CN103663309A - Electric servo clamping and moving system of roll type weight - Google Patents
Electric servo clamping and moving system of roll type weight Download PDFInfo
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- CN103663309A CN103663309A CN201310561467.9A CN201310561467A CN103663309A CN 103663309 A CN103663309 A CN 103663309A CN 201310561467 A CN201310561467 A CN 201310561467A CN 103663309 A CN103663309 A CN 103663309A
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Abstract
An electric servo clamping and moving system of a roll type weight is used for clamping and moving the roll type weight. The electric servo clamping and moving system of the roll type weight comprises a base, a lifting device, a clamping driving device and two telescopic devices, wherein the lifting device is arranged in the base, the clamping driving device is arranged on the base, and the two telescopic devices are connected with the clamping driving device; the lifting device pushes the roll type weight to the position at a preset height, the telescopic devices stretch out of two sides of the roll type weight, and the clamping driving device drives the telescopic devices to get close to each other to clamp the roll type weight. According to the electric servo clamping and moving system of the roll type weight, clamping and displacement of the roll type weight are decomposed into actions in three directions in stereoscopic space through the lifting device, the clamping driving device and the telescopic devices, and the electric servo clamping and moving system is accurate and quiet, saves energy and has great production effectiveness.
Description
Technical field
The present invention relates to a kind of gripping mobile system, particularly relate to a kind of electrical servo gripping mobile system of volume type weight.
Background technology
Existing volume type weight as paper bobbin, cloth reel often need to be from ground gripping the raising position that moves to an appointment position work, paper roll reduces or is lifted to certain position after unloading after finishing the work to be transported, and another paper roll of gripping again.And existing gripping lifting process often directly moves to assigned address by paper roll by rotating the mode of jig arm.Because the weight of paper roll is often more than hundred jin, and the power that jig arm is rotated is near rotating shaft, required torsion is the more than ten times of finished weight often, and common motor drives and paper wireline reel cannot be lifted, therefore industry often adopts the mode of hydraulic pressure to realize the clamping of paper roll and the rotation of jig arm.
Yet, in the processes such as the clamping of paper roll, rotation, provide the hydraulic actuating cylinder of moment to need from start to finish running, there is noise, leakage of oil, member replacing is frequent and the large drawback that consumes energy, cost is large, weak effect.
Summary of the invention
Based on this, the electrical servo gripping mobile system that is the volume type weight that a kind of easy control is provided, consumes energy low of the present invention.
A kind of electrical servo gripping mobile system of volume type weight, for gripping, move a volume type weight, the electrical servo gripping mobile system of this volume type weight comprises a pedestal, be arranged on the jacking system in pedestal, one is arranged on the driving clamping device on pedestal, and connect two retractor devices of this driving clamping device, each retractor device comprises the cliding seat of the described driving clamping device of a connection, with the fixing base arm of this cliding seat, intermediate arm with this base arm sliding block joint, actuating arm with intermediate arm sliding block joint, one expansion bracket and a push-rod electric machine, described push-rod electric machine is a servomotor, this push-rod electric machine comprises a motor body and connects the push rod of this motor body, this motor body is away from one end of push rod and the inner pivot joint of described intermediate arm, and this push rod is away from one end pivot joint one roller of motor body, and this roller is slidedly arranged on the inner sidewall of described base arm, described jacking system is pushed into volume type weight the position of preset height, the push-rod electric machine of this retractor device drives intermediate arm and actuating arm to extend out to the both sides of this volume type weight by expansion bracket, and driving clamping device drives retractor device mutually close to clamp this volume type weight.
Further, described expansion bracket is formed by the fork arm intersection pivot joint of two row front and back end pivot joints, and the fork arm of the downside at two ends, expansion bracket left and right is articulated in respectively on the inner of base arm and the inner of actuating arm; Expansion bracket is established near gliding on the free end of the fork arm of the upside of actuating arm one end on the inner with this actuating arm, and expansion bracket is near the roller pivot joint of free end and the described push rod of the fork arm of the upside of base arm one end.
