CN204138123U

CN204138123U - The workpiece grabbing mechanism of hanging device

Info

Publication number: CN204138123U
Application number: CN201420313721.3U
Authority: CN
Inventors: 黄均辉
Original assignee: ZHUJI DIFENG KNITTING Co Ltd
Current assignee: ZHUJI DIFENG KNITTING Co Ltd
Priority date: 2014-06-13
Filing date: 2014-06-13
Publication date: 2015-02-04
Anticipated expiration: 2024-06-13

Abstract

The utility model discloses a kind of workpiece grabbing mechanism of hanging device, it be provided with to workpiece locating mechanism before locating between front workpiece and hanging device framework, to the rear workpiece locating mechanism of locating between rear workpiece and hanging device framework on hanging device framework, supporting front workpiece front workpiece bottom supporting mechanism when lifting by crane, support when lifting by crane after the rear workpiece bottom supporting mechanism of workpiece and the workpiece trailing flank supporting mechanism that upwarps toward rear when lifting by crane in order to workpiece after limiting; The corresponding activation part of front workpiece locating mechanism, rear workpiece locating mechanism, front workpiece bottom supporting mechanism, rear workpiece bottom supporting mechanism and rear workpiece trailing flank supporting mechanism is connected to control system with according to predetermined policy action, and the primary controller of control system also connects cloud service center and some user sides to exchange data.The utility model is applicable to the handling of front and back piecemeal lid formula workpiece, can meet the requirement of equipment piecemeal butt welding process, improve Product Assembly efficiency, ensure that the assembly quality of product.

Description

The workpiece grabbing mechanism of hanging device

Technical field

The utility model relates to hoisting technology, particularly relates to a kind of hanging device and the subsystem thereof that are applicable to front and back piecemeal lid formula workpiece.

Background technology

Workpiece type, specification, shape etc. in lifting industry vary, and need the hanging device that customized design and workpiece are suitable for mutually.For piecemeal lid formula workpiece before and after a kind of, it is formed by two parts workpiece assembly welding, front workpiece and rear workpiece are all approximately to be inverted " L-type ", and wherein the specification of front workpiece is less than the specification of rear workpiece, and the trailing flank of rear workpiece has larger size than the leading flank of front workpiece.Because workpiece has larger size and weight, with manually carrying, if use common hanging device to lift, cannot all there is larger difficulty in the location of workpiece, clamping and support, also causing workpiece deformation most probably simultaneously.Because existing hanging device to lift above-mentioned workpiece comparatively difficult, be also unfavorable for ensureing product design, the feature for this workpiece of being necessary to design a kind of novel hanging device system, to realize the lifting requirements of this kind of workpiece.

Utility model content

In view of this, the purpose of this utility model is to provide a kind of hanging device and subsystem thereof, at least can positioning precision, lifting efficiency, product design or manufacturing cost etc. some in meet the lifting requirements of front and back piecemeal lid formula workpiece.

For solving above technical matters, the utility model provides a kind of workpiece grabbing mechanism of hanging device, be applicable to front and back piecemeal lid formula workpiece, described front and back piecemeal lid formula workpiece can be integral with the rear workpiece assembly welding being inverted L shape by being inverted the front workpiece of L shape, described hanging device comprises the strut bar assembly be arranged on hanging device framework, described strut bar assembly has the swing arm that can swing on described hanging device framework, described swing arm becomes locking attitude with the bottom surface of supporting workpiece when lifting by crane, described swing arm is provided with actuating device and negative pressure adsorption equipment, described actuating device is arranged on hanging device framework to drive described swing arm to swing and locking workpiece, described negative pressure adsorption equipment act on workpiece bottom surface in case when lifting by crane the absorption bottom surface of workpiece and fixed pedestal workpiece, each actuating device and negative pressure adsorption equipment carry out action according to the output control signal of primary controller is corresponding, described primary controller also connects cloud service center and some user sides, so that at the swapping data of described primary controller, cloud service center and user side, described negative pressure adsorption equipment is the vacuum cup with Acetabula device and vacuum pump of the afterbody being arranged at described swing arm, and described vacuum cup is installed on the adjusting cylinders of the afterbody of described swing arm, the bottom surface of described adjusting cylinders absorption workpiece when lifting by crane, the afterbody of described swing arm is provided with regulating plate, described regulating plate offers regulating plate elongated slot, the cylinder barrel of described adjusting cylinders is locked on described regulating plate by running through the attaching parts of described regulating plate elongated slot, and the piston rod of described adjusting cylinders installs described vacuum cup, described actuating device is locking cylinder, and the head of described swing arm is connected to described locking cylinder, and described swing arm is hinged on described hanging device framework to realize swinging on described hanging device framework, this hanging device is provided with: for positioning and the left side clamped workpiece before the first specification, revolution pin assembly before right two group first, for positioning and the left side clamped workpiece before the second specification, revolution pin assembly before right two group second, for positioning and the left side clamped rear workpiece, pin assembly is turned round after right two groups, for the left side supported front workpiece bottom, right two groups of front support rod assemblies, for the left side supported rear workpiece bottom, right two groups of back support rod assemblies, for the left side supported rear workpiece trailing flank, right two groups of back support assemblies, wherein: left, the first front revolution pin assembly on right side is driven by one first front revolution clamping cylinder respectively, second revolution pin assembly of left and right side turns round clamping cylinder driving respectively before one second, the rear revolution pin assembly of left and right side turns round clamping cylinder afterwards by one respectively and drives, the front support rod assembly of left and right side is driven by a front locking cylinder respectively, and by two initial vacuum sucker suction grabbing workpieces, the back support rod assembly of left and right side is driven by locking cylinder after respectively, and by a final vacuum sucker suction grabbing workpiece, the back support assembly of left and right side is respectively by a rear vacuum sucker suction grabbing workpiece, before each second, revolution clamping cylinder connects a locating dowel pin adjusting cylinders respectively, and each locating dowel pin adjusting cylinders is respectively slide rail cylinder, each initial vacuum sucker connects an anterior sucker adjusting cylinders respectively, and each rear vacuum sucker connects a rear portion sucker adjusting cylinders respectively, and each anterior sucker adjusting cylinders, each rear portion sucker adjusting cylinders are respectively single-piston rod oval-section piston cylinder, the control gas circuit of this hanging device comprises seven two-position-five-way solenoid valves, two two-position three way magnetic valves, two 3 position-5 way electromagnetism, two vacuum generators and four blows off valve, wherein: before the first front revolution clamping cylinder in left side, first of right side, revolution clamping cylinder is connected to first two-position-five-way solenoid valve simultaneously, 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, and before the second front revolution clamping cylinder in left side, second of right side, revolution clamping cylinder is connected to the 3rd two-position-five-way solenoid valve simultaneously, the locating dowel pin adjusting cylinders in left side, the locating dowel pin adjusting cylinders on right side are connected to the 4th two-position-five-way solenoid valve simultaneously, first anterior sucker adjusting cylinders in left side, second anterior sucker adjusting cylinders in left side connect the 5th two-position-five-way solenoid valve simultaneously, first posterior sucker adjusting cylinders on right side, second posterior sucker adjusting cylinders on right side connect the 6th two-position-five-way solenoid valve simultaneously, and the rear portion sucker adjusting cylinders in left side, the rear portion sucker adjusting cylinders on right side connect the 7th two-position-five-way solenoid valve simultaneously, 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, and the rear locking cylinder in left side, 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 blow off valve, and the front locking cylinder on right side is connected to second blow off valve, and the rear locking cylinder in left side is connected to the 3rd blow off valve, and the rear locking cylinder on right side is connected to the 4th blow off valve, first blow off valve, second blow off valve connect first two-position three way magnetic valve simultaneously, and the 3rd blow off valve, the 4th blow off valve connect second two-position three way magnetic valve simultaneously, first initial vacuum sucker in left side, second initial vacuum sucker in left side, first initial vacuum sucker on right side, second initial vacuum sucker on right side are connected to first vacuum generator simultaneously, and the final vacuum sucker in left side, the final vacuum sucker on right side and the rear vacuum sucker in 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 solenoid valve, first 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 magnetic valve are corresponding to be connected on source of the gas, to turn on/off gas circuit to control respective cylinder action under primary controller controls, first vacuum generator, second vacuum generator are corresponding to be connected on source of the gas, to turn on/off gas circuit to control corresponding vacuum cup action under primary controller controls, the connecting line of source of the gas is provided with spiral tube, thribble and shutoff valve, to form the control gas circuit of hanging device.

