CN102674056B - 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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- CN102674056B CN102674056B CN201210123127.3A CN201210123127A CN102674056B CN 102674056 B CN102674056 B CN 102674056B CN 201210123127 A CN201210123127 A CN 201210123127A CN 102674056 B CN102674056 B CN 102674056B
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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 the flexible membrane transportation art compared with long span, be specifically related to a kind of grip(per) feed system for flexible membrane synchronous transport and application thereof.
Background technology
Along with flexible membrane is widely used in papermaking, printing, weaving and flexible electronic manufacturing, researchist drops into more energy to study flexible membrane delivery system.The material of general flexible membrane may be papery, plastics (as PET) or metal (as aluminium foil), profile may be rolling, to become or in flakes, and in device systems, carry the device of flexible membrane, roll shaft may be adopted to carry out pair roller conveying, also flat board may be adopted to carry out clamping conveying, but be all by applying pressure to flexible membrane and completing continuous print or conveying operation intermittently by the friction force between flexible membrane and holding carrier.
Pair roller is carried, although the continuous feed of flexible membrane can be realized, but the friction force between pair roller and flexible membrane belongs to making a concerted effort of force of rolling friction and force of sliding friction, and the two is almost linear contact lay, often there is skidding, be difficult to ensure flexible membrane stable, accurately carry, sometimes also can damage flexible membrane surface.
Therefore, in order to prevent impaired in flexible membrane conveying and keep feed accuracy, grip(per) feed system obtains extensive concern.Adopt grip(per) feed to carry out flexible membrane conveying and face a several difficult problem, first, due to the impact of span and gravity factor, it is sagging that flexible membrane can produce to a certain degree, causes the fluctuation of tension force and the instability of system.Secondly, grip(per) feed generally belongs to intermittent and comes and goes mode of movement, easily makes flexible membrane inverse motion in return action.Again, easily there is the lax of flexible membrane in grip(per) feed when unclamping flexible membrane, be difficult to the accurate conveying ensureing flexible membrane; Finally, flexible membrane causes flexible membrane to produce lax or tension fold in the inconsistent meeting of multiple positions Feeding speed.
Chinese patent literature CN01810384.7 provides a kind of for clamping the apparatus and method with releasing contact lens molds, holding device is used to be clamped together by the contact lens molds being provided with polymerizable liquid monomer therebetween in the program, but be not toward ground return feeding, there is not synchronous requirement yet.For the mode of round-trip synchronization grip(per) feed, Chinese patent literature CN02144466.8 provides a kind of feed arrangement and the method that use electrostatic clamping and clamping substrate, but electrostatic clamp is not effective to the flexible membrane of any thickness and any material, and sometimes electrostatic can make the separation of flexible membrane bring difficulty, thus electrostatic clamp feeding is only 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 for flexible membrane synchronous transport is provided, by to the clamping of flexible membrane or unclamp employing over-over mode, and move while adopting Feed servo system assembly, realize the round index(ing) feed of flexible membrane, and ensure flexible membrane feeding while multiple position.
Realize a kind of grip(per) feed system towards flexible membrane synchronous transport of the object of the invention, comprise along direction of feed successively spaced apart many cover clamping feed arrangements, and often cover clamping feed arrangement comprises dynamic grip(per) feed assembly and a quiet grip(per) feed assembly, alternately the clamping described flexible membrane by each dynamic grip(per) feed assembly and quiet grip(per) feed assembly, and this dynamic grip(per) feed assembly moves along direction of feed when described dynamic grip(per) feed clamp, when described quiet grip(per) feed clamp, this dynamic grip(per) feed assembly returns the cyclic process of initial clip position, realize carrying the feeding of described flexible membrane.
System of the present invention also comprises clamping control assembly and feeding control assembly.Dynamic grip(per) feed assembly clamping flexible membrane, completes the feeding of flexible membrane by the cooperation of Feed servo system assembly.Quiet grip(per) feed assembly clamping flexible membrane, ensures that flexible membrane can not inverse motion in the return stage of dynamic grip(per) feed assembly.Clamping control assembly controls the exchange clamping of dynamic and static grip(per) feed assembly and unclamps, and ensures in the course of conveying of flexible membrane, have holding carrier to clamp flexible membrane all the time, thus flexible membrane can not be relaxed suddenly.Feeding control assembly controls each Feed servo system assembly and moves simultaneously, impels dynamic grip(per) feed assembly forward and inverse motion simultaneously, ensures flexible membrane feeding while each position, prevents generation that is lax or tension fold.
Meanwhile, there is sequential correlation in the running of clamping control assembly and feeding control assembly, and after clamping control assembly starts and makes the clamping of grip(per) feed assembly or unclamp, feeding control assembly just controls the motion of Feed servo system assembly; When Feed servo system assembly reaches the limit of supplying position, clamping control assembly controls again the switching that grip(per) feed assembly carries out clamping or unclamping.Source of the gas provides air pressure for clamping control assembly, thus clamps while controlling dynamic and static grip(per) feed assembly or unclamp simultaneously.Power supply provides propulsion source for various control assembly.
