WO2016188204A1 - Pith paper processing robot - Google Patents

Pith paper processing robot Download PDF

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Publication number
WO2016188204A1
WO2016188204A1 PCT/CN2016/076938 CN2016076938W WO2016188204A1 WO 2016188204 A1 WO2016188204 A1 WO 2016188204A1 CN 2016076938 W CN2016076938 W CN 2016076938W WO 2016188204 A1 WO2016188204 A1 WO 2016188204A1
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WIPO (PCT)
Prior art keywords
power
paper
sliding seat
sensor
cutting
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PCT/CN2016/076938
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French (fr)
Chinese (zh)
Inventor
郑运婷
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郑运婷
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Priority to CN201510268653.2 priority Critical
Priority to CN201510268653.2A priority patent/CN104890026B/en
Application filed by 郑运婷 filed Critical 郑运婷
Publication of WO2016188204A1 publication Critical patent/WO2016188204A1/en

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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
    • B26D1/04Cutting 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 a linearly-movable cutting member
    • B26D1/06Cutting 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 a linearly-movable cutting member wherein the cutting member reciprocates
    • 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
    • B26D5/20Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting with interrelated action between the cutting member and work feed
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B26HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26DCUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/01Means for holding or positioning work
    • B26D7/02Means for holding or positioning work with clamping means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B26HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26DCUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/06Arrangements for feeding or delivering work of other than sheet, web, or filamentary form

Abstract

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

Description

通草纸加工机器人Grass paper processing robot 技术领域Technical field
本发明涉及一种通草纸加工机械,特别是一种通草纸加工机器人。The invention relates to a through paper processing machine, in particular to a through paper processing robot.
背景技术Background technique
目前,人们在制作通草画时,需要将通草芯制作成为通草纸;目前,人们制造通草纸时,均使用传统的手工方法加工,加工时,利用手搓通草芯于平板上滚动,同时,手握切纸刀不断往复切割通草芯,将通草芯切割成为通草纸;由于手工操作,加工的工作效率较低,一种通草纸加工机器人已成为人们加工通草纸的需要。At present, when making straw paintings, people need to make through-grass cores into through-grass paper; at present, when people make through-the-grass paper, they use traditional manual processing. When processing, they use the hand-cranked grass core to roll on the flat plate. At the same time, the hand Holding the paper cutter continuously cuts the grass core, and cuts the grass core into a grass paper; due to the manual operation, the processing efficiency is low, and a through paper processing robot has become a need for people to process the paper.
发明内容Summary of the invention
本发明的目的是克服现有技术的不足,提供一种通草纸加工机器人,提高通草纸的加工效率。The object of the present invention is to overcome the deficiencies of the prior art and provide a through-grain paper processing robot to improve the processing efficiency of the through-grain paper.
本发明所采用的技术方案是:通草纸加工机器人,包括有工作台、动力装置、机械手、切纸槽、切纸装置以及控制器;动力装置包括有第一动力元件、第二动力元件、第三动力元件以及第四动力元件,机械手包括有第一滑轨、第一滑座、机械臂以及搓手板,切纸装置包括有第二滑轨、第二滑座、第三滑轨、第三滑座以及切纸刀;第一滑轨与工作台连接,第一动力元件的外壳与第一滑轨连接,第一动力元件的动力轴与第一滑座连接,第一滑座与第一滑轨动配合连接;第四动力元件与第一滑座连接,第四动力元件的动力轴与机械臂连接,机械臂与搓手板连接;第二滑轨与工作台连接,第二动力元件的外壳与第二滑轨连接,第二动力元件的动力轴与第二滑座连接,第二滑座与第二滑轨动配合连接;第三滑轨与第二滑座连接,第三动力元件的外壳与第二滑座连接,第三动力元件的动力轴与第三滑座连接,第三滑座与第三滑轨动配合连接;切纸刀与第三滑座连接;控制器通过控制线与动力装置连接。The technical solution adopted by the present invention is: a grass paper processing robot, comprising a worktable, a power device, a robot, a paper cutting slot, a paper cutting device and a controller; the power device comprises a first power component, a second power component, and a a third power component and a fourth power component, the robot includes a first slide rail, a first slide seat, a mechanical arm and a picking plate, and the paper cutting device comprises a second slide rail, a second slide seat, a third slide rail, and a third a sliding seat and a paper cutter; the first sliding rail is connected to the worktable, the outer casing of the first power component is connected with the first sliding rail, and the power shaft of the first power component is connected with the first sliding seat, the first sliding seat and the first sliding seat The sliding rail is mechanically coupled; the fourth power component is coupled to the first sliding seat, the power shaft of the fourth power component is coupled to the mechanical arm, the mechanical arm is coupled to the handrail; the second sliding rail is coupled to the workbench, and the second power component is coupled to the second power component The outer casing is connected to the second sliding rail, the power shaft of the second power component is connected to the second sliding seat, the second sliding bracket is connected with the second sliding rail, and the third sliding rail is connected with the second sliding seat, and the third power component is connected. Shell with second slip Connection, power shaft third power member is connected to the third slide, a third slide rails movable with the third mating connector; cutter is connected to the third carriage; controller is connected via control lines and power unit.
