WO2020211716A1

WO2020211716A1 - Under-actuated pinching mechanism and spring-swing-box-type under-actuated symmetrical pinching mechanism

Info

Publication number: WO2020211716A1
Application number: PCT/CN2020/084409
Authority: WO
Inventors: 赵丁选; 姚双吉; 张祝新
Original assignee: 燕山大学
Priority date: 2019-04-15
Filing date: 2020-04-13
Publication date: 2020-10-22
Also published as: JP7058903B1; JP2022523268A

Abstract

Disclosed is an under-actuated pinching mechanism, comprising a gear, a linear motion mechanism (3), sector gears (4, 4'), conveying rollers (5, 5'), spring devices (7, 7'), a universal coupling (8), and a driving electric motor (9). An intermediate shaft gear has increased freedom of motion in the horizontal direction and is limited by the springs. The roll gap opening and closing action is controlled by the linear motion mechanism. By means of connecting rods, the sector gears are driven to rotate around the axes thereof, and the conveying rollers are driven to swing synchronously. A spring-swing-box-type under-actuated symmetrical pinching mechanism is further disclosed, comprising a linear motion mechanism (103), a symmetrical connecting rod mechanism, a universal coupling (108), a driving mechanism (109), a spring swing box (107), intermediate shaft gears (101, 110), working shaft gears (102, 120), and pinching rollers (105, 150). The pinching mechanism buffers an instant clamping acting force by means of a spring system to prevent a clamped object from being damaged due to an excessive clamping impact force, thereby achieving a certain protective effect on the clamped workpiece and parts of the clamping mechanism itself, effectively prolonging the service life of an apparatus.

Description

Under-actuated pinching mechanism and spring swing box type under-actuated symmetrical pinching mechanism

Technical field

The invention belongs to the field of mechanical equipment, in particular to an under-driven pinching mechanism and a spring swing box type symmetrical synchronous clamping mechanism with the under-driven mechanism.

Background technique

The pinch roll is an important equipment in the bar and wire production line unit, located after the middle rolling mill or finishing mill, before the laying machine or shearing equipment, or between the water tanks of the water cooling section. The main function is to clamp the long bar and wire smoothly through the water-cooling section, and smoothly send it to the downstream equipment, such as the laying machine or shearing equipment, to prevent the bar and wire from shaking, and to ensure that the rolled material is in the rolling line. Form micro tension between them, and smoothly pass through the role of the rolling line.

Its main structure is: the motor transmits the rotation motion to the pinch roller intermediate gear through one or two gears, and then transmits the rotation motion to the pinch roller through the constant speed ratio of the gear on the intermediate shaft. On two working shafts. 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 linear velocity of the incoming material is the same. The head of the incoming material is pinched by the front hot metal detector. When rolling, the PLC system issues instructions to close the gap of the pinch roller, and the two rollers clamp the wire and transport it downstream.

The rod and wire pinching equipment is mainly divided into two main components: a transmission mechanism and a clamping mechanism: 1. The transmission mechanism mainly includes the speed-increasing transmission between various levels of gears, and transmits the rotational motion to the constant speed through a pair of intermediate gears. On a pair of working shafts; 2. The clamping mechanism is mainly used to realize the synchronous opening and closing of the pinch roller gap on the working shaft.

The current pinch roller clamping mechanism mainly has three implementation methods: linkage gear type synchronous clamping mechanism, multi-link synchronous clamping mechanism, symmetrical linkage synchronous clamping mechanism, but the current three pinch roller clamping mechanisms The number of drivers is one, the number of system degrees of freedom is one, and the joints and connecting rods are rigidly connected, which belong to a standard full-drive mechanism, and the motion of each joint and connecting rod is unique. When the clamping mechanism performs the clamping action, it produces a rigid impact on the material, and it does not have a buffer function when it contacts the material.

Summary of the invention

In view of the above situation, the present invention provides an under-actuated pinch mechanism to overcome the shortcomings of the prior art. By adding a tension and compression spring device, the mechanism can change the degree of freedom when the mechanism fails to move horizontally, thereby acting as a buffer Effectively prolong the service life of the equipment. On the other hand, the present invention also proposes a spring swing box-type symmetrical clamping mechanism with an under-actuated mechanism, which improves the existing single-degree-of-freedom structure of the pinch roller and provides a swing box with built-in bidirectional compression Spring under-drive mechanism, the number of drives of the pinch roller clamping mechanism is 1, and the number of system degrees of freedom is 3. The mechanism can be displaced at the under-actuated joint when the synchronous clamping action is completed, and the instant clamping force is buffered by the spring system to avoid excessive clamping impact force to damage the holding object, and to the clamped workpiece and the clamping mechanism Its own parts and components play a certain protective role, effectively extending the service life of the equipment.

