WO2020211724A1 - 欠驱动连杆式夹送机构 - Google Patents
欠驱动连杆式夹送机构 Download PDFInfo
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- WO2020211724A1 WO2020211724A1 PCT/CN2020/084484 CN2020084484W WO2020211724A1 WO 2020211724 A1 WO2020211724 A1 WO 2020211724A1 CN 2020084484 W CN2020084484 W CN 2020084484W WO 2020211724 A1 WO2020211724 A1 WO 2020211724A1
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- gear
- link
- connecting rod
- conveying roller
- under
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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
Definitions
- the invention belongs to the technical field of rod and wire production line equipment, and particularly relates to an under-driven connecting rod type pinching mechanism.
- 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 area, and smoothly send it to the downstream equipment, to prevent the bar and wire from shaking, to ensure that the rolled material forms a micro tension between the stands on the rolling line and passes smoothly.
- the role of the line is to clamp the long bar and wire smoothly through the water-cooling section area, and smoothly send it to the downstream equipment, to prevent the bar and wire from shaking, to ensure that the rolled material forms a micro tension between the stands on the rolling line and passes smoothly.
- 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.
- 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.
- 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.
- Transmission mechanism It mainly includes the speed-increasing transmission between various levels of gears, and transmits the rotational motion to the same speed through a pair of intermediate gears.
- a pair of working shafts 2.
- Clamping mechanism mainly used to realize the synchronous opening and closing of the pinch roller gap on the working shaft.
- the clamping mechanism there are three main ways to realize the clamping mechanism: linkage gear synchronous clamping mechanism, multi-link synchronous clamping mechanism, symmetrical linkage synchronous clamping mechanism, but the number of drives and systems of the three clamping mechanisms The number of degrees of freedom is 1, and the joints and connecting rods are rigidly connected, which is a standard full-drive mechanism, and the motion of each joint and connecting rod is unique.
- the clamping mechanism has a rigid impact on the material when it performs the clamping action, and at the same time, it does not have a buffer function at the moment of contact with the material.
- the present invention provides an under-actuated link type clamping mechanism, which overcomes the shortcomings of the prior art.
- the clamping mechanism can be horizontally displaced when the synchronized clamping action is completed.
- the instant clamping force is buffered, which effectively protects the clamping mechanism and the clamped workpiece, and at the same time extends the service life of the equipment.
- the technical solution adopted by the present invention is an under-actuated linkage pinch mechanism, which includes a first gear, a second gear, a third gear, a fourth gear, a linear motion mechanism, a multi-link synchronization mechanism, and a first conveying mechanism.
- the rollers, the second conveying roller, the strip material, the linear spring assembly, the universal coupling and the drive motor, the first gear and the second gear are meshed with the third gear and the fourth gear for transmission, and
- the third gear and the fourth gear are respectively fixedly connected to the first conveying roller and the second conveying roller, and the long material is clamped between the first conveying roller and the second conveying roller.
- the first gear and the second gear mesh for transmission, and the drive shaft of the second gear is connected with the output shaft of the drive motor through the universal joint;
- the linear motion mechanism is fixedly connected with the frame, and
- the output shaft of the linear motion mechanism is rotationally connected with the first end of the first link in the multi-link synchronization mechanism, and the multi-link synchronization mechanism includes a first link, a second link, a third link, A fourth link, a fifth link, a sixth link, a seventh link and an eighth link, the second end of the first link is rotatably connected with the first end of the second link, and A first hinge point and a second hinge point are evenly distributed on the second link, the first hinge point of the second link is rotatably connected with the first end of the third link, and the third The second end of the connecting rod is rotatably connected with the first end of the fourth connecting rod, and the second end of the fourth connecting rod and the first end of the fifth connecting rod are both hinged with the shaft of the third gear, And the second end of
- the axis of the rotation shaft of the first gear and the axis of the rotation shaft of the second gear are parallel to each other, and the number of teeth and the modulus of the first gear and the second gear are the same, and the rotation axis of the third gear and the fourth gear The axes of the rotating shafts are parallel to each other, and the number of teeth and the modulus of the third gear and the fourth gear are the same.
- 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.
- the index circle diameter of the first gear is tangent to the index circle diameter of the third gear
- the index circle diameter of the second gear is tangent to the index circle diameter of the fourth gear
- the linear motion mechanism can be driven by a cylinder, or can be driven by a hydraulic cylinder or a linear motor.
- the opening and closing size of the roll gap is adjusted by the linear motion mechanism driving the multi-link synchronization mechanism, and the opening and closing size of the roll gap is the same as the thickness of the strip material.
