CN102674056A - Clamping and feeding system used for synchronous transmission of flexible membranes and application thereof - Google Patents
Clamping and feeding system used for synchronous transmission of flexible membranes and application thereof Download PDFInfo
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- CN102674056A CN102674056A CN2012101231273A CN201210123127A CN102674056A CN 102674056 A CN102674056 A CN 102674056A CN 2012101231273 A CN2012101231273 A CN 2012101231273A CN 201210123127 A CN201210123127 A CN 201210123127A CN 102674056 A CN102674056 A CN 102674056A
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Abstract
The invention discloses a clamping and feeding system used for the synchronous transmission of flexible membranes, and the system comprises multiple clamping and feeding devices successively arranged at intervals along the feeding direction, wherein each clamping and feeding device comprises a movable clamping and feeding assembly and a stationary clamping and feeding assembly; the flexible membranes can be alternately clamped by each movable clamping and feeding assembly and the stationary clamping and feeding assembly; when the movable clamping and feeding assembly clamps, the movable clamping and feeding assembly moves along the feeding direction; and when the stationary clamping and feeding assembly clamps, the movable clamping and feeding assembly returns the circulating process of an initial clamping position to realize a purpose of feeding and transmitting the flexible membranes. The invention discloses a method which utilizes the system to synchronously transmit the flexible membranes. In the transmission process of the flexible film, the flexible film is always clamped by the clamping and feeding assembly. Meanwhile, the flexible membranes are returned and fed intermittently by the alternate switch of clamping or loosening. In addition, the feeding and driving assembly simultaneously moves to guarantee that the flexible membranes can be simultaneously fed on a plurality of positions.
Description
Technical field
The present invention relates to flexible membrane transportation art, be specifically related to a kind of grip(per) feed system and application thereof that is used for the flexible membrane synchronous transport than long span.
Background technology
Along with flexible membrane is widely used in papermaking, printing, weaving and flexible electronic manufacturing, the researchist has dropped into more energy and has studied the flexible membrane delivery system.The material of general flexible membrane possibly be papery, plastics (like PET) or metal (like aluminium foil); Maybe be on the profile for rolling, become to open or in flakes; And in device systems, carry the device of flexible membrane; Possibly adopt roll shaft to carry out pair roller and carry, also possibly adopt flat board to carry out clamping and carry, but all be through exerting pressure to flexible membrane and accomplishing conveying operation continuous or intermittence by the friction force between flexible membrane and the holding carrier.
Carry for pair roller; Though can realize the continuous feed of flexible membrane; But the friction force between pair roller and the flexible membrane belongs to making a concerted effort of force of rolling friction and force of sliding friction, and the two almost is the line contact, skidding often occurs; Be difficult to guarantee stable, the accurately conveying of flexible membrane, also can damage the flexible membrane surface sometimes.
Therefore, in order to prevent impaired and maintenance feed accuracy in the flexible membrane conveying, the grip(per) feed system obtains extensive concern.Adopt grip(per) feed to carry out flexible membrane and carry and face several difficult, at first, because the influence of span and gravity factor, flexible membrane can produce to a certain degree sagging, causes the fluctuation of tension force and the instability of system.Secondly, grip(per) feed generally belongs to the intermittent mode of movement that comes and goes, and makes the flexible membrane inverse motion easily in the return action.Once more, the lax of flexible membrane appears in grip(per) feed easily when unclamping flexible membrane, be difficult to guarantee the accurate conveying of flexible membrane; At last, the inconsistent meeting of flexible membrane Feeding speed in a plurality of positions causes flexible membrane to produce lax or strains fold.