The technical scheme adopted by the present invention is to provide an under-driven pinch mechanism, which includes a first gear, a second gear, a third gear, a fourth gear, a linear motion mechanism, a first sector gear, a second sector gear, and a first gear. A conveying roller, a second conveying roller, a first linear spring device, a second linear spring device, a universal coupling and a drive motor, the first ends of the first linear spring device and the second linear spring device are respectively The second end of the first linear spring device and the second linear spring device are respectively hinged with the rotation center of the first gear and the rotation center of the second gear through a rotating pair. The housings of the spring device and the second linear spring device are both supported on the frame and form a moving pair connection with the frame, and the moving direction of the moving pair is parallel to the feeding method of the long strip material, the first The gear and the second gear mesh with each other, and the central axis of the first gear and the second gear are parallel to each other, the number of teeth and the modulus of the first gear and the second gear are the same, and the rotation axis of the first gear is hinged with a first gear A sector gear, a second sector gear is hinged on the rotating shaft of the second gear, the first sector gear and the second sector gear are meshed with each other, and the modulus of the first sector gear and the second sector gear is sum The numbers of teeth are respectively equal, and the drive shaft of the second gear is connected to the motor output shaft of the drive motor through a universal coupling;

The center of rotation of the first sector gear is fixedly connected with the second end of the second link, the first end of the second link is hinged with the shaft of the third gear, and the third gear is connected to The first gear meshes, the rotation center of the second sector gear is fixedly connected with the second end of the first link, and the first end of the first link is hinged with the shaft of the fourth gear, And the fourth gear meshes with the second gear, the third gear is fixedly connected with the first conveying roller, the fourth gear is fixedly connected with the second conveying roller, and The diameters of the first conveying roller and the second conveying roller are equal; and the housing of the linear motion mechanism is fixedly connected to the frame, and the second end of the output shaft of the linear motion mechanism passes through the first end of the fourth link The second end of the fourth connecting rod is connected with the first end of the third connecting rod through the rotating pair, and the second end of the third connecting rod is hinged on the shaft of the third gear and is connected with The first end of the second connecting rod is fixedly connected, and the elongated material is clamped between the first conveying roller and the second conveying roller.

Preferably, the first gear rotation center is the center of rotation of the first gear and the first sector gear, the second gear rotation center is the center of rotation of the second gear and the second sector gear, the first gear and the second gear The meshing index circle diameter of the first sector gear and the second sector gear are the same;

The rotation center of the third gear coincides with the rotation center of the first conveying roller, and the rotation center of the fourth gear coincides with the rotation center of the second conveying roller;

The number of teeth and the modulus of the third gear and the fourth gear are equal.

Preferably, the universal joint has a telescopic sleeve device.

Preferably, the opening and closing size of the roll gap is adjusted by the linear motion mechanism, and the opening and closing size of the roll gap is the same as the thickness of the long strip material.

Preferably, the connecting line of the rotation centers of the first gear and the second gear is perpendicular to the conveying direction of the strip material, and the connecting line of the rotation centers of the third gear and the fourth gear is connected with the first gear and the first gear. The connecting lines of the rotation centers of the two gears are parallel.

The second aspect of the present invention provides a spring swing box-type under-actuated symmetrical pinching mechanism, which includes a linear motion mechanism, a symmetrical link mechanism, a universal coupling, a drive mechanism, a spring swing box, an intermediate shaft gear, and a working shaft Gears and pinch rollers,

There are two intermediate shaft gears and two working shaft gears respectively. The two intermediate shaft gears and the two working shaft gears are coaxially arranged. The intermediate shaft gears include a first intermediate shaft gear and a second intermediate shaft. Gear, the drive shaft of the second intermediate shaft gear is connected to the motor output shaft of the drive mechanism through a universal coupling,

The working shaft gear includes a first working shaft gear and a second working shaft gear. The first intermediate shaft gear meshes with the first working shaft gear, and the second intermediate shaft gear is meshed with the second working shaft gear. Meshing, a first pinch roller is provided outside the first working shaft gear, and a second pinch roller is provided outside the second working shaft gear. The diameter of the first pinch roller is the same as the second pinch roller. The roller diameters of the feed rollers are equal, and the gap between the first pinch roller and the second pinch roller for clamping rectangular materials can be opened and closed under the adjustment of the symmetrical linkage mechanism,

A spring swing box is arranged between the symmetrical link mechanism and the linear motion mechanism, and a first spring and a second spring are arranged in parallel inside the spring swing box. When the first pinch roller and the second When the pinch roller is closed, the first spring and the second spring can produce a horizontal displacement when the symmetrical linkage mechanism is in motion, which can buffer the clamping force, thereby reducing the first pinch roller and the first pinch roller. Second, the pressing force generated when the pinch roller is closed,

The symmetrical link mechanism includes two symmetrically arranged first link units and a second link unit, the first link unit includes a first link and a second link, and the second link unit includes a third link unit. Connecting rod and fourth connecting rod,

The first end of the first connecting rod is fixedly connected to the center of the first intermediate shaft gear, and the second end of the first connecting rod and the first end of the second connecting rod work in the first The shaft gear is hinged at the center, and the second end of the second link is fixedly connected with the first spring,

