CN207709710U - A kind of freezer liner production line that gluing is preposition - Google Patents

Abstract

The utility model discloses a kind of freezer liner production lines that gluing is preposition, including the big coaming plate production line of U-shaped, the small coaming plate production line of U-shaped, Z-shaped soleplate production line, the degree of lip-rounding coaming plate riveting station, corner line gluing station, bottom plate rivet line.Degree of lip-rounding coaming plate riveting station is used to become degree of lip-rounding coaming plate after mutually riveting two end lines of the big coaming plate of U-shaped prepared by the big coaming plate production line of U-shaped and the small coaming plate of U-shaped prepared by the small coaming plate production line of U-shaped.Corner line gluing station carries out advance gluing on the corner line for being combined with Z-shaped bottom plate on lip-sync coaming plate before riveting.Bottom plate rivet line is used to Z-shaped bottom plate prepared by degree of lip-rounding coaming plate and Z-shaped soleplate production line mutually riveting into freezer liner, includes pre- riveting station, four fillets riveting station, vertical edge end edge riveting station, side end edge riveting station, the positions short side substep riveter successively in order.

Description

A kind of freezer liner production line that gluing is preposition

Technical field

The utility model is related to freezer liner automated production equipments.

Background technology

Freezer liner coaming plate is for being isolated freezer liner and refrigeration device.Freezer liner coaming plate is usually by Figured aluminium plate system At.In general, freezer liner coaming plate adds again after becoming degree of lip-rounding coaming plate after mutually being riveted by the U-shaped coaming plate made by two pieces of Figured aluminium plates It is formed after upper plate riveting.Become a degree of lip-rounding coaming plate after small one and large one riveting of two U-shaped coaming plates, then degree of lip-rounding coaming plate again and After Z-shaped bottom plate riveting, being formed has step-like freezer liner coaming plate.Under the prior art, by two blocks of U-shaped coaming plates and Z-shaped bottom plate Between riveting by being accomplished manually.

Invention content

Problem to be solved in the utility model：Freezer liner production automation.

To solve the above problems, the scheme that the utility model uses is as follows：

A kind of freezer liner production line that gluing is preposition, including it is the big coaming plate production line of U-shaped, the small coaming plate production line of U-shaped, Z-shaped Soleplate production line, degree of lip-rounding coaming plate riveting station, corner line gluing station, bottom plate rivet line；The big coaming plate production line of U-shaped is used for Figured aluminium plate is prepared into the big coaming plate of U-shaped；The small coaming plate production line of U-shaped is used to Figured aluminium plate being prepared into the small coaming plate of U-shaped；Institute Z-shaped soleplate production line is stated for Figured aluminium plate to be prepared z-shape bottom plate；The degree of lip-rounding coaming plate riveting station is for enclosing greatly U-shaped Two end lines of plate and the small coaming plate of U-shaped become degree of lip-rounding coaming plate after mutually riveting；The corner line gluing station is enclosed for lip-sync Advance gluing is carried out before riveting on the corner line being combined with Z-shaped bottom plate on plate；The bottom plate rivet line is for enclosing the degree of lip-rounding Plate mutually rivets into freezer liner with Z-shaped bottom plate.

Further, the degree of lip-rounding coaming plate riveting station is at the blanking of the big coaming plate production line of the U-shaped and the U-shaped is small Between the blanking of coaming plate production line；The first robot mechanical arm is equipped at the blanking of the big coaming plate production line of U-shaped；Described One robot mechanical arm is used to the big coaming plate of U-shaped that the big coaming plate production line of U-shaped is prepared being transferred to the degree of lip-rounding coaming plate and rivet On station；The second robot mechanical arm is equipped at the blanking of the small coaming plate production line of U-shaped；Second robot mechanical arm is used It is transferred on the degree of lip-rounding coaming plate riveting station in the small coaming plate of U-shaped that the small coaming plate production line of the U-shaped is prepared.

Further, the bottom plate rivet line includes pre- riveting station, four fillets riveting station, vertical edge end edge successively in order Rivet station, side end edge riveting station, the positions short side substep riveter；The pre- riveting station is for lip-sync coaming plate and Z-shaped The multiple points chosen on the corner line being combined between bottom plate synchronize nail riveting, and degree of lip-rounding coaming plate is made mutually to be fixed with Z-shaped bottom plate； Four fillets that the four fillets riveting station is used to be combined between lip-sync coaming plate and Z-shaped bottom plate are riveted；It is described perpendicular The two vertical corner lines and high-end corner line that side end side riveting station is used to be combined between the big coaming plate of U-shaped and Z-shaped bottom plate Synchronize riveting；Two long sides that the side end edge riveting station is used to be combined between the big coaming plate of U-shaped and Z-shaped bottom plate The low side corner line being combined between corner line and the small coaming plate of U-shaped and Z-shaped bottom plate synchronizes riveting；The short side substep riveting Two short side corner line substeps that station is used to be combined between the small coaming plate of U-shaped and Z-shaped bottom plate rivet.

Further, the pre- riveting station, four fillets riveting station, vertical edge end edge riveting station, side end edge rivet work Position, the positions short side substep riveter are laterally arranged in order in order, and top is crossed with robot track beam；The robot track The sucker manipulator that can be moved along the robot track beam is installed on beam；The pre- riveting station, the riveting of four fillets Station, vertical edge end edge rivet station, side end edge rivets station, liner support machine is separately installed on the positions short side substep riveter Structure；Liner supporting mechanism on the pre- riveting station is set on first longitudinal direction track, and can be along the first longitudinal direction track It is mobile；One end of the first longitudinal direction track is located at the lower section of the robot track beam, and the other end is rivet line feeding end；Institute Rivet line feeding end is stated to be located between the blanking of the corner line gluing station and the Z-shaped soleplate production line；The corner Line gluing station is set between degree of lip-rounding coaming plate riveting station and rivet line feeding end.

Further, the bottom plate rivet line further includes blanking transition station；The pre- riveting station, four fillets rivet work Position, vertical edge end edge riveting station, side end edge riveting station, the positions short side substep riveter, blanking transition station are lateral in order It is arranged in order；The robot track beam is across the pre- riveting station, four fillets riveting station, vertical edge end edge riveting work Position, side end edge rivet the top of station, the positions short side substep riveter, blanking transition station；The liner supporting mechanism includes Six pillar framework supporting mechanisms and liftable cabinet mouth platform；The six pillars framework supporting mechanism includes six roots of sensation column；The six roots of sensation is vertical Column four high two is short, forms the framework supporting mechanism of step, is used to support freezer liner；The six pillars framework supporting mechanism is horizontal To adjustable with longitudinal size；Six pillar framework supporting mechanisms described in the cabinet mouth platform ring are arranged, and are tipped upside down on for working as freezer liner The cabinet mouth of freezer liner is supported when on the six pillars framework supporting mechanism；The blanking transition station includes being mounted on second to indulge The six pillar framework supporting mechanisms on track；One end of the second longitudinal direction track is located under the robot track beam Side, the other end are rivet line discharging end.

Further, it nail is installed is riveted on the outside of the column of six pillar framework supporting mechanisms on riveting station in advance and set；Pre- riveting It connects the top on station and is riveted on the corner line set for being combined between lip-sync coaming plate and Z-shaped bottom plate and synchronize nail riveting, make Degree of lip-rounding coaming plate is mutually fixed with Z-shaped bottom plate；The liner supporting mechanism longitudinal direction both ends of four fillets riveting station are respectively equipped with two difference Respectively it is mounted on double fillet riveting mechanism groups of mechanical arm front end；Double fillet riveting mechanism groups are by two and the mechanical arm The fillet riveting set that outside is respectively facing in 45 degree of angles is formed；Vertical edge end edge rivets the liner supporting mechanism longitudinal two of station Double vertical edges that end is respectively equipped with respectively mounted on mechanical arm front end are riveted and set and end edge riveter structure；Double vertical edges, which are riveted, to be set by two A direction is opposite and vertical edge riveter structure that be vertically arranged is formed；The liner supporting mechanism of side end edge riveting station is longitudinal Both ends are respectively equipped with the double long side riveter structures and end edge riveter structure for being respectively mounted on mechanical arm front end；Double long side riveters Structure is riveted to set and be formed by two towards opposite long side；Liner supporting mechanism longitudinal direction one end of the positions short side substep riveter is set There are double short side riveter structures mounted on mechanical arm front end；Double short side riveter structures are by two towards opposite short side riveting Device is formed；The fillet that the fillet riveting set is used to be combined between lip-sync coaming plate and Z-shaped bottom plate is riveted；Institute Vertical corner line of the vertical edge riveter structure for being combined between the big coaming plate of U-shaped and Z-shaped bottom plate is stated to rivet；The long side It is riveted while being riveted the long side linea angulata set for being combined between the big coaming plate of U-shaped and Z-shaped bottom plate；The short side is riveted The short side corner line for being combined between the small coaming plate of U-shaped and Z-shaped bottom plate is set to rivet；The end edge riveter structure for pair The high-end corner line being combined between the big coaming plate of U-shaped and Z-shaped bottom plate is riveted, or for the big coaming plate of U-shaped and Z-shaped bottom plate Between the low side corner line that is combined riveted；The mechanical arm at least being capable of longitudinal extension.

Further, the six pillar frameworks support on the vertical edge end edge riveting station corresponding to the high-end corner line of freezer liner Between the two root posts top of mechanism, freezer liner low side corner line and long side linea angulata institute on the side end edge riveting station Between the two root posts top of corresponding six pillars framework supporting mechanism, adjustable bridge-type plate chain is installed；It is described adjustable One end of bridge-type plate chain is fixed on the top of a root post, and the other end connects after then bypassing the curved support block being arranged on another column It connects bridge chain and pulls mechanism；The adjustable bridge-type plate chain is sequentially connected in series by chain locking nub；The chain locking nub is by deck plate, block board It is formed with series connection portion；The series connection portion is made of two blocks of axis hole plates；The both ends of axis hole plate are respectively equipped with the first axis hole and Two axis holes；Axis hole plate is equipped with bending part so that axis hole plate is in a zigzag；Two blocks of axis hole plates are oppositely arranged so that two pieces of axis holes The axle center of first axis hole of plate coincides, and the axle center of the second axis hole of two blocks of axis hole plates coincides, and makes the series connection of chain locking nub The first axis hole on two blocks of axis hole plates in portion can be stuck in the second axis hole on two blocks of axis hole plates in the series connection portion of adjacent chain locking nub Inside；Pass through between the second axis hole on two blocks of axis hole plates of the first axis hole on two blocks of axis hole plates of chain locking nub and adjacent chain locking nub Bearing is connected, and enables two pieces of adjacent chain locking nubs around the axis rotation of bearing；Block board is mounted on two blocks of axis hole plates Side, and it is parallel with the axle center of the first axis hole；Deck plate is mounted on block board, and equal with the axle center of the first axis hole Row；The width of deck plate and block board on axis hole plate the first axis hole and the distance of shaft centers of the second axis hole it is identical；Deck plate and card Position plate shifts to install so that zigzag structure is formed between deck plate and block board.

Further, the fillet riveting set includes horizontal fillet edge-folding mechanism, fillet pressing plate edge-folding mechanism and fillet Rivet rack；The horizontal fillet edge-folding mechanism is located at the lower section of the fillet pressing plate edge-folding mechanism；The horizontal fillet flanging Mechanism includes horizontal fillet hemming die item and fillet horizontal air cylinder；Horizontal fillet hemming die item is mounted on the fillet and rivets rack On, be connected with fillet horizontal air cylinder, and can under the driving of fillet horizontal air cylinder horizontal shifting；Horizontal fillet hemming die Front end face is equipped with the die cavity that horizontal cross-section is in circular arc；The fillet pressing plate edge-folding mechanism includes fillet vertical cylinder, fillet Mould crane, fillet clamp block and vertical fillet hemming die item；Fillet mould crane is mounted on the fillet riveting machine On frame, it is connected with fillet vertical cylinder, and can be lifted under the driving of fillet vertical cylinder；Fillet clamp block passes through spring stack machine Structure is mounted on the lower section of fillet mould crane；Vertical fillet hemming die item is fixed on the lower section of fillet mould crane；Vertically The front end face of fillet hemming die item is equipped with the die cavity that horizontal cross-section is in circular arc；The fillet phase of the die cavity and freezer liner bottom plate Matching.

