CN103663309B - The electrical servo gripping mobile system of roll weight - Google Patents
The electrical servo gripping mobile system of roll weight Download PDFInfo
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- CN103663309B CN103663309B CN201310561467.9A CN201310561467A CN103663309B CN 103663309 B CN103663309 B CN 103663309B CN 201310561467 A CN201310561467 A CN 201310561467A CN 103663309 B CN103663309 B CN 103663309B
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Abstract
A kind of electrical servo gripping mobile system of roll weight, a roll weight is moved for gripping, the electrical servo gripping mobile system of this roll weight comprises a pedestal, the jacking system be arranged in pedestal, is arranged on the driving clamping device on pedestal and connect two retractor devices of this driving clamping device, roll weight is pushed into the position of preset height by described jacking system, this retractor device extend out to the both sides of this roll weight, and described driving clamping device drives this retractor device close to each other to clamp this roll weight.The electrical servo gripping mobile system of roll weight of the present invention, by jacking system, driving clamping device and retractor device, the gripping of roll weight displacement is decomposed into the action in three directions of solid space, accurately, energy-conservation, quiet, there is great productivity effect.
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 roll weight.
Background technology
Existing roll weight such as paper bobbin, cloth reel often need gripping from ground and raise to move to a position of specifying and position work, and 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 paper roll is directly moved to assigned address often through the mode of rotating jig arm by existing gripping lifting process.Due to the weight more than hundred jin often of paper roll, and the power that jig arm is rotated is near rotating shaft, more than ten times of required torsion finished weight often, 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.
But in the process such as clamping, rotation of paper roll, provide the hydraulic actuating cylinder of moment to need running from start to finish, there is the frequent and large drawback that consumes energy of noise, leakage of oil, member replacing, cost is large, weak effect.
Summary of the invention
Based on this, the electrical servo gripping mobile system be of the present inventionly to provide a kind of easy control, consuming energy roll weight low.
A kind of electrical servo gripping mobile system of roll weight, a roll weight is moved for gripping, the electrical servo gripping mobile system of this roll 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 base arm that this cliding seat is fixing, with the intermediate arm of this base arm sliding block joint, with the actuating arm of 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 one end away from push rod and the inner pivot joint of described intermediate arm, 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, roll weight is pushed into the position of preset height by described jacking system, the push-rod electric machine of this retractor device drives intermediate arm and actuating arm to extend out to the both sides of this roll weight by expansion bracket, and driving clamping device drives retractor device close to each other to clamp this roll weight.
Further, described expansion bracket is formed by the fork arm intersection pivot joint of two row's front and back end pivot joints, and the fork arm of the downside at two ends, expansion bracket left and right is articulated on the inner of base arm and the inner of actuating arm respectively; On expansion bracket glides and establishes with this actuating arm the inner on the free end of the fork arm of the upside of actuating arm one end, the free end of expansion bracket near the fork arm of the upside of base arm one end and the roller pivot joint of described push rod.
Further, described base arm is provided with some pulleys near the inwall that one end of intermediate arm is vertical, the medial surface of the lower edges 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 lower edges of actuating arm described in described pulley support.
Further, described jacking system comprises two guide rails be arranged on described pedestal, the first servopackage, fork arm assembly and is fixed on the brace table at fork arm assembly top, this first servopackage drives with the longitudinal width changing this fork arm assembly, makes the height of fork arm assembly change to be elevated this brace table.
Further, described first servopackage comprises one first servomotor, connect the screw mandrel of this first servomotor and connect the movement nut of this screw mandrel and 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, be provided with a chute in each installation portion, 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, two the second servopackages that described driving clamping device comprises a platform and installs on the platform, the nut that each second servopackage comprises one second servomotor, connects the screw mandrel of this second servomotor and be set on screw mandrel, 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 provided with a horizontal support bearing and a vertical moment backup bearing is placed in correspondence in the breach of described platform, to ensure that cliding seat is along platform smoothly movement.
The electrical servo gripping mobile system of roll weight of the present invention, by jacking system, driving clamping device and retractor device, the gripping of roll weight displacement is decomposed into the action in 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 roll weight of the present invention, and wherein the jacking system of the electrical servo gripping mobile system of roll weight rises the state supporting roll weight in part.
Fig. 2 is the lateral plan of the electrical servo gripping mobile system of the roll weight of Fig. 1.
Fig. 3 is the birds-eye view of the electrical servo gripping mobile system of the roll weight of Fig. 1.
Fig. 4 is the block diagram of another angle of the electrical servo gripping mobile system of the roll weight of Fig. 1, and wherein retractor device is in extending clamped condition.