The first end of the third link is fixedly connected to the center of the second intermediate shaft gear, and the second end of the third link and the first end of the fourth link work in the second The center of the shaft gear is hinged, and the second end of the fourth link is fixedly connected to the second spring,

The buffer amount produced by the spring swing box is calculated by the following formula:

Suppose the index circle diameter of the first intermediate shaft gear is D ₁ , the index circle diameter of the first working shaft gear is D ₂ , the diameter of the first pinch roller is D, the horizontal tension output by the linear motion mechanism is T, the spring The horizontal displacement generated by the system is s, the clamping force of the first pinch roller to clamp the workpiece is N, the diameter of the long material is A, between the center of the first intermediate shaft gear and the center of the first working shaft gear The angle between the line of and the coordinate system is α, the first spring and the second spring satisfy Hooke’s law, and the elastic coefficient is k;

During the clamping action, the spring deviates from the original horizontal displacement as s, and the elastic force Fs received can be expressed as:

Fs = ks (1)

The first connecting rod and the second connecting rod take the center of the first countershaft gear as the center of rotation and satisfy the torque balance relationship, namely:

N×L _N -(T-Fs)D ₁ =0 (2)

LN is the force arm of the clamping force N, according to the geometric relationship:

LN is derived from the above trigonometric function:

L _N ＝|OO ₂ |cosα (4)

Substituting formulas (3) and (4) into formula (2), the expression of the clamping force N is:

The buffering amount of the clamping force of the spring swing box is further obtained as:

Where |OO ₂ | is the distance between the center O of the first countershaft gear and the center O _{2 of the} second countershaft gear.

Preferably, the first spring and the second spring both include a support seat and pre-compressed disc springs arranged on both sides of the support seat, and the third link and the fourth link are respectively connected to the first spring and The support seat of the second spring, the first spring and the second spring are scroll springs, tension springs or disc springs.

Preferably, the rotation center of the first working shaft gear coincides with the rotation center of the first pinch roller, and the rotation center of the second working shaft gear coincides with the rotation center of the second pinch roller;

The number of teeth and the modulus of the first intermediate gear and the second intermediate gear are equal;

The number of teeth and the modulus of the first working shaft gear and the second working shaft gear are equal.

Preferably, the linear motion mechanism is a cylinder, a hydraulic cylinder or a linear motor.

Preferably, the connecting line of the rotation centers of the first working shaft gear and the second working shaft gear is perpendicular to the conveying direction of the strip material.

Compared with the prior art, the present invention has significant advantages:

1. The present invention improves the existing single-degree-of-freedom structure of the pinch roller, and provides a new pinch roller clamping mechanism with an under-driven mechanism. The number of drives of the mechanism is 1 and the number of degrees of freedom of the system is 2. When the mechanism completes the synchronous clamping action, it can displace at the under-actuated joints, and the instant clamping force is buffered by the spring system, which can not only avoid excessive clamping impact force and damage the blessed object, but also Both the clamped workpiece and the parts of the clamping mechanism themselves play a protective role, effectively extending the service life of the equipment.

Description of the drawings

Figure 1 is a schematic diagram of the mechanism structure of the first embodiment of the present invention;

Figure 2 is a schematic structural diagram of the pinching mechanism of the first embodiment of the present invention;

Figure 3 is a schematic structural diagram of a first comparison scheme of the first embodiment of the present invention;

4 is a schematic structural diagram of the second comparison scheme of the first embodiment of the present invention;

5 is a schematic structural diagram of the third comparison scheme of the first embodiment of the present invention;

6 is a schematic diagram of the mechanism structure of the second embodiment of the present invention;

FIG. 7 is a schematic diagram of the structure of the pinching mechanism of the second embodiment of the present invention;

Figure 8 is a schematic structural diagram of a spring swing box according to a second embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a specific embodiment of the second embodiment of the present invention; and

10 is a schematic diagram of the transmission sequence of the pinch roller system of the second embodiment of the present invention.

detailed description

In order to detail the technical content, structural features, achieved objectives and effects of the present invention, a detailed description will be given below in conjunction with the accompanying drawings of the specification.

First embodiment

The first aspect of the present invention provides a link gear type under-driving pinch mechanism, as shown in Figures 1 and 2, comprising a first gear 1, a second gear 1', a third gear 2, a fourth gear 2' , Linear motion mechanism 3, first sector gear 4, second sector gear 4', first conveying roller 5, second conveying roller 5', first linear spring device 7, second linear spring device 7', universal The first ends of the coupling 8 and the driving motor 9, the first linear spring device 7 and the second linear spring device 7'are respectively fixedly connected to the frame 17, and the second ends respectively pass through the rotation center of the rotating pair and the first gear O is hinged to the rotation center O'of the second gear. The housings of the first linear spring device 7 and the second linear spring device 7'are both supported on the frame 17, and form a moving pair connection with the frame 17, and the The moving direction is parallel to the feeding method of the strip material 6, the first gear 1 and the second gear 1'are meshed with each other, and the central axes of the first gear 1 and the second gear 1'are parallel to each other, the first gear 1 and the second gear 1' The number of teeth and the modulus of the two gears 1'are the same. The rotation axis of the first gear 1 is hinged with a first sector gear 4, and the rotation axis of the second gear 1'is hinged with a second sector gear 4'and the first sector gear 4 And the second sector gear 4'mesh with each other, and the modulus and the number of teeth of the first sector gear 4 and the second sector gear 4'are respectively equal, and the drive shaft 100 of the second gear 1'is connected to the drive motor through the universal coupling 8 9 of the motor output shaft 16 is connected.