Further, double long side riveter structures include roller bracket and mounted on roller bracket both sides and symmetrical multiple Pinch roller；Multiple pinch rollers mounted on roller bracket both sides form rolling formula edge-folding mechanism；The pinch roller is not connected to dynamical system；Institute Stating rolling formula edge-folding mechanism includes：First section pinch roller external member, stage casing pinch roller external member and endpiece pinch roller external member；The first section pinch roller set Part, stage casing pinch roller external member and endpiece pinch roller external member are in order successively in tandem；The first section pinch roller external member includes at least three Parallel press nips；The parallel press nips include axle center level and parallel upper pressure wheel and lower pressure wheel；The wherein described lower pressure wheel position Below the upper pressure wheel, and the lower pressure wheel includes the conical surface；The conical surface of the cylinder of the upper pressure wheel and the lower pressure wheel Group clamping opening at an acute angle；The cone angle of each lower pressure wheel conical surface is from big to small successively in tandem；The stage casing pinch roller external member is extremely Include two stage casing pinch rollers less；The stage casing pinch roller includes conical surface portion and pressing plate portion；Pressing plate portion is located at the outside of conical surface portion；It is described The cone angle of the conical surface portion of each stage casing pinch roller is from small to large successively in tandem；The endpiece pinch roller external member includes at least one and hangs down Straight press nips；The vertical press nips include the vertical lateral pressure wheel of top pressure wheel and axle center of axle center level；The top that lateral pressure wheel is located at Below pinch roller axle center, and lateral pressure wheel axle center and top pressure wheel axle center are located on same perpendicular；The cylinder of top pressure wheel and side pressure The cylinder cells clamping opening at a right angle of wheel.

Further, the vertical edge riveter structure is mounted on vertical edge riveting holder, including straight flange gripping mechanism and straight flange pressing plate Bending mechanism；The straight flange pressing plate bending mechanism includes straight flange pressing plate mould item, straight flange bender item and straight flange bogie；Straight flange pressure Template die item is mounted on the front of straight flange bogie by spring stack mechanism；Straight flange bender item is mounted on straight by mould mounting plate The front of side bogie；Straight flange pressing plate mould item is located at the outside of straight flange bender item, and parallel and tight with straight flange bender item Patch；Straight flange gripping mechanism is located at the inside of straight flange bender item, and parallel with straight flange bender item；The front of vertical edge riveting holder Vertical clamping opening mounting plate is installed；The straight flange gripping mechanism of two straight flange riveter structures is separately mounted to clamping opening mounting plate Both sides；Straight flange gripping mechanism includes straight flange clamping opening gap, straight flange clamping opening guide plate and straight flange clamping opening fixture block；Straight flange clamping opening guide plate L-shaped structure is formed positioned at the outside of clamping opening mounting plate, and with the side of clamping opening mounting plate；Straight flange clamping opening fixture block is located at the L-shaped knot The inside of structure, and mounted on the outside of clamping opening mounting plate, and positioned at the front of straight flange clamping opening guide plate；It is straight flange between straight flange clamping opening Strip gap between clamping opening fixture block and straight flange clamping opening guide plate, towards outer openings.

The technique effect of the utility model is as follows：The utility model is realized prepares the full-automatic of freezer liner by Figured aluminium plate Change.

Description of the drawings

Fig. 1 is the overall structure diagram of the utility model embodiment.

Fig. 2 and Fig. 3 is the schematic top plan view of the utility model bottom plate rivet line.Wherein Fig. 3 conceal robot track and Manipulator.

Fig. 4 is the position schematic diagram for needing to rivet between freezer liner degree of lip-rounding coaming plate and Z-shaped bottom plate.

Fig. 5 is the structure before being riveted at the corner line and fillet being combined between degree of lip-rounding coaming plate and Z-shaped bottom plate.

Fig. 6 is the structure after being riveted at the corner line and fillet being combined between degree of lip-rounding coaming plate and Z-shaped bottom plate.

Fig. 7 is the structural schematic diagram of liner supporting mechanism.

Fig. 8 and Fig. 9 is the structural schematic diagram of the different visual angles of six pillar framework supporting mechanisms.

Figure 10 is that transverse adjusting mechanism shows with the structure of synchronous spacing adjustment driving mechanism in six pillar framework supporting mechanisms It is intended to.

Figure 11 is the overall mechanism schematic diagram of pre- riveting equipment.

Figure 12 is that the top in pre- riveting equipment is riveted the point schematic layout pattern corresponding to setting on freezer liner.

Figure 13 is that installation top is riveted the structure set in the second column group in six pillar framework supporting mechanisms in pre- riveting equipment Schematic diagram.

Figure 14 is that nail is riveted the structural schematic diagram set.Figure 15 is that nail is riveted the structural schematic diagram for setting middle nail riveting swing span.

Figure 16 is the structural schematic diagram of fillet riveting set.

Figure 17 is that double vertical edges are riveted the structural schematic diagram set.

Figure 18 is the structural schematic diagram of end edge riveter structure.

Figure 19 is the structural schematic diagram of straight flange gripping mechanism in end edge riveter structure.

Figure 20 is the overall structure diagram of double long side riveter structures.

Figure 21, Figure 22, Figure 23 are three parallel press nips of first section pinch roller external member in double long side riveter structures respectively.

Figure 24 and Figure 25 is two stage casing pinch rollers of stage casing pinch roller external member in double long side riveter structures respectively.

Figure 26 is the vertical press nips in endpiece pinch roller external member in double long side riveter structures.

Figure 27 is the mechanical arm mounting structure schematic diagram of a double fillet riveting mechanism groups in four fillets riveting station.

Figure 28 and Figure 29 is the horizontal and vertical structural schematic diagram of mechanical arm in Figure 27 respectively.

Figure 30 is the mounting structure schematic diagram of adjustable bridge-type plate chain.

Figure 31 is the enlarged drawing of top-right part in Figure 30.

Figure 32 is the structural schematic diagram concealed in Figure 31 after adjustable bridge-type plate chain.

Figure 33 and Figure 34 is the schematic diagram of the part chain locking nub of adjustable bridge-type plate chain.Wherein, Figure 33 is adjustable bridge-type plate chain The state being straightened, Figure 34 are the states being unidirectionally bent.

Figure 35 is that chain locking nub looks up three-dimensional structure diagram.

Figure 36 is the lateral dimensions schematic diagram of chain locking nub.

Figure 37 is the enlarged drawing of the riveting of the degree of lip-rounding coaming plate station and corner line gluing station part in Fig. 1.

Specific implementation mode

The utility model is described in further details below in conjunction with the accompanying drawings.

As shown in Figure 1, a kind of freezer liner production line, including the big coaming plate production line 1000 of U-shaped, the small coaming plate production line of U-shaped 2000, Z-shaped soleplate production line 4000, degree of lip-rounding coaming plate riveting station 3000, corner line gluing station 7000, bottom plate rivet line 5000, side punching station 6000 and end gluing station 8000.The big coaming plate production line 1000 of U-shaped is used for Figured aluminium plate system It is standby at the big coaming plate of U-shaped, concrete structure can be found in that the applicant submits July 12 in 2017 application No. is 201710563981.4 a kind of big coaming plate production line of freezer liner U-shaped, this specification repeats no more.The small coaming plate production line of U-shaped 200 by Figured aluminium plate for being prepared into the small coaming plate of U-shaped, and concrete structure can be found in disclosed in patent document CN107138563A A kind of freezer liner degree of lip-rounding coaming plate production line, this specification repeat no more.Refrigerator disclosed in patent document CN107138563A Liner degree of lip-rounding coaming plate production line is not only able to the degree of lip-rounding coaming plate of production small size, while the U-shaped that can be used for production small size encloses Plate, that is, the small coaming plate of U-shaped.Z-shaped soleplate production line is used to Figured aluminium plate preparing z-shape bottom plate, and concrete structure can be found in The applicant submitted on July 13rd, 2017 application No. is a kind of Z-shaped bottom plate productions of 20171056737.7 freezer liner Line, this specification repeat no more.Degree of lip-rounding coaming plate rivets station for two end lines of the big coaming plate of U-shaped and the small coaming plate of U-shaped are mutual Become degree of lip-rounding coaming plate after riveting.Degree of lip-rounding coaming plate rivets station and is equipped with degree of lip-rounding coaming plate riveting equipment 3001.The riveting of degree of lip-rounding coaming plate is set Standby 3001 can refer to a kind of shell riveting equipment disclosed in 105798180 A of patent document CN, and this specification repeats no more.

As shown in figure 37, degree of lip-rounding coaming plate riveting equipment 3001 is located at 1001 and U at the blanking of the big coaming plate production line of U-shaped 1000 Between 2001 at the blanking of the small coaming plate production line of shape 2000.1001 and the small coaming plate production line of U-shaped at the big coaming plate production line blanking of U-shaped 2001 are then located in two diagonal orientations of degree of lip-rounding coaming plate riveting equipment 3001 at blanking.The big coaming plate production line of U-shaped 1000 Blanking between 1001 and degree of lip-rounding coaming plate riveting equipment 3001 be equipped with the first robot mechanical arm 1002.First robotic Hand 1002 faces 1001 at the blanking of the big coaming plate production line of U-shaped 1000, and with degree of lip-rounding coaming plate riveting equipment 3001 is longitudinal flushes. The second robot mechanical arm is equipped at the blanking of the small coaming plate production line of U-shaped 2000 between 2001 and degree of lip-rounding coaming plate riveting equipment 3001 2002.Second robot mechanical arm 2002 faces 2001 at the blanking of the small coaming plate production line of U-shaped 2000, and with degree of lip-rounding coaming plate riveting 3001 longitudinal direction of equipment is connect to flush.Namely the first robot mechanical arm 1002 and the second robot mechanical arm 2002 are respectively in the degree of lip-rounding Longitudinal both ends of coaming plate riveting equipment 3001.First robot mechanical arm 1002 by the big coaming plate production line of U-shaped 1000 for will be made The big coaming plate of U-shaped made of standby is transferred to from big coaming plate production line blanking place of U-shaped 1001 on degree of lip-rounding coaming plate riveting equipment 3001.Second The small coaming plate of U-shaped that robot mechanical arm 2002 is used to be prepared by the small coaming plate production line of U-shaped 2000 is produced from the small coaming plate of U-shaped 2001 are transferred on degree of lip-rounding coaming plate riveting equipment 3001 at line blanking.

Bottom plate rivet line 5000 is used to degree of lip-rounding coaming plate and Z-shaped bottom plate mutually riveting into freezer liner, such as Fig. 2, Fig. 3 institute Show, including two pre- riveting station 5100A and 5100B, two four fillets riveting station 5200A and 5200B, two vertical edge end edges Rivet station 5300A and 5300B, two side end edge riveting station 5400A and 5400B, two positions short side substep riveter 5500A and 5500B, two blanking transition station 5600A and 5600B and robot track beam 5700.Pre- riveting station is used for The multiple points chosen on the corner line being combined between lip-sync coaming plate and Z-shaped bottom plate synchronize nail riveting, make degree of lip-rounding coaming plate It is mutually fixed with Z-shaped bottom plate.Four fillets that four fillets riveting station is used to be combined between lip-sync coaming plate and Z-shaped bottom plate carry out Riveting.Vertical edge end edge riveting station is used for two vertical corner lines being combined between the big coaming plate of U-shaped and Z-shaped bottom plate and high-end Corner line synchronizes riveting.Side end edge riveting station is two long for being combined between the big coaming plate of U-shaped and Z-shaped bottom plate The low side corner line being combined between side linea angulata and the small coaming plate of U-shaped and Z-shaped bottom plate synchronizes riveting.Short side substep riveter Two short side corner line substeps of the position for being combined between the small coaming plate of U-shaped and Z-shaped bottom plate rivet.Wherein, pre- riveting Station, four fillets riveting station, vertical edge end edge riveting station, side end edge riveting station and the positions short side substep riveter difference are each Self installation has liner supporting mechanism 5800.Liner supporting mechanism 5800 on pre- riveting station is mounted on first longitudinal direction track 5110 On, and can be vertically moved along first longitudinal direction track 5110.Liner supporting mechanism 5800, as shown in figure 4, including six pillars Framework supporting mechanism 13 and liftable cabinet mouth platform 111.Six pillar framework supporting mechanisms 13 are used to placing and supporting freezer liner, Including six roots of sensation column.Six roots of sensation column four high two is short, forms the framework supporting mechanism of step.Six pillar framework supporting mechanism 13 is horizontal To adjustable with longitudinal size.111 ring of cabinet mouth platform, six pillar framework supporting mechanism 13 is arranged.When freezer liner tips upside down on six pillar frames When on body supporting mechanism 13, liftable cabinet mouth platform 111 is used to support the cabinet mouth of freezer liner.Blanking transition station includes installation On second longitudinal direction track 5610, and the six pillar framework supporting mechanisms 13 that can be moved along second longitudinal direction track 5610.Two A pre- riveting station 5100A and 5100B, two four fillets riveting station 5200A and 5200B, two vertical edge end edges rivet station 5300A and 5300B, two side end edges riveting stations 5400A and 5400B, two short side substep riveter position 5500A and 5500B, two blanking transition stations 5600A and 5600B are laterally arranged in order in order, and six pillar frames on each station 13 transverse center of body supporting mechanism is equidistant.In Fig. 2, Fig. 3, the direction represented by arrow X is the laterally direction represented by arrow Y For longitudinal direction.Robot track beam 5700 is across two pre- riveting station 5100A and 5100B, two four fillets riveting stations 5200A and 5200B, two vertical edge end edges riveting station 5300A and 5300B, two side end edges riveting station 5400A and The top of 5400B, two positions short side substep riveter 5500A and 5500B, two blanking transition stations 5600A and 5600B, and Horizontal cross is arranged.5-linked sucker manipulator is installed on robot track beam 5700.5-linked sucker manipulator is enclosed for the degree of lip-rounding Freezer liner after plate is mutually fixed with Z-shaped bottom plate is sequentially transmitted in order on each station.First longitudinal direction track 5110, second is vertical It is parallel to track 5610 and perpendicular with robot track beam 5700.One end of first longitudinal direction track 5110 is located at manipulator The lower section of track girder 5700, the other end are rivet line feeding end 5120.One end of second longitudinal direction track 5610 is located at manipulator rail The lower section of road beam 5700, the other end are rivet line discharging end 5620.

