pin before being embodied in Assembly (turning round pin assembly before first) 11, by front revolution clamping cylinder (turning round clamping cylinder before first) 11.2, prelocalization The parts such as pin (the first prelocalization pin) 11.5 and front revolution supporting plate (turning round supporting plate before first) 11.4 are constituted, wherein: front revolution folder Tight cylinder 11.2 is arranged in the alignment pin mounting seat 1.8 of duel spreader frames 1；Before prelocalization pin 11.5 is fixedly mounted on, revolution clamps On the cylinder barrel of cylinder 11.2, may be inserted in the hole, location of front workpiece；Front revolution supporting plate 11.4 turns round clamping cylinder before being arranged on The piston rod bottom of 11.2.

As shown in Fig. 8 a～Fig. 8 b, concrete assembling mode is: front revolution clamping cylinder 11.2 is by plate soket head cap screw 1111 are installed on plate 11.1, then are installed in duel spreader frames 1 by plate 11.1；Prelocalization pin installing plate 11.3 is by interior hexagonal spiral shell Nail 11.9, spring washer 11.10 turn round before being installed on the cylinder barrel of clamping cylinder 11.2, and prelocalization pin 11.5 passes through nut 11.6, puts down Pad 11.7, spring washer 11.8 are fixed on prelocalization pin installing plate 11.3；Front revolution supporting plate 11.4 by soket head cap screw 11.12, Spring washer 11.13 turns round the piston rod bottom of clamping cylinder 11.2 before being fixed on, this front revolution supporting plate 11.4 is provided with through hole, is available for living Prelocalization pin 11.5 is inserted when stopper rod is regained.

Seeing Fig. 8 a～Fig. 8 b, with reference to Fig. 1 a～Fig. 1 c, the groundwork of front revolution pin assembly 11 is worked Cheng Shi: after suspender positions with pre-clamps, revolution clamping cylinder 11.2 before rotating, revolution before driving when its piston rod stretches out Supporting plate 11.4 rotates, and prelocalization pin 11.5 is inserted in the hole, location of front workpiece and positions；Para-position is complete, front revolution clamping gas The piston rod of cylinder 11.2 is regained, and the bottom surface of front workpiece held by front revolution supporting plate 11.4, the most preferably achieves suspender and front workpiece Between location.

Fig. 9 a～Fig. 9 b illustrates the structure of a kind of flexible revolution pin assembly 9, this flexible revolution pin assembly one (the Before two turn round pin assembly) 9 basic structure with above-described before revolution pin assembly (before second revolution location pin bank Part) 11 be similar to, difference be to add a slide rail cylinder (alignment pin regulation cylinder) 9.2.Flexible revolution pin assembly 9 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 revolution clamping cylinder (turning round clamping cylinder before second) 9.3 is by hexagon socket head cap screw 9.11, spring washer 9.14 Receive on cylinder connecting plate 9.4 with hexagon socket head cap screw 9.13, spring washer 9.14, this cylinder connecting plate 9.4 and the work of slide rail cylinder 9.2 Stopper rod is fixed, and thus achieves the connection of slide rail cylinder 9.2 and revolution clamping cylinder 9.3；Alignment pin installing plate 9.7 is by interior six Angle screw 9.15, spring washer 9.16 are installed to turn round on the cylinder barrel of clamping cylinder 9.3, and alignment pin (the second prelocalization pin) 9.6 passes through Nut 9.17, plain cushion 9.18, spring washer 9.19 are fixed on alignment pin installing plate 9.7；Revolution supporting plate (turning round supporting plate before second) 9.5 Be fixed on the piston rod bottom of revolution clamping cylinder 9.3 by soket head cap screw 9.20, this revolution supporting plate 9.5 is provided with through hole, can Alignment pin 9.6 is inserted for piston rod when regaining.

When this flexible revolution pin assembly 9 does not uses, revolution clamping cylinder 9.3 is regained by slide rail cylinder 9.2；Work Time, the piston rod of slide rail cylinder 9.2 reaches predetermined length, is driven alignment pin 9.6 by the revolution clamping cylinder 9.3 of bottom afterwards And revolution supporting plate 9.5 works, this process is identical with front revolution pin assembly 11, repeats 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.This rear revolution pin assembly 12 is essentially identical with the structure of front revolution pin assembly 11, and difference is only that two Revolution supporting plate surface configuration in the middle of person is different, this is because the bottom shape of rear workpiece is different from the bottom shape of front workpiece, Thus require to mate the reason of corresponding top surface shape revolution supporting plate.

As shown in Figure 10 a～Figure 10 b, the concrete assembling mode of rear revolution pin assembly 12 is: 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；Rear fixed Position pin installing plate 11.3 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, after Alignment pin 12.5 is fixed on rear alignment pin installing plate 11.3 by nut 12.6, plain cushion 12.7, spring washer 12.8；Rear revolution supporting plate 12.4 be fixed on by soket head cap screw 12.12, spring washer 12.13 after turn round the piston rod bottom of clamping cylinder 12.2, this is rear time The plate 12.4 that asks 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 the bottom surface of rear workpiece held by rear revolution supporting plate 12.4, the most preferably achieve suspender and rear workpiece it Between location.

