CN104924337A - Rice paper cutting robot device - Google Patents

Rice paper cutting robot device Download PDF

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Publication number
CN104924337A
CN104924337A CN201510323506.0A CN201510323506A CN104924337A CN 104924337 A CN104924337 A CN 104924337A CN 201510323506 A CN201510323506 A CN 201510323506A CN 104924337 A CN104924337 A CN 104924337A
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China
Prior art keywords
cut
line
guiding
follower
controller
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CN201510323506.0A
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Chinese (zh)
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CN104924337B (en
Inventor
郑运婷
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郑运婷
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Publication of CN104924337A publication Critical patent/CN104924337A/en
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Publication of CN104924337B publication Critical patent/CN104924337B/en

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Classifications

    • 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

Abstract

The invention provides a rice paper cutting robot device. The rice paper cutting robot device comprises a cutting device, a rotating device, a guide die, a moving device, a rack and a controller, wherein the moving device is mounted on the rack; the cutting device is mounted to the moving device; the guide die is mounted on the rotating device, and the rotating device is in dynamic matching connection with the rack; the cutting device comprises a cutting frame, a cutting lien and a cutting motor; the rotating device comprises a rotating plate seat, a rotating plate motor and a driving wheel; the guide die comprises an upper guide die plate, a lower guide die plate and a die barrel; the moving device comprises an oscillating guide groove, a slide block and an electric pushing rod; when in use, the controller controls the rotating plate motor to drive the guide die to rotate, controls the electric pushing rod to push the cutting frame to move and controls the cutting motor to drive the cutting line to rotate; a rice paper core of the guide die is cut into rice paper through the cutting line; compared with the traditional manual rice paper cutting process, the rice paper cutting robot device can increase the processing efficiency and processing quality.

Description

Rice paper cutting robot device

Technical field

The present invention relates to a kind of rice paper processing equipment device, particularly a kind of rice paper cutting robot device.

Background technology

At present, people, when making the stem pith of the rice-paper plant and drawing, need Medulla Tetrapanacis core to make to become rice paper; At present, when people manufacture rice paper, all use traditional manual method processing, add man-hour, utilize hand rubbing Medulla Tetrapanacis core to roll on flat board, meanwhile, hold the continuous reciprocating cutting Medulla Tetrapanacis core of hand papercutter, Medulla Tetrapanacis core is cut into rice paper; Due to manual operations, the operating efficiency of processing is lower, and a kind of rice paper cutting robot device has become the needs that people process rice paper.

Summary of the invention

The object of the invention is to overcome the deficiencies in the prior art, a kind of rice paper cutting robot device is provided, improve the working (machining) efficiency of rice paper.

The technical solution adopted in the present invention is: rice paper cutting robot device, include cutter sweep, whirligig, guide die, mobile device, frame and controller, mobile device is installed on frame, cutter sweep is installed on mobile device, guide die is installed on whirligig, and whirligig and frame are moved and be connected; Cutter sweep 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; Whirligig includes rotary disk basement, rotary tray motor and driving wheel, and rotary disk basement is connected with frame, and the support of rotary tray motor is connected with rotary disk basement, and the rotating shaft of rotary tray motor is connected with driving wheel; Guide die includes guiding die plate, lower guiding die plate and mould cylinder, and mould cylinder is provided with follower; Mobile device includes and swings guide groove, slide block and electric pushrod, slide block with swing that guide groove is dynamic to be connected, the shell of electric pushrod with swing guide groove and be connected, the line shaft of swing guide groove is connected with slide block, swing guide groove and frame hinged; Cutting rack is connected with slide block, utilizes slide block to drive cutting rack to move; Driving wheel is connected with follower, utilizes rotary tray motor to drive driving wheel to rotate, utilizes drive wheel guide die to rotate; Upper guiding die plate is provided with guiding helical groove hole, and lower guiding die plate is provided with lower guiding helical groove hole; Controller is provided with first sensor and the second sensor, and first sensor is installed on the upper introducing port position of the upper guiding helical groove hole of guiding die plate, and the second sensor is installed on and swings on guide groove.Swing guide groove hinged by oscillating motor and frame, the shell of oscillating motor is fixedly connected with frame, the rotating shaft of oscillating motor with swing guide groove and be fixedly connected with; Frame is provided with the 3rd sensor, and the 3rd sensor is positioned at the below swinging guide groove, swings guide groove when initial position, and the 3rd sensor is close to swinging guide groove; Controller is connected with first sensor, the second sensor, the 3rd sensor, cutting motor, rotary tray motor, electric pushrod and oscillating motor by control line.