通草纸加工机器人工作时,将通草芯放入切纸槽上,利用控制器控制第四动力元件带动机械臂向下摆动,使搓手板压住通草芯,搓手板压住 通草芯后,控制器控制第三动力元件带动第三滑座于第三滑轨作往复移动,利用第三滑座带动切纸刀作往复移动切通草芯;同时,控制器控制第一动力元件带动第一滑座于第一滑轨上移动,利用第一滑座带动机械臂以及搓手板移动,利用搓手板搓通草芯滚动;同时,控制器控制第二动力元件带动第二滑座于第二滑轨上移动,利用第二滑座带动第三滑座移动,利用第三滑座带动切纸刀切入通草芯,随着通草芯的滚动以及切纸刀不断的往复切入通草芯,通草芯被切成纸形状,将通草芯切割成为通草纸;通草芯切成纸形状后,控制器控制第一动力元件、第二动力元件、第三动力元件以及第四动力元件复位。When the grass paper processing robot is working, the grass core is placed on the paper cutting slot, and the fourth power component is controlled by the controller to drive the mechanical arm to swing downward, so that the hand pressing plate presses the grass core, and the hand plate is pressed. After the grass core is passed, the controller controls the third power component to drive the third sliding seat to reciprocate on the third sliding rail, and uses the third sliding seat to drive the paper cutter to reciprocate and cut the straw core; meanwhile, the controller controls the first power component Driving the first sliding seat to move on the first sliding rail, using the first sliding seat to drive the mechanical arm and the hand pallet to move, using the picking plate to pass the grass core rolling; meanwhile, the controller controls the second power component to drive the second sliding seat to the second The second slide moves on the second slide to drive the third slide to move, and the third slide is used to drive the paper cutter to cut into the grass core, and the grass core is continuously reciprocated and cut into the grass core with the rolling of the grass core and the paper cutter. The paper is cut into a paper shape, and the through-grass core is cut into a through-grain paper; after the grass core is cut into a paper shape, the controller controls the first power element, the second power element, the third power element, and the fourth power element to be reset.
本发明的有益效果是:通草纸加工机器人设有控制器;利用控制器控制机械手搓通草芯滚动,同时利用控制器控制动力装置带动切纸刀切割通草芯,将通草芯切割成为通草纸,通草纸加工机器人与传统的手工切割通草纸相比,提高了加工效率,以及提高了加工通草纸的质量。The utility model has the beneficial effects that the through-grain paper processing robot is provided with a controller; the controller is used to control the manipulator to pass through the grass core rolling, and the controller is used to control the power device to drive the paper cutter to cut the grass core, and the grass core is cut into the grass paper. The grass paper processing robot improves the processing efficiency and improves the quality of the processed through-grain paper compared with the conventional hand-cut paper.
附图说明DRAWINGS
图1是通草纸加工机器人的结构示意图;Figure 1 is a schematic structural view of a paper-passing paper processing robot;
图2是图1的俯视图。Figure 2 is a plan view of Figure 1.
