WO2016202135A1 - 通草纸切割机器人装置 - Google Patents

通草纸切割机器人装置 Download PDF

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Publication number
WO2016202135A1
WO2016202135A1 PCT/CN2016/082572 CN2016082572W WO2016202135A1 WO 2016202135 A1 WO2016202135 A1 WO 2016202135A1 CN 2016082572 W CN2016082572 W CN 2016082572W WO 2016202135 A1 WO2016202135 A1 WO 2016202135A1
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Prior art keywords
cutting
controller
cutting line
motor
wheel
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PCT/CN2016/082572
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English (en)
French (fr)
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郑运婷
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郑运婷
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Application filed by 郑运婷 filed Critical 郑运婷
Publication of WO2016202135A1 publication Critical patent/WO2016202135A1/zh

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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
    • 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

Definitions

  • the invention relates to a through-grain paper processing mechanism, in particular to a through-grain paper cutting robot device.
  • the object of the present invention is to overcome the deficiencies of the prior art and provide a through-grain paper cutting robot device to improve the processing efficiency of the through-grain paper.
  • a grass-paper cutting robot device comprising a cutting device, a rotating device, a guiding die, a moving device, a frame and a controller
  • the mobile device is mounted on the frame
  • the cutting device is mounted on the mobile device
  • the guiding device The mold is mounted on the rotating device, and the rotating device is movably coupled with the frame
  • the cutting device comprises a cutting frame, a cutting line, a driving wheel, a first passive wheel, a second passive wheel, a third passive wheel and a cutting motor, a driving wheel, and a first
  • the axles of a passive wheel, the second passive wheel and the third passive wheel are dynamically coupled with the cutting frame
  • the base of the cutting motor is connected with the cutting frame
  • the rotating shaft of the cutting motor is connected with the driving wheel, the cutting line and the driving wheel
  • the first passive The wheel, the second passive wheel and the third passive wheel are dynamically coupled
  • the rotating device comprises a turntable seat, a turntable motor and a driving wheel, the turntable is connected with
  • the frame is hinged; the cutting frame is connected with the slider, the slider is used to drive the cutting frame to move; the driving wheel is connected with the passive wheel, the driving wheel is driven by the rotating wheel motor, and the driving mold is driven to rotate by the driving wheel; the upper guiding template is provided with the upper guiding spiral groove Hole, lower guide The template is provided with a lower guiding spiral slot; the controller is provided with a first sensor and a second sensor, the first sensor is mounted on the upper inlet opening of the upper guiding spiral slot of the upper guiding template, and the second sensor is mounted on the swinging guiding slot .
  • the swinging guide groove is hinged to the frame by the swing motor, and the outer casing of the swing motor is fixedly connected with the frame, and the rotating shaft of the swinging motor is fixedly connected with the swinging guide groove;
  • the frame is provided with a third sensor, and the third sensor is located below the swinging guide groove, and swings When the guide groove is in the initial position, the third sensor approaches the swinging guide groove;
  • the controller is connected to the first sensor, the second sensor, the third sensor, the cutting motor, the turntable motor, the electric push rod, and the swing motor through the control line.
  • the grass core is loaded into the guiding mold, and the cutting motor is controlled by the controller.
  • the cutting motor drives the driving wheel to rotate, and the driving wheel drives the first passive wheel, the second passive wheel and the third through the cutting line.
  • the passive wheel rotates; rotates the swinging guide groove and the cutting frame, so that the cutting line swings into the upper inlet position of the upper guiding spiral slot, so that the cutting line approaches the first sensor, and the first sensor transmits its signal to the controller, and the controller controls
  • the turntable motor rotates, and the turntable motor drives the guide die to rotate through the drive wheel and the passive wheel; at the same time, the controller controls the electric pusher to push the cutting frame to move; the rotating cutting line is guided along the upper guide template to the upper spiral groove and the lower guide template.
  • the lower guiding spiral groove is moved from the outside to the inside, and the through-grass core in the guiding mold is cut by the rotating cutting line, and the through-grain core is cut into the grass paper.
  • the utility model has the beneficial effects that: the grass-paper cutting robot device controls the rotary disk motor to drive the rotation of the guiding mold, the controller controls the electric push rod to push the cutting frame to move, and the controller controls the cutting motor to drive the cutting line to rotate, and uses the cutting line.