The present invention utilizes flow divider valve or gas-tpe fitting total gas pressure to be divided into the equal air pressure of multiply, and what coordinate clamping control assembly obtains electric and dead electricity, thus controls the clamping of eight grip(per) feed assemblies simultaneously and unclamp.
The present invention adopts the synchronous axial system of master-slave mode synchro-feed control program realization to each motor, namely using any one motor shaft as imput shaft, other motor shafts are as driven shaft, driven shaft is using the output valve of imput shaft as input instruction, and then maintain being synchronized with the movement of four motors, ensure flexible membrane feeding while each position.
In the present invention, clamping control assembly controls the dynamic grip(per) feed assembly of many covers and clamps flexible membrane simultaneously, and then quiet grip(per) feed assembly unclamps simultaneously, and the clamping of plurality of positions reduces the amount of deflection of flexible membrane, for the stability of flexible membrane conveying has prepared condition; Feeding control assembly utilizes master-slave mode synchro-feed control program to control Feed servo system assembly and moves simultaneously, drives the forward feeding simultaneously of dynamic grip(per) feed assembly, ensures flexible membrane feeding while each position, there will not be lax or tension fold; When dynamic grip(per) feed assembly reaches the limit of position, feeding control assembly forces the stop motion of Feed servo system assembly, then clamp control assembly and control how the quiet grip(per) feed assembly of cover clamps flexible membrane simultaneously, then dynamic grip(per) feed assembly unclamps simultaneously, thus make flexible membrane have holding carrier always, can not relax suddenly; Feeding control assembly drives Feed servo system assembly inverse motion simultaneously, until dynamic clamp assemblies gets back to respective reference position, quiet grip(per) feed assembly clamping flexible membrane in this process, ensure flexible membrane can not due to the oppositely dilatory of dynamic grip(per) feed assembly inverse motion; Clamping control assembly controls dynamic grip(per) feed assembly and clamps flexible membrane simultaneously, and then quiet grip(per) feed assembly unclamps simultaneously, and while avoiding relaxing suddenly, flexible membrane feeding while multiple position is also ready.
It is sagging that the present invention uses the synchronous grip(per) feed device of many covers to reduce under the large span operating mode of flexible membrane simultaneously, realize flexible membrane index(ing) feed stable, accurately carry.And, in the course of conveying of flexible membrane, there is grip(per) feed clamp flexible membrane all the time, avoiding flexible membrane relaxing suddenly when switching holding carrier.In addition, dynamic and static grip(per) feed assembly is clamped simultaneously, simultaneously complementation releasably switches, easily realize the round index(ing) feed of flexible membrane.Meanwhile, adopt master-slave mode synchro control scheme that Feed servo system assembly is moved simultaneously, ensure flexible membrane feeding while multiple position, prevent lax or tension fold.
Accompanying drawing explanation
Fig. 1 is the structural representation of the grip(per) feed system for flexible membrane synchronous transport in the present embodiment;
Fig. 2 is the structural representation of the grip(per) feed device in Fig. 1;
Fig. 3 is that air pressure branching process used in Fig. 1 realizes block diagram;
Fig. 4 is that master-slave mode synchro-feed control program used in Fig. 1 realizes block diagram.
Detailed description of the invention
Now describe the present invention in detail with preferred embodiment by reference to the accompanying drawings.
As shown in Figure 1, the western system of grip(per) feed in preferred embodiment of the present invention comprises four cover clamping feed arrangements 100, source of the gas 300, power supply 400, feeding control assembly 500, clamping control assembly 600.In the present embodiment, the quantity of grip(per) feed device 100 is only exemplary, does not form limitation ot it, and in fact the quantity of grip(per) feed device 100 specifically can set according to actual conditions.
Four cover clamping feed arrangements 100 in the direction of feed of flexible membrane 200 successively interval arrange, often cover clamping feed arrangement 100 comprises the grip(per) feed assembly of 2 parallel opposed, and this grip(per) feed assembly can clamp the flexible membrane 200 through it.Flexible membrane 200 is successively through eight grip(per) feed assemblies of four grip(per) feed devices 100, and flexible membrane 200 is on same horizontal surface four positions.
Four deads in line of cover clamping feed arrangement 100 in flexible membrane 200 direction of feed, parallel perpendicular to flexible membrane 200 direction of feed, the resistance to bending of flexible membrane 200 is poor, the interval of many cover clamping feed arrangements 100 is arranged and is reduced the amount of deflection of flexible membrane 200 because of the excessive generation of span, ensure that the stability that flexible membrane 200 is carried.