具体实施方式detailed description
下面结合附图对本发明进行进一步的说明:The present invention will be further described below in conjunction with the accompanying drawings:
图1所示的通草纸加工机器人的结构示意图以及图2所示图1的俯视图,通草纸加工机器人,包括有工作台1、动力装置2、机械手3、切纸槽4、切纸装置5以及控制器6;动力装置2包括有第一动力元件7、第二动力元件8、第三动力元件9以及第四动力元件10,机械手3包括有第一滑轨11、第一滑座12、机械臂13以及搓手板14,切纸装置5包括有第二滑轨15、第二滑座16、第三滑轨17、第三滑座18以及切纸刀19;第一滑轨11与工作台1连接,第一动力元件7的外壳与第一滑轨11连接,第一动力元件7的动力轴与第一滑座12连接,第一滑座12与第一滑轨11动配合连接;第四动力元件10的外壳与第一滑座12连接,第四动力元件10的动力轴与机械臂13连接,机械臂13与搓手板14连接;第二滑轨15与工作台1连接,第二动力元件8的外壳与第二滑轨15连接,第二动力元件8的动力轴与第二滑座16连接,第二滑座16与第二滑轨15动配合连接;第三滑轨17与第二滑座16连接,第三动力元件9的外壳与第二滑 座16连接,第三动力元件9的动力轴与第三滑座18连接,第三滑座18与第三滑轨17动配合连接;切纸刀19与第三滑座18连接;控制器6通过控制线与动力装置2连接。FIG. 1 is a schematic structural view of the paper-passing paper processing robot and FIG. 2 is a top view of the paper-passing machine, including a table 1, a power unit 2, a robot 3, a paper cutting slot 4, a paper cutting device 5, and The controller 6 includes a first power component 7, a second power component 8, a third power component 9, and a fourth power component 10. The robot 3 includes a first sliding rail 11, a first sliding seat 12, and a mechanical mechanism. The arm 13 and the handle board 14, the paper cutting device 5 includes a second slide rail 15, a second slide 16, a third slide rail 17, a third slide 18, and a paper cutter 19; the first slide rail 11 and the work table 1 , the outer casing of the first power component 7 is connected to the first sliding rail 11 , the power shaft of the first power component 7 is connected to the first sliding seat 12 , and the first sliding seat 12 is mechanically coupled with the first sliding rail 11 ; The outer casing of the fourth power component 10 is connected to the first sliding seat 12, the power shaft of the fourth power component 10 is connected to the mechanical arm 13, the mechanical arm 13 is connected to the handrail 14; the second sliding rail 15 is connected to the working platform 1, and the second The outer casing of the power element 8 is connected to the second sliding rail 15, and the power shaft of the second power component 8 is connected to the second sliding seat 16. The second carriage 16 movable with the second slide rail mating connector 15; a third slide rail 17 is connected to the second carriage 16, the housing member 9 and the third power of the second carriage The base 16 is connected, the power shaft of the third power component 9 is connected to the third slide 18, the third slide 18 is mechanically coupled with the third slide rail 17; the paper cutter 19 is connected to the third slide 18; It is connected to the power unit 2 through a control line.
为了实施将通草芯20切割成为通草纸,切纸槽4位于搓手板14的下方;第一动力元件7轴线与第二动力元件8的轴线平行,第三动力元件9的轴线与第二动力元件8的轴线垂直;第一滑轨11与第二滑轨15平行,第三滑轨17与第二滑轨15垂直。In order to implement the cutting of the grass core 20 into a grass paper, the paper cutting slot 4 is located below the picking plate 14; the axis of the first power element 7 is parallel to the axis of the second power element 8, the axis of the third power element 9 and the second power element The axis of 8 is perpendicular; the first rail 11 is parallel to the second rail 15, and the third rail 17 is perpendicular to the second rail 15.
通草纸加工机器人工作时,将通草芯20放入切纸槽4上,利用控制器6控制第四动力元件10带动机械臂13向下摆动,使搓手板14压住通草芯20,搓手板14压住通草芯20后,控制器6控制第三动力元件9带动第三滑座18于第三滑轨17作往复移动,利用第三滑座18带动切纸刀19作往复移动切通草芯20;同时,控制器6控制第一动力元件7带动第一滑座12于第一滑轨11上移动,利用第一滑座12带动机械臂13以及搓手板14移动,利用搓手板14搓通草芯20滚动;同时,控制器6控制第二动力元件8带动第二滑座16于第二滑轨15上移动,利用第二滑座16带动第三滑座18移动,利用第三滑座18带动切纸刀19切入通草芯20,随着通草芯20的滚动以及切纸刀19不断的往复切入通草芯20,通草芯20被切成纸形状,将通草芯20切割成为通草纸;通草芯20切成纸形状后,控制器6控制第一动力元件7、第二动力元件8、第三动力元件9以及第四动力元件10停止复位。When the grass-paper processing robot is working, the grass core 20 is placed on the paper cutting slot 4, and the controller 6 is used to control the fourth power component 10 to drive the robot arm 13 to swing downward, so that the pick-up board 14 presses the grass core 20, and the hand board 14 After pressing the grass core 20, the controller 6 controls the third power element 9 to drive the third sliding block 18 to reciprocate on the third sliding rail 17, and the third sliding seat 18 drives the paper cutting blade 19 to reciprocate and cut the straw core 20 At the same time, the controller 6 controls the first power component 7 to move the first sliding seat 12 on the first sliding rail 11, and uses the first sliding seat 12 to drive the mechanical arm 13 and the picking plate 14 to move, and uses the picking plate 14 to pass through the grass core. At the same time, the controller 6 controls the second power component 8 to drive the second sliding seat 16 to move on the second sliding rail 15, and the second sliding seat 16 drives the third sliding seat 18 to move, and is driven by the third sliding seat 18. The paper cutter 19 cuts into the grass core 20, and as the grass core 20 rolls and the paper cutter 19 continuously reciprocates into the grass core 20, the grass core 20 is cut into a paper shape, and the grass core 20 is cut into a grass paper; After cutting into a paper shape, the controller 6 controls the first power element 7 and the second power 8, 9 and a third power element member 10 is stopped fourth power reset.
