CN104890026B - Rice paper machining robot - Google Patents
Rice paper machining robot Download PDFInfo
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- CN104890026B CN104890026B CN201510268653.2A CN201510268653A CN104890026B CN 104890026 B CN104890026 B CN 104890026B CN 201510268653 A CN201510268653 A CN 201510268653A CN 104890026 B CN104890026 B CN 104890026B
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- dynamical element
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- slide rail
- rice paper
- paper
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- 235000007164 Oryza sativa Nutrition 0.000 title claims abstract description 52
- 235000009566 rice Nutrition 0.000 title claims abstract description 52
- 238000003754 machining Methods 0.000 title claims abstract description 34
- 240000007594 Oryza sativa Species 0.000 title 1
- 241000209094 Oryza Species 0.000 claims abstract description 51
- 238000005520 cutting process Methods 0.000 claims abstract description 14
- 238000005096 rolling process Methods 0.000 abstract description 7
- 230000006835 compression Effects 0.000 abstract description 2
- 238000007906 compression Methods 0.000 abstract description 2
- 230000006698 induction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 244000290970 Tetrapanax papyrifer Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D1/00—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor
- B26D1/01—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work
- B26D1/04—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a linearly-movable cutting member
- B26D1/06—Cutting through work characterised by the nature or movement of the cutting member or particular materials not otherwise provided for; Apparatus or machines therefor; Cutting members therefor involving a cutting member which does not travel with the work having a linearly-movable cutting member wherein the cutting member reciprocates
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D5/20—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/01—Means for holding or positioning work
- B26D7/02—Means for holding or positioning work with clamping means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B26—HAND CUTTING TOOLS; CUTTING; SEVERING
- B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
- B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
- B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form
Abstract
Rice paper machining robot, includes workbench, power set, manipulator, cut paper groove, paper cutter and controller；Power set include the first dynamical element, the second dynamical element, the 3rd dynamical element and the 4th dynamical element, manipulator includes the first slide rail, the first slide, mechanical arm and plate of rubbing hands, and paper cutter includes the second slide rail, the second slide, the 3rd slide rail, the 3rd slide and hand papercutter；The workflow of rice paper machining robot is as follows: blanking → compression → back and forth cut → rub with the hands rolling → incision → cut paper → put → reset → take paper；The most constantly circulation；Utilize controller to control machinery hand rubbing Medulla Tetrapanacis core to roll, utilize controller to control power set simultaneously and drive hand papercutter cutting Medulla Tetrapanacis core, Medulla Tetrapanacis core is cut into rice paper, rice paper machining robot is compared with traditional hand cut rice paper, improve working (machining) efficiency, and improve the quality of processing rice paper.
Description
Technical field
The present invention relates to a kind of rice paper processing equipment, particularly a kind of rice paper machining robot.
Background technology
At present, people, when making the stem pith of the rice-paper plant and drawing, need to make Medulla Tetrapanacis core to become rice paper；At present, when people manufacture rice paper, all use traditional manual method to process, add man-hour, utilize hand rubbing Medulla Tetrapanacis core to roll on flat board, meanwhile, hold hand papercutter continuous reciprocating cutting Medulla Tetrapanacis core, Medulla Tetrapanacis core is cut into rice paper；Due to manual operations, the operating efficiency of processing is relatively low, and a kind of rice paper machining robot has become people and processed the needs of rice paper.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, it is provided that a kind of rice paper machining robot, improve the working (machining) efficiency of rice paper.
The technical solution adopted in the present invention is: rice paper machining robot, includes workbench, power set, manipulator, cut paper groove, paper cutter and controller；Power set include the first dynamical element, the second dynamical element, the 3rd dynamical element and the 4th dynamical element, manipulator includes the first slide rail, the first slide, mechanical arm and plate of rubbing hands, and paper cutter includes the second slide rail, the second slide, the 3rd slide rail, the 3rd slide and hand papercutter；First slide rail is connected with workbench, and the shell of the first dynamical element and the first slide rail connect, and the line shaft of the first dynamical element and the first slide connect, and the first slide and the first slide rail move and be connected；4th dynamical element and the first slide connect, and the line shaft of the 4th dynamical element is connected with mechanical arm, and mechanical arm is connected with plate of rubbing hands；Second slide rail is connected with workbench, and the shell of the second dynamical element and the second slide rail connect, and the line shaft of the second dynamical element and the second slide connect, and the second slide and the second slide rail move and be connected；3rd slide rail and the second slide connect, and the shell of the 3rd dynamical element and the second slide connect, and the line shaft of the 3rd dynamical element and the 3rd slide connect, and the 3rd slide and the 3rd slide rail move and be connected；Hand papercutter and the 3rd slide connect；Controller is connected with power set by control line.