Chinese patent document CN01810384.7 provides a kind of apparatus and method that are used for clamping and releasing contact lens molds; Use holding device that the contact lens molds that is provided with the polymerizable liquid monomer therebetween is clamped together in this scheme; But be not toward the ground return feeding, do not have synchronous requirement yet.Mode to the round-trip synchronization grip(per) feed; Chinese patent document CN02144466.8 provides a kind of feed arrangement and method of using static clamping and clamping substrate; Yet electrostatic clamp is not effective to the flexible membrane of any thickness and any material; And sometimes static can make the separation of flexible membrane bring difficulty, thereby the electrostatic clamp feeding only is applicable to some flexible membrane.
Summary of the invention
The present invention is directed to deficiency of the prior art and difficult point; A kind of grip(per) feed system that is used for the flexible membrane synchronous transport is provided; Through to the clamping of flexible membrane or unclamp the employing over-over mode; And motion when adopting the feeding driven unit realizes the round index(ing) feed of flexible membrane, and guarantees flexible membrane feeding in a plurality of positions.
Realize a kind of grip(per) feed system of the object of the invention towards the flexible membrane synchronous transport; Comprise along the spaced apart successively many cover clamping feed arrangements of direction of feed; And every cover clamping feed arrangement comprises a moving grip(per) feed assembly and a quiet grip(per) feed assembly; Through the alternately clamping of each moving grip(per) feed assembly and quiet grip(per) feed assembly to said flexible membrane; And when said moving grip(per) feed assembly clamping, should move along direction of feed by moving grip(per) feed assembly, should moving grip(per) feed assembly when said quiet grip(per) feed assembly clamping return the cyclic process of initial clip position, realize the feeding of said flexible membrane is carried.
System of the present invention also comprises clamping control assembly and feeding control assembly.Moving grip(per) feed assembly clamps flexible membrane, accomplishes the feeding of flexible membrane through the cooperation of feeding driven unit.Quiet grip(per) feed assembly clamps flexible membrane, guarantees that flexible membrane can inverse motion in the return stage of moving grip(per) feed assembly.The clamping control assembly is controlled the exchange clamping of dynamic and static grip(per) feed assembly and is unclamped, and guaranteeing has holding carrier clamping flexible membrane all the time in the course of conveying of flexible membrane, thereby flexible membrane can not relaxed suddenly.Each feeding driven unit of feeding control assembly control moves simultaneously, impels moving grip(per) feed assembly forward and inverse motion simultaneously, guarantees flexible membrane feeding in each position, prevents generation lax or the tension fold.
Simultaneously, there is sequential correlation in the running of clamping control assembly and feeding control assembly, the clamping control assembly start the grip(per) feed assembly clamped or unclamp after, the feeding control assembly is just controlled the motion of feeding driven unit; When the feeding driven unit reached the limit of supplying position, the clamping control assembly was controlled the switching that the grip(per) feed assembly clamps or unclamps again.Source of the gas provides air pressure for the clamping control assembly, thereby clamps when controlling dynamic and static grip(per) feed assembly or unclamp simultaneously.Power supply is that various control assemblys provide propulsion source.
The present invention utilizes flow divider valve or gas-tpe fitting that total gas pressure is divided into the air pressure that multiply equates, cooperate the clamping control assembly electric and dead electricity, thereby the clamping of controlling eight grip(per) feed assemblies simultaneously with unclamp.
The present invention adopts master-slave mode synchro-feed controlling schemes to realize the synchronous rotation to each motor; Promptly with any motor shaft as imput shaft; Other motor shafts are as driven shaft; Driven shaft as input instruction, and then is kept being synchronized with the movement of four motors with the output valve of imput shaft, guarantees flexible membrane feeding in each position.