Further, the vertical inwall in one end of the nearly intermediate arm of described base arm rest is provided with some pulleys, the medial surface of the upper lower edge of intermediate arm described in this pulley support; The vertical inner wall of one end of described division arm early work swing arm is provided with some pulleys, the medial surface of the upper lower edge of actuating arm described in described pulley support.
Further, described jacking system comprises that one is arranged on two guide rails, the first servopackage, the fork arm assembly on described pedestal and is fixed on the brace table at fork arm assembly top, this first servopackage drives to change longitudinal width of this fork arm assembly, and the height of fork arm assembly is changed with this brace table of lifting.
Further, described the first servopackage comprises one first servomotor, connects the screw mandrel of this first servomotor and connects this screw mandrel and the movement nut of fork arm assembly, and this movement nut is slidedly arranged in described guide rail.
Further, the both sides, bottom surface of described brace table are respectively to downward-extension one installation portion, in each installation portion, be provided with a chute, the one end at described fork arm assembly top is articulated in one end of the chute of this installation portion, and the other end at this fork arm assembly top is slidably mounted in chute.
Further, described driving clamping device comprises a platform and is arranged on 2 second servopackages on this platform, each second servopackage comprises one second servomotor, connects the screw mandrel of this first servomotor and is set in the nut on screw mandrel, and each nut is separately fixed on the cliding seat of corresponding retractor device.
Further, the diagonal angle of described platform is provided with square breach, and the medial surface diagonal angle of described cliding seat is respectively arranged with two horizontal support bearings and vertical moment backup bearing is placed in correspondence in the breach of described platform, to guarantee that cliding seat smoothly moves along platform.
The electrical servo gripping mobile system of volume type weight of the present invention, by jacking system, driving clamping device and retractor device, the gripping displacement of volume type weight is decomposed into the action of three directions of solid space, accurately, energy-conservation, quiet, there is great productivity effect.
Accompanying drawing explanation
Fig. 1 is the block diagram of the electrical servo gripping mobile system of volume type weight of the present invention, and wherein the jacking system of the electrical servo gripping mobile system of volume type weight is the state that part rises support volume type weight.
Fig. 2 is the lateral plan of electrical servo gripping mobile system of the volume type weight of Fig. 1.
Fig. 3 is the birds-eye view of electrical servo gripping mobile system of the volume type weight of Fig. 1.
Fig. 4 is the block diagram of another angle of electrical servo gripping mobile system of the volume type weight of Fig. 1, and wherein retractor device is elongation clamped condition.
Fig. 5 is the lateral plan of electrical servo gripping mobile system of the volume type weight of Fig. 4.
Fig. 6 is the birds-eye view of electrical servo gripping mobile system of the volume type weight of Fig. 4.
Fig. 7 is the block diagram of another state of electrical servo gripping mobile system of the volume type weight of Fig. 1, and wherein retractor device is contraction releasing orientation, and jacking system is the state that supports volume type weight that rises completely.
Fig. 8 is the lateral plan of electrical servo gripping mobile system of the volume type weight of Fig. 1.
Fig. 9 is the block diagram of the jacking system of Fig. 1.
Figure 10 is the longitudinal sectional view of the jacking system of Fig. 9.
Figure 11 is the block diagram of the jacking system of Fig. 7.
Figure 12 is the lateral plan of the jacking system of Figure 11.
Figure 13 is the longitudinal sectional view of the jacking system A-A along the line of Figure 12.
Figure 14 is the lateral plan of the retractor device of Fig. 4.
Figure 15 is that the jacking system of Figure 14 is along the transverse sectional view at center.
The specific embodiment
For technical scheme of the present invention can more clearly be showed, below in conjunction with accompanying drawing, the invention will be further described.