Rivet line feeding end 5120 be located at the degree of lip-rounding coaming plate riveting station 3000 and Z-shaped soleplate production line 4000 blanking at it Between.Corner line gluing station 7000 is set between degree of lip-rounding coaming plate riveting station 3000 and rivet line feeding end 5120.Corner line is beaten Corner line of the glue station 7000 for being combined with Z-shaped bottom plate on lip-sync coaming plate carries out advance gluing before riveting so that mouth Shape coaming plate and Z-shaped bottom plate are after bottom plate rivet line 5000, and the rivet line on degree of lip-rounding coaming plate between Z-shaped bottom plate is by glue sealing. In the present embodiment, the gluing operation of corner line gluing station 7000 is before bottom plate rivet line 5000 rivets operation, this field skill Art personnel understand that corner line gluing station 7000 can also be set to after the riveting operation of bottom plate rivet line 5000.In view of riveting Afterwards again gluing when glue be not easily penetrated into the not so good each station process section of problem and rivet line of gap effect of rivet line The problem of playing, gluing before the utility model preferentially rivets on degree of lip-rounding coaming plate with Z-shaped bottom plate.Corner line gluing station 7000 includes Degree of lip-rounding enclosure support mechanism 7001 and Liang Ge gluings robot 7002 and 7003.Liang Ge gluings robot 7002 and 7003 is set respectively In two offsides of degree of lip-rounding enclosure support mechanism 7001.Gluing robot 7002 and 7003 is outsourcing piece, and this specification is no longer superfluous It states.Degree of lip-rounding enclosure support mechanism 7001 can in 105798180 A of referenced patent document CN shell quadrangle supporting mechanism or Liner supporting mechanism 5800 above-mentioned.Degree of lip-rounding coaming plate riveting equipment 3001, degree of lip-rounding enclosure support mechanism 7001, rivet line feeding end 5120 and Z-shaped soleplate production line 4000 blanking above be crossed with the second robot track beam 2500.Second manipulator The sucker manipulator being equipped on track girder 2500 between degree of lip-rounding coaming plate riveting station 3000 and corner line gluing station 7000, side Under sucker manipulator and Z-shaped soleplate production line 4000 between linea angulata gluing station 7000 and rivet line feeding end 5120 Sucker manipulator at material between rivet line feeding end 5120.

Side of the side punching station 6000 for freezer liner after lip-sync coaming plate and the riveting of Z-shaped bottom plate is punched out. End gluing station 8000 carries out gluing for the rivet line between the big coaming plate of U-shaped and the small coaming plate of U-shaped.Side punching station 6000 between rivet line discharging end 5620 and end gluing station 8000.Rivet line discharging end 5620, side punching station Third robot track beam 6001 is crossed between 6000 and end gluing station 8000.Pacify on third robot track beam 6001 Equipped with 6000 He of sucker manipulator and side punching station between rivet line discharging end 5620 and side punching station 6000 Sucker manipulator between end gluing station 8000.That is, in the present embodiment, the punching of side punching station 6000 is made Industry is before the gluing operation of end gluing station 8000.This is because to be located at U-shaped big for 6000 hole puncheds of side punching station On rivet line between coaming plate and the small coaming plate of U-shaped.If the gluing before punching, the punch of side punching station 6000 is easy to glue Upper glue.End gluing station 8000 is made of liner supporting mechanism and Liang Ge gluings robot, and structure is the same as corner line above-mentioned Gluing station 7000 is identical.Side punching station 6000 can refer to a kind of shell disclosed in 105798180 A of patent document CN Riveting equipment.It only needs that punch is installed on the riveting shock plate in the shell riveting equipment.

Side punching station 6000 is an optional station.If it is big that punching station 6000 hole puncheds in side are located at U-shaped On coaming plate, at this point, the punching operation of side punching station 6000 can be complete in the die cutting device of the big coaming plate production line of U-shaped 1000 At without side punching station 6000.In such cases, the gluing operation that end gluing station 8000 is done can also be preceding It states and is completed on corner line gluing station 7000, that is to say, that end gluing station 8000 can also omit, or can be by end Gluing station 8000 is moved between at degree of lip-rounding coaming plate riveting station 3000 and the big coaming plate production line blanking of U-shaped 1001.Work as end When gluing station 8000 omits, corner line gluing station 7000 is in addition to wanting the corner that on lip-sync coaming plate and Z-shaped bottom plate is combined Line carries out advance gluing before riveting, it is also necessary to which the rivet line between the big coaming plate of U-shaped and the small coaming plate of U-shaped carries out gluing.Work as end End gluing station 8000 move to degree of lip-rounding coaming plate rivet 1001 at station 3000 and the big coaming plate production line blanking of U-shaped between when, end End gluing station 8000 is for the pre- gluing operation before mutually being riveted to the big coaming plate of U-shaped and the small coaming plate of U-shaped.

As shown in Figure 4.Fig. 4 be a freezer liner being buckled to, 3901 be Z-shaped bottom plate, 3902 be the big coaming plate of U-shaped, 3903 For the small coaming plate of U-shaped.Degree of lip-rounding coaming plate is formed after the big coaming plate 3902 of U-shaped and the small 3903 mutual riveting of coaming plate of U-shaped.The degree of lip-rounding coaming plate and Z Shape bottom plate 3901 carries out riveting and eventually becomes freezer liner again.The Z-shaped bottom plate of freezer liner mutually rivets needs with degree of lip-rounding coaming plate Rivet eight sides linea angulata and four fillets.The big coaming plate 3902 of this eight sides linea angulata, respectively U-shaped and Z-shaped bottom plate 3901 are combined High-end corner line E1, long side linea angulata E2, E3, vertical corner line E4, E5,3901 phase knot of the small coaming plate 3903 of U-shaped and Z-shaped bottom plate Short side corner line E6, E7 and low side corner line E8 of conjunction.This four fillets, respectively A1, A2, A3, A4.Wherein, fillet A1 The both ends of low side corner line E8 are located at A2；Fillet A3 and A4 are located at the both ends of high-end corner line E1.Fillet A1 and A4 is mutually diagonal, and A2 and A3 are mutually diagonal.When Z-shaped bottom plate is mutually riveted with degree of lip-rounding coaming plate, Z-shaped bottom plate is placed with degree of lip-rounding coaming plate On liner supporting mechanism 5800.Z-shaped bottom plate passes through Z with the mutual riveting between the corner line and fillet that degree of lip-rounding coaming plate is combined What the folding of the small 3903 edge flanging of coaming plate of the big coaming plate 3902 of shape bottom plate 3901, U-shaped, U-shaped was realized.As shown in Figure 5, Figure 6.Fig. 5, In Fig. 6,3901 be Z-shaped bottom plate, and 3902 be the big coaming plate of U-shaped, and 4903 be bottom plate bending edges, and 4904 be coaming plate bending edges.Before riveting, As shown in figure 5, Z-shaped bottom plate 3901 and big 3902 main part of coaming plate of U-shaped are perpendicular, coaming plate bending edges 4904 are stuck in bottom plate bending Within side 4903, coaming plate bending edges are clamped in bottom plate bending edges 4903 by the further bending of bottom plate bending edges by riveting process first Between Z-shaped 3901 body rim of bottom plate, to form the corner edge of trilaminate structure, the then trilaminate structure Corner edge further bending ultimately forms the riveting corner 4906 of four multilayer laminated structure as shown in FIG. 6.It is above-mentioned to rivet Journey is suitable for above-mentioned eight sides linea angulata and four fillets.Riveting between above-mentioned eight sides linea angulata and four fillets is riveted by bottom plate Line 5000 is completed.

Cabinet mouth platform 111 on liner supporting mechanism 5800, as shown in fig. 7, six pillar framework supporting mechanism 13 of ring is arranged, It is exactly to be provided with leghole on cabinet mouth platform 111.The six roots of sensation column of six pillar framework supporting mechanisms 13 is each passed through corresponding column Hole.Cabinet mouth platform 111 is connected with cabinet mouth platform elevating mechanism, and realizes that lifting is adjustable by cabinet mouth platform elevating mechanism.Cabinet mouth platform lifts Mechanism is for driving the lifting of cabinet mouth platform 111, including chain 112, motor 113 and four sleeve screw rod column sleeve mechanisms.Lead screw column sleeve machine Structure includes silk braid column 121, lead screw column 122, driving gear 123 and two clamping gears 124.Silk braid column 121 is vertically installed at branch On support pedestal 110.Lead screw column 122 is vertically arranged in the silk braid hole of silk braid column 121.Four lead screw column sleeve mechanisms are located at The quadrangle of support frame base 110.Cabinet mouth platform 111 is mounted on the top of lead screw column 122, in horizontally disposed.Cabinet mouth platform 111 is four directions Shape plate body, quadrangle respectively correspond to a sleeve screw rod column sleeve mechanism respectively.The top of silk braid column 121 is equipped with horizontal gear installation Platform 125.Gear 123 is driven to be mounted on lead screw column 122, and positioned at the top of gear erecting bed 125.Two clamping gears 124 On gear erecting bed 125, it is located at the both sides of driving gear 123.Drive gear 123 same with lead screw column 122 Step rotation.When driving gear 123 to rotate, lead screw column 122 is driven to rotate.The lead screw column 122 of rotation passes through lead screw column 122 and silk Threaded function driving lead screw column 122 between sleeve column 121 lifts, to drive cabinet mouth platform 111 to lift.Motor 113 is mounted on branch On support pedestal 110, and it is connected with driving gear 114.Installing setting on the table top of driving gear 114, there are two transition gears 115.Driving gear 123, clamping gear 124, driving gear 114 and transition gear 115 are respectively positioned in identical height.Chain 112 intersect around driving gear 114, transition gear 115, driving gear 123 and clamping gear 124.Wherein, in driving gear 114 and transition gear 115 at, chain 112 is around driving gear 114 and two transition gears 115 so that chain 112 is in Ω knots Structure, and be meshed simultaneously with driving gear 114 and two transition gears 115.At driving gear 123 and clamping gear 124, chain Item 112 is held between driving gear 123 and clamping gear 124, and is nibbled simultaneously with driving gear 123 and clamping 124 phase of gear It closes.As a result, when motor 113 drives driving gear 114 to rotate, chain 112 rotates movement therewith, and then drives each lead screw column The driving gear 123 for covering mechanism rotates, and by the screw thread engagement between lead screw column 122 and silk braid column 121, drives cabinet mouth platform 111 liftings.

The concrete structure of six pillar framework supporting mechanisms 13, as shown in Fig. 7, Fig. 8, Fig. 9, Figure 10.Six pillar frameworks support The six roots of sensation column of mechanism 13 is divided into three sets of column groups, and it includes two mutually level columns often to cover column group.Three sets of column components It is not：First column group, the second column group and third column group.The column of first column group and the second column group is with height, for height Column 1331.The column of third column group is shorter than the column of the first column group and the second column group, is short column 1332.Also It is that the six roots of sensation column of six pillar framework supporting mechanisms 13 includes four high columns 1331 and two short columns 1332.First column Group, the second column group and third column group are sequentially arranged successively, and in longitudinal central axis line.Two of three sets of column groups are vertical Column is respectively arranged on the both sides of longitudinal central axis line, and is symmetrical with longitudinal central axis line, and between the two root posts of three sets of column groups Spacing it is identical, and thus can match Z-shaped bottom plate in the top group stepped structure of six roots of sensation column.

