CN104924336A - Intelligent pith paper cutting robot - Google Patents

Intelligent pith paper cutting robot Download PDF

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Publication number
CN104924336A
CN104924336A CN201510323509.4A CN201510323509A CN104924336A CN 104924336 A CN104924336 A CN 104924336A CN 201510323509 A CN201510323509 A CN 201510323509A CN 104924336 A CN104924336 A CN 104924336A
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dynamical
rotary
sensor
line
translation
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CN201510323509.4A
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CN104924336B (en
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郑运婷
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郑运婷
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B26HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26DCUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D1/00Cutting 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
    • B26D1/01Cutting 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
    • B26D1/46Cutting 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 an endless band-knife or the like
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B26HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26DCUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/02Means for moving the cutting member into its operative position for cutting
    • B26D5/06Means for moving the cutting member into its operative position for cutting by electrical means

Abstract

An intelligent pith paper cutting robot comprises a cutting device, an upper movable turntable, a lower movable turntable, a frame and a controller, wherein the cutting device, the upper movable turntable and the lower movable turntable are mounted on the frame. When the intelligent pith paper cutting robot is used, the controller controls the upper movable turntable or the lower movable turntable to move to a cutting position and controls a cutting line of the cutting device to cut pith cores in the upper movable turntable or the lower movable turntable, and the pith cores are cut into pith paper by such continuous cycle. Compared with a traditional manual pith paper cutting device, the intelligent pith paper cutting robot has the advantages that machining efficiency is improved, and the processing quality of the pith paper is enhanced.

Description

Intelligence rice paper cutting robot
Technical field
The present invention relates to a kind of rice paper processing equipment, particularly a kind of intelligent rice paper cutting robot.
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 intelligent rice paper cutting robot 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 intelligent rice paper cutting robot is provided, improve the working (machining) efficiency of rice paper.
The technical solution adopted in the present invention is: described intelligent rice paper cutting robot, includes cutter sweep, upper movable roundabout, lower movable roundabout, frame and controller, and cutter sweep, upper movable roundabout and lower movable roundabout are installed in frame; Cutter sweep comprises and wiredly cuts device and translating device, line cuts device and includes cutting rack, line of cut, driving wheel, the first follower, the second follower, the 3rd follower and cutting motor, the wheel shaft of driving wheel, the first follower, the second follower and the 3rd follower and cutting rack move and are connected, the support of cutting motor is connected with cutting rack, the rotating shaft of cutting motor is connected with driving wheel, and line of cut and driving wheel, the first follower, the second follower and the 3rd passive moving in turn are connected; Translating device includes translation dynamical element, translation groove and translating base, translation groove is connected with frame, translation groove and translating base move and are connected, cutting rack is connected with translating base, the shell of translation dynamical element is connected with translation groove, and the line shaft of translation dynamical element is connected with translating base, utilizes translating device band moving-wire to cut device and moves; Upper movable roundabout includes mobile device and top rotary table mould, and upper mobile device is connected with frame, and top rotary table mould is connected with upper mobile device; Upper mobile device includes dynamical element, upper hopper chute and upper saddle, the shell of upper dynamical element and upper hopper chute connect with frame, the line shaft of upper dynamical element is connected with upper saddle, and upper saddle and upper hopper chute move and be connected, and in utilization, dynamical element drives upper saddle to move; Top rotary table mould includes top rotary table seat, top rotary table motor, upper driven wheel, upper guiding die plate and patrix cylinder, upper guiding die plate is connected with patrix cylinder, patrix cylinder and top rotary table seat move and are connected, patrix cylinder is provided with driven gear, top rotary table seat is connected with the shell of top rotary table motor, the rotating shaft of top rotary table motor is connected with upper driven wheel, and upper driven wheel engages with upper driven gear, is rotated in top rotary table seat by guiding die plate in top rotary table driven by motor and patrix cylinder; The shell of top rotary table motor is connected with upper saddle, and upper mobile device drives top rotary table mold movement by upper saddle; Lower movable roundabout includes lower mobile device and lower rotary table mould, and lower mobile device is connected with frame, and lower rotary table mould is connected with upper mobile device; Lower mobile device includes lower dynamical element, gliding groove and lower slider, shell and the gliding groove of lower dynamical element connect with frame, the line shaft of lower dynamical element is connected with lower slider, and lower slider and gliding groove move and be connected, and utilizes lower dynamical element to drive lower slider to move; Lower rotary table mould includes lower rotary table seat, lower rotary table motor, lower driven wheel, lower guiding die plate and counterdie cylinder, lower guiding die plate is connected with counterdie cylinder, counterdie cylinder and lower rotary table seat move and are connected, counterdie cylinder is provided with lower driven gear, lower rotary table seat is connected with the shell of lower rotary table motor, the rotating shaft of lower rotary table motor is connected with lower driven wheel, and lower driven wheel engages with lower driven gear, is rotated in lower rotary table seat by guiding die plate under lower rotary table driven by motor and counterdie cylinder; The shell of lower rotary table motor is connected with lower slider, and lower mobile device drives lower rotary table mold movement by lower slider; Controller is provided with automatic switch, first sensor, the second sensor, the 3rd sensor, four-sensor, the 5th sensor, the 6th sensor, the 7th sensor and shutdown switch; The shell of translation dynamical element is located at by first sensor, the second sensor and the 3rd sensor, first sensor is between the second sensor and the 3rd sensor, the line shaft of translation dynamical element is located at sensing element, for controlling the stroke of translation dynamical element; The shell of dynamical element is located at by four-sensor and the 5th sensor, and the line shaft of dynamical element is located at sensing element, for controlling the stroke of upper dynamical element; The shell of lower dynamical element is located at by 6th sensor and the 7th sensor, and the line shaft of lower dynamical element is located at sensing element, for controlling the stroke of lower dynamical element.