Please refer to Fig. 1 to Fig. 8, the electrical servo gripping mobile system 100 of a kind of volume type weight of the present invention, for carrying out lifting, gripping, location to a volume type weight 200.In the present embodiment, this volume type weight 200 is a paper roll, i.e. the large-scale paper roll for printing in factory.The knock hole arranging in the middle of this volume type weight 200 comprises, for electrical servo gripping mobile system 100 crawls of this volume type weight.
The electrical servo gripping mobile system 100 of this volume type weight comprises a pedestal 90, is arranged on the jacking system 10 of pedestal 90 belows, is arranged on the driving clamping device 30 on pedestal 90 and is arranged on two retractor devices 50 on driving clamping device 30.This retractor device 50 under the drive of driving clamping device 30 longitudinally mutually near or away from, thereby the effect that reaches gripping volume type weight 200 or unclamp volume type weight 200.
See also Fig. 9 to Figure 13, jacking system 10 comprises and one is arranged on base 11 on pedestal 90, is arranged on two guide rails 12, the first servopackage 13, the fork arm assembly 14 in base 11 and is fixed on the brace table 15 at fork arm assembly 14 tops.
The quantity of guide rail 12 is two.Each guide rail 12 comprises two settings relative interior plate 121 and outer panel 122, and each outer panel 122 is provided with chute 125 towards the side of interior plate 121, with the bottom of accommodating fork arm assembly 14.Wherein the length of interior plate 121 is shorter, to reserve a space to be fixed the first servopackage 13.
The first servopackage 13 is between described two guide rails 12.This first servopackage 13 comprises one first servomotor 134, connect the screw mandrel 135 of this first servomotor 134, connect the movement nut 136 of this screw mandrel 135 and fork arm assembly 14.Screw mandrel 135 is fixedly connected with this first servomotor 134 by a coupler.This screw mandrel 135, between two interior plates 121 of this guide rail 12, and is arranged on this base 11 by two bearings 137.This movement nut 136 is set on this screw mandrel 135, slides afterwards and be fastened in the chute 125 of outer panel 122 through the bottom of interior plate 121 these fork arm assemblies 14 of connection of each guide rail 12 in the two ends, left and right of this movement nut 136.When the first servomotor 134 drives screw mandrels 135 to rotate, drive movement nut 136 to move along guide rail 12, thereby change longitudinal width of fork arm assembly 14, the height of fork arm assembly 14 is changed and reach the effect of lifting.
This fork arm assembly 14 comprises longitudinal two row's fork arms (figure is mark not) and connects some rotating shafts 140 of this two rows fork arm.Each row's fork arm is a plurality of trapezoidal connection settings, by changing width longitudinally, realizes variation highly.Each row's fork arm comprises strut bar 141 and the some pipe links 145 that is arranged on top and bottom.In the present embodiment, the quantity of the pipe link 145 of each row's fork arm is two, the mutual pivot joint in middle part of this two pipe link 145, and the two ends of each pipe link 145 are respectively at strut bar 141 pivot joints of top and bottom.In other embodiments, the quantity of the pipe link 145 of each row's fork arm can be four, six, eight etc., according to usable height, needs to arrange.Wherein between pipe link 145, the pivot joint between pipe link 145 and strut bar 141 all realizes by this rotating shaft 140.This strut bar 141 is L-type setting, and in the present embodiment, the long section of each strut bar 141 is mutually vertical with short section.The bottom of one strut bar 141 of these fork arm assembly 14 bottoms and one end pivot joint of this base 11, the bottom of another strut bar 141 and 136 pivot joints of this movement nut, thereby along with the mobile longitudinal width that changes fork arm assembly 14 of movement nut 136.The top of the strut bar 141 at these fork arm assembly 14 tops all with these brace table 15 pivot joints.
