WO2016202134A1 - Robotic arm device for cutting rice paper - Google Patents
Robotic arm device for cutting rice paper Download PDFInfo
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- WO2016202134A1 WO2016202134A1 PCT/CN2016/082571 CN2016082571W WO2016202134A1 WO 2016202134 A1 WO2016202134 A1 WO 2016202134A1 CN 2016082571 W CN2016082571 W CN 2016082571W WO 2016202134 A1 WO2016202134 A1 WO 2016202134A1
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- guiding
- cutting
- template
- spiral groove
- guide
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- 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
- B26D1/547—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 wire-like cutting member
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- the invention relates to a through-grain paper processing machine, in particular to a through-grain paper cutting robot device.
- the guide frame 23 is placed on the upper guide template 13, and the guide wheel 26 is placed by the entrance of the guide groove 22, and the moving power component 1 moves the guide wheel 26 from the outside to the inside along the guiding groove 22.
- the guide wire 26 is used to guide the cutting wire 4 to move along the upper guide spiral groove hole 15 and the lower guide spiral groove hole 17, and the grass core 11 is cut by the cutting line 4; the width of the guide groove 22 is larger than the outer diameter of the guide wheel 26, the guide wheel 26 and the guide
- the groove 22 is dynamically mated; the stroke of the power head 8 of the power element 1 is greater than the length of the grass core 11, and the length of the cutting line 4 is greater than twice the stroke of the power head 8; the trajectory of the cutting line 4 is the same as the spiral.
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Abstract
Provided is a robotic arm device for cutting rice paper, comprising a powered component (1), a cutting device (2), and a guide mold (3); the cutting device comprises a cutting wire (4) and a suspended weight (5); the guide mold comprises a clamping mold (6) and a guide template (7); the powered head (8) of the powered component is connected to the cutting wire (4), and the cutting wire (4) is connected to the suspended weight (5); the guide template (7) comprises an upper guide template (13) and a lower guide template (14); the upper guide template is provided with an upper guiding spiral groove hole, and the upper guiding spiral groove hole is provided with an upper guiding inlet; the lower guide template is provided with a lower guiding spiral groove hole, and the lower guiding spiral groove hole is provided with a lower guiding inlet. The robotic arm device for cutting rice paper improves processing efficiency and improves quality in processing rice paper.
Description
本发明涉及一种通草纸加工机械，特别是一种通草纸切割机械手装置。The invention relates to a through-grain paper processing machine, in particular to a through-grain paper cutting robot device.
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，一种通草纸切割机械手装置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-grain cutting robot device 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，提供一种通草纸切割机械手装置，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 to provide a through-grain paper cutting robot device to improve the processing efficiency of the through-grain paper.
本发明所采用的技术方案是：通草纸切割机械手装置，包括有动力元件、切割装置以及导向模具；切割装置包括有切割线以及吊锤，导向模具包括有夹模以及导向模板，夹模与导向模板连接；动力元件的动力头与切割线连接，切割线与吊锤连接；导向模板设有导向螺旋沟孔；导向模板包括有上导向模板以及下导向模板，上导向模板设有上导向螺旋沟孔，上导向螺旋沟孔设有上导入口，下导向模板设有下导向螺旋沟孔，下导向螺旋沟孔设有下导入口。The technical solution adopted by the invention is: a through-grain cutting robot device, comprising a power component, a cutting device and a guiding die; the cutting device comprises a cutting line and a hanging hammer, the guiding die comprises a clamping die and a guiding template, the clamping and guiding The template is connected; the power head of the power component is connected with the cutting line, the cutting line is connected with the hammer; the guiding template is provided with a guiding spiral groove; the guiding template comprises an upper guiding template and a lower guiding template, and the upper guiding template is provided with an upper guiding spiral groove The upper guide spiral groove is provided with an upper introduction port, the lower guide template is provided with a lower guide spiral groove hole, and the lower guide spiral groove is provided with a lower introduction port.