Rice paper processing machine man-hour, Medulla Tetrapanacis core is put on cut paper groove, controller is utilized to control the 4th dynamical element driving mechanical arm swung downward, Medulla Tetrapanacis core pushed down by the plate that makes to rub hands, after Medulla Tetrapanacis core pushed down by plate of rubbing hands, controller controls the 3rd dynamical element and drives the 3rd slide to move back and forth in the 3rd slide rail, utilizes the 3rd slide to drive hand papercutter to move back and forth and cuts Medulla Tetrapanacis core；Meanwhile, controller controls the first dynamical element and drives the first slide to move on the first slide rail, utilizes the first slide driving mechanical arm and plate of rubbing hands to move, and utilizes plate of rubbing hands to rub Medulla Tetrapanacis core with the hands and rolls；Simultaneously, controller controls the second dynamical element and drives the second slide to move on the second slide rail, the second slide is utilized to drive the 3rd slide to move, the 3rd slide is utilized to drive hand papercutter incision Medulla Tetrapanacis core, along with Medulla Tetrapanacis core the most back and forth cut by rolling and the hand papercutter of Medulla Tetrapanacis core, Medulla Tetrapanacis core is cut into paper shape, and Medulla Tetrapanacis core is cut into rice paper；After Medulla Tetrapanacis core is cut into paper shape, controller controls the first dynamical element, the second dynamical element, the 3rd dynamical element and the 4th dynamical element and resets.
The invention has the beneficial effects as follows: rice paper machining robot is provided with controller；Utilize controller to control machinery hand rubbing Medulla Tetrapanacis core to roll, utilize controller to control power set simultaneously and drive hand papercutter cutting Medulla Tetrapanacis core, Medulla Tetrapanacis core is cut into rice paper, rice paper machining robot is compared with traditional hand cut rice paper, improve working (machining) efficiency, and improve the quality of processing rice paper.
Accompanying drawing explanation
Fig. 1 is the structural representation of rice paper machining robot；
Fig. 2 is the top view of Fig. 1.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further detailed:
The top view of Fig. 1, rice paper machining robot shown in the structural representation of the rice paper machining robot shown in Fig. 1 and Fig. 2, include workbench 1, power set 2, manipulator 3, cut paper groove 4, paper cutter 5 and controller 6；Power set 2 include the first dynamical element the 7, second dynamical element the 8, the 3rd dynamical element 9 and the 4th dynamical element 10, manipulator 3 includes first slide rail the 11, first slide 12, mechanical arm 13 and plate 14 of rubbing hands, and paper cutter 5 includes the second slide rail the 15, second slide the 16, the 3rd slide rail the 17, the 3rd slide 18 and hand papercutter 19；First slide rail 11 is connected with workbench 1, and shell and first slide rail 11 of the first dynamical element 7 connect, and line shaft and first slide 12 of the first dynamical element 7 connect, and the first slide 12 is dynamic with the first slide rail 11 to be connected；Shell and first slide 12 of the 4th dynamical element 10 connect, and the line shaft of the 4th dynamical element 10 is connected with mechanical arm 13, and mechanical arm 13 is connected with plate 14 of rubbing hands；Second slide rail 15 is connected with workbench 1, and shell and second slide rail 15 of the second dynamical element 8 connect, and line shaft and second slide 16 of the second dynamical element 8 connect, and the second slide 16 is dynamic with the second slide rail 15 to be connected；3rd slide rail 17 is connected with the second slide 16, and shell and second slide 16 of the 3rd dynamical element 9 connect, and line shaft and the 3rd slide 18 of the 3rd dynamical element 9 connect, and the 3rd slide 18 is dynamic with the 3rd slide rail 17 to be connected；Hand papercutter 19 is connected with the 3rd slide 18；Controller 6 is connected with power set 2 by control line.