That this brace table 15 is is that lengthwise extends, cross-sectional plane is the setting of M type.Low between the end face both sides senior middle school of this brace table 15, to accept better this volume type weight 200.The both sides, bottom surface of this brace table 15 are respectively to downward-extension one installation portion 153, in each installation portion 153, be provided with a chute 155, the top of one strut bar 141 at the top of each row's fork arm of this fork arm assembly 14 is articulated in one end of the chute 155 of corresponding installation portion 153, the top of the strut bar 141 at another top is slidably mounted in chute 155, thus the change of distance on the top of two strut bars 141 at top while guaranteeing the 14 lifting distortion of fork arm assembly.
Please again consult Fig. 4, this driving clamping device 30 comprises two side plates 31, longitudinally connects the platform 33 of two side plates 31 and is arranged on 2 second servopackages 35 on this platform 33.This second servopackage 35 is for driving this retractor device 50 relative motions.Each second servopackage 35 comprises one second servomotor 354, connects the screw mandrel 355 of this first servomotor 354.This 2 second servomotor 354 is all arranged on the middle part, side of platform 33, and two screw mandrels 355 oppositely extend.The free end of each screw mandrel 355 is fixed on the side of platform 33 by a bearing.Each second servopackage 35 also comprises that one is set in the nut 358 on screw mandrel 355.Each nut 358 is horizontal lengthwise setting, and is fixed on corresponding retractor device 50.The diagonal angle of this platform 33 is provided with square breach 330, makes the rank street face of this platform 33 roughly be Z-shaped setting.
Refer to Figure 14 and 15, this retractor device 50 comprise a cliding seat 51, with the fixing base arm 52 of this cliding seat 51, with the intermediate arm 53 of these base arm 52 sliding block joints, with actuating arm 54, expansion bracket 55 and the push-rod electric machine 57 of intermediate arm 53 sliding block joints.This expansion bracket 55 is arranged on interior base arm 52, intermediate arm 53 and the actuating arm 54 of simultaneously connecting of retractor device 50.
This cliding seat 51 be longitudinal hollow, rectangular setting.The nut 358 of the fixing described driving clamping device 30 of lateral surface of this cliding seat 51, medial surface diagonal angle is respectively arranged with two horizontal support bearings 58 and vertical moment backup bearing 59, the interior angle that wherein a horizontal support bearing 58 and vertical moment backup bearing 59 conjugation are arranged on cliding seat 51 is with on a corresponding breach 330 that is supported on described platform 33, another is arranged on horizontal support bearing 58 and vertical moment backup bearing 59 in another interior angle of cliding seat 51 with corresponding another breach 330 that is supported on platform 33, thereby has guaranteed that cliding seat 51 smoothly moves along platform 33.
Described base arm 52, intermediate arm 53 and actuating arm 54 are flexible under the driving of expansion bracket 55 and push-rod electric machine 57.Described base arm 52, intermediate arm 53 and actuating arm 54 are all hollow setting, wherein the size of base arm 52, intermediate arm 53 and actuating arm 54 reduces gradually, and base arm 52 is equipped with opening towards one end, the intermediate arm 53 of intermediate arm 53 towards one end of actuating arm 54, intermediate arm 53 is slided and be inserted in base arm 52, and actuating arm 54 slips are inserted in intermediate arm 53.Described base arm 52 is provided with some pulleys 520 near the vertical inwall in one end of intermediate arm 53, and these pulleys 520 are for supporting the medial surface of the upper lower edge of intermediate arm 53; Described intermediate arm 53 is provided with some pulleys 530 near the vertical inner wall of one end of actuating arm 54, and these pulleys 530 are for supporting the medial surface of the upper lower edge of actuating arm 54.The free end opposite flank of described two actuating arms 54 is provided with a tapered portion 540, for snapping in the knock hole of described volume type weight 200.