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 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；Short swing arm tail end is pacified Dress angle steel 7.8 and adjustable plate 7.7, adjustable plate 7.7 adjust after angle with hexagon-headed bolt 7.28, plain cushion 7.29, spring washer 7.30, Nut 7.31 is fixed with front end panel 7.1, fixes with angle steel 7.8 with soket head cap screw 7.22, plain cushion 7.23, spring washer 7.24；Adjust Before being installed by regulation hexagon-headed bolt 7.18, plain cushion 7.19, spring washer 7.20 and nut 7.21 on joint plate 7.7, oval cylinder is (front Sucker regulation cylinder) 7.16, wherein have two elongated slots on adjustable plate 7.7, before the scalable of elongated slot direction oval cylinder 7.16 with The relative position of short swing arm tail end；Thus can adjust initial vacuum sucker 7.17 position in short swing arm, it is ensured that it is to front work Part has a preferable Support Position.

The groundwork process of above-mentioned front support rod assembly 7 is: in the suspender decline stage, the short pendulum of front support rod assembly 7 Arm becomes vertical state substantially, causes interference thus without to front workpiece；In the handling stage, the short swing arm of front support rod assembly 7 exists The driving lower swing certain angle (such as 90 °) of front locking cylinder, so before locked by front locking cylinder, before being positioned at short swing arm tail end Oval cylinder 7.16 action so that the initial vacuum sucker 7.17 on front oval cylinder 7.16 holds the bottom surface of front workpiece, the shortest Swing arm just can be securely fixed workpiece before support, finally makes suspender capture front workpiece and complete the handling of front workpiece.This grab The way of realization taking structure is relatively simple, it is possible to workpiece before reliably capturing, and will not produce front workpiece and interfere in work process, 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, the district that it is similar with front support rod assembly 7, bigger Not being to be not provided with single-piston rod oval piston cylinder, this matches 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 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 the bottom surface of rear workpiece；After when When support bar assembly 6 is locked at lifting attitude by rear locking cylinder, its tail end is by work after the fixing support of final vacuum sucker 6.15 The bottom surface of part, is achieved in the crawl of rear workpiece.

Please also refer to Fig. 1 a～Fig. 1 c, the groundwork process of back support rod assembly 6 is: in the decline stage of suspender, 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 the bottom surface of rear workpiece, workpiece after the fixing support of such long arm swing, Workpiece the handling of workpiece after completing after making suspender capture eventually.The way of realization of this crawl structure is relatively simple, it is possible to reliable Workpiece after ground crawl, 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 is respectively mounted plate 10.1, plate 10.11 or shrouding 10.10 etc., It is consequently formed back support divider.The stabiliser bar installed above 10.15 of divider is to keep balance, and the lower section of divider is by interior hexagonal Bolt 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 ellipse cylinder (single-piston rod oval piston cylinder, the rear portion sucker of band vacuum cup 10.6 Regulation cylinder) 10.4, the trailing flank of workpiece after rear vacuum sucker 10.6 holds when handling, prevent rear workpiece from upwarping.

Above example all uses the back of the body of 6 pieces of sub-unit butt welding process for advanced high top dual horizontal truck cap in the world Scape, disclose a kind of rational in infrastructure before and after Workpiece sling, it includes but are not limited to techniques below feature:

One, owing to 4 band elevator precision are the highest, suspender uses when entering pre-clamps and just guides refinement guiding The guidance mode engaged, makes suspender can enter precisely into precalculated position grabbing workpiece every time；

Its two, revolution clamping cylinder installs alignment pin and supporting plate so that it is there is location and hold the effect of workpiece, workpiece In movement, play will not occur or fall the situation of part；

Its three, by cylinder fixing oval on the support bar assembly that locking cylinder controls and fixing true on oval cylinder Suction dish, this combining form can take notice of that 0 ° to 90 ° interior arbitrarily angled grabbing workpiece, the utilization of oval cylinder then reduce The space shared by supporting arm assembly system front and back so that it is the space turnover that can reserve between workpiece front and back, completes to pick and place part Action.

Before and after above-mentioned, piecemeal lid formula Workpiece sling operates the most convenient, and its basic operation process is as follows:

One, piecemeal lid formula Workpiece sling pickup action front and back

1, before and after general point is soldered into, workpiece is placed in pre-clamps；

2, declining after the control system of suspender receives signal, now front and back locking cylinder stretches out, supports before and after suspender Bar assembly is in 90 ° with front and back locking cylinder；

3, by guide-localization and the location of forward and backward revolution pin assembly of location, upper and lower part bar, suspender accurately enters Pickup position, before and after the corresponding alignment pin entrance in suspender forward and backward revolution pin assembly, the positioning process hole of workpiece, now hangs Tool reception puts in place signal, and forward and backward revolution clamping cylinder half-twist also clamps；

4, front and back locking cylinder shrinks, and back and front supporting bar assembly is opened, and held before and after's workpiece the most at a certain angle, Vacuum cup air-breathing before and after the most corresponding, makes before and after's workpiece securely fix, and now front and back workpiece disengages with pre-clamps；

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

Two, front and back piecemeal lid formula Workpiece sling puts part action

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

2, being guided by detent mechanism, before and after suspender drives, workpiece enters precalculated position, due to suspender work before and after gripping Being adjusted to certain angle during part, therefore front and back workpiece will not be interfered with left and right gusset when entering；

3, after receiving the signal that puts in place, whole vacuum cups are died, and oval cylinder shrinks, simultaneously before and after locking cylinder stretch Going out, front and back workpiece engages with left and right gusset, and front and back 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.

