CN104924336B - Intelligent pith paper cutting robot - Google Patents

Intelligent pith paper cutting robot Download PDF

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Publication number
CN104924336B
CN104924336B CN201510323509.4A CN201510323509A CN104924336B CN 104924336 B CN104924336 B CN 104924336B CN 201510323509 A CN201510323509 A CN 201510323509A CN 104924336 B CN104924336 B CN 104924336B
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dynamical
rotary
mould
sensor
connect
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CN104924336A (en
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陈翡
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陈翡
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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

Intelligent 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 Medulla Tetrapanacis picture, need for Medulla Tetrapanacis core making to become rice paper;At present, when people manufacture rice paper, all processed using traditional manual method, during processing, rolled on flat board using hand rubbing Medulla Tetrapanacis core, meanwhile, hold hand papercutter continuous reciprocating cutting Medulla Tetrapanacis core, Medulla Tetrapanacis core is cut into rice paper;Due to manual operations, the work efficiency of processing is relatively low, and a kind of intelligent rice paper cutting robot has become the needs that people process rice paper.
Content of the invention
The purpose of the present invention is to overcome the deficiencies in the prior art, provides a kind of intelligent rice paper cutting robot, improves 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 includes wired cutting device and translating device, line cuts device and includes cutting rack, line of cut, drivewheel, the first follower, the second follower, the 3rd follower and cutting motor, drivewheel, the wheel shaft of 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 drivewheel, and line of cut passively moves in turn and is connected with drivewheel, the first follower, the second follower and the 3rd;Translating device includes translation dynamical element, translation groove and translating base, translation groove is connected with frame, translation groove is moved with translating base and is 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, cuts device using translating device band moving-wire 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 are connected with frame, the line shaft of upper dynamical element is connected with upper saddle, and upper saddle is moved with upper hopper chute and is connected, and drives upper saddle to move using upper dynamical element;Top rotary table mould includes top rotary table seat, top rotary table motor, upper driving gear, upper guiding die plate and upper mould cylinder, upper guiding die plate is connected with upper mould cylinder, upper mould cylinder is moved with top rotary table seat and is connected, upper mould cylinder is provided with driven gear, top rotary table seat and the cage connection of top rotary table motor, the rotating shaft of top rotary table motor is connected with upper driving gear, and upper driving gear is engaged with upper driven gear, drives upper guiding die plate and upper mould cylinder to rotate in top rotary table seat by top rotary table motor;The shell of top rotary table motor is connected with upper saddle, and upper mobile device drives top rotary table mould to move 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, the shell of lower dynamical element and gliding groove are connected with frame, the line shaft of lower dynamical element is connected with lower slider, and lower slider is moved with gliding groove and is connected, and drives lower slider to move using lower dynamical element;Lower rotary table mould includes lower rotary table seat, lower rotary table motor, lower driving gear, lower guiding die plate and lower mould cylinder, lower guiding die plate is connected with lower mould cylinder, lower mould cylinder is moved with lower rotary table seat and is connected, lower mould cylinder is provided with lower driven gear, lower rotary table seat and the cage connection of lower rotary table motor, the rotating shaft of lower rotary table motor is connected with lower driving gear, and lower driving gear is engaged with lower driven gear, drives lower guiding die plate and lower mould cylinder to rotate in lower rotary table seat by lower rotary table motor;The shell of lower rotary table motor is connected with lower slider, and lower mobile device drives lower rotary table mould to move by lower slider;Controller is provided with automatic switch, first sensor, second sensor, 3rd sensor, the 4th sensor, the 5th sensor, the 6th sensor, the 7th sensor and shutdown switch;First sensor, second sensor and 3rd sensor are located between second sensor and 3rd sensor located at the shell of translation dynamical element, first sensor, and the line shaft of translation dynamical element, located at sensing element, translates the stroke of dynamical element for control;4th sensor and the 5th sensor located at the shell of upper dynamical element, the line shaft of dynamical element located at sensing element, for controlling the stroke of upper dynamical element;6th sensor and the 7th sensor located at the shell of lower dynamical element, the line shaft of lower dynamical element located at sensing element, for controlling the stroke of lower dynamical element.
