CN110064672B - Under-actuated connecting rod type clamping and conveying mechanism - Google Patents
Under-actuated connecting rod type clamping and conveying mechanism Download PDFInfo
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- CN110064672B CN110064672B CN201910300630.3A CN201910300630A CN110064672B CN 110064672 B CN110064672 B CN 110064672B CN 201910300630 A CN201910300630 A CN 201910300630A CN 110064672 B CN110064672 B CN 110064672B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B39/14—Guiding, positioning or aligning work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21B—ROLLING OF METAL
- B21B39/00—Arrangements for moving, supporting, or positioning work, or controlling its movement, combined with or arranged in, or specially adapted for use in connection with, metal-rolling mills
- B21B39/14—Guiding, positioning or aligning work
- B21B39/16—Guiding, positioning or aligning work immediately before entering or after leaving the pass
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Abstract
The invention relates to an under-actuated connecting rod type pinch mechanism which comprises a first gear, a second gear, a third gear, a fourth gear, a linear motion mechanism, a multi-connecting-rod synchronous mechanism, a first conveying roller, a second conveying roller, a strip-shaped material, a linear spring assembly, a universal coupling and a driving motor. The under-actuated connecting rod type pinch mechanism provided by the invention improves the single-degree-of-freedom structural form of the existing pinch roll, so that the pinch mechanism can displace at an under-actuated joint when finishing synchronous clamping action, and the instant clamping acting force is buffered through the linear spring assembly, thereby effectively protecting the clamping mechanism and a clamped workpiece, and prolonging the service life of equipment.
Description
Technical Field
The invention belongs to the technical field of rod and wire production line equipment, and particularly relates to an under-actuated connecting rod type clamping and conveying mechanism.
Background
Pinch rolls are important equipment in rod and wire production line units, located after the intermediate or finishing mill, before the laying head or shearing equipment, or between the water boxes of the sections of the water-cooled section. The main function is to clamp the long rod and wire smoothly passing through the water cooling section area and stably feeding the long rod and wire into downstream equipment, so as to prevent the rod and wire from shaking, ensure that the rolling material forms micro-tension between frames on the rolling line and smoothly pass through the rolling line.
The main structure is as follows: the motor transmits the rotary motion to the intermediate gear of the pinch roll through one-stage or two-stage gear speed-increasing transmission, and transmits the rotary motion to two working shafts of the pinch roll through the constant speed ratio transmission of the gear on the intermediate gear. The upper and lower working shafts of the pinch roll respectively drive the upper and lower pinch rolls to rotate at the same speed, and the speed is the same as the linear speed of the movement of the incoming rolled material, when the hot metal detector in front detects that the head of the incoming rolled material passes through the pinch roll, the PLC system sends an instruction to close the roll gap of the pinch roll, and the two rolls clamp the wire and convey the wire to the downstream.
The bar and wire clamping and conveying equipment is mainly divided into two main components of a transmission mechanism and a clamping mechanism: 1. the transmission mechanism is as follows: mainly comprises speed-increasing transmission among gears at all stages, and transmits the rotary motion to a pair of working shafts at a constant speed through a pair of intermediate gears; 2. a clamping mechanism: the device is mainly used for realizing synchronous opening and closing actions of pinch roll gaps on a working shaft.
At present, the clamping mechanism is mainly realized in three ways: the synchronous fixture of connecting rod gear formula, the synchronous fixture of many connecting rods, the synchronous fixture of symmetrical connecting rod, but the driver quantity and the system degree of freedom quantity of three kinds of fixtures are 1, and joint, connecting rod all are rigid connection, belong to the full actuating mechanism of standard, and the motion of each joint and connecting rod has the uniqueness. When the clamping mechanism performs clamping action, rigid impact is generated on the material, and meanwhile, the material does not have a buffer function at the moment of contact with the material.
Disclosure of Invention
Aiming at the situation, the invention provides the under-actuated connecting rod type clamping and conveying mechanism, which overcomes the defects of the prior art, and through the design of a linear spring device, the clamping and conveying mechanism can generate horizontal displacement when finishing synchronous clamping action, so that the instant clamping acting force is buffered, the clamping mechanism and a clamped workpiece are effectively protected, and the service life of equipment is prolonged.
