CN104894910A - Pith paper processing robot device - Google Patents

Pith paper processing robot device Download PDF

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Publication number
CN104894910A
CN104894910A CN201510268315.9A CN201510268315A CN104894910A CN 104894910 A CN104894910 A CN 104894910A CN 201510268315 A CN201510268315 A CN 201510268315A CN 104894910 A CN104894910 A CN 104894910A
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China
Prior art keywords
dynamical
slide
medulla tetrapanacis
controller
tetrapanacis core
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Granted
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CN201510268315.9A
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Chinese (zh)
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CN104894910B (en
Inventor
郑运婷
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Harbin Institute of technology robot group (Kunshan) Co.,Ltd.
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郑运婷
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B27WORKING OR PRESERVING WOOD OR SIMILAR MATERIAL; NAILING OR STAPLING MACHINES IN GENERAL
    • B27JMECHANICAL WORKING OF CANE, CORK, OR SIMILAR MATERIALS
    • B27J7/00Mechanical working of tree or plant materials not otherwise provided for
    • DTEXTILES; PAPER
    • D21PAPER-MAKING; PRODUCTION OF CELLULOSE
    • D21FPAPER-MAKING MACHINES; METHODS OF PRODUCING PAPER THEREON
    • D21F13/00Making discontinuous sheets of paper, pulpboard or cardboard, or of wet web, for fibreboard production

Abstract

A pith paper processing robot device comprises a workbench, a power device, a manipulator, a paper cutting groove, a paper cutting device and a controller, wherein the power device comprises a first power element, a second power element, a third power element and a fourth power element; the manipulator comprises a first sliding rail, a first sliding base, a mechanical arm and a rubbing board; the paper cutting device comprises a second sliding rail, a second sliding base, a third sliding rail, a third sliding base and a paper cutter. The working procedure of the pith paper processing robot device comprises the following steps of feeding, compressing, reciprocating cutting, rubbing and rolling, cutting in, paper cutting, swinging up, resetting and paper fetching and is repeated. The controller controls the manipulator to rub pith cores to roll and controls the power device to drive the paper cutter to cut the pith cores, the pitch cores are cut into pith paper, and compared with a traditional manual pith paper cutting mode, the pith paper processing robot device improves the processing efficiency and the processing quality of the pith paper.