The using method of intelligence rice paper cutting robot is: during work, is loaded by Medulla Tetrapanacis core in the top rotary table mould of upper movable roundabout, utilizes controller to control upper dynamical element and drives upper movable roundabout to move down; While upper movable roundabout moves down, Medulla Tetrapanacis core is loaded in the lower rotary table mould of lower movable roundabout; Upper movable roundabout moves to line when cutting position, and the induction pieces of upper dynamical element line shaft is close to four-sensor, and four-sensor is by its Signal transmissions to controller, and controller controls upper dynamical element to be stopped, and upper movable roundabout stops mobile; After upper movable roundabout stopping is mobile, controller controls translation dynamical element and drives cutter sweep to move, when in the first introducing port position that cutter sweep moves to top rotary table mould, the induction pieces of translation dynamical element line shaft is close to first sensor, first sensor is by its Signal transmissions to controller, and controller controls translation dynamical element to be stopped; After translation dynamical element stops, controller controls cutting motor and drives line of cut to rotate, after line of cut rotates, controller controls top rotary table driven by motor top rotary table mold rotation, simultaneously, controller controls translation dynamical element and drives cutter sweep to move, and utilizes the Medulla Tetrapanacis core in the line of cut cutting top rotary table mould of rotation; Along with rotation and the cutter sweep movement of top rotary table mould, the line of cut of rotation is along the upper guiding die plate cutting Medulla Tetrapanacis core of top rotary table mould; When the induction pieces of translation dynamical element line shaft is close to the second sensor, second sensor by its Signal transmissions to controller, controller controls translation dynamical element and top rotary table reset motor, translation dynamical element drives cutter sweep reset movement, and rotary tray motor drives top rotary table mould to reset and rotates; When line of cut moves to the first introducing port position, the induction pieces of translation dynamical element line shaft is close to first sensor, first sensor by its Signal transmissions to controller, controller controls top rotary table mould and cutting motor stops operating, translation dynamical element continues to drive cutter sweep to move, the line of cut of cutter sweep is made to leave top rotary table mould, when the induction pieces of translation dynamical element line shaft is close to the 3rd sensor, 3rd sensor is by its Signal transmissions to controller, and controller controls translation dynamical element to be stopped; After the line of cut of cutter sweep leaves top rotary table mould, controller controls upper dynamical element and drives upper movable roundabout to move up reset, when upper dynamical element resets, the induction pieces of upper dynamical element line shaft is close to the 5th sensor, 5th sensor is by its Signal transmissions to controller, and controller controls upper dynamical element to be stopped; Open top rotary table mould and the Medulla Tetrapanacis core of well cutting is expanded into rice paper; After upper dynamical element stops, upper movable roundabout resets, and controller controls lower dynamical element and drives lower movable roundabout to move up; While lower movable roundabout moves up, Medulla Tetrapanacis core is loaded in the top rotary table mould of upper movable roundabout; Lower movable roundabout moves to line when cutting position, and the induction pieces of lower dynamical element line shaft is close to the 6th sensor, and the 6th sensor is by its Signal transmissions to controller, and controller controls lower dynamical element to be stopped, and lower movable roundabout stops mobile; After lower movable roundabout stops, controller controls translation dynamical element and drives cutter sweep to move, when in the second introducing port position that cutter sweep moves to lower rotary table mould, the induction pieces of translation dynamical element line shaft is close to first sensor, first sensor is by its Signal transmissions to controller, and controller controls translation dynamical element to be stopped; After translation dynamical element stops, controller controls cutting motor and drives line of cut to rotate, after line of cut rotates, controller controls lower rotary table driven by motor lower rotary table mold rotation, simultaneously, controller controls translation dynamical element and drives cutter sweep to move, and utilizes the Medulla Tetrapanacis core in the line of cut cutting lower rotary table mould of rotation; Along with rotation and the cutter sweep movement of lower rotary table mould, the line of cut of rotation is along the lower guiding die plate cutting Medulla Tetrapanacis core of lower rotary table mould; When the induction pieces of translation dynamical element line shaft is close to the second sensor, second sensor by its Signal transmissions to controller, controller controls translation dynamical element and top rotary table reset motor, translation dynamical element drives cutter sweep reset movement, and rotary tray motor drives top rotary table mould to reset and rotates; When line of cut moves to the second introducing port position, the induction pieces of translation dynamical element line shaft is close to first sensor, first sensor by its Signal transmissions to controller, controller controls lower rotary table mould and cutting motor stops operating, translation dynamical element continues to drive cutter sweep to move, the line of cut of cutter sweep is made to leave lower rotary table mould, when the induction pieces of translation dynamical element line shaft is close to the 3rd sensor, 3rd sensor is by its Signal transmissions to controller, and controller controls translation dynamical element to be stopped; After the line of cut of cutter sweep leaves lower rotary table mould, controller controls lower dynamical element and drives lower movable roundabout to move down reset, when lower dynamical element resets, the induction pieces of lower dynamical element line shaft is close to the 7th sensor, 7th sensor is by its Signal transmissions to controller, and controller controls lower dynamical element to be stopped; Open lower rotary table mould and the Medulla Tetrapanacis core of well cutting is expanded into rice paper; So constantly circulation.
