CN106429853A - Lifting appliance clamping device and clamping control system thereof - Google Patents
Lifting appliance clamping device and clamping control system thereof Download PDFInfo
- Publication number
- CN106429853A CN106429853A CN201611077629.1A CN201611077629A CN106429853A CN 106429853 A CN106429853 A CN 106429853A CN 201611077629 A CN201611077629 A CN 201611077629A CN 106429853 A CN106429853 A CN 106429853A
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- Prior art keywords
- suspender
- clamping device
- controller
- connecting rod
- drive link
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- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 238000007689 inspection Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000004026 adhesive bonding Methods 0.000 description 7
- 239000003292 glue Substances 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000003068 static effect Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 241000287181 Sturnus vulgaris Species 0.000 description 1
- 210000005252 bulbus oculi Anatomy 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/18—Control systems or devices
- B66C13/48—Automatic control of crane drives for producing a single or repeated working cycle; Programme control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
- B66C15/06—Arrangements or use of warning devices
- B66C15/065—Arrangements or use of warning devices electrical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses a lifting appliance clamping device which comprises bearing beams, driving devices, cross rods, transmission rods, elastic elements and clamping blocks. First ends of the bearing beams are fixedly mounted on vertical columns positioned on two sides of a corresponding station, the driving devices are in transmission connection with first ends of the corresponding cross rods, second ends of the cross rods are connected with first ends of the corresponding transmission rods, the transmission rods are slidably mounted at second ends of the bearing beams, second ends of the transmission rods are connected with the elastic elements, and each clamping block is mounted at one end of the corresponding elastic element far away from the transmission rods. A lifting appliance can rapidly come to rest, and production efficiency is improved.
Description
Technical field
The present invention relates to suspender technical field, more particularly to a kind of suspender clamping device and its clamping control system.
Background technology
With the development of science and technology, bottom of automobile body gluing more and more adopts industrial robot automatic glue application, industry
The advantage of robot automatic glue application is that industrial robot can repeat the action for specifying, and stability height.
In prior art, as shown in figure 1, Fig. 1 is the suspender disclosed in prior art, including positioning motor 1 ', defeated
Send mechanism 2 ', alignment pin 3 ', industrial robot 4 ', vehicle body 5 ' and suspender body 6 '；Conveying mechanism 2 ' is movably mounted to production
On track 6 ' above line, positioning motor 1 ' is on conveying mechanism 2 ', and the alignment pin 3 ' is passed with the positioning motor 1 '
It is dynamically connected；When but vehicle body 5 ' is conveyed by suspender, as the precision of suspender is little, stability is poor, often shake, partially
Move, and side-play amount is up to 3-5cm sometimes.Add on per bar production line and there is tens stations, between different suspenders
Cause property is not high, and the commonly used suspender that also results in deforms, and integrates the locus that may result in suspender on station
There is deviation, and industrial robot 4 ' only repeat the action of teaching, moved according to the space coordinates of itself, it is impossible to
The side-play amount of identification suspender, so just cannot cause serious matter accurately by glue in welded joints during industrial robot gluing
Amount problem.Why will not be produced less than the problem on weld seam using artificial gluing before, be because artificial in gluing, eye
Eyeball stares at weld seam and is modified the gluing route of oneself in real time, it is ensured that glue is applied in welded joints, and industrial robot is work
Tool, is unable to reach at all as the mankind, revises when glue-application-edge is observed.
So, how to ensure precision of the suspender on station, it is to avoid vehicle body deviation is the key for carrying out automatic pasting, its
Even if real do not adopt the precision of industrial robot gluing, suspender to should be ensured that yet, but as workman can be adapted to oneself, also
Require that suspender does not shift without strong demand.I.e. cheap and practical device ensure that the precision of suspender, also just protect
Concordance of the vehicle body in industrial robot station locus is demonstrate,proved, industrial robot just can be applied according to set track
Glue, gluing quality height.
In summary, current sling system is primarily present following problem：
(1), when suspender runs to firm stopping, suspender can persistently rock a period of time could be static, and this seriously occupies production
Beat so that production efficiency is substantially reduced.
(2) due to having tens per bar production line suspender, the concordance of each suspender inherently has certain deviation, warp
Often use, suspender is it also occur that deformation, integrates the locus for resulting in 1-20 suspender on industrial robot station
There is deviation, up to 3-5cm, under serious conditions, be even up to 10cm.
Content of the invention
It is an object of the invention to provide a kind of suspender clamping device, to solve the problems, such as in background technology, can make suspender
Quickly static after station is reached get off, and improve the precision of suspender.