  • the through-grass core of the cutting guide mold cuts the grass core into the grass paper, and the grass paper cutting robot device improves the processing efficiency and improves the quality of the processed grass paper compared with the conventional hand-cut paper.
  • FIG. 1 is a schematic structural view of a grass-paper cutting robot device
  • Figure 2 is a plan view of Figure 1.
  • FIG. 1 is a schematic structural view of the through-grain cutting robot device
  • FIG. 2 is a top view of FIG. 1
  • the through-grain cutting robot device includes a cutting device 1 , a rotating device 2 , a guiding die 3 , a moving device 4 , and a frame 5 .
  • the moving device 4 is mounted on the frame 5
  • the cutting device 1 is mounted on the moving device 4
  • the guiding die 3 is mounted on the rotating device 2
  • the rotating device 2 is movably coupled with the frame 5
  • the cutting device 1 includes a cutting frame 7, cutting line 8, drive wheel 9, The first driven wheel 10, the second driven wheel 11, the third driven wheel 12, and the cutting motor 13, the axle of the driving wheel 9, the first driven wheel 10, the second driven wheel 11, and the third driven wheel 12 are moved by the cutting frame 7
  • the base of the cutting motor 13 is connected with the cutting frame 7,
  • the rotating shaft of the cutting motor 13 is connected with the driving wheel 9, the cutting line 8 and the driving wheel 9, the first driven wheel 10, the second driven wheel 11 and the third passive wheel 12-moving connection
  • the rotating device 2 comprises a turntable seat 14, a turntable motor 15 and a driving wheel 16, the turntable seat 14 is connected with the frame 5, the base of the turntable motor 15 is connected with the turntable seat 14, and the rotating shaft and driving of the turntable motor 15
  • the wheel 16 is connected
  • the power shaft of the swinging guide groove 21 is connected with the slider 22, and the swinging guide groove 21 is hinged with the frame 5;
  • the frame 7 is connected to the slider 22, and the slider 22 is used to drive the cutting frame 7 to move;
  • 16 is connected with the driven wheel 20, and the driving wheel 16 is rotated by the turntable motor 15, and the driving mold 3 is driven to rotate by the driving wheel 16.
  • the upper guiding template 17 is provided with an upper guiding spiral groove 24, and the lower guiding template 18 is provided with a lower guiding spiral groove.
  • the controller 6 is provided with an automatic switch 35, a stop switch 38, a first sensor 26 and a second sensor 27, and the first sensor 26 is mounted on the upper inlet 29 of the upper guide spiral slot 24 of the upper guide template 17,
  • the second sensor 27 is mounted on the swinging guide groove 21; the swinging guide groove 21 is hinged to the frame 5 by the swing motor 34, and the outer casing of the swing motor 34 is fixedly connected to the frame 5, and the rotating shaft of the swing motor 34 is fixedly connected with the swinging guide groove 21.
  • the controller 6 is provided with a third sensor 28, which is located on the frame 5 below the swinging guide groove 21, and when the swinging guide groove 21 is in the initial position, the third sensor 28 approaches the swinging guide groove 21;
  • the first sensor 26, the second sensor 27, the third sensor 28, the cutting motor 13, the turntable motor 15, the electric push rod 23, and the swing motor 34 are connected by a control line.
  • the working method of the weeding paper cutting robot device is: when working, the grass core 30 is loaded into the guiding die 3, and the cutting motor 13 is controlled by the controller 6, and the cutting motor 13 drives the driving wheel 9 to rotate, and the driving wheel 9 passes through the cutting line 8.
  • the upper guiding template 17 is located above the lower guiding template 18, the upper guiding template 17 is parallel to the lower guiding template 18, the upper guiding spiral slot 24 and the lower guiding
  • the spiral slot 25 has the same shape and size, and the upper guiding spiral slot 24 and the lower guiding spiral slot 25 are parallel to each other;
  • the frame 5 is provided with a plurality of supporting balls 31, and the axle supporting the ball 31 is movably matched with the frame 5.
  • the driven wheel 20 is provided with a supporting circular track 32, and the supporting circular track 32 is dynamically coupled with the supporting ball 31; the supporting ball 31 is evenly distributed on the ball groove 33 of the frame 5 below the supporting circular track 32; the rotary motor 15 When rotating, the turntable motor 15 drives the driven wheel 20 to rotate, and the driven wheel 20 drives the supporting circular track 32 to rotate on the supporting ball 31, and the supporting ball 31 rolls under the frictional force of the supporting circular track 32 and the supporting ball 31.