Two high columns 1331 of the first column group are vertically arranged in first longitudinal direction translation plates by transverse adjusting mechanism On 1313.Two high columns 1331 of the second column group are vertically arranged in by transverse adjusting mechanism on longitudinally fixed plate 1317. Two short columns 1332 of third column group are vertically arranged in by transverse adjusting mechanism in second longitudinal direction translation plates 1316.First Longitudinal translation plate 1313 and second longitudinal direction translation plates 1316 are horizontally arranged at by sliding block is parallel to the longitudinal sliding of longitudinal central axis line On rail 1311, and it is connected separately with longitudinal translation driving mechanism：First longitudinal direction translational drive mechanism and second longitudinal direction driven in translation Mechanism.Longitudinal slide rail 1311 is horizontally arranged on bottom plate 1300.Bottom plate 1300 is then horizontally fixed on support frame base 110.Branch Support pedestal 110 is then mounted on station pedestal.

First longitudinal direction translational drive mechanism and second longitudinal direction translational drive mechanism are respectively used to driving first longitudinal direction translation plates 1313 and second longitudinal direction translation plates 1316 along longitudinal direction central axes move.First longitudinal direction translational drive mechanism includes first longitudinal direction driving Motor 1310 and first longitudinal direction lead screw 1312.First longitudinal direction lead screw 1312 is located in longitudinal central axis line, and connects first longitudinal direction drive Dynamic motor 1310.First longitudinal direction lead screw 1312 connects first longitudinal direction translation plates 1313 by silk braid.First longitudinal direction driving electricity as a result, Machine 1310 drives first longitudinal direction lead screw 1312 to rotate, and passes through 1313 bottom of first longitudinal direction lead screw 1312 and first longitudinal direction translation plates Screw thread engagement between silk braid, driving first longitudinal direction translation plates 1313 translate in longitudinal slide rail 1311.Second longitudinal direction is flat It includes second longitudinal direction driving motor 1314 and second longitudinal direction lead screw 1315 to move driving mechanism.Second longitudinal direction lead screw 1315 is located at longitudinal On central axes, and connect second longitudinal direction driving motor 1314.Second longitudinal direction lead screw 1315 connects second longitudinal direction translation by silk braid Plate 1316.Second longitudinal direction driving motor 1314 drives second longitudinal direction lead screw 1315 to rotate as a result, passes through second longitudinal direction lead screw 1315 Screw thread engagement between the silk braid of 1316 bottom of second longitudinal direction translation plates, driving second longitudinal direction translation plates 1316 are in longitudinal direction It is translated on sliding rail 1311.It is put down when first longitudinal direction translational drive mechanism and second longitudinal direction translational drive mechanism respectively drive first longitudinal direction When moving plate 1313 and second longitudinal direction translation plates 1316 and moving so that two of the first column group in first longitudinal direction translation plates 1313 The two root posts of third column group on column and second longitudinal direction translation plates 1316 are moved relative to the two root posts of the second column group It is dynamic, so as to adjust fore-and-aft distance between column group, that is, adjust six pillar framework supporting mechanisms, 13 longitudinal size.

Transverse adjusting mechanism is used to adjust the spacing in column group between two root posts, and then adjusts the support of six pillar frameworks The lateral dimension of mechanism 13.Three transverse adjusting mechanisms corresponding to three sets of column groups are connected with synchronous spacing adjustment driving machine Structure.Synchronous spacing adjustment driving mechanism is for driving each transverse adjusting mechanism and making each transverse adjusting mechanism adjustment column spacing It is synchronous.Synchronous spacing adjustment driving mechanism includes the first vertical petal shaft transmission 1301, the second vertical petal axis driver The vertical petal shaft transmission 1303 of structure 1302, third, petal axis 1304 and adjust wide motor 1305.Transverse adjusting mechanism is such as schemed Shown in 10, including cross lead screw 1321 and horizontal slide rail 1322.The two root posts bottom of column group is perpendicular by sliding block 1323 respectively Directly it is erected in horizontal slide rail 1322.To be erected at first longitudinal direction flat for level respectively for horizontal slide rail 1322 corresponding to three sets of column groups Move plate 1313, longitudinally fixed plate 1317, in second longitudinal direction translation plates 1316.Horizontal slide rail 1322 is transversely to the machine direction sliding rail 1311. Cross lead screw 1321 is equipped with forward and reverse screw thread, parallel with horizontal slide rail 1322.The two root posts bottom of column group passes through silk braid It is separately connected the forward screw thread and reverse thread of cross lead screw 1321, so that can be driven when cross lead screw 1321 rotates The two root posts of corresponding column group move in a reverse direction in horizontal slide rail 1322.First vertical petal shaft transmission 1301, the second vertical petal shaft transmission 1302 petal shaft transmission 1303 vertical with third is set on petal axis 1304, And it can be moved along petal axis 1304.Petal axis 1304 is parallel to longitudinal slide rail 1311, and perpendicular to transverse adjusting mechanism Cross lead screw 1321.Petal axis 1304 is driven by the first vertical petal shaft transmission 1301, the second vertical petal axis respectively The petal shaft transmission 1303 vertical with third of mechanism 1302 connects the transverse direction of the transverse adjusting mechanism corresponding to three sets of column groups Lead screw 1321.Wide motor 1305 is adjusted in the connection of petal axis 1304.As a result, when adjusting wide motor 1305 that petal axis 1304 is driven to rotate, spend Valve axis 1304 is hung down by the first vertical petal shaft transmission 1301, the second vertical petal shaft transmission 1302 and third respectively Straight petal shaft transmission 1303 drives the cross lead screw 1321 of the transverse adjusting mechanism corresponding to three sets of column groups to rotate, to Adjust the spacing between the two root posts of three sets of column groups.Petal axis 1304 is the same as the splined shaft in 105798180 A of CN.

On the outside of the column of six pillar framework supporting mechanisms 13 on pre- riveting station, as shown in figure 11, multiple nails are installed It is riveted and sets 312.Liner supporting mechanism and top on pre- riveting station, which are riveted, sets the pre- riveting equipment of composition.Top on pre- riveting station It is riveted and sets 312 for carrying out nail riveting on the corner line that is combined between lip-sync coaming plate and Z-shaped bottom plate, make degree of lip-rounding coaming plate and Z-shaped Bottom plate is mutually fixed.In the present embodiment, nail, which is riveted, sets 312 a total of 8, respectively corresponding 8 points as shown in figure 12.8 points Position is respectively：Point P1, P2 at the both ends long side linea angulata E2, point P3, P4 at the both ends long side linea angulata E3, vertical corner line E4 On point P5, vertical corner line E5 on point P6, the point on point P7 and short side corner line E7 on short side corner line E6 Position P8.The nail riveting of point P1, P3 is divided by being mounted on the outside of six pillar framework supporting mechanisms, 13 first column group two root posts respectively Two nails that do not install, which are riveted, sets 312 realizations nail riveting.The nail riveting of point P7, P8 is respectively by being mounted on six pillar framework supporting mechanisms Two nails installed respectively on the outside of 13 third column group two root posts, which are riveted, sets 312 realizations nail riveting.Point P2, P4, P5, P6 difference It is riveted by four nails installed respectively on the outside of six pillar framework supporting mechanisms, 13 second column group two root posts and sets 312 in fact Riveting is now followed closely, as shown in figure 13.In Figure 13,1331 be two high columns of six pillar framework supporting mechanisms, 13 second column group.Two The outside of the high column of root 1331 is equipped with vertical nail riveting mounting post 311 by the installation frame plate 314 of bottom.Two nail riveting installations The top of column 311 is separately installed with two nails and is riveted and sets 312.

Nail, which is riveted, sets 312, as shown in Figure 14, Figure 15, including pan carriage bottom plate 32, pan carriage 33, flat-removing air cyclinder 331, nail Riveting swing span 34, wobble drive frame 35, oscillating cylinder 351.Pan carriage bottom plate 32 is mounted in nail riveting mounting post.Pan carriage bottom plate Card slot is provided on 32.Pan carriage 33 is stuck on card slot so that pan carriage 33 can be moved forward and backward on pan carriage bottom plate 32.It is flat The card slot on frame bottom plate 32 is moved by tipping upside down on two blocks of L-shaped slide-and-guide plates 321 on 32 both sides of pan carriage bottom plate and being mounted on Constructed by straight guiding snap-gauge 322 between two blocks of L-shaped slide-and-guide plates 321.Two blocks of L-shaped slide-and-guide plates 321 are symmetrical, And it is mutually parallel.It tips upside down on the L-shaped slide-and-guide plate 321 on pan carriage bottom plate 32 and forms wing slot between pan carriage bottom plate 32. Straight guiding snap-gauge 322 is mounted on pan carriage bottom plate 32, and positioned at the middle of two blocks of L-shaped slide-and-guide plates 321.It is straight to lead Conduits are slided to being respectively formed two between snap-gauge 322 and two blocks of L-shaped slide-and-guide plates 321.Pan carriage 33 is blocks, bottom Equipped with the fixture block to match with the card slot on pan carriage bottom plate 32.Fixture block both sides are equipped with the wing convex 3321, are equipped among bottom straight It is oriented to card slot 3322.Two wings convex 3321 of 332 both sides of fixture block are corresponding with two wing slots respectively and match.Straight guiding card slot 3322 is corresponding with straight guiding snap-gauge 322 and match.Pass through 33 bottom of card slot and pan carriage on pan carriage bottom plate 32 as a result, Fixture block 332 be mutually clamped, pan carriage 33 is stuck on pan carriage bottom plate 32, and can be moved forward and backward along card slot.Translation The rear end of frame 33 is connected with the piston of flat-removing air cyclinder 331.Flat-removing air cyclinder 331 is front and back to setting, is mounted on pan carriage bottom plate 32. The rear end of flat-removing air cyclinder 331 is fixed on cylinder backboard 329.Cylinder backboard 329 is vertically installed on pan carriage bottom plate 32.Translation Cylinder 331 is for driving pan carriage 33 to be moved forward and backward on pan carriage bottom plate 32.The front end of pan carriage 33 is equipped with guide plate 335.For the front end face of guide plate 335 equipped with front and back to inclined guiding surface, face is then padded in bottom as riveting when following closely riveting.Riveting Pad face is equipped with rivet hole.The front end both sides of pan carriage 33, which are equipped with, swings axis hole.It includes oscillating deck 341 and nail to follow closely riveting swing span 34 Riveting frame plate 345.Oscillating deck 341 has two pieces.Two pieces of oscillating decks 341 are respectively erected in translation by swinging axle 342 and swing axis hole The both sides of frame 33.The both ends of nail riveting frame plate 345 are fixed with two pieces of 341 phases of oscillating deck respectively, and perpendicular with oscillating deck 341.Nail Riveting frame plate 345 is located at the front of pan carriage 33, and positioned at the lower section of guide plate 335.Following closely riveting frame plate 345 has hold-down plate surface 3451. Riveting nail 346 is installed on hold-down plate surface 3451.The rivet hole site phase of the position and 335 bottom of aforementioned guide plate of riveting nail 346 Matching.The upper end of at least one piece oscillating deck 341 is provided with drive block 343 in two pieces of oscillating decks 341.Wobble drive frame 35 is set to flat The top of frame 33 is moved, and connects oscillating cylinder 351 so that wobble drive frame 35 can be opposite under the driving of oscillating cylinder 351 It is moved forward and backward in pan carriage 33.35 front end of wobble drive frame is equipped with driving plate 352.Driving plate 352 is to the side of wobble drive frame 35 It protrudes on side.When wobble drive frame 35 is moved forward and backward, 352 side of driving plate protrusion part can withstand on the drive of nail riveting swing span 34 The front end of motion block 343 drives nail riveting swing span 34 to be swung around the overturning of swinging axle 342 from there through drive block 343.When nail riveting pendulum When the overturning of moving frame 34 is swung, nail riveting frame plate 345 is driven to be swung up, and enable the hold-down plate surface 3451 followed closely on riveting frame plate 345 It is pressed on the bottom surface of guide plate 335, to complete flanging and nail riveting operation.At this point, the riveting nail 346 on hold-down plate surface 3451 hammers into In the rivet hole of 335 bottom of guide plate.