Compared with prior art, the utility model is according to the feature of front and back piecemeal lid formula workpiece, some revolution pin assemblies are set location and clamping are realized to workpiece, some strut bar assemblies supporting workpiece when locking is set, about revolution pin assembly and strut bar assembly are respectively by air cylinder driven, related support assembly is adsorbed by vacuum cup.By rationally arranging location, clamping and supporting component, and controlling the action about cylinder or vacuum cup according to predetermined control strategy, the lifting of workpiece can be realized easily, improve Product Assembly efficiency; Simultaneously also can not defective work piece surface and shape, ensure that the assembly quality of product.The utility model also uses cloud computing technology interaction data between user terminal, cloud service center and primary controller, is conducive to improving user and understands equipment running status in time, and carry out Long-distance Control effectively.

Especially, the strut bar assembly swing arm in the utility model is provided with negative pressure adsorption equipment, it can when lifting by crane the bottom surface of negative-pressure adsorption workpiece and fixed pedestal workpiece.Negative-pressure adsorption have clean, absorption is steadily reliable, does not damage the advantages such as adsorbed object surface, for can causing the infringements such as distortion, scuffing to them with the forward and backward workpiece of larger external force fixed pedestal during forward and backward workpiece support.Like this, the utility model does not affect on the basis of front and back workpiece configurations in guarantee, the fixed pedestal of front and back workpiece is reliably achieved by negative-pressure adsorption, thus avoid workpiece play or fall the phenomenons such as part, the final requirement meeting operator's compartment piecemeal butt welding process well, improve Product Assembly efficiency, ensure that the assembly quality of product.

Accompanying drawing explanation

Fig. 1 a is the front view of the utility model embodiment hanging device;

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

Fig. 1 c is the birds-eye view of Fig. 1 a;

Fig. 2 a is the hanging device framework front view in hanging device shown in Fig. 1 a ~ Fig. 1 c;

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

Fig. 2 c is the birds-eye view of Fig. 2 a;

Fig. 3 a is the hanging device Connection Block front view in hanging device shown in Fig. 1 a ~ Fig. 1 c;

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

Fig. 3 c is the birds-eye view of Fig. 3 a;

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

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

Fig. 4 c is the birds-eye view of Fig. 4 a;

Fig. 5 a is the guidepost front view in hanging device shown in Fig. 1 a ~ Fig. 1 c;

Fig. 5 b is the birds-eye view of Fig. 5 a;

Fig. 6 a is the top radius stay front view in hanging device shown in Fig. 1 a ~ Fig. 1 c;

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

Fig. 6 c is the birds-eye view of Fig. 6 a;

Fig. 7 a is the bottom radius stay front view in hanging device shown in Fig. 1 a ~ Fig. 1 c;

Fig. 7 b is the birds-eye view of Fig. 7 a;

Fig. 8 a is revolution pin assembly front view before first in hanging device shown in Fig. 1 a ~ Fig. 1 c;

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

Fig. 9 a is revolution pin assembly front view before second in hanging device shown in Fig. 1 a ~ Fig. 1 c;

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

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

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

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

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

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

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

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

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

Figure 13 c is the birds-eye view of Figure 13 a;

Figure 14 a is the composition frame chart of the operation control system embodiment one of the utility model hanging device;

Figure 14 b is the composition frame chart of the operation control system embodiment two of the utility model hanging device;

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

Figure 16 a is the pickup procedure chart of piecemeal lid formula workpiece before and after the first specification in operation control system shown in Figure 14 a;

Figure 16 b puts part procedure chart for piecemeal lid formula workpiece before and after the first specification in operation control system shown in Figure 14 a;

Figure 16 c is the pickup procedure chart of piecemeal lid formula workpiece before and after the second specification in operation control system shown in Figure 14 a;

Figure 16 d puts part procedure chart for piecemeal lid formula workpiece before and after the second specification in operation control system shown in Figure 14 a.

Detailed description of the invention

Be described in detail below in conjunction with accompanying drawing and specific embodiment.Set forth a lot of detail in the following description so that fully understand the utility model.But the utility model can be much different from alternate manner described here to implement, those skilled in the art can when doing similar popularization without prejudice to when the utility model intension, and therefore the utility model is by the restriction of following public specific embodiment.

In the present embodiment, front and back piecemeal lid formula workpiece comprises front workpiece and rear workpiece, and front workpiece is roughly inverted L-shaped plate, and rear workpiece is also roughly inverted L-shaped plate.During operation, front workpiece and rear workpiece lift by crane simultaneously, after putting in place again by front workpiece together with rear workpiece assembly welding, piecemeal lid formula workpiece before and after forming thus.For simplicity, the Part I of front and back piecemeal lid formula workpiece end face is called front workpiece end face, and the Part II of workpiece end face is called rear workpiece end face, and side surface of workpiece is also referred to as rear side surface of workpiece.

Please simultaneously see Fig. 1 a ~ Figure 13 c, represent the structure of the utility model embodiment hanging device (hereinafter referred to as suspender), wherein Fig. 1 a ~ Fig. 1 c illustrates hoisting equipment structure; Fig. 2 a ~ Figure 13 c illustrates the major part structure of hanging device.Piecemeal lid formula workpiece (being called for short the first size workpiece) before and after handling first specification while that this hanging device can being used for, also can be used for piecemeal lid formula workpiece (being called for short the second size workpiece) before and after handling second specification, wherein: the width on the longitudinal axis of symmetry direction of the first size workpiece is larger simultaneously; Width on the longitudinal axis of symmetry direction of second size workpiece is less.In the present embodiment, the front workpiece of the first size workpiece turns round the clamping of pin assembly 11 location before first, realizes supporting by front support rod assembly 7; The front workpiece of the second size workpiece turns round the clamping of pin assembly 9 location before second, realizes supporting by front support rod assembly 7; Rear workpiece locates clamping by rear revolution pin assembly 12, realizes rear workpiece support, realize rear workpiece support by back support assembly 12 by back support rod assembly 6.Constructional drawing below further combined with hanging device and major part describes in detail.For simplicity, before the first specification, before workpiece and the second specification, workpiece is called front workpiece or rear workpiece sometimes simply, and does not carry out detailed differentiation, is noted when please read.

As shown in Fig. 1 a ~ Fig. 1 c, hanging device is formed primarily of parts such as hanging device framework 1, guidepost 3, top radius stay 4, the front revolution pin assembly 11 of bottom radius stay 5, first, rear revolution pin assembly 12, front support rod assembly 7, back support rod assembly 6 and back support assemblies 10, wherein:

Hanging device framework 1 is the body of hanging device, and it is hung on four-point band elevator (scheming not shown) by the hanging device link span 2 being arranged on hanging device framework 1 four bights.After gig is fallen, workpiece after hanging device captures from pre-clamps (scheming not shown), then lifts by crane and migrates to above assembly station with automatic carriage, then dropping on assembly station by hanging device and workpiece, finally completing corresponding assembly process.

Guidepost 3 is used as detent mechanism on hanging device, its bottom is fixedly mounted on the guidepost mount pad of hanging device framework 1 by fasteners such as socket bolt 16, plain cushion 17, bullet pads 18, its guide head deviates from ground and inserts in the knock hole of gig, can locate between the hanging device framework 1 in walking and gig, ensure hanging device and workpiece hoisting, in walking process easy motion.

Top radius stay 4 and bottom radius stay 5 match, as detent mechanism under hanging device, wherein: top radius stay 4 is fixedly mounted on the top radius stay adapter plate of hanging device framework 1 by fasteners such as socket bolt 13, plain cushion 14, bullet pads 15, its guide head can be inserted in the prepackage fixture axle sleeve at position P1, P2 (as Fig. 1 c) place towards ground, realizes the first guiding to hanging device and pre-clamps; The bottom of bottom radius stay 5 is fixedly mounted on the bottom radius stay adapter plate of hanging device framework 1 by socket bolt 22, plain cushion 23, bullet pad 24 etc., its guide head is inserted in the knock hole of pre-clamps towards ground, realizes carefully leading to hanging device.Like this, through the first guiding of top radius stay 4 and the thin guiding of bottom radius stay 4, the location between hanging device and pre-clamps just can be completed preferably.

Before first, revolution pin assembly 11 is used as front workpiece (the first specification) detent mechanism, it is arranged on hanging device framework 1, its the first prelocalization pin inserts in the knock hole of front workpiece, front workpiece held by its first front revolution supporting plate simultaneously, realizes thus the location between hanging device and front workpiece, clamping.