In order to implement to be cut into Medulla Tetrapanacis core 20 rice paper, cut paper groove 4 is positioned at the lower section of plate 14 of rubbing hands；First dynamical element 7 axis is parallel with the axis of the second dynamical element 8, and the axis of the 3rd dynamical element 9 is vertical with the axis of the second dynamical element 8；First slide rail 11 is parallel with the second slide rail 15, and the 3rd slide rail 17 is vertical with the second slide rail 15.
Rice paper processing machine man-hour, Medulla Tetrapanacis core 20 is put on cut paper groove 4, controller 6 is utilized to control the 4th dynamical element 10 driving mechanical arm 13 swung downward, Medulla Tetrapanacis core 20 pushed down by the plate 14 that makes to rub hands, after Medulla Tetrapanacis core 20 pushed down by plate 14 of rubbing hands, controller 6 controls the 3rd dynamical element 9 and drives the 3rd slide 18 to move back and forth in the 3rd slide rail 17, utilizes the 3rd slide 18 to drive hand papercutter 19 to move back and forth and cuts Medulla Tetrapanacis core 20；Meanwhile, controller 6 controls the first dynamical element 7 and drives the first slide 12 to move on the first slide rail 11, utilizes the first slide 12 driving mechanical arm 13 and plate 14 of rubbing hands to move, and utilizes plate 14 of rubbing hands to rub Medulla Tetrapanacis core 20 with the hands and rolls；Simultaneously, controller 6 controls the second dynamical element 8 and drives the second slide 16 to move on the second slide rail 15, the second slide 16 is utilized to drive the 3rd slide 18 to move, the 3rd slide 18 is utilized to drive hand papercutter 19 to cut Medulla Tetrapanacis core 20, rolling and hand papercutter 19 the most reciprocal incision Medulla Tetrapanacis core 20 along with Medulla Tetrapanacis core 20, Medulla Tetrapanacis core 20 is cut into paper shape, and Medulla Tetrapanacis core 20 is cut into rice paper；After Medulla Tetrapanacis core 20 is cut into paper shape, controller 6 controls first dynamical element the 7, second dynamical element the 8, the 3rd dynamical element 9 and the 4th dynamical element 10 stops resetting.
In order to implement the Based Intelligent Control of rice paper machining robot, controller 6 is provided with first sensor the 21, second sensor the 22, the 3rd sensor 23 and the 4th sensor 24, first sensor 21 is located at the bottom surface of cut paper groove 4, plate 14 of rubbing hands is located at by second sensor 22, the first slide 12 is located at by 3rd sensor 23 and the 4th sensor 24, and the 4th sensor 24 is positioned at the lower section of the 3rd sensor 23.
During the work of rice paper machining robot, Medulla Tetrapanacis core 20 is put on cut paper groove 4, Medulla Tetrapanacis core 20 is put into the signal of cut paper groove 4 and is transferred to controller 6 by first sensor 21, controller 6 controls the 4th dynamical element 10 driving mechanical arm 13 swung downward, Medulla Tetrapanacis core 20 pushed down by the plate 14 that makes to rub hands, after Medulla Tetrapanacis core 20 pushed down by plate 14 of rubbing hands, controller 6 controls the 3rd dynamical element 9 and drives the 3rd slide 18 to move as horizontal reciprocating in the 3rd slide rail 17, utilizes the 3rd slide 18 to drive hand papercutter 19 to move back and forth and cuts Medulla Tetrapanacis core 20；Meanwhile, controller 6 controls the first dynamical element 7 and drives the first slide 12 to move to Medulla Tetrapanacis core 20, utilizes the first slide 12 driving mechanical arm 13 and plate 14 of rubbing hands to move to Medulla Tetrapanacis core 20, utilizes plate 14 of rubbing hands to rub Medulla Tetrapanacis core 20 with the hands and rolls；Simultaneously, controller 6 controls the second dynamical element 8 and drives the second slide 16 to move to Medulla Tetrapanacis core 20, the second slide 16 is utilized to drive the 3rd slide 18 to move to Medulla Tetrapanacis core 20, the 3rd slide 18 is utilized to drive hand papercutter 19 to cut Medulla Tetrapanacis core 20, along with rolling and the hand papercutter 19 the most reciprocal incision Medulla Tetrapanacis core 20 of Medulla Tetrapanacis core 20, Medulla Tetrapanacis core 20 is cut into paper shape；After Medulla Tetrapanacis core 20 is cut into paper shape, controller 6 the 4th dynamical element 10 driving mechanical arm 13 and plate 14 of rubbing hands reset；Meanwhile, controller 6 controls the first dynamical element 7 and drives the first slide 12 to reset, and controls the second dynamical element 8 and drives the second slide 16 to reset, and controller 6 the 3rd dynamical element 9 stops moving back and forth.