Fig. 5 is the lateral plan of the electrical servo gripping mobile system of the roll weight of Fig. 4.
Fig. 6 is the birds-eye view of the electrical servo gripping mobile system of the roll weight of Fig. 4.
Fig. 7 is the block diagram of another state of the electrical servo gripping mobile system of the roll weight of Fig. 1, and wherein retractor device is in shrinking releasing orientation, and jacking system is in rising the state supporting roll weight completely.
Fig. 8 is the lateral plan of the electrical servo gripping mobile system of the roll 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 the jacking system transverse sectional view centrally of Figure 14.
Detailed description of the invention
In order to make technical scheme of the present invention more clearly show, 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 roll weight of the present invention, for being elevated a roll weight 200, gripping, location.In the present embodiment, this roll weight 200 is a paper roll, the large-scale paper roll namely for printing in factory.This roll weight 200 comprises the middle knock hole arranged, and the electrical servo gripping mobile system 100 for this roll weight captures.
Two retractor devices 50 that the electrical servo gripping mobile system 100 of this roll weight comprises a pedestal 90, be arranged on jacking system 10 below pedestal 90, be arranged on the driving clamping device 30 on pedestal 90 and be arranged on driving clamping device 30.This retractor device 50 under the drive of driving clamping device 30 longitudinally close to each other or away from, thus reach gripping roll weight 200 or unclamp the effect of roll weight 200.
See also Fig. 9 to Figure 13, jacking system 10 comprises one and is arranged on the base 11 on pedestal 90, two guide rail 12, first servopackages 13 be arranged in base 11, fork arm assembly 14 and is fixed on the brace table 15 at fork arm assembly 14 top.
Base 11 is in the U-shaped setting of lengthwise, and the top of this base 11 is fixedly mounted in pedestal 90, thus makes guide rail 12, first servopackage 13 all be arranged at the below of pedestal 90; Fork arm assembly 14 controls lifting by the rotation of the first servopackage 13, and this brace table 15 exceeds pedestal 90 by the upwards support of fork arm assembly 14.
The quantity of guide rail 12 is two.Each guide rail 12 comprises the relative interior plate of two settings 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, fixes the first servopackage 13 to reserve a space to coordinate.
First servopackage 13 is between described two guide rails 12.The movement nut 136 that this first servopackage 13 comprises one first servomotor 134, connects the screw mandrel 135 of this first servomotor 134, connects 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 through the bottom that the interior plate 121 of each guide rail 12 connects this fork arm assembly 14 and be fastened in the chute 125 of outer panel 122 in the two ends, left and right of this movement nut 136.When the first servomotor 134 drives screw mandrel 135 to rotate, brought into motion nut 136 moves along guide rail 12, thus changes longitudinal width of fork arm assembly 14, the height of fork arm assembly 14 is changed and reaches the effect of lifting.
This fork arm assembly 14 comprises longitudinally two to be arranged fork arms (figure does not mark) and connects some rotating shafts 140 of this two rows fork arm.Each row's fork arm is that multiple trapezoidal connection is arranged, and realizes the change of height by changing longitudinal width.Each row's fork arm comprises the strut bar 141 and some pipe links 145 that are arranged on top and bottom.In the present embodiment, quantity of 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 joint of top and bottom.In other embodiments, quantity of pipe link 145 of each row's fork arm can be four, six, eight etc., needs to arrange according to usable height.Pivot joint wherein between pipe link 145, between pipe link 145 and strut bar 141 is all realized by this rotating shaft 140.This strut bar 141 is arranged in L-type, and in the present embodiment, the long section of each strut bar 141 is mutually vertical with short section.The bottom of a strut bar 141 bottom this fork arm assembly 14 and one end pivot joint of this base 11, the bottom of another strut bar 141 and this movement nut 136 pivot joint, thus along with the mobile longitudinal width changing fork arm assembly 14 of movement nut 136.The top of the strut bar 141 at this fork arm assembly 14 top all with this brace table 15 pivot joint.
This brace table 15 extends in lengthwise, cross-sectional plane is that M type is arranged.Low between the end face both sides senior middle school of this brace table 15, to accept this roll weight 200 better.The both sides, bottom surface of this brace table 15 are respectively to downward-extension one installation portion 153, a chute 155 is provided with in each installation portion 153, 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 ensures that fork arm assembly 14 is elevated the distance change on the top of two strut bars 141 at top when being out of shape.