Description

Rice paper machining robot device
Technical field
The present invention relates to a kind of rice paper processing equipment device, particularly a kind of rice paper machining robot device.
Background technology
At present, people, when making the stem pith of the rice-paper plant and drawing, need Medulla Tetrapanacis core to make to become rice paper; At present, when people manufacture rice paper, all use traditional manual method processing, add man-hour, utilize hand rubbing Medulla Tetrapanacis core to roll on flat board, meanwhile, hold the continuous reciprocating cutting Medulla Tetrapanacis core of hand papercutter, Medulla Tetrapanacis core is cut into rice paper; Due to manual operations, the operating efficiency of processing is lower, and a kind of rice paper machining robot device has become the needs that people process rice paper.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, a kind of rice paper machining robot device is provided, improve the working (machining) efficiency of rice paper.
The technical solution adopted in the present invention is: rice paper machining robot device, 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 is connected with the first slide rail, and the line shaft of the first dynamical element is connected with the first slide, and the first slide and the first slide rail move and be connected; 4th dynamical element is connected with the first slide, 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 is connected with the second slide rail, and the line shaft of the second dynamical element is connected with the second slide, and the second slide and the second slide rail move and be connected; 3rd slide rail is connected with the second slide, and the shell of the 3rd dynamical element is connected with the second slide, and the line shaft of the 3rd dynamical element is connected with the 3rd slide, and the 3rd slide and the 3rd slide rail move and be connected; Hand papercutter is connected with the 3rd slide; Controller is connected with power set by control line.
During the work of rice paper machining robot device, Medulla Tetrapanacis core is put on cut paper groove, controller is utilized to control the 4th dynamical element driving mechanical arm to lower swing, 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 the rolling of Medulla Tetrapanacis core and hand papercutter constantly back and forth cut 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 device is provided with controller; Utilize controller to control mechanical 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 device 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 device;
Fig. 2 is the top view of Fig. 1.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is further detailed:
The top view of Fig. 1 shown in the structural representation of the rice paper machining robot device shown in Fig. 1 and Fig. 2, rice paper machining robot device, includes 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, second dynamical element 8, the 3rd dynamical element 9 and the 4th dynamical element 10, manipulator 3 includes the first slide rail 11, first slide 12, mechanical arm 13 and plate 14 of rubbing hands, and paper cutter 5 includes the second slide rail 15, 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, and the shell of the first dynamical element 7 is connected with the first slide rail 11, and the line shaft of the first dynamical element 7 is connected with the first slide 12, and the first slide 12 and the first slide rail 11 move and be connected; The shell of the 4th dynamical element 10 is connected with the first slide 12, 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 the shell of the second dynamical element 8 is connected with the second slide rail 15, and the line shaft of the second dynamical element 8 is connected with the second slide 16, and the second slide 16 and the second slide rail 15 move and be connected; 3rd slide rail 17 is connected with the second slide 16, and the shell of the 3rd dynamical element 9 is connected with the second slide 16, and the line shaft of the 3rd dynamical element 9 is connected with the 3rd slide 18, and the 3rd slide 18 and the 3rd slide rail 17 move and 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 that Medulla Tetrapanacis core 20 is cut into rice paper, cut paper groove 4 is positioned at the below of plate 14 of rubbing hands; The blade of hand papercutter 19 is parallel with the bottom surface of cut paper groove 4; The axis being parallel of the first dynamical element 7 axis and the second dynamical element 8, the axis of the 3rd dynamical element 9 and the axes normal 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.
The using method of rice paper machining robot device is: during work, 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 to lower swing, 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, along with rolling and the hand papercutter 19 constantly reciprocal incision Medulla Tetrapanacis core 20 of 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 the first dynamical element 7, second dynamical element 8, the 3rd dynamical element 9 and the 4th dynamical element 10 to be stopped resetting.
In order to implement the Based Intelligent Control of rice paper machining robot device, controller 6 is provided with first sensor 21, second sensor 22, the 3rd sensor 23 and four-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 22,3rd sensor 23 and four-sensor 24 are located at the below that the first slide 12, the four-sensor 24 is positioned at the 3rd sensor 23.