- the rod length of the fifth link is equal to the rod length of the eighth link.
- 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.
- the present invention has significant advantages:
- the under-actuated link type pinching mechanism provided by the present invention improves the existing single-degree-of-freedom structure of the pinch roller.
- the number of drives of the mechanism is one, and the number of degrees of freedom of the system is two.
- the clamping 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 linear spring assembly, which not only avoids damage to the holding object due to excessive clamping impact force, but also Both the clamping workpiece and the clamping mechanism's own parts play a certain protective role, effectively extending the service life of the equipment.
- Figure 1 is a schematic diagram of the overall structure of an under-actuated linkage pinch mechanism of the present invention
- Figure 2 is a structural diagram of an under-actuated connecting rod pinch mechanism of the present invention
- Figure 3 is a schematic structural diagram of a comparison scheme between the present invention and the connecting rod gear type synchronous clamping mechanism
- Figure 4 is a structural diagram of the comparison scheme of the invention and the multi-link synchronous clamping mechanism
- Fig. 5 is a structural diagram of the comparison scheme of the synchronous clamping mechanism of the present invention and the symmetrical connecting rod.
- the present invention provides an under-driving link type pinching 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', and a linear motion mechanism 3.
- Multi-link synchronization mechanism 4 first conveying roller 5, second conveying roller 5', strip material 6, linear spring assembly 7, universal coupling 8 and drive motor 9, first gear 1 and
- the second gear 1' meshes with the third gear 2 and the fourth gear 2'respectively, and the axes of the rotation shafts of the third gear 2 and the fourth gear 2'are parallel to each other, and the number of teeth of the third gear 2 and the fourth gear 2'
- the modulus is the same, and the third gear 2 and the fourth gear 2'are respectively fixedly connected with the first conveying roller 5 and the second conveying roller 5'.
- the rotation centers of the third gear 2 and the fourth gear 2'are respectively connected with the first conveying roller The rotation centers of the roller 5 and the second conveying roller 5'are coincident, and the diameters of the first conveying roller 5 and the second conveying roller 5'are equal, and the long strip material 6 is clamped between the first conveying roller 5 and the second conveying roller 5.
- the driving shaft of the second gear 1' is connected to the output shaft of the driving motor 9 through the universal joint 8.
- the linear motion mechanism 3 is fixedly connected to the frame 100, and the output shaft of the linear motion mechanism 3 is rotatably connected to the first end of the first link 401 in the multi-link synchronization mechanism 4, and the multi-link synchronization mechanism 4 includes a first link 401, the second link 402, the third link 403, the fourth link 404, the fifth link 405, the sixth link 406, the seventh link 407 and the eighth link 408, the first link 401
- the second end is rotatably connected with the first end of the second connecting rod 402, and the second connecting rod 402 is evenly provided with a first hinge point B and a second hinge point C, and the first hinge point B of the second connecting rod 402 and
- the first end of the third link 403 is rotatably connected, and the second end of the third link 403 is rotatably connected with the first end of the fourth link 404, and the second end of the fourth link 404 is connected to the fifth link 405.
- the first end of the second link 405 is hinged with the shaft of the third gear 2, and the second end of the fifth link 405 is hinged with the shaft of the first gear 1, and the second end of the second link 402 is hinged with the second end of the sixth link 406.
- One end is rotatably connected, and the second end of the sixth link 406 is rotatably connected with 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 connected to the The rotating shaft of the four gears 2'is hinged, and the second end of the eighth connecting rod 408 is hinged with the rotating shaft of the second gear 1'.
- the linear spring assembly 7 includes a first compression spring 71, a second compression spring 72, a slider 73, and a support base 74.
- the support base 74 is fixedly connected to the frame 100, and the first end surface of the support base 74 is connected to the sliding
- a first compression spring 71 and a second compression spring 72 are respectively provided between the blocks 73 and between the second end surface of the support base 74 and the slider 73.
- the slider 73 and the second connecting rod 402 of the linear spring assembly 7 The second hinge point C is hinged.
- the index circle diameter of the first gear 1 is tangent to the index circle diameter of the third gear 2, and the index circle diameter of the second gear 1'is tangent to the index circle diameter of the fourth gear 2'.
- the linear motion mechanism 3 can be driven by a cylinder, hydraulic cylinder or linear motor, and the opening and closing size of the roller gap A is adjusted by the linear motion mechanism 3 driven by the multi-link synchronization mechanism 4, and the opening and closing size and length of the roller gap A
- the thickness of the strip material 6 is the same.