Please again consult Fig. 4, this driving clamping device 30 comprises two side plates 31, the platform 33 longitudinally connecting two side plates 31 and 2 second servopackages 35 be arranged on this platform 33.This second servopackage 35 is for driving this retractor device 50 relative motion.Each second servopackage 35 comprises one second servomotor 354, connects the screw mandrel 355 of this second servomotor 354.This 2 second servomotor 354 is all arranged in the middle part of the 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 one and is set in nut 358 on screw mandrel 355.Each nut 358 is arranged in horizontal lengthwise, and is fixed on corresponding retractor device 50.The diagonal angle of this platform 33 is provided with square breach 330, makes the face, rank street of this platform 33 roughly in Z-shaped setting.
Refer to Figure 14 and 15, this retractor device 50 comprise a cliding seat 51, the base arm 52 fixing with this cliding seat 51, with the intermediate arm 53 of this base arm 52 sliding block joint, actuating arm 54, expansion bracket 55 and the push-rod electric machine 57 with intermediate arm 53 sliding block joint.This expansion bracket 55 is arranged in retractor device 50 and connects base arm 52, intermediate arm 53 and actuating arm 54 simultaneously.
Arranging in longitudinal hollow, rectangular of this cliding seat 51.The lateral surface of this cliding seat 51 fixes the nut 358 of described driving clamping device 30, medial surface diagonal angle is provided with horizontal support bearing 58 and a 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 supported on a breach 330 of described platform 33 with corresponding, another is arranged on corresponding another breach 330 being supported on platform 33 in another interior angle of cliding seat 51 horizontal support bearing 58 and vertical moment backup bearing 59, thus ensure that cliding seat 51 is along platform 33 smoothly movement.
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 arranged in hollow, wherein the size of base arm 52, intermediate arm 53 and actuating arm 54 reduces gradually, and base arm 52 towards one end of intermediate arm 53, intermediate arm 53 is equipped with opening towards one end of actuating arm 54, intermediate arm 53 is slided be inserted in base arm 52, and actuating arm 54 slip is inserted in intermediate arm 53.Described base arm 52 is provided with some pulleys 520 near the inwall that one end of intermediate arm 53 is vertical, and these pulleys 520 are for supporting the medial surface of the lower edges of intermediate arm 53; The vertical inner wall of described intermediate arm 53 near one end of actuating arm 54 is provided with some pulleys 530, and these pulleys 530 are for supporting the medial surface of the lower edges 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 roll weight 200.
Described expansion bracket 55 intersects pivot joint by the fork arm 550 of two row's front and back end pivot joints and forms.The fork arm 550 of the downside at expansion bracket about 55 two ends is articulated on the inner of base arm 52 and the inner of actuating arm 54 respectively; Expansion bracket 55 slide up and down near the free end of the fork arm 550 of the upside of actuating arm 54 one end be arranged on actuating arm 54 the inner on, expansion bracket 55 slides up and down near the free end of the fork arm 550 of the upside of base arm 52 one end and is arranged in base arm 52.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 away from one end of push rod 571 by the inner pivot joint of a support ear (not shown) and intermediate arm 53, 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, this roller 572 simultaneously with the free end pivot joint of expansion bracket 55 near the fork arm 550 of the upside of base arm 52 one end.When push-rod electric machine 57 promotes or shrinks push rod 571, expansion bracket 55 is driven to be converted to lateral deformation by being out of shape up and down, the change of the lateral length of expansion bracket 55 drives the distance change between base arm 52, intermediate arm 53 and actuating arm 54, thus realizes the transversal stretching of retractor device 50.
During work, retractor device 50 is in contraction state, and roll weight 200 moves on the brace table 15 of jacking system 10 by transportation device along its axis direction; Because retractor device 50 avoids in contraction state the mobile alignment blocking roll weight 200; Then the first servopackage 13 drives fork arm assembly 14 to raise and promotes brace table 15, and roll weight 200 is raised the height concordant with retractor device 50; Then the push-rod electric machine 57 of retractor device 50 releases push rod 571, extends intermediate arm 53 and actuating arm 54 by expansion bracket 55, makes the tapered portion 540 of actuating arm 54 aim at the knock hole of roll weight 200; Then driving clamping device 30 drives by the reverse drive of the second servopackage 35 that retractor device 50 is close to each other to be clamped roll weight 200; Finally, jacking system 10 declines slightly and departs from roll weight 200, relies on retractor device 50 to be located by roll weight 200, thus can process the material stored in roll weight 200; Wherein, after the positioning control of roll weight 200 completes, whole electrical servo gripping mobile system 100 power remove is in non-active operation state, by the locked fixing roll weight 200 of structure, greatly saves the energy.
In like manner, after the operation (getting paper as rotated) to roll weight 200 completes, jacking system 10 rises and to be held by roll weight 200, driving clamping device 30 unclamps roll weight 200 again and shrinks, and roll weight 200 rises or drops to predeterminated position and takes away by last jacking system 10 again.