Before second, revolution pin assembly 9 is used as front workpiece (the second specification) detent mechanism equally.As Fig. 1 a ~ as illustrated in figure 1 c, in order to use the workpiece requirement of different product, revolution pin assembly 9 before hanging device also having been installed simultaneously second, its effect is identical with the first front pin assembly 11 that turns round.This second front revolution pin assembly 9 is telescopic prelocalization pin assemblies, it is installed on the front side of revolution pin assembly 11 before first, be mainly used in the handling of workpiece before the first specification, the handling of workpiece before revolution pin assembly 11 is then mainly used in the second specification before first: if lift by crane the second size workpiece, by the first front revolution pin assembly 11, workpiece before second specification is positioned, now the revolution clamping cylinder of the second front revolution pin assembly 9 needs to regain, and avoids thus producing and interferes; If lifting the first size workpiece, then positioned front workpiece by the second front revolution pin assembly 9, now the first front revolution pin assembly 11 can not produce interference to workpiece before the first specification.

Rear revolution pin assembly 12 is used as rear workpiece locating mechanism, its structure and function similar with the first front pin assembly 11 that turns round.This rear revolution pin assembly 12 is provided with rear revolution clamping cylinder, rear locating dowel pin and rear revolution supporting plate, rear revolution clamping cylinder is arranged on hanging device framework 1 by socket bolt 25, plain cushion 26, bullet pad 27 etc., rear locating dowel pin is inserted in the knock hole of rear workpiece, rear revolution supporting plate can hold rear workpiece simultaneously, realizes the location to hanging device and rear workpiece thus.Because the anchored object i.e. rear workpiece of rear revolution pin assembly 12 is substantially identical in distinct device (as equipment), therefore the present embodiment turns round pin assembly 12 after arranging a pair.

Front support rod assembly 7 is used as front workpiece end face supporting mechanism, it is arranged on hanging device framework 1 as front workpiece grabbing mechanism simultaneously, and can under front locking cylinder drives forward rocking motion, this front support rod assembly 7 becomes locking attitude when lifting by crane, workpiece before fixed pedestal thus, makes front workpiece grabbing on hanging device framework 1.As shown in Fig. 1 a ~ Fig. 1 c, front locking cylinder base 8 is arranged on the locking cylinder seat board of hanging device framework 1 by fasteners such as socket bolt 28, plain cushion 29, bullet pads 30, one end of front locking cylinder in front support rod assembly 7 is arranged on front locking cylinder base 8, the other end is connected to front support rod assembly 7 by fork, front support rod assembly 7 is driven to swing thus, when swing puts in place, front locking cylinder is from pinning front support rod assembly 7, so that fixed pedestal lives front workpiece.

Back support rod assembly 6 is used as rear workpiece end face supporting mechanism, it can be arranged on hanging device framework 1 as rear workpiece grabbing mechanism simultaneously, and can swing backward under rear locking cylinder drives, this back support rod assembly 6 becomes locking attitude when lifting by crane, workpiece after fixed pedestal thus, makes rear workpiece be sandwiched on hanging device framework 1.The actuating device of back support rod assembly 6 is identical with the frame mode of front support rod assembly 7 actuating device, repeats no more.

Back support assembly 10 is used as side surface of workpiece supporting mechanism (or claiming rear side surface of workpiece supporting mechanism), it is fixedly mounted on hanging device framework 1 by socket bolt 19, plain cushion 20, bullet pad 21 etc., workpiece after withstanding when lifting by crane, like this, workpiece would not tilt backward when handling.Only arranging back support assembly 10 herein, and do not arrange the front support assembly for supporting front workpiece leading flank, is due to the less cause of the leading flank size of front workpiece.

The version of the hanging device framework 1 in Fig. 1 a ~ Fig. 1 c, hanging device Connection Block 2, guidepost 3, top radius stay 4, bottom radius stay 5, back support rod assembly 6, front support rod assembly 7, the front revolution pin assembly 9 of front locking cylinder base 8, second, the front parts such as revolution pin assembly 11, rear revolution pin assembly 12 etc. of back support assembly 10, first all has multiple implementation, and below citing is described in detail.

Fig. 2 a ~ Fig. 2 c illustrates the structure of hanging device framework 1, this hanging device framework 1 by the square tube 1.1 of transverse direction, square tube 1.4 and longitudinal direction square tube 1.2, the cross connection such as square tube 1.5, square tube 1.13 and square tube 1.14, the termination of each square tube can be closed with shrouding 1.15, forms the skeleton of hanging device framework 1 thus.The suitable position of this skeleton installs plate 1.3, plate 1.7, plate 1.11, plate 1.12 additional, and support plate 1.16, support plate 1.18 etc., and installs gusset 1.10, gusset 1.20 etc. additional at the connecting portion about plate or support plate and improve intensity.Corresponding above-mentioned guidepost 3, top radius stay 4, bottom radius stay 5, back support rod assembly 6, front support rod assembly 7, front locking cylinder base 8, revolution pin assembly 9 before second, back support assembly 10, revolution pin assembly 11 before first, rear revolution pin assembly 12 etc., hanging device framework 1 needs arrange some adapter plates (seat), as locating dowel pin adapter plate 1.6, locating dowel pin mount pad 1.8, guidepost mount pad 1.9, locking cylinder seat board 1.17, locking cylinder seat board 1.19, etc., the hanging device framework 1 formed thus can install relevant detent mechanism and supporting mechanism easily.

Be understandable that, the size of this hanging device framework 1 should be suitable for mutually with pre-clamps.Simultaneously with reference to 1a ~ Fig. 1 c, the utility model determines rectangular coordinate system in such a way: set prepackage fixture vehicle body origin as O (0,0,0), longitudinal axis of symmetry of hanging device framework 1 is X-axis, and front side is just; The level of longitudinal axis of symmetry of hanging device framework 1 is vertical is Y-axis, and left side (i.e. the direction of arrow in Fig. 2 a) is just; And according to right-handed system determination Z axis, be just (namely pointing to hanging device framework 1) straight up.The critical positions coordinate relevant with hanging device framework can be determined thus, such as: the origin of hanging device framework is O ' (-600,700,2420); Position P1 (-100,-1250,2715), P2 (-100,1250,2715) prepackage fixture axle sleeve 31 is installed at place respectively, top radius stay 4 coordinates with prepackage fixture axle sleeve 31, realizes the first guiding (or claiming slightly to lead) between hanging device framework 1 and pre-clamps; Pre-clamps knock hole is symmetrical about O O ' line, and lower radius stay 5 coordinates with pre-clamps knock hole, realizes the thin guiding between hanging device framework 1 and pre-clamps; Like this, by rationally arranging positioning shaft sleeve or position of positioning hole, can ensure that hanging device and pre-clamps accurately align, ensure that hanging device is after the first guiding of top radius stay 4 and the thin guiding of bottom radius stay 5, can enter desired location grabbing workpiece exactly at every turn.In addition, position P3 (-1678 ,-1250,2420) and it about the symmetric position of OO ' line, crashproof bearing 32 is set respectively, to prevent from colliding in handling process.

Hanging device framework 1 shown in Fig. 2 a ~ Fig. 2 c is provided with the accessory structure such as hanging device Connection Block 1 and front locking cylinder base 8, rear locking cylinder base, below distinguishes brief description.

In hanging device Connection Block as shown in Fig. 3 a ~ Fig. 3 c, fixed support 2.1 is by adding long bolt 2.2 and nut 2.3 is fixedly installed on hanging device framework 1, bearing pin 2.4 is located with spring cotter 2.5 through after fixed support 2.1, forms hanging device Connection Block 2 thus.The corner location of the hanging device framework 1 in the present embodiment all installs a hanging device Connection Block 2, lifting rope walks around the bearing pin 2.4 in hanging device Connection Block 2, just can hanging device framework 1 be hung on four-point band elevator, gig just can drive hanging device to be elevated and translation after starting, make hanging device arrive preposition operation.

Fig. 4 a ~ Fig. 4 c illustrates the structure of front locking cylinder base 8.1, this front locking cylinder base 8 is made up of riser 8.1 and base plate 8.2, wherein: base plate 8.2 is fixed on the locking cylinder base plate of hanging device framework 1 by socket bolt 28, plain cushion 29, bullet pad 30; Riser 8.1 is fixed on base plate 8.2 and forms support, in order to be installed locking cylinder before in front stretching bar assembly 7 by Assembly of pin.The similar of rear locking cylinder base, because not identifying in figure, does not launch to describe at this.