- an under-actuated link type pinching mechanism of the present invention includes a first gear 1, a second gear 1', a third gear 2, a fourth gear 2', and a linear motion mechanism 3.
- Multi-link synchronization mechanism 4 first conveying roller 5, second conveying roller 5', strip material 6, linear spring assembly 7, universal coupling 8 and drive motor 9, firstly drive linear motion mechanism 3 to drive
- the multi-link synchronization mechanism 4 adjusts the size of the roll gap A, which is used to clamp the long material 6.
- the second hinge point C moves in the horizontal direction under the action of the internal force of the connecting rod, and passes through the first compression spring 71 and The second compression spring 72 relieves the clamping force generated instantaneously, which is beneficial to protect the clamped material and the clamping mechanism itself.
- the drive motor 9 is started to drive the first gear 1 and the second gear through the universal coupling 8. 1'rotates, 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 the first-stage speed-increasing transmission.
- the first conveying roller 5 and the second conveying roller 5' are coaxially fixed with the third gear 2 and the fourth gear 2', and rotate synchronously with the third gear 2 and the fourth gear 2'to complete the clamping Support the transportation of materials.
- connecting rod gear type synchronous clamping mechanism connecting rod gear type synchronous clamping mechanism, multi-link synchronous clamping mechanism, and symmetrical connecting rod synchronous clamping mechanism.
- the intermediate shaft gear 10 has the same speed ratio as 10', which is a constant speed transmission.
- the intermediate shaft gear 10 also meshes with the working shaft gear 20 at the same time.
- 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 conveying roller 5 and the second
- the conveying roller 5' rotates at a constant speed
- the linear motion mechanism 3 drives the constant velocity ratio sector gear pair 42 and 42' to move synchronously through the connecting rod, driving the working shaft gears 20 and 20', the first conveying roller 5 and the second conveying roller 5' At the same time, it swings around the center of rotation O and O'to drive 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 conveying of the first conveying roller 5 and the second conveying roller 5' Long strip material 6.
- the intermediate shaft gear 10 has the same speed ratio as 10', which is a constant speed transmission.
- the intermediate shaft gear 10 also meshes with the working shaft gear 20 at the same time.
- 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 conveying roller 5 and the second
- the conveying roller 5' rotates at a constant speed; in this mechanism, a hinge point C is set at the rolling centerline, which is the symmetric center of the multi-link synchronization mechanism 40, and the linear motion mechanism 3 is driven by the multi-link synchronization mechanism 40
- the opening and closing changes realize that the first conveying roller 5 and the second conveying roller 5'clamp and convey the long material 6.
- the clamping mechanism is composed of two identical crank slider mechanisms driven by the same driving source.
- the intermediate shaft gear 10 has the same speed ratio as 10', which is a constant speed transmission.
- 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; at the same time, a linear motion mechanism 3 is set at the horizontal centerline, and synchronous movement is realized through symmetrical connecting rods 41 and 41', driving the working shaft gears 20 and 20', the first conveying roller 5 and the second conveying roller 5'simultaneously swings around the center of rotation O and O', thereby driving the opening and closing changes of the gap A between the first conveying roller 5 and the second conveying roller 5', realizing the clamping between the first conveying roller 5 and the second conveying roller 5' Hold
- the under-actuated link type clamping mechanism of the present invention is based on the multi-link type synchronous clamping mechanism of Fig.
- the second hinge point C is increased by one degree of freedom of movement in the horizontal direction, and the first compression spring 71 and the second compression spring 72 are used to restrict the horizontal initial position of the second hinge point C.
- the opening and closing action of the roll gap A is driven by the linear motion mechanism 3.
- the coaxial first conveying roller 5 and the second conveying roller 5'of the four gears 2'swing synchronously, and the synchronous opening and closing action of the roller gap A is realized by the multi-link synchronization mechanism 4.
- the roll gap needs to be opened in advance.
- the upstream metal detector detects that the material enters the roll gap
- the output shaft 31 of the linear motion mechanism 3 quickly moves down, and the first conveying roller 5 and the second conveying roller 5'clamp the strip Shaped material 6 is transported to downstream equipment.
- the first compression spring 71 and the second compression spring 72 are deformed in the horizontal direction due to the internal force of the connecting rod.
- the second hinge point C moves with the slider 73.
- the deformation of the first compression spring 71 and the second compression spring 72 reduces the impact force of the closing of the pinch roller.