Described expansion bracket 55 is formed by the fork arm 550 intersection pivot joints of two row front and back end pivot joints.The fork arm 550 of the downside at expansion bracket 55 two ends, left and right is articulated in respectively on the inner of base arm 52 and the inner of actuating arm 54; Expansion bracket 55 slides up and down on the inner that is arranged on actuating arm 54 near the free end of the fork arm 550 of the upside of actuating arm 54 one end, and expansion bracket 55 slides up and down and is arranged on base arm 52 near the free end of the fork arm 550 of the upside of base arm 52 one end.In the present embodiment, this push-rod electric machine 57 is a servomotor, comprises a motor body 570 and connects the push rod 571 of this motor body 570.This motor body 570 passes through the inner pivot joint of a support ear (not shown) and intermediate arm 53 away from one end of push rod 571, this push rod 571 is away from one end pivot joint one roller 572 of motor body 570, and this roller 572 is slidedly arranged on the inner sidewall of described base arm 52.In the present embodiment, these 572 whiles and the free end pivot joint of expansion bracket 55 near the fork arm 550 of the upside of base arm 52 one end of roller.When push-rod electric machine 57 promotes or shrinks push rod 571, drive expansion bracket 55 by being out of shape and being converted to lateral deformation up and down, the variation of the lateral length of expansion bracket 55 drives the change of distance between base arm 52, intermediate arm 53 and actuating arm 54, thereby realizes the transversal stretching of retractor device 50.
During work, retractor device 50 is contraction state, and volume type weight 200 moves on the brace table 15 of jacking system 10 by transportation device along its axis direction; Because retractor device 50 is the mobile alignment that contraction state has avoided blocking volume type weight 200; Then the first servopackage 13 drives fork arm assembly 14 to raise and promotes brace table 15, and volume type weight 200 is raised to the height concordant with retractor device 50; Then the push-rod electric machine 57 of retractor device 50 is released push rod 571, by expansion bracket 55, extends intermediate arm 53 and actuating arm 54, makes the knock hole of the tapered portion 540 aligning volume type weights 200 of actuating arm 54; Then driving clamping device 30 drives retractor device 50 mutually near volume type weight 200 is clamped by the reverse drive of the second servopackage 35; Finally, jacking system 10 declines slightly and departs from volume type weight 200, relies on retractor device 50 by volume type weight 200 location, thereby can process the material of storage in volume type weight 200; Wherein, after the positioning control of volume type weight 200 completes, whole electrical servo gripping mobile system 100 power removes, in passive mode of operation, by the locked fixedly volume type weight 200 of structure, are greatly saved the energy.
In like manner, after the operation of volume type weight 200 (getting paper as rotated) is completed, jacking system 10 rises volume type weight 200 is held, and driving clamping device 30 unclamps volume type weight 200 again and shrinks, and last jacking system 10 rises volume type weight 200 or drop to predeterminated position again and takes away.
The electrical servo gripping mobile system 100 of volume type weight of the present invention, by jacking system 10, driving clamping device 30 and retractor device 50, the gripping displacement of volume type weight 200 is decomposed into the action of three directions of solid space, accurately, energy-conservation, quiet, avoided the noise of the oil hydraulic system taked in prior art, leakage of oil, the problem that member replacing is frequent and power consumption is large, has great productivity effect.
The above embodiment has only expressed one embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (8)
1. an electrical servo gripping mobile system of rolling up type weight, for gripping, move a volume type weight, it is characterized in that: the electrical servo gripping mobile system of this volume type weight comprises a pedestal, be arranged on the jacking system in pedestal, one is arranged on the driving clamping device on pedestal, and connect two retractor devices of this driving clamping device, each retractor device comprises the cliding seat of the described driving clamping device of a connection, with the fixing base arm of this cliding seat, intermediate arm with this base arm sliding block joint, actuating arm with intermediate arm sliding block joint, one expansion bracket and a push-rod electric machine, described push-rod electric machine is a servomotor, this push-rod electric machine comprises a motor body and connects the push rod of this motor body, this motor body is away from one end of push rod and the inner pivot joint of described intermediate arm, and this push rod is away from one end pivot joint one roller of motor body, and this roller is slidedly arranged on the inner sidewall of described base arm, described jacking system is pushed into volume type weight the position of preset height, the push-rod electric machine of this retractor device drives intermediate arm and actuating arm to extend out to the both sides of this volume type weight by expansion bracket, and driving clamping device drives retractor device mutually close to clamp this volume type weight.
