CN106809770B - Automatic turning device with adjustable transverse and longitudinal spacing of pallet fork - Google Patents

Abstract

The invention discloses an automatic overturning device with adjustable horizontal and vertical spacing of forks, comprising: a clamping mechanism, a rotating mechanism, a pushing mechanism and a base; the clamping mechanism is connected with the rotating mechanism through a pallet, and the clamping mechanism The mechanism is connected with the pushing mechanism through the hydraulic cylinder II, and the pushing mechanism is installed on the base; the 180° rotation of the clamping mechanism is realized by the rotating mechanism, and the clamping mechanism is made by the pushing mechanism. And the rotating mechanism is turned 90° around the platform axis; the automatic turning device with adjustable horizontal and vertical spacing of the forks of the present invention has the remarkable advantages of simple and compact structure, high automation level, convenient operation, etc. Substitute manpower for manual paper turning, greatly improving production efficiency, avoiding problems such as uneven turning of paper, saving labor and reducing production costs.

Description

An automatic turning device with adjustable horizontal and vertical spacing of forks

technical field

The invention relates to a paper stack turning device capable of quickly turning a paper stack over 180 degrees with adjustable fork spacing, in particular to an automatic turning device with adjustable horizontal and longitudinal spacing of forks.

Background technique

With the continuous development and prosperity of the society, the printing volume of paper in the printing factory has doubled. At present, most printing machines can only print on one side, and then turn the paper over manually for reverse printing. Due to the low efficiency of manual turnover, there are also problems. Therefore, improving the turnover efficiency has become an important aspect of the printing industry. As a turning device for printing auxiliary equipment, it can not only significantly improve production efficiency and product quality, prolong the life of the printing machine, but also improve the management process and save a lot of manpower, especially the equipment with adjustable fork spacing can meet the needs of the printing factory. Due to the flipping requirements of different specifications of paper, it is a general trend for printing companies to configure a stack flipping device with adjustable fork spacing in the sheet-fed printing process.

SUMMARY OF THE INVENTION

The present invention aims to solve the above-mentioned problems, and provides a relatively quick inversion solution for different paper specifications.

For achieving the above object, the technical scheme adopted in the present invention is as follows:

An automatic overturning device with adjustable horizontal and vertical spacing of a fork, comprising: a clamping mechanism, a rotating mechanism, a pushing mechanism, and a base; the clamping mechanism is connected with the rotating mechanism through a pallet, and the clamping mechanism is hydraulically driven The oil cylinder III is connected with the pushing mechanism, and the pushing mechanism is installed on the base.

Further, the clamping mechanism includes: a fork, a platform plate, a slide rail, a hydraulic cylinder I, a roller plate I, a clamp rod, a lifting rail, a chain seat I, a chain seat II, a roller plate II, a chain, and a hydraulic cylinder II , connecting bar, middle plate, chain seat III, roller I, roller II; the fork is a rectangular structure, with baffles welded on both sides, the forks have a pair, and they are installed face-to-face to facilitate clamping paper piles; the platform plate and Each of the lifting rails has two pieces, the platform plate and the lifting rail are symmetrically welded into a rectangular structure, there are two sets of the hydraulic cylinder II, and one set of the hydraulic cylinder II is connected to the upper end through the connecting rod. The fork is connected, and the other set of the hydraulic cylinder II is connected with the fork at the lower end through the connecting rod; there are two sets of the clamping rods, which are respectively symmetrically installed between a pair of the forks, and Connected with the roller plate I; there are two sliding rails, the sliding rails are welded on the lifting rail, the roller plate I is fixed with the roller I, and the roller I is placed on the sliding rail. In the rail, the bottom of the hydraulic cylinder I is fixed in the middle of the upper and lower sliding rails through the middle plate, and the hydraulic cylinder I is a double-headed cylinder, and its cylinder rod is connected with the roller plate I respectively, and is connected by the roller plate I. At the same time, adjusting the length of the oil cylinder rod enables the clamping rod to laterally clamp paper piles of different sizes; there are four sets of the roller plates II, two of which are welded to the connecting bars respectively, and the other two are welded to the connecting rods respectively. The roller plates II are respectively fixedly connected to the fork antisymmetrically; the roller plate II is fixed on one side of the roller plate II, and the roller II is placed in the lifting track and connected to the connecting bar. The other side of the welded roller plate II is welded with the chain seat II, the other side of the roller plate II connected with the fork is welded with the chain seat III, and the chain seat I is welded on the The platform plate; the chain base I, the chain base II, and the chain base III are connected by the chain, so that the fork can move up and down in the lifting track, and the longitudinal clamping of the fork can be different. Model thickness stack.

