CN204604388U - A kind of rice paper machining robot - Google Patents
A kind of rice paper machining robot Download PDFInfo
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- CN204604388U CN204604388U CN201520339716.4U CN201520339716U CN204604388U CN 204604388 U CN204604388 U CN 204604388U CN 201520339716 U CN201520339716 U CN 201520339716U CN 204604388 U CN204604388 U CN 204604388U
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- rice paper
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Abstract
A kind of rice paper machining robot, includes workbench, power set, manipulator, cut paper groove, paper cutter and controller; Power set include the first dynamical element, the second dynamical element, the 3rd dynamical element and the 4th dynamical element, manipulator includes the first slide rail, the first slide, mechanical arm and plate of rubbing hands, and paper cutter includes the second slide rail, the second slide, the 3rd slide rail, the 3rd slide and hand papercutter; A kind of workflow of rice paper machining robot is as follows: blanking → compression → back and forth cut → rub with the hands rolls → cuts → and cut paper → put → reset → get paper; So constantly circulation; Utilize controller to control mechanical hand rubbing Medulla Tetrapanacis core to roll, utilize controller to control power set simultaneously and drive hand papercutter cutting Medulla Tetrapanacis core, Medulla Tetrapanacis core is cut into rice paper, a kind of rice paper machining robot is compared with traditional hand cut rice paper, improve working (machining) efficiency, and improve the quality of processing rice paper.
Description
Technical field
The utility model relates to a kind of rice paper processing equipment, particularly a kind of rice paper machining robot.
Background technology
At present, people, when making the stem pith of the rice-paper plant and drawing, need Medulla Tetrapanacis core to make to become rice paper; At present, when people manufacture rice paper, all use traditional manual method processing, add man-hour, utilize hand rubbing Medulla Tetrapanacis core to roll on flat board, meanwhile, hold the continuous reciprocating cutting Medulla Tetrapanacis core of hand papercutter, Medulla Tetrapanacis core is cut into rice paper; Due to manual operations, the operating efficiency of processing is lower, and a kind of rice paper machining robot has become the needs that people process rice paper.
Summary of the invention
The purpose of this utility model overcomes the deficiencies in the prior art, provides a kind of rice paper machining robot, improves the working (machining) efficiency of rice paper.
The technical scheme that the utility model adopts is: a kind of rice paper machining robot, includes workbench, power set, manipulator, cut paper groove, paper cutter and controller; Power set include the first dynamical element, the second dynamical element, the 3rd dynamical element and the 4th dynamical element, manipulator includes the first slide rail, the first slide, mechanical arm and plate of rubbing hands, and paper cutter includes the second slide rail, the second slide, the 3rd slide rail, the 3rd slide and hand papercutter; First slide rail is connected with workbench, and the shell of the first dynamical element is connected with the first slide rail, and the line shaft of the first dynamical element is connected with the first slide, and the first slide and the first slide rail move and be connected; 4th dynamical element is connected with the first slide, and the line shaft of the 4th dynamical element is connected with mechanical arm, and mechanical arm is connected with plate of rubbing hands; Second slide rail is connected with workbench, and the shell of the second dynamical element is connected with the second slide rail, and the line shaft of the second dynamical element is connected with the second slide, and the second slide and the second slide rail move and be connected; 3rd slide rail is connected with the second slide, and the shell of the 3rd dynamical element is connected with the second slide, and the line shaft of the 3rd dynamical element is connected with the 3rd slide, and the 3rd slide and the 3rd slide rail move and be connected; Hand papercutter is connected with the 3rd slide; Controller is connected with power set by control line.
