WO2016202136A1

WO2016202136A1 - Smart robot for cutting rice paper

Info

Publication number: WO2016202136A1
Application number: PCT/CN2016/082573
Authority: WO
Inventors: 郑运婷
Original assignee: 郑运婷
Priority date: 2015-06-13
Filing date: 2016-05-19
Publication date: 2016-12-22
Also published as: CN104924336A; CN104924336B

Abstract

Provided is a smart robot for cutting rice paper, comprising a cutting device (1), an upper movable rotary plate (2), a lower movable rotary plate (3), a machine frame (4), and a controller (5); the cutting device (1), upper movable rotary plate (2), and lower movable rotary plate (3) are mounted on the machine frame (4); during use, the controller (5) is used to control the upper movable rotary plate (2) or the lower movable rotary plate (3) to move to a cutting position; the controller (5) is used to control the cutting wire (7) of the cutting device (1) to cut the rice-paper plant in the upper movable rotary plate (2) or the lower movable rotary plate (3); in this way, the rice-paper plant (48) is continuously and cyclically cut into rice paper; in comparison with conventional manual cutting of rice paper, the smart robot for cutting rice paper improves processing efficiency and improves quality in processing rice paper.

Description

Intelligent grass paper cutting robot

Technical field

The invention relates to a paper-passing paper processing machine, in particular to an intelligent through-grain paper cutting 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 smart grass paper cutting 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 an intelligent through-grain paper cutting robot to improve the processing efficiency of the through-grain paper.

The technical solution adopted by the invention is: the intelligent through-grain paper cutting robot comprises a cutting device, an upper moving turntable, a lower moving turntable, a frame and a controller, a cutting device, an upper moving turntable and a lower moving turntable mounted on the machine. The cutting device comprises a wire cutting device and a translation device, and the wire 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, a first The axles of the 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 wheel The second passive wheel and the third passive wheel are dynamically coupled; the translation device comprises a translational power component, a translation slot and a translation seat, the translation slot is connected to the frame, the translation slot is coupled with the translation seat, and the cutting frame is coupled to the translation seat. The outer casing of the translational power component is connected with the translation slot, and the power shaft of the translational power component is connected with the translation seat, and the translation device is used to drive the wire cutter The upper moving turntable includes an upper moving device and an upper rotating plate mold, the upper moving device is connected with the frame, and the upper rotating plate mold is connected with the upper moving device; the upper moving device comprises an upper power component, an upper sliding slot and an upper sliding seat, The outer casing of the upper power component and the upper sliding slot are connected with the frame, the power shaft of the upper power component is connected with the upper sliding seat, the upper sliding seat is dynamically coupled with the upper sliding slot, and the upper sliding block is driven by the upper power component; the upper sliding plate mold Including The upper rotary table, the upper rotary motor, the upper driving gear, the upper guiding template and the upper mold tube, the upper guiding template is connected with the upper mold tube, the upper mold tube is dynamically coupled with the upper rotary table seat, and the upper mold tube is provided with an upper driven gear. The upper turntable base is connected with the outer casing of the upper turntable motor, the rotating shaft of the upper turntable motor is connected with the upper driving gear, the upper driving gear meshes with the upper driven gear, and the upper guiding die plate is driven by the upper turntable motor and the upper die cylinder rotates in the upper turntable seat; The upper casing of the upper turntable motor is connected with the upper sliding seat, and the upper moving device drives the upper rotary disk mold to move through the upper sliding seat; the lower moving rotating disk includes a lower moving device and a lower rotating plate mold, and the lower moving device is connected with the frame, and the lower rotating plate mold and the upper The mobile device is connected; the lower moving device comprises a lower power component, a sliding groove and a sliding seat, the outer casing of the lower power component and the sliding groove are connected with the frame, the power shaft of the lower power component is connected with the sliding seat, and the sliding seat and the sliding groove are matched. Connecting, using the lower power component to drive the sliding seat to move; the lower turntable die includes a lower turntable seat, a lower turntable motor, a lower drive gear, The guiding template and the lower mold tube, the lower guiding template is connected with the lower mold tube, the lower mold tube is connected with the lower turntable base, the lower mold tube is provided with a lower driven gear, the lower turntable seat is connected with the outer casing of the lower turntable motor, and the lower turntable motor is connected The rotating shaft is connected with the lower driving gear, the lower driving gear meshes with the lower driven gear, and the lower guiding die plate and the lower die cylinder are driven to rotate in the lower turntable seat by the lower turntable motor; the outer casing of the lower turntable motor is connected with the sliding seat, and the lower moving device passes The sliding seat drives the lower dial mold to move; the controller is provided with an automatic switch, a first sensor, a second sensor, a third sensor, a fourth sensor, a fifth sensor, a sixth sensor, a seventh sensor and a stop switch; the first sensor, The second sensor and the third sensor are disposed on the outer casing of the translational power component, the first sensor is located between the second sensor and the third sensor, and the power shaft of the translational power component is disposed on the sensing component for controlling the stroke of the translational power component; The four sensors and the fifth sensor are disposed on the outer casing of the upper power component, and the power shaft of the power component is set in the induction Member, for the power stroke of the control element; and a sixth and a seventh sensor is provided in a sensor housing of the power element, the power shaft element disposed in the power sensing element, a power element under the control of the stroke.