Further, the rotating mechanism includes: a supporting plate and a slewing bearing; the supporting plate is welded with the platform plate and the lifting rail, the slewing bearing is fixed at the center position of the supporting plate by bolts, and the slewing bearing is A worm gear and worm structure are adopted. The worm gear is a ring gear structure and is installed in the center of the pallet. The worm drives the worm wheel to realize 180° rotation of the clamping mechanism. The locking performance ensures that the clamping mechanism does not rotate and ensures the rotation accuracy.

Further, the pushing mechanism includes: a support base, a platform bearing, a platform shaft, a connecting plate, and a hydraulic cylinder III; the support base and the hydraulic cylinder III are fixed on the base, and the hydraulic cylinder III pushes and pulls the The connecting plate makes the clamping mechanism and the rotating mechanism invert around the platform axis through the platform bearing.

Further, the base includes: flat steel, square steel, and universal wheel; the square steel on the bottom surface of the base is welded in parallel to a rectangular structure, and four short square steels are welded into a four-column structure. The flat steel is welded on the top of the four-column structure, and four sets of foldable universal wheels are installed under the bottom surface of the base.

Further, the clamping rod is a three-section structure, which is an upper clamping rod, a middle clamping rod and a lower clamping rod, the middle clamping rod is a hollow structure, the upper clamping rod and the lower clamping rod are connected with a spring, and the When the clamping rod moves in the sliding rail, the clamping rod first clamps the paper pile laterally, and the fork clamps the paper pile longitudinally. When the upper clamping rod and the lower clamping rod are pressed by the fork, the spring Compressed into the cavity of the middle clamp rod.

Further, the roller plate II is drilled with cylindrical through holes, and the roller II is fixed by bolts, so as to realize rolling friction when moving up and down in the lifting track; the hydraulic cylinder II pushes the connecting bar to drive the roller. Plate II moves, and the roller plate II is pulled by the chain to move opposite the roller plate II, so that the roller plate II on both sides is evenly stressed, so that the roller plate II can be lifted and lowered by the roller II. Moving in the track, the longitudinal spacing of the forks can be adjusted.

Further, the supporting plate of the rotating mechanism is welded on the platform plate and the lifting rail, and the slewing bearing is fixed at the center of the supporting plate by bolts, so that the rotating mechanism can bear the axial direction. The slewing bearing is welded with the connecting plate, and the connecting plate is welded with reinforcing ribs to prevent deformation under heavy load. The support seat has two sets, one of which is connected to the connecting plate, and the other One set is connected with the flat steel, and two sets of the support seats are connected together through the platform bearing and the platform shaft.

Further, the base of the described hydraulic cylinder III of the pushing mechanism is connected with the bottom of the base through earrings and a trunnion structure, and the oil cylinder rod of the hydraulic cylinder III is connected with the connecting plate through the earrings and the trunnion structure, The hydraulic cylinder III pushes the connecting plate to realize 90° inversion of the clamping mechanism and the rotating mechanism around the platform axis.

Further, the skeleton of the base is the square steel, and the tail of the base is provided with a counterweight structure to prevent structural deformation of the entire device under heavy load.

Further, an automatic turning device with adjustable horizontal and vertical spacing of the forks of the present invention also includes a control system, the control system adjusts the motor speed and direction, and controls the hydraulic cylinder I, hydraulic cylinder II, and hydraulic cylinder III. The push-pull action is carried out between different speeds and directions, and the motor information and sensor information are collected to realize and control the operation; the control system is equipped with a relief valve to prevent the hydraulic cylinder I, hydraulic cylinder II, and hydraulic cylinder III from being pushed and pulled excessively. Damage to machines, stacks of paper.