The center of the first sector gear 4 is fixedly connected to the second end of the second connecting rod 12, the first end of the second connecting rod 12 is hinged with the shaft of the third gear 2, and the third gear 2 is connected to the first gear 1 Meshing, the center of the second sector gear 4'is fixedly connected with the second end of the first link 11, the first end of the first link 11 is hinged with the shaft of the fourth gear 2', and the fourth gear 2' It meshes with the second gear 1', the third gear 2 is fixedly connected to the first conveying roller 5, the fourth gear 2'is fixedly connected to the second conveying roller 5', and the first conveying roller 5 and the second conveying roller The diameters of the rollers 5'are equal; and the housing of the linear motion mechanism 3 is fixedly connected to the frame 17, the second end of the output shaft 15 of the linear motion mechanism and the first end of the fourth link 14 are connected by a rotating pair, The second end of the four connecting rod 14 and the first end of the third connecting rod 13 are connected by a rotating pair. The second end of the third connecting rod 13 is hinged on the rotating shaft of the third gear 2 and is connected to the second connecting rod 12 The first end is fixedly connected, and the strip material 6 is clamped between the first conveying roller 5 and the second conveying roller 5'.

The rotation center O of the first gear is the rotation center of the first gear 1 and the first sector gear 4, and the rotation center O'of the second gear is the rotation center of the second gear 1'and the second sector gear 4'. The first gear 1 and the second gear 1'have the same meshing index circle diameter, the first sector gear 4 and the second sector gear 4'have the same mesh index circle diameter; the rotation center O of the third gear 2 is the same as that of the first conveying roller 5. The rotation center coincides, the rotation center O'of the fourth gear 2'coincides with the rotation center of the second conveying roller 5'; the number of teeth and the modulus of the third gear 2 and the fourth gear 2'are equal; the universal coupling 8 With a telescopic sleeve device; the opening and closing size of the roll gap A is adjusted 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 material 6; the rotation centers of the first gear 1 and the second gear 1'are connected The line is perpendicular to the conveying direction of the strip material 6, and the connecting line of the rotation centers of the third gear 2 and the fourth gear 2'is parallel to the connecting line of the rotation centers of the first gear 1 and the second gear 1'.

Compared with the existing scheme, the current pinch roller clamping mechanism mainly has three realization methods: a linkage gear type synchronous clamping mechanism, a multi-link synchronous clamping mechanism and a symmetrical linkage synchronous clamping mechanism.

As shown in Fig. 3, it is the first comparative solution of the present invention: a linkage gear type synchronous clamping mechanism.

In this mechanism, the intermediate shaft gear 10 has the same speed ratio as 10', which is a constant speed transmission. In addition, the intermediate shaft gear 10 also meshes with the working shaft gear 20 at the same time, and the intermediate shaft gear 10' meshes with the working shaft gear 20' to realize the constant speed rotation of the working shaft gears 20 and 20', and drive the first conveyor roller 5 and the second conveyor The stick 5'rotates at a constant speed; the linear motion mechanism 3 drives the pair of sector gears 42 and 42' with a constant speed ratio through the connecting rod to move synchronously, driving the working shaft gears 20 and 20', the first conveying roller 5 and the second conveying stick 5'simultaneously Swing around the center of rotation to drive the opening and closing of the gap A between the first conveying roller 5 and the second conveying stick 5', so that the first conveying roller 5 and the second conveying stick 5'can clamp and transport the long material 6 .

As shown in Figure 4, it is the second comparison scheme of the present invention: a multi-link synchronous clamping mechanism.

In this mechanism, the intermediate shaft gear 10 has the same speed ratio as 10', which is a constant speed transmission. In addition, the intermediate shaft gear 10 also meshes with the working shaft gear 20 at the same time, and the intermediate shaft gear 10' meshes with the working shaft gear 20' to realize the constant speed rotation of the working shaft gears 20 and 20', and drive the first conveyor roller 5 and the second conveyor The stick 5'rotates at a constant speed; in this mechanism, a hinge point C is set at the rolling centerline, and the linear motion mechanism 3 realizes synchronous movement through the multi-link mechanism 40 to drive the working shaft gears 20 and 20' and the first conveying roller 5 and the second conveying stick 5'simultaneously swing around the center of rotation, driving the opening and closing of the gap A between the first conveying roller 5 and the second conveying stick 5'to realize the first conveying roller 5 and the second conveying stick 5 'Clamping and transporting long strip materials 6.