In order to the front workpiece of successfully handling and rear workpiece, should guarantee between hanging device and pre-clamps, gig, accurate positioning between hanging device and workpiece.For this reason, the utility model embodiment to be provided with on corresponding hanging device detent mechanism, front workpiece locating mechanism and rear workpiece locating mechanism under detent mechanism, hanging device, wherein on hanging device, positioning function is realized by guidepost 3, under hanging device, positioning function is realized jointly by top radius stay 4 and bottom radius stay 5, front workpiece locating mechanism is realized by the first front revolution pin assembly 11, rear workpiece locating mechanism is realized by rear revolution pin assembly 12, is described in detail below to these parts.

In guide post structure as shown in Fig. 5 a ~ Fig. 5 b, guidepost 3 is made up of round steel 3.1 and base plate 3.2, base plate 3.2 is fixedly installed on the guidepost mount pad 1.9 of hanging device framework 1 by socket bolt 16, plain cushion 17, bullet pad 18 (as Fig. 1 a ~ Fig. 3 b), and wherein round steel 3.1 is upside down installed on base plate 3.2.After hanging device mentions certain altitude, the guide head on round steel 3.1 top just can be inserted in the knock hole of gig, so just make to realize between hanging device framework 1 and gig locating, thus can prevent from hanging device from producing in the process of dividing a word with a hyphen at the end of a line rocking, the final smooth running ensureing hanging device and workpiece.

See Fig. 6 a ~ Fig. 6 c, the structure of top radius stay 4 is shown.Simultaneously with reference to figure 1a ~ Fig. 1 c, top radius stay 4 comprises the parts such as the stay bearing plate 4.1 of alignment pin 4.2 and inverted L shape, wherein: the first end of stay bearing plate 4.1 is fixedly mounted on hanging device framework 1, extend outside second end outside hanging device framework 1 and form stay bearing plate cantilever, this stay bearing plate cantilever can offer some lightening holes; Alignment pin 4.2 is fixedly mounted on stay bearing plate cantilever, and its guide head is inserted into towards ground in the axle sleeve of pre-clamps, can be used as the first guiding between hanging device and pre-clamps thus.

As shown in Fig. 6 a ~ Fig. 6 c, the concrete assembling mode of top radius stay 4 is: the first end (bottom) of the stay bearing plate 4.1 of inverted L shape is fixed with base plate 4.4, base plate 4.4 is fixed to the top of hanging device framework 1 by standard connector such as bolts, and installs gusset 4.5 between base plate 4.4 and stay bearing plate 4.1 additional to improve intensity; Second end (tail end) of stay bearing plate 4.1 arranges the cover 4.3 of stationary positioned bearing pin 4.2, is wherein set with alignment pin 4.2 and uses socket head cap screw 4.6 fastening, forming top radius stay 4 assembly thus.Require to be installed to after on hanging device framework 1 according to earlier figures 1a ~ Fig. 1 c, prepackage fixture axle sleeve 31 just can be utilized to carry out preliminary guiding.

Fig. 7 a ~ Fig. 7 b shows the structure of bottom radius stay 5, this bottom radius stay 5 is comparatively similar to guidepost 3, its structure is comparatively simple: its base plate 5.2 is fixedly installed on hanging device framework 1 by standard connector such as bolts, the head of round steel 5.1 is installed on base plate 5.2, and its guide head is inserted in the knock hole of pre-clamps towards ground.After hanging device drops to crawl position, the guide head on round steel 5.1 top is inserted in the knock hole of pre-clamps, makes hanging device framework 1 and pre-clamps realize carefully locating.Like this, after the first guide-localization of radius stay on aforementioned 4, then carry out thin guide-localization with bottom radius stay 5 herein, can ensure that hanging device enters into crawl position exactly, enable hanging device successfully grabbing workpiece.

Fig. 8 a ~ Fig. 8 b shows a kind of implementation of front workpiece locating mechanism, revolution pin assembly 11 before it is embodied in first, be made up of parts such as the first front revolution clamping cylinder 11.2, first prelocalization pin 11.5 and the first front revolution supporting plates 11.4, wherein: turning round clamping cylinder 11.2 before first is arranged on the locating dowel pin mount pad 1.8 of hanging device framework 1; First prelocalization pin 11.5 is fixedly mounted on the cylinder barrel of revolution clamping cylinder 11.2 before first, can insert in the knock hole of front workpiece; Before first, revolution supporting plate 11.4 is arranged on the piston rod bottom of revolution clamping cylinder 11.2 before first.

As shown in Fig. 8 a ~ Fig. 8 b, concrete assembling mode is: before first, revolution clamping cylinder 11.2 is installed on plate 11.1 by plate socket head cap screw 1111, then is installed on hanging device framework 1 by plate 11.1; Locating dowel pin adapter plate 11.3 is installed on the cylinder barrel of revolution clamping cylinder 11.2 before first by socket head cap screw 11.9, bullet pad 11.10, and the first prelocalization pin 11.5 is fixed on locating dowel pin adapter plate 11.3 by nut 11.6, plain cushion 11.7, bullet pad 11.8; Before first, revolution supporting plate 11.4 is fixed on the piston rod bottom of revolution clamping cylinder 11.2 before first by socket head cap screw 11.12, bullet pad 11.13, and this first front revolution supporting plate 11.4 is provided with through hole, inserts the first prelocalization pin 11.5 when can regain for piston rod.

See Fig. 8 a ~ Fig. 8 b, simultaneously with reference to figure 1a ~ Fig. 1 c, before first, the groundwork working process of revolution pin assembly 11 is: after hanging device and pre-clamps are located, revolution clamping cylinder 11.2 before rotating first, before driving first when its piston rod stretches out, revolution supporting plate 11.4 rotates, and the first prelocalization pin 11.5 is inserted in the knock hole of front workpiece and positions; Contraposition is complete, and before first, the piston rod of revolution clamping cylinder 11.2 is regained, and before first, front workpiece held by revolution supporting plate 11.4, better achieves the location between hanging device and front workpiece thus.

Fig. 9 a ~ Fig. 9 b illustrates the structure of revolution pin assembly 9 before a kind of second, and it is a kind of telescopic front revolution pin assembly.Turn round pin assembly 11 before the basic structure and above-described first of this second front revolution pin assembly 9 similar, difference is to add a locating dowel pin adjusting cylinders and slide rail cylinder 9.2.Before second, the concrete structure of revolution pin assembly 9 is: slide rail cylinder 9.2 is arranged on slide rail cylinder mount pad 9.1 by socket bolt 9.8, plain cushion 9.9, bullet pad 9.10 vertically, and this slide rail cylinder mount pad 9.1 is fixed on hanging device framework 1 by socket bolt 9.21, plain cushion 9.22, bullet pad 9.23; Before second, the cylinder barrel of revolution clamping cylinder 9.3 is received on cylinder connecting panel 9.4 by socket bolt 9.11, bullet pad 9.14 and socket bolt 9.13, bullet pad 9.14, this cylinder connecting panel 9.4 is fixed with the piston rod of slide rail cylinder 9.2, thus achieves slide rail cylinder 9.2 and the second front connection of turning round clamping cylinder 9.3; Second prelocalization pin adapter plate 9.7 is installed on the cylinder barrel of revolution clamping cylinder 9.3 before second by socket head cap screw 9.15, bullet pad 9.16, and the second prelocalization pin 9.6 is fixed on the second prelocalization pin adapter plate 9.7 by nut 9.17, plain cushion 9.18, bullet pad 9.19; Second revolution supporting plate 9.5 is fixed on the piston rod bottom of revolution clamping cylinder 9.3 before second by socket head cap screw 9.20, this second revolution supporting plate 9.5 is provided with through hole, inserts the second prelocalization pin 9.6 when can regain for piston rod.

When this second front revolution pin assembly 9 does not use, the second front revolution clamping cylinder 9.3 is regained by slide rail cylinder 9.2; During work, the piston rod of slide rail cylinder 9.2 reaches predetermined length, drive the second prelocalization pin 9.6 and the second revolution supporting plate 9.5 to work by the second front revolution clamping cylinder 9.3 of bottom afterwards, this process is identical with turning round pin assembly 11 before first, repeats no more.