Among the present invention, the moving grip(per) feed assembly of the many covers of clamping control assembly control clamps flexible membrane simultaneously, and quiet then grip(per) feed assembly unclamps simultaneously, and the clamping of plurality of positions has reduced the amount of deflection of flexible membrane, for the stability that flexible membrane is carried has been prepared condition; The feeding control assembly utilizes master-slave mode synchro-feed controlling schemes control feeding driven unit to move simultaneously, drives the forward feeding simultaneously of moving grip(per) feed assembly, guarantees flexible membrane feeding in each position, can not occur lax or the tension fold; When moving grip(per) feed assembly reaches the limit of the position; The feeding control assembly forces the stop motion of feeding driven unit; Then the quiet grip(per) feed assembly of the many covers of clamping control assembly control clamps flexible membrane simultaneously; Moving then grip(per) feed assembly unclamps simultaneously, thereby makes flexible membrane that holding carrier arranged always, can not relax suddenly; The feeding control assembly drives feeding driven unit inverse motion simultaneously; Get back to reference position separately until moving clamp assemblies; Quiet grip(per) feed assembly clamps flexible membrane in this process, guarantees that flexible membrane can be owing to moving oppositely drawing and inverse motion of grip(per) feed assembly; The moving grip(per) feed assembly of clamping control assembly control clamps flexible membrane simultaneously, and quiet then grip(per) feed assembly unclamps simultaneously, and when avoiding unexpected relaxing, flexible membrane feeding in a plurality of positions is also ready.
The present invention uses the synchronous grip(per) feed device of many covers to reduce sagging under the big span operating mode of flexible membrane simultaneously, realize the flexible membrane index(ing) feed stable, accurately carry.And, grip(per) feed assembly clamping flexible membrane is arranged in the course of conveying of flexible membrane all the time, avoided flexible membrane relaxing suddenly when switching holding carrier.In addition, make that dynamic and static grip(per) feed assembly clamps simultaneously, the complementation of releasable is simultaneously switched, realize the round index(ing) feed of flexible membrane easily.Simultaneously, adopt master-slave mode synchro control scheme that the feeding driven unit is moved simultaneously, guarantee flexible membrane feeding in a plurality of positions, prevent to produce lax or the tension fold.
Description of drawings
Fig. 1 is the structural representation of the grip(per) feed system that is used for the flexible membrane synchronous transport in the present embodiment;
Fig. 2 is the structural representation of the grip(per) feed device among Fig. 1;
Fig. 3 is that air pressure shunting process used among Fig. 1 realizes block diagram;
Fig. 4 is that master-slave mode synchro-feed controlling schemes used among Fig. 1 realizes block diagram.
The specific embodiment
Combine accompanying drawing and preferred embodiment to specify the present invention at present.
As shown in Figure 1, the grip(per) feed west system in the preferred embodiment of the present invention comprises quadruplet grip(per) feed device 100, source of the gas 300, power supply 400, feeding control assembly 500, clamping control assembly 600.The quantity of grip(per) feed device 100 only is exemplary in the present embodiment, does not constitute limitation ot it, and in fact the quantity of grip(per) feed device 100 can specifically be set according to actual conditions.
Quadruplet grip(per) feed device 100 separation successively on the direction of feed of flexible membrane 200, every cover clamping feed arrangement 100 comprises the grip(per) feed assembly of 2 parallel opposed, this grip(per) feed assembly can clamp the flexible membrane 200 that passes it.Flexible membrane 200 passes eight grip(per) feed assemblies of four grip(per) feed devices 100 successively, and flexible membrane 200 is on the same horizontal surface four positions.
The dead in line of quadruplet grip(per) feed device 100 on flexible membrane 200 directions of feed; Parallel perpendicular to flexible membrane 200 directions of feed; The resistance to bending of flexible membrane 200 is relatively poor; The separation of many cover clamping feed arrangements 100 has reduced the amount of deflection of flexible membrane 200 because of the excessive generation of span, has guaranteed the stability that flexible membrane 200 is carried.
As shown in Figure 2, grip(per) feed device 100 comprises moving grip(per) feed assembly 110, quiet grip(per) feed assembly 120, feeding driven unit 130.Wherein, feeding driven unit 130 also comprises motor 131, module (also claiming the unidirectional drive device) 132, base plate 133.Motor 131 is coaxial with module 132, and all is fixed on the base plate 133.Quiet grip(per) feed assembly 120 is fixed on the base plate 133, and moving grip(per) feed assembly 110 is between motor 131 and the quiet grip(per) feed assembly 120, and is fixed on the movable slider of module 132, can come and go mobile.