The longitudinal both ends of liner supporting mechanism 5800 of four fillets riveting station are respectively equipped with two difference and are respectively mounted on machine Double fillet riveting mechanism groups 5210 of tool arm front end.Double fillet riveting mechanism groups 5210 are in 45 degree of angles by two and the mechanical arm The fillet riveting set for being respectively facing outside is formed.Fillet riveting set between lip-sync coaming plate and Z-shaped bottom plate for mutually tying The fillet of conjunction is riveted.Four fillets rivet liner supporting mechanism 5800, mechanical arm and the double fillet riveting mechanisms on station 5,210 four fillet riveting equipments of composition of group.Two double fillet riveting mechanism groups 5210 are in total there are four fillet riveting set, four Fillet riveting set distinguishes four fillets A1, A2, A3 and A4 in corresponding diagram 4.Fillet riveting set, as shown in figure 16, including Horizontal fillet edge-folding mechanism, fillet pressing plate edge-folding mechanism and fillet rivet rack.Horizontal fillet edge-folding mechanism and fillet pressing plate Edge-folding mechanism is mounted in fillet riveting rack.Horizontal fillet edge-folding mechanism is located at the lower section of fillet pressing plate edge-folding mechanism.Fillet It includes two pieces of rack side boards 421, rack top plate 422, chassis backplane, framework soleplate 424 to rivet rack.424 water of framework soleplate Flat setting.Two pieces of rack side boards 421 are vertically arranged at the both sides of framework soleplate 424.Rack top plate 422 is set to two pieces of frame sides The top of side plate 421.Chassis backplane setting is set between two pieces of rack side boards 421, and is hung down with two pieces of 421 phases of rack side board Directly.Horizontal fillet edge-folding mechanism includes fillet pan carriage 431, horizontal fillet hemming die item 432 and fillet horizontal air cylinder 433. Fillet pan carriage 431 is mounted on fillet by sliding block 435 and sliding rail 434 and rivets on the framework soleplate 424 of rack, and can be along cunning Rail 434 moves horizontally.Horizontal fillet hemming die item 432 is mounted on the front end of fillet pan carriage 431.Fillet horizontal air cylinder 433 is pacified On the chassis backplane that fillet rivets rack, piston connects the rear end of fillet pan carriage 431.Horizontal fillet hemming die item 432 front end faces are equipped with the die cavity that horizontal cross-section is in circular arc.Fillet pressing plate edge-folding mechanism includes fillet vertical cylinder 441, fillet Mould crane 442, fillet clamp block 443 and vertical fillet hemming die item 444.Fillet mould crane 442 passes through guide post Guide sleeve mechanism 4421 is mounted on the lower section of the rack top plate 422 of fillet riveting rack.Fillet vertical cylinder 441 is mounted on rack top The top of plate 422, piston connect fillet mould crane 442.Fillet clamp block 443 is mounted on by spring stack mechanism 4431 The lower section of fillet mould crane 442.Vertical fillet hemming die item 444 is fixed on the lower section of fillet mould crane 442.Vertically Fillet hemming die item 444 is blocks, and front end face is equipped with the die cavity that horizontal cross-section is in circular arc.The rear of fillet clamp block 443 It is in the card convex of circular arc equipped with horizontal cross-section.Fillet clamp block 443 is stuck in the front end face of vertical fillet hemming die item 444 by card convex On die cavity in, and can in the vertical direction be moved along die cavity relative to vertical fillet hemming die item 444.The present embodiment, It when double fillet riveting mechanism groups 5210 rivet two fillets, needs to be divided into two steps, after completing a fillet riveting, lead to The transverse shifting for crossing mechanical arm is moved to another fillet and is riveted again, that is to say, that double 5210 institutes of fillet riveting mechanism group The mechanical arm of installation being capable of transverse translation.

The longitudinal both ends of liner supporting mechanism 5800 of vertical edge end edge riveting station are respectively equipped with respectively before mechanical arm Double vertical edges at end, which are riveted, sets 5310 and end edge riveter structure 5320.Double vertical edges, which are riveted, sets 5310 by two towards opposite and set vertically The vertical edge riveter structure set is formed.Two vertical edge riveter structures correspond to two vertical corner line E4, E5 respectively, and for perpendicular Straight flange linea angulata E4, E5 are riveted.As shown in figure 17, two vertical edge riveter structures are mounted on vertical edge riveting holder 52.Vertical edge Riveter structure, including straight flange gripping mechanism 531, straight flange pressing plate bending mechanism.Clamping opening installation is installed before vertical edge riveting holder 52 Plate 521.The straight flange gripping mechanism 531 of two vertical edge riveter structures is located on two vertical sides of clamping opening mounting plate 521. Straight flange pressing plate bending mechanism includes straight flange pressing plate mould item 5321, straight flange bender item 5322 and straight flange bogie 5323.Straight flange pressure Template die item 5321 is mounted on the front of straight flange bogie 5323 by spring stack mechanism 5324；Straight flange bender item 5322 passes through mould Mounting plate 5325 is mounted on the front of straight flange bogie 5323；Straight flange pressing plate mould item 5321 is located at straight flange bender item 5322 Outside, and it is parallel with straight flange bender item 5322 and be close to；Straight flange gripping mechanism 531 is located at the interior of straight flange bender item 5322 Side, and it is parallel with straight flange bender item 5322.

End edge riveter structure 5320 is for riveting the high-end corner line E1 in Fig. 4.5320 structure of end edge riveter structure with Vertical edge riveter structure is similar, as shown in figure 18, including straight flange gripping mechanism 531, straight flange pressing plate bending mechanism and end edge riveting holder 534.The bottom of end edge riveting holder 534 is equipped with bottom mounting plate 5341.Bottom mounting plate 5341 is horizontally disposed.Straight flange gripping mechanism 531 are mounted in the front side edge of bottom mounting plate 5341.Straight flange pressing plate bending mechanism is mounted on the leading flank of holder 534, packet Include straight flange pressing plate mould item 5321, straight flange bender item 5322 and straight flange bogie 5323.Straight flange pressing plate mould item 5321 passes through spring Column mechanism 5324 is mounted on the lower section of straight flange bogie 5323.Straight flange bender item 5322 is mounted on by mould mounting plate 5325 The lower section of straight flange bogie 5323.Straight flange pressing plate mould item 5321 is located at before straight flange bender item 5322, and with straight flange bender Item 5322 is parallel and is close to.Straight flange gripping mechanism 531 is located at after straight flange bender item 5322, and with straight flange bender item 5322 is parallel.Straight flange bogie 5323 connects driving cylinder 5331 by cylinder connecting plate 5332.

End edge riveter structure 5320 is with theaforesaid vertical side riveter structure the difference is that following two points：First is end edge riveter structure 5320 be horizontally disposed, and vertical edge riveter structure is vertically arranged；Second is the straight flange bogie 5323 of end edge riveter structure 5320 Connection driving cylinder 5331, and vertical edge riveter structure is then without connection cylinder.In vertical edge riveter structure, straight flange pressing plate bending mechanism Action be riveted by double vertical edges and set the 5310 mechanical arm realizations installed.It is, passing through mechanical arm in vertical edge riveter structure Longitudinal extension realize straight flange pressing plate bending mechanism pressing plate flexing movement, and end edge riveter structure 5320 then pass through drive cylinder 5331 realize the pressing plate flexing movement of straight flange pressing plate bending mechanism.It should be evident that in vertical edge riveter structure, straight flange bogie 5323 fix with 52 phase of vertical edge riveting holder；And in end edge riveter structure 5320, straight flange bogie 5323 can be relative to end edge riveting 534 oscilaltion of holder.The present embodiment, double vertical edges are riveted when setting 5310 couples two vertical corner line E4 and E5 and riveting, and are needed It is divided into two steps, after completing a vertical corner line riveting, another vertical edge is moved to by the transverse shifting of mechanical arm Linea angulata is riveted again.From the foregoing, it can be seen that double vertical edges are riveted and set the mechanical arm that 5310 are installed and be required to transverse translation, and pacify The mechanical arm of end edge riveter structure 5320 is filled without translation.

Straight flange gripping mechanism 531, as shown in figure 19, including it is straight flange clamping opening gap 5311, straight flange clamping opening guide plate 5312, straight Side clamping opening fixture block 5313.Wherein, straight flange clamping opening guide plate 5312 is located at the front end of straight flange clamping opening mounting plate 5314, and is pressed from both sides with straight flange Mouth mounting plate 5314 forms L-shaped structure.Straight flange clamping opening mounting plate 5314 can be afore-mentioned bottom mounting plate 5341 or clamping opening peace Loading board 521 itself, can also be 5341 front end of bottom mounting plate installation 521 both sides of strip plate body or clamping opening mounting plate The strip plate body of installation.Straight flange clamping opening fixture block 5313 is located at the inside of the L-shaped structure, and is mounted on straight flange clamping opening mounting plate 5314 front end.Straight flange clamping opening gap 5311 is between the strip between straight flange clamping opening fixture block 5313 and straight flange clamping opening guide plate 5312 Gap, front opening.The width in straight flange clamping opening gap 5311, it is, in Figure 19, the top surface of straight flange clamping opening fixture block 5313 and straight flange The distance between 5312 bottom surface of clamping opening guide plate is 3 ~ 6 millimeters.It is equipped with and is oriented to tiltedly at the front end face of straight flange clamping opening guide plate 5312 Face 5315.Straight flange clamping opening guide plate 5312 protrudes forward than straight flange clamping opening fixture block 5313 so that 5312 He of straight flange clamping opening guide plate There is step-like notch 5316 between straight flange clamping opening fixture block 5313.The operation principle of straight flange gripping mechanism 531 is as follows：With reference to figure 5, it is moved forward by straight flange gripping mechanism 531 and rolls over the marginal portion of Z-shaped bottom plate 3901, coaming plate bending edges 4904 and bottom plate Crimp 4903 is caught in the straight flange clamping opening gap 5311 of straight flange gripping mechanism 531, as shown in figure 19.Due to straight flange clamping opening gap 5311 Width be less than bottom plate bending edges 4903 width.Therefore when bottom plate bending edges 4903 are caught in straight flange clamping opening gap 5311, bottom Plate bending edges 4903 by further bending so that it is mobile by the marginal portion of Z-shaped bottom plate 3901, coaming plate bending edges 404 with And 4903 entirety of bottom plate bending edges is caught in straight flange clamping opening gap 5311 so that the marginal portion of Z-shaped bottom plate 3901, coaming plate circle The corner edge of trilaminate structure made of angle bending edges 4904 and bottom plate fillet bending edges 4903 are superimposed.This is three layer by layer The corner edge of stack structure is further bent into the riveting of four multilayer laminated structure as shown in FIG. 6 by straight flange pressing plate bending mechanism Corner 4906.

The longitudinal both ends of liner supporting mechanism 5800 of side end edge riveting station are respectively equipped with respectively before mechanical arm The end edge riveter structure 5410 at end and double long side riveter structures 5420.End edge riveter structure 5410 is used to carry out riveting to bottom end corner line E8 It connects.In the present embodiment, side end edge rivets the end edge riveter structure 5410 on station and is riveted on station with vertical edge end edge above-mentioned End edge riveter 5320 structures of structure are identical, and this specification repeats no more.Double long side riveter structures 5420 are by two towards opposite length Side is riveted to set and be formed.Two long sides are riveted to set corresponds to two long sides linea angulata E2, E3 respectively, and for long side angle Line E2, E3 are riveted.Long side is riveted 5320 structure of end edge riveter structure set and can riveted with aforementioned vertical edge end edge on station It is identical.In view of the length of long side linea angulata E2, E3 are longer, long side linea angulata E2, E3 are carried out using end edge riveter structure 5320 The effect of riveting is not so good, and in the present embodiment, long side, which is riveted, to be set using roll-type riveting method.As shown in figure 20, double long sides Riveter structure 5420 is including roller bracket 508 and is mounted on 508 both sides of roller bracket and symmetrical multiple pinch rollers.Per side Pinch roller one long side above-mentioned of composition, which is riveted, to be set.In the present embodiment, rolling formula edge-folding mechanism is divided into three groups of pinch roller external members：First section Pinch roller external member, stage casing pinch roller external member and endpiece pinch roller external member.First section pinch roller external member, stage casing pinch roller external member and endpiece pinch roller external member are pressed Order is successively in tandem.