  • the grass core 30 is cut by the rotating cutting line 8, the axis of the driving wheel 9 being parallel to the axes of the first driven wheel 10, the second driven wheel 11 and the third driven wheel 12, the axis of the driving wheel 9
  • the height is the same as the height of the axis of the first driven wheel 10, the height of the axis of the second driven wheel 11 is the same as the height of the axis of the third driven wheel 12; the driving wheel 9, the first driven wheel 10, the second driven wheel 11 and the third passive
  • the wheel 12 is disposed at the same plane position;
  • the cutting line 8 is an annular closed line, and the cutting line 8 is tangent to the driving wheel 9, the first driven wheel 10, the second driven wheel 11, and the third driven wheel 12.
  • the upper guide template 17 is connected to the mold 19 by a hinge 36.
  • the mold 19 is provided with an upper notch 37, which facilitates the insertion and removal of the grass core 30.
  • the upper guiding template 17 is opened, the grass core 30 is placed in the mold cylinder 19, and the upper guiding template 17 is closed, and the grass core 30 is fixed between the upper guiding template 17 and the lower guiding template 18;
  • the controller 6 controls the controller 6 to enter the automatic control state by the automatic switch 35 of the controller 6, and the controller 6 controls the cutting motor 13 to drive the cutting line 8 to rotate.
  • the controller 6 controls the swing motor 34 to swing the swinging guide groove 21, and swings the guide groove 21
  • the cutting frame 7 and the cutting line 8 are driven to swing; when the cutting line 8 is swung into the upper introduction port 29 of the upper guiding spiral slot 24, the cutting line 8 approaches the first sensor 26, and the first sensor 26 transmits its signal to the control.
  • the controller 6 controls the turntable motor 15 to drive the rotation of the guiding die 3 and control the stopping of the swinging motor 34; meanwhile, the controller 6 controls the electric pusher 23 to push the cutting frame 7 to move forward; and the rotating cutting wire 8 is guided upwardly.
  • the slot 24 and the lower guiding spiral slot 25 are moved from the outside to the inside, Cutting the grass core 30 in the guiding mold 3 with the rotating cutting line 8; when the cutting core 30 is cut, the cutting line 8 is moved to the end position of the upper guiding spiral groove 24 and the lower guiding spiral groove 25;
  • the slider 22 moves to the position of the second sensor 27, the second sensor 27 transmits its signal to the controller 6, the controller 6 controls the turntable motor 15 to reverse, the turntable motor 15 drives the guide die 3 to reverse, and the controller 6 controls the electric motor.
  • the push rod 23 is returned, the electric push rod 23 pulls the cutting frame 7 backward, and the cutting frame 7 drives the cutting line 8 to move from the inside to the outside along the upper guiding spiral groove 24 and the lower guiding spiral groove 25; when the cutting line 8 moves to the upper
  • the first sensor 26 transmits its signal to the controller 6, and the controller 6 controls the turntable motor 15 to stop rotating, the cutting motor 13 and the electric push rod 23 to stop, meanwhile,
  • the controller 6 controls the swing motor 34 to swing back and forth in the opposite direction.
  • the third sensor 28 transmits its signal to the controller 6, and the controller 6 controls the swing motor 34 to stop;
  • the guide plate 17, to the cut grass through the core 30 is taken out through the toilet paper to expand.
  • the driving wheel 16 and the driven wheel 20 comprise a plurality of connection modes: the driving wheel 16 is a non-metallic wheel, and the driving wheel 16 is in pressing contact with the driven wheel 20; or, the driving wheel 16 and the driven wheel 20 are pulleys, and the driving wheel 16 is
  • the driven wheel 20 is provided with a conveyor belt connection; the drive wheel 16 and the driven wheel 20 are gears, and the drive wheel 16 is meshed with the driven wheel 20.
  • the cross-sectional shape of the upper guiding spiral groove 24 and the cross-sectional shape of the lower guiding spiral groove 25 are the same as the shape of the spiral, and the distance between the spiral lines is equal; in order to cut different thicknesses
  • the weeding paper, the upper guiding template 17 and the lower guiding template 18 are provided with different specifications, the upper guiding template 17 of the same specification and the spiral of the lower guiding template 18
  • the lines are the same; the spirals of the upper guide template 17 and the lower guide template 18 of different specifications are different.
  • the ring-shaped cutting line 8 rotates around the driving wheel 9, the first driven wheel 10, the second driven wheel 11 and the third driven wheel 12, and the ring-shaped cutting line 8 is on the same plane.