The use method of the intelligent through-grain paper cutting robot is: when working, the grass core is loaded into the upper turntable mold of the upper moving turntable, and the controller is used to control the upper power component to drive the upper moving turntable to move downward; the upper moving turntable moves downward. At the same time, the grass core is loaded into the lower turntable mold of the lower moving turntable; when the upper moving turntable moves to the wire cutting position, the sensing component of the power component of the upper power component approaches the fourth sensor, and the fourth sensor transmits its signal to the controller. The controller controls the upper power component to stop, and the upper moving turntable stops moving; after the upper moving turntable stops moving, the controller controls the translational dynamic component to drive the cutting device to move, and when the cutting device moves to the position of the first inlet of the upper turntable mold, panning The sensing member of the power shaft of the power component is close to the first sensor, and the first sensor The signal is transmitted to the controller, and the controller controls the translational power component to stop; after the translational power component stops, the controller controls the cutting motor to drive the cutting line to rotate, and after the cutting line rotates, the controller controls the upper rotary motor to drive the upper rotary mold to rotate, and at the same time, controls The control of the translational power element drives the cutting device to move, and the rotating cutting wire is used to cut the grass core in the upper rotary mold; as the upper rotary mold rotates and the cutting device moves, the rotating cutting line is cut along the upper guide template of the upper rotary mold. Passing the grass core; when the sensing member of the power component of the translational power component approaches the second sensor, the second sensor transmits its signal to the controller, the controller controls the translational power component and the reset of the upper turntable motor, and the translational power component drives the cutting device to reset and move, The turntable motor drives the upper turntable die to rotate; when the cutting line moves to the first inlet position, the sensing member of the power component of the translational power component approaches the first sensor, and the first sensor transmits its signal to the controller, and the controller controls the upper turntable. The mold and the cutting motor stop rotating, The moving force component continues to drive the cutting device to move, so that the cutting line of the cutting device leaves the upper turntable mold. When the sensing member of the power component of the translational power element approaches the third sensor, the third sensor transmits its signal to the controller, and the controller controls the translation. The power component stops; after the cutting line of the cutting device leaves the upper turntable die, the controller controls the upper power component to drive the upper moving dial to move upward and reset, and when the upper power component is reset, the sensing component of the power component of the upper power component approaches the fifth sensor, fifth The sensor transmits its signal to the controller, and the controller controls the upper power component to stop; the upper rotary disk mold is opened to expand the cut through grass core into the grass paper; after the upper power component stops, the upper moving turntable is reset, and the power component is driven by the controller. Move the turntable up to move upward; while moving the turntable up, move the grass core into the upper turntable mold of the upper moving turntable; when the lower moving turntable moves to the wire cutting position, the sensing part of the lower power component power shaft approaches the sixth sensor The sixth sensor transmits its signal to the controller, the controller When the power component is stopped, the lower moving carousel stops moving; after the lower moving carousel stops, the controller controls the translational power component to drive the cutting device to move, and when the cutting device moves to the position of the second inlet of the lower turntable die, the power of the power component is translated. The sensing component of the shaft is close to the first sensor, the first sensor transmits its signal to the controller, and the controller controls the translational power component to stop; after the translational power component stops, the controller controls the cutting motor to drive the cutting line to rotate, and after the cutting line rotates, the control Under the control of the turntable motor, the lower turntable mold rotates. At the same time, the controller controls the translational power component to drive the cutting device to move, and uses the rotating cutting line to cut the through-grass core in the lower turntable mold; as the lower turntable mold rotates and the cutting device moves and moves The rotating cutting line cuts the grass core along the lower guiding template of the lower turntable die; when the sensing component of the power component of the translational power element approaches the second sensor, the second sensor transmits its signal to the controller, and the controller controls the translational power component and Upper turntable motor Position, the translation power element drives the cutting device to reset movement, the turntable motor drives the upper turntable mold to reset and rotate; when the cutting line moves to the second inlet position, the sensing member of the translation power component power shaft approaches the first sensor, and the first sensor turns The signal is transmitted to the controller, the controller controls the lower turntable die and the cutting motor stops rotating, and the translational power component continues to drive the cutting device to move, so that the cutting line of the cutting device leaves the lower turntable die, and when the sensing component of the power component of the translational power component approaches the third When the sensor is used, the third sensor transmits its signal to the controller, and the controller controls the translational power element to stop; after the cutting line of the cutting device leaves the lower turntable mold, the controller controls the lower power element to move the lower turntable to move downward and reset, and the lower power When the component is reset, the sensing component of the power component of the lower power component approaches the seventh sensor, and the seventh sensor transmits its signal to the controller, and the power component stops under the control of the controller; the mold of the lower turntable is opened to open the cut grass core. Grass paper; so continuous circulation.

