WO2016188204A1 - Robot de traitement de papier moelle - Google Patents

Robot de traitement de papier moelle 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
Authority
WO
WIPO (PCT)
Prior art keywords
paper
power
power element
sliding seat
sensor
Prior art date
Application number
PCT/CN2016/076938
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English (en)
Chinese (zh)
Inventor
郑运婷
Original Assignee
郑运婷
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 郑运婷 filed Critical 郑运婷
Publication of WO2016188204A1 publication Critical patent/WO2016188204A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D1/00—Cutting 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
    • B26D1/01—Cutting 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
    • B26D1/04—Cutting 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
    • B26D1/06—Cutting 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D5/00—Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D5/20—Arrangements 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/01—Means for holding or positioning work
    • B26D7/02—Means for holding or positioning work with clamping means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B26—HAND CUTTING TOOLS; CUTTING; SEVERING
    • B26D—CUTTING; DETAILS COMMON TO MACHINES FOR PERFORATING, PUNCHING, CUTTING-OUT, STAMPING-OUT OR SEVERING
    • B26D7/00—Details of apparatus for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
    • B26D7/06—Arrangements for feeding or delivering work of other than sheet, web, or filamentary form

Definitions

  • the invention relates to a through paper processing machine, in particular to a through paper processing robot.
  • 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.
  • 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
  • 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,
  • 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.
  • 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.
  • Figure 1 is a schematic structural view of a paper-passing paper processing robot
  • Figure 2 is a plan view of Figure 1.
  • 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.
  • 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.
  • the controller 6 controls 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
  • 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
  • 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.
  • 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.
  • 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.
  • the grass core 20 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.
  • 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:
  • 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;
  • 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.
  • 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.
  • 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;
  • 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;
  • 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.
  • 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.
  • 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.
  • 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.
  • 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
  • the trajectory of the cutter 19 is a combination of horizontal movement to the front and horizontal movement to the right.
  • 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
  • the third slider 18 drives the knife holder 25 and the paper cutter 19 to move forward.
  • 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.
  • 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.

Abstract

La présente invention concerne un robot de traitement de papier moelle, comprenant un établi, un dispositif électrique, un manipulateur, une rainure de coupe de papier, un dispositif de coupe de papier et un dispositif de commande. Le dispositif électrique comprend un premier élément électrique, un deuxième élément électrique, un troisième élément électrique et un quatrième élément électrique. Le manipulateur comprend un premier rail coulissant, une première base coulissante, un bras mécanique et une carte de frottement. Le dispositif de coupe de papier comprend un deuxième rail coulissant, une deuxième base coulissante, un troisième rail coulissant, une troisième base coulissante et un dispositif de coupe de papier. La procédure de travail du robot de traitement de papier moelle comprend : l'alimentation, la compression, la coupe alternative, le frottement et le laminage, la coupe, la coupe de papier, le basculement, la réinitialisation et la récupération du papier. La procédure de travail est répétée en continu. Le dispositif de commande commande au manipulateur de frotter les noyaux de moelle à laminer, le dispositif de commande commande au dispositif électrique d'entraîner la dispositif de coupe de papier pour couper les noyaux de moelle, et les noyaux de moelle sont coupés pour former du papier moelle. Comparé à un mode traditionnel de coupe de papier moelle manuelle, le robot de traitement de papier moelle améliore l'efficacité de traitement et la qualité de traitement du papier moelle.
PCT/CN2016/076938 2015-05-22 2016-03-22 Robot de traitement de papier moelle WO2016188204A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201510268653.2A CN104890026B (zh) 2015-05-22 2015-05-22 通草纸加工机器人
CN201510268653.2 2015-05-22

Publications (1)

Publication Number Publication Date
WO2016188204A1 true WO2016188204A1 (fr) 2016-12-01

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Application Number Title Priority Date Filing Date
PCT/CN2016/076938 WO2016188204A1 (fr) 2015-05-22 2016-03-22 Robot de traitement de papier moelle

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CN (1) CN104890026B (fr)
WO (1) WO2016188204A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104890026B (zh) * 2015-05-22 2016-08-17 哈尔滨工大服务机器人有限公司 通草纸加工机器人
CN104894910B (zh) * 2015-05-22 2016-08-17 哈尔滨工大服务机器人有限公司 通草纸加工机器人装置

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CN203019413U (zh) * 2012-12-24 2013-06-26 杭州合和纸业有限公司 切纸机
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CN104894910A (zh) * 2015-05-22 2015-09-09 郑运婷 通草纸加工机器人装置
CN104890026A (zh) * 2015-05-22 2015-09-09 郑运婷 通草纸加工机器人
CN104960002A (zh) * 2015-05-22 2015-10-07 郑运婷 智能通草纸加工机器人装置
CN104960001A (zh) * 2015-05-22 2015-10-07 郑运婷 智能通草纸加工机器人

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CN101804643B (zh) * 2009-02-17 2013-07-24 宏达国际电子股份有限公司 切割装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6055871A (en) * 1998-05-13 2000-05-02 The United States Of America As Represented By The Secretary Of The Navy Machine for cutting a cylindrical specimen of rocket propellant
JP4166559B2 (ja) * 2002-02-15 2008-10-15 株式会社ブリヂストン 成形ローラの切断方法およびそれに用いる装置ならびに製品ローラ
CN201720879U (zh) * 2010-07-23 2011-01-26 温州锐志包装机械有限公司 一种切纸机
CN102672740A (zh) * 2012-05-27 2012-09-19 刘刚 一种卫生纸卷切割机
CN202964746U (zh) * 2012-10-19 2013-06-05 程肖 一种原纸切割机原纸移动固定装置
CN203019413U (zh) * 2012-12-24 2013-06-26 杭州合和纸业有限公司 切纸机
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CN204604388U (zh) * 2015-05-22 2015-09-02 郑运婷 一种通草纸加工机器人
CN104894910A (zh) * 2015-05-22 2015-09-09 郑运婷 通草纸加工机器人装置
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CN104960001A (zh) * 2015-05-22 2015-10-07 郑运婷 智能通草纸加工机器人

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