The invention adopts the technical scheme that the under-actuated connecting rod type pinch mechanism comprises a first gear, a second gear, a third gear, a fourth gear, a linear motion mechanism, a multi-connecting-rod synchronous mechanism, a first conveying roller, a second conveying roller, a long-strip-shaped material, a linear spring assembly, a universal coupling and a driving motor, wherein the first gear and the second gear are respectively in meshing transmission with the third gear and the fourth gear, the third gear and the fourth gear are respectively and fixedly connected with the first conveying roller and the second conveying roller, the long-strip-shaped material is clamped between the first conveying roller and the second conveying roller, the first gear and the second gear are in meshing transmission, and a driving rotating shaft of the second gear is connected with an output shaft of the driving motor through the universal coupling; the linear motion mechanism is fixedly connected with the frame, an output shaft of the linear motion mechanism is rotatably connected with a first end of a first connecting rod in the multi-connecting-rod synchronous mechanism, the multi-connecting-rod synchronous mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod and an eighth connecting rod, a second end of the first connecting rod is rotatably connected with a first end of the second connecting rod, a first hinge point and a second hinge point are uniformly distributed on the second connecting rod, the first hinge point of the second connecting rod is rotatably connected with a first end of the third connecting rod, a second end of the third connecting rod is rotatably connected with a first end of the fourth connecting rod, the second end of the fourth connecting rod and the first end of the fifth connecting rod are both hinged with a rotating shaft of the third gear, and a second end of the fifth connecting rod is hinged with a rotating shaft of the first gear, the second end of the second connecting rod is rotatably connected with the first end of the sixth connecting rod, the second end of the sixth connecting rod is rotatably connected with the first end of the seventh connecting rod, the second end of the seventh connecting rod and the first end of the eighth connecting rod are both hinged with the rotating shaft of the fourth gear, and the second end of the eighth connecting rod is hinged with the rotating shaft of the second gear; and the linear spring assembly comprises a first compression spring, a second compression spring, a sliding block and a supporting seat, the supporting seat is fixedly connected with the rack, the first end face of the supporting seat is fixedly connected with the rack, the first compression spring and the second compression spring are arranged between the sliding blocks and between the second end face of the supporting seat and the sliding blocks respectively, and the sliding block of the linear spring assembly is hinged to a second hinge point of the second connecting rod.
Further, the pivot axis of first gear and the pivot axis of second gear are parallel to each other, just the number of teeth and the modulus of first gear and second gear are the same, the pivot axis of third gear and the pivot axis of fourth gear are parallel to each other, just the number of teeth and the modulus of third gear and fourth gear are the same.
Further, the rotation centers of the third gear and the fourth gear coincide with the rotation centers of the first conveying roller and the second conveying roller, respectively, and the diameters of the first conveying roller and the second conveying roller are equal.
Preferably, the pitch circle diameter of the first gear is tangent to the pitch circle diameter of the third gear, and the pitch circle diameter of the second gear is tangent to the pitch circle diameter of the fourth gear.
Preferably, the linear motion mechanism can be driven by an air cylinder, a hydraulic cylinder or a linear motor.
Further, the opening and closing size of the roll gap is adjusted by the multi-link synchronization mechanism driven by the linear motion mechanism, and the opening and closing size of the roll gap is the same as the thickness of the strip-shaped material.
Preferably, the rod length of the fifth link is equal to the rod length of the eighth link.
Preferably, a line connecting the rotation centers of the first gear and the second gear is perpendicular to the conveying direction of the elongated material.
Compared with the prior art, the invention has the following remarkable advantages:
the invention provides an under-actuated connecting rod type pinch mechanism, which improves the structural form of single degree of freedom of the existing pinch roller, the number of drivers of the mechanism is 1, and the number of system degrees of freedom is 2. The clamping and conveying mechanism can displace at the under-actuated joint when synchronous clamping action is completed, instantaneous clamping acting force is buffered through the linear spring assembly, damage to a clamping object caused by overlarge clamping impact force is avoided, certain protection effects on a clamped workpiece and parts of the clamping mechanism are achieved, and the service life of equipment is effectively prolonged.