Figure 10 a ~ Figure 10 b shows the structure of rear revolution pin assembly 12, it is made up of parts such as rear revolution clamping cylinder 12.2, rear locating dowel pin 12.5 and rear revolution supporting plates 12.4, wherein: rear revolution clamping cylinder 12.2 passes through rear locking cylinder floor installation on the locating dowel pin adapter plate 1.6 of hanging device framework 1; Rear locating dowel pin 12.5 is fixedly mounted on the cylinder barrel of rear revolution clamping cylinder 12.2, can insert in the knock hole of rear workpiece; Rear revolution supporting plate 12.4 is arranged on the piston rod bottom of rear revolution clamping cylinder 12.2.This rear revolution pin assembly 12 is substantially identical with the structure of rear revolution pin assembly 11, difference is only that the rear revolution supporting plate surface configuration in the middle of both is different, this is because rear workpiece shapes is different from rear workpiece shapes, thus require the cause of coupling respective shapes revolution supporting plate.

As shown in Figure 10 a ~ Figure 10 b, the concrete assembling mode of rear revolution pin assembly 12 is: rear revolution clamping cylinder 12.2 is installed on plate 12.1, and plate 12.1 is installed on hanging device framework 1 by socket bolt 25, plain cushion 26, bullet pad 27; Locating dowel pin adapter plate 12.3 is installed on the cylinder barrel of rear revolution clamping cylinder 12.2 by socket head cap screw 12.9, bullet pad 12.10, and rear locating dowel pin 12.5 is fixed on locating dowel pin adapter plate 12.3 by nut 12.6, plain cushion 12.7, bullet pad 12.8; Rear revolution supporting plate 12.4 is fixed on the piston rod bottom of rear revolution clamping cylinder 12.2 by socket head cap screw 12.12, bullet pad 12.13, and this rear revolution supporting plate 12.4 is provided with through hole, locating dowel pin 12.5 after inserting when can regain for piston rod.

As Figure 10 a ~ Figure 10 b, simultaneously with reference to figure 1a ~ Fig. 1 c, the groundwork working process of rear revolution pin assembly 11 is: after hanging device and pre-clamps are located, after driving when after rotating, the piston rod of revolution clamping cylinder 11.2 stretches out, revolution supporting plate 11.4 rotates, and rear locating dowel pin 11.5 is inserted in the knock hole of rear workpiece and positions; Contraposition is complete, and the piston rod of rear revolution clamping cylinder 11.2 is regained, and rear workpiece held by rear revolution supporting plate 11.4, better achieves the location between hanging device and rear workpiece thus.

The guide-localization of hanging device and gig, hanging device and pre-clamps and hanging device and workpiece is achieved above by detent mechanism under detent mechanism, hanging device on hanging device and front workpiece locating mechanism and rear workpiece locating mechanism.On this basis, need to be optimized design about the supporting mechanism of front workpiece, rear workpiece, so that reliably grabbing workpiece.This realizes in particular by front support rod assembly 7, back support rod assembly 6 and back support assembly 10, is described in detail below.

Figure 11 a ~ Figure 11 b illustrates the structure of front support rod assembly 7, this front support rod assembly 7 is relatively short swing arm, its concrete assembling mode is: some spacers 7.6 are located in two opposed front end panel 7.1 centres, each spacer 7.6 place hex bolt 7.2, plain cushion 7.3, bullet pad 7.4, nut 7.5 etc. are fastening, front end panel 7.1 bottom is connected by socket bolt 7.25, bullet pad 7.26, hexagon thin nut 7.27, is formed as short swing arm (i.e. front support rod) thus; The top of end swing arm is hinged on the front support rod assembly support plate of hanging device framework 1 by the Shaft assembly that axle 7.9, spacer 7.10, spacer 7.11, spring cotter 7.12 and nut 7.13 are formed; The pin assemblies that the head end of short swing arm is consisted of axle 7.14, spring cotter 7.12 and nut 7.13 and front roll bar 7.15 hinged, this front roll bar 7.15 is connected to the piston rod of front locking cylinder, the cylinder barrel of front locking cylinder is fixed on the front locking cylinder base 8 with hanging device framework 1, and short swing arm just can be driven when front locking cylinder stretches to rotate around hanging device framework 1; The afterbody of short swing arm arranges the vacuum cup 7.17 with Acetabula device and vacuum pump, its Acetabula device workpiece before absorption when lifting by crane, and this makes it possible to reliably workpiece before fixed pedestal.

As shown in Figure 11 a ~ Figure 11 b, short swing arm afterbody is provided with the adjusting cylinders of initial vacuum sucker 7.17, to adjust the ranging coverage of initial vacuum sucker 7.17.Anterior sucker adjusting cylinders 7.16 is single-piston rod oval-section piston bar cylinder, i.e. anterior sucker adjusting cylinders anterior sucker adjusting cylinders 7.16 in Figure 11 a ~ Figure 11 b, the concrete mounting means of it and initial vacuum sucker 7.17 is: short swing arm tail end installs angle steel 7.8 and regulating plate 7.7; Fix with front end panel 7.1 with hex bolt 7.28, plain cushion 7.29, bullet pad 7.30, nut 7.31 after regulating plate 7.7 adjusts angle; Anterior sucker adjusting cylinders anterior sucker adjusting cylinders 7.16 socket head cap screw 7.22, plain cushion 7.23, bullet pad 7.24 are fixed with angle steel 7.8; By regulating hex bolt 7.18, plain cushion 7.19, bullet pad 7.20 and nut 7.21 to install anterior sucker adjusting cylinders anterior sucker adjusting cylinders 7.16 on regulating plate 7.7.Wherein regulating plate 7.7 has two regulating plate elongated slots, the cylinder barrel of anterior sucker adjusting cylinders 7.16 is locked on regulating plate 7.7 by running through the attaching parts of regulating plate elongated slot, and the piston rod of anterior sucker adjusting cylinders 7.16 installs initial vacuum sucker 7.17.Thus, along relative position with short swing arm tail end of elongated slot direction adjustable anterior sucker adjusting cylinders 7.16; So just can adjust initial vacuum sucker 7.17 position in short swing arm, ensure that it has a good Support Position to front workpiece.

Above-mentioned front support rod assembly 7 is a kind of workpiece grabbing mechanisms, groundwork process be: in the hanging device decline stage, the short swing arm of front support rod assembly 7 becomes vertical state substantially, can not cause interference thus to front workpiece; In the handling stage, the short swing arm of front support rod assembly 7 is at the driving lower swing certain angle (as 90 °) of front locking cylinder, then locked by front locking cylinder, be positioned at anterior sucker adjusting cylinders 7.16 action of short swing arm tail end, the initial vacuum sucker 7.17 on anterior sucker adjusting cylinders 7.16 is made to hold front workpiece, short like this swing arm just can reliably workpiece before fixed pedestal, and workpiece before finally making hanging device capture also completes the handling of front workpiece.The way of realization of this crawl structure is comparatively easy, can reliably capture front workpiece, can not produce and interfere, also can not cause damage to the surface of front workpiece in working process to front workpiece.

Back support rod assembly 6 structure shown in Figure 12 a ~ Figure 12 b, it and front support rod assembly 7 are similar, and be also a kind of workpiece grabbing mechanism, larger difference is not arrange single-piston rod oval-section piston cylinder, and this matches with rear workpiece shapes.

As shown in Figure 12 a ~ Figure 12 b, back support rod assembly 6 is relatively long swing arm (rear workpiece size is greater than front workpiece size), its concrete assembling mode is: some spacers 6.6 are located in two opposed rear bearing sheet 6.1 centres, each spacer 6.6 place hex bolt 6.2, plain cushion 6.3, bullet pad 6.4, nut 6.5 etc. are fastening, form long arm swing (i.e. back support rod); The top of long arm swing is hinged on the back support rod assembly support plate of hanging device framework 1 by the Assembly of pin of axle 6.8, spacer 6.9, spacer 6.10, spring cotter 6.12 and nut 6.11; The pin assemblies that the head end of long arm swing is consisted of axle 6.13, spring cotter 6.12 and nut 6.11 and rear fork 6.14 hinged, this rear fork 6.14 is connected to the piston rod of rear locking cylinder, the cylinder barrel of rear locking cylinder is fixed on the rear locking cylinder base with hanging device framework 1, and long arm swing just can be driven when rear locking cylinder stretches to rotate around hanging device framework 1; The tail end of long arm swing, by fixed installation angle steel 6.7 such as hex bolt 6.16, plain cushion 6.3, bullet pad 6.4, nuts 6.5, angle steel 6.7 is installed final vacuum sucker 6.15, and long arm swing swings final vacuum sucker 6.15 when putting in place can hold rear workpiece; When back support rod assembly 6 is locked at lifting attitude by rear locking cylinder, its tail end, by workpiece after final vacuum sucker 6.15 fixed pedestal, realizes the crawl of rear workpiece thus.