  • the plane is perpendicular to the horizontal plane; the driving wheel 9 rotates clockwise, the cutting line 8 follows the driving wheel 9 in a clockwise direction; or the driving wheel 9 rotates counterclockwise, the cutting line 8 follows the driving wheel 9 in a counterclockwise direction Rotation;
  • the distance from the driving wheel 9 to the third driven wheel 12 is equal to the distance from the first driven wheel 10 to the second driven wheel 11, the distance from the driving wheel 9 to the first driven wheel 10 and the third passive wheel 12 to the second passive
  • the distances of the wheels 11 are equal; the distance from the first driven wheel 10 to the second driven wheel 11 is greater than twice the length of the grass core 30, so that the cutting line 8 can swing.

Abstract

通草纸切割机器人装置，包括有切割装置、旋转装置、导向模具、移动装置、机架以及控制器，移动装置安装于机架，切割装置安装于移动装置，导向模具安装于旋转装置，旋转装置与机架动配合连接；切割装置包括有切割架、切割线及切割电机，旋转装置包括有转盘座、转盘电机以及驱动轮，导向模具包括有上导向模板、下导向模板以及模筒，移动装置包括有摆动导槽、滑块以及电动推杆；使用时，利用控制器控制转盘电机带动导向模具转动、控制电动推杆推切割架移动、控制切割电机带动切割线旋转，利用切割线切割导向模具的通草芯，将通草芯切割成为通草纸，与传统的手工切割通草纸相比，提高了加工效率以及加工质量。

Description

通草纸切割机器人装置 技术领域
本发明涉及一种通草纸加工机械装置，特别是一种通草纸切割机器人装置。
背景技术
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，一种通草纸切割机器人装置已成为人们加工通草纸的需要。
发明内容
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器人装置，提高通草纸的加工效率。
本发明所采用的技术方案是：通草纸切割机器人装置，包括有切割装置、旋转装置、导向模具、移动装置、机架以及控制器，移动装置安装于机架，切割装置安装于移动装置，导向模具安装于旋转装置，旋转装置与机架动配合连接；切割装置包括有切割架、切割线、主动轮、第一被动轮、第二被动轮、第三被动轮以及切割电机，主动轮、第一被动轮、第二被动轮以及第三被动轮的轮轴与切割架动配合连接，切割电机的机座与切割架连接，切割电机的转轴与主动轮连接，切割线与主动轮、第一被动轮、第二被动轮以及第三被动轮动配合连接；旋转装置包括有转盘座、转盘电机以及驱动轮，转盘座与机架连接，转盘电机的机座与转盘座连接，转盘电机的转轴与驱动轮连接；导向模具包括有上导向模板、下导向模板以及模筒，模筒设有被动轮；移动装置包括有摆动导槽、滑块以及电动推杆，滑块与摆动导槽动配合连接，电动推杆的外壳与摆动导槽连接，摆动导槽的动力轴与滑块连接，摆动导槽与机架铰接；切割架与滑块连接，利用滑块带动切割架移动；驱动轮与被动轮连接，利用转盘电机带动驱动轮转动，利用驱动轮驱动导向模具转动；上导向模板设有上导向螺旋槽孔，下导向 模板设有下导向螺旋槽孔；控制器设有第一传感器以及第二传感器，第一传感器安装于上导向模板的上导向螺旋槽孔的上导入口位置，第二传感器安装于摆动导槽上。摆动导槽通过摆动电机与机架铰接，摆动电机的外壳与机架固定连接，摆动电机的转轴与摆动导槽固定连接；机架设有第三传感器，第三传感器位于摆动导槽的下方，摆动导槽在初始位置时，第三传感器接近摆动导槽；控制器通过控制线与第一传感器、第二传感器、第三传感器、切割电机、转盘电机、电动推杆以及摆动电机连接。