First section pinch roller external member includes three parallel press nips 5401,5402,5403.Parallel press nips 5401,5402,5403 Respectively as shown in Figure 21, Figure 22, Figure 23, including upper pressure wheel 5411 and lower pressure wheel 5412.Upper pressure wheel 5411 and lower pressure wheel 5412 are logical The both sides that horizontal rotating shaft is mounted on roller bracket 508 are crossed, and are symmetrical with the center line of roller bracket 508.Lower pressure wheel 5412 are located at the lower section of upper pressure wheel 5411.Upper pressure wheel 5411 is parallel with the axle center of lower pressure wheel 5412, and positioned at same vertical flat On face.Lower pressure wheel 5412 includes the conical surface 5413.The cone of the conical surface 5413 is located at outside.The cylinder and lower pressure wheel of upper pressure wheel 5411 5412 5413 groups of clamping opening at an acute angle of the conical surface.The acute angle clamping opening, as shown in Fig. 5, Figure 21, for being carried out to bottom plate bending edges 4903 Further bending.When bending, the cylinder of upper pressure wheel 5411, which is pressed on bottom plate 3901, plays the role of platen support, lower pressure wheel 5412 The conical surface 5413 acts on bottom plate bending edges 4903 and carries out bending.The cone angle of the conical surface 5413 of each lower pressure wheel 5412 from big to small according to It is secondary in tandem.In the present embodiment, the cone angle of the conical surface 5413 of three lower pressure wheels 5412 is respectively 120 degree, 60 degree and 0 degree, That is, the conical surface 5413 of three lower pressure wheels 5412 is in 60 degree of angles, 30 degree of angles and 0 degree of angle respectively with horizontal axis.Third Parallel press nips also imply that it is, the cone angle of the conical surface 5413 of the lower pressure wheel 5412 of parallel press nips 5403 is 0 degree, put down The conical surface 5413 of the lower pressure wheel 5412 of row press nips 5403 is cylinder.The cone angle of the conical surface 5413 of each lower pressure wheel 5412 from greatly to It is small successively in tandem so that it is finally so that Z-shaped by gradually bending when bottom plate bending edges 4903 are by each parallel press nips Marginal portion, coaming plate fillet bending edges 4904 and the bottom plate fillet bending edges 4903 of bottom plate 3901 be superimposed made of three layer by layer The corner edge of stack structure.That is, first section pinch roller external member makes it for carrying out further bending to bottom plate bending edges 4903 The corner edge of trilaminate structure is bent on freezer liner long side linea angulata.In the present embodiment, first section pinch roller external member packet Three parallel press nips are included, it will be appreciated by those skilled in the art that first section pinch roller external member can also include four, five or more Parallel press nips.

Stage casing pinch roller external member includes two stage casing pinch rollers 5404,5405.Stage casing pinch roller 5404,5405 is respectively such as Figure 24, figure Shown in 25, body part 5421, conical surface portion 5422 and pressing plate portion 5423.Stage casing pinch roller 5404,5405 is mounted on by horizontal rotating shaft The both sides of roller bracket 508, and be symmetrical with the center line of roller bracket 508.Body part 5421 is located inside, conical surface portion 5422 are located at the outside of body part 5421, and pressing plate portion 5423 is located at the outside of conical surface portion 5422.The cone of conical surface portion 5422 is located at Outside.The cylinder in pressing plate portion 5423 forms obtuse angle clamping opening with conical surface portion 5422.The obtuse angle clamping opening, as shown in figure 24, for three The corner edge 4905 of multilayer laminated structure carries out further bending.When bending, the cylinder in pressing plate portion 5423 is pressed on bottom plate 3901 Pressing plate function is played, the corner edge 4905 that conical surface portion 5422 acts on trilaminate structure carries out bending.Each stage casing pinch roller Conical surface portion 5422 cone angle from small to large successively in tandem.In the present embodiment, the conical surface portion of stage casing pinch roller 5404,5405 5422 cone angle is respectively 60 degree and 120 degree, that is, the conical surface and trunnion axis of the conical surface portion 5422 of stage casing pinch roller 5404,5405 The heart respectively be in 30 degree angles and 60 degree of angles so that trilaminate structure corner edge 4905 process each stage casing pinch roller when, by by Bending is walked, is gradually drawn close to the riveting corner 4906 of four multilayer laminated structure shown in fig. 6.That is, stage casing pinch roller external member is used Bending is carried out in the corner edge 4905 to trilaminate structure, is gradually drawn close to the riveting corner 4906 of four multilayer laminated structures. In the present embodiment, stage casing pinch roller external member includes two stage casing pinch rollers, it will be appreciated by those skilled in the art that stage casing pinch roller external member also may be used To include three, four or more stage casings pinch roller.

Endpiece pinch roller external member includes a vertical press nips.Vertical press nips, as shown in figure 26, including 5406 He of top pressure wheel Lateral pressure wheel 5407.Top pressure wheel 5406 is mounted on the both sides of roller bracket 508 by horizontal rotating shaft, and in roller bracket 508 Heart line is symmetrical.Lateral pressure wheel 5407 is mounted on the both sides of roller bracket 508 by vertical shaft, and with roller bracket 508 Center line be it is symmetrical.The vertical shaft of lateral pressure wheel 5407 is mounted on side wheel holder 5409.Side wheel holder 5409 is installed In the side of roller bracket 508.Below 5406 axle center of top pressure wheel that lateral pressure wheel 5407 is located at, and 5407 axle center of lateral pressure wheel and top 5406 axle center of pinch roller is located on same perpendicular so that the cylinder of top pressure wheel 5406 and the cylinder cells of lateral pressure wheel 5407 are at a right angle Clamping opening.When freezer liner long side linea angulata is after pinch roller external member in stage casing above-mentioned, the riveting close to four multilayer laminated structures is formd The shape at edge fit angle 4906.The right angle clamping opening is used for riveting corner 4906 close to four multilayer laminated structures to this as shown in figure 26 Carry out further pressing plate setting.When pressing plate shapes, the cylinder of top pressure wheel 5406, which is pressed on bottom plate 3901, plays pressing plate function.This reality It applies in example, endpiece pinch roller external member includes a vertical press nips, it will be appreciated by those skilled in the art that endpiece pinch roller external member can also Including two, the vertical press nips of three or more.

Longitudinal one end of liner supporting mechanism 5800 of the positions short side substep riveter is equipped with mounted on the double short of mechanical arm front end Side riveter structure 5510.Double short side riveter structures 5510 are riveted to set by two towards opposite short side to be formed.Two short sides Two short sides corner line E6, E7 are corresponded to respectively while being riveted and setting, and for being riveted to short side corner line E6, E7.The present embodiment In, it is identical that short side is riveted end edge riveter 5320 structures of structure set and riveted on station with vertical edge end edge above-mentioned.

Aforementioned involved mechanical arm configuration can refer to Figure 27.Figure 27 is a double fillet riveting on four fillets riveting station The mechanical arm mounting structure schematic diagram of mechanism group 5210.Double fillet riveting mechanism groups 5210 are mounted on the machine of mechanical arm mechanism 5900 The front end of tool arm 411.Mechanical arm mechanism 5900 includes mechanical arm 411, mechanical arm translation plates 412 and mechanical arm transverse beam 413.Machine Tool arm transverse beam 413 is mounted on by mechanical arm elevated levels on mechanical arm support column 4140.Mechanical arm support column 4140 It is vertically installed on station pedestal 400.Mechanical arm translation plates 412 are mounted on mechanical arm transverse direction by mechanical arm laterial translation mechanism On beam 413 so that mechanical arm translation plates 412 can be translated along mechanical arm transverse beam 413.Mechanical arm 411 is horizontally disposed, And it is perpendicular with mechanical arm transverse beam 413.Mechanical arm 411 is mounted on mechanical arm translation plates by mechanical arm longitudinal translation mechanism On 412 so that mechanical arm 411 can carry out longitudinal extension along mechanical arm 411.The mechanical arm mechanism can by above structure With double fillet riveting mechanism groups 5210 laterally longitudinal and perpendicular move up.

Mechanical arm elevating mechanism, including mechanical arm lifting link 4141, mechanical arm lifting sliding rail 4142, mechanical arm lifting Motor 4143, mechanical arm lifting synchronizing shaft 4145 and mechanical arm lifter rack 4147.Mechanical arm lifting link 4141 has two It is a.Two mechanical arm lifting links 4141 are same high, and respectively each by 4142 frame of mechanical arm lifting sliding rail being vertically arranged It is located on two mechanical arm support columns 4140.4145 both ends of mechanical arm lifting synchronizing shaft are respectively erected in mechanical arm lifting link It is intermediate that mechanical arm lifting motor 4143 is connected by retarder 4144 on 4141.Mechanical arm lifter rack 4147 has two.Two Mechanical arm lifter rack 4147 is respectively vertical respectively to be set on two mechanical arm support columns 4140, and is located at mechanical arm lifting sliding rail 4142 inside.4145 both ends of mechanical arm lifting synchronizing shaft are equipped with the mechanical arm lifting being meshed with mechanical arm lifter rack 4147 Gear 4146.Mechanical arm lifter wheel 4146 can lift 4145 synchronous rotary of synchronizing shaft with mechanical arm.Mechanical arm transverse beam 413 Both ends are mounted on mechanical arm lifting link 4141.Thus when mechanical arm lifting motor 4143 drives mechanical arm to lift synchronizing shaft When 4145 rotation, mechanical arm lifts two 4146 synchronous rotaries of mechanical arm lifter wheel at 4145 both ends of synchronizing shaft, passes through machinery Engagement between arm lifter wheel 4146 and mechanical arm lifter rack 4147 drives mechanical arm lifting link 4141, machine Tool arm lifting motor 4143, mechanical arm lift 4145 synchronization lifting of synchronizing shaft, and then mechanical arm transverse beam 413 is driven to lift.

Mechanical arm laterial translation mechanism, as shown in Figure 28, Figure 29, including mechanical arm cross slide way mechanism and mechanical arm transverse direction Driving mechanism.Mechanical arm cross slide way mechanism includes mechanical arm transverse direction top slide rail 4131 and mechanical arm transverse sides sliding rail 4132.Mechanical arm transversal driving mechanism includes mechanical arm horizontal tooth bar 4133, the laterally driven gear 4134 of mechanical arm and mechanical arm Cross motor 4135.Mechanical arm transverse direction top slide rail 4131, mechanical arm transverse sides sliding rail 4132 and mechanical arm horizontal tooth bar 4133 are arranged along the direction of mechanical arm transverse beam 413, and in horizontally disposed.Mechanical arm transverse direction top slide rail 4131 and mechanical arm Horizontal tooth bar 4133 is located on the top surface of mechanical arm transverse beam 413.Mechanical arm transverse sides sliding rail 4132 is located at mechanical arm transverse direction On the side of beam 413.Mechanical arm translation plates 412 are horizontally disposed, and bottom is erected at machine by mechanical arm transverse direction top slide 4121 In tool arm transverse direction top slide rail 4131, and mechanical arm transverse sides sliding rail is erected at by mechanical arm transverse sides sliding block 4122 On 4132.Mechanical arm transverse sides sliding block 4122 is mounted on the mechanical arm lateral suspension frame 4123 of 412 lower section of mechanical arm translation plates On.Mechanical arm cross motor 4135 is mounted in mechanical arm translation plates 412.The laterally driven gear 4134 of mechanical arm is mounted on machinery The lower section of arm translation plates 412 is meshed with mechanical arm horizontal tooth bar 4133, and connects mechanical arm cross motor 4135.Machine as a result, Tool arm cross motor 4135 drives the laterally driven gear 4134 of mechanical arm to rotate, and passes through the laterally driven gear 4134 of mechanical arm and machine Engagement between tool arm horizontal tooth bar 4133 drives mechanical arm translation plates 412 along 4131 He of mechanical arm transverse direction top slide rail Mechanical arm transverse sides sliding rail 4132 carries out transverse translation.To avoid mechanical arm translation plates 412 from removing mechanical arm transverse beam 413, Mechanical arm transverse beam 413 is provided at both ends with cross spacing block 4136.In addition, in the present embodiment, mechanical arm horizontal tooth bar 4133 is Oblique gear rack；The laterally driven gear 4134 of mechanical arm is oblique gear.

Mechanical arm longitudinal translation mechanism includes mechanical arm longitudinal rail mechanism and mechanical arm longitudinal driving mechanism.Mechanical arm is vertical Guide rail mechanism includes mechanical arm longitudinal slide rail 4111.Mechanical arm longitudinal driving mechanism includes mechanical arm longitudinal rack 4114, machine Tool arm zigzag tread patterns gear 4115 and mechanical arm longitudinal motor 4116.Mechanical arm longitudinal slide rail 4111 has two, is respectively arranged on machine The both sides of tool arm 411.Mechanical arm 411 is vacantly erected at mechanical arm longitudinal direction suspension frame by the mechanical arm longitudinal slide rail 4111 of both sides On the longitudinal vacantly sliding block 4112 of mechanical arm being arranged on 4113.Mechanical arm longitudinal direction suspension frame 4113 is mounted on mechanical arm translation plates On 412.The hanging erection mode of mechanical arm 411 makes between being equipped between the bottom of mechanical arm 411 and mechanical arm translation plates 412 Gap.The gap is for installing mechanical arm longitudinal rack 4114 and mechanical arm zigzag tread patterns gear 4115.Mechanical arm longitudinal rack 4114 are set to the lower section of mechanical arm 411, and are nibbled with 4115 phase of mechanical arm zigzag tread patterns gear installed in mechanical arm translation plates 412 It closes.Mechanical arm longitudinal motor 4116 is mounted on the lower section of mechanical arm translation plates 412, and connects mechanical arm zigzag tread patterns gear 4115.Mechanical arm longitudinal motor 4116 drives mechanical arm zigzag tread patterns gear 4115 to rotate as a result, passes through mechanical arm zigzag tread patterns Engagement between gear 4115 and mechanical arm longitudinal rack 4114 drives mechanical arm 411 to stretch along longitudinal direction.To avoid Mechanical arm 411 removes mechanical arm translation plates 412, and mechanical arm 411 is provided at both ends with longitudinal spacing block 4117.In addition, the present embodiment In, mechanical arm longitudinal rack 4114 is oblique gear rack；Mechanical arm zigzag tread patterns gear 4115 is oblique gear.