The using method of intelligent rice paper cutting robot is:During work, Medulla Tetrapanacis core is loaded in the top rotary table mould of upper movable roundabout, control upper dynamical element to drive upper movable roundabout to move down using controller;While upper movable roundabout moves down, Medulla Tetrapanacis core is loaded in the lower rotary table mould of lower movable roundabout;When upper movable roundabout moves to line and cuts position, close to the 4th sensor, by its signal transmission to controller, controller controls upper dynamical element to stop to the 4th sensor to the induction pieces of upper dynamical element line shaft, and upper movable roundabout stops moving;After upper movable roundabout stops moving, controller controls translation dynamical element to drive cutter sweep to move, when cutter sweep moves in the first introducing port position of top rotary table mould, the induction pieces of translation dynamical element line shaft are close to first sensor, by its signal transmission to controller, controller controls translation dynamical element to stop to first sensor;After translation dynamical element stops, controller controls cutting motor to drive line of cut rotation, after line of cut rotation, controller controls top rotary table motor to drive top rotary table mold rotation, simultaneously, controller controls translation dynamical element to drive cutter sweep to move, using the Medulla Tetrapanacis core in the cutting wire cutting top rotary table mould of rotation;Rotation with top rotary table mould and cutter sweep are mobile, and the line of cut of rotation is along the upper guiding die plate cutting Medulla Tetrapanacis core of top rotary table mould;When translating the induction pieces of dynamical element line shaft close to second sensor, second sensor is by its signal transmission 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 are close to first sensor, first sensor is by its signal transmission to controller, controller controls top rotary table mould and cutting motor to stop 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 translating the induction pieces of dynamical element line shaft close to 3rd sensor, by its signal transmission to controller, controller controls translation dynamical element to stop to 3rd sensor;After the line of cut of cutter sweep leaves top rotary table mould, controller controls upper dynamical element to drive upper movable roundabout to move up reset, when upper dynamical element resets, the induction pieces of upper dynamical element line shaft are close to the 5th sensor, by its signal transmission to controller, controller controls upper dynamical element to stop to 5th sensor;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 to drive 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;When lower movable roundabout moves to line and cuts position, close to the 6th sensor, by its signal transmission to controller, controller controls lower dynamical element to stop to the 6th sensor to the induction pieces of lower dynamical element line shaft, and lower movable roundabout stops moving;After lower movable roundabout stops, controller controls translation dynamical element to drive cutter sweep to move, when cutter sweep moves in the second introducing port position of lower rotary table mould, the induction pieces of translation dynamical element line shaft are close to first sensor, by its signal transmission to controller, controller controls translation dynamical element to stop to first sensor;After translation dynamical element stops, controller controls cutting motor to drive line of cut rotation, after line of cut rotation, controller controls lower rotary table motor to drive lower rotary table mold rotation, simultaneously, controller controls translation dynamical element to drive cutter sweep to move, using the Medulla Tetrapanacis core in the cutting wire cutting lower rotary table mould of rotation;Rotation with lower rotary table mould and cutter sweep are mobile, and the line of cut of rotation is along the lower guiding die plate cutting Medulla Tetrapanacis core of lower rotary table mould;When translating the induction pieces of dynamical element line shaft close to second sensor, second sensor is by its signal transmission 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 are close to first sensor, first sensor is by its signal transmission to controller, controller controls lower rotary table mould and cutting motor to stop 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 translating the induction pieces of dynamical element line shaft close to 3rd sensor, by its signal transmission to controller, controller controls translation dynamical element to stop to 3rd sensor;After the line of cut of cutter sweep leaves lower rotary table mould, controller controls lower dynamical element to drive lower movable roundabout to move down reset, when lower dynamical element resets, the induction pieces of lower dynamical element line shaft are close to the 7th sensor, by its signal transmission to controller, controller controls lower dynamical element to stop to 7th sensor;Open lower rotary table mould and the Medulla Tetrapanacis core of well cutting is expanded into rice paper;So constantly circulate.
The invention has the beneficial effects as follows:Intelligent rice paper cutting robot, cut upper movable roundabout using controller control or lower movable roundabout moves to cleavage, using Medulla Tetrapanacis core in movable roundabout in the cutting wire cutting of controller control cutter sweep or lower movable roundabout, so constantly Medulla Tetrapanacis core is cut into rice paper by circulation, intelligent rice paper cutting robot is compared with traditional hand cut rice paper, improve working (machining) efficiency, and the quality that improve processing rice paper.