通草纸切割机器人装置工作时，将通草芯装入导向模具内，利用控制器控制切割电机运行，切割电机带动主动轮转动，主动轮通过切割线带动第一被动轮、第二被动轮以及第三被动轮转动；转动摆动导槽以及切割架，使切割线摆入上导向螺旋槽孔的上导入口位置，使切割线接近第一传感器，第一传感器将其信号传输给控制器，控制器控制转盘电机转动，转盘电机通过驱动轮以及被动轮带动导向模具转动；同时，控制器控制电动推杆推切割架移动；使转动的切割线沿上导向模板的上导向螺旋槽孔以及下导向模板的下导向螺旋槽孔由外向内移动，利用转动的切割线切割导向模具内的通草芯，将通草芯切割为通草纸。
本发明的有益效果是：通草纸切割机器人装置，利用控制器控制转盘电机带动导向模具转动，利用控制器控制电动推杆推切割架移动，利用控制器控制切割电机带动切割线旋转，利用切割线切割导向模具的通草芯，将通草芯切割成为通草纸，通草纸切割机器人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。
附图说明
图1是通草纸切割机器人装置的结构示意图；
图2是图1的俯视图。
具体实施方式
下面结合附图对本发明进行进一步的说明：
图1所示的通草纸切割机器人装置的结构示意图以及图2所示图1的俯视图，通草纸切割机器人装置，包括有切割装置1、旋转装置2、导向模具3、移动装置4、机架5以及控制器6，移动装置4安装于机架5，切割装置1安装于移动装置4，导向模具3安装于旋转装置2，旋转装置2与机架5动配合连接；切割装置1包括有切割架7、切割线8、主动轮9、 第一被动轮10、第二被动轮11、第三被动轮12以及切割电机13，主动轮9、第一被动轮10、第二被动轮11以及第三被动轮12的轮轴与切割架7动配合连接，切割电机13的机座与切割架7连接，切割电机13的转轴与主动轮9连接，切割线8与主动轮9、第一被动轮10、第二被动轮11以及第三被动轮12动配合连接；旋转装置2包括有转盘座14、转盘电机15以及驱动轮16，转盘座14与机架5连接，转盘电机15的机座与转盘座14连接，转盘电机15的转轴与驱动轮16连接；导向模具3包括有上导向模板17、下导向模板18以及模筒19，模筒19设有被动轮20；移动装置4包括有摆动导槽21、滑块22以及电动推杆23，滑块22与摆动导槽21动配合连接，电动推杆23的外壳与摆动导槽21连接，摆动导槽21的动力轴与滑块22连接，摆动导槽21与机架5铰接；切割架7与滑块22连接，利用滑块22带动切割架7移动；驱动轮16与被动轮20连接，利用转盘电机15带动驱动轮16转动，利用驱动轮16驱动导向模具3转动；上导向模板17设有上导向螺旋槽孔24，下导向模板18设有下导向螺旋槽孔25；控制器6设有自动开关35、停止开关38、第一传感器26以及第二传感器27，第一传感器26安装于上导向模板17的上导向螺旋槽孔24的上导入口29位置，第二传感器27安装于摆动导槽21上；摆动导槽21通过摆动电机34与机架5铰接，摆动电机34的外壳与机架5固定连接，摆动电机34的转轴与摆动导槽21固定连接；控制器6设有第三传感器28，第三传感器28位于摆动导槽21的下方的机架5上，摆动导槽21在初始位置时，第三传感器28接近摆动导槽21；控制器6通过控制线与第一传感器26、第二传感器27、第三传感器28、切割电机13、转盘电机15、电动推杆23以及摆动电机34连接。