Power set 2 are provided with various structures, and the structure of power set 2 includes: power set 2 are made up of oil gear, and first dynamical element the 7, second dynamical element 8 and the 3rd dynamical element 9 are hydraulic cylinder, and the 4th dynamical element 10 is oscillating oil cylinder；Or, power set 2 are made up of pneumatic shuttle, and first dynamical element the 7, second dynamical element 8 and the 3rd dynamical element 9 are cylinder, and the 4th dynamical element 10 is oscillating cylinder；Or, power set 2 are made up of electric device, and first dynamical element the 7, second dynamical element 8 and the 3rd dynamical element 9 are electric pushrod, and the 4th dynamical element 10 is oscillating motor.
The workflow of rice paper machining robot is as follows: blanking → compression → back and forth cut → rub with the hands rolling → incision → cut paper → put → reset → take paper；The most constantly circulation.
The workflow of rice paper machining robot is specific as follows:
Blanking: Medulla Tetrapanacis core 20 is put into cut paper groove 4, the axis making Medulla Tetrapanacis core 20 is vertical with the axis of the second dynamical element 8, makes Medulla Tetrapanacis core 20 close to the first sensor 21 of cut paper groove 4 bottom surface；
Compressing: Medulla Tetrapanacis core 20 is close to after first sensor 21, and its signal is transferred to controller 6 by first sensor 21, controller 6 controls the 4th dynamical element 10 driving mechanical arm 13 swung downward, utilizes plate 14 of rubbing hands to be pushed down by Medulla Tetrapanacis core 20；Meanwhile, its signal is transferred to controller 6 close to the second sensor 22, the second sensor 22 by Medulla Tetrapanacis core 20；
Back and forth cut: the second sensor 22 plate 14 of rubbing hands is pushed down after Medulla Tetrapanacis core 20 signal is transferred to controller 6, and controller 6 controls the 3rd dynamical element 9 and drives the 3rd slide 18 to move as horizontal reciprocating, drives hand papercutter 19 reciprocal horizontal cutting Medulla Tetrapanacis core 20；
Rub rolling with the hands: while hand papercutter 19 reciprocal horizontal cuts Medulla Tetrapanacis core 20, controller 6 controls the first dynamical element 7 and drives the first slide 12 to move right, utilize the first slide 12 driving mechanical arm 13 and plate 14 of rubbing hands to move right, utilize plate 14 of rubbing hands to rub Medulla Tetrapanacis core 20 with the hands and scroll right；
Incision: rub with the hands while Medulla Tetrapanacis core 20 scrolls right at plate 14 of rubbing hands, controller 6 controls the second dynamical element 8 and drives the second slide 16 to move right, utilize the second slide 16 to drive the 3rd slide 18 to move right, utilize the 3rd slide 18 to drive hand papercutter 19 to cut to the right Medulla Tetrapanacis core 20；
Cut paper: along with rolling and the hand papercutter 19 the most reciprocal incision Medulla Tetrapanacis core 20 of Medulla Tetrapanacis core 20, Medulla Tetrapanacis core 20 is cut into paper shape, along with Medulla Tetrapanacis core 20 is constantly cut into paper shape, along with the continuous swung downward of mechanical arm 13, plate 14 of rubbing hands constantly reduces, its signal is transferred to controller 6 close to cut paper groove 4, mechanical arm 13 close to the 4th sensor 24, the 4th sensor 24 by plate 14 of rubbing hands；
Putting: after its signal is transferred to controller 6 by the 4th sensor 24, controller 6 controls the 4th dynamical element 10 driving mechanical arm 13 opposite direction and swings, and mechanical arm 13 drives plate 14 of rubbing hands to put reset；
Reset: while mechanical arm 13 has been put, controller 6 controls the line shaft of the first dynamical element 7 and the second dynamical element 8 line shaft is moved to the left, first slide 12 and the second slide 16 reset, and controller 6 controls the 3rd dynamical element 9 and stops moving back and forth, and hand papercutter 19 stops moving back and forth；Mechanical arm 13 swings back into the position of the 3rd sensor 23, and its signal is transferred to controller 6 by the 3rd sensor 23, and controller 6 controls the 4th dynamical element 10 and stops, and mechanical arm 13 resets；
Take paper: after hand papercutter 19 stops moving back and forth, taken out by rice paper.