During the work of rice paper cutting robot device, Medulla Tetrapanacis core is loaded in guide die, utilize controller to control cutting motor to run, cutting motor drives driving wheel to rotate, and driving wheel drives the first follower, the second follower and the 3rd follower to rotate by line of cut; Rotate and swing guide groove and cutting rack, line of cut is made to swing in the upper introducing port position of guiding helical groove hole, make line of cut close to first sensor, first sensor by its Signal transmissions to controller, controller controls rotary tray motor and rotates, and rotary tray motor drives guide die to rotate by driving wheel and follower; Meanwhile, controller controls electric pushrod and pushes away cutting rack and move; The line of cut of rotation is moved along the upper guiding helical groove hole of upper guiding die plate and the lower guiding helical groove hole ecto-entad of lower guiding die plate, utilizes the Medulla Tetrapanacis core in the line of cut cutting guide die of rotation, Medulla Tetrapanacis core is cut into rice paper.

The invention has the beneficial effects as follows: rice paper cutting robot device, utilizing controller to control rotary tray motor drives guide die to rotate, utilize controller control electric pushrod to push away cutting rack to move, utilizing controller to control cutting motor drives line of cut to rotate, utilize line of cut to cut the Medulla Tetrapanacis core of guide die, Medulla Tetrapanacis core is cut into rice paper, and rice paper cutting robot device is compared with traditional hand cut rice paper, improve working (machining) efficiency, and improve the quality of processing rice paper.

Accompanying drawing explanation

Fig. 1 is the structural representation of rice paper cutting robot device;

Fig. 2 is the top view of Fig. 1.

Detailed description of the invention

Below in conjunction with accompanying drawing, the present invention is further detailed:

The top view of Fig. 1 shown in the structural representation of the rice paper cutting robot device shown in Fig. 1 and Fig. 2, rice paper cutting robot device, include cutter sweep 1, whirligig 2, guide die 3, mobile device 4, frame 5 and controller 6, mobile device 4 is installed on frame 5, cutter sweep 1 is installed on mobile device 4, guide die 3 is installed on whirligig 2, and whirligig 2 is connected with frame 5 is dynamic; Cutter sweep 1 includes cutting rack 7, line of cut 8, driving wheel 9, first follower 10, second follower 11, the 3rd follower 12 and cutting motor 13, the wheel shaft of driving wheel 9, first follower 10, second follower 11 and the 3rd follower 12 and cutting rack 7 move and are connected, the support of cutting motor 13 is connected with cutting rack 7, the rotating shaft of cutting motor 13 is connected with driving wheel 9, and line of cut 8 moves with driving wheel 9, first follower 10, second follower 11 and the 3rd follower 12 and is connected; Whirligig 2 includes rotary disk basement 14, rotary tray motor 15 and driving wheel 16, and rotary disk basement 14 is connected with frame 5, and the support of rotary tray motor 15 is connected with rotary disk basement 14, and the rotating shaft of rotary tray motor 15 is connected with driving wheel 16; Guide die 3 includes guiding die plate 17, lower guiding die plate 18 and mould cylinder 19, and mould cylinder 19 is provided with follower 20; Mobile device 4 includes and swings guide groove 21, slide block 22 and electric pushrod 23, slide block 22 is connected with swing guide groove 21 is dynamic, the shell of electric pushrod 23 is connected with swing guide groove 21, and the line shaft swinging guide groove 21 is connected with slide block 22, swings guide groove 21 hinged with frame 5; Cutting rack 7 is connected with slide block 22, utilizes slide block 22 to drive cutting rack 7 to move; Driving wheel 16 is connected with follower 20, utilizes rotary tray motor 15 to drive driving wheel 16 to rotate, and utilizes driving wheel 16 to drive guide die 3 to rotate; Upper guiding die plate 17 is provided with guiding helical groove hole 24, and lower guiding die plate 18 is provided with lower guiding helical groove hole 25; Controller 6 is provided with automatic switch 35, shutdown switch 38, first sensor 26 and the second sensor 27, first sensor 26 is installed on upper introducing port 29 position of the upper guiding helical groove hole 24 of guiding die plate 17, and the second sensor 27 is installed on and swings on guide groove 21; Swing guide groove 21 hinged by oscillating motor 34 and frame 5, the shell of oscillating motor 34 is fixedly connected with frame 5, and the rotating shaft of oscillating motor 34 is fixedly connected with swing guide groove 21; Controller 6 is provided with the 3rd sensor the 28, three sensor 28 and is positioned in the frame 5 of the below swinging guide groove 21, swings guide groove 21 when initial position, and the 3rd sensor 28 is close to swinging guide groove 21; Controller 6 is connected with first sensor 26, second sensor 27, the 3rd sensor 28, cutting motor 13, rotary tray motor 15, electric pushrod 23 and oscillating motor 34 by control line.