The invention has the beneficial effects as follows: intelligent rice paper cutting robot, controller is utilized to control to cut movable roundabout or lower movable roundabout moves to cleavage, the line of cut utilizing controller to control cutter sweep cuts Medulla Tetrapanacis core in upper movable roundabout or lower movable roundabout, so constantly Medulla Tetrapanacis core is cut into rice paper by circulation, intelligence rice paper cutting 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 intelligent rice paper cutting robot;
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 intelligent rice paper cutting robot shown in Fig. 1 and Fig. 2, described intelligent rice paper cutting robot, include cutter sweep 1, upper movable roundabout 2, lower movable roundabout 3, frame 4 and controller 5, cutter sweep 1, upper movable roundabout 2 and lower movable roundabout 3 are installed in frame 4; Cutter sweep 1 comprises and wiredly cuts device 35 and translating device 36, line cuts device 35 and includes cutting rack 6, line of cut 7, driving wheel 8, first follower 9, second follower 10, the 3rd follower 11 and cutting motor 12, the wheel shaft of driving wheel 8, first follower 9, second follower 10 and the 3rd follower 11 and cutting rack 6 move and are connected, the support of cutting motor 12 is connected with cutting rack 6, the rotating shaft of cutting motor 12 is connected with driving wheel 8, and line of cut 7 moves with driving wheel 8, first follower 9, second follower 10 and the 3rd follower 11 and is connected; Translating device 36 includes translation dynamical element 37, translation groove 38 and translating base 39, translation groove 38 is connected with frame 4, translation groove 38 is connected with translating base 39 is dynamic, cutting rack 6 is connected with translating base 39, the shell of translation dynamical element 37 is connected with translation groove 38, and the line shaft of translation dynamical element 37 is connected with translating base 39, utilizes translating device 36 to be with moving-wire to cut device 35 and moves; Upper movable roundabout 2 includes mobile device 13 and top rotary table mould 14, and upper mobile device 13 is connected with frame 4, and top rotary table mould 14 is connected with upper mobile device 13; Upper mobile device 13 includes dynamical element 15, upper hopper chute 16 and upper saddle 17, the shell of upper dynamical element 15 and upper hopper chute 16 connect with frame 4, the line shaft of upper dynamical element 15 is connected with upper saddle 17, upper saddle 17 is connected with upper hopper chute 16 is dynamic, and in utilization, dynamical element 15 drives upper saddle 17 to move; Top rotary table mould 14 includes top rotary table seat 18, top rotary table motor 19, upper driven wheel 20, upper guiding die plate 21 and patrix cylinder 22, upper guiding die plate 21 is connected with patrix cylinder 22, patrix cylinder 22 is connected with top rotary table seat 18 is dynamic, patrix cylinder 22 is provided with driven gear 23, top rotary table seat 18 is connected with the shell of top rotary table motor 19, the rotating shaft of top rotary table motor 19 is connected with upper driven wheel 20, upper driven wheel 20 engages with upper driven gear 23, drives upper guiding die plate 21 and patrix cylinder 22 to rotate in top rotary table seat 18 by top rotary table motor 19; The shell of top rotary table motor 19 is connected with upper saddle 17, and upper mobile device 13 drives top rotary table mould 14 to move by upper saddle 17; Lower movable roundabout 3 includes lower mobile device 24 and lower rotary table mould 25, and lower mobile device 24 is connected with frame 4, and lower rotary table mould 25 is connected with upper mobile device 24; Lower mobile device 24 includes lower dynamical element 26, gliding groove 27 and lower slider 28, the shell of lower dynamical element 26 and gliding groove 27 connect with frame 4, the line shaft of lower dynamical element 26 is connected with lower slider 28, lower slider 28 is connected with gliding groove 27 is dynamic, utilizes lower dynamical element 26 to drive lower slider 28 to move; Lower rotary table mould 25 includes lower rotary table seat 29, lower rotary table motor 30, lower driven wheel 31, lower guiding die plate 32 and counterdie cylinder 33, lower guiding die plate 32 is connected with counterdie cylinder 33, counterdie cylinder 33 is connected with lower rotary table seat 29 is dynamic, counterdie cylinder 33 is provided with lower driven gear 34, lower rotary table seat 29 is connected with the shell of lower rotary table motor 30, the rotating shaft of lower rotary table motor 30 is connected with lower driven wheel 31, lower driven wheel 31 engages with lower driven gear 34, drives lower guiding die plate 32 and counterdie cylinder 33 to rotate in lower rotary table seat 29 by lower rotary table motor 30; The shell of lower rotary table motor 30 is connected with lower slider 28, and lower mobile device 24 drives lower rotary table mould 25 to move by lower slider 28; Controller 5 is provided with automatic switch 40, first sensor 41, second sensor 42, the 3rd sensor 43, four-sensor 44, the 5th sensor 45, the 6th sensor 46, the 7th sensor 47 and shutdown switch 54; The shell of translation dynamical element 37 is located at by first sensor 41, second sensor 42 and the 3rd sensor 43, first sensor 41 is between the second sensor 42 and the 3rd sensor 43, the line shaft of translation dynamical element 37 is located at sensing element, for controlling the stroke of translation dynamical element 37; The shell of dynamical element 15 is located at by four-sensor 44 and the 5th sensor 45, and the line shaft of dynamical element 15 is located at sensing element, for controlling the stroke of upper dynamical element 15; The shell of lower dynamical element 26 is located at by 6th sensor 46 and the 7th sensor 47, and the line shaft of lower dynamical element 26 is located at sensing element, for controlling the stroke of lower dynamical element 26.