Shown in Fig. 1-2, after source of the gas 300, power supply 400 were connected, four moving grip(per) feed assemblies 110 of clamping control assembly 600 controls clamped flexible membrane 200 simultaneously, and then four quiet grip(per) feed assemblies 120 unclamp simultaneously, guarantee that flexible membrane can not relax suddenly.Then, four feeding driven units 130 of feeding control assembly 500 controls move simultaneously, drive the forward feeding simultaneously of moving grip(per) feed assembly 110, guarantee flexible membrane 200 feeding in four positions, can not occur lax or the tension fold.When moving grip(per) feed assembly 110 reaches the limit of supplying position; Feeding control assembly 500 forces 130 stop motions of feeding driven unit; Then four quiet grip(per) feed assemblies 120 of clamping control assembly 600 controls clamp flexible membrane simultaneously; Thereby make flexible membrane 200 that holding carrier arranged always, can not relax suddenly.Four moving grip(per) feed assemblies 110 unclamp simultaneously then; Then feeding control assembly 500 drives four feeding driven units 130 inverse motion simultaneously again; Get back to reference position separately until four moving grip(per) feed assemblies 110; Quiet grip(per) feed assembly 120 clamps flexible membrane 200 in this process, guarantees that flexible membrane 200 can oppositely not drawing and inverse motion owing to moving grip(per) feed assembly 110.After this, four moving grip(per) feed assemblies 110 of clamping control assembly 600 controls clamp 200, four quiet grip(per) feed assemblies 120 of flexible membrane simultaneously and unclamp simultaneously, and flexible membrane 200 feeding in four positions is in ready state.
As shown in Figure 3, control realized through flow divider valve (or gas-tpe fitting) 601 when clamping control assembly 600 was realized the moving grip(per) feed assembly of four quiet grip(per) feed assemblies 120 or four 110.The total air flow of input is through five mouthfuls of flow divider valves 601 (inlet; Four outlets) back output waits pressure gas stream for four parts; Make grip(per) feed assembly 120 or 110 have identical Clamping force and carry out clamping simultaneously or unclamp, phenomenon lax suddenly or the tension fold appears in flexible membrane 200 when having avoided feeding.
As shown in Figure 4, motion is through adopting master-slave mode synchro-feed controlling schemes to realize to its drive motor 131 in the time of four feeding driven units 130.With the motor 131 in one of them feeding driven unit 130 (corresponding motor B1 in Fig. 4) as the motor imput shaft; Motor 131 in other three feeding driven units 130 (corresponding motor B2, B3 and B4 in Fig. 4) is as driven shaft; The value of feedback of the coder of motor B1 is as the motion input value of motor B2, B3, B4; As long as control the motion of motor B1, B2, B3, B4 just can be synchronized with the movement with the mode of following like this.
Ix07 among Fig. 4 is the dynamic test of imput shaft, and Ix08 is the position ring dynamic test, and Ix09 is the speed ring dynamic test.If hypothesis u 1 expression is the speed of motor initiatively, the speed of u 2 expression slave motors, then its fundamental relation formula is u 2=υ 1 Ix07/Ix09.In addition, PID is a proportional-integral derivative controller, and it is according to the error of system, and proportion of utilization, integration, difference gauge are calculated the setting parameter of controlling quantity, thereby controlled object is controlled.1/s is the transfer function of integral element, makes the direct ratio that is integrated into of output and input.