为了实施通草纸加工机器人的智能控制,控制器6设有第一传感器21、第二传感器22、第三传感器23以及第四传感器24,第一传感器21设于切纸槽4的底面,第二传感器22设于搓手板14,第三传感器23以及第四传感器24设于第一滑座12,第四传感器24位于第三传感器23的下方。In order to implement intelligent control of the through-paper processing robot, the controller 6 is provided with a first sensor 21, a second sensor 22, a third sensor 23 and a fourth sensor 24, the first sensor 21 is disposed on the bottom surface of the paper cutting slot 4, and the second The sensor 22 is disposed on the handle plate 14, the third sensor 23 and the fourth sensor 24 are disposed on the first slider 12, and the fourth sensor 24 is located below the third sensor 23.
通草纸加工机器人的工作时,将通草芯20放入切纸槽4上,第一传感器21将通草芯20放入切纸槽4的信号传输给控制器6,控制器6控制第四动力元件10带动机械臂13向下摆动,使搓手板14压住通草芯20,搓手板14压住通草芯20后,控制器6控制第三动力元件9带动第三滑座18于第三滑轨17作水平往复移动,利用第三滑座18带动切纸刀19作往复移动切通草芯20;同时,控制器6控制第一动力元件7带动第一滑座 12向通草芯20移动,利用第一滑座12带动机械臂13以及搓手板14向通草芯20移动,利用搓手板14搓通草芯20滚动;同时,控制器6控制第二动力元件8带动第二滑座16向通草芯20移动,利用第二滑座16带动第三滑座18向通草芯20移动,利用第三滑座18带动切纸刀19切入通草芯20,随着通草芯20的滚动以及切纸刀19不断的往复切入通草芯20,通草芯20被切成纸形状;通草芯20切成纸形状后,控制器6第四动力元件10带动机械臂13以及搓手板14复位;同时,控制器6控制第一动力元件7带动第一滑座12复位,控制第二动力元件8带动第二滑座16复位,控制器6第三动力元件9停止往复移动。When the grass paper processing robot is working, the grass core 20 is placed in the paper cutting slot 4, the first sensor 21 transmits the signal of the grass core 20 into the paper cutting slot 4 to the controller 6, and the controller 6 controls the fourth power component. 10 drives the mechanical arm 13 to swing downward, so that the picking plate 14 presses the grass core 20, and after the picking plate 14 presses the grass core 20, the controller 6 controls the third power component 9 to drive the third sliding seat 18 to the third sliding rail 17 The horizontal reciprocating movement uses the third sliding seat 18 to drive the paper cutter 19 to reciprocate and cut the straw core 20; meanwhile, the controller 6 controls the first power component 7 to drive the first sliding seat. 12 moves to the grass core 20, and the first sliding seat 12 drives the mechanical arm 13 and the hand board 14 to move to the grass core 20, and the grass core 20 is rolled by the hand board 14; meanwhile, the controller 6 controls the second power element 8 to drive the first The second sliding seat 16 moves toward the grass core 20, and the second sliding seat 18 drives the third sliding seat 18 to move to the grass core 20, and the third sliding seat 18 drives the paper cutting knife 19 to cut into the grass core 20, along with the grass core 20 The rolling and paper cutter 19 continuously reciprocally cuts into the grass core 20, and the grass core 20 is cut into a paper shape; after the grass core 20 is cut into a paper shape, the fourth power element 10 of the controller 6 drives the mechanical arm 13 and the hand board 14 to be reset; At the same time, the controller 6 controls the first power component 7 to bring the first slider 12 to reset, the second power component 8 controls the second slider 16 to be reset, and the controller 6 third power component 9 stops reciprocating.
动力装置2设有多种结构,动力装置2的结构包括有:动力装置2由油压装置构成,第一动力元件7、第二动力元件8、以及第三动力元件9为液压缸,第四动力元件10为摆动油缸;或者,动力装置2由气压装置构成,第一动力元件7、第二动力元件8、以及第三动力元件9为气缸,第四动力元件10为摆动气缸;或者,动力装置2由电动装置构成,第一动力元件7、第二动力元件8、以及第三动力元件9为电动推杆,第四动力元件10为摆动电机。The power device 2 is provided with various structures. The structure of the power device 2 includes: the power device 2 is composed of a hydraulic device, and the first power component 7, the second power component 8, and the third power component 9 are hydraulic cylinders, and the fourth The power component 10 is a swing cylinder; or, the power unit 2 is constituted by a pneumatic device, the first power element 7, the second power element 8, and the third power element 9 are cylinders, and the fourth power element 10 is a swing cylinder; or, power The device 2 is composed of an electric device, and the first power element 7, the second power element 8, and the third power element 9 are electric push rods, and the fourth power element 10 is a swing motor.