The using method of intelligence rice paper cutting robot is: during work, loaded by Medulla Tetrapanacis core 48 in the top rotary table mould 14 of upper movable roundabout 2, utilizes controller 5 to control upper dynamical element 15 and drives upper movable roundabout 2 to move down, while upper movable roundabout 2 moves down, Medulla Tetrapanacis core 48 is loaded in the lower rotary table mould 25 of lower movable roundabout 3, upper movable roundabout 2 moves to line when cutting position, and the induction pieces of upper dynamical element 15 line shaft is close to four-sensor 44, and four-sensor 44 is by its Signal transmissions to controller 5, and controller 5 controls upper dynamical element 15 to be stopped, and upper movable roundabout 2 stops mobile, after upper movable roundabout 2 stopping is mobile, controller 5 controls translation dynamical element 37 and drives cutter sweep 1 to move, when in the first introducing port 49 position that cutter sweep 1 moves to top rotary table mould 14, the induction pieces of translation dynamical element 37 line shaft is close to first sensor 41, first sensor 41 is by its Signal transmissions to controller 5, and controller 5 controls translation dynamical element 37 to be stopped, after translation dynamical element 37 stops, controller 5 controls cutting motor 12 and drives line of cut 7 to rotate, after line of cut 7 rotates, controller 5 controls top rotary table motor 19 and drives top rotary table mould 14 to rotate, simultaneously, controller 5 controls translation dynamical element 37 and drives cutter sweep 1 to move, and the line of cut 7 that utilization rotates cuts the Medulla Tetrapanacis core 48 in top rotary table mould 14, along with rotation and cutter sweep 1 movement of top rotary table mould 14, the line of cut 7 of rotation cuts Medulla Tetrapanacis core 48 along the upper guiding die plate 21 of top rotary table mould 14, when the induction pieces of translation dynamical element 37 line shaft is close to the second sensor 42, second sensor 42 by its Signal transmissions to controller 5, controller 5 controls translation dynamical element 37 and top rotary table motor 19 resets, translation dynamical element 37 drives cutter sweep 1 reset movement, and rotary tray motor 19 drives top rotary table mould 14 to reset and rotates, when line of cut 7 moves to the first introducing port 49 position, the induction pieces of translation dynamical element 37 line shaft is close to first sensor 41, first sensor 41 by its Signal transmissions to controller 5, controller 5 controls top rotary table mould 14 and cutting motor 12 stops operating, translation dynamical element 37 continues to drive cutter sweep 1 to move, the line of cut 7 of cutter sweep 1 is made to leave top rotary table mould 14, when the induction pieces of translation dynamical element 37 line shaft is close to the 3rd sensor 43, 3rd sensor 43 by its Signal transmissions to controller 5, controller 5 controls translation dynamical element 37 to be stopped, after the line of cut 7 of cutter sweep 1 leaves top rotary table mould 14, controller 5 controls upper dynamical element 15 and drives upper movable roundabout 2 to move up reset, when upper dynamical element 15 resets, the induction pieces of upper dynamical element 15 line shaft is close to the 5th sensor 45,5th sensor 45 is by its Signal transmissions to controller 5, and controller 5 controls upper dynamical element 15 to be stopped, open top rotary table mould 14 and the Medulla Tetrapanacis core 48 of well cutting is expanded into rice paper, after upper dynamical element 15 stops, upper movable roundabout 2 resets, and controller 5 controls lower dynamical element 26 and drives lower movable roundabout 3 to move up, while lower movable roundabout 3 moves up, Medulla Tetrapanacis core 48 is loaded in the top rotary table mould 14 of upper movable roundabout 2, lower movable roundabout 3 moves to line when cutting position, the induction pieces of lower dynamical element 26 line shaft close to the 6th sensor the 46, six sensor 46 by its Signal transmissions to controller 5, controller 5 controls lower dynamical element 26 to be stopped, and lower movable roundabout 3 stops mobile, after lower movable roundabout 3 stops, controller 5 controls translation dynamical element 37 and drives cutter sweep 1 to move, when in the second introducing port 50 position that cutter sweep 1 moves to lower rotary table mould 25, the induction pieces of translation dynamical element 37 line shaft is close to first sensor 41, first sensor 41 is by its Signal transmissions to controller 5, and controller 5 controls translation dynamical element 37 to be stopped, after translation dynamical element 37 stops, controller 5 controls cutting motor 12 and drives line of cut 7 to rotate, after line of cut 7 rotates, controller 5 controls lower rotary table motor 30 and drives lower rotary table mould 25 to rotate, simultaneously, controller 5 controls translation dynamical element 37 and drives cutter sweep 1 to move, and the line of cut 7 that utilization rotates cuts the Medulla Tetrapanacis core 48 in lower rotary table mould 25, along with rotation and cutter sweep 1 movement of lower rotary table mould 25, the line of cut 7 of rotation cuts Medulla Tetrapanacis core 48 along the lower guiding die plate 32 of lower rotary table mould 25, when the induction pieces of translation dynamical element 37 line shaft is close to the second sensor 42, second sensor 42 by its Signal transmissions to controller 5, controller 5 controls translation dynamical element 37 and top rotary table motor 19 resets, translation dynamical element 37 drives cutter sweep 1 reset movement, and rotary tray motor 19 drives top rotary table mould 14 to reset and rotates, when line of cut 7 moves to the second introducing port 50 position, the induction pieces of translation dynamical element 37 line shaft is close to first sensor 41, first sensor 41 by its Signal transmissions to controller 5, controller 5 controls lower rotary table mould 25 and cutting motor 12 stops operating, translation dynamical element 37 continues to drive cutter sweep 1 to move, the line of cut 7 of cutter sweep 1 is made to leave lower rotary table mould 25, when the induction pieces of translation dynamical element 37 line shaft is close to the 3rd sensor 43, 3rd sensor 43 by its Signal transmissions to controller 5, controller 5 controls translation dynamical element 37 to be stopped, after the line of cut 7 of cutter sweep 1 leaves lower rotary table mould 25, controller 5 controls lower dynamical element 26 and drives lower movable roundabout 3 to move down reset, when lower dynamical element 26 resets, the induction pieces of lower dynamical element 26 line shaft is close to the 7th sensor 47,7th sensor 47 is by its Signal transmissions to controller 5, and controller 5 controls lower dynamical element 26 to be stopped, open lower rotary table mould 25 and the Medulla Tetrapanacis core 48 of well cutting is expanded into rice paper, so constantly circulation.