A kind of rice paper processing machine man-hour, Medulla Tetrapanacis core is put on cut paper groove, controller is utilized to control the 4th dynamical element driving mechanical arm to lower swing, Medulla Tetrapanacis core pushed down by the plate that makes to rub hands, after Medulla Tetrapanacis core pushed down by plate of rubbing hands, controller controls the 3rd dynamical element and drives the 3rd slide to move back and forth in the 3rd slide rail, utilizes the 3rd slide to drive hand papercutter to move back and forth and cuts Medulla Tetrapanacis core; Meanwhile, controller controls the first dynamical element and drives the first slide to move on the first slide rail, utilizes the first slide driving mechanical arm and plate of rubbing hands to move, and utilizes plate of rubbing hands to rub Medulla Tetrapanacis core with the hands and rolls; Simultaneously, controller controls the second dynamical element and drives the second slide to move on the second slide rail, the second slide is utilized to drive the 3rd slide to move, the 3rd slide is utilized to drive hand papercutter incision Medulla Tetrapanacis core, along with the rolling of Medulla Tetrapanacis core and hand papercutter constantly back and forth cut Medulla Tetrapanacis core, Medulla Tetrapanacis core is cut into paper shape, and Medulla Tetrapanacis core is cut into rice paper; After Medulla Tetrapanacis core is cut into paper shape, controller controls the first dynamical element, the second dynamical element, the 3rd dynamical element and the 4th dynamical element and resets.
The beneficial effects of the utility model are: a kind of rice paper machining robot is provided with controller; Utilize controller to control mechanical hand rubbing Medulla Tetrapanacis core to roll, utilize controller to control power set simultaneously and drive hand papercutter cutting Medulla Tetrapanacis core, Medulla Tetrapanacis core is cut into rice paper, a kind of rice paper machining robot is compared with traditional hand cut rice paper, improve working (machining) efficiency, and improve the quality of processing rice paper.
Accompanying drawing explanation
Fig. 1 is a kind of structural representation of rice paper machining robot;
Fig. 2 is the top view of Fig. 1.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is further detailed:
The top view of Fig. 1 shown in the structural representation of a kind of rice paper machining robot shown in Fig. 1 and Fig. 2, a kind of rice paper machining robot, includes workbench 1, power set 2, manipulator 3, cut paper groove 4, paper cutter 5 and controller 6; Power set 2 include the first dynamical element 7, second dynamical element 8, the 3rd dynamical element 9 and the 4th dynamical element 10, manipulator 3 includes the first slide rail 11, first slide 12, mechanical arm 13 and plate 14 of rubbing hands, and paper cutter 5 includes the second slide rail 15, second slide 16, the 3rd slide rail 17, the 3rd slide 18 and hand papercutter 19; First slide rail 11 is connected with workbench 1, and the shell of the first dynamical element 7 is connected with the first slide rail 11, and the line shaft of the first dynamical element 7 is connected with the first slide 12, and the first slide 12 and the first slide rail 11 move and be connected; 4th dynamical element 10 is connected with the first slide 12, and the line shaft of the 4th dynamical element 10 is connected with mechanical arm 13, and mechanical arm 13 is connected with plate 14 of rubbing hands; Second slide rail 15 is connected with workbench 1, and the shell of the second dynamical element 8 is connected with the second slide rail 15, and the line shaft of the second dynamical element 8 is connected with the second slide 16, and the second slide 16 and the second slide rail 15 move and be connected; 3rd slide rail 17 is connected with the second slide 16, and the shell of the 3rd dynamical element 9 is connected with the second slide 16, and the line shaft of the 3rd dynamical element 9 is connected with the 3rd slide 18, and the 3rd slide 18 and the 3rd slide rail 17 move and be connected; Hand papercutter 19 is connected with the 3rd slide 18; Controller 6 is connected with power set 2 by control line.
In order to implement that Medulla Tetrapanacis core 20 is cut into rice paper, cut paper groove 4 is positioned at the below of plate 14 of rubbing hands; The axis being parallel of the first dynamical element 7 axis and the second dynamical element 8, the axis of the 3rd dynamical element 9 and the axes normal of the second dynamical element 8; First slide rail 11 is parallel with the second slide rail 15, and the 3rd slide rail 17 is vertical with the second slide rail 15.