It should be pointed out that the height of high-end corner line E1, long side linea angulata E2, E3 and fillet A3, A4 are fixed, because This, the mechanical arm that the riveting mechanism corresponding to high-end corner line E1, long side linea angulata E2, E3 and fillet A3, A4 is installed is high Degree is fixed, and vertical liftable is not necessarily to.Since freezer liner different model is there are various sizes of problem, two of third column group Stem height is adjustable, therefore, low side corner line E8, vertical corner line E4, E5, short side corner line E6, E7 and fillet A1, A2 Height adjusted accordingly with the adjustment of the two root posts height of third column group.This is required：Four fillets rivet in station, The mechanical arm that one of two double fillet riveting mechanism groups 5210 are installed can vertical lifting, and another double fillet riveting mechanism The mechanical arm that group 5210 is installed is not necessarily to being capable of vertical lifting；Vertical edge end edge rivets in station, and double vertical edges, which are riveted, to be set 5310 and pacified The mechanical arm of dress can vertical lifting, and the mechanical arm that end edge riveter structure 5320 is installed is without being capable of vertical lifting；Side end Side rivets in station, mechanical arm that end edge riveter structure 5410 is installed can vertical lifting, and double 5420 institutes of long side riveter structure The mechanical arm of installation is not necessarily to being capable of vertical lifting；In the positions short side substep riveter, machine that double short side riveter structures 5510 are installed Tool arm being capable of vertical lifting.In addition, the mechanical arm of installation pair fillet riveting mechanism group 5210, the double vertical edges of installation, which are riveted, sets 5310 Mechanical arm installs the mechanical arm of double long side riveter structures 5420, and the mechanical arm of installation pair short side riveter structure 5510 is intended to Transverse translation can be carried out by asking, and end edge riveter structure 5320 and end edge riveter structure 5410 fix centering, without requiring machinery Arm being capable of transverse translation.In the case where mechanical arm is without lifting, mechanical arm transverse beam 413 can be directly anchored to mechanical arm support On column 4140, without mechanical arm elevating mechanism.In the case where mechanical arm is not necessarily to transverse translation, mechanical arm translation plates 412 can be directly anchored in mechanical arm transverse beam 413, without mechanical arm laterial translation mechanism.

In addition, Figure 19, Figure 21, Figure 24, Tu26Zhong, have all referred to support the right angle supporting block 1901 of corner.It is high-end When corner line E1, long side linea angulata E2, E3, low side corner line E8 are riveted, six pillar frameworks corresponding to these corner lines It needs that right angle supporting block 1901 is installed between the column top of supporting mechanism 13.The transverse direction of six pillar framework supporting mechanisms 13 and vertical To size adjustable, it is meant that the spacing between column is adjustable, also implies that right angle supporting block 1901 can be adapted between column Spacing adjusts, while being capable of providing enough physical strengths, to provide support when riveting.For this purpose, the present embodiment passes through adjustable bridge Formula plate chain realizes that this column spacing that can be adapted to adjusts, and is capable of providing the right angle supporting block 1901 of enough physical strengths. It is exactly that two of six pillar framework supporting mechanisms on vertical edge end edge riveting station corresponding to the high-end corner line E1 of freezer liner are vertical Between top end, on side end edge riveting station corresponding to freezer liner low side corner line E8 and long side linea angulata E2, E3 Six pillar framework supporting mechanisms 13 two root posts top between, adjustable bridge-type plate chain 14 is installed, referring to Fig. 8, Fig. 9.It can Bridge-type plate chain 14 is adjusted, as shown in figure 30.Figure 30 is six pillar framework supporting mechanisms, 13 first column in vertical edge end edge riveting station The structural schematic diagram of adjustable bridge-type plate chain 14 installed between two 1331 tops of high column of group, this is adjustable bridge-type plate chain 14 The riveting support of the end edge riveter structure 5320 of station is riveted corresponding to vertical edge end edge.

As shown in Figure 30, Figure 31, Figure 32, two high columns 1331 are that cross section is L-shaped cylinder.Wherein, right side 1331 top of high column is provided with the first horizontal top plate 1411, and 1331 top of high column in left side is provided with the second horizontal top Plate 1451.The top surface of second top plate 1451 and the top surface of the first top plate 1411 are same high.First top plate 1411 is towards the second top plate 1451 inside is provided with wedge shaped support block 1412.Wedge shaped support block 1412 has horizontal same with the top surface of the first top plate 1411 High top surface.Curved support block 1413 is installed in the lower section of wedge shaped support block 1412.Curved support block 1413 is fixed on right side High column 1331 on.There is chain channel 1415 between curved support block 1413 and wedge shaped support block 1412.Curved support block 1413 towards having cambered surface on the direction of wedge shaped support block 1412.One end of adjustable bridge-type plate chain 14 is solid with 1451 phase of the second top plate It is fixed.The other end pulls mechanism installation around the cambered surface in curved support block 1413, and after chain channel 1415 by bridge chain On the high column 1331 on right side.Bridge chain pulls mechanism and is used for the adjustable bridge-type plate when spacing adjusts between two high columns 1331 One end of chain 14 keeps adjustable bridge-type plate chain 14 exceptionally straight.In the present embodiment, bridge chain pulls mechanism and is vertically arranged the Gao Li on right side Rodless cylinder 143 on column 1331.Rodless cylinder 143 is set to the inside of L-shaped cylinder vertically.The piston slider of rodless cylinder 143 1431 mutually fix with one end of adjustable bridge-type plate chain 14.It, can when adjustable bridge-type plate chain 14 pulls mechanism by bridge chain tenses exceptionally straight Bridge-type plate chain 14 is adjusted to be located at the portion keeps horizontal between two high columns 1331.When adjustable bridge-type plate chain 14 is located at two Gen Gaoli When portion keeps horizontal between column 1331, top surface is flushed with the apical side height of the first top plate 1411, the second top plate 1451.It can The vacancy that bridge-type plate chain 14 is located at the high 1331 top arc coupling part of column in right side is adjusted to be compensated by wedge shaped support block 1412, to So that forming right angle supporting block 1901 above-mentioned between two 1331 tops of high column.

The structure of adjustable bridge-type plate chain 14 is sequentially connected in series as shown in Figure 33, Figure 34, Figure 35 by chain locking nub.Chain locking nub It is made of deck plate 1421, block board 1422 and series connection portion.It is made of deck plate 1421, block board 1422 and series connection portion Chain locking nub is process by stainless steel integration.Series connection portion is made of two blocks of axis hole plates 143.Distinguish at the both ends of axis hole plate 143 Equipped with the first axis hole 1431 and the second axis hole 1432.Axis hole plate 143 is equipped with bending part 1433 so that the word that axis hole plate 143 is in Shape.Two blocks of axis hole plates 143 are oppositely arranged so that the axle center of the first axis hole 1431 of two blocks of axis hole plates 143 coincides, two pieces of axis holes The axle center of second axis hole 1432 of plate 143 coincides, also, the axle center phase in the axle center of the first axis hole 1431 and the second axis hole 1432 It is parallel.The first axis hole 1431 on two blocks of axis hole plates 143 in the series connection portion of chain locking nub can be stuck in the series connection portion of another chain locking nub Two blocks of axis hole plates 143 on the second axis hole 1432 inside.First on two blocks of axis hole plates 143 in the series connection portion of chain locking nub Axis hole 1431 is stuck in the inside of the second axis hole 1432 on two blocks of axis hole plates 143 in the series connection portion of another chain locking nub, and passes through axis Hold 144 it is connected when, realize two chain locking nubs between series connection.Multiple chain locking nubs are connected between any two forms the adjustable of the present embodiment Bridge-type plate chain 14.Two neighboring chain locking nub can surround the axis rotation of the bearing 144 of two chain locking nubs of connection, so that can Adjust bridge-type plate chain 14 being capable of bend in one direction.Block board 1422 be mounted on two blocks of axis hole plates 143 side, and with the first axis hole 1431 Axle center it is parallel.Deck plate 1421 is mounted on block board 1422, and parallel with the axle center of the first axis hole 1431.It is specific next It says, the plane that the axle center of the first axis hole 1431 of chain locking nub and the axle center of the second axis hole 1432 are formed is parallel to deck plate 1421 With the top surface of block board 1422.As shown in figure 36, the distance of shaft centers of the first axis hole 1431 and the second axis hole 1432 is L1, block board 1422 width is L2, and the width of deck plate 1421 is L3.The distance of shaft centers L1 of first axis hole 1431 and the second axis hole 1432, screens The width L2 of plate 1422 is identical with the width L3 of deck plate 1421, that is, L1=L2=L3.Deck plate 1421 and block board 1422 It shifts to install so that zigzag structure is formed between deck plate 1421 and block board 1422.Deck plate 1421 and block board 1422 Between dislocation away from the half for 1421 width of deck plate, it is, in Figure 36 L4 be deck plate 1421 and block board 1422 it Between dislocation away from L1=L2=L3=2 × L4.The deck plate 1421 and block board 1422 shifted to install is so that two neighboring chain locking nub The deck plate 1421 and block board 1422 shifted to install when can only one-directionally rotate, and rotate in the opposite direction blocks, and nothing Method bending, so that adjustable bridge-type plate chain 14 can only unidirectional bending.That is, adjustable bridge-type plate chain 14 is located at two Gen Gaoli Part between column will not be because of loose and sagging.In addition, the middle part of deck plate 1421 and block board 1422 is provided with hollow hole 146.Hollow hole 146 under the premise of not reducing the physical strength of plate body for saving Material Cost.

Claims (10)

1. a kind of freezer liner production line that gluing is preposition, which is characterized in that including the big coaming plate production line of U-shaped, the small coaming plate life of U-shaped Producing line, Z-shaped soleplate production line, degree of lip-rounding coaming plate riveting station, corner line gluing station, bottom plate rivet line；The big coaming plate life of U-shaped Producing line is used to Figured aluminium plate being prepared into the big coaming plate of U-shaped；The small coaming plate production line of U-shaped is used to Figured aluminium plate being prepared into U-shaped Small coaming plate；The Z-shaped soleplate production line is used to Figured aluminium plate preparing z-shape bottom plate；The degree of lip-rounding coaming plate riveting station is used for Become degree of lip-rounding coaming plate after two end lines of the big coaming plate of U-shaped and the small coaming plate of U-shaped are mutually riveted；The corner line gluing station is used for Advance gluing is carried out before riveting on the corner line being combined with Z-shaped bottom plate on lip-sync coaming plate；The bottom plate rivet line is used for Degree of lip-rounding coaming plate and Z-shaped bottom plate are mutually riveted into freezer liner.

2. the preposition freezer liner production line of gluing as described in claim 1, which is characterized in that the degree of lip-rounding coaming plate rivets work At blanking of the position in the big coaming plate production line of the U-shaped and between the blanking of the small coaming plate production line of the U-shaped；The U-shaped is big The first robot mechanical arm is equipped at the blanking of coaming plate production line；First robot mechanical arm is used to give birth to the big coaming plate of U-shaped The big coaming plate of U-shaped that producing line is prepared is transferred on the degree of lip-rounding coaming plate riveting station；The blanking of the small coaming plate production line of U-shaped Place is equipped with the second robot mechanical arm；Second robot mechanical arm is for the small coaming plate production line of the U-shaped to be prepared The small coaming plate of U-shaped be transferred on degree of lip-rounding coaming plate riveting station.