通草纸切割机器人装置的使用方法是：工作时，将通草芯30装入导向模具3内，利用控制器6控制切割电机13运行，切割电机13带动主动轮9转动，主动轮9通过切割线8带动第一被动轮10、第二被动轮11以及第三被动轮12转动；转动摆动导槽21以及切割架7，使切割线8摆入上导向螺旋槽孔24的上导入口29位置，使切割线8接近第一传感器26，第一传感器26将其信号传输给控制器6，控制器6控制转盘电机15转动，转盘电机15通过驱动轮16以及被动轮20带动导向模具3转动；同时，控制器6控制电动推杆23推切割架7移动；使转动的切割线8沿上导向 模板17的上导向螺旋槽孔24以及下导向模板18的下导向螺旋槽孔25由外向内移动，利用转动的切割线8切割导向模具3内的通草芯30，将通草芯30切割为通草纸。
为了实施导向模具3的转动，以及实施切割线4沿导向模板7移动，上导向模板17位于下导向模板18上方，上导向模板17与下导向模板18平行，上导向螺旋槽孔24与下导向螺旋槽孔25的形状以及大小相同，上导向螺旋槽孔24与下导向螺旋槽孔25相互平行；机架5设有多个支撑滚球31，支撑滚球31的轮轴与机架5动配合连接，被动轮20设有支撑圆轨道32，支撑圆轨道32与支撑滚球31动配合连接；支撑滚球31均布于支撑圆轨道32下方机架5的球凹槽33上；转盘电机15转动时，转盘电机15带动被动轮20转动，被动轮20带动支撑圆轨道32在支撑滚球31上转动，支撑滚球31在支撑圆轨道32与支撑滚球31的摩擦力作用下滚动。
为了实施切割线8旋转，利用转动的切割线8切割通草芯30，主动轮9的轴线与第一被动轮10、第二被动轮11以及第三被动轮12的轴线平行，主动轮9轴线的高度与第一被动轮10轴线的高度相同，第二被动轮11轴线的高度与第三被动轮12轴线的高度相同；主动轮9、第一被动轮10、第二被动轮11以及第三被动轮12设在同一平面位置；切割线8为环形的封闭线，切割线8与主动轮9、第一被动轮10、第二被动轮11以及第三被动轮12相切。为了方便上导向模板17的合模以及开模，上导向模板17通过铰链36与模筒19连接，模筒19设有上缺口37，已方便通草芯30的放入以及取出。
通草纸切割机器人装置使用时，打开上导向模板17，将通草芯30放入模筒19内后合上上导向模板17，将通草芯30固定于上导向模板17与下导向模板18之间；利用控制器6的自动开关35控制控制器6进入自动控制状态，控制器6控制切割电机13带动切割线8转动，同时，控制器6控制摆动电机34带动摆动导槽21摆动，摆动导槽21带动切割架7以及切割线8摆动；当切割线8摆入到上导向螺旋槽孔24的上导入口29位置时，切割线8接近第一传感器26，第一传感器26将其信号传输给控制器6，控制器6控制转盘电机15带动导向模具3转动以及控制摆动电机34停止；同时，控制器6控制电动推杆23推切割架7向前移动；使转动的切割线8沿上导向螺旋槽孔24以及下导向螺旋槽孔25由外向内移动，利 用转动的切割线8切割导向模具3内的通草芯30；当通草芯30切割完成时，切割线8移动到上导向螺旋槽孔24以及下导向螺旋槽孔25的终端位置；与此同时，滑块22移动到第二传感器27的位置，第二传感器27将其信号传输给控制器6，控制器6控制转盘电机15反转，转盘电机15带动导向模具3反转，控制器6控制电动推杆23返程，电动推杆23拉切割架7向后移动，切割架7带动切割线8沿上导向螺旋槽孔24以及下导向螺旋槽孔25由内向外移动；当切割线8移动到上导入口29位置时，切割线8接近第一传感器26，第一传感器26将其信号传输给控制器6，控制器6控制转盘电机15停止转动、切割电机13以及电动推杆23停止，同时，控制器6控制摆动电机34反方向摆动复位，当摆动导槽21摆动到接近第三传感器28位置时，第三传感器28将其信号传输给控制器6，控制器6控制摆动电机34停止；打开上导向模板17，将切割好的通草芯30取出后展开为通草纸。
所述的切割线8沿上导向螺旋槽孔24以及下导向螺旋槽孔25由外向内移动时，切割线8按逆时针方向移动；切割线8沿上导向螺旋槽孔24以及下导向螺旋槽孔25由内向外移动时，切割线8按顺时针方向移动；所述的摆动导槽21摆动时，按水平方向摆动；滑块22移动时，按水平方向移动；所述的摆动导槽21摆向上导向螺旋槽孔24时，摆动导槽21按顺时针方向摆动；摆动导槽21摆离上导向螺旋槽孔24时，摆动导槽21按逆时针方向摆动；所述的切割线8沿上导向螺旋槽孔24以及下导向螺旋槽孔25由外向内移动时，切割线8移动的轨迹为螺旋线；切割线8沿上导向螺旋槽孔24以及下导向螺旋槽孔25由内向外移动时，切割线8移动的轨迹为螺旋线。