As shown in Fig. 5, it is the third comparison scheme of the present invention: a symmetrical connecting rod synchronous clamping mechanism.

The clamping mechanism is composed of two identical crank slider mechanisms driven by the same driving source. In this mechanism, the intermediate shaft gear 10 has the same speed ratio as 10', which is a constant speed transmission. In addition, the intermediate shaft gear 10 also meshes with the working shaft gear 20 at the same time, and the intermediate shaft gear 10' meshes with the working shaft gear 20' to realize the constant speed rotation of the working shaft gears 20 and 20', and drive the first conveyor roller 5 and the second conveyor The roller 5'rotates at a constant speed; in this mechanism, a linear motion mechanism 3 is set at the horizontal centerline, and synchronized motion is realized through symmetrical connecting rods 41 and 41', driving the working shaft gears 20 and 20', the first conveying roller 5 and the The two conveying rollers 5'swing around the center of rotation at the same time, driving the opening and closing of the gap A between the first conveying roller 5 and the second conveying roller 5'to realize the clamping and clamping of the first conveying roller 5 and the second conveying roller 5'. Transport long strip materials 6.

As shown in Fig. 1, the working principle of the present invention is as follows. The clamping mechanism is based on the linkage gear type synchronous clamping mechanism of Fig. 3, and increases the degree of freedom of movement in the horizontal direction at the center of rotation of the intermediate shaft gear. The first linear spring device 7 and the second linear spring device 7'are used together to restrict the horizontal initial position of the center of rotation. The opening and closing action of the roll gap A is driven by the linear motion mechanism 3, and the third gear 2 and the fourth gear 2'are driven to rotate around the center of rotation respectively through the connecting rod, and are coaxial with the third gear 2 and the fourth gear 2'respectively The first conveying roller 5 and the second conveying stick 5'swing synchronously, and the synchronous opening and closing action of the roller gap A is realized by the first sector gear 4 and the second sector gear 4'. When working, the roll gap should be opened in advance. When the upstream metal detector detects that the material enters the roll gap, the piston of the linear motion mechanism 3 quickly moves downward, and the first conveying roller 5 and the second conveying stick 5'clamp the material to the downstream equipment. . When the work roll clamps the material, the first linear spring device 7 and the second linear spring device 7'are compressed in the horizontal direction due to the internal force of the connecting rod, and at the same time, the first gear 1 and the second gear 1'rotate The center moves to the left. The compression of the first linear spring device 7 and the second linear spring device 7'reduces the impact force of the pinch roller closing. When the roller gap is opened, the first linear spring device 7 and the second linear spring device 7' The connecting rod force received by the spring device 7'disappears and returns to the original length.

By comparing the proposed scheme of the present invention with three comparison schemes, it can be seen that the driving joints and connecting rods of the current three pinch roller clamping mechanisms are rigidly connected, and the movement of each joint and connecting rod is unique, and the clamping mechanism When the clamping action is executed, the material has a rigid impact and the material does not have a buffer function at the moment of contact. However, the present invention is designed with under-actuated joints, and the instant clamping force is buffered by the spring system, which avoids damage to the holding object caused by excessive clamping impact force, and affects both the clamped workpiece and the parts of the clamping mechanism itself. To a certain degree of protection, the service life of the equipment is effectively extended, and the practical value is high.

Second embodiment

As shown in Figs. 6-8, in the second aspect of the present invention, in view of the existing shortcomings of the full drive form of the symmetrical connecting rod synchronous clamping mechanism, a spring swing box type symmetrical synchronous clamping mechanism with an under-driven mechanism is proposed. The mechanism improves the existing single-degree-of-freedom structure of the pinch roller, and provides an under-drive mechanism with a built-in two-way compression spring in a swing box. The number of drives of the pinch roller clamping mechanism is one and the number of system degrees of freedom is three. The mechanism can be displaced at the under-actuated joint when the synchronous clamping action is completed, and the instant clamping force is buffered by the spring system to avoid excessive clamping impact force to damage the holding object, and to the clamped workpiece and the clamping mechanism Its own parts and components play a certain protective role, effectively extending the service life of the equipment.

Specifically, the present invention also provides a spring swing box-type under-actuated symmetrical clamping mechanism, which includes a linear motion mechanism 103, a symmetrical link mechanism, a universal coupling 108, a driving mechanism 109, a spring swing box 107, and an intermediate shaft Gears, work shaft gears and pinch rollers.

There are two intermediate shaft gears and two working shaft gears respectively. The two intermediate shaft gears and the two working shaft gears are coaxially arranged. The intermediate shaft gears include a first intermediate shaft gear 101 and a second intermediate shaft gear 110. The driving shaft of the intermediate gear 110 is connected to the motor output shaft of the driving mechanism 109 through a universal joint 108.