通草纸切割机械手装置工作时，将导向模具安装于工作台上，将通草芯放入夹模，利用夹模以及导向模板将通草芯夹住；手握动力元件，启动动力元件带动切割线作往复运动，将作往复运动的切割线由导向螺旋沟孔的导入口导入，使切割线沿导向螺旋沟孔进入，利用切割线沿导向螺旋沟孔切割通草芯，将通草芯切割成为纸形状。When the grass-paper cutting robot device is working, the guiding die is mounted on the workbench, the through-grain core is placed in the clamping mold, and the through-grain core is clamped by the clamping die and the guiding template; the power component is held, and the power component is driven to drive the cutting line to reciprocate. Movement, the reciprocating cutting line is introduced from the introduction opening of the guiding spiral groove hole, so that the cutting line enters along the guiding spiral groove hole, and the cutting straw core is cut along the guiding spiral groove hole by the cutting line, and the through straw core is cut into a paper shape.
本发明的有益效果是：通草纸切割机械手装置，利用动力元件以及吊锤的重力带动切割线往复运动切割通草纸，利用导向模板引导切割线按螺旋线的轨迹移动，将通草芯切割成为通草纸，通草纸切割机械手装置与
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 cutting robot device uses the power component and the gravity of the hammer to drive the cutting line to reciprocate and cut the paper, and the guiding template is used to guide the cutting line to move according to the trajectory of the spiral, and the grass core is cut into the grass paper. , through-grain paper cutting robot device and
Compared with traditional hand-cut through-paper, it improves processing efficiency and improves the quality of processed through-grain paper.
图1是通草纸切割机械手装置的结构示意图；Figure 1 is a schematic view showing the structure of a through-grain cutting robot device;
图2是图1的俯视图。Figure 2 is a plan view of Figure 1.
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所示的通草纸切割机械手装置的结构示意图以及图2所示图1的俯视图，通草纸切割机械手装置，包括有动力元件1、切割装置2以及导向模具3；切割装置2包括有切割线4以及吊锤5，导向模具3包括有夹模6以及导向模板7，夹模6与导向模板7连接；动力元件1的动力头8与切割线4连接，切割线4与吊锤5连接；导向模板7设有导向螺旋沟孔9；动力元件1的动力头8初始状态为未伸出状态；切割线4包括有金属线以及非金属线，金属线包括有钢丝以及钼丝，非金属线包括有尼龙线。Figure 1 is a schematic view showing the structure of the paper-cutting robot device shown in Figure 1 and the top view of Figure 1, the paper-cutting robot device includes a power component 1, a cutting device 2 and a guiding die 3; the cutting device 2 includes a cutting line. 4 and the hoist 5, the guiding die 3 comprises a clamping die 6 and a guiding template 7, the clamping die 6 is connected with the guiding template 7; the power head 8 of the power component 1 is connected with the cutting line 4, and the cutting wire 4 is connected with the sling 5; The guiding template 7 is provided with a guiding spiral groove 9; the power head 8 of the power component 1 is in an unextended state; the cutting wire 4 includes a metal wire and a non-metal wire, and the wire includes a steel wire and a molybdenum wire, and a non-metal wire Includes nylon thread.
通草纸切割机械手装置的使用方法是：工作时，将导向模具3安装于工作台10上，将通草芯11放入夹模6，利用夹模6以及导向模板7将通草芯11夹住；手握动力元件1，启动动力元件1带动切割线4作往复运动，将作往复运动的切割线4由导向螺旋沟孔9的导入口12导入，使切割线4沿导向螺旋沟孔9进入，利用切割线4沿导向螺旋沟孔9切割通草芯11，将通草芯11切割成为纸形状。The use of the weeding paper cutting robot device is: when working, the guiding mold 3 is mounted on the table 10, the grass core 11 is placed in the clamping mold 6, and the grass core 11 is clamped by the clamping mold 6 and the guiding template 7; Holding the power element 1, the starting power element 1 drives the cutting line 4 to reciprocate, and the reciprocating cutting line 4 is introduced from the introduction port 12 of the guiding spiral groove hole 9, so that the cutting line 4 enters along the guiding spiral groove hole 9 and utilizes The cutting line 4 cuts the grass core 11 along the guide spiral groove hole 9, and cuts the grass core 11 into a paper shape.