The invention provides a kind of suspender clamping device, wherein, including carrier bar, driving means, cross bar, drive link, bullet
Property element, gripping block；
The first end of the carrier bar is fixedly mounted on the column of corresponding station both sides；
The driving means are in transmission connection with the first end of the cross bar, the second end of the cross bar and the drive link
First end connects；The drive link is slidably mounted in the second end of the carrier bar；
Second end of the drive link is connected with the flexible member, the gripping block installed in the flexible member away from
One end of the drive link.
Suspender clamping device as above, these, it is preferred to, described driving means include clamping motor, first
Connecting rod and second connecting rod, the first connecting rod be fixedly connected with the rotating shaft of the clamping motor and the axis of the first connecting rod with
The axis of the rotating shaft of the clamping motor is vertical；The second connecting rod is fixedly connected with the first connecting rod, and described first connects
The axis of bar is vertical with the axis of the second connecting rod, and the second connecting rod is hinged with the first end of the cross bar；The cross bar
The second end hinged with the first end of the drive link.
Suspender clamping device as above, these, it is preferred to, the flexible member includes push rod and spring, described
Push rod two ends are fixedly connected with the gripping block, the drive link respectively, and the spring is set on the push rod, and the bullet
The first end of spring is resisted against in the gripping block, and the second end of the spring is resisted against on the carrier bar.
Suspender clamping device as above, these, it is preferred to, the second end of the carrier bar is provided with slide opening, described
Drive link is slidably mounted in the slide opening.
The invention allows for a kind of suspender clamps control system, including suspender body, positioning motor, alignment pin, control
Device and proximity transducer, the controller is electrically connected with the positioning motor, the proximity transducer, and the proximity transducer is used
Whether specified station is reached in the detection suspender body；The controller is used for whether obtaining suspender body from proximity transducer
The testing result for specifying station is reached, and controls the positioning motor to work after the suspender body is reached and specifies station, institute
Stating positioning motor drives the alignment pin to fall；Wherein, also include clamping device as above；
The clamping device is at least two, and the clamping device is fixedly mounted on the column of corresponding station both sides；Institute
State controller to electrically connect with the driving means on the pressure transducer, the clamping device；
The positioning motor is additionally operable to send feedback signal to the controller after driving the alignment pin to fall；
The controller is after the feedback signal for obtaining positioning motor, and control driving means work, and make clamping device from two
Side is clamped to the suspender body.
Suspender clamping control system as above, these, it is preferred to, also include alarm and for detecting that cross bar pushes away
The pressure transducer of power；
The controller is electrically connected with the pressure transducer, the alarm, and the controller obtains the pressure and passes
The detected value is simultaneously compared by the detected value of sensor with the preset pressure value in the controller；The controller is used in detected value
During more than preset pressure value, control the alarm work.
Suspender clamping control system as above, these, it is preferred to, the number of the clamping device is even number, and
It is symmetrically distributed in the both sides of corresponding station.
Suspender clamping control system as above, these, it is preferred to, the number of the clamping device is four.
Suspender clamping control system as above, these, it is preferred to, the controller is PLC.
The invention provides a kind of suspender clamping device, drive cross bar movement by driving means, and promote connecting rod and
Gripping block, so, it is possible to make to rock until the gripping block of both sides is resisted against on suspender body in the horizontal direction near suspender body
Suspender body static rapidly get off, saved the production time, improve production efficiency.
Description of the drawings
Fig. 1 is the structural representation of the suspender disclosed in prior art；
Fig. 2 is the structural representation of the suspender disclosed in the specific embodiment of the invention；
Fig. 3 is the top view of the suspender disclosed in the specific embodiment of the invention and clamping device；
Fig. 4 is the structural representation of the clamping device disclosed in the specific embodiment of the invention；
Fig. 5 is clamping device disclosed in the specific embodiment of the invention along the sectional view of cross bar axis；
Fig. 6 is the suspender clamping control system architecture schematic diagram disclosed in the specific embodiment of the invention.
Description of reference numerals：
1 '-positioning motor, 2 '-conveying mechanism, 3 '-alignment pin, 3 ' 4 '-industrial robot
5 '-vehicle body, 6 '-suspender body
1- carrier bar 2- driving means 3- cross bar 4- drive link 5- flexible member
6- gripping block 7- column 8- clamping device
201- clamping motor 202- first connecting rod 203- second connecting rod
501- push rod 502- spring
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Fig. 2 is the structural representation of the suspender disclosed in the specific embodiment of the invention；Fig. 3 is specific embodiment party of the present invention
The top view of suspender and clamping device disclosed in formula；Fig. 4 is the knot of the clamping device disclosed in the specific embodiment of the invention
Structure schematic diagram；Fig. 5 is clamping device disclosed in the specific embodiment of the invention along the sectional view of cross bar axis.