- the first compression spring 71 and the second compression spring 72 receive the connecting rod force Disappears, and the second hinge point C returns to the initial position along with the slider 73.
- the number of drives and the number of system degrees of freedom of the current three clamping mechanisms are all 1, and the joints and links are rigidly connected, which belong to the standard full drive mechanism, and the motion of each joint and link is unique.
- the clamping mechanism produces a rigid impact on the material when it performs the clamping action, and at the same time it does not have a buffer function at the moment of contact with the material.
- the under-actuated link type pinching mechanism provided by the present invention improves the existing single-degree-of-freedom structure of the pinch roller.
- the number of drives of the mechanism is one, and the number of degrees of freedom of the system is two.
- the clamping 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 linear spring assembly, which not only avoids damage to the holding object due to excessive clamping impact force, but also Both the clamping workpiece and the clamping mechanism's own parts play a certain protective role, effectively extending the service life of the equipment.
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Abstract
一种欠驱动连杆式夹送机构，其包括第一齿轮（1）、第二齿轮（1'）、第三齿轮（2）、第四齿轮（2'）、直线运动机构（3）、多连杆同步机构（4）、第一输送辊子（5）、第二输送辊子（5'）、长条形物料（6）、直线弹簧组件（7）、万向联轴器（8）和驱动电机（9），多连杆同步机构（4）包括第一连杆（401）、第二连杆（402）、第三连杆（403）、第四连杆（404）、第五连杆（405）、第六连杆（406）、第七连杆（407）和第八连杆（408），直线弹簧组件（7）包括第一压紧弹簧（71）、第二压紧弹簧（72）、滑块（73）和支撑座（74）。该欠驱动连杆式夹送机构改进了现有夹送辊单自由度的结构形式，使得夹送机构在完成同步夹持动作时可以在欠驱动关节处发生位移，并通过直线弹簧组件对瞬间夹持作用力进行缓冲，有效地保护了夹持机构和所夹持工件，同时延长了设备的使用寿命。
Description
本发明属于棒、线材生产线设备技术领域，特别涉及一种欠驱动连杆式夹送机构。