Power supply 300 is in certain side of flexible membrane 200, by electric wire and feeding control assembly 500, clamps control assembly 600 and is connected.Source of the gas 300 and power supply 400, in the same side, are connected with clamping control assembly 600 by tracheae.Clamping control assembly 600 is connected with four grip(per) feed devices 100 by tracheae, electric wire.Feeding control assembly 500 is connected with four grip(per) feed devices 100 by electric wire, and is connected by electric wire with clamping control assembly 600.
As shown in Figure 2, grip(per) feed device 100 comprises dynamic grip(per) feed assembly 110, quiet grip(per) feed assembly 120, Feed servo system assembly 130.Wherein, Feed servo system assembly 130 also comprises motor 131, module (also claiming one-way driver) 132, base plate 133.Motor 131 is coaxial with module 132, and is all fixed on base plate 133.Quiet grip(per) feed assembly 120 is fixed on base plate 133, and dynamic grip(per) feed assembly 110 is between motor 131 and quiet grip(per) feed assembly 120, and is fixed on the movable slider of module 132, can reciprocate.
As shown in Figure 1-2, after source of the gas 300, power supply 400 are connected, clamping control assembly 600 controls four dynamic grip(per) feed assemblies 110 and clamps flexible membrane 200 simultaneously, and then four quiet grip(per) feed assemblies 120 unclamp simultaneously, ensures that flexible membrane can not relax suddenly.Then, feeding control assembly 500 controls four Feed servo system assemblies 130 and moves simultaneously, drives the forward feeding simultaneously of dynamic grip(per) feed assembly 110, ensures flexible membrane 200 feeding while four positions, there will not be lax or tension fold.When dynamic grip(per) feed assembly 110 reaches the limit of supplying position, feeding control assembly 500 forces Feed servo system assembly 130 stop motion, then clamping control assembly 600 controls four quiet grip(per) feed assemblies 120 and clamps flexible membrane simultaneously, thus make flexible membrane 200 have holding carrier always, can not relax suddenly.Then four dynamic grip(per) feed assemblies 110 unclamp simultaneously, then feeding control assembly 500 drives four Feed servo system assemblies 130 inverse motion simultaneously again, until respective reference position got back to by four dynamic grip(per) feed assemblies 110, in this process, quiet grip(per) feed assembly 120 clamps flexible membrane 200, ensures that flexible membrane 200 can not oppositely drawing and inverse motion due to dynamic grip(per) feed assembly 110.After this, clamping control assembly 600 controls four dynamic grip(per) feed assemblies 110 and clamps flexible membrane 200, four quiet grip(per) feed assemblies 120 simultaneously and unclamp simultaneously, and flexible membrane 200 feeding while four positions is in ready state.
As shown in Figure 3, clamp control assembly 600 to realize being realized by flow divider valve (or gas-tpe fitting) 601 controlling while four quiet grip(per) feed assemblies 120 or four dynamic grip(per) feed assemblies 110.The total air flow of input is through five mouthfuls of flow divider valves 601 (entrance, four outlets) export four parts of pressure gas streams such as grade afterwards, make grip(per) feed assembly 120 or 110 have identical Clamping force and carry out clamping or unclamping simultaneously, when avoiding feeding there is the phenomenon of lax or tension fold suddenly in flexible membrane 200.
As shown in Figure 4, move by adopting master-slave mode synchro-feed control program to realize to its drive motor 131 while four Feed servo system assemblies 130.Using the motor 131 (in the diagram corresponding motor B1) in one of them Feed servo system assembly 130 as motor imput shaft, motor 131 (in the diagram corresponding motor B2, B3 and B4) in other three Feed servo system assemblies 130 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 like this, B2, B3, B4 just can be synchronized with the movement in the mode of following.
Ix07 in Fig. 4 is the dynamic test of imput shaft, and Ix08 is position ring dynamic test, and Ix09 is speed ring dynamic test.If suppose, u 1 represents the speed of initiatively motor, and u 2 represents the speed of slave motor, then its basic relational expression is u 2=υ 1 Ix07/Ix09.In addition, PID is proportional-integral derivative controller, and it is according to the error of system, and proportion of utilization, integration, difference gauge calculate the setting parameter of controlling quantity, thus control controlled object.1/s is the transfer function of integral element, and what make output and input is integrated into direct ratio.