Seeing Figure 14, the control system composition frame chart of piecemeal lid formula Workpiece sling before and after the expression present invention, if it is provided with Dry electromagnetic valve (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 and (include turning round pin assembly before first Front revolution pin assembly 7, as turning round the flexible revolution pin assembly 9 of pin assembly before second, turning round alignment pin afterwards Assembly 12) or a support component (including front support rod assembly 7, back support rod assembly 6 and back support assembly 10), and whether adjust The whole 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, outfan is connected to the signal input part of electromagnetic valve, according to workpiece character and suspender state to relevant electromagnetism Valve or vacuum generator output control signal, in order to manipulate corresponding cylinder or sucker and carry out action by predetermined policy, thus Realize the pickup of workpiece according to predetermined strategy eventually 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 lifting assembly of Fig. 1 a～Fig. 1 c, (before first, revolution positions pin bank to turn round pin assembly before being provided with two groups Part 11, flexible revolution pin assembly (turning round pin assembly before second) 9), rear revolution 12, two groups of front supports of pin assembly Bar assembly 7, back support rod assembly 6, one group of back support assembly 10, therefore Figure 15 has been arranged in correspondence with following control element: six Individual clamping cylinder (j.1.a.11.2, j.2.b.11.2, j.3.a.12.2, j.4.b.12.2, j.5.a.9.3, j.6.b.9.3) and Two slide rail cylinders (h.1.a.9.2, h.1.b.9.2)；Four locking cylinders are (s.1.a.7, s.2.b.7, s.3.a.6, S.4.b.6), six oval cylinders are (t.1.a.7.16.1, t.2.a.7.16.2, t.3.b.7.16.1, t.4.b.7.16.2, T.5.a.10.4, t.6.b.10.4) and eight vacuum cups are (x.1.a.7.17.1, x.2.a.7.17.2, x.3.b.7.17.1, X.4.b.7.17.2, x.5.a.6.15, x.6.b.6.15, x.7.b.10.6, x.8.b.10.6).

In fig .15, six locking cylinders, two slide rail cylinders, six oval cylinders are 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 front and back workpiece, and suspender to the fixing support of front and back's workpiece and captures function, thus can be real easily Before and after now, automatically capturing of workpiece is reached the standard grade；Owing to suspender enters with a fixed angle when front and back, workpiece is reached the standard grade, it is to avoid workpiece Interference problem with left and right gusset, back wall and other pattern welding equipments；Additionally, front and back the yielding position of workpiece uses cylinder and vacuum Sucker combined support mode, is possible to prevent before and after's workpiece to deform so that it is accurate positioning of reaching the standard grade；Thus this suspender can meet well The requirement of workpiece (such as driver's cabin) piecemeal butt welding process, improves Product Assembly efficiency, it is ensured that the assembling quality of product.

As can be seen here, the exclusive technology used based on above example is domestic production one-tenth more attractive in appearance, safe and low This driver's cabin 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 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

1. being applicable to a suspender for before and after's piecemeal lid formula workpiece, front and back piecemeal lid formula workpiece by the front workpiece of inversed l-shaped and falls The rear workpiece assembly welding putting L-shaped is integral, it is characterised in that suspender turns round pin assembly, turns round before second before being configured with first Pin 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 includes hanging duel spreader frames on elevator, duel spreader frames is provided with to fixed between duel spreader frames and elevator Position suspender on detent mechanism, between duel spreader frames and pre-clamps location suspender under detent mechanism；Localization machine on suspender Structure includes the lead being fixedly mounted in duel spreader frames, and the guide head of lead deviates from ground and inserts the hole, location of elevator In；Under suspender, detent mechanism includes top location bar and location, the bottom bar being fixedly mounted in duel spreader frames, location, top bar Guide head be inserted in the axle sleeve of pre-clamps towards ground, bottom location bar guide head be inserted into pre-clamping towards ground In the hole, location of tool；Location, top bar includes the gripper shoe of alignment pin and inverted L shape, and the first end of gripper shoe is fixedly mounted on and hangs On tool framework, forming gripper shoe cantilever outside extending duel spreader frames outside the second end of gripper shoe, alignment pin is fixedly mounted on On gripper shoe cantilever.

2. suspender as claimed in claim 1, it is characterised in that offer some lightening holes on gripper shoe cantilever.

3. suspender as claimed in claim 2, it is characterised in that front locking cylinder and rear locking cylinder connect flow speed control valve.