夹送辊是棒、线材生产线机组中的重要设备，位于中轧机或精轧机之后、吐丝机或者剪切设备之前，或者水冷段的各段水箱之间。主要功能是夹持长条棒线材顺利通过水冷段区域，并平稳送入下游设备中，起到防止棒线材抖动，保证轧材在轧线上各机架之间形成微张力，并顺利通过轧线的作用。
其主要结构为：电机通过一级或两级齿轮增速传动，将旋转运动传递到夹送辊中间齿轮上，再经过中间轴上齿轮的等速比传递，将旋转运动传递到夹送辊的两根工作轴上。夹送辊的上、下两根工作轴分别带动上、下夹送辊等速转动，并与来料轧材运动线速度相同，待前方热金属检测器检测到来料轧材头部经过夹送辊时，PLC系统发出指令，使夹送辊的辊缝闭合，两辊子夹持住线材，并向下游输送。
棒线材夹送设备主要分为传动机构和夹持机构两个主要组成部分：1、传动机构：主要包括各级齿轮之间的增速传动，并经一对中间齿轮将旋转运动等速传递至一对工作轴上；2、夹持机构：主要用于实现工作轴上夹送辊辊缝同步开闭动作。
目前，夹持机构的实现方式主要有三种分别是：连杆齿轮式同步夹持机构、多连杆同步夹持机构、对称连杆同步夹持机构，但是三种夹持机构的驱动器数量和系统自由度数量均为1，且关节、连杆都是刚性连接，属于标准的全驱动机构，其各关节和连杆的运动具有唯一性。夹持机构执行夹持动作时对物料产生刚性冲击，同时和物料接触的瞬间不具有缓冲功能。
发明内容
针对以上情况，本发明提供一种欠驱动连杆式夹送机构，克服了现有技术的不足，通过直线弹簧装置的设计，使得夹送机构在完成同步夹持动作时可以发生水平位移，对瞬间夹持作用力进行缓冲，有效的保护了夹持机构和所夹持工件，同时延长了设备的使用寿命。
本发明采用的技术方案是，一种欠驱动连杆式夹送机构，其包括第一齿轮、第二齿轮、第三齿轮、第四齿轮、直线运动机构、多连杆同步机构、第一输送辊子、第二输送辊子、长条形物料、直线弹簧组件、万向联轴器和驱动电机，所述第一齿轮和和第二齿轮分别与所述第三齿轮和第四 齿轮啮合传动，且所述第三齿轮和第四齿轮分别与所述第一输送辊子和第二输送辊子固定连接，所述长条形物料夹持于所述第一输送辊子和第二输送辊子之间，所述第一齿轮和第二齿轮啮合传动，且所述第二齿轮的驱动转轴通过所述万向联轴器与所述驱动电机的输出轴连接；所述直线运动机构与机架固定连接，且所述直线运动机构的输出轴与所述多连杆同步机构中第一连杆的第一端转动连接，所述多连杆同步机构包括第一连杆、第二连杆、第三连杆、第四连杆、第五连杆、第六连杆、第七连杆和第八连杆，所述第一连杆的第二端与所述第二连杆的第一端转动连接，且所述第二连杆上均布设有第一铰接点和第二铰接点，所述第二连杆的第一铰接点与所述第三连杆的第一端转动连接，且所述第三连杆的第二端与所述第四连杆的第一端转动连接，所述第四连杆的第二端和第五连杆的第一端均与所述第三齿轮的转轴铰接，且所述第五连杆的第二端与所述第一齿轮的转轴铰接，所述第二连杆的第二端与所述第六连杆的第一端转动连接，且所述第六连杆的第二端与所述第七连杆的第一端转动连接，所述第七连杆的第二端和第八连杆的第一端均与所述第四齿轮的转轴铰接，且所述第八连杆的第二端与所述第二齿轮的转轴铰接；以及所述直线弹簧组件包括第一压紧弹簧、第二压紧弹簧、滑块和支撑座，所述支撑座与机架固定连接，且所述支撑座的第一端面与所述滑块之间、以及所述支撑座的第二端面与所述滑块之间分别设有所述第一压紧弹簧和第二压紧弹簧，所述直线弹簧组件的滑块与所述第二连杆的第二铰接点铰接。
进一步地，所述第一齿轮的转轴轴线和第二齿轮的转轴轴线相互平行，且所述第一齿轮和第二齿轮的齿数以及模数相同，所述第三齿轮的转轴轴线和第四齿轮的转轴轴线相互平行，且所述第三齿轮和第四齿轮的齿数以及模数相同。
进一步地，所述第三齿轮和第四齿轮的转动中心分别与所述第一输送辊子和第二输送辊子的转动中心重合，且所述第一输送辊子和第二输送辊子的直径相等。
优选地，所述第一齿轮的分度圆直径与所述第三齿轮的分度圆直径相切，所述第二齿轮的分度圆直径与所述第四齿轮的分度圆直径相切。
优选地，所述直线运动机构可以使用气缸驱动，亦可使用液压缸驱动或直线电机驱动。
进一步地，辊缝开闭大小由所述直线运动机构带动所述多连杆同步机构调节，且所述辊缝开闭大小与所述长条形物料的厚度相同。
优选地，所述第五连杆的杆长与所述第八连杆的杆长相等。
优选地，所述第一齿轮和第二齿轮的转动中心连线垂直于所述长条形物料的运送方向。