为了实施切割线4沿导向模板7的导向轨迹移动，导向模板7包括有上导向模板13以及下导向模板14，上导向模板13设有上导向螺旋沟孔15，上导向螺旋沟孔15设有上导入口16，下导向模板14设有下导向螺旋沟孔17，下导向螺旋沟孔17设有下导入口18；上导向模板13与下导向模板14的形状以及大小相同，上导向模板13位于下导向模板14的上方，上导向螺旋沟孔15与下导向螺旋沟孔17的形状以及大小相同；上导向螺旋沟孔15与下导向螺旋沟孔17相互平行。In order to carry out the movement of the cutting line 4 along the guiding trajectory of the guiding template 7, the guiding template 7 comprises an upper guiding template 13 and a lower guiding template 14. The upper guiding template 13 is provided with an upper guiding spiral groove 15 and the upper guiding spiral groove 15 is provided. The upper guide plate 16 is provided with a lower guide spiral groove 17 and the lower guide spiral groove 17 is provided with a lower introduction port 18; the upper guide template 13 and the lower guide template 14 have the same shape and size, and the upper guide template 13 Located above the lower guide template 14, the upper guide spiral groove 15 and the lower guide spiral groove 17 have the same shape and size; the upper guide spiral groove 15 and the lower guide spiral groove 17 are parallel to each other.
为了减少吊锤5的冲击力，所述的切割线4与吊锤5之间设有拉伸弹簧19，切割线4与拉伸弹簧19连接，拉伸弹簧19与吊锤5连接。In order to reduce the impact force of the sling 5, a tension spring 19 is provided between the cutting line 4 and the sling 5, the cutting line 4 is connected to the tension spring 19, and the tension spring 19 is connected to the sling 5.
通草纸切割机械手装置使用时，通草芯11固定于上导向模板13与下导向模板14之间，使通草芯11的上端面20与上导向模板13接触，通
草芯11的下端面21与下导向模板14接触；动力元件1启动后，动力元件1的动力头8带动切割线4、拉伸弹簧19以及吊锤5作往复运动；将切割线4沿上导向螺旋沟孔15的上导入口16以及下导向螺旋沟孔17的下导入口18导入，使动力头8位于上导向模板13的上方，吊锤5位于下导向模板14的下方；操作动力元件1沿上导向螺旋沟孔15以及下导向螺旋沟孔17运动，利用切割线4切割上导向模板13与下导向模板14之间的通草芯11，随着切割线4沿着上导向螺旋沟孔15以及下导向螺旋沟孔17不断深入移动，切割线4于通草芯11切割了一个螺旋的切面，将通草芯11取出展开后成为纸形状。When the weeding paper cutting robot device is used, the grass core 11 is fixed between the upper guiding template 13 and the lower guiding template 14 so that the upper end surface 20 of the grass core 11 is in contact with the upper guiding template 13
The lower end surface 21 of the straw core 11 is in contact with the lower guide template 14; after the power element 1 is started, the power head 8 of the power component 1 drives the cutting line 4, the tension spring 19 and the hammer 5 to reciprocate; The upper introduction port 16 of the guide spiral groove 15 and the lower introduction port 18 of the lower guide spiral groove 17 are introduced, so that the power head 8 is located above the upper guide die plate 13, and the hammer 5 is located below the lower guide die plate 14; 1 moving along the upper guiding spiral groove hole 15 and the lower guiding spiral groove hole 17, and cutting the grass core 11 between the guiding template 13 and the lower guiding template 14 by the cutting line 4, along the cutting line 4 along the upper guiding spiral groove hole 15 and the lower guide spiral groove hole 17 are continuously moved in depth, and the cutting line 4 cuts a spiral cut surface at the grass core 11, and takes out the straw core 11 to form a paper shape.