The using method of rice paper cutting robot device is: during work, Medulla Tetrapanacis core 30 is loaded in guide die 3, utilize controller 6 to control cutting motor 13 to run, cutting motor 13 drives driving wheel 9 to rotate, and driving wheel 9 drives the first follower 10, second follower 11 and the 3rd follower 12 to rotate by line of cut 8; Rotate and swing guide groove 21 and cutting rack 7, line of cut 8 is made to swing in upper introducing port 29 position of guiding helical groove hole 24, make line of cut 8 close to first sensor 26, first sensor 26 by its Signal transmissions to controller 6, controller 6 controls rotary tray motor 15 and rotates, and rotary tray motor 15 drives guide die 3 to rotate by driving wheel 16 and follower 20; Meanwhile, controller 6 controls electric pushrod 23 and pushes away cutting rack 7 and move; The line of cut 8 of rotation is moved along the upper guiding helical groove hole 24 of upper guiding die plate 17 and lower guiding helical groove hole 25 ecto-entad of lower guiding die plate 18, the line of cut 8 that utilization is rotated cuts the Medulla Tetrapanacis core 30 in guide die 3, and Medulla Tetrapanacis core 30 is cut into rice paper.

In order to implement the rotation of guide die 3, and enforcement line of cut 4 moves along guiding die plate 7, upper guiding die plate 17 is positioned at above lower guiding die plate 18, upper guiding die plate 17 is parallel with lower guiding die plate 18, shape and the size of upper guiding helical groove hole 24 and lower guiding helical groove hole 25 are identical, and upper guiding helical groove hole 24 is parallel to each other with lower guiding helical groove hole 25; Frame 5 is provided with multiple support spin 31, and the wheel shaft of support spin 31 and frame 5 are moved and be connected, and follower 20 is provided with and supports circular orbit 32, and support circular orbit 32 moves with support spin 31 and is connected; Supporting spin 31 is distributed on the ball impression groove 33 of support circular orbit 32 times methods, racks 5; When rotary tray motor 15 rotates, rotary tray motor 15 drives follower 20 to rotate, and follower 20 drives support circular orbit 32 supporting rotation in spin 31, supports spin 31 and rolls under the frictional force effect supporting circular orbit 32 and support spin 31.

Rotate to implement line of cut 8, the line of cut 8 rotated is utilized to cut Medulla Tetrapanacis core 30, the axis of driving wheel 9 and the axis being parallel of the first follower 10, second follower 11 and the 3rd follower 12, the height of driving wheel 9 axis is identical with the height of the first follower 10 axis, and the height of the second follower 11 axis is identical with the height of the 3rd follower 12 axis; Driving wheel 9, first follower 10, second follower 11 and the 3rd follower 12 are located at same plane position; Line of cut 8 is the blockade line of annular, line of cut 8 and driving wheel 9, first follower 10, second follower 11 and the 3rd follower 12 tangent.Conveniently go up matched moulds and the die sinking of guiding die plate 17, upper guiding die plate 17 is connected with mould cylinder 19 by hinge 36, and mould cylinder 19 is provided with breach 37, party B just the putting into and taking out of Medulla Tetrapanacis core 30.