本发明与现有技术相比具有显著的优点：
本发明提供的一种欠驱动连杆式夹送机构，改进了现有夹送辊单自由度的结构形式，机构的驱动器数量为1，系统自由度数量为2。夹送机构在完成同步夹持动作时可以在欠驱动关节处发 生位移，并通过直线弹簧组件对瞬间夹持作用力进行缓冲，不仅避免因夹持冲击力过大而损坏加持物，而且对所夹持工件和夹持机构自身零部件都起到一定的保护作用，有效延长了设备的使用寿命。
图1为本发明一种欠驱动连杆式夹送机构的整体结构简图；
图2为本发明一种欠驱动连杆式夹送机构的结构简图；
图3为本发明与连杆齿轮式同步夹持机构的对比方案结构简图；
图4为本发明与多连杆同步夹持机构的对比方案结构简图；以及
图5为本发明与对称连杆同步夹持机构的对比方案结构简图。
主要附图标记：
第一齿轮1；第二齿轮1’；第三齿轮2；第四齿轮2’；直线运动机构3；输出轴31；多连杆同步机构4；第一连杆401；第二连杆402；第三连杆403；第四连杆404；第五连杆405；第六连杆406；第七连杆407；第八连杆408；第一输送辊子5；第二输送辊子5’；长条形物料6；直线弹簧组件7；第一压紧弹簧71；第二压紧弹簧72；滑块73；支撑座74；万向联轴器8；驱动电机9；机架100，辊缝A；第一铰接点B；第二铰接点C。
为详尽本发明之技术内容、结构特征、所达成目的及功效，以下将结合说明书附图进行详细说明。
本发明提供一种欠驱动连杆式夹送机构，如图1和图2所示，包括第一齿轮1、第二齿轮1’、第三齿轮2、第四齿轮2’、直线运动机构3、多连杆同步机构4、第一输送辊子5、第二输送辊子5’、长条形物料6、直线弹簧组件7、万向联轴器8和驱动电机9，第一齿轮1和和第二齿轮1’分别与第三齿轮2和第四齿轮2’啮合传动，且第三齿轮2和第四齿轮2’的转轴轴线相互平行，同时第三齿轮2和第四齿轮2’的齿数以及模数相同，且第三齿轮2和第四齿轮2’分别与第一输送辊子5和第二输送辊子5’固定连接，第三齿轮2和第四齿轮2’的转动中心分别与第一输送辊子5和第二输送辊子5’的转动中心重合，且第一输送辊子5和第二输送辊子5’的直径相等，长条形物料6夹持于第一输送辊子5和第二输送辊子5’之间，第一齿轮1和第二齿轮1’啮合传动，第一齿轮1和第二齿轮1’的转轴轴线相互平行，同时第一齿轮1和第二齿轮1’的齿数以及模数相同，且第二齿轮1’的驱动转轴通过万向联轴器8与驱动电机9的输出轴连接。
直线运动机构3与机架100固定连接，且直线运动机构3的输出轴与多连杆同步机构4中第 一连杆401的第一端转动连接，多连杆同步机构4包括第一连杆401、第二连杆402、第三连杆403、第四连杆404、第五连杆405、第六连杆406、第七连杆407和第八连杆408，第一连杆401的第二端与第二连杆402的第一端转动连接，且第二连杆402上均布设有第一铰接点B和第二铰接点C，第二连杆402的第一铰接点B与第三连杆403的第一端转动连接，且第三连杆403的第二端与第四连杆404的第一端转动连接，第四连杆404的第二端和第五连杆405的第一端均与第三齿轮2的转轴铰接，且第五连杆405的第二端与第一齿轮1的转轴铰接，第二连杆402的第二端与第六连杆406的第一端转动连接，且第六连杆406的第二端与第七连杆407的第一端转动连接，第七连杆407的第二端和第八连杆408的第一端均与第四齿轮2’的转轴铰接，且第八连杆408的第二端与第二齿轮1’的转轴铰接。
具体的，直线弹簧组件7包括第一压紧弹簧71、第二压紧弹簧72、滑块73和支撑座74，支撑座74与机架100固定连接，且支撑座74的第一端面与滑块73之间、以及支撑座74的第二端面与滑块73之间分别设有第一压紧弹簧71和第二压紧弹簧72，直线弹簧组件7的滑块73与第二连杆402的第二铰接点C铰接。
进一步地，第一齿轮1的分度圆直径与第三齿轮2的分度圆直径相切，第二齿轮1’的分度圆直径与第四齿轮2’的分度圆直径相切，同时直线运动机构3可以使用气缸驱动，亦可使用液压缸驱动或直线电机驱动，且辊缝A开闭大小由直线运动机构3带动多连杆同步机构4调节，且辊缝A开闭大小与长条形物料6的厚度相同。
本发明的具体操作步骤如下：