通草纸切割机械手装置使用时，上导向模板13以及与下导向模板14与水平面平行，通草芯11被夹紧于上导向模板13与下导向模板14之间，切割线4进入上导向螺旋沟孔15以及下导向螺旋沟孔17后，手握动力元件1沿水平方向移动，动力元件1的动力头8作垂直往复运动，切割线4在动力头8垂直牵引力、吊锤5重力以及手水平移动力的作用下，沿上导向螺旋沟孔15以及下导向螺旋沟孔17由外向内切割通草芯11。动力元件1沿上导向螺旋沟孔15由外向内移动时，切割线4在通草芯11的阻力下倾斜，切割线4在吊锤5重力的水平分力的作用下由外向内移动切割通草芯11。When the weeding paper cutting robot device is used, the upper guiding template 13 and the lower guiding template 14 are parallel to the horizontal plane, the grass core 11 is clamped between the upper guiding template 13 and the lower guiding template 14, and the cutting line 4 enters the upper guiding spiral groove. 15 and after guiding the spiral groove hole 17, the hand power element 1 moves in the horizontal direction, the power head 8 of the power element 1 performs vertical reciprocating motion, the cutting line 4 has vertical traction force on the power head 8, the weight of the hammer 5, and the horizontal movement of the hand. Under the action of the force, the grass core 11 is cut from the outside to the inside along the upper guiding spiral groove hole 15 and the lower guiding spiral groove hole 17. When the power element 1 moves from the outside to the inside along the upper guiding spiral groove 15, the cutting line 4 is inclined under the resistance of the grass core 11, and the cutting line 4 is moved from the outside to the inside by the horizontal component of the gravity of the hammer 5 to cut the grass core. 11.
为了使切割的通草纸的厚度相同，导向螺旋沟孔9的截面由螺旋线构成，导向螺旋沟孔9的螺旋线由外向内旋转，螺旋线之间的距离相等。In order to make the thickness of the cut through-grain paper the same, the section of the guide spiral groove 9 is constituted by a spiral, and the spiral which guides the spiral groove 9 is rotated from the outside to the inside, and the distance between the spirals is equal.
为了切割出不同厚度的通草纸，导向模板7设有多重规格，每种规格的导向模板7的外径以及厚度相同，每种规格的导向模板7的导向螺旋沟孔9的尺寸不同。In order to cut through-grain paper of different thicknesses, the guide template 7 is provided with multiple specifications, and the outer diameter and thickness of the guide template 7 of each specification are the same, and the size of the guide spiral groove 9 of the guide template 7 of each specification is different.
所述的动力元件1为往复运动的动力元件；动力元件1设有多重结构，动力元件1的结构包括有：动力元件1为液压元件，液压元件包括有油缸；或者，动力元件1为气动元件，气动元件包括有气缸；或者，动力元件1为电动元件，电动元件包括有电动推杆。The power component 1 is a reciprocating power component; the power component 1 is provided with multiple structures, and the structure of the power component 1 includes: the power component 1 is a hydraulic component, the hydraulic component includes a cylinder; or the power component 1 is a pneumatic component. The pneumatic component includes a cylinder; or, the power component 1 is an electric component, and the electric component includes an electric push rod.
为了实施切割线4沿上导向螺旋沟孔15以及下导向螺旋沟孔17移动，上导向模板13设有导向槽22，导向槽22为螺旋槽，螺旋槽的形状与上导向螺旋沟孔15的形状相同，导向槽22位于上导向螺旋沟孔15的上面；动力元件1的外壳连接有导向架23，导向架23设有割线孔24，切割
线4穿过割线孔24与吊锤5连接；导向架23设有导向轴25以及导向轮26，导向轴25与导向架23连成一体，割线孔24设于导向轴25内，导向轮26与导向轴25动配合连接；导向轴25、导向轮26以及割线孔24的轴线相同。In order to move the cutting line 4 along the upper guiding spiral groove 15 and the lower guiding spiral hole 17, the upper guiding template 13 is provided with a guiding groove 22, the guiding groove 22 is a spiral groove, and the shape of the spiral groove and the upper guiding spiral groove 15 The guide groove 22 is located on the upper surface of the upper guide spiral groove 15; the outer casing of the power component 1 is connected with the guide frame 23, and the guide frame 23 is provided with a secant hole 24 for cutting
The wire 4 is connected to the sling 5 through the secant hole 24; the guide frame 23 is provided with a guide shaft 25 and a guide wheel 26, and the guide shaft 25 is integrally connected with the guide frame 23, and the secant hole 24 is provided in the guide shaft 25 for guiding The wheel 26 is movably coupled to the guide shaft 25; the axes of the guide shaft 25, the guide wheel 26, and the secant hole 24 are the same.