The utility model has the beneficial effects that: the intelligent through-grain paper cutting robot uses the controller to control the cutting of the moving turntable or the lower moving turntable to move to the cutting position, and uses the controller to control the cutting line of the cutting device to cut the moving turntable or the lower moving turntable to pass the grass core In this way, the continuous grass core is cut into the grass paper, and the intelligent grass paper cutting robot improves the processing efficiency and improves the quality of the processed grass paper compared with the conventional hand-cut paper.

DRAWINGS

1 is a schematic structural view of a smart through-grain cutting 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 smart paper-cutting robot shown in FIG. 1 and a top view of FIG. 1 , wherein the smart paper-cutting robot includes a cutting device 1, an upper moving turntable 2, a lower moving turntable 3, and a rack. 4 and the controller 5, the cutting device 1, the upper moving carousel 2 and the lower moving carousel 3 are mounted on the frame 4; the cutting device 1 comprises a wire cutting device 35 and a translating device 36, the wire cutting device 35 comprising a cutting frame 6, cutting Line 7, drive wheel 8, first driven wheel 9, second driven wheel 10, third driven wheel 11 and cutting motor 12, drive wheel 8, first driven wheel 9, second driven wheel 10 and third driven wheel 11 The wheel axle is movably coupled with the cutting frame 6, the base of the cutting motor 12 is connected to the cutting frame 6, the rotating shaft of the cutting motor 12 is connected with the driving wheel 8, the cutting line 7 and the driving wheel 8, the first driven wheel 9, and the second passive The wheel 10 and the third driven wheel 11 are movably coupled; the translation device 36 includes a translational power element 37, a translation slot 38 and a translation seat 39, the translation slot 38 is connected to the frame 4, the translation slot 38 is movably coupled with the translation seat 39, the cutting frame 6 is coupled to the translation seat 39, and the housing of the translational power element 37 is coupled to the translation slot 38 to translate the power shaft of the power component 37. Connected to the translation seat 39, the movement device 35 is driven by the translation device 36; the upper movement table 2 includes an upper moving device 13 and an upper dial mold 14, the upper moving device 13 is connected to the frame 4, and the upper dial mold 14 is moved upward. The upper moving device 13 includes an upper power component 15, an upper sliding slot 16 and an upper sliding seat 17, the outer casing of the upper power component 15 and the upper sliding slot 16 are connected to the frame 4, and the power shaft of the upper power component 15 is The upper sliding block 17 is connected, and the upper sliding seat 17 is dynamically coupled with the upper sliding slot 16 to drive the upper sliding seat 17 to move by the upper power component 15; the upper rotating die 14 includes an upper turntable seat 18, an upper turntable motor 19, and an upper driving gear. 20, the upper guide template 21 and the upper mold tube 22, the upper guide template 21 is connected with the upper mold tube 22, the upper mold tube 22 is dynamically coupled with the upper turntable seat 18, and the upper