The working shaft gear includes a first working shaft gear 102 and a second working shaft gear 120. The first intermediate shaft gear 101 meshes with the first working shaft gear 102, the second intermediate shaft gear 110 meshes with the second working shaft gear 120, and the first A first pinch roller 105 is provided outside the work shaft gear 102, and a second pinch roller 150 is provided outside the second work shaft gear 120. The roller diameter of the first pinch roller 105 is equal to that of the second pinch roller 150 The gap between the first pinch roller 105 and the second pinch roller 150 for clamping the rectangular material 106 can be opened and closed under the adjustment of the symmetrical linkage mechanism.

A spring swing box 107 is provided between the symmetrical link mechanism and the linear motion mechanism 103. The spring swing box 107 is provided with a first spring 171 and a second spring 172 in parallel. When the first pinch roller 105 and the second pinch roller 150 When closed, the first spring 171 and the second spring 172 can produce a horizontal displacement when the symmetrical linkage mechanism operates, thereby reducing the pressing force generated when the first pinch roller 105 and the second pinch roller 150 are closed.

The symmetric link mechanism includes two symmetrically arranged first link unit 104 and second link unit 140. The first link unit 104 includes a first link 141 and a second link 142, and the second link unit 140 includes The third link 143 and the fourth link 144.

The first end of the first link 141 is fixedly connected to the center of the first intermediate shaft gear 101, and the second end of the first link 141 and the first end of the second link 142 are at the center of the first working shaft gear 102 Hinged, the second end of the second connecting rod 142 is fixedly connected to the first spring 171.

The first end of the third link 143 is fixedly connected to the center of the second intermediate shaft gear 110, and the second end of the third link 143 and the first end of the fourth link 144 are at the center of the second working shaft gear 120 Hingedly, the second end of the fourth link 144 is fixedly connected to the second spring 172.

Preferably, both the first spring 171 and the second spring 172 include a supporting seat 173 and a pre-compressed disc spring 174 arranged on both sides of the supporting seat 173.

Preferably, the rotation center of the first working shaft gear 102 coincides with the rotation center of the first pinch roller 105, and the rotation center of the second working shaft gear 120 coincides with the rotation center of the second pinch roller 150.

Preferably, the number of teeth and the modulus of the first countershaft gear 101 and the second countershaft gear 110 are equal, and the number of teeth and the modulus of the first working shaft gear 102 and the second working shaft gear 120 are the same.

Preferably, the linear motion mechanism 103 is an air cylinder, a hydraulic cylinder or a linear motor.

Preferably, the connecting line of the rotation centers of the first working shaft gear 102 and the second working shaft gear 120 is perpendicular to the conveying direction of the strip material 6.

The present invention adds a spring swing box 107 to the linear motion mechanism 103 at the original horizontal centerline, increasing two degrees of freedom of movement in the horizontal direction, and uses the linear spring in the spring swing box 107 to pair the first link unit 104 and the second The horizontal initial position of the two link unit 140 is restricted. The overall mechanism adds 2 degrees of freedom of horizontal motion, connects the output end of the linear drive mechanism with the connecting rod with a linear spring, and restricts the initial position of the hinge point through the spring. The horizontal deformation of the spring at the moment of clamping can buffer the clamping impact.

The first spring 171 and the second spring 172 can produce a horizontal displacement when the symmetrical link mechanism operates, thereby reducing the pressing force generated when the first pinch roller 105 and the second pinch roller 150 are closed.

Specific embodiment

Taking the upper link in Figure 9 as an example, the index circle diameter of the first intermediate shaft gear 101 in the figure is D1, the index circle diameter of the first working shaft gear 102 is D2, and the first pinch roller 105 diameter is D; The horizontal pulling force output by the motion mechanism 103 is T, the horizontal displacement produced by the spring system is s, the clamping force of the first pinch roller 105 to the clamped workpiece is N, the diameter of the workpiece is A, the angle between the rod O2 and the coordinate system Is α. The linear spring system in the selected spring swing box 107 satisfies Hooke's law, and the elastic coefficient is k.

Fs = ks (1)

The upper part of the connecting rod takes O as the center of rotation to satisfy the torque balance relationship, namely:

N×LN-(T-Fs)D1 = 0 (2)

LN is the arm of clamping force N. According to the geometric relationship in the figure:

LN can be derived from the trigonometric function in the figure:

L _N ＝|OO ₂ |cosα (4)

The working principle of the present invention is further described below:

The driving motor 109 drives the first intermediate shaft gear 101 and the second intermediate shaft gear 110 to rotate through the universal coupling 108. The first intermediate shaft gear 101 and the second intermediate shaft gear 110 respectively work the first working shaft gear 102 and the second working shaft gear. The shaft gear 120 rotates and at the same time completes the first-stage speed increasing transmission. The shafts O and O'are the rotation centers of the sector gear to the first intermediate gear 101 and the second intermediate gear 110, respectively. The meshing index circle diameters of the first intermediate gear 101 and the second intermediate gear 110 are the same. The slider in the spring swing box 107 can move freely in the horizontal direction, and the initial position of the slider in the spring swing box 107 is restricted by a linear spring during operation. During operation, the driving motor 109 drives the second intermediate shaft gear 110 to rotate through the universal joint 108, and the second intermediate shaft 10 drives the first intermediate shaft gear 101 and the second working shaft gear 120 to rotate at the same time. The first intermediate shaft gear 101 drives the first working shaft gear 102 to rotate, and the first working shaft gear 102 and the second working shaft gear 120 respectively drive the first pinch roller 105 and the second pinch roller 150 to rotate.