3. the preposition freezer liner production line of gluing as described in claim 1, which is characterized in that the bottom plate rivet line is by suitable Sequence includes pre- riveting station, four fillets riveting station, vertical edge end edge riveting station, side end edge riveting station, short side successively The positions substep riveter；It is chosen on the corner line that the pre- riveting station is used to be combined between lip-sync coaming plate and Z-shaped bottom plate more A point synchronizes nail riveting, and degree of lip-rounding coaming plate is made mutually to be fixed with Z-shaped bottom plate；The four fillets riveting station is used for lip-sync coaming plate Four fillets being combined between Z-shaped bottom plate are riveted；The vertical edge end edge riveting station is used for the big coaming plate of U-shaped and Z Two vertical corner lines being combined between shape bottom plate and high-end corner line synchronize riveting；The side end edge rivets station Phase between two long side linea angulatas for being combined between the big coaming plate of U-shaped and Z-shaped bottom plate and the small coaming plate of U-shaped and Z-shaped bottom plate In conjunction with low side corner line synchronize riveting；The positions short side substep riveter are used between the small coaming plate of U-shaped and Z-shaped bottom plate Two short side corner line substeps being combined are riveted.

4. the preposition freezer liner production line of gluing as claimed in claim 3, which is characterized in that the pre- riveting station, four Fillet rivets station, vertical edge end edge riveting station, side end edge riveting station, the positions short side substep riveter transverse direction in order successively Arrangement, top are crossed with robot track beam；Being equipped on the robot track beam can be along the robot track The sucker manipulator of beam movement；The pre- riveting station, four fillets riveting station, vertical edge end edge riveting station, side end edge riveting Connect station, short side substep riveter is separately installed with liner supporting mechanism on position；Liner on the pre- riveting station supports machine Structure is set on first longitudinal direction track, and can be moved along the first longitudinal direction track；One end of the first longitudinal direction track is located at The lower section of the robot track beam, the other end are rivet line feeding end；Rivet line feeding end is located at the corner line and beats Between the blanking of glue station and the Z-shaped soleplate production line；The corner line gluing station is riveted set on the degree of lip-rounding coaming plate Between station and rivet line feeding end.

5. the preposition freezer liner production line of gluing as claimed in claim 4, which is characterized in that the bottom plate rivet line also wraps Include blanking transition station；The pre- riveting station, four fillets riveting station, vertical edge end edge riveting station, side end edge rivet work Position, the positions short side substep riveter, blanking transition station are laterally arranged in order in order；The robot track beam is across described Pre- riveting station, four fillets riveting station, vertical edge end edge riveting station, side end edge riveting station, the positions short side substep riveter, The top of blanking transition station；The liner supporting mechanism includes six pillar framework supporting mechanisms and liftable cabinet mouth platform；Institute It includes six roots of sensation column to state six pillar framework supporting mechanisms；Six roots of sensation column four high two is short, forms the framework supporting mechanism of step, uses In support freezer liner；The horizontal and vertical size adjustable of the six pillars framework supporting mechanism；Six columns described in the cabinet mouth platform ring Formula framework supporting mechanism is arranged, for supporting freezer liner when freezer liner tips upside down on the six pillars framework supporting mechanism Cabinet mouth；The blanking transition station includes six pillar framework supporting mechanisms being mounted on second longitudinal direction track；Described second One end of long rails is located at the lower section of the robot track beam, and the other end is rivet line discharging end.

6. the preposition freezer liner production line of gluing as claimed in claim 5, which is characterized in that six columns on pre- riveting station It nail is installed on the outside of the column of formula framework supporting mechanism is riveted and set；Top on pre- riveting station be riveted set for lip-sync coaming plate and Nail riveting is synchronized on the corner line being combined between Z-shaped bottom plate, and degree of lip-rounding coaming plate is made mutually to be fixed with Z-shaped bottom plate；Four fillets rivet The liner supporting mechanism longitudinal direction both ends of station are respectively equipped with double fillet riveting machines that two difference are respectively mounted on mechanical arm front end Structure group；Double fillet riveting mechanism groups are respectively facing the fillet riveting set in outside by two with the mechanical arm in 45 degree of angles It is formed；The liner supporting mechanism longitudinal direction both ends of vertical edge end edge riveting station are respectively equipped with respectively mounted on the double of mechanical arm front end Vertical edge, which is riveted, to be set and end edge riveter structure；Double vertical edges are riveted the vertical edge riveter set by two directions are opposite and are vertically arranged Structure is formed；The liner supporting mechanism longitudinal direction both ends of side end edge riveting station are respectively equipped with respectively mounted on mechanical arm front end Double long side riveter structures and end edge riveter structure；Double long side riveter structures be riveted towards opposite long side by two set group At；Liner supporting mechanism longitudinal direction one end of the positions short side substep riveter is equipped with double short side riveters mounted on mechanical arm front end Structure；Double short side riveter structures are riveted to set by two towards opposite short side to be formed；The fillet riveting set is used for The fillet being combined between lip-sync coaming plate and Z-shaped bottom plate is riveted；The vertical edge riveter structure be used for the big coaming plate of U-shaped and The vertical corner line being combined between Z-shaped bottom plate is riveted；The long side, which is riveted, to be set for the big coaming plate of U-shaped and Z-shaped bottom The long side linea angulata being combined between plate is riveted；The short side, which is riveted, sets between the small coaming plate of U-shaped and Z-shaped bottom plate The short side corner line being combined is riveted；What the end edge riveter structure was used to be combined between the big coaming plate of U-shaped and Z-shaped bottom plate High-end corner line is riveted, or the low side corner line for being combined between the big coaming plate of U-shaped and Z-shaped bottom plate carries out riveting It connects；The mechanical arm at least being capable of longitudinal extension.

7. the preposition freezer liner production line of gluing as claimed in claim 6, which is characterized in that the vertical edge end edge rivets work Between the two root posts top of six pillar framework supporting mechanisms on position corresponding to the high-end corner line of freezer liner, the side end Side rivet six pillar framework supporting mechanisms corresponding to freezer liner low side corner line and long side linea angulata on station two are vertical Between top end, adjustable bridge-type plate chain is installed；One end of the adjustable bridge-type plate chain is fixed on the top of a root post End, the other end then bypasses the curved support block (1413) being arranged on another column, and connecting bridge chain pulls mechanism afterwards；The adjustable bridge Formula plate chain is sequentially connected in series by chain locking nub；The chain locking nub is by deck plate (1421), block board (1422) and institute of series connection portion group At；The series connection portion is made of two pieces of axis hole plates (143)；The both ends of axis hole plate (143) are respectively equipped with the first axis hole (1431) With the second axis hole (1432)；Axis hole plate (143) is equipped with bending part (1433) so that axis hole plate (143) is in a zigzag；Two pieces of axis Orifice plate (143) is oppositely arranged so that the axle center of the first axis hole (1431) of two pieces of axis hole plates (143) coincides, two blocks of axis hole plates (143) axle center of the second axis hole (1432) coincides, and make chain locking nub series connection portion two pieces of axis hole plates (143) on the One axis hole (1431) can be stuck in the interior of the second axis hole (1432) on two pieces of axis hole plates (143) in the series connection portion of adjacent chain locking nub Side；The first axis hole (1431) on two pieces of axis hole plates (143) of chain locking nub and second on two pieces of axis hole plates (143) of adjacent chain locking nub It is connected by bearing (144) between axis hole (1432), and enables two pieces of adjacent chain locking nubs around the axle center of bearing (144) Rotation；Block board (1422) is mounted on the side of two pieces of axis hole plates (143), and parallel with the axle center of the first axis hole (1431)； Deck plate (1421) is mounted on block board (1422), and parallel with the axle center of the first axis hole (1431)；Deck plate (1421) With the distance of shaft centers phase of the width and the first axis hole (1431) and the second axis hole (1432) on axis hole plate (143) of block board (1422) Together；Deck plate (1421) and block board (1422) shift to install so that are formed between deck plate (1421) and block board (1422) Zigzag structure.

8. the preposition freezer liner production line of gluing as claimed in claim 6, which is characterized in that the fillet riveting set packet Include horizontal fillet edge-folding mechanism, fillet pressing plate edge-folding mechanism and fillet riveting rack；The horizontal fillet edge-folding mechanism is located at The lower section of the fillet pressing plate edge-folding mechanism；The horizontal fillet edge-folding mechanism includes horizontal fillet hemming die item (432) and circle Angle horizontal air cylinder (433)；Horizontal fillet hemming die item (432) is mounted in fillet riveting rack, with fillet horizontal air cylinder (433) be connected, and can under the driving of fillet horizontal air cylinder (433) horizontal shifting；Horizontal fillet hemming die item (432) Front end face is equipped with the die cavity that horizontal cross-section is in circular arc；The fillet pressing plate edge-folding mechanism includes fillet vertical cylinder (441), circle Angle mould crane (442), fillet clamp block (443) and vertical fillet hemming die item (444)；Fillet mould crane (442) it is mounted in fillet riveting rack, is connected with fillet vertical cylinder (441), and can be in fillet vertical cylinder (441) the lower lifting of driving；Fillet clamp block (443) is mounted on fillet mould crane (442) by spring stack mechanism (4431) Lower section；Vertical fillet hemming die item (444) is fixed on the lower section of fillet mould crane (442)；Vertical fillet hemming die item (444) front end face is equipped with the die cavity that horizontal cross-section is in circular arc；The fillet of the die cavity and freezer liner bottom plate matches.

9. the preposition freezer liner production line of gluing as claimed in claim 6, which is characterized in that double long side riveter structures Including roller bracket (508) and mounted on roller bracket (508) both sides and symmetrical multiple pinch rollers；Mounted on roller bracket (508) multiple pinch rollers of both sides form rolling formula edge-folding mechanism；The pinch roller is not connected to dynamical system；The rolling formula folding brake Structure includes：First section pinch roller external member, stage casing pinch roller external member and endpiece pinch roller external member；The first section pinch roller external member, stage casing pinch roller external member In order successively in tandem with endpiece pinch roller external member；The first section pinch roller external member includes at least three parallel press nips；It is described Parallel press nips include axle center level and parallel upper pressure wheel and lower pressure wheel；The wherein described lower pressure wheel is located under the upper pressure wheel Side, and the lower pressure wheel includes the conical surface；The conical surface group clamping opening at an acute angle of the cylinder of the upper pressure wheel and the lower pressure wheel；Institute State the cone angle of each lower pressure wheel conical surface from big to small successively in tandem；The stage casing pinch roller external member includes at least two stage casings and presses Wheel；The stage casing pinch roller includes conical surface portion (5422) and pressing plate portion (5423)；Pressing plate portion (5423) is located at conical surface portion (5422) Outside；The cone angle of the conical surface portion (5422) of each stage casing pinch roller is from small to large successively in tandem；The endpiece pinch roller set Part includes at least a vertical press nips；The vertical press nips include axle center level top pressure wheel (5406) and axle center it is vertical Lateral pressure wheel (5407)；Below top pressure wheel (5406) axle center that lateral pressure wheel (5407) is located at, and lateral pressure wheel (5407) axle center and top Pinch roller (5406) axle center is located on same perpendicular；The cylinder of top pressure wheel (5406) and the cylinder composition of lateral pressure wheel (5407) are straight Angle clamping opening.

10. the preposition freezer liner production line of gluing as claimed in claim 6, which is characterized in that the vertical edge riveter structure On vertical edge riveting holder (52), including straight flange gripping mechanism (531) and straight flange pressing plate bending mechanism；The straight flange pressing plate folding Bender structure includes straight flange pressing plate mould item (5321), straight flange bender item (5322) and straight flange bogie (5323)；Straight flange pressing plate mould Item (5321) is mounted on the front of straight flange bogie (5323) by spring stack mechanism (5324)；Straight flange bender item (5322) is logical Cross the front that mould mounting plate (5325) is mounted on straight flange bogie (5323)；Straight flange pressing plate mould item (5321) is located at straight flange bending The outside of mould item (5322), and it is parallel with straight flange bender item (5322) and be close to；Straight flange gripping mechanism (531) is located at straight flange The inside of bender item (5322), and it is parallel with straight flange bender item (5322)；It is equipped in front of vertical edge riveting holder (52) Vertical clamping opening mounting plate (521)；The straight flange gripping mechanism (531) of two straight flange riveter structures is separately mounted to clamping opening installation The both sides of plate (521)；Straight flange gripping mechanism (531) include straight flange clamping opening gap (5311), straight flange clamping opening guide plate (5312) and Straight flange clamping opening fixture block (5313)；Straight flange clamping opening guide plate (5312) is located at the outside of clamping opening mounting plate (521), and is installed with clamping opening The side of plate (521) forms L-shaped structure；Straight flange clamping opening fixture block (5313) is located at the inside of the L-shaped structure, and pacifies mounted on clamping opening The outside of loading board (521), and positioned at the front of straight flange clamping opening guide plate (5312)；Straight flange clamping opening gap (5311) is straight flange clamping opening Strip gap between fixture block (5313) and straight flange clamping opening guide plate (5312), towards outer openings.