mold tube 22 is provided with an upper driven gear 23, the upper rotary disc holder 18 is connected to the outer casing of the upper turntable motor 19, The rotating shaft of the disk motor 19 is connected to the upper driving gear 20, the upper driving gear 20 is meshed with the upper driven gear 23, and the upper guiding die plate 21 and the upper die cylinder 22 are rotated in the upper turntable seat 18 by the upper turntable motor 19; the upper turntable motor 19 The outer casing is connected to the upper sliding seat 17, and the upper moving device 13 drives the upper rotating die 14 to move by the upper sliding seat 17. The lower moving rotating plate 3 includes a lower moving device 24 and a lower rotating die 25, and the lower moving device 24 is connected to the frame 4. The lower turntable mold 25 is connected to the upper moving device 24; the lower moving device 24 includes a lower power component 26, a downswing 27 and a lower base 28, and the outer casing of the lower power component 26 and the sliding groove 27 are connected to the frame 4, and the lower power component The power shaft of 26 is connected with the sliding seat 28, and the sliding seat 28 is mechanically coupled with the sliding groove 27, and the lower sliding member 28 is driven by the lower power component 26; the lower rotary mold 25 includes a lower turntable 29, a lower turntable motor 30, and a lower drive. The gear 31, the lower guide die plate 32 and the lower die cylinder 33, the lower guide die plate 32 is connected to the lower die cylinder 33, the lower die cylinder 33 is movably coupled to the lower turntable base 29, and the lower die cylinder 33 is provided with a lower driven gear 34 and a lower turntable. Block 29 and down The housing of the disk motor 30 is connected, the rotating shaft of the lower turntable motor 30 is connected to the lower driving gear 31, the lower driving gear 31 is meshed with the lower driven gear 34, and the lower guiding die 32 and the lower die 33 are driven by the lower turntable motor 30 to the lower turntable. The inner casing rotates 29; the outer casing of the lower turntable motor 30 is connected to the lower sliding seat 28, and the lower moving device 24 drives the lower rotary mold 25 to move through the sliding seat 28; the controller 5 is provided with an automatic switch 40, a first sensor 41, a second sensor 42, a third sensor 43, a fourth sensor 44, a fifth sensor 45, a sixth sensor 46, a seventh sensor 47, and a stop switch 55; the first sensor 41, the second sensor 42, and the third sensor 43 are disposed on the translational power element 37 a housing, the first sensor 41 is located at the second sensor 42 and Between the three sensors 43, the power shaft of the translational power element 37 is disposed on the sensing element for controlling the stroke of the translational power element 37; the fourth sensor 44 and the fifth sensor 45 are disposed on the outer casing of the upper power component 15, the power component 15 The power shaft is disposed on the sensing element for controlling the stroke of the upper power component 15; the sixth sensor 46 and the seventh sensor 47 are disposed on the outer casing of the lower power component 26, and the power shaft of the lower power component 26 is disposed on the sensing component for controlling The stroke of the lower power element 26.