Move by the track of helix to implement line of cut 4, upper guiding die plate 21 is provided with guide groove 51, and the shape of upper guide groove 51 is identical with helix, and upper guide groove 51 is provided with the first introducing port 49, and upper guide groove 51 is communicated with the first introducing port 49; Lower guiding die plate 32 is provided with lower guide groove 52, and the shape of lower guide groove 52 is identical with helix, and lower guide groove 52 is provided with the second introducing port 50, and lower guide groove 52 is communicated with the second introducing port 50.
Cut Medulla Tetrapanacis core 48 in top rotary table mould 14 and lower rotary table mould 25 to implement line of cut 7, the center line of upper hopper chute 16 is identical with the center line of gliding groove 27, and the center line of upper saddle 17 is identical with the center line of lower slider 28; The size of upper hopper chute 16 and the measure-alike of gliding groove 27, the size of upper saddle 17 and the center line of lower slider 28 measure-alike; Line of cut 7 is the blockade line of annular, line of cut 7 and driving wheel 8, first follower 9, second follower 10 and the 3rd follower 11 tangent.
In order to implement patrix cylinder 22 and top rotary table seat 18 dynamic be connected and implement counterdie cylinder 33 be connected with lower rotary table seat 29 is dynamic, be evenly equipped with multiple spin between patrix cylinder 22 and top rotary table seat 18, between counterdie cylinder 33 and lower rotary table seat 29, be evenly equipped with multiple spin; When top rotary table motor 19 rotates, top rotary table motor 19 drives the upper driven gear 23 of patrix cylinder 22 to rotate, and upper driven gear 23 drives patrix cylinder 22 to rotate in the spin of top rotary table seat 18; Lower rotary table motor 30 drives lower driven wheel 31 to rotate, and lower driven wheel 31 drives counterdie cylinder 33 to rotate in the spin of lower rotary table seat 29.
In order to make the Medulla Tetrapanacis core 48 in top rotary table mould 14 identical with the specification that the Medulla Tetrapanacis core 48 in lower rotary table mould 25 cuts out, the axis of patrix cylinder 22 and the axis of counterdie cylinder 33 are parallel to each other, the axis of patrix cylinder 22 and the axis of counterdie cylinder 33 on same vertical plane, the internal diameter of the internal diameter of patrix cylinder 22 and height and counterdie cylinder 33 and highly identical.
The workflow of intelligence rice paper cutting robot is: dress Medulla Tetrapanacis core 48 → top rotary table mould 14 enter cleavage → first time enter cleavage → cutting → first time first time exit cleavage → top rotary table mould 14 and reset → lower rotary table mould 25 enters cleavage → second time and enters that cleavage → second time cutting → exit cleavage → lower rotary table mould 25 for the second time to reset → like this is continuous to circulate.