Shown in Fig. 1-4; When real work began, source of the gas 300, power supply 400 were connected, and four moving grip(per) feed assemblies 110 of clamping control assembly 600 controls clamp simultaneously and four quiet grip(per) feed assemblies 120 unclamp simultaneously; Flexible membrane can not relaxed suddenly, guarantee the particularity of carrying.When flexible membrane 200 is prepared feeding; Feeding control assembly 500 moves through four feeding driven units 130 of master-slave mode synchro-feed controlling schemes control simultaneously; Drive the forward feeding simultaneously of four moving grip(per) feed assemblies 110; Guarantee flexible membrane 200 feeding in four positions, can not occur lax or the tension fold.When moving grip(per) feed assembly 110 reaches the limit of supplying position; Clamping control assembly 600 controls once more that four quiet grip(per) feed assemblies 120 clamp simultaneously and four moving grip(per) feed assemblies 110 unclamp simultaneously, guarantees that four moving grip(per) feed assemblies 110 return the dilatory flexible membrane of Shi Buhui and make its inverse motion.Then feeding control assembly 500 through 130 counter motions simultaneously of four feeding driven units of master-slave mode synchro-feed controlling schemes control, is got back to reference position until moving grip(per) feed assembly 110 once more.
Claims (8)
1. grip(per) feed system that is used for the flexible membrane synchronous transport; To realize feeding conveying to flexible membrane (200); Wherein, this system comprises along the spaced apart successively many cover clamping feed arrangements (100) of direction of feed, and every cover clamping feed arrangement (100) comprises a moving grip(per) feed assembly (110) and a quiet grip(per) feed assembly (120); It is characterized in that
Through the alternately clamping of each moving grip(per) feed assembly (110) and quiet grip(per) feed assembly (120) to said flexible membrane (200); And when said moving grip(per) feed assembly (110) clamping, should move along direction of feed by moving grip(per) feed assembly (110); Should moving grip(per) feed assembly (110) when said quiet grip(per) feed assembly (120) clamping return the cyclic process of initial clip position, realize the feeding of said flexible membrane (200) is carried along the feeding reversing sense.
2. a kind of grip(per) feed system that is used for the flexible membrane synchronous transport according to claim 1; It is characterized in that; Said grip(per) feed device (100) also comprises feeding driven unit (130), is used to drive said moving grip(per) feed assembly (110) moving back and forth on direction of feed.
3. a kind of grip(per) feed system that is used for the flexible membrane synchronous transport according to claim 2; It is characterized in that; Said feeding driven unit (130) comprises motor (131), module (132) and base plate (133), and said quiet grip(per) feed assembly (120) is fixed on this base plate (130), and said motor (131) is coaxial with module (132); And all be fixed on this base plate (133); Said moving grip(per) feed assembly (110) is fixed on the movable slider of module (132), under the driving of motor (131), drives said feeding driven unit (130) motion through this movable slider, realizes its round moving on said base plate (133).
4. according to the described a kind of grip(per) feed system that is used for the flexible membrane synchronous transport of one of claim 1-3; It is characterized in that; This system also comprises feeding control assembly (500); Be used for controlling the synchronous rotation of the motor (131) on the said feeding driven unit (130) of each grip(per) feed device (100), to realize same moved further to each moving grip(per) feed assembly (110).
5. a kind of grip(per) feed system that is used for the flexible membrane synchronous transport according to claim 4; It is characterized in that; Feeding control assembly (500) adopts the control of master-slave mode synchro-feed to realize the synchronous rotation to each motor (131), promptly with one of them motor (131) as the active motor, all the other motors (131) are as slave motor; With this initiatively the value of feedback of motor encoder as the motion input value of slave motor, to realize the synchronous rotation of each motor (131).
6. according to the described a kind of grip(per) feed system that is used for the flexible membrane synchronous transport of one of claim 1-5; It is characterized in that; This system also comprises clamping control assembly (600); Be used to control the motion of each moving grip(per) feed assembly (110) or each quiet grip(per) feed assembly (120), realize that each moving grip(per) feed assembly (110) or each quiet grip(per) feed assembly (120) are to the synchronous clamping of flexible membrane (200) or unclamp.