A kind of rice paper processing machine man-hour, Medulla Tetrapanacis core 20 is put on cut paper groove 4, controller 6 is utilized to control the 4th dynamical element 10 driving mechanical arm 13 to lower swing, Medulla Tetrapanacis core 20 pushed down by the plate 14 that makes to rub hands, after Medulla Tetrapanacis core 20 pushed down by plate 14 of rubbing hands, controller 6 controls the 3rd dynamical element 9 and drives the 3rd slide 18 to move back and forth in the 3rd slide rail 17, utilizes the 3rd slide 18 to drive hand papercutter 19 to move back and forth and cuts Medulla Tetrapanacis core 20; Meanwhile, controller 6 controls the first dynamical element 7 and drives the first slide 12 to move on the first slide rail 11, utilizes the first slide 12 driving mechanical arm 13 and plate 14 of rubbing hands to move, and utilizes plate 14 of rubbing hands to rub Medulla Tetrapanacis core 20 with the hands and rolls; Simultaneously, controller 6 controls the second dynamical element 8 and drives the second slide 16 to move on the second slide rail 15, the second slide 16 is utilized to drive the 3rd slide 18 to move, the 3rd slide 18 is utilized to drive hand papercutter 19 to cut Medulla Tetrapanacis core 20, along with rolling and the hand papercutter 19 constantly reciprocal incision Medulla Tetrapanacis core 20 of Medulla Tetrapanacis core 20, Medulla Tetrapanacis core 20 is cut into paper shape, and Medulla Tetrapanacis core 20 is cut into rice paper; After Medulla Tetrapanacis core 20 is cut into paper shape, controller 6 controls the first dynamical element 7, second dynamical element 8, the 3rd dynamical element 9 and the 4th dynamical element 10 to be stopped resetting.
In order to implement a kind of Based Intelligent Control of rice paper machining robot, controller 6 is provided with first sensor 21, second sensor 22, the 3rd sensor 23 and four-sensor 24, first sensor 21 is located at the bottom surface of cut paper groove 4, plate 14 of rubbing hands is located at by second sensor 22,3rd sensor 23 and four-sensor 24 are located at the below that the first slide 12, the four-sensor 24 is positioned at the 3rd sensor 23.
During a kind of work of rice paper machining robot, Medulla Tetrapanacis core 20 is put on cut paper groove 4, Medulla Tetrapanacis core 20 is put into the Signal transmissions of cut paper groove 4 to controller 6 by first sensor 21, controller 6 controls the 4th dynamical element 10 driving mechanical arm 13 to lower swing, Medulla Tetrapanacis core 20 pushed down by the plate 14 that makes to rub hands, after Medulla Tetrapanacis core 20 pushed down by plate 14 of rubbing hands, controller 6 controls the 3rd dynamical element 9 and drives the 3rd slide 18 to move as horizontal reciprocating in the 3rd slide rail 17, utilizes the 3rd slide 18 to drive hand papercutter 19 to move back and forth and cuts Medulla Tetrapanacis core 20; Meanwhile, controller 6 controls the first dynamical element 7 and drives the first slide 12 to move to Medulla Tetrapanacis core 20, utilizes the first slide 12 driving mechanical arm 13 and plate 14 of rubbing hands to move to Medulla Tetrapanacis core 20, utilizes plate 14 of rubbing hands to rub Medulla Tetrapanacis core 20 with the hands and rolls; Simultaneously, controller 6 controls the second dynamical element 8 and drives the second slide 16 to move to Medulla Tetrapanacis core 20, the second slide 16 is utilized to drive the 3rd slide 18 to move to Medulla Tetrapanacis core 20, the 3rd slide 18 is utilized to drive hand papercutter 19 to cut Medulla Tetrapanacis core 20, along with rolling and the hand papercutter 19 constantly reciprocal incision Medulla Tetrapanacis core 20 of Medulla Tetrapanacis core 20, Medulla Tetrapanacis core 20 is cut into paper shape; After Medulla Tetrapanacis core 20 is cut into paper shape, controller 6 the 4th dynamical element 10 driving mechanical arm 13 and plate 14 of rubbing hands reset; Meanwhile, controller 6 controls the first dynamical element 7 and drives the first slide 12 to reset, and controls the second dynamical element 8 and drives the second slide 16 to reset, and controller 6 the 3rd dynamical element 9 stops moving back and forth.