2. the electrical servo gripping mobile system of volume type weight according to claim 1, it is characterized in that: described expansion bracket is formed by the fork arm intersection pivot joint of two row front and back end pivot joints, and the fork arm of the downside at two ends, expansion bracket left and right is articulated in respectively on the inner of base arm and the inner of actuating arm; Expansion bracket is established near gliding on the free end of the fork arm of the upside of actuating arm one end on the inner with this actuating arm, and expansion bracket is near the roller pivot joint of free end and the described push rod of the fork arm of the upside of base arm one end.
3. the electrical servo gripping mobile system of volume type weight according to claim 1, is characterized in that: the vertical inwall in one end of the nearly intermediate arm of described base arm rest is provided with some pulleys, the medial surface of the upper lower edge of intermediate arm described in this pulley support; The vertical inner wall of one end of described division arm early work swing arm is provided with some pulleys, the medial surface of the upper lower edge of actuating arm described in described pulley support.
4. the electrical servo gripping mobile system of volume type weight according to claim 1, it is characterized in that: described jacking system comprises that one is arranged on two guide rails, the first servopackage, the fork arm assembly on described pedestal and is fixed on the brace table at fork arm assembly top, this first servopackage drives to change longitudinal width of this fork arm assembly, and the height of fork arm assembly is changed with this brace table of lifting.
5. the electrical servo gripping mobile system of volume type weight according to claim 4, it is characterized in that: described the first servopackage comprises one first servomotor, connects the screw mandrel of this first servomotor and connects this screw mandrel and the movement nut of fork arm assembly, and this movement nut is slidedly arranged in described guide rail.
6. the electrical servo gripping mobile system of volume type weight according to claim 4, it is characterized in that: the both sides, bottom surface of described brace table are respectively to downward-extension one installation portion, in each installation portion, be provided with a chute, the one end at described fork arm assembly top is articulated in one end of the chute of this installation portion, and the other end at this fork arm assembly top is slidably mounted in chute.
7. the electrical servo gripping mobile system of volume type weight according to claim 4, it is characterized in that: described driving clamping device comprises a platform and is arranged on 2 second servopackages on this platform, each second servopackage comprises one second servomotor, connects the screw mandrel of this first servomotor and is set in the nut on screw mandrel, and each nut is separately fixed on the cliding seat of corresponding retractor device.
8. the electrical servo gripping mobile system of volume type weight according to claim 7, it is characterized in that: the diagonal angle of described platform is provided with square breach, the medial surface diagonal angle of described cliding seat is respectively arranged with two horizontal support bearings and vertical moment backup bearing is placed in correspondence in the breach of described platform, to guarantee that cliding seat smoothly moves along platform.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310561467.9A CN103663309B (en) | 2013-11-12 | 2013-11-12 | The electrical servo gripping mobile system of roll weight |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310561467.9A CN103663309B (en) | 2013-11-12 | 2013-11-12 | The electrical servo gripping mobile system of roll weight |
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| CN103663309A true CN103663309A (en) | 2014-03-26 |
| CN103663309B CN103663309B (en) | 2016-02-17 |
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| DE102006014532A1 (en) * | 2006-03-29 | 2007-10-11 | Koenig & Bauer Aktiengesellschaft | Device for conveying one or more rolls of material with a transport system and a roller gripping device for receiving the roll of material |
| CN200960595Y (en) * | 2006-09-25 | 2007-10-17 | 郑卫星 | Truss resolution overturned lifting type assembly mechanism |
| US20130233651A1 (en) * | 2008-10-31 | 2013-09-12 | Dannmar Worldwide, Inc. | Portable two post automobile lift |
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| CN103663309B (en) | 2016-02-17 |
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