The specific steps of the test method of the automatic turning device with adjustable horizontal and vertical spacing of the forks of the present invention are as follows: open the foldable universal wheel under the base, move the whole device to the position where the paper stack is turned The universal wheel is folded, so that the whole device is stable and reliable; first, the paper stack is placed on the fork, and the counterweight structure at the tail of the base is counterweighted to prevent the structural deformation of the entire device under heavy load. The control system adjusts the speed and direction of the hydraulic cylinder III, so that the pushing action is carried out at different speeds, and collects motor information and sensor information to realize and control the operation, and the hydraulic cylinder I pulls the roller plate I in the Do opposite movement in described slide rail, described roller plate 1 drives described clamping rod until laterally clamping paper piles, realizes the lateral adjustment of the clamping rod spacing of described clamping mechanism according to the size of paper piles of different models; The oil cylinder II pushes the connecting bar, the connecting bar is connected with the roller plate II, the roller plate II is pulled to face the roller plate II through the chain, and then drives the fork to move toward each other until the longitudinal direction Clamp the stack of paper, and turn over the thickness of the stack as required to achieve longitudinal adjustment of the fork spacing of the clamping mechanism; activate the hydraulic cylinder III to push the clamping mechanism to pass through the platform bearing and the support seat to make it around The axis of the platform is turned upward by 90 degrees, the worm gear is driven by the worm to make the clamping mechanism rotate 180 degrees with the slewing bearing as the center of the circle, and the hydraulic cylinder III is activated again to pull the clamping mechanism downward. Turn 90 degrees, activate the hydraulic cylinder II to move the fork in the opposite direction through the connecting bar, and put the paper stack down to the ground; The rod moves in the opposite direction to release the lateral pressing force of the paper pile, take out the paper pile, and finally automatically realize the 180-degree flip of the paper pile.

Description of drawings

Fig. 1: Axonometric view I of an automatic turning device with adjustable horizontal and vertical spacing of a fork of the present invention;

Figure 2: Axonometric view II of an automatic turning device with adjustable horizontal and vertical spacing of forks according to the present invention;

Figure 3: Axonometric view of the clamping mechanism of an automatic turning device with adjustable horizontal and vertical spacing of forks according to the present invention;

Figure 4: Axonometric view of the rotating mechanism of an automatic turning device with adjustable horizontal and vertical spacing of forks according to the present invention;

Fig. 5: Axonometric view of the pushing mechanism and the base of an automatic overturning device with adjustable horizontal and vertical spacing of forks according to the present invention;

Figure 6: Partial side view of roller plate I of an automatic turning device with adjustable horizontal and vertical spacing of a fork of the present invention;

Figure 7: Partial side view of roller plate II of an automatic turning device with adjustable fork horizontal and vertical spacing according to the present invention;

In the figure: 1- Clamping mechanism, 2- Rotating mechanism, 3- Pushing mechanism, 4- Base, 101- Fork, 102- Platform plate, 103- Slide rail, 104- Hydraulic cylinder I, 105- Roller plate I, 106-Clamping rod, 107-Lifting track, 108-Chain base I, 109-Chain base II, 110-Roller plate II, 111-Chain, 112-Hydraulic cylinder II, 113-Connecting bar, 114-Middle plate, 115- Chain Block III, 116-Roller I, 117-Roller II, 201-Pallet, 202-Slewing Ring, 301-Support Block, 302-Platform Bearing, 303-Platform Shaft, 304-Connecting Plate, 305-Hydraulic Cylinder III, 401-Flat steel, 402-Square steel, 403-Universal wheel.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