Drawings
FIG. 1 is a schematic view of an overall structure of an under-actuated connecting rod type pinch mechanism according to the present invention;
FIG. 2 is a schematic view of an under-actuated linkage type pinch mechanism according to the present invention;
FIG. 3 is a schematic view of a comparison scheme of the present invention and a connecting rod gear type synchronous clamping mechanism;
FIG. 4 is a schematic view of a comparison scheme of the multi-link synchronous clamping mechanism of the present invention; and
FIG. 5 is a schematic diagram showing a comparison scheme of the synchronous clamping mechanism of the invention and a symmetrical connecting rod.
The main reference numbers:
a first gear 1; a second gear 1'; a third gear 2; a fourth gear 2'; a linear motion mechanism 3; an output shaft 31; a multi-link synchronization mechanism 4; a first link 401; a second link 402; a third link 403; a fourth link 404; a fifth link 405; a sixth link 406; a seventh link 407; an eighth link 408; a first conveying roller 5; a second delivery roller 5'; a strip-shaped material 6; a linear spring assembly 7; a first hold-down spring 71; a second hold-down spring 72; a slider 73; a support base 74; a universal coupling 8; a drive motor 9; a frame 100, a roll gap A; a first hinge point B; a second hinge point C.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides an under-actuated connecting rod type pinch mechanism, as shown in figures 1-2, comprising a first gear 1, a second gear 1 ', a third gear 2, a fourth gear 2 ', a linear motion mechanism 3, a multi-connecting rod synchronous mechanism 4, a first conveying roller 5, a second conveying roller 5 ', a long-strip-shaped material 6, a linear spring assembly 7, a universal coupling 8 and a driving motor 9, wherein the first gear 1 and the second gear 1 ' are respectively in meshing transmission with the third gear 2 and the fourth gear 2 ', the rotating shaft axes of the third gear 2 and the fourth gear 2 ' are parallel to each other, the tooth number and the modulus of the third gear 2 and the modulus of the fourth gear 2 ' are the same, the third gear 2 and the fourth gear 2 ' are respectively and fixedly connected with the first conveying roller 5 and the second conveying roller 5 ', the rotating centers of the third gear 2 and the fourth gear 2 ' are respectively coincided with the rotating centers of the first conveying roller 5 and the second conveying roller 5 ', the diameters of the first conveying roller 5 and the second conveying roller 5 'are equal, the strip-shaped material 6 is clamped between the first conveying roller 5 and the second conveying roller 5', the first gear 1 and the second gear 1 'are in meshing transmission, the axes of the rotating shafts of the first gear 1 and the second gear 1' are parallel to each other, the number of teeth and the modulus of the first gear 1 and the second gear 1 'are the same, and the driving rotating shaft of the second gear 1' is connected with the output shaft of the driving motor 9 through the universal coupling 8.
The linear motion mechanism 3 is fixedly connected with the frame 100, an output shaft of the linear motion mechanism 3 is rotatably connected with a first end of a first connecting rod 401 in the multi-connecting-rod synchronization mechanism 4, the multi-connecting-rod synchronization mechanism 4 comprises the first connecting rod 401, a second connecting rod 402, a third connecting rod 403, a fourth connecting rod 404, a fifth connecting rod 405, a sixth connecting rod 406, a seventh connecting rod 407 and an eighth connecting rod 408, a second end of the first connecting rod 401 is rotatably connected with a first end of a second connecting rod 42, a first hinge point B and a second hinge point C are uniformly distributed on the second connecting rod 402, the first hinge point B of the second connecting rod 402 is rotatably connected with a first end of the third connecting rod 403, a second end of the third connecting rod 403 is rotatably connected with a first end of the fourth connecting rod 404, a second end of the fourth connecting rod 404 and a first end of the fifth connecting rod 405 are both hinged with a rotating shaft of the third gear 2, and a second end of the fifth connecting rod 405 is hinged with a rotating shaft of the first gear, the second end of the second link 402 is rotatably connected to the first end of the sixth link 406, the second end of the sixth link 406 is rotatably connected to the first end of the seventh link 407, the second end of the seventh link 407 and the first end of the eighth link 408 are both hinged to the rotating shaft of the fourth gear 2 ', and the second end of the eighth link 408 is hinged to the rotating shaft of the second gear 1'.