7. a kind of grip(per) feed system that is used for the flexible membrane synchronous transport according to claim 6; It is characterized in that; Time control realizes through flow divider valve or gas-tpe fitting (601) said clamping control assembly (600) to each quiet grip(per) feed assembly (120) or each moving grip(per) feed assembly (110); This flow divider valve or gas-tpe fitting (601) will be controlled air-flow and be divided into pressure gas streams such as many parts; Every part is waited pressure gas stream to be used to drive a quiet grip(per) feed assembly (120) or moving grip(per) feed assembly (a 110) action, to clamp or to unclamp.
8. method of utilizing the described grip(per) feed of one of claim 1-7 system to carry out the synchronous transport of flexible membrane specifically comprises:
The step that the moving grip(per) feed assembly (110) of each grip(per) feed device (100) clamps said flexible membrane (200) and keeps each quiet grip(per) feed assembly (120) to unclamp;
Said each the moving grip(per) feed assembly (110) of driven in synchronism moves the step of certain distance towards direction of feed;
The quiet grip(per) feed assembly (120) of each grip(per) feed device (100) clamps said flexible membrane (200), and drives said each moving grip(per) feed assembly (110) returns initial clamped position along the reversing sense of direction of feed step.
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| CN201210123127.3A CN102674056B (en) | 2012-04-24 | 2012-04-24 | Clamping and feeding system used for synchronous transmission of flexible membranes and application thereof |
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| CN201210123127.3A CN102674056B (en) | 2012-04-24 | 2012-04-24 | Clamping and feeding system used for synchronous transmission of flexible membranes and application thereof |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102951482A (en) * | 2012-11-19 | 2013-03-06 | 浙江海悦自动化机械设备有限公司 | Film feeding mechanism of lamination wrapping machine |
| CN103640259A (en) * | 2013-11-22 | 2014-03-19 | 无锡鼎茂机械制造有限公司 | Bag making machine film compression device |
| CN104816856A (en) * | 2015-04-24 | 2015-08-05 | 辽宁春光机械有限公司 | Forming and stepping device of aluminum plastic packaging machine |
| CN106698029A (en) * | 2015-11-17 | 2017-05-24 | 富鼎电子科技(嘉善)有限公司 | Automatic material collecting mechanism |
| CN106829595A (en) * | 2017-02-03 | 2017-06-13 | 湖北华威科智能股份有限公司 | A kind of substrate feed arrangement prepared for RFID label tag winding |
| CN107618808A (en) * | 2017-10-31 | 2018-01-23 | 山西新格机电科技有限公司 | A kind of fully automatic hydraulic conveyer belt clamps pulling equipment |
| CN108439003A (en) * | 2018-03-27 | 2018-08-24 | 广东曼兹智能装备有限公司 | Die-cutting machine |
| CN111495072A (en) * | 2020-04-13 | 2020-08-07 | 哈尔滨工业大学（威海） | Automatic assembly method of filter |
Families Citing this family (1)
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| CN104891238B (en) * | 2015-05-28 | 2016-09-07 | 成都宏明双新科技股份有限公司 | A kind of biobelt feed device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102951482A (en) * | 2012-11-19 | 2013-03-06 | 浙江海悦自动化机械设备有限公司 | Film feeding mechanism of lamination wrapping machine |
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| CN106829595A (en) * | 2017-02-03 | 2017-06-13 | 湖北华威科智能股份有限公司 | A kind of substrate feed arrangement prepared for RFID label tag winding |
| CN107618808A (en) * | 2017-10-31 | 2018-01-23 | 山西新格机电科技有限公司 | A kind of fully automatic hydraulic conveyer belt clamps pulling equipment |
| CN108439003A (en) * | 2018-03-27 | 2018-08-24 | 广东曼兹智能装备有限公司 | Die-cutting machine |
| CN111495072A (en) * | 2020-04-13 | 2020-08-07 | 哈尔滨工业大学（威海） | Automatic assembly method of filter |
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