As shown in Figures 1, 2, 3, 4, 5, 6, and 7, an automatic overturning device with adjustable horizontal and vertical spacing of forks includes: a clamping mechanism 1, a rotating mechanism 2, a pushing mechanism 3, and a base 4 ; The clamping mechanism 1 is connected with the rotating mechanism 2 through the pallet 201, and the clamping mechanism 1 is connected with the pushing mechanism 3 through the hydraulic cylinder III305, and the pushing mechanism 3 is installed on the base 4; The clamping mechanism 1 includes: a fork 101, a platform plate 102, a slide rail 103, a hydraulic cylinder I104, a roller plate I105, a clamping rod 106, a lifting rail 107, a chain seat I108, a chain seat II109, a roller plate II110, and a chain 111 , hydraulic cylinder II112, connecting rod 113, middle plate 114, chain seat III115, roller I116, roller II117; the fork 101 is a rectangular structure, with baffles welded on both sides, the fork 101 has a pair, and it is easy to clamp when installed face-to-face paper stack; the platform plate 102 and the lifting rail 107 each have two pieces, the platform plate 102 and the lifting rail 107 are symmetrically welded into a rectangular structure, the hydraulic cylinder II 112 has two sets, one set is The hydraulic cylinder II 112 is connected to the fork 101 at the upper end through the connecting rod 113 , and another set of the hydraulic cylinder II 112 is connected to the fork 101 at the lower end through the connecting rod 113 ; the clamping rod 106 has Two sets are installed symmetrically between a pair of forks 101 and connected to the roller plate I105; there are two sliding rails 103, and the sliding rails 103 are welded on the lifting rail 107, so The roller I116 is fixed on the roller plate I105, the roller I116 is placed in the slide rail 103, and the bottom of the hydraulic cylinder I104 is fixed between the upper and lower slide rails 103 through the middle plate 114. , the hydraulic oil cylinder I104 is a double-headed oil cylinder, and its oil cylinder rods are connected with the roller plates I105 respectively. By adjusting the length of the oil cylinder rods at the same time, the clamping rods 106 can laterally clamp paper piles of different sizes; the roller plates There are four sets of II110, of which two sets of the roller plates II110 are respectively welded with the connecting rods 113, and the other two sets of the roller plates II110 are respectively connected with the fork 101 in an antisymmetric fixed connection; the roller plates One side of the II110 is fixed with the roller II117, the roller II117 is placed in the lift rail 107, and the other side of the roller plate II110 welded with the connecting rod 113 is welded with the chain base II109, which is connected to the The chain seat III115 is welded on the other side of the roller plate II110 connected to the fork 101, and the chain seat I108 is welded on the platform plate 102; the chain seat I108, the chain seat II109, the The chain seat III115 is connected by the chain 111, so that the fork 101 can move up and down in the lifting track 107, and the fork 101 can be longitudinally clamped with different thicknesses The rotating mechanism 2 includes: a supporting plate 201, a slewing bearing 202; the supporting plate 201 is welded with the platform plate 102 and the lifting rail 107, and the slewing bearing 202 is fixed on the supporting plate 202 by bolts The center position of the plate 201, the slewing bearing 202 adopts a worm gear and worm structure, the worm gear is a ring gear structure, and is installed in the center of the support plate 201, and the worm drives the worm wheel to realize 180 of the clamping mechanism 1. ° rotation, while the self-locking performance of the worm gear and the worm ensures that the clamping mechanism 1 does not rotate and ensures rotation accuracy; the pushing mechanism 3 includes: a support seat 301, a platform bearing 302, a platform shaft 303, a connecting plate 304, Hydraulic cylinder III305; the support base 301 and the hydraulic cylinder III305 are fixed on the base 4, and the hydraulic cylinder III305 pushes and pulls the connecting plate 304, so that the clamping mechanism 1 and the rotating mechanism 2 pass through the The platform bearing 302 is turned around the platform shaft 303; the base 4 includes: flat steel 401, square steel 402, and universal wheel 403; the square steel 402 on the bottom surface of the base 4 is welded in parallel to a rectangular structure, and four The short square steel 402 is welded into a four-column structure, the flat steel 401 is welded on the top of the four-column structure, and four sets of foldable universal wheels 403 are installed under the bottom surface of the base 4. A self-locking structure is installed on the wheel 403 to realize the convenient movement and reliable operation of the whole device.