Brief description
Fig. 1 is the structural representation of intelligent rice paper cutting robot;
Fig. 2 is the top view of Fig. 1.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is further detailed:
The structural representation of intelligent rice paper cutting robot shown in Fig. 1 and the top view of Fig. 1 shown in 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 includes wired cutting device 35 and translating device 36, line cuts device 35 and includes cutting rack 6, line of cut 7, drivewheel 8, the first follower 9, the second follower 10, the 3rd follower 11 and cutting motor 12, drivewheel 8, the wheel shaft of the first follower 9, 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 drivewheel 8, and line of cut 7 moves and is connected with drivewheel 8, the first follower 9, the second follower 10 and the 3rd follower 11;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 moved with translating base 39 and is connected, 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, cuts device 35 using translating device 36 band moving-wire 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, the shell of upper dynamical element 15 and upper hopper chute 16 are connected with frame 4, the line shaft of upper dynamical element 15 is connected with upper saddle 17, upper saddle 17 is moved with upper hopper chute 16 and is connected, and drives upper saddle 17 mobile using upper dynamical element 15;Top rotary table mould 14 includes top rotary table seat 18, top rotary table motor 19, upper driving gear 20, upper guiding die plate 21 and upper mould cylinder 22, upper guiding die plate 21 is connected with upper mould cylinder 22, upper mould cylinder 22 is moved with top rotary table seat 18 and is connected, upper mould cylinder 22 is provided with driven gear 23, top rotary table seat 18 and the cage connection of top rotary table motor 19, the rotating shaft of top rotary table motor 19 is connected with upper driving gear 20, upper driving gear 20 is engaged with upper driven gear 23, drives upper guiding die plate 21 and upper mould 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 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 lower 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 are connected with frame 4, the line shaft of lower dynamical element 26 is connected with lower slider 28, lower slider 28 is moved with gliding groove 27 and is connected, and drives lower slider 28 mobile using lower dynamical element 26;Lower rotary table mould 25 includes lower rotary table seat 29, lower rotary table motor 30, lower driving gear 31, lower guiding die plate 32 and lower mould cylinder 33, lower guiding die plate 32 is connected with lower mould cylinder 33, lower mould cylinder 33 is moved with lower rotary table seat 29 and is connected, lower mould cylinder 33 is provided with lower driven gear 34, lower rotary table seat 29 and the cage connection of lower rotary table motor 30, the rotating shaft of lower rotary table motor 30 is connected with lower driving gear 31, lower driving gear 31 is engaged with lower driven gear 34, drives lower guiding die plate 32 and lower mould 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 mobile by lower slider 28;Controller 5 is provided with automatic switch 40, first sensor 41, second sensor 42,3rd sensor 43, the 4th sensor 44, the 5th sensor 45, the 6th sensor 46, the 7th sensor 47 and shutdown switch 55;First sensor 41, second sensor 42 and 3rd sensor 43 are located at the shell of translation dynamical element 37, first sensor 41 is located between second sensor 42 and 3rd sensor 43, the line shaft of translation dynamical element 37 is provided with sensing element, for controlling the stroke of translation dynamical element 37;, located at the shell of upper dynamical element 15, the line shaft of upper dynamical element 15 is provided with sensing element, for controlling the stroke of upper dynamical element 15 for 4th sensor 44 and the 5th sensor 45;, located at the shell of lower dynamical element 26, the line shaft of lower dynamical element 26 is provided with sensing element, for controlling the stroke of lower dynamical element 26 for 6th sensor 46 and the 7th sensor 47.