When rice paper cutting robot device uses, open guiding die plate 17, close after Medulla Tetrapanacis core 30 is put into mould cylinder 19 upper guiding die plate 17, is fixed on by Medulla Tetrapanacis core 30 between upper guiding die plate 17 and lower guiding die plate 18; Utilize the automatic switch 35 of controller 6 to control controller 6 and enter automatic control state, controller 6 controls cutting motor 13 and drives line of cut 8 to rotate, meanwhile, controller 6 controls oscillating motor 34 and drives swing guide groove 21 to swing, and swings guide groove 21 and drives cutting rack 7 and line of cut 8 to swing; When line of cut 8 is swinging into upper introducing port 29 position of upper guiding helical groove hole 24, line of cut 8 is close to first sensor 26, first sensor 26 is by its Signal transmissions to controller 6, and controller 6 controls rotary tray motor 15 and drives guide die 3 to rotate and control oscillating motor 34 and stop; Meanwhile, controller 6 controls electric pushrod 23 and pushes away cutting rack 7 and move forward; The line of cut 8 of rotation is moved along upper guiding helical groove hole 24 and lower guiding helical groove hole 25 ecto-entad, and the line of cut 8 that utilization is rotated cuts the Medulla Tetrapanacis core 30 in guide die 3; When Medulla Tetrapanacis core 30 has cut, line of cut 8 has moved to the terminal location of guiding helical groove hole 24 and lower guiding helical groove hole 25; Meanwhile, slide block 22 moves to the position of the second sensor 27, second sensor 27 by its Signal transmissions to controller 6, controller 6 controls rotary tray motor 15 and reverses, rotary tray motor 15 drives guide die 3 to reverse, controller 6 controls electric pushrod 23 return, and electric pushrod 23 draws cutting rack 7 to move backward, and cutting rack 7 drives line of cut 8 to move from inside to outside along upper guiding helical groove hole 24 and lower guiding helical groove hole 25; When line of cut 8 moves to upper introducing port 29 position, line of cut 8 is close to first sensor 26, first sensor 26 by its Signal transmissions to controller 6, controller 6 controls that rotary tray motor 15 stops operating, cutting motor 13 and electric pushrod 23 stop, meanwhile, controller 6 controls oscillating motor 34 and swings reset in the other direction, when swinging guide groove 21 and swinging to close to the 3rd sensor 28 position, 3rd sensor 28 is by its Signal transmissions to controller 6, and controller 6 controls oscillating motor 34 to be stopped; Open guiding die plate 17, after being taken out by the Medulla Tetrapanacis core 30 of well cutting, expand into rice paper.

When described line of cut 8 moves along upper guiding helical groove hole 24 and lower guiding helical groove hole 25 ecto-entad, line of cut 8 is by counterclockwise mobile; When line of cut 8 moves from inside to outside along upper guiding helical groove hole 24 and lower guiding helical groove hole 25, line of cut 8 moves in the direction of the clock; When described swing guide groove 21 swings, swing by horizontal direction; When slide block 22 moves, move by horizontal direction; When described swing guide groove 21 is flapped toward guiding helical groove hole 24, swings guide groove 21 and swing in the direction of the clock; When swing guide groove 21 puts away guiding helical groove hole 24, swing guide groove 21 by counterclockwise swinging; When described line of cut 8 moves along upper guiding helical groove hole 24 and lower guiding helical groove hole 25 ecto-entad, the track of line of cut 8 movement is helix; When line of cut 8 moves from inside to outside along upper guiding helical groove hole 24 and lower guiding helical groove hole 25, the track of line of cut 8 movement is helix.

Driving wheel 16 and follower 20 include multiple connected mode: driving wheel 16 is taken turns for nonmetal, and driving wheel 16 and follower 20 contact for compressing; Or driving wheel 16 and follower 20 are belt pulley, and driving wheel 16 is provided with conveyer belt with follower 20 and is connected; Driving wheel 16 and follower 20 are gear, and driving wheel 16 engages with follower 20.

In order to the thickness of the rice paper making cutting is identical, the cross sectional shape of upper guiding helical groove hole 24 and the cross sectional shape of lower guiding helical groove hole 25 identical with the shape of helix, the distance between helix is equal; In order to cut out the rice paper of different-thickness, upper guiding die plate 17 and lower guiding die plate 18 are provided with different specifications, the upper guiding die plate 17 of same specification and the helix of lower guiding die plate 18 identical; The upper guiding die plate 17 of different size and the helix difference of lower guiding die plate 18.

Rice paper cutting robot device use time, the line of cut 8 of ring type rotates round driving wheel 9, first follower 10, second follower 11 and the 3rd follower 12, the line of cut 8 of ring type at grade, this plane and horizontal plane; Driving wheel 9 rotates in the direction of the clock, and line of cut 8 is followed driving wheel 9 and rotated in the direction of the clock; Or driving wheel 9 is by counterclockwise rotating, and line of cut 8 follows driving wheel 9 by counterclockwise rotating; The distance of driving wheel 9 to the three follower 12 is equal with the distance of the first follower 10 to the second follower 11, and the distance of driving wheel 9 to the first follower 10 is equal with the distance of the 3rd follower 12 to the second follower 11; The distance of the first follower 10 to the second follower 11 is greater than 2 times of the length of Medulla Tetrapanacis core 30, and line of cut 8 can be swung.