Specifically, the linear spring assembly 7 includes a first hold-down spring 71, a second hold-down spring 72, a slider 73 and a support seat 74, the support seat 74 is fixedly connected to the frame 100, the first hold-down spring 71 and the second hold-down spring 72 are respectively disposed between a first end surface of the support seat 74 and the slider 73 and between a second end surface of the support seat 74 and the slider 73, and the slider 73 of the linear spring assembly 7 is hinged to the second hinge point C of the second link 42.
Furthermore, the reference circle diameter of the first gear 1 is tangent to the reference circle diameter of the third gear 2, the reference circle diameter of the second gear 1 'is tangent to the reference circle diameter of the fourth gear 2', the linear motion mechanism 3 can be driven by an air cylinder or a hydraulic cylinder or a linear motor, the opening and closing size of the roll gap A is adjusted by the multi-link synchronization mechanism 4 driven by the linear motion mechanism 3, and the opening and closing size of the roll gap A is the same as the thickness of the strip-shaped material 6.
The method comprises the following specific operation steps:
as shown in fig. 1-2, the under-actuated connecting rod type pinch mechanism of the invention comprises a first gear 1, a second gear 1 ', a third gear 2, a fourth gear 2', a linear motion mechanism 3, a multi-connecting rod synchronization mechanism 4, a first conveying roller 5, a second conveying roller 5 ', a strip-shaped material 6, a linear spring assembly 7, a universal coupling 8 and a driving motor 9, wherein firstly the linear motion mechanism 3 is driven to drive the multi-connecting rod synchronization mechanism 4 to adjust the size of a roller gap a for clamping the strip-shaped material 6, at the moment, a second hinge point C moves in the horizontal direction under the action of the internal force of a connecting rod, the clamping acting force generated instantly is relieved through a first compression spring 71 and a second compression spring 72, which is beneficial to protecting the clamped material and the clamping mechanism per se, secondly the driving motor 9 is started to drive the first gear 1 and the second gear 1' to rotate through the universal coupling 8, and the first gear 1 and the second gear 1 ' respectively drive the third gear 2 and the fourth gear 2 ' to rotate around the rotation centers O and O ', thereby completing primary speed-increasing transmission. Meanwhile, the first conveying roller 5 and the second conveying roller 5 ' are coaxially fixed with the third gear 2 and the fourth gear 2 ' respectively and synchronously rotate along with the third gear 2 and the fourth gear 2 ' so as to finish the conveying of the clamped materials.
At present, the clamping mechanism is mainly realized in three ways: the synchronous fixture of connecting rod gear formula, the synchronous fixture of many connecting rods, the synchronous fixture of symmetrical connecting rod.
As shown in FIG. 3, the invention is compared with a connecting rod gear type synchronous clamping mechanism:
in the mechanism, the speed ratio of the intermediate shaft gear 10 and the speed ratio of the intermediate shaft gear 10' are the same, and the constant speed transmission is realized. In addition, the counter shaft gear 10 is also meshed with the working shaft gear 20 simultaneously, the counter shaft gear 10 'is meshed with the working shaft gear 20', the constant-speed rotation of the working shaft gears 20 and 20 'is realized, the first conveying roller 5 and the second conveying roller 5' are driven to rotate at the same speed, the linear motion mechanism 3 drives the constant-speed ratio sector gear pairs 42 and 42 'to synchronously move through the connecting rods, the working shaft gears 20 and 20', the first conveying roller 5 and the second conveying roller 5 'are driven to swing around the rotation centers O and O' simultaneously, the opening and closing change of a roller gap A between the first conveying roller 5 and the second conveying roller 5 'is driven, and the first conveying roller 5 and the second conveying roller 5' are clamped and convey the elongated material 6.