Power set 2 are provided with various structures, and the structure of power set 2 includes: power set 2 are made up of oil gear, and the first dynamical element 7, second dynamical element 8 and the 3rd dynamical element 9 are hydraulic cylinder, and the 4th dynamical element 10 is oscillating oil cylinder; Or power set 2 are made up of pneumatic shuttle, the first dynamical element 7, second dynamical element 8 and the 3rd dynamical element 9 are cylinder, and the 4th dynamical element 10 is oscillating cylinder; Or power set 2 are made up of electric device, the first dynamical element 7, second dynamical element 8 and the 3rd dynamical element 9 are electric pushrod, and the 4th dynamical element 10 is oscillating motor.
A kind of workflow of rice paper machining robot is as follows: blanking → compression → back and forth cut → rub with the hands rolls → cuts → and cut paper → put → reset → get paper; So constantly circulation.
A kind of workflow of rice paper machining robot is specific as follows:
Blanking: Medulla Tetrapanacis core 20 is put into cut paper groove 4, makes the axis of Medulla Tetrapanacis core 20 and the axes normal of the second dynamical element 8, makes Medulla Tetrapanacis core 20 close to the first sensor 21 of cut paper groove 4 bottom surface;
Compress: Medulla Tetrapanacis core 20 is close to after first sensor 21, and first sensor 21 is by its Signal transmissions to controller 6, and controller 6 controls the 4th dynamical element 10 driving mechanical arm 13 to lower swing, utilize plate 14 of rubbing hands to be pushed down by Medulla Tetrapanacis core 20; Meanwhile, Medulla Tetrapanacis core 20 close to the second sensor 22, second sensor 22 by its Signal transmissions to controller 6;
Back and forth cut: the second sensor 22 plate 14 of rubbing hands pushes down Medulla Tetrapanacis core 20 Signal transmissions to after controller 6, and controller 6 controls the 3rd dynamical element 9 and drives the 3rd slide 18 to move as horizontal reciprocating, drive hand papercutter 19 reciprocal horizontal cutting Medulla Tetrapanacis core 20;
Stranding is rolled: while hand papercutter 19 reciprocal horizontal cuts Medulla Tetrapanacis core 20, controller 6 controls the first dynamical element 7 and drives the first slide 12 to move right, utilize the first slide 12 driving mechanical arm 13 and plate 14 of rubbing hands to move right, utilize plate 14 of rubbing hands to rub Medulla Tetrapanacis core 20 with the hands and roll to the right;
Incision: rub with the hands while Medulla Tetrapanacis core 20 rolls to the right at plate 14 of rubbing hands, controller 6 controls the second dynamical element 8 and drives the second slide 16 to move right, utilize the second slide 16 to drive the 3rd slide 18 to move right, utilize the 3rd slide 18 to drive hand papercutter 19 to cut Medulla Tetrapanacis core 20 to the right;
Cut paper: along with rolling and the hand papercutter 19 constantly reciprocal incision Medulla Tetrapanacis core 20 of Medulla Tetrapanacis core 20, Medulla Tetrapanacis core 20 is cut into paper shape, along with Medulla Tetrapanacis core 20 is constantly cut into paper shape, along with mechanical arm 13 is constantly to lower swing, plate 14 of rubbing hands constantly reduces, rub hands plate 14 close to cut paper groove 4, mechanical arm 13 close to four-sensor 24, four-sensor 24 by its Signal transmissions to controller 6;
Put: four-sensor 24 is by its Signal transmissions to after controller 6, and controller 6 controls the 4th dynamical element 10 driving mechanical arm 13 and swings in the other direction, and mechanical arm 13 drives plate 14 of rubbing hands to put reset;
Reset: while mechanical arm 13 has been put, controller 6 controls the line shaft of the first dynamical element 7 and the second dynamical element 8 line shaft is moved to the left, first slide 12 and the second slide 16 reset, and controller 6 controls the 3rd dynamical element 9 to be stopped moving back and forth, and hand papercutter 19 stops moving back and forth; Mechanical arm 13 swings back the position of the 3rd sensor 23, and the 3rd sensor 23 is by its Signal transmissions to controller 6, and controller 6 controls the 4th dynamical element 10 to be stopped, and mechanical arm 13 resets;
Get paper: after hand papercutter 19 stopping moves back and forth, taken out by rice paper.