通草纸切割机械手装置使用时，将导向架23置于上导向模板13上，将导向轮26由导向槽22的入口放入，移动动力元件1使导向轮26沿导向槽22由外向内移动，利用导向轮26引导切割线4沿上导向螺旋沟孔15以及下导向螺旋沟孔17移动，利用切割线4切割通草芯11；导向槽22宽度大于导向轮26的外径，导向轮26与导向槽22动配合连接；动力元件1的动力头8的行程大于通草芯11的长度，切割线4的长度大于动力头8的行程的2倍；切割线4移动的轨迹与螺旋线相同。
When the weeding paper cutting robot device is used, the guide frame 23 is placed on the upper guide template 13, and the guide wheel 26 is placed by the entrance of the guide groove 22, and the moving power component 1 moves the guide wheel 26 from the outside to the inside along the guiding groove 22. The guide wire 26 is used to guide the cutting wire 4 to move along the upper guide spiral groove hole 15 and the lower guide spiral groove hole 17, and the grass core 11 is cut by the cutting line 4; the width of the guide groove 22 is larger than the outer diameter of the guide wheel 26, the guide wheel 26 and the guide The groove 22 is dynamically mated; the stroke of the power head 8 of the power element 1 is greater than the length of the grass core 11, and the length of the cutting line 4 is greater than twice the stroke of the power head 8; the trajectory of the cutting line 4 is the same as the spiral.
Claims (10)
- 通草纸切割机械手装置，包括有动力元件(1)、切割装置(2)以及导向模具(3)；切割装置(2)包括有切割线(4)以及吊锤(5)，导向模具(3)包括有夹模(6)以及导向模板(7)，夹模(6)与导向模板(7)连接；动力元件(1)的动力头(8)与切割线(4)连接，切割线(4)与吊锤(5)连接；导向模板(7)设有导向螺旋沟孔(9)；导向模板(7)包括有上导向模板(13)以及下导向模板(14)，上导向模板(13)设有上导向螺旋沟孔(15)，上导向螺旋沟孔(15)设有上导入口(16)，下导向模板(14)设有下导向螺旋沟孔(17)，下导向螺旋沟孔(17)设有下导入口(18)；上导向模板(13)设有导向槽(22)，动力元件(1)的外壳连接有导向架(23)，导向架(23)设有割线孔(24)，导向架(23)设有导向轴(25)以及导向轮(26)；其特征在于：所述的通草纸切割机械手装置的使用方法是：工作时，将导向模具(3)安装于工作台(10)上，将通草芯(11)放入夹模(6)，利用夹模(6)以及导向模板(7)将通草芯(11)夹住；手握动力元件(1)，启动动力元件(1)带动切割线(4)作往复运动，将作往复运动的切割线(4)由导向螺旋沟孔(9)的导入口(12)导入，使切割线(4)沿导向螺旋沟孔(9)进入，利用切割线(4)沿导向螺旋沟孔(9)切割通草芯(11)，将通草芯(11)切割成为纸形状。The grass-paper cutting robot device comprises a power component (1), a cutting device (2) and a guiding die (3); the cutting device (2) comprises a cutting line (4) and a hanging hammer (5), the guiding die (3) The mold (6) and the guide template (7) are included, and the clamp (6) is connected with the guide template (7); the power head (8) of the power component (1) is connected with the cutting line (4), and the cutting line (4) ) is connected to the hammer (5); the guide template (7) is provided with a guiding spiral groove (9); the guiding template (7) comprises an upper guiding template (13) and a lower guiding template (14), and an upper guiding template (13) The upper guiding spiral groove hole (15) is provided, the upper guiding spiral groove hole (15) is provided with an upper introduction port (16), and the lower guiding template (14) is provided with a lower guiding spiral groove hole (17), and the lower guiding spiral groove is provided. The hole (17) is provided with a lower introduction port (18); the upper guide template (13) is provided with a guiding groove (22), the outer casing of the power