As Figure 1-4, when real work starts, source of the gas 300, power supply 400 are connected, and clamping control assembly 600 controls four dynamic grip(per) feed assemblies 110 and to clamp and four quiet grip(per) feed assemblies 120 unclamp simultaneously simultaneously, flexible membrane can not be relaxed suddenly, guarantee the particularity of carrying.When flexible membrane 200 prepares feeding, feeding control assembly 500 controls four Feed servo system assemblies 130 by master-slave mode synchro-feed control program and moves simultaneously, drive the forward feeding simultaneously of four dynamic grip(per) feed assemblies 110, ensure flexible membrane 200 feeding while four positions, there will not be lax or tension fold.When dynamic grip(per) feed assembly 110 reaches the limit of supplying position, clamping control assembly 600 again controls four quiet grip(per) feed assemblies 120 and to clamp and four dynamic grip(per) feed assemblies 110 unclamp simultaneously simultaneously, can not draw flexible membrane and make its inverse motion when ensureing that four dynamic grip(per) feed assemblies 110 return.Then feeding control assembly 500 controls the counter motion simultaneously of four Feed servo system assemblies 130 by master-slave mode synchro-feed control program again, until reference position got back to by dynamic grip(per) feed assembly 110.
Claims (4)
1. the grip(per) feed system for flexible membrane synchronous transport, to realize carrying the feeding of flexible membrane (200), wherein, this system comprises along direction of feed successively spaced apart many covers clamping feed arrangement (100), the dead in line of each grip(per) feed device (100) in flexible membrane (200) direction of feed, and it is parallel perpendicular to flexible membrane (200) direction of feed, and often cover clamping feed arrangement (100) comprises dynamic grip(per) feed assembly (110) and a quiet grip(per) feed assembly (120), it is characterized in that
Alternately the clamping described flexible membrane (200) by each dynamic grip(per) feed assembly (110) and quiet grip(per) feed assembly (120), and this dynamic grip(per) feed assembly (110) is moved along direction of feed when described dynamic grip(per) feed assembly (110) clamping, when described quiet grip(per) feed assembly (120) clamping, this dynamic grip(per) feed assembly (110) returns the cyclic process of initial clip position along feeding reversing sense, realizes carrying the feeding of described flexible membrane (200);
Wherein, described grip(per) feed device (100) also comprises Feed servo system assembly (130), for driving described dynamic grip(per) feed assembly (110) moving back and forth in feed direction, this Feed servo system assembly (130) comprises motor (131), module (132) and base plate (133), described quiet grip(per) feed assembly (120) is fixed on this base plate (133), described motor (131) is coaxial with module (132), and be all fixed on this base plate (133), described dynamic grip(per) feed assembly (110) is between motor (131) and quiet grip(per) feed assembly (120), and be fixed on the movable slider of module (132), under the driving of this motor (131), drive described Feed servo system assembly (130) to move by this movable slider, realize its reciprocating on described base plate (133),
Described grip(per) feed system also comprises clamping control assembly (600), for controlling the motion of each dynamic grip(per) feed assembly (110) or each quiet grip(per) feed assembly (120), realize each dynamic grip(per) feed assembly (110) or each quiet grip(per) feed assembly (120) to the synchronous clamping of flexible membrane (200) or unclamp; This clamping control assembly (600) is realized by flow divider valve or gas-tpe fitting (601) controlling while each quiet grip(per) feed assembly (120) or each dynamic grip(per) feed assembly (110), control air-flow is divided into the pressure gas streams such as many parts by this flow divider valve or gas-tpe fitting (601), every part is waited pressure gas stream for driving a quiet grip(per) feed assembly (120) or dynamic grip(per) feed assembly (110) action, to clamp or to unclamp.
2. a kind of grip(per) feed system for flexible membrane synchronous transport according to claim 1, it is characterized in that, this system also comprises feeding control assembly (500), for controlling the synchronous axial system of the motor (131) on the described Feed servo system assembly (130) in each grip(per) feed device (100), to realize the synchronizing moving to each dynamic grip(per) feed assembly (110).
3. a kind of grip(per) feed system for flexible membrane synchronous transport according to claim 2, it is characterized in that, feeding control assembly (500) adopts master-slave mode synchro-feed control realization to the synchronous axial system of each motor (131), namely using one of them motor (131) as active motor, all the other motors (131) are as slave motor, using the value of feedback of this active motor encoder as the motion input value of slave motor, to realize the synchronous axial system of each motor (131).
4. utilize the described grip(per) feed system of one of claim 1-3 to carry out a method for the synchronous transport of flexible membrane, specifically comprise:
The dynamic grip(per) feed assembly (110) of each grip(per) feed device (100) clamps described flexible membrane (200) and keeps the step that each quiet grip(per) feed assembly (120) is unclamped;
The step that the described each dynamic grip(per) feed assembly (110) of synchronous driving moves a certain distance towards direction of feed;
The quiet grip(per) feed assembly (120) of each grip(per) feed device (100) clamps described flexible membrane (200), and drives described each dynamic grip(per) feed assembly (110) to return the step of initial clamped position along the reverse direction of direction of feed.
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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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| CN111495072B (en) * | 2020-04-13 | 2022-04-08 | 威海赛威智能科技有限公司 | Automatic assembly method of filter |
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