During the work of rice paper machining robot device, Medulla Tetrapanacis core 20 is put on cut paper groove 4, Medulla Tetrapanacis core 20 is put into the Signal transmissions of cut paper groove 4 to controller 6 by first sensor 21, controller 6 controls the 4th dynamical element 10 driving mechanical arm 13 to lower swing, 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 constantly 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 the first dynamical element 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, the first dynamical element 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, the first dynamical element 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 device is as follows: blanking → compression → back and forth cut → rub with the hands rolls → cuts → and cut paper → put → reset → get paper; So constantly circulation.
The workflow of rice paper machining robot device is specific as follows:
Blanking: Medulla Tetrapanacis core 20 is put into cut paper groove 4, makes the axis of Medulla Tetrapanacis core 20 and the axes normal of the second dynamical element 8, makes Medulla Tetrapanacis core 20 close to the first sensor 21 of cut paper groove 4 bottom surface;
Compress: Medulla Tetrapanacis core 20 is close to after first sensor 21, and first sensor 21 is by its Signal transmissions to controller 6, and controller 6 controls the 4th dynamical element 10 driving mechanical arm 13 to lower swing, utilize plate 14 of rubbing hands to be pushed down by Medulla Tetrapanacis core 20; Meanwhile, Medulla Tetrapanacis core 20 close to the second sensor 22, second sensor 22 by its Signal transmissions to controller 6;
Back and forth cut: the second sensor 22 plate 14 of rubbing hands pushes down Medulla Tetrapanacis core 20 Signal transmissions to after controller 6, and controller 6 controls the 3rd dynamical element 9 and drives the 3rd slide 18 to move as horizontal reciprocating, drive hand papercutter 19 reciprocal horizontal cutting Medulla Tetrapanacis core 20;
Stranding is rolled: 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 roll to the right;
Incision: rub with the hands while Medulla Tetrapanacis core 20 rolls to the 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 Medulla Tetrapanacis core 20 to the right;
Cut paper: along with rolling and the hand papercutter 19 constantly 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 mechanical arm 13 is constantly to lower swing, plate 14 of rubbing hands constantly reduces, rub hands plate 14 close to cut paper groove 4, mechanical arm 13 close to four-sensor 24, four-sensor 24 by its Signal transmissions to controller 6;
Put: four-sensor 24 is by its Signal transmissions to after controller 6, and controller 6 controls the 4th dynamical element 10 driving mechanical arm 13 and swings in the other direction, 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 to be stopped moving back and forth, and hand papercutter 19 stops moving back and forth; Mechanical arm 13 swings back the position of the 3rd sensor 23, and the 3rd sensor 23 is by its Signal transmissions to controller 6, and controller 6 controls the 4th dynamical element 10 to be stopped, and mechanical arm 13 resets;
Get paper: after hand papercutter 19 stopping moves back and forth, taken out by rice paper.
Rice paper machining robot device original state is: mechanical arm 13 close to the line shaft of the 3rd sensor 23, first dynamical element 7 and the second dynamical element 8 line shaft for not stretch 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 greater than the length of Medulla Tetrapanacis core 20, and the length of hand papercutter 19 is greater 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, be 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, regulated the distance of hand papercutter 19 and the 3rd slide 18 by lowering or hoisting gear 26, change the height of hand papercutter 19, regulate the distance of hand papercutter 19 and cut paper groove 4, control the height of hand papercutter 19 cutting edge to cut paper groove 4, to reach the object controlling to cut the thickness of logical 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 of hand papercutter 19 movement is horizontal shifting and the combination moved horizontally to the right.
When 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 is with movable knife rack 25 and hand papercutter 19 to move forward, when the induction pieces of the 3rd dynamical element 9 moves to the position of the first travel switch 27, first travel switch 27 by its Signal transmissions to controller 6, 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 move backward, when the induction pieces of the 3rd dynamical element 9 moves to the second travel switch 28, second travel switch 28 by its Signal transmissions to controller 6, controller 6 controls the 3rd dynamical element 9 and is with movable knife rack 25 and hand papercutter 19 to move forward, so constantly circulation, control hand papercutter 19 reciprocating cutting Medulla Tetrapanacis core 20, the direction of hand papercutter 19 movement is identical with the direction that Medulla Tetrapanacis core 20 rolls, include hand papercutter 19 to move right, Medulla Tetrapanacis core 20 rolls to the right.