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 hanging device, and the long arm swing of back support rod assembly 6 becomes vertical state substantially, can not cause interference thus to rear workpiece; In the handling stage, the long arm swing of back support rod assembly 6 at the driving lower swing of rear locking cylinder to the angle of basic horizontal, then locked by rear locking cylinder, the final vacuum sucker 6.15 being positioned at long arm swing tail end holds rear workpiece, workpiece after such long arm swing fixed pedestal, workpiece after finally making hanging device capture the handling of workpiece after completing.The way of realization of this crawl structure is comparatively easy, can reliably capture rear workpiece, can not produce and interfere, also can not cause damage to rear surface of the work in working process to rear workpiece.

Figure 13 a ~ Figure 13 c illustrates the structure of back support assembly 10, and simultaneously see Fig. 1 a ~ Fig. 1 c, this back support assembly 10 is arranged on the afterbody of hanging device framework 1 by fasteners such as socket bolt 19, plain cushion 20, bullet pads 21.In this back support assembly 10, square tube 10.2, square tube 10.3 cross connection, the port of pipe is closed with plate 10.1, plate 10.11 or shrouding 10.10 respectively, forms back support skeleton thus.Stabilizer rod 10.15 is installed to keep balance in the top of skeleton, angle steel 10.5 is installed by socket bolt 10.12, plain cushion 10.13, bullet pad 10.14 in the below of skeleton, by the rear portion sucker adjusting cylinders (single-piston rod oval-section piston cylinder) 10.4 of socket bolt 10.7, plain cushion 10.8, bullet pad 10.9 mounting strap vacuum cup 10.6 on angle steel 10.5, when handling, rear vacuum sucker 10.6 holds the rear workpiece at workpiece rear portion, and after preventing workpiece rear portion, workpiece upwarps.

Above-mentioned hanging device can be used for the simultaneously front workpiece of handling first specification and rear workpiece, also can be used for the front workpiece of handling second specification and rear workpiece simultaneously, and the operating process basic simlarity under two kinds of situations, operates all comparatively convenient.For former, its basic operation process is as follows:

One, the first size workpiece pickup action

1, point forward and backward workpiece be soldered is placed in pre-clamps;

2, the operation control system of hanging device declines after receiving signal, and now forward and backward locking cylinder stretches out, hanging device back and front supporting bar assembly and forward and backward locking cylinder in 90 °;

3, by the guide-localization of upper and lower part radius stay and the location of forward and backward revolution pin assembly, hanging device accurately enters pickup position, corresponding locating dowel pin in hanging device forward and backward revolution pin assembly enters the end face positioning process hole of forward and backward workpiece, now hanging device receives the signal that puts in place, and forward and backward revolution clamping cylinder half-twist also clamps;

4, forward and backward locking cylinder shrinks, back and front supporting bar assembly is opened, and holds the end face of forward and backward workpiece at a certain angle respectively, simultaneously corresponding forward and backward vacuum cup air-breathing, forward and backward workpiece is firmly fixed, and now forward and backward workpiece is thrown off with pre-clamps;

5, hanging device receives clamping and captures settling signal, and hanging device is mentioned by 4 band elevators.

Two, the first size workpiece puts part action

1, hanging device wait position receive important document signal, self-moving carriage walking puts in place, and 4 band elevators decline fast, and after dropping to certain altitude descending at slow speed;

2, led by detent mechanism, hanging device drives forward and backward workpiece to enter desired location, because hanging device adjusted when the forward and backward workpiece of gripping, to certain angle, can not be interfered with left and right gusset when therefore forward and backward workpiece enters;

3, after receiving the signal that puts in place, whole vacuum cup is died, and sucker adjusting cylinders shrinks, and forward and backward locking cylinder stretches out simultaneously, and forward and backward workpiece engages with the left and right gusset of equipment (as operator's compartment), and forward and backward revolution clamping cylinder unclamps;

4, hanging device receives and puts part settling signal, and 4 band elevators rise, and automatic carriage turns back to waits for that grabbing workpiece is waited in position, and hanging device completes puts part action.

In order to improve the degree of automation of above-mentioned hanging device, corresponding operation control system can be built easily for above-described hanging device, being described further combined with Figure 14 a ~ Figure 16 d.

See Figure 14 a, represent the operation control system composition frame chart of the utility model hanging device, it is provided with some electromagnetic valves (group), some vacuum generators (group) and primary controller, cylinder line, vacuum cup group, wherein:

Electromagnetic valve group is linked in gas circuit, revolution clamping cylinder before controlling first, revolution clamping cylinder before second, rear revolution clamping cylinder, locating dowel pin adjusting cylinders, front locking cylinder, rear locking cylinder, anterior sucker adjusting cylinders and rear portion sucker adjusting cylinders on/off gas circuit, whether to open or close relevant positioning component (turning round pin assembly 7 before comprising first, revolution pin assembly 9 before second, rear revolution pin assembly 6) or supporting component (comprise front support rod assembly 11, back support rod assembly 12 and back support assembly 10), and the position whether adjusted about vacuum cup,

Vacuum generator group is linked in gas circuit, controls initial vacuum sucker, final vacuum sucker and rear vacuum sucker on/off gas circuit, so that whether corresponding absorption workpiece;

Primary controller, can be one group, control can journey logic controller (PLC), also can be a central controller (center primary controller), mouth is connected to the signal input part of electromagnetic valve and vacuum generator, control signal is exported to associated solenoid valve or vacuum generator according to workpiece character and hanging device state, to manipulate corresponding cylinder or sucker carries out action by predetermined policy, thus finally realize the pickup of workpiece according to predetermined strategy and put part.

See Figure 15, be the example of a kind of gas circuit implementation structure in Figure 14 a, the gas circuit in the utility model operation control system is not limited to the type of attachment that this example provides.For simplicity, the layout in the following ways of the Reference numeral in this figure: the first field letter representation component type, as being connected with the version of numeral then this numeral element, such as k23 represents two-position three way electric control solenoid valve; Second field numeral element number; 3rd field numeral element is positioned at the direction of hanging device, and left side is a, and right side is b; The hanging device component serial numbers of the 4th field numeral component installation location; The numbering of 5th field numeral element in hanging device parts; The similar elements sequence number of 6th field numeral element in hanging device parts.Such as, x.3.b.7.17.1 represent the 3rd vacuum cup, it is positioned on the right side front support rod assembly 7 of hanging device, and it is first vacuum cup in this front support rod assembly 7, and it is expressed as 7.17 at the parts of front support rod assembly.

In the hanging device of Fig. 1 a ~ Fig. 1 c, be provided with two group of first front revolution pin assembly 9 of front revolution pin assembly 7, second, rear revolution pin assembly 6, two groups of front support rod assemblies 11, back support rod assemblies 12, one group of back support assembly 10, therefore being provided with following control element accordingly in Figure 15: six clamping cylinders are (j.1.a.11.2, j.2.b.11.2, j.3.a.12.2, j.4.b.12.2, j.5.a.9.3, j.6.b.9.3) and two slide rail cylinders (h.1.a.9.2, h.1.b.9.2); Four locking cylinders (s.1.a.7, s.2.b.7, s.3.a.6, s.4.b.6), six oval cylinders (t.1.a.7.16.1, t.2.a.7.16.2, t.3.b.7.16.1, t.4.b.7.16.2, t.5.a.10.4, t.6.b.10.4) and eight vacuum cups (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, and two vacuum generators (z.1, z.2) x.8.b.10.6).

In fig .15, six locking cylinders, two slide rail cylinders, six oval cylinders are connected on source of the gas respectively by two-position-five-way solenoid valve (k25.1, k25.2, k25.3, k25.4, k25.5, k25.6, K25.7); Four locking cylinders are connected on source of the gas respectively by 3 position-5 way electromagnetic valve (k35.1, k35.2), and (v.1 these four locking cylinders are connected to governor valve, v.2, v.3, v.4 and v.5, v.6, v.7, v.8), four locking cylinders also pass through two-position three way magnetic valve (k23.1 simultaneously, k23.2) quick exhaust valve is connected (p.1, p.2, p.3, p.4); Like this, all power elements are all reasonably connected on source of the gas; The connecting line of source of the gas can be arranged spiral tube lxg, thribble slg and shutoff valve jzf, thus constitute control gas circuit.Be understandable that, above-mentioned gas circuit power element also can adopt other connection mode, repeats no more.

In operation control system described in Figure 14 a, primary controller specifically can control by the control policy shown in Figure 16 a ~ Figure 16 d, is below described.