Claims (10)

1. rice paper cutting robot device, include cutter sweep (1), whirligig (2), guide die (3), mobile device (4), frame (5) and controller (6), mobile device (4) is installed on frame (5), cutter sweep (1) is installed on mobile device (4), guide die (3) is installed on whirligig (2), and whirligig (2) is connected with frame (5) is dynamic; Cutter sweep (1) includes cutting rack (7), line of cut (8), driving wheel (9), the first follower (10), the second follower (11), the 3rd follower (12) and cutting motor (13), whirligig (2) includes rotary disk basement (14), rotary tray motor (15) and driving wheel (16), guide die (3) includes guiding die plate (17), lower guiding die plate (18) and mould cylinder (19), and mobile device (4) includes and swings guide groove (21), slide block (22) and electric pushrod (23); Cutting rack (7) is connected with slide block (22), and driving wheel (16) is connected with follower (20), and upper guiding die plate (17) is provided with guiding helical groove hole (24), and lower guiding die plate (18) is provided with lower guiding helical groove hole (25); Controller (6) is provided with automatic switch (35), shutdown switch (38), first sensor (26), the second sensor (27) and the 3rd sensor (28), swings guide groove (21) hinged by oscillating motor (34) and frame (5); Controller (6) is connected with first sensor (26), the second sensor (27), the 3rd sensor (28), cutting motor (13), rotary tray motor (15), electric pushrod (23) and oscillating motor (34) by control line; It is characterized in that: the using method of described rice paper cutting robot device is: during work, Medulla Tetrapanacis core (30) is loaded in guide die (3), utilize controller (6) to control cutting motor (13) to run, cutting motor (13) drives driving wheel (9) to rotate, and driving wheel (9) drives the first follower (10), the second follower (11) and the 3rd follower (12) to rotate by line of cut (8); Rotate and swing guide groove (21) and cutting rack (7), line of cut (8) is made to swing in upper introducing port (29) position of guiding helical groove hole (24), make line of cut (8) close to first sensor (26), first sensor (26) by its Signal transmissions to controller (6), controller (6) controls rotary tray motor (15) and rotates, and rotary tray motor (15) drives guide die (3) to rotate by driving wheel (16) and follower (20); Meanwhile, controller (6) controls electric pushrod (23) and pushes away cutting rack (7) movement; The line of cut of rotation (8) is moved along the upper guiding helical groove hole (24) of upper guiding die plate (17) and lower guiding helical groove hole (25) ecto-entad of lower guiding die plate (18), utilize the Medulla Tetrapanacis core (30) in the line of cut (8) cutting guide die (3) of rotation, Medulla Tetrapanacis core (30) is cut into rice paper.
2. rice paper cutting robot device according to claim 1, it is characterized in that: when described rotary tray motor (15) rotates, rotary tray motor (15) drives follower (20) to rotate, follower (20) drives and supports circular orbit (32) supporting spin (31) above rotation, supports spin (31) and rolls under the frictional force effect supporting circular orbit (32) and support spin (31).
3. rice paper cutting robot device according to claim 1, it is characterized in that: when described rice paper cutting robot device uses, open guiding die plate (17), close after Medulla Tetrapanacis core (30) is put into mould cylinder (19) upper guiding die plate (17), is fixed on by Medulla Tetrapanacis core (30) between upper guiding die plate (17) and lower guiding die plate (18), utilize the automatic switch of controller (6) (35) to control controller (6) and enter automatic control state, controller (6) controls cutting motor (13) and drives line of cut (8) to rotate, simultaneously, controller (6) controls oscillating motor (34) and drives swing guide groove (21) to swing, and swings guide groove (21) and drives cutting rack (7) and line of cut (8) to swing, when line of cut (8) is swinging into upper introducing port (29) position of upper guiding helical groove hole (24), line of cut (8) is close to first sensor (26), first sensor (26) is by its Signal transmissions to controller (6), and controller (6) controls rotary tray motor (15) and drives guide die (3) to rotate and control oscillating motor (34) stopping, meanwhile, controller (6) controls electric pushrod (23) and pushes away cutting rack (7) and move forward, the line of cut of rotation (8) is moved along upper guiding helical groove hole (24) and lower guiding helical groove hole (25) ecto-entad, utilizes the Medulla Tetrapanacis core (30) in the line of cut (8) cutting guide die (3) of rotation, when Medulla Tetrapanacis core (30) has cut, line of cut (8) has moved to the terminal location of guiding helical groove hole (24) and lower guiding helical groove hole (25), meanwhile, slide block (22) moves to the position of the second sensor (27), second sensor (27) by its Signal transmissions to controller (6), controller (6) controls rotary tray motor (15) reversion, rotary tray motor (15) drives guide die (3) reversion, controller (6) controls electric pushrod (23) return, electric pushrod (23) draws cutting rack (7) to move backward, and cutting rack (7) drives line of cut (8) to move from inside to outside along upper guiding helical groove hole (24) and lower guiding helical groove hole (25), when line of cut (8) moves to upper introducing port (29) position, line of cut (8) is close to first sensor (26), first sensor (26) by its Signal transmissions to controller (6), controller (6) controls rotary tray motor (15) and stops operating, cutting motor (13) and electric pushrod (23) stop, simultaneously, controller (6) controls oscillating motor (34) and swings reset in the other direction, when swinging guide groove (21) and swinging to close to the 3rd sensor (28) position, 3rd sensor (28) by its Signal transmissions to controller (6), controller (6) controls oscillating motor (34) to be stopped, open guiding die plate (17), after being taken out by the Medulla Tetrapanacis core (30) of well cutting, expand into rice paper.
4. rice paper cutting robot device according to claim 3, it is characterized in that: when described line of cut (8) moves along upper guiding helical groove hole (24) and lower guiding helical groove hole (25) ecto-entad, line of cut (8) is by counterclockwise mobile; When line of cut (8) moves from inside to outside along upper guiding helical groove hole (24) and lower guiding helical groove hole (25), line of cut (8) moves in the direction of the clock.
5. rice paper cutting robot device according to claim 3, is characterized in that: when described swing guide groove (21) swings, swing by horizontal direction; When slide block (22) is mobile, move by horizontal direction.
6. rice paper cutting robot device according to claim 3, is characterized in that: when described swing guide groove (21) is flapped toward guiding helical groove hole (24), swings guide groove (21) and swings in the direction of the clock; When swing guide groove (21) puts away guiding helical groove hole (24), swing guide groove (21) by counterclockwise swinging.
7. rice paper cutting robot device according to claim 3, it is characterized in that: when described line of cut (8) moves along upper guiding helical groove hole (24) and lower guiding helical groove hole (25) ecto-entad, the track of line of cut (8) movement is helix; When line of cut (8) moves from inside to outside along upper guiding helical groove hole (24) and lower guiding helical groove hole (25), the track of line of cut (8) movement is helix.
8. rice paper cutting robot device according to claim 1, it is characterized in that: when described rice paper cutting robot device uses, the line of cut (8) of ring type rotates round driving wheel (9), the first follower (10), the second follower (11) and the 3rd follower (12), the line of cut (8) of ring type at grade, this plane and horizontal plane.
9. rice paper cutting robot device according to claim 1, is characterized in that: described driving wheel (9) rotates in the direction of the clock, and line of cut (8) is followed driving wheel (9) and rotated in the direction of the clock; Or driving wheel (9) is by counterclockwise rotating, and line of cut (8) follows driving wheel (9) by counterclockwise rotating.
10. rice paper cutting robot device according to claim 1, it is characterized in that: described driving wheel (9) is equal to the distance of the second follower (11) with the first follower (10) to the distance of the 3rd follower (12), driving wheel (9) is equal to the distance of the second follower (11) with the 3rd follower (12) to the distance of the first follower (10).
CN201510323506.0A 2015-06-13 2015-06-13 Rice paper cutting robot device CN104924337B (en)

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CN201510323506.0A CN104924337B (en) 2015-06-13 2015-06-13 Rice paper cutting robot device
PCT/CN2016/082572 WO2016202135A1 (en) 2015-06-13 2016-05-19 Robotic device for cutting rice paper

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CN104924337B CN104924337B (en) 2016-08-24

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CN105415420A (en) * 2015-12-21 2016-03-23 罗建军 Numerical-control diamond wire cutter capable of being used for cutting specially-shaped lines
CN106239390A (en) * 2016-09-27 2016-12-21 安徽师范大学 Sand paper clipper
CN106239390B (en) * 2016-09-27 2018-08-31 安徽师范大学 Sand paper clipper
CN108702931A (en) * 2018-07-17 2018-10-26 东莞市皓奇企业管理服务有限公司 The application method of pineapple harvesting robotic

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