The using method of intelligent rice paper cutting robot is:During work, Medulla Tetrapanacis core 48 is loaded in the top rotary table mould 14 of upper movable roundabout 2, control upper dynamical element 15 to drive upper movable roundabout 2 to move down using controller 5;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;When upper movable roundabout 2 moves to line and cuts position, close to the 4th sensor 44, by its signal transmission to controller 5, controller 5 controls upper dynamical element 15 to stop to the 4th sensor 44 to the induction pieces of upper dynamical element 15 line shaft, and upper movable roundabout 2 stops moving;After upper movable roundabout 2 stops moving, controller 5 controls translation dynamical element 37 to drive cutter sweep 1 mobile, when cutter sweep 1 moves in the first introducing port 49 position of top rotary table mould 14, the induction pieces of translation dynamical element 37 line shaft are close to first sensor 41, by its signal transmission to controller 5, controller 5 controls translation dynamical element 37 to stop to first sensor 41;After translation dynamical element 37 stops, controller 5 controls cutting motor 12 to drive line of cut 7 to rotate, after line of cut 7 rotation, controller 5 controls top rotary table motor 19 to drive top rotary table mould 14 to rotate, simultaneously, controller 5 controls translation dynamical element 37 to drive cutter sweep 1 mobile, cuts the Medulla Tetrapanacis core 48 in top rotary table mould 14 using the line of cut 7 of rotation;Rotation with top rotary table mould 14 and cutter sweep 1 are mobile, and 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 translating the induction pieces of dynamical element 37 line shaft close to second sensor 42, second sensor 42 is by its signal transmission to controller 5, controller 5 controls translation dynamical element 37 and top rotary table motor 19 to reset, 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 are close to first sensor 41, first sensor 41 is by its signal transmission to controller 5, controller 5 controls top rotary table mould 14 and cutting motor 12 to stop operating, translation dynamical element 37 continues to drive cutter sweep 1 mobile, the line of cut 7 of cutter sweep 1 is made to leave top rotary table mould 14, when translating the induction pieces of dynamical element 37 line shaft close to 3rd sensor 43, 3rd sensor 43 is by its signal transmission to controller 5, controller 5 controls translation dynamical element 37 to stop;After the line of cut 7 of cutter sweep 1 leaves top rotary table mould 14, controller 5 controls upper dynamical element 15 to drive upper movable roundabout 2 to move up reset, when upper dynamical element 15 resets, the induction pieces of upper dynamical element 15 line shaft are close to the 5th sensor 45, by its signal transmission to controller 5, controller 5 controls upper dynamical element 15 to stop to 5th sensor 45;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 to drive 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;When lower movable roundabout 3 moves to line and cuts position, close to the 6th sensor 46, by its signal transmission to controller 5, controller 5 controls lower dynamical element 26 to stop to the 6th sensor 46 to the induction pieces of lower dynamical element 26 line shaft, and lower movable roundabout 3 stops moving;After lower movable roundabout 3 stops, controller 5 controls translation dynamical element 37 to drive cutter sweep 1 mobile, when cutter sweep 1 moves in the second introducing port 50 position of lower rotary table mould 25, the induction pieces of translation dynamical element 37 line shaft are close to first sensor 41, by its signal transmission to controller 5, controller 5 controls translation dynamical element 37 to stop to first sensor 41;After translation dynamical element 37 stops, controller 5 controls cutting motor 12 to drive line of cut 7 to rotate, after line of cut 7 rotation, controller 5 controls lower rotary table motor 30 to drive lower rotary table mould 25 to rotate, simultaneously, controller 5 controls translation dynamical element 37 to drive cutter sweep 1 mobile, cuts the Medulla Tetrapanacis core 48 in lower rotary table mould 25 using the line of cut 7 of rotation;Rotation with lower rotary table mould 25 and cutter sweep 1 are mobile, and 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 translating the induction pieces of dynamical element 37 line shaft close to second sensor 42, second sensor 42 is by its signal transmission to controller 5, controller 5 controls translation dynamical element 37 and top rotary table motor 19 to reset, 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 are close to first sensor 41, first sensor 41 is by its signal transmission to controller 5, controller 5 controls lower rotary table mould 25 and cutting motor 12 to stop operating, translation dynamical element 37 continues to drive cutter sweep 1 mobile, the line of cut 7 of cutter sweep 1 is made to leave lower rotary table mould 25, when translating the induction pieces of dynamical element 37 line shaft close to 3rd sensor 43, 3rd sensor 43 is by its signal transmission to controller 5, controller 5 controls translation dynamical element 37 to stop;After the line of cut 7 of cutter sweep 1 leaves lower rotary table mould 25, controller 5 controls lower dynamical element 26 to drive lower movable roundabout 3 to move down reset, when lower dynamical element 26 resets, the induction pieces of lower dynamical element 26 line shaft are close to the 7th sensor 47, by its signal transmission to controller 5, controller 5 controls lower dynamical element 26 to stop to 7th sensor 47;Open lower rotary table mould 25 and the Medulla Tetrapanacis core 48 of well cutting is expanded into rice paper;So constantly circulate.