Rice paper machining robot original state is: mechanical arm 13 is close to the 3rd sensor 23, and the line shaft of the first dynamical element 7 and the second dynamical element 8 line shaft be not for extending out state.
In order to avoid hand papercutter 19 is cut less than Medulla Tetrapanacis core 20, the width of cut paper groove 4 is more than the length of Medulla Tetrapanacis core 20, and the length of hand papercutter 19 is more than or equal to the length of Medulla Tetrapanacis core 20；Hand papercutter 19 cutting edge is identical with the thickness that Medulla Tetrapanacis core 20 cuts out rice paper to the vertical range of cut paper groove 4 bottom land.
In order to regulate the thickness of rice paper, being provided with knife rest 25 between hand papercutter 19 and the 3rd slide 18, hand papercutter 19 is fixed on knife rest 25, and knife rest 25 is connected with the 3rd slide 18, is provided with lowering or hoisting gear 26 between knife rest 25 and the 3rd slide 18；Lowering or hoisting gear 26 includes screw thread lowering or hoisting gear；The bottom land of cut paper groove 4 and plane-parallel, the cutting edge of hand papercutter 19 is parallel with the bottom land of cut paper groove 4.
When hand papercutter 19 uses, regulate hand papercutter 19 and the distance of the 3rd slide 18 by lowering or hoisting gear 26, change the height of hand papercutter 19, regulation hand papercutter 19 and the distance of cut paper groove 4, control hand papercutter 19 cutting edge height to cut paper groove 4, to reach to control to cut through the purpose of the thickness of core paper.
In order to control hand papercutter 19 reciprocating stroke, the 3rd dynamical element 9 is provided with the first travel switch 27 and the second travel switch 28, for controlling the stroke of hand papercutter 19 reciprocating cutting；When hand papercutter 19 moves back and forth cutting Medulla Tetrapanacis core 20, hand papercutter 19 moves back and forth as anterior-posterior horizontal, and hand papercutter 19 moves horizontally to the right simultaneously, and the track that hand papercutter 19 moves is horizontal shifting and the combination moved horizontally to the right.
nullWhen 3rd dynamical element 9 drives hand papercutter 19 reciprocating cutting Medulla Tetrapanacis core 20，3rd dynamical element 9 drives the 3rd slide 18 to move forward，3rd slide 18 band movable knife rack 25 and hand papercutter 19 move forward，When the induction pieces of the 3rd dynamical element 9 moves to the position of the first travel switch 27，Its signal is transferred to controller 6 by the first travel switch 27，Controller 6 controls the 3rd dynamical element 9 backhaul and moves，3rd dynamical element 9 drives band movable knife rack 25 and hand papercutter 19 to be moved rearwards by，When the induction pieces of the 3rd dynamical element 9 moves to the second travel switch 28，Its signal is transferred to controller 6 by the second travel switch 28，Controller 6 controls the 3rd dynamical element 9 band movable knife rack 25 and hand papercutter 19 moves forward，The most constantly circulation，Control hand papercutter 19 reciprocating cutting Medulla Tetrapanacis core 20；The direction that the direction that hand papercutter 19 moves rolls with Medulla Tetrapanacis core 20 is identical；Including hand papercutter 19 to move right, Medulla Tetrapanacis core 20 scrolls right.