A kind of rice paper machining robot original state is: mechanical arm 13 close to the line shaft of the 3rd sensor 23, first dynamical element 7 and the second dynamical element 8 line shaft for not stretch out state.
In order to avoid hand papercutter 19 is cut less than Medulla Tetrapanacis core 20, the width of cut paper groove 4 is greater than the length of Medulla Tetrapanacis core 20, and the length of hand papercutter 19 is greater than or equal to the length of Medulla Tetrapanacis core 20; Hand papercutter 19 cutting edge is identical with the thickness that Medulla Tetrapanacis core 20 cuts out rice paper to the vertical range of cut paper groove 4 bottom land.
In order to regulate the thickness of rice paper, be provided with knife rest 25 between hand papercutter 19 and the 3rd slide 18, hand papercutter 19 is fixed on knife rest 25, and knife rest 25 is connected with the 3rd slide 18, is provided with lowering or hoisting gear 26 between knife rest 25 and the 3rd slide 18; Lowering or hoisting gear 26 includes screw thread lowering or hoisting gear; The bottom land of cut paper groove 4 and plane-parallel, the cutting edge of hand papercutter 19 is parallel with the bottom land of cut paper groove 4.
When hand papercutter 19 uses, regulated the distance of hand papercutter 19 and the 3rd slide 18 by lowering or hoisting gear 26, change the height of hand papercutter 19, regulate the distance of hand papercutter 19 and cut paper groove 4, control the height of hand papercutter 19 cutting edge to cut paper groove 4, to reach the object controlling to cut the thickness of logical core paper.
In order to control hand papercutter 19 reciprocating stroke, the 3rd dynamical element 9 is provided with the first travel switch 27 and the second travel switch 28, for controlling the stroke of hand papercutter 19 reciprocating cutting; When hand papercutter 19 moves back and forth cutting Medulla Tetrapanacis core 20, hand papercutter 19 moves back and forth as anterior-posterior horizontal, and hand papercutter 19 moves horizontally to the right simultaneously, and the track of hand papercutter 19 movement is horizontal shifting and the combination moved horizontally to the right.
When 3rd dynamical element 9 drives hand papercutter 19 reciprocating cutting Medulla Tetrapanacis core 20, 3rd dynamical element 9 drives the 3rd slide 18 to move forward, 3rd slide 18 is with movable knife rack 25 and hand papercutter 19 to move forward, when the induction pieces of the 3rd dynamical element 9 moves to the position of the first travel switch 27, first travel switch 27 by its Signal transmissions to controller 6, controller 6 controls the 3rd dynamical element 9 backhaul and moves, 3rd dynamical element 9 drives band movable knife rack 25 and hand papercutter 19 to move backward, when the induction pieces of the 3rd dynamical element 9 moves to the second travel switch 28, second travel switch 28 by its Signal transmissions to controller 6, controller 6 controls the 3rd dynamical element 9 and is with movable knife rack 25 and hand papercutter 19 to move forward, so constantly circulation, control hand papercutter 19 reciprocating cutting Medulla Tetrapanacis core 20, the direction of hand papercutter 19 movement is identical with the direction that Medulla Tetrapanacis core 20 rolls, include hand papercutter 19 to move right, Medulla Tetrapanacis core 20 rolls to the right.