通草纸加工机器人的工作流程如下:下料→压紧→往复切→搓滚→切入→切纸→摆起→复位→取纸;如此不断循环。The workflow of the paper-processing robot is as follows: blanking → compacting → reciprocating cutting → rolling → cutting in → cutting → swinging → resetting → taking paper;
通草纸加工机器人的工作流程具体如下:The workflow of the paper-processing robot is as follows:
下料:将通草芯20放入切纸槽4,使通草芯20的轴线与第二动力元件8的轴线垂直,使通草芯20接近切纸槽4底面的第一传感器21;Feeding: the grass core 20 is placed in the paper cutting slot 4, the axis of the grass core 20 is perpendicular to the axis of the second power element 8, so that the grass core 20 is close to the first sensor 21 of the bottom surface of the paper cutting slot 4;
压紧:通草芯20接近第一传感器21后,第一传感器21将其信号传输给控制器6,控制器6控制第四动力元件10带动机械臂13向下摆动,利用搓手板14将通草芯20压住;同时,通草芯20接近第二传感器22,第二传感器22将其信号传输给控制器6;Pressing: After the grass core 20 approaches the first sensor 21, the first sensor 21 transmits its signal to the controller 6, and the controller 6 controls the fourth power component 10 to drive the robot arm 13 to swing downward, and uses the hand board 14 to pass the grass core. 20 pressed; at the same time, the grass core 20 is close to the second sensor 22, the second sensor 22 transmits its signal to the controller 6;
往复切:第二传感器22将搓手板14压住通草芯20信号传输给控制器6后,控制器6控制第三动力元件9带动第三滑座18作水平往复移动,带动切纸刀19往复水平切割通草芯20;Reciprocating cutting: After the second sensor 22 presses the signal of the handcuff 14 to the controller 6, the controller 6 controls the third power component 9 to drive the third sliding seat 18 to reciprocate horizontally, and drives the paper cutter 19 to reciprocate. Horizontal cutting through the grass core 20;
搓滚:在切纸刀19往复水平切通草芯20的同时,控制器6控制第一动力元件7带动第一滑座12向右移动,利用第一滑座12带动机械臂13以及搓手板14向右移动,利用搓手板14搓通草芯20向右滚动; Rolling: While the cutter 19 cuts the grass core 20 horizontally, the controller 6 controls the first power component 7 to move the first slider 12 to the right, and the first slider 12 drives the robot arm 13 and the handrail 14 Move to the right, use the hand board 14 to pass the grass core 20 to the right;
切入:在搓手板14搓通草芯20向右滚动的同时,控制器6控制第二动力元件8带动第二滑座16向右移动,利用第二滑座16带动第三滑座18向右移动,利用第三滑座18带动切纸刀19向右切入通草芯20;Cut-in: the controller 6 controls the second power component 8 to move the second slider 16 to the right while the second slider 16 drives the third slider 18 to the right while the scroll 14 is scrolling to the right. , using the third sliding seat 18 to drive the paper cutter 19 to cut right into the grass core 20;
切纸:随着通草芯20的滚动以及切纸刀19不断的往复切入通草芯20,通草芯20被切成纸形状,随着通草芯20被不断切割成纸形,随着机械臂13不断向下摆动,搓手板14不断降低,搓手板14接近切纸槽4,机械臂13接近第四传感器24,第四传感器24将其信号传输给控制器6;Paper cutting: As the grass core 20 rolls and the paper cutter 19 continuously reciprocates into the grass core 20, the grass core 20 is cut into a paper shape, and as the grass core 20 is continuously cut into a paper shape, the robot arm 13 is continuously Swinging downward, the hand board 14 is continuously lowered, the hand board 14 is close to the paper cutting slot 4, the mechanical arm 13 is close to the fourth sensor 24, and the fourth sensor 24 transmits its signal to the controller 6;
摆起:第四传感器24将其信号传输给控制器6后,控制器6控制第四动力元件10带动机械臂13反方向摆动,机械臂13带动搓手板14摆起复位;Swinging: After the fourth sensor 24 transmits its signal to the controller 6, the controller 6 controls the fourth power component 10 to drive the robot arm 13 to swing in the opposite direction, and the mechanical arm 13 drives the handrail 14 to swing and reset;
复位:在机械臂13摆起的同时,控制器6控制第一动力元件7的动力轴以及第二动力元件8动力轴向左移动,第一滑座12以及第二滑座16复位,控制器6控制第三动力元件9停止往复移动,切纸刀19停止往复移动;机械臂13摆回到第三传感器23的位置,第三传感器23将其信号传输给控制器6,控制器6控制第四动力元件10停止,机械臂13复位;Reset: while the robot arm 13 is swinging, the controller 6 controls the power shaft of the first power component 7 and the power axis of the second power component 8 to move leftward, the first slider 12 and the second slider 16 are reset, and the controller 6 controlling the third power element 9 to stop reciprocating movement, the paper cutter 19 stops reciprocating movement; the mechanical arm 13 swings back to the position of the third sensor 23, the third sensor 23 transmits its signal to the controller 6, and the controller 6 controls The four power components 10 are stopped, and the mechanical arm 13 is reset;
取纸:切纸刀19停止往复移动后,将通草纸取出。Picking up the paper: After the paper cutter 19 stops moving back and forth, the paper is taken out.