Fig. 2 to Fig. 5 is refer to, the present invention proposes a kind of suspender clamping device, wherein, including carrier bar 1, driving means
2nd, cross bar 3, drive link 4, flexible member 5 and gripping block 6；The first end of the carrier bar 1 is fixedly mounted on positioned at corresponding station
On the column 7 of both sides；The driving means 2 are in transmission connection with the first end of the cross bar 3, the second end of the cross bar 3 and institute
State the first end connection of drive link 4；The drive link 4 is slidably mounted in the second end of the carrier bar 1；The drive link
4 the second end is connected with the flexible member 5, and the gripping block 6 is installed in the flexible member 5 away from the drive link 4
One end.
When specifically used, by multiple described suspender clamping devices 8 installed in the both sides of predetermined station, when suspender body 6 '
After driving vehicle body 5 ' to move to default station, driving means 2 drive cross bar 3 to move and promote drive link 4 so that 6 edge of gripping block
Near the direction movement of suspender body 6 ', multiple gripping blocks 6 are synchronous to be resisted against suspender body 6 ' from both sides such that it is able to make to hang
Body is quickly static gets off for tool.
Used as a kind of optimal way, described driving means 2 include clamping motor 201, first connecting rod 202 and second connecting rod
203, the first connecting rod 202 is fixedly connected with the rotating shaft of the clamping motor 201 and the axis of the first connecting rod 202 and institute
The axis for stating the rotating shaft of clamping motor 201 is vertical；The second connecting rod 203 is fixedly connected with the first connecting rod 202, and described
The axis of first connecting rod 202 is vertical with the axis of the second connecting rod 203, the second connecting rod 203 and the first of the cross bar 3
End is hinged；Second end of the cross bar 3 is hinged with the first end of the drive link 4.The drive link 4 is slidably mounted in institute
The second end of carrier bar 1 is stated, when being embodied as, the second end of the carrier bar is provided with slide opening, and the drive link is slidably pacified
It is mounted in the slide opening.So, it is possible the straight reciprocating motion for changing into drive link 4 of clamping motor 201, it is ensured that push away
Block can be tightly abutted against on suspender body 6 ' so as to both sides in the horizontal direction.When being embodied as, it is also possible to by rack-and-pinion
The rotation of clamping motor 201 is changed into and moves along a straight line and drive gripping block 6 to move by mechanism or worm-and-wheel gear, and then can
Make suspender body 6 ' quickly static, save time, improve production efficiency.When being embodied as, cunning of the drive link 4 on carrier bar 1
Dynamic direction is along the direction closer or far from suspender body 6 '.Further, the flexible member 5 includes push rod 501 and spring
502,501 two ends of the push rod are fixedly connected with the gripping block 6, the drive link 4 respectively, and the spring 502 is set in institute
State on push rod 501, and the first end of the spring 502 be resisted against in the gripping block 6, the second end of the spring 502 against
On the carrier bar 1.In this way, by arranging flexible member 5, can prevent because clamping force is excessive and part is caused to damage.
Fig. 6 is the suspender clamping control system architecture schematic diagram disclosed in the specific embodiment of the invention；Refer to Fig. 3 and
Fig. 6, also proposed a kind of suspender clamping control system, including suspender body 6 ', positioning motor in the specific embodiment of the invention
1 ', alignment pin 3 ', controller and proximity transducer, the controller is electrically connected with the positioning motor 1 ', the proximity transducer
Connect, the proximity transducer is used for detecting whether the suspender body 6 ' reaches specified station；The controller be used for from be close to
Sensor obtains the testing result whether suspender body 6 ' reaches specified station, and reaches specified station in the suspender body 6 '
After control the positioning motor 1 ' to work, the positioning motor 1 ' drives the alignment pin 3 ' to fall；Wherein, also include as above institute
The clamping device 8 that states；The clamping device 8 is at least two, and the clamping device 8 is fixedly mounted on the vertical of corresponding station both sides
On post 7；The controller is electrically connected with the driving means 2 on the pressure transducer, the clamping device 8；The positioning electricity
Machine 1 ' is additionally operable to send feedback signal to the controller after driving the alignment pin 3 ' to fall；The controller is fixed in acquisition
After the feedback signal of position motor 1 ', control driving means 2 work, and so that clamping device 8 is carried out the suspender body 6 ' from both sides
Clamping.