component (1) is connected with a guide frame (23), and the guide frame (23) is provided with a cutting The wire hole (24), the guide frame (23) is provided with a guiding shaft (25) and a guiding wheel (26); wherein the use of the paper-cutting cutting robot device is: when working, the guiding mold (3) ) is mounted on the work table (10), and the grass core (11) is placed in the clamping mold (6) ), clamping the grass core (11) by using the clamping die (6) and the guiding template (7); holding the power component (1), starting the power component (1) to drive the cutting wire (4) to reciprocate, and reciprocating The moving cutting line (4) is introduced by the introduction port (12) of the guiding spiral groove (9), so that the cutting line (4) enters along the guiding spiral groove hole (9), and the cutting wire (4) is used along the guiding spiral groove hole. (9) Cutting the grass core (11), and cutting the grass core (11) into a paper shape.
- 根据权利要求1所述的通草纸切割机械手装置，其特征在于：所述的通草纸切割机械手装置使用时，通草芯(11)固定于上导向模板(13)与下导向模板(14)之间，使通草芯(11)的上端面(20)与于上导向模板(13)接触，通草芯(11)的下端面(21)与下导向模板(14)接触；动力元件(1)启动后，动力元件(1)的动力头(8)带动切割线(4)、拉伸弹簧(19)以及吊锤(5)作往复运动；将切割线(4)沿上导向螺旋沟孔(15)的上导入口(16)以及下导向螺旋沟孔(17)的下导入口(18)导入，使动力头(8)位于上导向模板(13)的上方，吊锤(5)位于下导向模板(14)的下方；操作动力元件(1)沿上导向螺旋沟孔(15)以及下导向螺旋沟孔(17)运动，利用切割线(4)切割上导向模板(13)与下导向模板(14)之间的通草芯(11)，随着切割线(4)沿着上导向螺旋沟孔(15)以及下导向螺旋沟孔(17)不断深入移动，切割线(4)于通草芯(11)切割了一个螺旋的切面，将通草芯(11)取出展开后成为纸形状。 The paper-passing cutting robot device according to claim 1, wherein when the through-grain cutting robot device is used, the grass core (11) is fixed between the upper guiding template (13) and the lower guiding template (14). , the upper end surface (20) of the grass core (11) is in contact with the upper guiding template (13), and the lower end surface (21) of the straw core (11) is in contact with the lower guiding template (14); after the power component (1) is started The power head (8) of the power component (1) drives the cutting line (4), the tension spring (19) and the hammer (5) to reciprocate; the cutting line (4) is guided along the upper spiral groove (15) The upper inlet (16) and the lower inlet (18) of the lower guide spiral groove (17) are introduced such that the power head (8) is located above the upper guide template (13) and the hammer (5) is located at the lower guide template The lower part of (14); the operating power component (1) moves along the upper guiding spiral groove hole (15) and the lower guiding spiral groove hole (17), and cuts the upper guiding template (13) and the lower guiding template by the cutting line (4) ( 14) between the grass core (11), as the cutting line (4) continues to move deep along the upper guiding spiral groove (15) and the lower guiding spiral groove (17), the cutting line (4) is in the grass core ( 11) Cut a snail The spiral cut surface is taken out and unfolded to form a paper shape.