通草纸加工机器人初始状态是:机械臂13接近第三传感器23,第一动力元件7的动力轴以及第二动力元件8动力轴为未伸出状态。The initial state of the weed paper processing robot is that the mechanical arm 13 approaches the third sensor 23, and the power shaft of the first power element 7 and the power shaft of the second power element 8 are in an unextended state.
为了避免切纸刀19切不到通草芯20,切纸槽4的宽度大于通草芯20的长度,切纸刀19的长度大于或者等于通草芯20的长度;切纸刀19刃口到切纸槽4槽底的垂直距离与通草芯20切割出来通草纸的厚度相同。In order to prevent the paper cutter 19 from cutting the grass core 20, the width of the paper cutting slot 4 is greater than the length of the grass core 20, the length of the paper cutter 19 is greater than or equal to the length of the grass core 20; the cutting edge of the paper cutter 19 to the cutting paper The vertical distance of the groove bottom of the groove 4 is the same as the thickness of the grass paper cut by the grass core 20.
为了调节通草纸的厚度,切纸刀19与第三滑座18之间设有刀架25,切纸刀19固定于刀架25,刀架25与第三滑座18连接,刀架25与第三滑座18之间设有升降装置26;升降装置26包括有螺纹升降装置;切纸槽4的槽底与水平面平行,切纸刀19的刃口与切纸槽4的槽底平行。In order to adjust the thickness of the weeding paper, a knife holder 25 is disposed between the paper cutter 19 and the third slider 18, the paper cutter 19 is fixed to the knife holder 25, and the knife holder 25 is connected with the third slider 18, and the holder 25 is A lifting device 26 is disposed between the third sliding blocks 18; the lifting device 26 includes a screw lifting device; the groove bottom of the paper cutting slot 4 is parallel to the horizontal plane, and the cutting edge of the paper cutting blade 19 is parallel to the groove bottom of the paper cutting slot 4.
切纸刀19使用时,通过升降装置26调节切纸刀19与第三滑座18的距离,改变切纸刀19的高度,调节切纸刀19与切纸槽4的距离,控制切纸刀19刃口到切纸槽4的高度,以达到控制切通芯纸的厚度的目的。When the paper cutter 19 is in use, the distance between the paper cutter 19 and the third carriage 18 is adjusted by the lifting device 26, the height of the paper cutter 19 is changed, the distance between the paper cutter 19 and the paper cutting slot 4 is adjusted, and the paper cutter is controlled. 19 The height of the cutting edge to the cutting slot 4 is used for the purpose of controlling the thickness of the cut-through core paper.
为了控制切纸刀19往复行程,第三动力元件9设有第一行程开关27以及第二行程开关28,用于控制切纸刀19往复切割的行程;切纸刀19往复移动切割通草芯20时,切纸刀19作前后水平往复移动,同时切纸刀19 作向右水平移动,切纸刀19移动的轨迹为前后水平移动与向右水平移动的组合。In order to control the reciprocating stroke of the paper cutter 19, the third power element 9 is provided with a first stroke switch 27 and a second stroke switch 28 for controlling the stroke of the paper cutter 19 to reciprocately cut; the paper cutter 19 reciprocates to cut the grass core 20 When the paper cutter 19 is horizontally reciprocated back and forth, the paper cutter 19 To move horizontally to the right, the trajectory of the cutter 19 is a combination of horizontal movement to the front and horizontal movement to the right.
第三动力元件9带动切纸刀19往复切割通草芯20时,第三动力元件9带动第三滑座18向前移动,第三滑座18带动刀架25以及切纸刀19向前移动,第三动力元件9的感应件移动到第一行程开关27的位置时,第一行程开关27将其信号传输给控制器6,控制器6控制第三动力元件9回程移动,第三动力元件9带动带动刀架25以及切纸刀19向后移动,当第三动力元件9的感应件移动到第二行程开关28时,第二行程开关28将其信号传输给控制器6,控制器6控制第三动力元件9带动刀架25以及切纸刀19向前移动,如此不断循环,控制切纸刀19往复切割通草芯20;切纸刀19移动的方向与通草芯20滚动的方向相同;包括有切纸刀19向右移动,通草芯20向右滚动。 When the third power element 9 drives the paper cutter 19 to reciprocally cut the grass core 20, the third power component 9 drives the third slider 18 to move forward, and the third slider 18 drives the knife holder 25 and the paper cutter 19 to move forward. When the sensing member of the third power element 9 moves to the position of the first stroke switch 27, the first stroke switch 27 transmits its signal to the controller 6, and the controller 6 controls the third power element 9 to move back, the third power element 9 The driving tool holder 25 and the paper cutter 19 are moved backward. When the sensing member of the third power element 9 moves to the second stroke switch 28, the second stroke switch 28 transmits its signal to the controller 6, and the controller 6 controls The third power element 9 drives the knife holder 25 and the paper cutter 19 to move forward, so as to continuously circulate, and controls the paper cutter 19 to reciprocally cut the grass core 20; the paper cutter 19 moves in the same direction as the grass core 20 rolls; The paper cutter 19 is moved to the right, and the grass core 20 is rolled to the right.