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 connected 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 connected with the second introducing port 50.
In order to implement the Medulla Tetrapanacis core 48 in line of cut 7 cutting top rotary table mould 14 and lower rotary table mould 25, the centrage of upper hopper chute 16 is identical with the centrage of gliding groove 27, and the centrage of upper saddle 17 is identical with the centrage of lower slider 28;The size of upper hopper chute 16 is equivalently-sized with gliding groove 27, and the size of upper saddle 17 is equivalently-sized with the centrage of lower slider 28;Line of cut 7 is the blockade line of annular, and line of cut 7 is tangent with drivewheel 8, the first follower 9, the second follower 10 and the 3rd follower 11.
It is connected and implements that lower mould cylinder 33 is dynamic with lower rotary table seat 29 is connected to implement upper mould cylinder 22 and top rotary table seat 18 and moving, be evenly equipped with multiple spin between upper mould cylinder 22 and top rotary table seat 18, between lower mould 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 upper mould cylinder 22 to rotate, and upper driven gear 23 drives upper mould cylinder 22 to rotate in the spin of top rotary table seat 18;Lower rotary table motor 30 drives lower driving gear 31 to rotate, and lower driving gear 31 drives lower mould cylinder 33 to rotate in the spin of lower rotary table seat 29.
In order that the Medulla Tetrapanacis core 48 in top rotary table mould 14 is identical with the specification that the Medulla Tetrapanacis core 48 in lower rotary table mould 25 cuts out, the axis of upper mould cylinder 22 is parallel to each other with the axis of lower mould cylinder 33, the axis of the axis of upper mould cylinder 22 and lower mould cylinder 33 on same vertical, the internal diameter of upper mould cylinder 22 and height and the internal diameter of lower mould cylinder 33 and highly identical.
The workflow of intelligent rice paper cutting robot is:Dress Medulla Tetrapanacis core 48 → top rotary table mould 14 enter cleavage → enter for the first time cleavage → first time cut → exit for the first time cleavage → top rotary table mould 14 reset → lower rotary table mould 25 enters cleavage → enter for the second time cleavage → cut → exit cleavage → lower rotary table mould 25 for the second time for the second time and resets → so constantly circulate.
The workflow of intelligent rice paper cutting robot is specifically:
Dress Medulla Tetrapanacis core 48:Open the upper guiding die plate 21 of top rotary table mould 14, Medulla Tetrapanacis core 48 is loaded in upper mould cylinder 22, then covers 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 lower mould cylinder 33, then cover back lower guiding die plate 32;After Medulla Tetrapanacis core 48 cutting in upper mould cylinder 22 completes to reset, lower rotary table mould 25 moves up, and while lower rotary table mould 25 moves up, opens guiding die plate 21, just Medulla Tetrapanacis core 48 loads in upper mould cylinder 22, then covers back guiding die plate 21;So constantly circulate;
Top rotary table mould 14 enters cleavage:Medulla Tetrapanacis core 48 is loaded after upper mould cylinder 22, controls upper dynamical element 15 band upper saddle 17 to move down in upper hopper chute 16 using controller 5, upper saddle 17 band top rotary table mould 14 cuts position to line and moves;When upper movable roundabout 2 moves to line and cuts position, controller 5 controls upper movable roundabout 2 to stop moving down;
Enter cleavage for the first time:After upper movable roundabout 2 stops, controller 5 controls translation dynamical element 37 band translating base 39 mobile in translation groove 38, translating base 39 band cutting rack 6 is 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 stop;
Cut for the first time:After translation dynamical element 37 stops, controller 5 controls cutting motor 12 to drive drivewheel 8 to rotate, and drivewheel 8 drives the first follower 9, the 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 to drive upper driving gear 20 to rotate, and upper driving gear 20 is rotated by the upper mould cylinder 22 of upper driven gear 23 band;After upper mould cylinder 22 rotates, controller 5 controls translation dynamical element 37 band translating base 39 to continue to be moved to the left in translation groove 38, make the upper guide groove 51 ecto-entad movement of the line of cut 7 of ring rotation along upper guiding die plate 21, using the Medulla Tetrapanacis core 48 in the upper mould cylinder 22 of line of cut 7 cutting;