As shown in FIG. 4, it is a comparison scheme between the present invention and the multi-link synchronous clamping mechanism:
in the mechanism, the speed ratio of the intermediate shaft gear 10 and the speed ratio of the intermediate shaft gear 10' are the same, and the constant speed transmission is realized. In addition, the intermediate shaft gear 10 is also meshed with the working shaft gear 20 at the same time, and the intermediate shaft gear 10 'is meshed with the working shaft gear 20', so that the working shaft gears 20 and 20 'rotate at the same speed, and the first conveying roller 5 and the second conveying roller 5' are driven to rotate at the same speed; in the mechanism, a hinge point C is arranged at the rolling central line and is the symmetric center of the multi-link synchronization mechanism 40, the linear motion mechanism 3 drives the working shaft gears 20 and 20 ' and the first conveying roller 5 and the second conveying roller 5 ' to swing around the rotation centers O and O ' through the multi-link synchronization mechanism 40, so that the opening and closing of the roller gap A between the first conveying roller 5 and the second conveying roller 5 ' are driven to change, and the first conveying roller 5 and the second conveying roller 5 ' clamp and convey the strip-shaped material 6.
As shown in fig. 5, it is a comparison scheme between the present invention and the symmetrical link synchronous clamping mechanism:
the clamping mechanism consists of two identical crank slide block mechanisms driven by the same driving source. In the mechanism, the speed ratio of the intermediate shaft gear 10 and the speed ratio of the intermediate shaft gear 10' are the same, and the constant speed transmission is realized. In addition, the intermediate shaft gear 10 is also meshed with the working shaft gear 20 at the same time, and the intermediate shaft gear 10 'is meshed with the working shaft gear 20', so that the working shaft gears 20 and 20 'rotate at the same speed, and the first conveying roller 5 and the second conveying roller 5' are driven to rotate at the same speed; meanwhile, the linear motion mechanism 3 is arranged at the horizontal center line, synchronous motion is realized through the symmetrical connecting rods 41 and 41 ', the working shaft gears 20 and 20' and the first conveying roller 5 and the second conveying roller 5 'are driven to swing around the rotation centers O and O', the opening and closing change of the roller gap A between the first conveying roller 5 and the second conveying roller 5 'is driven, and the first conveying roller 5 and the second conveying roller 5' are clamped to convey the strip-shaped material 6.
As shown in fig. 1 and 2, the working principle of the present invention is as follows: the under-actuated connecting rod type clamping mechanism is characterized in that on the basis of a multi-connecting rod type synchronous clamping mechanism shown in the figure 4, 1 degree of freedom of movement in the horizontal direction is added to a second hinge point C at the original rolling center line, and a first pressing spring 71 and a second pressing spring 72 are used for limiting the horizontal initial position of the second hinge point C. The opening and closing action of the roll gap A is driven by a linear motion mechanism 3, a multi-connecting-rod synchronization mechanism 4 drives a third gear 2 and a fourth gear 2 'to rotate around a rotation center O and a rotation center O' respectively, a first conveying roller 5 and a second conveying roller 5 'which are coaxial with the third gear 2 and the fourth gear 2' respectively are driven to synchronously swing, and the synchronous opening and closing action of the roll gap A is realized by the multi-connecting-rod synchronization mechanism 4. When the device works, the roll gap needs to be opened in advance, when the upstream metal detector detects that the material enters the roll gap, the output shaft 31 of the linear motion mechanism 3 rapidly moves downwards, and the first conveying roller 5 and the second conveying roller 5' clamp the strip-shaped material 6 to be conveyed to downstream equipment. At the moment when the first conveying roller 5 and the second conveying roller 5' clamp the strip-shaped material 6, the first hold-down spring 71 and the second hold-down spring 72 are deformed in the horizontal direction due to the internal force of the connecting rod, and the second hinge point C moves along with the slider 73. The deformation of the first and second compression springs 71 and 72 reduces the closing impact of the pinch roll, and when the roll gap is opened, the link action force applied to the first and second compression springs 71 and 72 disappears, and the second hinge point C returns to the original position along with the slider 73.
The device comprises a clamping mechanism, a connecting rod, a driving mechanism, a connecting rod, a driving mechanism, a connecting rod and a buffer mechanism, wherein the driving mechanism and the connecting rod are connected in a rigid mode. The under-actuated connecting rod type pinch mechanism provided by the invention improves the structural form of single degree of freedom of the existing pinch roll, the number of drivers of the mechanism is 1, and the number of system degrees of freedom is 2. The clamping and conveying mechanism can displace at the under-actuated joint when synchronous clamping action is completed, instantaneous clamping acting force is buffered through the linear spring assembly, damage to a clamping object caused by overlarge clamping impact force is avoided, certain protection effects on a clamped workpiece and parts of the clamping mechanism are achieved, and the service life of equipment is effectively prolonged.