驱动轮16与被动轮20包括有多种连接方式：驱动轮16为非金属轮，驱动轮16与被动轮20为压紧接触；或者，驱动轮16以及被动轮20为皮带轮，驱动轮16与被动轮20设有传送带连接；驱动轮16以及被动轮20为齿轮，驱动轮16与被动轮20啮合。
为了使切割的通草纸的厚度相同，上导向螺旋槽孔24的截面形状以及下导向螺旋槽孔25的截面形状与螺旋线的形状相同，螺旋线之间的距离相等；为了切割出不同厚度的通草纸，上导向模板17以及下导向模板18设有不同的规格，同一规格的上导向模板17以及下导向模板18的螺旋 线相同；不同规格的上导向模板17以及下导向模板18的螺旋线不同。
通草纸切割机器人装置使用时，环式的切割线8围绕着主动轮9、第一被动轮10、第二被动轮11以及第三被动轮12旋转，环式的切割线8在同一平面上，该平面与水平面垂直；主动轮9按顺时针方向旋转，切割线8跟随主动轮9按顺时针方向旋转；或者，主动轮9按逆时针方向旋转，切割线8跟随主动轮9按逆时针方向旋转；主动轮9到第三被动轮12的距离与第一被动轮10到第二被动轮11的距离相等，主动轮9到第一被动轮10的距离与第三被动轮12到第二被动轮11的距离相等；第一被动轮10到第二被动轮11的距离大于通草芯30的长度的2倍，使切割线8能摆动。

Claims (10)

  1. 通草纸切割机器人装置，包括有切割装置(1)、旋转装置(2)、导向模具(3)、移动装置(4)、机架(5)以及控制器(6)，移动装置(4)安装于机架(5)，切割装置(1)安装于移动装置(4)，导向模具(3)安装于旋转装置(2)，旋转装置(2)与机架(5)动配合连接；切割装置(1)包括有切割架(7)、切割线(8)、主动轮(9)、第一被动轮(10)、第二被动轮(11)、第三被动轮(12)以及切割电机(13)，旋转装置(2)包括有转盘座(14)、转盘电机(15)以及驱动轮(16)，导向模具(3)包括有上导向模板(17)、下导向模板(18)以及模筒(19)，移动装置(4)包括有摆动导槽(21)、滑块(22)以及电动推杆(23)；切割架(7)与滑块(22)连接，驱动轮(16)与被动轮(20)连接，上导向模板(17)设有上导向螺旋槽孔(24)，下导向模板(18)设有下导向螺旋槽孔(25)；控制器(6)设有自动开关(35)、停止开关(38)、第一传感器(26)、第二传感器(27)以及第三传感器(28)，摆动导槽(21)通过摆动电机(34)与机架(5)铰接；控制器(6)通过控制线与第一传感器(26)、第二传感器(27)、第三传感器(28)、切割电机(13)、转盘电机(15)、电动推杆(23)以及摆动电机(34)连接；其特征在于：所述的通草纸切割机器人装置的使用方法是：工作时，将通草芯(30)装入导向模具(3)内，利用控制器(6)控制切割电机(13)运行，切割电机(13)带动主动轮(9)转动，主动轮(9)通过切割线(8)带动第一被动轮(10)、第二被动轮(11)以及第三被动轮(12)转动；转动摆动导槽(21)以及切割架(7)，使切割线(8)摆入上导向螺旋槽孔(24)的上导入口(29)位置，使切割线(8)接近第一传感器(26)，第一传感器(26)将其信号传输给控制器(6)，控制器(6)控制转盘电机(15)转动，转盘电机(15)通过驱动轮(16)以及被动轮(20)带动导向模具(3)转动；同时，控制器(6)控制电动推杆(23)推切割架(7)移动；使转动的切割线(8)沿上导向模板(17)的上导向螺旋槽孔(24)以及下导向模板(18)的下导向螺旋槽孔(25)由外向内移动，利用转动的切割线(8)切割导向模具(3)内的通草芯(30)，将通草芯(30)切割为通草纸。
  2. 根据权利要求1所述的通草纸切割机器人装置，机架(5)设有多个支撑滚球(31)，被动轮(20)设有支撑圆轨道(32)，其特征在于：所述的转盘电机(15)转动时，转盘电机(15)带动被动轮(20)转动，被 动轮(20)带动支撑圆轨道(32)在支撑滚球(31)上转动，支撑滚球(31)在支撑圆轨道(32)与支撑滚球(31)的摩擦力作用下滚动。
