WO2016188204A1

WO2016188204A1 - Pith paper processing robot

Info

Publication number: WO2016188204A1
Application number: PCT/CN2016/076938
Authority: WO
Inventors: 郑运婷
Original assignee: 郑运婷
Priority date: 2015-05-22
Filing date: 2016-03-22
Publication date: 2016-12-01
Also published as: CN104890026A; CN104890026B

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

Grass paper processing robot

Technical field

The invention relates to a through paper processing machine, in particular to a through paper processing robot.

Background technique

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.

Summary of the invention

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.

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.

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.

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.

DRAWINGS

Figure 1 is a schematic structural view of a paper-passing paper processing robot;

Figure 2 is a plan view of Figure 1.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings:

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.

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.

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.

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.

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.

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.

The workflow of the paper-processing robot is as follows: blanking → compacting → reciprocating cutting → rolling → cutting in → cutting → swinging → resetting → taking paper;

The workflow of the paper-processing robot is as follows:

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;

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;

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;

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;

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;

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;

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;

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;

Picking up the paper: After the paper cutter 19 stops moving back and forth, the paper is taken out.

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.

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.

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.

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.

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.

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

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.
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).
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.
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).
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.
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.
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.
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.
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.
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.