- 根据权利要求2所述的通草纸切割机械手装置，其特征在于：所述的通草纸切割机械手装置使用时，上导向模板(13)以及与下导向模板(14)与水平面平行，通草芯(11)被夹紧于上导向模板(13)与下导向模板(14)之间，切割线(4)进入上导向螺旋沟孔(15)以及下导向螺旋沟孔(17)后，手握动力元件(1)沿水平方向移动，动力元件(1)的动力头(8)作垂直往复运动，切割线(4)在动力头(8)垂直牵引力、吊锤(5)重力以及手水平移动力的作用下，沿上导向螺旋沟孔(15)以及下导向螺旋沟孔(17)由外向内切割通草芯(11)。The through-grain cutting robot device according to claim 2, wherein when the through-grain cutting robot device is used, the upper guiding template (13) and the lower guiding template (14) are parallel to the horizontal plane, and the straw core (11) ) is clamped between the upper guide template (13) and the lower guide template (14), and the cutting wire (4) enters the upper guide spiral groove hole (15) and the lower guide spiral groove hole (17), and the power component is held by hand (1) Moving in the horizontal direction, the power head (8) of the power component (1) is vertically reciprocated, and the cutting line (4) is vertically pulled by the power head (8), the weight of the hammer (5), and the horizontal moving force of the hand. Under the action, the grass core (11) is cut from the outside to the inside along the upper guiding spiral groove (15) and the lower guiding spiral groove (17).
- 根据权利要求3所述的通草纸切割机械手装置，其特征在于：所述的动力元件(1)沿上导向螺旋沟孔(15)由外向内移动时，切割线(4)在通草芯(11)的阻力下倾斜，切割线(4)在吊锤(5)重力的水平分力的作用下由外向内移动切割通草芯(11)。The paper-passing cutting robot device according to claim 3, characterized in that the cutting element (4) is in the grass core when the power element (1) moves from the outside to the inside along the upper guiding spiral groove (15). The resistance is inclined downward, and the cutting line (4) is moved from the outside to the inside by the horizontal component of the gravity of the hamstring (5) to cut the grass core (11).
- 根据权利要求1所述的通草纸切割机械手装置，其特征在于：所述的导向螺旋沟孔(9)的截面由螺旋线构成，导向螺旋沟孔(9)的螺旋线由外向内旋转，螺旋线之间的距离相等。The through-grain cutting robot device according to claim 1, wherein the cross section of the guiding spiral groove (9) is formed by a spiral, and the spiral guiding the spiral groove (9) is rotated from the outside to the inside, and the spiral The distance between the lines is equal.
- 根据权利要求1所述的通草纸切割机械手装置，其特征在于：所述的导向模板(7)设有多重规格，每种规格的导向模板(7)的外径以及厚度相同，每种规格的导向模板(7)的导向螺旋沟孔(9)的尺寸不同。The paper-passing cutting robot device according to claim 1, wherein the guide template (7) is provided with multiple specifications, and the outer diameter and thickness of the guide template (7) of each specification are the same, each specification The guide spiral groove (9) of the guide template (7) is different in size.
- 根据权利要求1所述的通草纸切割机械手装置，其特征在于：所述的通草纸切割机械手装置使用时，将导向架(23)置于上导向模板(13)上，将导向轮(26)由导向槽(22)的入口放入，移动动力元件(1)使导向轮(26)沿导向槽(22)由外向内移动，利用导向轮(26)引导切割线(4)沿上导向螺旋沟孔(15)以及下导向螺旋沟孔(17)移动，利用切割线(4)切割通草芯(11)。The through-grain cutting robot device according to claim 1, wherein when the through-grain cutting robot device is used, the guide frame (23) is placed on the upper guiding template (13), and the guiding wheel (26) is used. Inserted by the inlet of the guiding groove (22), the moving power component (1) moves the guiding wheel (26) from the outside to the inside along the guiding groove (22), and guides the cutting line (4) along the guiding spiral by the guiding wheel (26) The groove hole (15) and the lower guide spiral groove hole (17) move, and the grass core (11) is cut by the cutting line (4).
- 根据权利要求7所述的通草纸切割机械手装置，其特征在于：所述的导向槽(22)宽度大于导向轮(26)的外径，导向轮(26)与导向槽(22)动配合连接。The paper-passing cutting robot device according to claim 7, wherein the guiding groove (22) has a width larger than the outer diameter of the guiding wheel (26), and the guiding wheel (26) is mechanically coupled with the guiding groove (22). .