  3. 根据权利要求1所述的通草纸切割机器人装置，其特征在于：所述的通草纸切割机器人装置使用时，打开上导向模板(17)，将通草芯(30)放入模筒(19)内后合上上导向模板(17)，将通草芯(30)固定于上导向模板(17)与下导向模板(18)之间；利用控制器(6)的自动开关(35)控制控制器(6)进入自动控制状态，控制器(6)控制切割电机(13)带动切割线(8)转动，同时，控制器(6)控制摆动电机(34)带动摆动导槽(21)摆动，摆动导槽(21)带动切割架(7)以及切割线(8)摆动；当切割线(8)摆入到上导向螺旋槽孔(24)的上导入口(29)位置时，切割线(8)接近第一传感器(26)，第一传感器(26)将其信号传输给控制器(6)，控制器(6)控制转盘电机(15)带动导向模具(3)转动以及控制摆动电机(34)停止；同时，控制器(6)控制电动推杆(23)推切割架(7)向前移动；使转动的切割线(8)沿上导向螺旋槽孔(24)以及下导向螺旋槽孔(25)由外向内移动，利用转动的切割线(8)切割导向模具(3)内的通草芯(30)；当通草芯(30)切割完成时，切割线(8)移动到上导向螺旋槽孔(24)以及下导向螺旋槽孔(25)的终端位置；与此同时，滑块(22)移动到第二传感器(27)的位置，第二传感器(27)将其信号传输给控制器(6)，控制器(6)控制转盘电机(15)反转，转盘电机(15)带动导向模具(3)反转，控制器(6)控制电动推杆(23)返程，电动推杆(23)拉切割架(7)向后移动，切割架(7)带动切割线(8)沿上导向螺旋槽孔(24)以及下导向螺旋槽孔(25)由内向外移动；当切割线(8)移动到上导入口(29)位置时，切割线(8)接近第一传感器(26)，第一传感器(26)将其信号传输给控制器(6)，控制器(6)控制转盘电机(15)停止转动、切割电机(13)以及电动推杆(23)停止，同时，控制器(6)控制摆动电机(34)反方向摆动复位，当摆动导槽(21)摆动到接近第三传感器(28)位置时，第三传感器(28)将其信号传输给控制器(6)，控制器(6)控制摆动电机(34)停止；打开上导向模板(17)，将切割好的通草芯(30)取出后展开为通草纸。
  4. 根据权利要求3所述的通草纸切割机器人装置，其特征在于：所述的切割线(8)沿上导向螺旋槽孔(24)以及下导向螺旋槽孔(25)由 外向内移动时，切割线(8)按逆时针方向移动；切割线(8)沿上导向螺旋槽孔(24)以及下导向螺旋槽孔(25)由内向外移动时，切割线(8)按顺时针方向移动。
  5. 根据权利要求3所述的通草纸切割机器人装置，其特征在于：所述的摆动导槽(21)摆动时，按水平方向摆动；滑块(22)移动时，按水平方向移动。
  6. 根据权利要求3所述的通草纸切割机器人装置，其特征在于：所述的摆动导槽(21)摆向上导向螺旋槽孔(24)时，摆动导槽(21)按顺时针方向摆动；摆动导槽(21)摆离上导向螺旋槽孔(24)时，摆动导槽(21)按逆时针方向摆动。
  7. 根据权利要求3所述的通草纸切割机器人装置，其特征在于：所述的切割线(8)沿上导向螺旋槽孔(24)以及下导向螺旋槽孔(25)由外向内移动时，切割线(8)移动的轨迹为螺旋线；切割线(8)沿上导向螺旋槽孔(24)以及下导向螺旋槽孔(25)由内向外移动时，切割线(8)移动的轨迹为螺旋线。
  8. 根据权利要求1所述的通草纸切割机器人装置，其特征在于：所述的通草纸切割机器人装置使用时，环式的切割线(8)围绕着主动轮(9)、第一被动轮(10)、第二被动轮(11)以及第三被动轮(12)旋转，环式的切割线(8)在同一平面上，该平面与水平面垂直。
  9. 根据权利要求1所述的通草纸切割机器人装置，其特征在于：所述的主动轮(9)按顺时针方向旋转，切割线(8)跟随主动轮(9)按顺时针方向旋转；或者，主动轮(9)按逆时针方向旋转，切割线(8)跟随主动轮(9)按逆时针方向旋转。
  10. 根据权利要求1所述的通草纸切割机器人装置，其特征在于：所述的主动轮(9)到第三被动轮(12)的距离与第一被动轮(10)到第二被动轮(11)的距离相等，主动轮(9)到第一被动轮(10)的距离与第三被动轮(12)到第二被动轮(11)的距离相等。
PCT/CN2016/082572 2015-06-13 2016-05-19 通草纸切割机器人装置 WO2016202135A1 (zh)

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