Claims (10)

  1. 通草纸加工机器人,其特征在于:所述的通草纸加工机器人,包括有工作台(1)、动力装置(2)、机械手(3)、切纸槽(4)、切纸装置(5)以及控制器(6);动力装置(2)包括有第一动力元件(7)、第二动力元件(8)、第三动力元件(9)以及第四动力元件(10),机械手(3)包括有第一滑轨(11)、第一滑座(12)、机械臂(13)以及搓手板(14),切纸装置(5)包括有第二滑轨(15)、第二滑座(16)、第三滑轨(17)、第三滑座(18)以及切纸刀(19);第一滑轨(11)与工作台(1)连接,第一动力元件(7)的外壳与第一滑轨(11)连接,第一动力元件(7)的动力轴与第一滑座(12)连接,第一滑座(12)与第一滑轨(11)动配合连接;第四动力元件(10)的外壳与第一滑座(12)连接,第四动力元件(10)的动力轴与机械臂(13)连接,机械臂(13)与搓手板(14)连接;第二滑轨(15)与工作台(1)连接,第二动力元件(8)的外壳与第二滑轨(15)连接,第二动力元件(8)的动力轴与第二滑座(16)连接,第二滑座(16)与第二滑轨(15)动配合连接;第三滑轨(17)与第二滑座(16)连接,第三动力元件(9)的外壳与第二滑座(16)连接,第三动力元件(9)的动力轴与第三滑座(18)连接,第三滑座(18)与第三滑轨(17)动配合连接;切纸刀(19)与第三滑座(18)连接;控制器(6)通过控制线与动力装置(2)连接。The paper-processing robot is characterized in that: the paper-passing processing robot includes a work table (1), a power unit (2), a robot (3), a paper cutting slot (4), a paper cutting device (5), and a controller (6); the power unit (2) includes a first power element (7), a second power element (8), a third power element (9), and a fourth power element (10), the robot (3) including There is a first sliding rail (11), a first sliding seat (12), a mechanical arm (13) and a picking plate (14), and the paper cutting device (5) comprises a second sliding rail (15) and a second sliding seat ( 16), a third slide rail (17), a third slide (18) and a paper cutter (19); the first slide rail (11) is connected to the work table (1), and the outer casing of the first power component (7) Connected to the first sliding rail (11), the power shaft of the first power component (7) is connected to the first sliding seat (12), and the first sliding seat (12) is mechanically coupled with the first sliding rail (11); The outer casing of the four-power component (10) is connected to the first sliding seat (12), the power shaft of the fourth power component (10) is connected with the mechanical arm (13), and the mechanical arm (13) is connected with the hand-held board (14); The second sliding rail (15) is connected to the worktable (1), and the outer casing of the second power component (8) is connected with the second sliding rail (15), and the second The power shaft of the force component (8) is connected to the second sliding seat (16), the second sliding seat (16) is mechanically coupled with the second sliding rail (15); the third sliding rail (17) and the second sliding seat ( 16) connecting, the outer casing of the third power component (9) is connected with the second sliding seat (16), the power shaft of the third power component (9) is connected with the third sliding seat (18), and the third sliding seat (18) The third slide rail (17) is mechanically coupled; the paper cutter (19) is coupled to the third slide (18); and the controller (6) is coupled to the power unit (2) via a control line.
  2. 根据权利要求1所述的通草纸加工机器人,其特征在于:所述的切纸槽(4)位于搓手板(14)的下方;第一动力元件(7)轴线与第二动力元件(8)的轴线平行,第三动力元件(9)的轴线与第二动力元件(8)的轴线垂直。The paper-passing machine processing robot according to claim 1, wherein said paper cutting slot (4) is located below the handle board (14); the first power element (7) axis and the second power element (8) The axes are parallel, and the axis of the third power element (9) is perpendicular to the axis of the second power element (8).