Claims (10)
1. rice paper machining robot, it is characterised in that: described rice paper machining robot, include workbench (1), power set (2), manipulator (3), cut paper groove (4), paper cutter (5) and controller (6)；Power set (2) include the first dynamical element (7), the second dynamical element (8), the 3rd dynamical element (9) and the 4th dynamical element (10), manipulator (3) includes the first slide rail (11), the first slide (12), mechanical arm (13) and plate of rubbing hands (14), and paper cutter (5) includes the second slide rail (15), the second slide (16), the 3rd slide rail (17), the 3rd slide (18) and hand papercutter (19)；First slide rail (11) is connected with workbench (1), the shell of the first dynamical element (7) and the first slide rail (11) connect, the line shaft of the first dynamical element (7) and the first slide (12) connect, and the first slide (12) is dynamic with the first slide rail (11) to be connected；The shell of the 4th dynamical element (10) and the first slide (12) connect, and the line shaft of the 4th dynamical element (10) is connected with mechanical arm (13), and mechanical arm (13) is connected with plate of rubbing hands (14)；Second slide rail (15) is connected with workbench (1), the shell of the second dynamical element (8) and the second slide rail (15) connect, the line shaft of the second dynamical element (8) and the second slide (16) connect, and the second slide (16) is dynamic with the second slide rail (15) to be connected；3rd slide rail (17) is connected with the second slide (16), the shell of the 3rd dynamical element (9) and the second slide (16) connect, the line shaft of the 3rd dynamical element (9) and the 3rd slide (18) connect, and the 3rd slide (18) is dynamic with the 3rd slide rail (17) to be connected；Hand papercutter (19) is connected with the 3rd slide (18)；Controller (6) is connected with power set (2) by control line.
Rice paper machining robot the most according to claim 1, it is characterised in that: described cut paper groove (4) is positioned at the lower section of plate of rubbing hands (14)；First dynamical element (7) axis is parallel with the axis of the second dynamical element (8), and the axis of the 3rd dynamical element (9) is vertical with the axis of the second dynamical element (8).
Rice paper machining robot the most according to claim 1, it is characterised in that: described the first slide rail (11) is parallel with the second slide rail (15), and the 3rd slide rail (17) is vertical with the second slide rail (15).
Rice paper machining robot the most according to claim 1, it is characterized in that: described controller (6) is provided with first sensor (21), the second sensor (22), the 3rd sensor (23) and the 4th sensor (24), first sensor (21) is located at the bottom surface of cut paper groove (4), plate of rubbing hands (14) is located at by second sensor (22), the first slide (12) is located at by 3rd sensor (23) and the 4th sensor (24), and the 4th sensor (24) is positioned at the lower section of the 3rd sensor (23).
Rice paper machining robot the most according to claim 1, it is characterized in that: described power set (2) are made up of oil gear, first dynamical element (7), the second dynamical element (8) and the 3rd dynamical element (9) are hydraulic cylinder, and the 4th dynamical element (10) is oscillating oil cylinder；Or, power set (2) are made up of pneumatic shuttle, and the first dynamical element (7), the second dynamical element (8) and the 3rd dynamical element (9) are cylinder, and the 4th dynamical element (10) is oscillating cylinder；Or, power set (2) are made up of electric device, and the first dynamical element (7), the second dynamical element (8) and the 3rd dynamical element (9) are electric pushrod, and the 4th dynamical element (10) is oscillating motor.
Rice paper machining robot the most according to claim 4, it is characterized in that: described rice paper machining robot original state is: mechanical arm (13) is close to the 3rd sensor (23), and the line shaft of the first dynamical element (7) and the second dynamical element (8) line shaft be not for extending out state.
Rice paper machining robot the most according to claim 1, it is characterised in that: the vertical range of described hand papercutter (19) cutting edge to cut paper groove (4) bottom land is identical with the thickness that Medulla Tetrapanacis core (20) cuts out rice paper.