Figure 16 a represents process when the front workpiece of the first specification and rear workpiece pickup, is specially: hanging device declines, and front locking cylinder and rear locking cylinder are opened; Hanging device declines and puts in place, front locking cylinder and rear locking cylinder close, anterior sucker adjusting cylinders and rear portion sucker adjusting cylinders stretch out, and initial vacuum sucker, final vacuum sucker and rear vacuum sucker adsorb, and the first front revolution clamping cylinder and rear revolution clamping cylinder close; Other pneumatic element is closed and is failure to actuate.

Figure 16 b represents the process when the front workpiece of the first specification and rear workpiece put part, be specially: the first front revolution clamping cylinder and rear revolution clamping cylinder are opened, initial vacuum sucker, final vacuum sucker and rear vacuum sucker are died, anterior sucker adjusting cylinders and rear portion sucker adjusting cylinders are retracted, front locking cylinder and rear locking cylinder are opened, and hanging device rises; Other pneumatic element is closed and is failure to actuate.

Figure 16 c represents the process when the front workpiece of the second specification and rear workpiece pickup, is specially: locating dowel pin adjusting cylinders stretches out; Hanging device declines, and front locking cylinder and rear locking cylinder are opened; Hanging device declines and puts in place, front locking cylinder and rear locking cylinder close, anterior sucker adjusting cylinders and rear portion sucker adjusting cylinders stretch out, and initial vacuum sucker, final vacuum sucker and rear vacuum sucker adsorb, and the second front revolution clamping cylinder and rear revolution clamping cylinder close; Other pneumatic element is closed and is failure to actuate.

Figure 16 d represent put part at the front workpiece of the second specification and rear workpiece put part process, be specially: the second front revolution clamping cylinder and rear revolution clamping cylinder are opened, initial vacuum sucker, final vacuum sucker and rear vacuum sucker are died, anterior sucker adjusting cylinders and rear portion sucker adjusting cylinders are retracted, front locking cylinder and rear locking cylinder are opened, hanging device rises, and other pneumatic element is closed and is failure to actuate.

Above the operation control system of hanging device of the present utility model is described in detail.On this basis, the utility model improves based on the operation control system of cloud computing technology to hanging device further.

The utility model utilizes cloud computing technology, interaction can be carried out by cloud service center and between user side and primary controller (group), the control policy of primary controller can be long-rangely set, meet the individual demand of delivery system, user also can understand the immediate status that hanging device runs at any time simultaneously, and carries out Long-distance Control to hanging device.Like this, hanging device of the present utility model just becomes a kind of hanging device controlled based on cloud computing.

So-called cloud computing is by making Computation distribution on a large amount of distributed computers, but not in local computer or long-distance cloud servicing center, the operation of enterprise data center will be more similar to internet.This make enterprise can by resource switch to need application on, access computer and memory system according to demand.This is a kind of revolutionary behave, and this is like being the pattern having turned to power plant's centrally connected power supply from ancient separate unit generator mode.It means that computing power or computing power also can circulate as a kind of commodity, just as coal gas, water power, takes conveniently, low cost.Maximum difference is, this computing power or storage capacity are transmitted by internet.Like this, only need notebook, a mobile phone or other terminal, just can realize all of user's needs by network service, even comprise the task that supercomputing is such.From this angle, end user is the real owner of cloud computing.

The Organization Chart of another embodiment of hanging device operation control system that Figure 14 b provides for the utility model, comprises detector set 100, primary controller 200, actuating unit group 300, cloud service center 400 and user side 500.Wherein, detector set 100, primary controller 200 and actuating unit group 300 form conventional operation control system.Below illustrate at once respectively:

Detector set 100 comprises various kinds of sensors, and as position transduser, speed sensor (concrete viewing system needs setting) etc., they arrange on predeterminated position, gather and export the detected parameters reflecting hanging device operational effect; Primary controller (can be one group of primary controller, as multiple programmable master control device PLC, also can be single Central Control Room) 200, processes detected parameters, and exports control signal according to preset strategy.Actuating unit group 300 comprises multiple actuating unit, and can be cylinder, electromagnetic valve (concrete viewing system needs setting) etc., the corresponding control signal that they export according to primary controller 200 carries out action, and hanging device is run according to the strategy preset.Especially, primary controller 200 in the utility model embodiment connects cloud service center 400 by network simultaneously, it and cloud service center 400 exchange data, and all kinds of detected parameters is uploaded in cloud service center 400 by it, and user side 500 can inquire about the running state of hanging device afterwards; Simultaneously, user side 500 can upload personalized control command as the case may be in cloud service center 400, these control commands are sent in primary controller 200 by this cloud service center 400, actuating unit group 300 can be controlled thus according to user view action, demand for control that so just can be satisfying personalized.

In this embodiment, detector set 100, actuating unit group 300 can be arranged according to existing electrical control gear, and (concrete reference Figure 14 a), also can reset according to the special requirement of user, briefly be described below.

Detector set 100 is arranged on the correct position of hanging device, be used for detecting the various operational factors of hanging device, primary controller 200 exports corresponding control signal accordingly, also facilitates user side 500 to understand the running state of hanging device simultaneously, and adjusts relevant operation reserve when needed.

Actuating unit group 300 is the electromagnetic valve (group) described in Figure 14 a, vacuum generator (group), cylinder line, vacuum cup group, specifically comprises the first front revolution clamping cylinder, the second front revolution clamping cylinder, rear revolution clamping cylinder, locating dowel pin adjusting cylinders, front locking cylinder, rear locking cylinder, anterior sucker adjusting cylinders and rear portion sucker adjusting cylinders, initial vacuum sucker, final vacuum sucker and rear vacuum sucker etc.Certainly, other actuating unit also may be set, as safety protection mechanism etc.

Primary controller 200 can be one group of primary controller, as multiple programmable master control device (PLC), also can be single Central Control Room, and it can control relevant actuating unit action according to the control policy preset, and ensures that hanging device normally runs.

User side 500 can be the various terminals such as PC (PC), smart mobile phone, panel computer, Intelligent worn device, and they have better visual interface, facilitate user to understand running state and the Long-distance Control hanging device of hanging device.

Cloud service center 400 configures some Cloud Servers with superpower computing power and storage capacity, can the request of fast speed response user side 500 and primary controller, push the operational factor of hanging device in user side 500, or the remote control commands of user side 500 is pushed to primary controller 200, to manipulate actuating unit group 300 according to the requirement of user.

Above-mentioned primary controller 200, can to connect in a wired or wireless fashion between user side 500 and cloud service center 400, according to existing agreement as ICP/IP protocol transmits data, not repeat them here.

Hanging device described in above embodiment and operation control system can realize the location of the location of hanging device and pre-clamps and gig, hanging device and rear workpiece preferably, and hanging device is to the fixed pedestal of rear workpiece and crawl function, the automatic capturing that can realize rear workpiece thus is easily reached the standard grade; Because hanging device enters with a fixed angle when rear workpiece is reached the standard grade, avoid the interference problem of workpiece and left and right gusset, back wall and other pattern welding equipments; In addition, the yielding position of rear workpiece adopts cylinder and vacuum cup combined support mode, can prevent rear workpiece deformation, make its accurate positioning of reaching the standard grade; This hanging device can meet the requirement of equipment piecemeal butt welding process well thus, improves Product Assembly efficiency, ensures the assembly quality of product.

As can be seen here, adopt the exclusive technology of hanging device to be that domestic production is more attractive in appearance based on above embodiment, the large-sized sheet material stamped workpieces equipment of safety and low cost provides possibility, thus there is good application prospect.

Although the utility model with preferred embodiment openly as above; but it is not for limiting the utility model; any those skilled in the art are not departing from spirit and scope of the present utility model; can make possible variation and amendment, the scope that therefore protection domain of the present utility model should define with the utility model claim is as the criterion.