- 根据权利要求1所述的通草纸切割机械手装置，其特征在于：所述的动力元件(1)的动力头(8)的行程大于通草芯(11)的长度，切割线(4)的长度大于动力头(8)的行程的2倍。The paper-cutting robot device according to claim 1, characterized in that the stroke of the power head (8) of the power component (1) is greater than the length of the grass core (11), and the length of the cutting line (4) is greater than 2 times the stroke of the power head (8).
- 根据权利要求1所述的通草纸切割机械手装置，其特征在于：所 述的切割线(4)移动的轨迹与螺旋线相同。 A through-grain cutting robot device according to claim 1, wherein: The trajectory of the cutting line (4) described is the same as the spiral.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510325794.3 | 2015-06-13 | ||
| CN201510325794.3A CN104924339B (en) | 2015-06-13 | 2015-06-13 | Rice paper cutting mechanics arm device |
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| Publication Number | Publication Date |
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| WO2016202134A1 true WO2016202134A1 (en) | 2016-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| PCT/CN2016/082571 WO2016202134A1 (en) | 2015-06-13 | 2016-05-19 | Robotic arm device for cutting rice paper |
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| CN (1) | CN104924339B (en) |
| WO (1) | WO2016202134A1 (en) |
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| CN104924339B (en) * | 2015-06-13 | 2016-09-07 | 郑运婷 | Rice paper cutting mechanics arm device |
| CN104924338B (en) * | 2015-06-13 | 2016-09-07 | 郑运婷 | Rice paper cutting manipulator |
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| CN102718091A (en) * | 2012-07-02 | 2012-10-10 | 上海西辉机电科技有限公司 | Full-automatic card cutting machine |
| US20130000128A1 (en) * | 2011-06-30 | 2013-01-03 | Solar Turbines Inc. | Cutting tool for cable with a metal shield |
| CN104924338A (en) * | 2015-06-13 | 2015-09-23 | 郑运婷 | Rice paper cutting manipulator |
| CN104924339A (en) * | 2015-06-13 | 2015-09-23 | 郑运婷 | Rice paper cutting manipulator device |
| CN204844276U (en) * | 2015-06-13 | 2015-12-09 | 郑运婷 | Rice paper cutting machine hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0841131A1 (en) * | 1996-11-07 | 1998-05-13 | Bullmer Spezialmaschinen GmbH | Cutting device with stroke adjusting means |
| US8770079B2 (en) * | 2006-03-31 | 2014-07-08 | Seiko Ltd. | Sheet hole punching device |
| CN103350433B (en) * | 2013-07-03 | 2015-04-01 | 兴化市天和塑料制品厂 | Material cutting machine |
| CN203579734U (en) * | 2013-11-25 | 2014-05-07 | 安徽凯司汀精铸有限公司 | Cutting table for foam pouring cups |
| CN104647449A (en) * | 2013-11-25 | 2015-05-27 | 安徽凯司汀精铸有限公司 | Foamed pouring cup cutting table |
-
2015
- 2015-06-13 CN CN201510325794.3A patent/CN104924339B/en not_active Expired - Fee Related
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2016
- 2016-05-19 WO PCT/CN2016/082571 patent/WO2016202134A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130000128A1 (en) * | 2011-06-30 | 2013-01-03 | Solar Turbines Inc. | Cutting tool for cable with a metal shield |
| CN102718091A (en) * | 2012-07-02 | 2012-10-10 | 上海西辉机电科技有限公司 | Full-automatic card cutting machine |
| CN104924338A (en) * | 2015-06-13 | 2015-09-23 | 郑运婷 | Rice paper cutting manipulator |
| CN104924339A (en) * | 2015-06-13 | 2015-09-23 | 郑运婷 | Rice paper cutting manipulator device |
| CN204844276U (en) * | 2015-06-13 | 2015-12-09 | 郑运婷 | Rice paper cutting machine hand |
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| CN104924339B (en) | 2016-09-07 |
| CN104924339A (en) | 2015-09-23 |
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