Rice paper machining robot the most according to claim 1, it is characterized in that: between described hand papercutter (19) and the 3rd slide (18), be provided with knife rest (25), hand papercutter (19) is fixed on knife rest (25), knife rest (25) is connected with the 3rd slide (18), is provided with lowering or hoisting gear (26) between knife rest (25) and the 3rd slide (18)；Lowering or hoisting gear (26) includes screw thread lowering or hoisting gear.
Rice paper machining robot the most according to claim 1, it is characterised in that: the bottom land of described cut paper groove (4) and plane-parallel, the cutting edge of hand papercutter (19) is parallel with the bottom land of cut paper groove (4).
Rice paper machining robot the most according to claim 1, it is characterised in that: the 3rd described dynamical element (9) is provided with the first travel switch (27) and the second travel switch (28), is used for controlling the stroke of hand papercutter (19) reciprocating cutting.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510268653.2A CN104890026B (en) | 2015-05-22 | 2015-05-22 | Rice paper machining robot |
| PCT/CN2016/076938 WO2016188204A1 (en) | 2015-05-22 | 2016-03-22 | Pith paper processing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510268653.2A CN104890026B (en) | 2015-05-22 | 2015-05-22 | Rice paper machining robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104890026A CN104890026A (en) | 2015-09-09 |
| CN104890026B true CN104890026B (en) | 2016-08-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510268653.2A Active CN104890026B (en) | 2015-05-22 | 2015-05-22 | Rice paper machining robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN104890026B (en) |
| WO (1) | WO2016188204A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104890026B (en) * | 2015-05-22 | 2016-08-17 | 哈尔滨工大服务机器人有限公司 | Rice paper machining robot |
| CN104894910B (en) * | 2015-05-22 | 2016-08-17 | 哈尔滨工大服务机器人有限公司 | Rice paper machining robot device |
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| US6055871A (en) * | 1998-05-13 | 2000-05-02 | The United States Of America As Represented By The Secretary Of The Navy | Machine for cutting a cylindrical specimen of rocket propellant |
| JP4166559B2 (en) * | 2002-02-15 | 2008-10-15 | 株式会社ブリヂストン | Forming roller cutting method, apparatus used therefor, and product roller |
| CN101804643B (en) * | 2009-02-17 | 2013-07-24 | 宏达国际电子股份有限公司 | Cutting device |
| CN201720879U (en) * | 2010-07-23 | 2011-01-26 | 温州锐志包装机械有限公司 | Paper cutter |
| CN102672740B (en) * | 2012-05-27 | 2014-06-04 | 刘刚 | Toilet roll cutting machine |
| CN202964746U (en) * | 2012-10-19 | 2013-06-05 | 程肖 | Raw paper moving and fixing device for raw paper cutter |
| CN203019413U (en) * | 2012-12-24 | 2013-06-26 | 杭州合和纸业有限公司 | Paper cutter |
| CN104960002B (en) * | 2015-05-22 | 2017-05-31 | 广东天润自动化科技有限公司 | Intelligent rice paper machining robot device |
| CN204604387U (en) * | 2015-05-22 | 2015-09-02 | 郑运婷 | A kind of intelligent rice paper machining robot |
| CN104960001B (en) * | 2015-05-22 | 2017-06-23 | 哈尔滨工大特种机器人有限公司 | Intelligent rice paper machining robot |
| CN204604388U (en) * | 2015-05-22 | 2015-09-02 | 郑运婷 | A kind of rice paper machining robot |
| CN104890026B (en) * | 2015-05-22 | 2016-08-17 | 哈尔滨工大服务机器人有限公司 | Rice paper machining robot |
| CN104894910B (en) * | 2015-05-22 | 2016-08-17 | 哈尔滨工大服务机器人有限公司 | Rice paper machining robot device |
-
2015
- 2015-05-22 CN CN201510268653.2A patent/CN104890026B/en active Active
-
2016
- 2016-03-22 WO PCT/CN2016/076938 patent/WO2016188204A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| CN104890026A (en) | 2015-09-09 |
| WO2016188204A1 (en) | 2016-12-01 |
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