When specifically used, when proximity transducer detects suspender body 6 ' and reaches the station that specifies, detection signal is passed
It is defeated by controller；The controller control work of positioning motor 1 ', and drive alignment pin 3 ' to fall；Complete Primary Location.Then position
Motor 1 ' will feed back signal and be sent to controller, and controller control clamping motor drives first connecting rod 202 and 203 turns of second connecting rod
Dynamic, due to hinged between second connecting rod 203 and cross bar 3, hinged between drive link 4 and cross bar 3, between drive link 4 and carrier bar 1
It is slidably connected, therefore, it is possible to drive drive link 4 for linear motion so that gripping block 6 is near the shifting of the direction of suspender body 6 '
Dynamic.When being embodied as, the controller is PLC.
As a kind of preferred version, also include alarm and the pressure transducer for detecting 3 thrust of cross bar；The control
Device is electrically connected with the pressure transducer, the alarm, and the controller obtains the detected value of the pressure transducer and incites somebody to action
The detected value is compared with the preset pressure value in the controller；The controller is used for being more than preset pressure value in detected value
When, control the alarm work, meanwhile, controller control industrial robot quits work.When being embodied as, the pressure is passed
Sensor is on cross bar 3, and is located at cross bar 3 and 4 junction of drive link.So, it is possible, when error is excessive, to point out artificial dry
In advance.Further, the number of the clamping device 8 is even number, and is symmetrically distributed in the both sides of corresponding station.In this way, can prevent
There is torsional movement in suspender body 6 ' during clamping.Further, the number of the clamping device 8 is four.Such as
This, can eliminate the position error that brings due to inconsistent between different suspenders.
The upper embodiment according to shown in schema is described in detail construction, feature and the action effect of the present invention, the above
Only presently preferred embodiments of the present invention, but the present invention is not to limit practical range, every conception according to the present invention shown in drawing
The change that is made, or be revised as the Equivalent embodiments of equivalent variations, during still without departing from description with illustrating covered spiritual, all
Should be within the scope of the present invention.
Claims (9)
1. a kind of suspender clamping device, it is characterised in that including carrier bar, driving means, cross bar, drive link, flexible member and
Gripping block；
The first end of the carrier bar is fixedly mounted on the column of corresponding station both sides；
The driving means are in transmission connection with the first end of the cross bar, the second end of the cross bar and the first of the drive link
End connection；The drive link is slidably mounted in the second end of the carrier bar；
Second end of the drive link is connected with the flexible member, and the gripping block is installed in the flexible member away from described
One end of drive link.
2. suspender clamping device according to claim 1, it is characterised in that described driving means include clamping motor,
First connecting rod and second connecting rod, the first connecting rod be fixedly connected with the rotating shaft of the clamping motor and the first connecting rod axle
Line is vertical with the axis of the rotating shaft of the clamping motor；The second connecting rod is fixedly connected with the first connecting rod, and described
The axis of one connecting rod is vertical with the axis of the second connecting rod, and the second connecting rod is hinged with the first end of the cross bar；Described
Second end of cross bar is hinged with the first end of the drive link.
3. suspender clamping device according to claim 1, it is characterised in that the flexible member includes push rod and spring,
The push rod two ends are fixedly connected with the gripping block, the drive link respectively, and the spring is set on the push rod, and institute
The first end for stating spring is resisted against in the gripping block, and the second end of the spring is resisted against on the carrier bar.
4. suspender clamping device according to claim 1, it is characterised in that the second end of the carrier bar is provided with slide opening,
The drive link is slidably mounted in the slide opening.
5. a kind of suspender clamps control system, including suspender body, positioning motor, alignment pin, controller and proximity transducer, institute
State controller to electrically connect with the positioning motor, the proximity transducer, the proximity transducer is used for detecting the suspender sheet
Whether body reaches specified station；The controller is used for obtaining, from proximity transducer, the inspection whether suspender body reaches specified station
Result is surveyed, and controls the positioning motor to work after the suspender body is reached and specifies station, the positioning motor drives institute
State alignment pin whereabouts；Characterized in that, also including the clamping device as described in any one of claim 1-4；
The clamping device is at least two, and the clamping device is fixedly mounted on the column of corresponding station both sides；The control
Device processed is electrically connected with the driving means on the pressure transducer, the clamping device；
The positioning motor is additionally operable to send feedback signal to the controller after driving the alignment pin to fall；
The controller is after the feedback signal for obtaining positioning motor, and control driving means work, and make clamping device from both sides pair
The suspender body is clamped.