The workflow of intelligence rice paper cutting robot is specifically:
Dress Medulla Tetrapanacis core 48: the upper guiding die plate 21 opening top rotary table mould 14, loads Medulla Tetrapanacis core 48 in patrix cylinder 22, then cover back guiding die plate 21; While top rotary table mould 14 moves down, open the lower guiding die plate 32 of lower rotary table mould 25, Medulla Tetrapanacis core 48 is loaded in counterdie cylinder 33, then cover back lower guiding die plate 32; After Medulla Tetrapanacis core 48 in patrix cylinder 22 has cut reset, lower rotary table mould 25 has moved up, and while lower rotary table mould 25 moves up, opens guiding die plate 21, and just Medulla Tetrapanacis core 48 loads in patrix cylinder 22, then covers back guiding die plate 21; So constantly circulation;
Top rotary table mould 14 enters cleavage: after Medulla Tetrapanacis core 48 is loaded patrix cylinder 22, and utilize controller 5 to control upper dynamical element 15 and be with upper saddle 17 to move down in upper hopper chute 16, upper saddle 17 is with top rotary table mould 14 to cut position to line and is moved; When upper movable roundabout 2 move to line cut position time, controller 5 controls upper movable roundabout 2 to be stopped moving down;
First time enters cleavage: after upper movable roundabout 2 stops, controller 5 controls translation dynamical element 37 and is with translating base 39 to move in translation groove 38, translating base 39 is with cutting rack 6 to be moved to the left, when the line of cut 7 of cutter sweep 1 moves in the first introducing port 49 position of top rotary table mould 14, controller 5 controls translation dynamical element 37 to be stopped;
First time cutting: after translation dynamical element 37 stops, controller 5 controls cutting motor 12 and drives driving wheel 8 to rotate, driving wheel 8 drives the first follower 9, second follower 10 and the 3rd follower 11 to rotate by line of cut 7, makes line of cut 7 do ring rotation motion; After line of cut 7 ring rotation, controller 5 controls top rotary table motor 19 and drives upper driven wheel 20 to rotate, and upper driven wheel 20 is with patrix cylinder 22 to rotate by upper driven gear 23; After patrix cylinder 22 rotates, controller 5 controls translation dynamical element 37 and is with translating base 39 to continue to be moved to the left in translation groove 38, the line of cut 7 of ring rotation is moved along upper guide groove 51 ecto-entad of upper guiding die plate 21, utilizes line of cut 7 to cut Medulla Tetrapanacis core 48 in patrix cylinder 22;
First time exits cleavage: after the Medulla Tetrapanacis core 48 in patrix cylinder 22 is cut into rice paper by line of cut 7, and controller 5 controls top rotary table motor 19 and drives upper driven wheel 20 to reverse, and upper driven wheel 20 drives patrix cylinder 22 to reverse by upper driven gear 23; Meanwhile, controller 5 controls translation dynamical element 37 and drives translating base 39 to move right, and line of cut 7 is moved from inside to outside along the upper guide groove 51 of upper guiding die plate 21; When line of cut 7 moves to the first introducing port 49 position, controller 5 controls top rotary table mould 14 and cutting motor 12 stops operating; After line of cut 7 moves to the first introducing port 49 position, translation dynamical element 37 continues to drive translating base 39 to move right, and translating base 39 drives cutting rack 6 to move right, and makes line of cut 7 leave the first introducing port 49, when translation dynamical element 37 resets, controller 5 controls translation dynamical element 37 to be stopped;
Top rotary table mould 14 resets: after line of cut 7 leaves the first introducing port 49, and controller 5 controls upper dynamical element 15 and drives upper saddle 17 to drive top rotary table mould 14 to move up resets, and when upper dynamical element 15 resets, controller 5 controls to go up dynamical element 15 to be stopped;
Lower rotary table mould 25 enters cleavage: after top rotary table mould 14 resets, and controller 5 controls lower dynamical element 26 and drives lower slider 28 to move in gliding groove 27, and lower slider 28 drives lower movable roundabout 3 to move up; Lower movable roundabout 3 moves to line when cutting position, and controller 5 controls lower dynamical element 26 to be stopped, and lower movable roundabout 3 stops mobile;
Second time enters cleavage: after lower movable roundabout 3 enters cleavage, controller 5 controls translation dynamical element 37 and is with translating base 39 to move in translation groove 38, translating base 39 is with cutting rack 6 to be moved to the left, when the line of cut 7 of cutter sweep 1 moves in the second introducing port 50 position of lower rotary table mould 25, controller 5 controls translation dynamical element 37 to be stopped;
Second time cutting: after translation dynamical element 37 stops, controller 5 controls cutting motor 12 and drives driving wheel 8 to rotate, driving wheel 8 drives the first follower 9, second follower 10 and the 3rd follower 11 to rotate by line of cut 7, makes line of cut 7 do ring rotation motion; After line of cut 7 ring type rotates, controller 5 controls lower rotary table motor 30 and drives lower driven wheel 31 to rotate, and lower driven wheel 31 drives counterdie cylinder 33 to rotate by lower driven gear 34; After counterdie cylinder 33 rotates, controller 5 controls translation dynamical element 37 and is with translating base 39 to continue to be moved to the left in translation groove 38, lower guide groove 52 ecto-entad that line of cut 7 is cut along lower guiding die plate 32 moves, and utilizes line of cut 7 to cut Medulla Tetrapanacis core 48 in counterdie cylinder 33;
Second time exits cleavage: after the Medulla Tetrapanacis core 48 in counterdie cylinder 33 is cut into rice paper by line of cut 7, and controller 5 controls lower rotary table motor 30 and drives lower driven wheel 31 to reverse, and lower driven wheel 31 drives counterdie cylinder 33 to reverse by lower driven gear 34; Meanwhile, meanwhile, controller 5 controls translation dynamical element 37 and drives translating base 39 to move right, and line of cut 7 is moved from inside to outside along the lower guide groove 52 of lower guiding die plate 32; When line of cut 7 moves to the second introducing port 50 position, controller 5 controls lower rotary table mould 25 and cutting motor 12 stops operating; After line of cut 7 moves to the second introducing port 50 position, translation dynamical element 37 continues to drive translating base 39 to move right, translating base 39 drives cutting rack 6 to move right, the line of cut 7 of cutter sweep 1 is made to leave the second introducing port 50, when translation dynamical element 37 resets, controller 5 controls translation dynamical element 37 to be stopped;
Lower rotary table mould 25 resets: after line of cut 7 leaves the second introducing port 50, and controller 5 controls lower dynamical element 26 and drives lower slider 28 to drive lower rotary table mould 25 to move down reset, and when lower dynamical element 26 resets, controller 5 controls lower dynamical element 26 to be stopped.