The opening and closing action of the roll gap A is driven by the linear motion mechanism 103, and the first working shaft gear 102 and the second working shaft gear 120 are driven around O and O'as the axis respectively through the first link unit 104 and the second link unit 140 Rotate to make the first pinch roller 105 and the second pinch roller 150, which are coaxial with the first work shaft gear 102 and the second work shaft gear 120, swing synchronously, and the synchronous opening and closing action of the roller gap A passes through the first link unit 104 and the second link unit 140 are realized with the spring swing box 107. When working, the roll gap needs to be opened in advance. When the upstream metal detector detects that the material enters the roll gap along the arrow direction B, the piston of the linear motion mechanism 103 quickly moves to the right, and the first pinch roller 105 and the second pinch roller 150 are clamped The material is transported to downstream equipment. At the moment when the work roll clamps the material, the spring in the spring swing box 107 is deformed in the horizontal direction due to the internal force of the connecting rod, and the symmetrical first link unit 104 and the second link unit 140 move at the same time. The spring deformation in the spring swing box 107 reduces the impact force of the pinch roller closing. When the roll gap is opened, the link force received by the spring in the spring swing box 107 disappears and returns to the original length, and the symmetrical first link unit 104 and the second link unit 140 return to the original position. The transmission sequence of the pinch roller system is shown in Figure 10.

The above are the preferred embodiments of the present application and do not limit the scope of protection of the present invention. It should be pointed out that for those of ordinary skill in this technical field, several improvements can be made without departing from the technical principles. And retouching, these improvements and retouching should also be regarded as the scope of protection of this application.

Claims

An under-driven pinch mechanism, characterized in that it includes a first gear, a second gear, a third gear, a fourth gear, a linear motion mechanism, a first sector gear, a second sector gear, a first conveying roller, and a Two conveying rollers, first linear spring device, second linear spring device, universal coupling and drive motor,

The first ends of the first linear spring device and the second linear spring device are respectively fixedly connected to the frame, and the second ends of the first linear spring device and the second linear spring device are respectively connected to the The first gear rotation center and the second gear rotation center are hinged. The housings of the first linear spring device and the second linear spring device are both supported on the frame and form a moving pair connection with the frame, and the moving The moving direction of the pair is parallel to the feeding direction of the strip material, the first gear and the second gear mesh with each other, and the central axis of the first gear and the second gear are parallel to each other, the first gear and the second gear The number of teeth and the modulus of the first gear are the same, a first sector gear is hinged on the rotation axis of the first gear, a second sector gear is hinged on the rotation axis of the second gear, the first sector gear and the second sector gear Are meshed with each other, and the modulus and the number of teeth of the first sector gear and the second sector gear are respectively equal, and the drive shaft of the second gear is connected to the motor output shaft of the drive motor through a universal joint;

The center of rotation of the first sector gear is fixedly connected with the second end of the second link, the first end of the second link is hinged with the shaft of the third gear, and the third gear is connected to The first gear meshes, the rotation center of the second sector gear is fixedly connected with the second end of the first link, and the first end of the first link is hinged with the shaft of the fourth gear, And the fourth gear meshes with the second gear, the third gear is fixedly connected with the first conveying roller, the fourth gear is fixedly connected with the second conveying roller, and The diameters of the first conveying roller and the second conveying roller are equal; and

The housing of the linear motion mechanism is fixedly connected to the frame, the second end of the output shaft of the linear motion mechanism and the first end of the fourth link are connected by a rotating pair, and the second end of the fourth link is connected to the The first end of the third link is connected by a rotating pair, and the second end of the third link is hinged on the shaft of the third gear and is fixedly connected to the first end of the second link. The long material is clamped between the first conveying roller and the second conveying roller.
The under-driven pinch mechanism according to claim 1, wherein the first gear rotation center is the rotation center of the first gear and the first sector gear, and the second gear rotation center is the second gear and the first gear rotation center. Rotation centers of the two sector gears, the first gear and the second gear have the same meshing index circle diameter, and the first and second sector gears have the same mesh index circle diameter;

The rotation center of the third gear coincides with the rotation center of the first conveying roller, and the rotation center of the fourth gear coincides with the rotation center of the second conveying roller;