As shown in Figures 1, 2, 3, 4, 5, 6, and 7, the specific steps of a test method of an automatic turning device with adjustable fork horizontal and vertical spacing of the present invention are as follows: open the foldable under the base 4 The universal wheel 403 moves the whole device to the position where the paper stack is turned over and then folds the universal wheel 403 to make the whole device stable and reliable; The counterweight structure at the tail of the base 4 performs counterweight to prevent the structural deformation of the entire device under heavy load. The control system adjusts the speed and direction of the hydraulic cylinder III305, so that the pushing action is carried out at different speeds and collected. Motor information, sensor information, realize and control the operation, the hydraulic cylinder I104 pulls the roller plate I105 to move toward each other in the slide rail 103, the roller plate I105 drives the clamping rod 106 until the paper stack is clamped horizontally , according to the size of different types of paper piles, the horizontal adjustment of the distance between the clamping rods 106 of the clamping mechanism 1 is realized; the hydraulic cylinder II112 pushes the connecting rod 113, and the connecting rod 113 is connected with the roller plate II110, so The roller plate II110 is pulled to face the roller plate II110 through the chain 111, and then drives the fork 101 to move toward each other until the paper stack is clamped longitudinally, and the clamping mechanism 1 is realized by turning over the thickness of the paper stack as required. The distance between the forks 101 is adjusted longitudinally; the hydraulic cylinder III 305 is activated to push the clamping mechanism 1 through the platform bearing 302 and the support seat 301 to make it turn upwards by 90 degrees around the platform axis 303, and is driven by a worm. The worm gear makes the clamping mechanism 1 rotate 180 degrees with the slewing bearing 202 as the center of the circle, start the hydraulic cylinder III305 again to pull the clamping mechanism 1 down 90 degrees, start the hydraulic cylinder II112 to pass The connecting bar 113 makes the fork 101 move in the opposite direction, and the paper stack is lowered to the ground; the hydraulic cylinder I104 is activated, and the clamping rod 106 is moved in the opposite direction through the roller plate I105 to release the paper The lateral pressing force of the stack takes out the paper stack, and finally automatically realizes the 180-degree flip of the paper stack.

The above descriptions are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within the range.

Claims (2)