Cut Medulla Tetrapanacis core 48 to implement line of cut 7 and exit the position of Medulla Tetrapanacis core 48, when line of cut 7 cuts Medulla Tetrapanacis core 48, top rotary table mould 14 moves in the direction of the clock, and line of cut 7 is mobile by counter clockwise direction along the upper guide groove 51 of upper guiding die plate 21; When line of cut 7 exits guide groove 51, top rotary table mould 14 is by counterclockwise rotating, and line of cut 7 moves in the direction of the clock along the upper guide groove 51 of upper guiding die plate 21; Or when line of cut 7 cuts Medulla Tetrapanacis core 48, lower rotary table mould 25 moves in the direction of the clock, line of cut 7 is mobile by counter clockwise direction along the lower guide groove 52 of lower guiding die plate 32; When line of cut 7 exits lower guide groove 52, lower rotary table mould 25 is by counterclockwise rotating, and line of cut 7 moves in the direction of the clock along the lower guide groove 52 of lower guiding die plate 32.
Conveniently Medulla Tetrapanacis core 48 is loaded patrix cylinder 22 and counterdie cylinder 33, upper guiding die plate 21 is connected with patrix cylinder 22 by hinge, and lower guiding die plate 32 is connected with counterdie cylinder 33 by link.
Upper dynamical element 15, lower dynamical element 26 and translation dynamical element 37 include various structures; Upper dynamical element 15, lower dynamical element 26 and translation dynamical element 37 are made up of hydraulic cylinder, and upper dynamical element 15, lower dynamical element 26 and translation dynamical element 37 are connected with hydraulic means, and controller 5 is connected with hydraulic means by hydraulic control line; Or upper dynamical element 15, lower dynamical element 26 and translation dynamical element 37 are made up of cylinder, upper dynamical element 15, lower dynamical element 26 and translation dynamical element 37 are connected with compressed air source unit, and controller 5 is connected with compressed air source unit by source of the gas control line; Or upper dynamical element 15, lower dynamical element 26 and translation dynamical element 37 are made up of electric pushrod, controller 5 is connected with upper dynamical element 15, lower dynamical element 26 and translation dynamical element 37 by Electronic control line.
Frame 4 is provided with stem pith of the rice-paper plant core material frame 53 and stem pith of the rice-paper plant paper stock frame 53, for filling Medulla Tetrapanacis core 48 and rice paper.

Claims (9)

1. intelligent rice paper cutting robot, it is characterized in that: described intelligent rice paper cutting robot, include cutter sweep (1), upper movable roundabout (2), lower movable roundabout (3), frame (4) and controller (5), cutter sweep (1), upper movable roundabout (2) and lower movable roundabout (3) are installed in frame (4), cutter sweep (1) comprises and wiredly cuts device (35) and translating device (36), line cuts device (35) and includes cutting rack (6), line of cut (7), driving wheel (8), first follower (9), second follower (10), 3rd follower (11) and cutting motor (12), driving wheel (8), first follower (9), the wheel shaft of the second follower (10) and the 3rd follower (11) and cutting rack (6) move and are connected, the support of cutting motor (12) is connected with cutting rack (6), the rotating shaft of cutting motor (12) is connected with driving wheel (8), line of cut (7) and driving wheel (8), first follower (9), second follower (10) and the 3rd follower (11) move and are connected, translating device (36) includes translation dynamical element (37), translation groove (38) and translating base (39), translation groove (38) is connected with frame (4), translation groove (38) is connected with translating base (39) is dynamic, cutting rack (6) is connected with translating base (39), the shell of translation dynamical element (37) is connected with translation groove (38), and the line shaft of translation dynamical element (37) is connected with translating base (39), utilizes translating device (36) to be with moving-wire to cut device (35) mobile, upper movable roundabout (2) includes mobile device (13) and top rotary table mould (14), and upper mobile device (13) is connected with frame (4), and top rotary table mould (14) is connected with upper mobile device (13), upper mobile device (13) includes dynamical element (15), upper hopper chute (16) and upper saddle (17), shell and the upper hopper chute (16) of upper dynamical element (15) connect with frame (4), the line shaft of upper dynamical element (15) is connected with upper saddle (17), upper saddle (17) is connected with upper hopper chute (16) is dynamic, and in utilization, dynamical element (15) drives upper saddle (17) mobile, top rotary table mould (14) includes top rotary table seat (18), top rotary table motor (19), upper driven wheel (20), upper guiding die plate (21) and patrix cylinder (22), upper guiding die plate (21) is connected with patrix cylinder (22), patrix cylinder (22) is connected with top rotary table seat (18) is dynamic, patrix cylinder (22) is provided with driven gear (23), top rotary table seat (18) is connected with the shell of top rotary table motor (19), the rotating shaft of top rotary table motor (19) is connected with upper driven wheel (20), upper driven wheel (20) engages with upper driven gear (23), rotated in top rotary table seat (18) by guiding die plate (21) in top rotary table motor (19) drive and patrix cylinder (22), the shell of top rotary table motor (19) is connected with upper saddle (17), and upper mobile device (13) drives top rotary table mould (14) mobile by upper saddle (17), lower movable roundabout (3) includes lower mobile device (24) and lower rotary table mould (25), and lower mobile device (24) is connected with frame (4), and lower rotary table mould (25) is connected with upper mobile device (24), lower mobile device (24) includes lower dynamical element (26), gliding groove (27) and lower slider (28), shell and the gliding groove (27) of lower dynamical element (26) connect with frame (4), the line shaft of lower