The number of teeth and the modulus of the third gear and the fourth gear are equal.
The under-actuated pinching mechanism according to claim 1, wherein the universal coupling is provided with a telescopic sleeve device.
The under-actuated pinching mechanism according to claim 1, wherein the opening and closing size of the roll gap is adjusted by the linear motion mechanism, and the opening and closing size of the roll gap is the same as the thickness of the long strip material.
The under-actuated pinch mechanism according to claim 2, wherein the connecting line of the rotation center of the first gear and the second gear is perpendicular to the conveying direction of the strip material, and the third gear and the fourth gear The connecting line of the rotation center of the gear is parallel to the connecting line of the rotation center of the first gear and the second gear.
A spring swing box type under-driven symmetrical pinching mechanism, characterized in that it includes a linear motion mechanism, a symmetrical linkage mechanism, a universal coupling, a drive mechanism, a spring swing box, an intermediate shaft gear, a working shaft gear, and a clamp Feed roller,

There are two intermediate shaft gears and two working shaft gears respectively. The two intermediate shaft gears and the two working shaft gears are coaxially arranged. The intermediate shaft gears include a first intermediate shaft gear and a second intermediate shaft. Gear, the drive shaft of the second intermediate shaft gear is connected to the motor output shaft of the drive mechanism through a universal coupling,

The working shaft gear includes a first working shaft gear and a second working shaft gear. The first intermediate shaft gear meshes with the first working shaft gear, and the second intermediate shaft gear is meshed with the second working shaft gear. Meshing, a first pinch roller is provided outside the first working shaft gear, and a second pinch roller is provided outside the second working shaft gear. The diameter of the first pinch roller is the same as the second pinch roller. The roller diameters of the feed rollers are equal, and the gap between the first pinch roller and the second pinch roller for clamping rectangular materials can be opened and closed under the adjustment of the symmetrical linkage mechanism,

A spring swing box is arranged between the symmetrical link mechanism and the linear motion mechanism, and a first spring and a second spring are arranged in parallel inside the spring swing box,

The symmetrical link mechanism includes two symmetrically arranged first link units and a second link unit, the first link unit includes a first link and a second link, and the second link unit includes a third link unit. Connecting rod and fourth connecting rod,

The first end of the first connecting rod is fixedly connected to the center of the first intermediate shaft gear, and the second end of the first connecting rod and the first end of the second connecting rod work in the first The shaft gear is hinged at the center, and the second end of the second link is fixedly connected with the first spring,

The first end of the third link is fixedly connected to the center of the second intermediate shaft gear, and the second end of the third link and the first end of the fourth link work in the second The center of the shaft gear is hinged, and the second end of the fourth link is fixedly connected to the second spring,

When the first pinch roller and the second pinch roller are closed, the first spring and the second spring can produce a horizontal displacement when the symmetrical link mechanism is in motion, which can buffer the clamping force, Thereby reducing the punching force generated when the first pinch roller and the second pinch roller are closed,

The buffer amount produced by the spring swing box is calculated by the following formula:

Suppose the index circle diameter of the first intermediate shaft gear is D 1 , the index circle diameter of the first working shaft gear is D 2 , the diameter of the first pinch roller is D, the horizontal tension output by the linear motion mechanism is T, the spring The horizontal displacement generated by the system is s, the clamping force of the first pinch roller to clamp the workpiece is N, the diameter of the long material is A, between the center of the first intermediate shaft gear and the center of the first working shaft gear The angle between the line of and the coordinate system is α, the first spring and the second spring satisfy Hooke’s law, and the elastic coefficient is k;

During the clamping action, the spring deviates from the original horizontal displacement as s, and the elastic force Fs received can be expressed as:

Fs=ks (1)

The first connecting rod and the second connecting rod take the center of the first countershaft gear as the center of rotation and satisfy the torque balance relationship, namely:

N×L N -(T-Fs)D 1 =0 (2)

L N is the force arm of the clamping force N, according to the geometric relationship:

L N is derived from the above trigonometric function:

L N ＝|OO 2 |cosα (4)

Substituting formulas (3) and (4) into formula (2), the expression of the clamping force N is:

The buffering amount of the clamping force of the spring swing box is further obtained as:

Where |OO 2 | is the distance between the center O of the first countershaft gear and the center O 2 of the second countershaft gear.
The spring swing box-type under-actuated symmetrical clamping mechanism according to claim 6, wherein the first spring and the second spring each include a support seat and a pre-compression spring arranged on both sides of the support seat, so The third connecting rod and the fourth connecting rod are respectively connected to the supporting seats of the first spring and the second spring, and the first spring and the second spring are scroll springs, tension springs or disc springs.
The spring swing box type under-actuated symmetrical pinch mechanism according to claim 6, wherein the rotation center of the first working shaft gear coincides with the rotation center of the first pinch roller, and the second working shaft The rotation center of the shaft gear coincides with the rotation center of the second pinch roller;

The number of teeth and the modulus of the first intermediate gear and the second intermediate gear are equal;

The number of teeth and the modulus of the first working shaft gear and the second working shaft gear are equal.
The spring swing box type under-actuated symmetrical pinching mechanism according to claim 6, wherein the linear motion mechanism is an air cylinder, a hydraulic cylinder or a linear motor.
The spring swing box-type under-actuated symmetrical pinching mechanism according to claim 6, wherein the connecting line of the rotation center of the first working shaft gear and the second working shaft gear is perpendicular to the conveying direction of the strip material .