如图1和图2所示，本发明的一种欠驱动连杆式夹送机构，包括第一齿轮1、第二齿轮1’、第三齿轮2、第四齿轮2’、直线运动机构3、多连杆同步机构4、第一输送辊子5、第二输送辊子5’、长条形物料6、直线弹簧组件7、万向联轴器8和驱动电机9，首先驱动直线运动机构3带动多连杆同步机构4调节辊缝A的大小，用于夹持长条形物料6，此时第二铰接点C在连杆内力的作用下沿水平方向移动，通过第一压紧弹簧71和第二压紧弹簧72缓解瞬间产生的夹持作用力，这有利于保护所夹持物料和夹持机构自身，其次启动驱动电机9通过万向联轴器8带动第一齿轮1和第二齿轮1’转动，且第一齿轮1和第二齿轮1’分别带动第三齿轮2和第四齿轮2’绕回转中心O和O’转动，从而完成一级增速传动。同时第一输送辊子5和第二输送辊子5’分别与第三齿轮2和第四齿轮2’同轴固定，且随第三齿轮2和第四齿轮2’同步转动，用于完成对所夹持物料的运送。
目前，夹持机构的实现方式主要有三种分别是：连杆齿轮式同步夹持机构、多连杆同步夹持机构、对称连杆同步夹持机构。
如图3所示，为本发明与连杆齿轮式同步夹持机构的对比方案：
该机构中，中间轴齿轮10与10’速比相同，为等速传动。此外中间轴齿轮10还同时与工作轴齿轮20啮合，中间轴齿轮10’与工作轴齿轮20’啮合，实现工作轴齿轮20与20’的等速旋转，并带动第一输送辊子5和第二输送辊子5’等速旋转，直线运动机构3通过连杆驱动等速比扇形齿轮对42和42’同步运动，带动工作轴齿轮20与20’、第一输送辊子5与第二输送辊子5’同时绕回转中心O与O’摆动，带动第一输送辊子5和第二输送辊子5’之间辊缝A的开闭变化，实现第一输送辊子5和第二输送辊子5’夹持并运送长条形物料6。
如图4所示，为本发明与多连杆同步夹持机构的对比方案：
该机构中，中间轴齿轮10与10’速比相同，为等速传动。此外中间轴齿轮10还同时与工作轴齿轮20啮合，中间轴齿轮10’与工作轴齿轮20’啮合，实现工作轴齿轮20与20’的等速旋转，并带动第一输送辊子5和第二输送辊子5’等速旋转；在该机构中，轧制中心线处设置一个铰接点C，铰接点C为多连杆同步机构40的对称中心，直线运动机构3通过多连杆同步机构40带动工作轴齿轮20与20’、第一输送辊子5与第二输送辊子5’同时绕回转中心O与O’摆动，从而带动第一输送辊子5和第二输送辊子5’之间辊缝A的开闭变化，实现第一输送辊子5和第二输送辊子5’夹持并运送长条形物料6。
如图5所示，为本发明与对称连杆同步夹持机构的对比方案：
该夹持机构由同一驱动源带动的两个完全相同的曲柄滑块机构组成。该机构中，中间轴齿轮10与10’速比相同，为等速传动。此外中间轴齿轮10还同时与工作轴齿轮20啮合，中间轴齿轮10’与工作轴齿轮20’啮合，实现工作轴齿轮20与20’等速旋转，并带动第一输送辊子5和第二输送辊子5’等速旋转；同时在水平中心线处设置直线运动机构3，通过对称连杆41和41’实现同步运动，带动工作轴齿轮20与20’、第一输送辊子5与第二输送辊子5’同时绕回转中心O与O’摆动，从而带动第一输送辊子5和第二输送辊子5’之间辊缝A的开闭变化，实现第一输送辊子5和第二输送辊子5’夹持并运送长条形物料6。
如图1和图2所示，本发明的工作原理如下：本发明的欠驱动连杆式夹送机构是在图4多连杆式同步夹持机构的基础上，对原轧制中心线处的第二铰接点C增加1个水平方向的运动自由度，并用第一压紧弹簧71和第二压紧弹簧72对第二铰接点C点的水平初始位置进行限制。辊缝A开闭动作由直线运动机构3驱动，通过多连杆同步机构4带动第三齿轮2和第四齿轮2’分别绕回转中心O和O’旋转，带动分别与第三齿轮2和第四齿轮2’同轴的第一输送辊子5和第二输送辊子5’同步摆动，辊缝A同步开闭动作通过多连杆同步机构4实现。工作时辊缝需提前打开，当上游金属检测器检测到物料进入辊缝瞬间，直线运动机构3的输出轴31迅速向下移动，第一输送辊子5和第二输送辊子5’夹住长条形物料6向下游设备运送。在第一输送辊子5和第二输 送辊子5’夹住长条形物料6的瞬间，由于连杆内力作用使第一压紧弹簧71和第二压紧弹簧72在水平方向上发生变形，同时第二铰接点C随滑块73发生移动。第一压紧弹簧71和第二压紧弹簧72的变形降低了夹送辊闭合的冲击力，当辊缝开启时，第一压紧弹簧71和第二压紧弹簧72受到的连杆作用力消失，第二铰接点C随滑块73恢复到初始位置。