The electrical servo gripping mobile system 100 of roll weight of the present invention, by jacking system 10, driving clamping device 30 and retractor device 50, the gripping of roll weight 200 displacement is decomposed into the action in three directions of solid space, accurately, energy-conservation, quiet, avoid 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 only have expressed one embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not 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. the electrical servo gripping mobile system of a roll weight, a roll weight is moved for gripping, it is characterized in that: the electrical servo gripping mobile system of this roll 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 base arm that this cliding seat is fixing, with the intermediate arm of this base arm sliding block joint, with the actuating arm of 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 one end away from push rod and the inner pivot joint of described intermediate arm, 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, roll weight is pushed into the position of preset height by described jacking system, the push-rod electric machine of this retractor device drives intermediate arm and actuating arm to extend out to the both sides of this roll weight by expansion bracket, and driving clamping device drives retractor device close to each other to clamp this roll weight.
2. the electrical servo gripping mobile system of roll 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's front and back end pivot joints, and the fork arm of the downside at two ends, expansion bracket left and right is articulated on the inner of base arm and the inner of actuating arm respectively; On expansion bracket glides and establishes with this actuating arm the inner on the free end of the fork arm of the upside of actuating arm one end, the free end of expansion bracket near the fork arm of the upside of base arm one end and the roller pivot joint of described push rod.
3. the electrical servo gripping mobile system of roll weight according to claim 1, is characterized in that: described base arm is provided with some pulleys near the inwall that one end of intermediate arm is vertical, the medial surface of the lower edges 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 lower edges of actuating arm described in described pulley support.
4. the electrical servo gripping mobile system of roll weight according to claim 1, it is characterized in that: described jacking system comprises two guide rails be arranged on described pedestal, the first servopackage, fork arm assembly and is fixed on the brace table at fork arm assembly top, this first servopackage drives with the longitudinal width changing this fork arm assembly, makes the height of fork arm assembly change to be elevated this brace table.
5. the electrical servo gripping mobile system of roll weight according to claim 4, it is characterized in that: described first servopackage comprises one first servomotor, connect the screw mandrel of this first servomotor and connect the movement nut of this screw mandrel and fork arm assembly, and this movement nut is slidedly arranged in described guide rail.
6. the electrical servo gripping mobile system of roll 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, a chute is provided with in each installation portion, 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 roll weight according to claim 4, it is characterized in that: two the second servopackages that described driving clamping device comprises a platform and installs on the platform, the nut that each second servopackage comprises one second servomotor, connects the screw mandrel of this second servomotor and be set on screw mandrel, each nut is separately fixed on the cliding seat of corresponding retractor device.
8. the electrical servo gripping mobile system of roll 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 provided with a horizontal support bearing and a vertical moment backup bearing is placed in correspondence in the breach of described platform, to ensure that cliding seat is along platform smoothly movement.
Priority Applications (1)
| 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 |
Applications Claiming Priority (1)
| 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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| Publication Number | Publication Date |
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| CN103663309A CN103663309A (en) | 2014-03-26 |
| CN103663309B true CN103663309B (en) | 2016-02-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310561467.9A Active CN103663309B (en) | 2013-11-12 | 2013-11-12 | The electrical servo gripping mobile system of roll weight |
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Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| US9150395B2 (en) * | 2008-10-31 | 2015-10-06 | Henthorn Intellectual Properties Holdings, Inc. | Portable two post automobile lift |
| CN201801359U (en) * | 2010-08-12 | 2011-04-20 | 大连叉车有限责任公司 | Forklift tyre clamping tool |
| CN102030285B (en) * | 2010-12-09 | 2012-07-04 | 宁波大榭开发区综研化学有限公司 | Loading and unloading transport vehicle |
| DE102012001725A1 (en) * | 2012-01-31 | 2013-08-01 | Fachhochschule Aachen | Climbing robot for masts |
| CN102951296B (en) * | 2012-12-02 | 2015-11-11 | 威海广泰空港设备股份有限公司 | A kind of armful clamp device of aircraft nosewheel |
| CN103009144B (en) * | 2012-12-31 | 2015-01-07 | 苏州金纬机械制造有限公司 | Follow-up clamping device |
| CN103232011B (en) * | 2013-05-16 | 2015-12-09 | 烽火通信科技股份有限公司 | A kind of optical cable metal belt transport trolley |
| CN203545626U (en) * | 2013-11-12 | 2014-04-16 | 东莞市骏兴机械科技有限公司 | Electric servo clamping and moving system of rolled type weight |
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2013
- 2013-11-12 CN CN201310561467.9A patent/CN103663309B/en active Active
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