The foregoing is a preferred embodiment of the present application and is not intended to limit the scope of the invention, it should be understood that various modifications and adaptations can be made by those skilled in the art without departing from the principles of the present application and should be considered as within the scope of the present application.
Claims (8)
1. An under-actuated connecting rod type pinch mechanism is characterized by comprising a first gear, a second gear, a third gear, a fourth gear, a linear motion mechanism, a multi-connecting-rod synchronous mechanism, a first conveying roller, a second conveying roller, a strip-shaped material, a linear spring assembly, a universal coupling and a driving motor,
the first gear and the second gear are respectively in meshing transmission with the third gear and the fourth gear, the third gear and the fourth gear are respectively and fixedly connected with the first conveying roller and the second conveying roller, the long-strip-shaped material is clamped between the first conveying roller and the second conveying roller, the first gear and the second gear are in meshing transmission, and a driving rotating shaft of the second gear is connected with an output shaft of the driving motor through the universal coupling;
the linear motion mechanism is fixedly connected with the frame, an output shaft of the linear motion mechanism is rotatably connected with a first end of a first connecting rod in the multi-connecting-rod synchronous mechanism, the multi-connecting-rod synchronous mechanism comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a fifth connecting rod, a sixth connecting rod, a seventh connecting rod and an eighth connecting rod, a second end of the first connecting rod is rotatably connected with a first end of the second connecting rod, a first hinge point and a second hinge point are uniformly distributed on the second connecting rod, the first hinge point of the second connecting rod is rotatably connected with a first end of the third connecting rod, a second end of the third connecting rod is rotatably connected with a first end of the fourth connecting rod, the second end of the fourth connecting rod and the first end of the fifth connecting rod are both hinged with a rotating shaft of the third gear, and a second end of the fifth connecting rod is hinged with a rotating shaft of the first gear, the second end of the second connecting rod is rotatably connected with the first end of the sixth connecting rod, the second end of the sixth connecting rod is rotatably connected with the first end of the seventh connecting rod, the second end of the seventh connecting rod and the first end of the eighth connecting rod are both hinged with the rotating shaft of the fourth gear, and the second end of the eighth connecting rod is hinged with the rotating shaft of the second gear; and
the linear spring assembly comprises a first compression spring, a second compression spring, a sliding block and a supporting seat, the supporting seat is fixedly connected with the rack, the first end face of the supporting seat is fixedly connected with the rack, the first compression spring and the second compression spring are arranged between the sliding blocks and between the second end face of the supporting seat and the sliding blocks respectively, and the sliding block of the linear spring assembly is hinged to a second hinge point of the second connecting rod.
2. The under-actuated link type pinch mechanism according to claim 1, wherein a rotation axis of the first gear and a rotation axis of the second gear are parallel to each other, a number of teeth and a module of the first gear and the second gear are the same, a rotation axis of the third gear and a rotation axis of the fourth gear are parallel to each other, and a number of teeth and a module of the third gear and the fourth gear are the same.
3. The under-actuated link pinch mechanism according to claim 2, wherein the third gear and the fourth gear have centers of rotation that coincide with the centers of rotation of the first conveyor roller and the second conveyor roller, respectively, and wherein the first conveyor roller and the second conveyor roller have equal diameters.
4. The under-actuated link pinch mechanism according to claim 2, wherein a reference circle of the first gear is tangent to a reference circle of the third gear, and a reference circle of the second gear is tangent to a reference circle of the fourth gear.
5. The under-actuated link type pinch mechanism according to claim 1, wherein the linear motion mechanism can be driven by an air cylinder, a hydraulic cylinder or a linear motor.
6. The under-actuated connecting rod type pinch mechanism according to claim 5, wherein the opening and closing size of the roll gap is adjusted by the multi-connecting rod synchronous mechanism driven by the linear motion mechanism, and the opening and closing size of the roll gap is the same as the thickness of the strip-shaped material.
7. The under-actuated link pinch mechanism according to claim 1, wherein a rod length of the fifth link is equal to a rod length of the eighth link.