dynamical element (26) is connected with lower slider (28), lower slider (28) is connected with gliding groove (27) is dynamic, utilizes lower dynamical element (26) to drive lower slider (28) mobile, lower rotary table mould (25) includes lower rotary table seat (29), lower rotary table motor (30), lower driven wheel (31), lower guiding die plate (32) and counterdie cylinder (33), lower guiding die plate (32) is connected with counterdie cylinder (33), counterdie cylinder (33) is connected with lower rotary table seat (29) is dynamic, counterdie cylinder (33) is provided with lower driven gear (34), lower rotary table seat (29) is connected with the shell of lower rotary table motor (30), the rotating shaft of lower rotary table motor (30) is connected with lower driven wheel (31), lower driven wheel (31) is engaged with lower driven gear (34), lower guiding die plate (32) and counterdie cylinder (33) is driven to rotate in lower rotary table seat (29) by lower rotary table motor (30), the shell of lower rotary table motor (30) is connected with lower slider (28), and lower mobile device (24) drives lower rotary table mould (25) mobile by lower slider (28), controller (5) is provided with automatic switch (40), first sensor (41), the second sensor (42), the 3rd sensor (43), four-sensor (44), the 5th sensor (45), the 6th sensor (46) and the 7th sensor (47), the shell of translation dynamical element (37) is located at by first sensor (41), the second sensor (42) and the 3rd sensor (43), first sensor (41) is positioned between the second sensor (42) and the 3rd sensor (43), the line shaft of translation dynamical element (37) is located at sensing element, for controlling the stroke of translation dynamical element (37), the shell of dynamical element (15) is located at by four-sensor (44) and the 5th sensor (45), and the line shaft of dynamical element (15) is located at sensing element, for controlling the stroke of upper dynamical element (15), the shell of lower dynamical element (26) is located at by 6th sensor (46) and the 7th sensor (47), and the line shaft of lower dynamical element (26) is located at sensing element, for controlling the stroke of lower dynamical element (26).
2. intelligent rice paper cutting robot according to claim 1, it is characterized in that: described upper guiding die plate (21) is provided with guide groove (51), the shape of upper guide groove (51) is identical with helix, upper guide groove (51) is provided with the first introducing port (49), and upper guide groove (51) is communicated with the first introducing port (49); Lower guiding die plate (32) is provided with lower guide groove (52), and the shape of lower guide groove (52) is identical with helix, and lower guide groove (52) is provided with the second introducing port (50), and lower guide groove (52) is communicated with the second introducing port (50).
3. intelligent rice paper cutting robot according to claim 1, is characterized in that: the center line of described upper hopper chute (16) is identical with the center line of gliding groove (27), and the center line of upper saddle (17) is identical with the center line of lower slider (28); The size of upper hopper chute (16) and the measure-alike of gliding groove (27), the size of upper saddle (17) and the center line of lower slider (28) measure-alike.
4. intelligent rice paper cutting robot according to claim 1, is characterized in that: be evenly equipped with multiple spin between described patrix cylinder (22) and top rotary table seat (18), be evenly equipped with multiple spin between counterdie cylinder (33) and lower rotary table seat (29).
5. intelligent rice paper cutting robot according to claim 1, it is characterized in that: the axis of described patrix cylinder (22) and the axis of counterdie cylinder (33) are parallel to each other, the axis of patrix cylinder (22) and the axis of counterdie cylinder (33) on same vertical plane, the internal diameter of the internal diameter of patrix cylinder (22) and height and counterdie cylinder (33) and highly identical.
6. intelligent rice paper cutting robot according to claim 1, it is characterized in that: described line of cut (7) is the blockade line of annular, and line of cut (7) is tangent with driving wheel (8), the first follower (9), the second follower (10) and the 3rd follower (11).
7. intelligent rice paper cutting robot according to claim 1, is characterized in that: described upper guiding die plate (21) is connected with patrix cylinder (22) by hinge, and lower guiding die plate (32) is connected with counterdie cylinder (33) by link.
8. intelligent rice paper cutting robot according to claim 1, it is characterized in that: described upper dynamical element (15), lower dynamical element (26) and translation dynamical element (37) are made up of hydraulic cylinder, upper dynamical element (15), lower dynamical element (26) and translation dynamical element (37) are connected with hydraulic means, and controller (5) is connected with hydraulic means by hydraulic control line; Or, upper dynamical element (15), lower dynamical element (26) and translation dynamical element (37) are made up of cylinder, upper dynamical element (15), lower dynamical element (26) and translation dynamical element (37) are connected with compressed air source unit, and controller (5) is connected with compressed air source unit by source of the gas control line; Or, upper dynamical element (15), lower dynamical element (26) and translation dynamical element (37) are made up of electric pushrod, and controller (5) is connected with upper dynamical element (15), lower dynamical element (26) and translation dynamical element (37) by Electronic control line.
9. intelligent rice paper cutting robot according to claim 1, is characterized in that: described frame (4) is provided with stem pith of the rice-paper plant core material frame (53) and stem pith of the rice-paper plant paper stock frame (53), for filling Medulla Tetrapanacis core (48) and rice paper.
CN201510323509.4A 2015-06-13 2015-06-13 Intelligent pith paper cutting robot Expired - Fee Related CN104924336B (en)

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