1. An automatic turning device with adjustable horizontal and vertical spacing of a fork, characterized in that it comprises: a clamping mechanism (1), a rotating mechanism (2), a pushing mechanism (3), and a base (4); The mechanism (1) is connected with the rotating mechanism (2) through a pallet (201), the clamping mechanism (1) is connected with the pushing mechanism (3) through a hydraulic cylinder III (305), and the pushing mechanism ( 3) Installed on the base (4); the clamping mechanism (1) includes: a fork (101), a platform plate (102), a slide rail (103), a hydraulic cylinder I (104), a roller plate I (105), clamp rod (106), lift rail (107), chain base I (108), chain base II (109), roller plate II (110), chain (111), hydraulic cylinder II (112), connection The bar (113), the middle plate (114), the chain seat III (115), the roller I (116), the roller II (117); the fork (101) is a rectangular structure, with baffle plates welded on both sides, the fork There are a pair of (101), which are installed face-to-face to facilitate clamping the paper stack; the platform plate (102) and the lifting rail (107) have two pieces each, and the platform plate (102) and the lifting rail (107) are two pieces. Two symmetrically welded rectangular structures, the hydraulic cylinder II (112) has two sets, one set of the hydraulic cylinder II (112) is connected to the upper fork (101) through the connecting rod (113), the other One set of the hydraulic cylinder II (112) is connected with the lower fork (101) through the connecting rod (113); there are two sets of the clamping rods (106), which are respectively symmetrically installed on a pair of the cargo forks (101). between the forks (101) and connected with the roller plate I (105); there are two sliding rails (103), the sliding rails (103) are welded on the lifting rail (107), the The roller I (116) is fixed on the roller plate I (105), the roller I (116) is placed in the slide rail (103), and the bottom of the hydraulic cylinder I (104) passes through the middle plate ( 114) It is fixed in the middle of the upper and lower slide rails (103), the hydraulic cylinder I (104) is a double-headed cylinder, and its cylinder rods are connected with the roller plate I (105) respectively. The length of the rod enables the clamping rod (106) to laterally clamp paper stacks of different sizes; the roller plate II (110) has four sets, of which two sets of the roller plate II (110) are respectively connected with the connecting bar (113) Welding, and the other two sets of the roller plates II (110) are respectively fixedly connected to the fork (101) in an antisymmetric manner; the roller plate II (110) is fixed on one side of the roller plate II (117), the roller II (117) is placed in the lifting track (107), and the chain seat II is welded to the other side of the roller plate II (110) welded with the connecting rod (113). (109), the roller plate 1 connected with the fork (101) The other side of I (110) is welded with the chain base III (115), and the chain base I (108) is welded on the platform plate (102); the chain base I (108), the chain base II (109) and the chain base III (115) are connected by the chain (111), so that the fork (101) can move up and down in the lifting track (107), so as to realize the fork (101) Longitudinal clamping of paper stacks of different thicknesses; the rotating mechanism (2) includes: a pallet (201), a slewing bearing (202); the pallet (201) and the platform plate (102) and the lift The rail (107) is welded, the slewing bearing (202) is fixed at the center position of the pallet (201) by bolts, the slewing bearing (202) adopts a worm gear structure, and the worm gear is a ring gear structure and is installed in the In the center of the pallet (201), the worm drives the worm wheel to realize 180° rotation of the clamping mechanism (1), and at the same time the self-locking performance of the worm wheel and the worm guarantees the clamping mechanism (1) Does not rotate to ensure rotation accuracy; the pushing mechanism (3) includes: a support seat (301), a platform bearing (302), a platform shaft (303), a connecting plate (304), and a hydraulic cylinder III (305); the support The seat (301) and the hydraulic cylinder III (305) are fixed on the base (4), and the hydraulic cylinder III (305) pushes and pulls the connecting plate (304), so that the clamping mechanism (1) and the The rotating mechanism (2) is rotated by 90° around the platform axis (303) through the platform bearing (302); the base (4) includes: flat steel (401), square steel (402), universal A wheel (403); the square steel (402) on the bottom surface of the base (4) is welded in parallel to a rectangular structure, and four short square steels (402) are welded into a four-column structure, and the flat steel (401 ) is welded on the top of the four-column structure, four sets of foldable universal wheels (403) are installed under the bottom surface of the base (4), and a self-locking structure is installed on the universal wheels (403) to realize the whole device It is convenient to move and work reliably; the clamping rod (106) is a three-section structure, which is an upper clamping rod, a middle clamping rod and a lower clamping rod, the middle clamping rod is a hollow structure, the upper clamping rod and the lower clamping rod are The clamping rod is connected to a spring, the clamping rod (106) moves in the sliding rail (103), and the clamping rod (106) first clamps the paper pile horizontally, and the fork (101) clamps the paper pile longitudinally, so When the upper clamp rod and the lower clamp rod are pressed by the fork (101), the springs are compressed into the cavity of the middle clamp rod; the roller plate II (110) is drilled with cylindrical through holes, through which bolts pass The roller II (117) is fixed to realize rolling friction when moving up and down in the lifting track (107); the hydraulic cylinder II (112) pushes the connecting rod (113) to drive the roller plate II (110). ) movement, the roller plate II (110) pulls the opposite said roller through the chain (111) The plate II (110) moves, so that the roller plate II (110) on both sides is evenly stressed, so that the roller plate II (110) can move in the lift rail (107) through the roller II (117), The longitudinal spacing of the forks (101) can be adjusted; the support plate (201) of the rotating mechanism (2) is welded on the platform plate (102) and the lifting rail (107), and the rotating The support (202) is fixed at the center position of the support plate (201) by means of bolts, so that the rotating mechanism (2) can bear both axial force and longitudinal force; the slewing bearing (202) and the connecting plate ( 304) Welding, the connecting plate (304) is welded with reinforcing ribs to prevent deformation under heavy load, the support seat (301) has two sets, one of which is connected to the connecting plate (304), and the other set is connected to the The flat steel (401) is connected, and the two sets of the support bases (301) are connected together through the platform bearing (302) and the platform shaft (303); the hydraulic cylinder III of the pushing mechanism (3) The base of (305) is connected to the bottom of the base (4) through earrings and trunnion structures, and the cylinder rod of the hydraulic cylinder III (305) is connected to the connecting plate (304) through earrings and trunnion structures, so The hydraulic cylinder III (305) pushes the connecting plate (304) to realize the 90° turning of the clamping mechanism (1) and the rotating mechanism (2) around the platform axis (303); the base (4) The frame of the device is the square steel (402), and the tail of the base (4) is provided with a counterweight structure to prevent the structural deformation of the entire device under heavy load. 2. the adjustable automatic overturning device of a kind of fork horizontal and vertical spacing as claimed in claim 1, it is characterized in that: also comprise a set of control system, described control system adjusts motor speed and direction, controls described hydraulic oil cylinder 1 (104) The push-pull action of hydraulic cylinder II (112) and hydraulic cylinder III (305) is performed between different speeds and directions, and motor information and sensor information are collected to realize and control the operation; the control system is equipped with a relief valve , to prevent the hydraulic cylinder I (104), the hydraulic cylinder II (112), and the hydraulic cylinder III (305) from causing damage to the machine and the paper pile due to excessive pushing and pulling.

Images