Exit cleavage for the first time:Medulla Tetrapanacis core 48 in upper mould cylinder 22 is cut into after rice paper by line of cut 7, and controller 5 controls top rotary table motor 19 to drive upper driving gear 20 to invert, and upper driving gear 20 drives upper mould cylinder 22 to invert by upper driven gear 23;Meanwhile, controller 5 controls translation dynamical element 37 to drive translating base 39 to move right, and so that 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 to stop 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 translating dynamical element 37 reset, controller 5 controls translation dynamical element 37 to stop;
Top rotary table mould 14 resets:After line of cut 7 leaves the first introducing port 49, controller 5 controls upper dynamical element 15 to drive upper saddle 17 to drive top rotary table mould 14 to move up reset, and when upper dynamical element 15 resets, controller 5 controls upper dynamical element 15 to stop;
Lower rotary table mould 25 enters cleavage:After top rotary table mould 14 resets, controller 5 controls lower dynamical element 26 to drive lower slider 28 mobile in gliding groove 27, and lower slider 28 drives lower movable roundabout 3 to move up;When lower movable roundabout 3 moves to line and cuts position, controller 5 controls lower dynamical element 26 to stop, and lower movable roundabout 3 stops moving;
Enter cleavage for the second time:After lower movable roundabout 3 enters cleavage, controller 5 controls translation dynamical element 37 band translating base 39 mobile in translation groove 38, translating base 39 band cutting rack 6 is 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 stop;
Cut for second:After translation dynamical element 37 stops, controller 5 controls cutting motor 12 to drive drivewheel 8 to rotate, and drivewheel 8 drives the first follower 9, the 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 the rotation of line of cut 7 ring type, controller 5 controls lower rotary table motor 30 to drive lower driving gear 31 to rotate, and lower driving gear 31 drives lower mould cylinder 33 to rotate by lower driven gear 34;After lower mould cylinder 33 rotates, controller 5 controls translation dynamical element 37 band 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 cuts along lower guiding die plate 32 is made to move, using the Medulla Tetrapanacis core 48 in the lower mould cylinder 33 of line of cut 7 cutting;
Exit cleavage for the second time:Medulla Tetrapanacis core 48 in lower mould cylinder 33 is cut into after rice paper by line of cut 7, and controller 5 controls lower rotary table motor 30 to drive lower driving gear 31 to invert, and lower driving gear 31 drives lower mould cylinder 33 to invert by lower driven gear 34;Meanwhile, meanwhile, controller 5 controls translation dynamical element 37 to drive translating base 39 to move right, and so that 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 to stop 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 translating dynamical element 37 reset, controller 5 controls translation dynamical element 37 to stop;
Lower rotary table mould 25 resets:After line of cut 7 leaves the second introducing port 50, controller 5 controls lower dynamical element 26 to drive 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 stop.
Cut Medulla Tetrapanacis core 48 and the position exiting Medulla Tetrapanacis core 48 in order to implement line of cut 7, during line of cut 7 cutting Medulla Tetrapanacis core 48, top rotary table mould 14 moves in the direction of the clock, and line of cut 7 moves counterclockwise 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 rotates counterclockwise, 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, during line of cut 7 cutting Medulla Tetrapanacis core 48, lower rotary table mould 25 moves in the direction of the clock, and line of cut 7 moves counterclockwise 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 rotates counterclockwise, and line of cut 7 moves in the direction of the clock along the lower guide groove 52 of lower guiding die plate 32.
For convenience Medulla Tetrapanacis core 48 is loaded upper mould cylinder 22 and lower mould cylinder 33, upper guiding die plate 21 is connected with upper mould cylinder 22 by hinge, lower guiding die plate 32 is passed through link and is connected with lower mould cylinder 33.