  3. 根据权利要求1所述的通草纸加工机器人,其特征在于:所述的第一滑轨(11)与第二滑轨(15)平行,第三滑轨(17)与第二滑轨(15)垂直。The paper-passing paper processing robot according to claim 1, wherein said first slide rail (11) is parallel to said second slide rail (15), and said third slide rail (17) and said second slide rail (15) )vertical.
  4. 根据权利要求1所述的通草纸加工机器人,其特征在于:所述的控制器(6)设有第一传感器(21)、第二传感器(22)、第三传感器(23)以及第四传感器(24),第一传感器(21)设于切纸槽(4)的底面,第二传感器(22)设于搓手板(14),第三传感器(23)以及第四传感器(24)设于第一滑座(12),第四传感器(24)位于第三传感器(23)的下方。The paper-passing paper processing robot according to claim 1, wherein said controller (6) is provided with a first sensor (21), a second sensor (22), a third sensor (23), and a fourth sensor. (24) The first sensor (21) is disposed on the bottom surface of the paper cutting slot (4), the second sensor (22) is disposed on the handle board (14), and the third sensor (23) and the fourth sensor (24) are disposed on The first slider (12) and the fourth sensor (24) are located below the third sensor (23).
  5. 根据权利要求1所述的通草纸加工机器人,其特征在于:所述的 动力装置(2)由油压装置构成,第一动力元件(7)、第二动力元件(8)、以及第三动力元件(9)为液压缸,第四动力元件(10)为摆动油缸;或者,动力装置(2)由气压装置构成,第一动力元件(7)、第二动力元件(8)、以及第三动力元件(9)为气缸,第四动力元件(10)为摆动气缸;或者,动力装置(2)由电动装置构成,第一动力元件(7)、第二动力元件(8)、以及第三动力元件(9)为电动推杆,第四动力元件(10)为摆动电机。A through paper processing robot according to claim 1, wherein: The power unit (2) is composed of a hydraulic device, the first power element (7), the second power element (8), and the third power element (9) are hydraulic cylinders, and the fourth power element (10) is a swing cylinder; Alternatively, the power unit (2) is constituted by a pneumatic device, the first power element (7), the second power element (8), and the third power element (9) are cylinders, and the fourth power element (10) is a swing cylinder; Alternatively, the power unit (2) is constituted by an electric device, and the first power element (7), the second power element (8), and the third power element (9) are electric push rods, and the fourth power element (10) is oscillating Motor.
  6. 根据权利要求4所述的通草纸加工机器人,其特征在于:所述的通草纸加工机器人初始状态是:机械臂(13)接近第三传感器(23),第一动力元件(7)的动力轴以及第二动力元件(8)动力轴为未伸出状态。The paper-passing paper processing robot according to claim 4, wherein the initial state of the paper-passing machine is: the mechanical arm (13) is close to the third sensor (23), and the power axis of the first power component (7) And the second power element (8) power shaft is in an unextended state.
  7. 根据权利要求1所述的通草纸加工机器人,其特征在于:所述的切纸刀(19)刃口到切纸槽(4)槽底的垂直距离与通草芯(20)切割出来通草纸的厚度相同。The paper-passing paper processing robot according to claim 1, wherein the vertical distance between the cutting edge of the paper cutter (19) and the bottom of the cutting groove (4) and the grass core (20) are cut out through the grass paper. The thickness is the same.
  8. 根据权利要求1所述的通草纸加工机器人,其特征在于:所述的切纸刀(19)与第三滑座(18)之间设有刀架(25),切纸刀(19)固定于刀架(25),刀架(25)与第三滑座(18)连接,刀架(25)与第三滑座(18)之间设有升降装置(26);升降装置(26)包括有螺纹升降装置。The paper-passing paper processing robot according to claim 1, wherein a knife holder (25) is disposed between the paper cutter (19) and the third slider (18), and the paper cutter (19) is fixed. In the tool holder (25), the tool holder (25) is connected with the third sliding seat (18), and a lifting device (26) is arranged between the tool holder (25) and the third sliding seat (18); the lifting device (26) Includes threaded lifting device.
  9. 根据权利要求1所述的通草纸加工机器人,其特征在于:所述的切纸槽(4)的槽底与水平面平行,切纸刀(19)的刃口与切纸槽(4)的槽底平行。The paper-passing paper processing robot according to claim 1, wherein the groove bottom of the paper cutting groove (4) is parallel to the horizontal plane, and the cutting edge of the paper cutting blade (19) and the groove of the paper cutting groove (4) The bottom is parallel.
  10. 根据权利要求1所述的通草纸加工机器人,其特征在于:所述的第三动力元件(9)设有第一行程开关(27)以及第二行程开关(28),用于控制切纸刀(19)往复切割的行程。 The paper-passing paper processing robot according to claim 1, wherein said third power component (9) is provided with a first stroke switch (27) and a second stroke switch (28) for controlling the paper cutter (19) The stroke of the reciprocating cutting.
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