Claims (8)
1. a rice paper machining robot, is characterized in that: described a kind of rice paper machining robot, includes workbench (1), power set (2), manipulator (3), cut paper groove (4), paper cutter (5) and controller (6); Power set (2) include the first dynamical element (7), the second dynamical element (8), the 3rd dynamical element (9) and the 4th dynamical element (10), manipulator (3) includes the first slide rail (11), the first slide (12), mechanical arm (13) and plate of rubbing hands (14), and paper cutter (5) includes the second slide rail (15), the second slide (16), the 3rd slide rail (17), the 3rd slide (18) and hand papercutter (19); First slide rail (11) is connected with workbench (1), and the shell of the first dynamical element (7) is connected with the first slide rail (11), and the line shaft of the first dynamical element (7) is connected with the first slide (12), and the first slide (12) is connected with the first slide rail (11); 4th dynamical element (10) is connected with the first slide (12), and the 4th dynamical element (10) is connected with mechanical arm (13), and mechanical arm (13) is connected with plate of rubbing hands (14); Second slide rail (15) is connected with workbench (1), and the shell of the second dynamical element (8) is connected with the second slide rail (15), and the second dynamical element (8) is connected with the second slide (16), and the second slide (16) is connected with the second slide rail (15); 3rd slide rail (17) is connected with the second slide (16), and the shell of the 3rd dynamical element (9) is connected with the second slide (16), and the 3rd dynamical element (9) is connected with the 3rd slide (18), and the 3rd slide (18) is connected with the 3rd slide rail (17); Hand papercutter (19) is connected with the 3rd slide (18); Controller (6) is connected with power set (2) by control line.
2. a kind of rice paper machining robot according to claim 1, is characterized in that: described cut paper groove (4) is positioned at the below of plate of rubbing hands (14).
3. a kind of rice paper machining robot according to claim 1, is characterized in that: described the first slide rail (11) is parallel with the second slide rail (15).
4. a kind of rice paper machining robot according to claim 1, it is characterized in that: described controller (6) is provided with first sensor (21), the second sensor (22), the 3rd sensor (23) and four-sensor (24), first sensor (21) is located at the bottom surface of cut paper groove (4), plate of rubbing hands (14) is located at by second sensor (22), and the 3rd sensor (23) and four-sensor (24) are located at the first slide (12).
5. a kind of rice paper machining robot according to claim 1, it is characterized in that: described a kind of rice paper machining robot original state is: mechanical arm (13) is close to the 3rd sensor (23), and the line shaft of the first dynamical element (7) and the second dynamical element (8) line shaft be not for stretch out state.
6. a kind of rice paper machining robot according to claim 1, is characterized in that: described hand papercutter (19) cutting edge is identical with the thickness that Medulla Tetrapanacis core (20) cuts out rice paper to the vertical range of cut paper groove (4) bottom land.
7. a kind of rice paper machining robot according to claim 1, is characterized in that: the bottom land of described cut paper groove (4) and plane-parallel, and the cutting edge of hand papercutter (19) is parallel with the bottom land of cut paper groove (4).
8. a kind of rice paper machining robot according to claim 1, is characterized in that: the 3rd described dynamical element (9) is provided with the first travel switch (27) and the second travel switch (28).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520339716.4U CN204604388U (en) | 2015-05-22 | 2015-05-22 | A kind of rice paper machining robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520339716.4U CN204604388U (en) | 2015-05-22 | 2015-05-22 | A kind of rice paper machining robot |
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| Publication Number | Publication Date |
|---|---|
| CN204604388U true CN204604388U (en) | 2015-09-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520339716.4U Expired - Fee Related CN204604388U (en) | 2015-05-22 | 2015-05-22 | A kind of rice paper machining robot |
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| Country | Link |
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| CN (1) | CN204604388U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016188355A1 (en) * | 2015-05-22 | 2016-12-01 | 郑运婷 | Pith paper processing robot device |
| WO2016188204A1 (en) * | 2015-05-22 | 2016-12-01 | 郑运婷 | Pith paper processing robot |
-
2015
- 2015-05-22 CN CN201520339716.4U patent/CN204604388U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016188355A1 (en) * | 2015-05-22 | 2016-12-01 | 郑运婷 | Pith paper processing robot device |
| WO2016188204A1 (en) * | 2015-05-22 | 2016-12-01 | 郑运婷 | Pith paper processing robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150902 Termination date: 20160522 |
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| CF01 | Termination of patent right due to non-payment of annual fee |