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, and 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 passed through Electronic control line and is connected with upper dynamical element 15, lower dynamical element 26 and translation dynamical element 37.
Frame 4 is provided with Medulla Tetrapanacis core material frame 53 and rice paper material frame 54, for filling Medulla Tetrapanacis core 48 and rice paper.

Claims (9)

1. intelligent rice paper cutting robot it is characterised in that:Described intelligent rice paper cutting robot, includes 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)It is installed on frame(4)On;Cutter sweep(1)Cut device including wired(35)And translating device(36), line cuts device(35)Include cutting rack(6), line of cut(7), drivewheel(8), the first follower(9), the second follower(10), the 3rd follower(11)And cutting motor(12), drivewheel(8), the first follower(9), the second follower(10)And the 3rd follower(11)Wheel shaft and cutting rack(6)Move and be connected, cutting motor(12)Support and cutting rack(6)Connect, cutting motor(12)Rotating shaft and drivewheel(8)Connect, line of cut(7)With drivewheel(8), the first follower(9), the second follower(10)And the 3rd follower(11)Move and be connected;Translating device(36)Include translation dynamical element(37), translate groove(38)And translating base(39), translate groove(38)With frame(4)Connect, translate groove(38)With translating base(39)Move and be connected, cutting rack(6)With translating base(39)Connect, translate dynamical element(37)Shell with translation groove(38)Connect, translate dynamical element(37)Line shaft and translating base(39)Connect, using translating device(36)Band moving-wire cuts device(35)Mobile;Upper movable roundabout(2)Include mobile device(13)And top rotary table mould(14), upper mobile device(13)With frame(4)Connect, top rotary table mould(14)With upper mobile device(13)Connect;Upper mobile device(13)Include dynamical element(15), upper hopper chute(16)And upper saddle(17), upper dynamical element(15)Shell and upper hopper chute(16)With frame(4)Connect, upper dynamical element(15)Line shaft and upper saddle(17)Connect, upper saddle(17)With upper hopper chute(16)Move and be connected, using upper dynamical element(15)Drive upper saddle(17)Mobile;Top rotary table mould(14)Include top rotary table seat(18), top rotary table motor(19), upper driving gear(20), upper guiding die plate(21)And upper mould cylinder(22), upper guiding die plate(21)With upper mould cylinder(22)Connect, upper mould cylinder(22)With top rotary table seat(18)Move and be connected, upper mould cylinder(22)It is provided with driven gear(23), top rotary table seat(18)With top rotary table motor(19)Cage connection, top rotary table motor(19)Rotating shaft and upper driving gear(20)Connect, upper driving gear(20)With upper driven gear(23)Engagement, by top rotary table motor(19)Guiding die plate in drive(21)And upper mould cylinder(22)In top rotary table seat(18)Interior rotation;Top rotary table motor(19)Shell and upper saddle(17)Connect, upper mobile device(13)By upper saddle(17)Drive top rotary table mould(14)Mobile;Lower movable roundabout(3)Include lower mobile device(24)And lower rotary table mould(25), lower mobile device(24)With frame(4)Connect, lower rotary table mould(25)With lower mobile device(24)Connect;Lower mobile device(24)Include lower dynamical element(26), gliding groove(27)And lower slider(28), lower dynamical element(26)Shell and gliding groove(27)With frame(4)Connect, lower dynamical element(26)Line shaft and lower slider(28)Connect, lower slider(28)With gliding groove(27)Move and be connected, using lower dynamical element(26)Drive lower slider(28)Mobile;Lower rotary table mould(25)Include lower rotary table seat(29), lower rotary table motor(30), lower driving gear(31), lower guiding die plate(32)And lower mould cylinder(33), lower guiding die plate(32)With lower mould cylinder(33)Connect, lower mould cylinder(33)With lower rotary table seat(29)Move and be connected, lower mould cylinder(33)It is provided with lower driven gear(34), lower rotary table seat(29)With lower rotary table motor(30)Cage connection, lower rotary table motor(30)Rotating shaft and lower driving gear(31)Connect, lower driving gear(31)With lower driven gear(34)Engagement, by lower rotary table motor(30)Drive lower guiding die plate(32)And lower mould cylinder(33)In lower rotary table seat(29)Interior rotation;Lower rotary table motor(30)Shell and lower slider(28)Connect, lower mobile device(24)By lower slider(28)Drive lower rotary table mould(25)Mobile;Controller(5)It is provided with automatic switch(40), first sensor(41), second sensor(42), 3rd sensor(43), the 4th sensor(44), the 5th sensor(45), the 6th sensor(46)And the 7th sensor(47);First sensor(41), second sensor(42)And 3rd sensor(43)Located at translation dynamical element(37)Shell, first sensor(41)Positioned at second sensor(42)With 3rd sensor(43)Between, translate dynamical element(37)Line shaft be provided with sensing element, for control translation dynamical element(37)Stroke;4th sensor(44)And the 5th sensor(45)Located at upper dynamical element(15)Shell, upper dynamical element(15)Line shaft be provided with sensing element, for controlling upper dynamical element(15)Stroke;6th sensor(46)And the 7th sensor(47)Located at lower dynamical element(26)Shell, lower dynamical element(26)Line shaft be provided with sensing element, for controlling lower dynamical element(26)Stroke.