6. suspender according to claim 5 clamps control system, it is characterised in that also include alarm and for detecting horizontal stroke
The pressure transducer of bar thrust；
The controller is electrically connected with the pressure transducer, the alarm, and the controller obtains the pressure transducer
Detected value and the detected value is compared with the preset pressure value in the controller；The controller is used for being more than in detected value
During preset pressure value, control the alarm work.
7. suspender according to claim 5 clamps control system, it is characterised in that the number of the clamping device is even
Number, and it is symmetrically distributed in the both sides of corresponding station.
8. suspender according to claim 7 clamps control system, it is characterised in that the number of the clamping device is four.
9. the suspender according to any one of claim 5-8 clamps control system, it is characterised in that the controller is PLC
Controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611077629.1A CN106429853B (en) | 2016-11-30 | 2016-11-30 | A kind of suspender clamping device and its clamping control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611077629.1A CN106429853B (en) | 2016-11-30 | 2016-11-30 | A kind of suspender clamping device and its clamping control system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106429853A true CN106429853A (en) | 2017-02-22 |
| CN106429853B CN106429853B (en) | 2017-12-12 |
Family
ID=58222405
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611077629.1A Expired - Fee Related CN106429853B (en) | 2016-11-30 | 2016-11-30 | A kind of suspender clamping device and its clamping control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106429853B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106891344A (en) * | 2017-02-27 | 2017-06-27 | 安徽江淮汽车集团股份有限公司 | A kind of suspender clamping device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201512361U (en) * | 2009-10-14 | 2010-06-23 | 江苏天奇物流系统工程股份有限公司 | Device for detecting car body seated on hanger |
| CN201545625U (en) * | 2009-10-14 | 2010-08-11 | 江苏天奇物流系统工程股份有限公司 | Vehicle body detecting device on lifting appliance |
| CN203128023U (en) * | 2012-12-03 | 2013-08-14 | 宁波远景汽车零部件有限公司 | Positioning and clamping device of lifting appliance for front floor assembly of automobile body |
| CN103832921A (en) * | 2012-11-21 | 2014-06-04 | 上汽通用五菱汽车股份有限公司 | Automobile front longitudinal beam installation lifting sling |
| CN204873436U (en) * | 2015-07-08 | 2015-12-16 | 无锡顺达智能自动化工程股份有限公司 | General type car body hoist |
| CN106044546A (en) * | 2016-07-22 | 2016-10-26 | 奇瑞汽车股份有限公司 | Hoisting tool |
-
2016
- 2016-11-30 CN CN201611077629.1A patent/CN106429853B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201512361U (en) * | 2009-10-14 | 2010-06-23 | 江苏天奇物流系统工程股份有限公司 | Device for detecting car body seated on hanger |
| CN201545625U (en) * | 2009-10-14 | 2010-08-11 | 江苏天奇物流系统工程股份有限公司 | Vehicle body detecting device on lifting appliance |
| CN103832921A (en) * | 2012-11-21 | 2014-06-04 | 上汽通用五菱汽车股份有限公司 | Automobile front longitudinal beam installation lifting sling |
| CN203128023U (en) * | 2012-12-03 | 2013-08-14 | 宁波远景汽车零部件有限公司 | Positioning and clamping device of lifting appliance for front floor assembly of automobile body |
| CN204873436U (en) * | 2015-07-08 | 2015-12-16 | 无锡顺达智能自动化工程股份有限公司 | General type car body hoist |
| CN106044546A (en) * | 2016-07-22 | 2016-10-26 | 奇瑞汽车股份有限公司 | Hoisting tool |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106891344A (en) * | 2017-02-27 | 2017-06-27 | 安徽江淮汽车集团股份有限公司 | A kind of suspender clamping device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106429853B (en) | 2017-12-12 |
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| CB02 | Change of applicant information |
Address after: 230601 Anhui Province, Hefei City Industrial Park, the Peach Blossom Road No. 669 Applicant after: ANHUI JIANGHUAI AUTOMOBILE GROUP Corp.,Ltd. Address before: Hefei City, Anhui Province, 230022 East Road No. 176 Applicant before: ANHUI JIANGHUAI AUTOMOBILE GROUP Corp.,Ltd. |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171212 |
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