8. The under-actuated link pinch mechanism as claimed in claim 1, wherein a line connecting the centers of rotation of the first and second gears is perpendicular to the direction of conveyance of the elongated material.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910300630.3A CN110064672B (en) | 2019-04-15 | 2019-04-15 | Under-actuated connecting rod type clamping and conveying mechanism |
| PCT/CN2020/084484 WO2020211724A1 (en) | 2019-04-15 | 2020-04-13 | Under-actuated connecting rod type pinching mechanism |
| JP2021560994A JP7051173B1 (en) | 2019-04-15 | 2020-04-13 | Under drive lever type clamp mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910300630.3A CN110064672B (en) | 2019-04-15 | 2019-04-15 | Under-actuated connecting rod type clamping and conveying mechanism |
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| CN110064672A CN110064672A (en) | 2019-07-30 |
| CN110064672B true CN110064672B (en) | 2020-05-12 |
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| CN201910300630.3A Active CN110064672B (en) | 2019-04-15 | 2019-04-15 | Under-actuated connecting rod type clamping and conveying mechanism |
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| JP (1) | JP7051173B1 (en) |
| CN (1) | CN110064672B (en) |
| WO (1) | WO2020211724A1 (en) |
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| CN110064672B (en) * | 2019-04-15 | 2020-05-12 | 燕山大学 | Under-actuated connecting rod type clamping and conveying mechanism |
| CN111872112A (en) * | 2020-07-27 | 2020-11-03 | 四川六合特种金属材料股份有限公司 | Two-stand reversible rolling device for rolling flat steel and steel rolling method thereof |
| CN112189503B (en) * | 2020-11-02 | 2023-03-17 | 江苏江山营造景观有限公司 | Afforestation trees strutting arrangement |
| CN116971088B (en) * | 2023-09-25 | 2023-12-01 | 江苏省香川绳缆科技有限公司 | Roll shaft for arranging rope braiding materials |
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| SU1315068A1 (en) * | 1986-01-02 | 1987-06-07 | Сибирский металлургический институт им.Серго Орджоникидзе | Arrangement for feeding strip to winder |
| SU1507472A1 (en) * | 1987-12-14 | 1989-09-15 | Предприятие П/Я В-2869 | Front table of screw rolling mill |
| CH679134A5 (en) | 1989-05-03 | 1991-12-31 | Bruderer Ag | |
| CN101139040B (en) * | 2007-10-12 | 2010-06-02 | 济南重工股份有限公司 | Tooth sector synchronous hydraulic pressure pinch roll device |
| CN203227678U (en) | 2013-03-29 | 2013-10-09 | 安阳市合力高速冷轧有限公司 | Cold rolling pinch roll device |
| JP6228572B2 (en) * | 2015-06-23 | 2017-11-08 | Ｊｆｅスチール株式会社 | Roller guide cushion mechanism and roller guide |
| CN205110375U (en) | 2015-11-27 | 2016-03-30 | 北京京诚瑞信长材工程技术有限公司 | Pinch roll structure assembly |
| CN106807763B (en) * | 2015-11-27 | 2018-09-11 | 北京京诚瑞信长材工程技术有限公司 | A kind of pinch roller structural assembly |
| CN205270382U (en) * | 2015-12-04 | 2016-06-01 | 北京京诚瑞信长材工程技术有限公司 | Intelligence pinch roll |
| CN106825070B (en) * | 2015-12-04 | 2018-08-10 | 北京京诚瑞信长材工程技术有限公司 | A kind of intelligence pinch roller and its control method |
| CN106269924B (en) * | 2016-10-13 | 2019-02-19 | 北京京诚瑞信长材工程技术有限公司 | Pinch roller |
| CN110064672B (en) * | 2019-04-15 | 2020-05-12 | 燕山大学 | Under-actuated connecting rod type clamping and conveying mechanism |
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2019
- 2019-04-15 CN CN201910300630.3A patent/CN110064672B/en active Active
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2020
- 2020-04-13 WO PCT/CN2020/084484 patent/WO2020211724A1/en active Application Filing
- 2020-04-13 JP JP2021560994A patent/JP7051173B1/en active Active
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| WO2020211724A1 (en) | 2020-10-22 |
| CN110064672A (en) | 2019-07-30 |
| JP2022524225A (en) | 2022-04-28 |
| JP7051173B1 (en) | 2022-04-11 |
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