2. intelligent rice paper cutting robot according to claim 1 it is characterised in that:Described upper guiding die plate(21)It is provided with guide groove(51), upper guide groove(51)Shape identical with helix, upper guide groove(51)It is provided with the first introducing port(49), upper guide groove(51)With the first introducing port(49)Connection;Lower guiding die plate(32)It is provided with lower guide groove(52), lower guide groove(52)Shape identical with helix, lower guide groove(52)It is provided with the second introducing port(50), lower guide groove(52)With the second introducing port(50)Connection.
3. intelligent rice paper cutting robot according to claim 1 it is characterised in that:Described upper hopper chute(16)Centrage and gliding groove(27)Centrage identical, upper saddle(17)Centrage and lower slider(28)Centrage identical;Upper hopper chute(16)Size and gliding groove(27)Equivalently-sized, upper saddle(17)Size and lower slider(28)Centrage equivalently-sized.
4. intelligent rice paper cutting robot according to claim 1 it is characterised in that:Described upper mould cylinder(22)With top rotary table seat(18)Between be evenly equipped with multiple spin, lower mould cylinder(33)With lower rotary table seat(29)Between be evenly equipped with multiple spin.
5. intelligent rice paper cutting robot according to claim 1 it is characterised in that:Described upper mould cylinder(22)Axis and lower mould cylinder(33)Axis be parallel to each other, upper mould cylinder(22)Axis and lower mould cylinder(33)Axis on same vertical, upper mould cylinder(22)Internal diameter and height and lower mould cylinder(33)Internal diameter and highly identical.
6. intelligent rice paper cutting robot according to claim 1 it is characterised in that:Described line of cut(7)For annular blockade line, line of cut(7)With drivewheel(8), the first follower(9), the second follower(10)And the 3rd follower(11)Tangent.
7. intelligent rice paper cutting robot according to claim 1 it is characterised in that:Described upper guiding die plate(21)By hinge and upper mould cylinder(22)Connect, lower guiding die plate(32)By link and lower mould cylinder(33)Connect.
8. intelligent rice paper cutting robot according to claim 1 it is characterised in that:Described upper dynamical element(15), lower dynamical element(26)And translation dynamical element(37)It is made up of hydraulic cylinder, upper dynamical element(15), lower dynamical element(26)And translation dynamical element(37)It is connected with hydraulic means, controller(5)It is connected with hydraulic means by hydraulic control line;Or, upper dynamical element(15), lower dynamical element(26)And translation dynamical element(37)It is made up of cylinder, upper dynamical element(15), lower dynamical element(26)And translation dynamical element(37)It is connected with compressed air source unit, controller(5)It 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)It is made up of electric pushrod, controller(5)By Electronic control line and upper dynamical element(15), lower dynamical element(26)And translation dynamical element(37)Connect.
9. intelligent rice paper cutting robot according to claim 1 it is characterised in that:Described frame(4)It is provided with Medulla Tetrapanacis core material frame(53)And rice paper material frame(54), 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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CN107932599A (en) * 2017-12-15 2018-04-20 长沙志唯电子科技有限公司 A kind of intelligence rice paper cutting robot

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