Claims (10)

1. rice paper machining robot device, includes 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); Be provided with knife rest (25) between hand papercutter (19) and the 3rd slide (18), between knife rest (25) and the 3rd slide (18), be provided with lowering or hoisting gear (26); Controller (6) is provided with first sensor (21), the second sensor (22), the 3rd sensor (23) and four-sensor (24), and the 3rd dynamical element (9) is provided with the first travel switch (27) and the second travel switch (28); Controller (6) is connected with power set (2), the first travel switch (27) and the second travel switch (28) by control line;
It is characterized in that: the using method of described rice paper machining robot device is: during work, 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) to lower swing, 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), utilize the 3rd slide (18) to drive hand papercutter (19) to move back and forth and cut Medulla Tetrapanacis core (20), simultaneously, controller (6) controls the first dynamical element (7) and drives the first slide (12) upper mobile in the first slide rail (11), utilize the first slide (12) driving mechanical arm (13) and plate of rubbing hands (14) to move, utilize plate (14) of rubbing hands to rub Medulla Tetrapanacis core (20) with the hands and roll, simultaneously, controller (6) controls the second dynamical element (8) and drives the second slide (16) upper mobile in the second slide rail (15), the second slide (16) is utilized to drive the 3rd slide (18) mobile, the 3rd slide (18) is utilized to drive hand papercutter (19) incision Medulla Tetrapanacis core (20), along with the rolling of Medulla Tetrapanacis core (20) and hand papercutter (19) constantly back and forth cut 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 the first dynamical element (7), the second dynamical element (8), the 3rd dynamical element (9) and the 4th dynamical element (10) and resets.
2. rice paper machining robot device according to claim 1, it is characterized in that: during the work of described rice paper machining robot device, Medulla Tetrapanacis core (20) is put on cut paper groove (4), Medulla Tetrapanacis core (20) is put into the Signal transmissions of cut paper groove (4) to controller (6) by first sensor (21), controller (6) controls the 4th dynamical element (10) driving mechanical arm (13) to lower swing, 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), utilize the 3rd slide (18) to drive hand papercutter (19) to move back and forth and cut Medulla Tetrapanacis core (20), simultaneously, controller (6) controls the first dynamical element (7) and drives the first slide (12) mobile to Medulla Tetrapanacis core (20), utilize the first slide (12) driving mechanical arm (13) and plate of rubbing hands (14) to move to Medulla Tetrapanacis core (20), utilize plate (14) of rubbing hands to rub Medulla Tetrapanacis core (20) with the hands and roll, simultaneously, controller (6) controls the second dynamical element (8) and drives the second slide (16) mobile to Medulla Tetrapanacis core (20), the second slide (16) is utilized to drive the 3rd slide (18) mobile to Medulla Tetrapanacis core (20), the 3rd slide (18) is utilized to drive hand papercutter (19) incision Medulla Tetrapanacis core (20), along with the rolling of Medulla Tetrapanacis core (20) and hand papercutter (19) constantly back and forth cut 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 of rubbing hands (14) 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.
3. rice paper machining robot device according to claim 1, is characterized in that: the workflow of described rice paper machining robot device is as follows: blanking → compression → back and forth cut → rub with the hands rolls → cuts → and cut paper → put → reset → get paper; So constantly circulation.
4. rice paper machining robot device according to claim 3, is characterized in that: the workflow of described rice paper machining robot device is specific as follows:
Blanking: Medulla Tetrapanacis core (20) is put into cut paper groove (4), makes Medulla Tetrapanacis core (20) close to the first sensor (21) of cut paper groove (4) bottom surface;
Compress: Medulla Tetrapanacis core (20) is close to after first sensor (21), first sensor (21) by its Signal transmissions to controller (6), controller (6) controls the 4th dynamical element (10) driving mechanical arm (13) to lower swing, utilizes plate (14) of rubbing hands to be pushed down by Medulla Tetrapanacis core (20); Meanwhile, Medulla Tetrapanacis core (20) close to the second sensor (22), the second sensor (22) by its Signal transmissions to controller (6);
Back and forth cut: the second sensor (22) plate (14) of rubbing hands pushes down Medulla Tetrapanacis core (20) Signal transmissions to after controller (6), 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);
Stranding is rolled: 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 of rubbing hands (14) to move right, utilize plate (14) of rubbing hands to rub Medulla Tetrapanacis core (20) with the hands and roll to the right;
Incision: while plate of rubbing hands (14) stranding Medulla Tetrapanacis core (20) rolls to the right, 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 Medulla Tetrapanacis core (20) to the right;
Cut paper: along with the rolling of Medulla Tetrapanacis core (20) and hand papercutter (19) constantly back and forth cut 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 mechanical arm (13) is constantly to lower swing, plate (14) of rubbing hands constantly reduces, rub hands plate (14) close to cut paper groove (4), mechanical arm (13) close to four-sensor (24), four-sensor (24) by its Signal transmissions to controller (6);
Put: four-sensor (24) is by its Signal transmissions to after controller (6), and controller (6) controls the 4th dynamical element (10) driving mechanical arm (13) and swings in the other direction, 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, controller (6) controls the 3rd dynamical element (9) to be stopped moving back and forth, and hand papercutter (19) stops moving back and forth;
Get paper: after hand papercutter (19) stopping moves back and forth, taken out by rice paper.
5. rice paper machining robot device according to claim 1, it is characterized in that: described mechanical arm (13) swings back the position of the 3rd sensor (23), 3rd sensor (23) by its Signal transmissions to controller (6), controller (6) controls the 4th dynamical element (10) to be stopped, and mechanical arm (13) resets.
6. rice paper machining robot device according to claim 1, is characterized in that: the width of described cut paper groove (4) is greater than the length of Medulla Tetrapanacis core (20), and the length of hand papercutter (19) is greater than or equal to the length of Medulla Tetrapanacis core (20).
7. rice paper machining robot device according to claim 1, it is characterized in that: when described hand papercutter (19) uses, the distance of hand papercutter (19) and the 3rd slide (18) is regulated by lowering or hoisting gear (26), change the height of hand papercutter (19), regulate the distance of hand papercutter (19) and cut paper groove (4), control the height of hand papercutter (19) cutting edge to cut paper groove (4), to reach the object controlling to cut the thickness of logical core paper.
8. rice paper machining robot device according to claim 1, it is characterized in that: when described hand papercutter (19) moves back and forth cutting Medulla Tetrapanacis core (20), hand papercutter (19) moves back and forth as anterior-posterior horizontal, hand papercutter (19) moves horizontally to the right simultaneously, and the track of hand papercutter (19) movement is horizontal shifting and the combination moved horizontally to the right.
9. rice paper machining robot device according to claim 1, it is characterized in that: when described 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), first travel switch (27) by its Signal transmissions to controller (6), 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 move backward, when the induction pieces of the 3rd dynamical element (9) moves to the second travel switch (28), second travel switch (28) by its Signal transmissions to controller (6), controller (6) controls the 3rd dynamical element (9) band movable knife rack (25) and hand papercutter (19) moves forward, so constantly circulation, control hand papercutter (19) reciprocating cutting Medulla Tetrapanacis core (20).
10. rice paper machining robot device according to claim 1, is characterized in that: the direction of described hand papercutter (19) movement is identical with the direction that Medulla Tetrapanacis core (20) rolls; Include hand papercutter (19) to move right, Medulla Tetrapanacis core (20) rolls to the right.
CN201510268315.9A 2015-05-22 2015-05-22 Rice paper machining robot device Active CN104894910B (en)

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