Claims

1. the workpiece grabbing mechanism of a hanging device, be applicable to front and back piecemeal lid formula workpiece, described front and back piecemeal lid formula workpiece can be integral with the rear workpiece assembly welding being inverted L shape by being inverted the front workpiece of L shape, described hanging device comprises the strut bar assembly be arranged on hanging device framework, described strut bar assembly has the swing arm that can swing on described hanging device framework, described swing arm becomes locking attitude with the bottom surface of supporting workpiece when lifting by crane, it is characterized in that, described swing arm is provided with actuating device and negative pressure adsorption equipment, described actuating device is arranged on hanging device framework to drive described swing arm to swing and locking workpiece, described negative pressure adsorption equipment act on workpiece bottom surface in case when lifting by crane the absorption bottom surface of workpiece and fixed pedestal workpiece, each actuating device and negative pressure adsorption equipment carry out action according to the output control signal of primary controller is corresponding, described primary controller also connects cloud service center and some user sides, so that at the swapping data of described primary controller, cloud service center and user side,

Described negative pressure adsorption equipment is the vacuum cup with Acetabula device and vacuum pump of the afterbody being arranged at described swing arm, and described vacuum cup is installed on the adjusting cylinders of the afterbody of described swing arm, the bottom surface of described adjusting cylinders absorption workpiece when lifting by crane;

The afterbody of described swing arm is provided with regulating plate, described regulating plate offers regulating plate elongated slot, the cylinder barrel of described adjusting cylinders is locked on described regulating plate by running through the attaching parts of described regulating plate elongated slot, and the piston rod of described adjusting cylinders installs described vacuum cup;

Described actuating device is locking cylinder, and the head of described swing arm is connected to described locking cylinder, and described swing arm is hinged on described hanging device framework to realize swinging on described hanging device framework;

This hanging device is provided with: for positioning and the left side clamped workpiece before the first specification, revolution pin assembly before right two group first, for positioning and the left side clamped workpiece before the second specification, revolution pin assembly before right two group second, for positioning and the left side clamped rear workpiece, pin assembly is turned round after right two groups, for the left side supported front workpiece bottom, right two groups of front support rod assemblies, for the left side supported rear workpiece bottom, right two groups of back support rod assemblies, for the left side supported rear workpiece trailing flank, right two groups of back support assemblies, wherein:

First front revolution pin assembly of left and right side turns round clamping cylinder driving respectively before one first; Second revolution pin assembly of left and right side turns round clamping cylinder driving respectively before one second; The rear revolution pin assembly of left and right side turns round clamping cylinder afterwards by one respectively and drives; The front support rod assembly of left and right side is driven by a front locking cylinder respectively, and by two initial vacuum sucker suction grabbing workpieces; The back support rod assembly of left and right side is driven by locking cylinder after respectively, and by a final vacuum sucker suction grabbing workpiece; The back support assembly of left and right side is respectively by a rear vacuum sucker suction grabbing workpiece;

Before each second, revolution clamping cylinder connects a locating dowel pin adjusting cylinders respectively, and each locating dowel pin adjusting cylinders is respectively slide rail cylinder; Each initial vacuum sucker connects an anterior sucker adjusting cylinders respectively, and each rear vacuum sucker connects a rear portion sucker adjusting cylinders respectively, and each anterior sucker adjusting cylinders, each rear portion sucker adjusting cylinders are respectively single-piston rod oval-section piston cylinder;

The control gas circuit of this hanging device comprises seven two-position-five-way solenoid valves, two two-position three way magnetic valves, two 3 position-5 way electromagnetism, two vacuum generators and four blows off valve, wherein:

Before the first front revolution clamping cylinder in left side, first of right side, revolution clamping cylinder is connected to first two-position-five-way solenoid valve simultaneously, 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, and before the second front revolution clamping cylinder in left side, second of right side, revolution clamping cylinder is connected to the 3rd two-position-five-way solenoid valve simultaneously;

The locating dowel pin adjusting cylinders in left side, the locating dowel pin adjusting cylinders on right side are connected to the 4th two-position-five-way solenoid valve simultaneously;

First anterior sucker adjusting cylinders in left side, second anterior sucker adjusting cylinders in left side connect the 5th two-position-five-way solenoid valve simultaneously, first posterior sucker adjusting cylinders on right side, second posterior sucker adjusting cylinders on right side connect the 6th two-position-five-way solenoid valve simultaneously, and the rear portion sucker adjusting cylinders in left side, the rear portion sucker adjusting cylinders on right side connect the 7th two-position-five-way solenoid valve simultaneously;

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, and the rear locking cylinder in left side, 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 blow off valve, and the front locking cylinder on right side is connected to second blow off valve, and the rear locking cylinder in left side is connected to the 3rd blow off valve, and the rear locking cylinder on right side is connected to the 4th blow off valve; First blow off valve, second blow off valve connect first two-position three way magnetic valve simultaneously, and the 3rd blow off valve, the 4th blow off valve connect second two-position three way magnetic valve simultaneously;

First initial vacuum sucker in left side, second initial vacuum sucker in left side, first initial vacuum sucker on right side, second initial vacuum sucker on right side are connected to first vacuum generator simultaneously, and the final vacuum sucker in left side, the final vacuum sucker on right side and the rear vacuum sucker in 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 solenoid valve, first 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 magnetic valve are corresponding to be connected on source of the gas, to turn on/off gas circuit to control respective cylinder action under primary controller controls; First vacuum generator, second vacuum generator are corresponding to be connected on source of the gas, to turn on/off gas circuit to control corresponding vacuum cup action under primary controller controls; The connecting line of source of the gas is provided with spiral tube, thribble and shutoff valve, to form the control gas circuit of hanging device.

2. workpiece grabbing mechanism as claimed in claim 1, is characterized in that, described hanging device comprises hanging device framework and the prepackage clamp positioning mechanism that is installed on hanging device framework and workpiece locating mechanism.

3. workpiece grabbing mechanism as claimed in claim 2, it is characterized in that, described prepackage clamp positioning mechanism comprises and is arranged on the first guide on hanging device framework and the second guide, the second standard being arranged on the first standard outside pre-clamps and being arranged in pre-clamps, the initial alignment altitude datum of described first standard is greater than the initial alignment altitude datum of described second standard, described first guide and described first standard cooperation are carried out just leading to hanging device and pre-clamps and realize one-time positioning, described second guide and described second standard coordinate and carefully lead to hanging device and pre-clamps and realize secondary and locate.

4. workpiece grabbing mechanism as claimed in claim 3, it is characterized in that, described first guide is the top radius stay be arranged on hanging device framework, described first standard is be arranged on the axle sleeve outside pre-clamps, the end face of described axle sleeve is higher than the end face of pre-clamps, the guide head of described top radius stay is inserted in described axle sleeve towards ground and realizes one-time positioning, described top radius stay is installed on the top of hanging device framework and extends outside hanging device frame facet profile outward, described top radius stay comprises the stay bearing plate of alignment pin and inverted L shape, the first end of described stay bearing plate is fixedly mounted on described hanging device framework, extend outside described hanging device framework outside second end of described stay bearing plate and form stay bearing plate cantilever, described alignment pin is fixedly mounted on described stay bearing plate cantilever, described second guide is the bottom radius stay be arranged on hanging device framework, described second standard is the pre-clamps knock hole be opened in pre-clamps, and the guide head of described bottom radius stay is inserted in described pre-clamps knock hole towards ground and realizes secondary location.

5. workpiece grabbing mechanism as claimed in claim 2, it is characterized in that, described workpiece locating mechanism comprises: be arranged on the locating dowel pin on hanging device framework, and described locating dowel pin positions hanging device and workpiece by inserting Workpiece fixing hole; Be arranged on the Workpiece clamping device on hanging device framework, described Workpiece clamping device can be clamped in the Workpiece clamping adjoining described Workpiece fixing hole and put forth effort district.

6. workpiece grabbing mechanism as claimed in claim 5, it is characterized in that, described Workpiece clamping device comprises the revolution supporting plate that can carry out stretching and rotating under actuating device drives, described actuating device is revolution clamping cylinder, described revolution clamping cylinder is arranged on hanging device framework, described revolution supporting plate is arranged on the piston rod bottom of described revolution clamping cylinder to hold the bottom surface that described Workpiece clamping puts forth effort district, the bottom shape that the top surface shape of described revolution supporting plate and described Workpiece clamping put forth effort district matches, described revolution supporting plate can be held and clamp the bottom surface that described Workpiece clamping puts forth effort district, described locating dowel pin is fixedly mounted on the cylinder barrel of described revolution clamping cylinder by locating dowel pin adapter plate and forms revolution pin assembly, described revolution supporting plate in described revolution pin assembly offers revolution supporting plate through hole, described locating dowel pin can insert when described revolution supporting plate returns to off working state in described revolution supporting plate through hole and position described revolution supporting plate, described revolution clamping cylinder in described revolution pin assembly is arranged on described hanging device framework by parts moving linearly and forms flexible revolution pin assembly.

7. workpiece grabbing mechanism as claimed in claim 1, it is characterized in that, described primary controller is one group of programmable logic controller (PLC), and described cloud service center configures some Cloud Servers, and described user side is terminal; Connect in a wired or wireless fashion between described primary controller, described user side and described cloud service center and transmit data.