通过对比可知，目前三种夹持机构的驱动器数量和系统自由度数量均为1，且关节、连杆都是刚性连接，属于标准的全驱动机构，其各关节和连杆的运动具有唯一性，夹持机构执行夹持动作时对物料产生刚性冲击，同时和物料接触的瞬间不具有缓冲功能。而本发明提供的一种欠驱动连杆式夹送机构，改进了现有夹送辊单自由度的结构形式，机构的驱动器数量为1，系统自由度数量为2。夹送机构在完成同步夹持动作时可以在欠驱动关节处发生位移，并通过直线弹簧组件对瞬间夹持作用力进行缓冲，不仅避免因夹持冲击力过大而损坏加持物，而且对所夹持工件和夹持机构自身零部件都起到一定的保护作用，有效延长了设备的使用寿命。
以上所述是本申请的优选实施方式，不以此限定本发明的保护范围，应当指出，对于该技术领域的普通技术人员来说，在不脱离本技术原理前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本申请的保护范围。
Claims (8)
- 一种欠驱动连杆式夹送机构，其特征在于，其包括第一齿轮、第二齿轮、第三齿轮、第四齿轮、直线运动机构、多连杆同步机构、第一输送辊子、第二输送辊子、长条形物料、直线弹簧组件、万向联轴器和驱动电机，所述第一齿轮和第二齿轮分别与所述第三齿轮和第四齿轮啮合传动，且所述第三齿轮和第四齿轮分别与所述第一输送辊子和第二输送辊子固定连接，所述长条形物料夹持于所述第一输送辊子和第二输送辊子之间，所述第一齿轮和第二齿轮啮合传动，且所述第二齿轮的驱动转轴通过所述万向联轴器与所述驱动电机的输出轴连接；所述直线运动机构与机架固定连接，且所述直线运动机构的输出轴与所述多连杆同步机构中第一连杆的第一端转动连接，所述多连杆同步机构包括第一连杆、第二连杆、第三连杆、第四连杆、第五连杆、第六连杆、第七连杆和第八连杆，所述第一连杆的第二端与所述第二连杆的第一端转动连接，且所述第二连杆上均布设有第一铰接点和第二铰接点，所述第二连杆的第一铰接点与所述第三连杆的第一端转动连接，且所述第三连杆的第二端与所述第四连杆的第一端转动连接，所述第四连杆的第二端和第五连杆的第一端均与所述第三齿轮的转轴铰接，且所述第五连杆的第二端与所述第一齿轮的转轴铰接，所述第二连杆的第二端与所述第六连杆的第一端转动连接，且所述第六连杆的第二端与所述第七连杆的第一端转动连接，所述第七连杆的第二端和第八连杆的第一端均与所述第四齿轮的转轴铰接，且所述第八连杆的第二端与所述第二齿轮的转轴铰接；以及所述直线弹簧组件包括第一压紧弹簧、第二压紧弹簧、滑块和支撑座，所述支撑座与机架固定连接，且所述支撑座的第一端面与所述滑块之间以及所述支撑座的第二端面与所述滑块之间分别设有所述第一压紧弹簧和第二压紧弹簧，所述直线弹簧组件的滑块与所述第二连杆的第二铰接点铰接。
- 根据权利要求1所述的欠驱动连杆式夹送机构，其特征在于，所述第一齿轮的转轴轴线和第二齿轮的转轴轴线相互平行，且所述第一齿轮和第二齿轮的齿数以及模数相同，所述第三齿轮的转轴轴线和第四齿轮的转轴轴线相互平行，且所述第三齿轮和第四齿轮的齿数以及模数相同。
- 根据权利要求2所述的欠驱动连杆式夹送机构，其特征在于，所述第三齿轮和第四齿轮的转动中心分别与所述第一输送辊子和第二输送辊子的转动中心重合，且所述第一输送辊子和第二输送辊子的直径相等。
- 根据权利要求2所述的欠驱动连杆式夹送机构，其特征在于，所述第一齿轮的分度圆与所述第三齿轮的分度圆相切，所述第二齿轮的分度圆与所述第四齿轮的分度圆相切。
- 根据权利要求1所述的欠驱动连杆式夹送机构，其特征在于，所述直线运动机构可以使 用气缸驱动，或者使用液压缸驱动或直线电机驱动。
- 根据权利要求5所述的欠驱动连杆式夹送机构，其特征在于，辊缝开闭大小由所述直线运动机构带动所述多连杆同步机构调节，且所述辊缝开闭大小与所述长条形物料的厚度相同。
- 根据权利要求1所述的欠驱动连杆式夹送机构，其特征在于，所述第五连杆的杆长与所述第八连杆的杆长相等。
- 根据权利要求1所述的欠驱动连杆式夹送机构，其特征在于，所述第一齿轮和第二齿轮的转动中心连线垂直于所述长条形物料的运送方向。
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| JP7051173B1 (ja) | 2022-04-11 |
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