The smart grass paper cutting robot is used in the following manner: when working, the grass core 48 is loaded into the upper turntable mold 14 of the upper moving turntable 2, and the upper power component 15 is controlled by the controller 5 to move the upper moving turntable 2 downward; While moving the turntable 2 downward, the grass core 48 is loaded into the lower turntable mold 25 of the lower moving turntable 3; when the upper moving turntable 2 is moved to the wire cutting position, the sensing member of the power shaft of the upper power component 15 approaches the fourth sensor. 44, the fourth sensor 44 transmits its signal to the controller 5, the controller 5 controls the upper power component 15 to stop, the upper moving turntable 2 stops moving; after the upper moving turntable 2 stops moving, the controller 5 controls the translational power component 37 to drive the cutting The device 1 moves. When the cutting device 1 moves into the position of the first introduction port 49 of the upper dial mold 14, the sensing member of the power shaft of the translational power element 37 approaches the first sensor 41, and the first sensor 41 transmits its signal to the controller. 5, the controller 5 controls the translational power element 37 to stop; after the translational power element 37 is stopped, the controller 5 controls the cutting motor 12 to drive the cutting line 7 to rotate, and after the cutting line 7 rotates, the controller 5 controls The upper turntable motor 19 drives the upper turntable die 14 to rotate. At the same time, the controller 5 controls the translational power component 37 to drive the cutting device 1 to move, and uses the rotating cutting line 7 to cut the grass core 48 in the upper rotary die 14; The rotation and the cutting device 1 move, the rotating cutting line 7 cuts the grass core 48 along the upper guiding die plate 21 of the upper turntable die 14; when the sensing member of the power axis of the translational power component 37 approaches the second sensor 42, the second sensor 42 The signal is transmitted to the controller 5, the controller 5 controls the translational power element 37 and the upper turntable motor 19 to be reset, the translational power element 37 drives the cutting device 1 to reset the movement, and the turntable motor 19 drives the upper turntable mold 14 to rotate and rotate; when the cutting line 7 When moving to the position of the first inlet 49, the sensing member of the power shaft of the translational power element 37 approaches the first sensor 41, the first sensor 41 transmits its signal to the controller 5, and the controller 5 controls the upper dial die 14 and the cutting motor 12 Stopping the rotation, the translational power element 37 continues to drive the cutting device 1 to move, causing the cutting line 7 of the cutting device 1 to leave the upper turntable die 14 when the translational power element When the sensing member of the 37 power shaft approaches the third sensor 43, the third sensor 43 transmits its signal to the controller 5, and the controller 5 controls the translational power element 37 to stop; after the cutting line 7 of the cutting device 1 leaves the upper dial mold 14, The controller 5 controls the upper power component 15 to drive the upper moving dial 2 to move upward and reset, and the upper power element When the member 15 is reset, the sensing member of the power shaft of the upper power component 15 approaches the fifth sensor 45, the fifth sensor 45 transmits its signal to the controller 5, and the controller 5 controls the upper power component 15 to stop; opening the upper dial mold 14 will cut The good grass core 48 is unfolded as a pass-through paper; after the upper power component 15 is stopped, the upper moving turntable 2 is reset, the controller 5 controls the lower power component 26 to drive the lower moving turntable 3 to move upward; and when the lower moving turntable 3 moves upward, the grass is moved. The core 48 is loaded into the upper turntable die 14 of the upper moving turntable 2; when the lower moving turntable 3 is moved to the wire cutting position, the sensing member of the power shaft of the lower power component 26 approaches the sixth sensor 46, and the sixth sensor 46 transmits its signal to The controller 5 controls the lower power element 26 to stop, and the lower moving turntable 3 stops moving; after the lower moving turntable 3 stops, the controller 5 controls the translational power element 37 to drive the cutting device 1 to move, when the cutting device 1 moves to the lower turntable When the second inlet 50 of the mold 25 is in the position, the sensing member of the power shaft of the translational power element 37 approaches the first sensor 41, and the first sensor 41 transmits its signal to the controller 5, the controller 5 control of the translational power element 37 is stopped; after the translation of the power component 37 is stopped, the controller 5 controls the cutting motor 12 to drive the cutting line 7 to rotate. After the cutting line 7 is rotated, the controller 5 controls the lower turntable motor 30 to drive the lower turntable mold 25 to rotate. The controller 5 controls the translational power element 37 to drive the cutting device 1 to move, and cuts the grass core 48 in the lower turntable mold 25 by the rotating cutting line 7; as the lower turntable mold 25 rotates and the cutting device 1 moves, the rotary cut The wire 7 cuts the grass core 48 along the lower guide template 32 of the lower turntable mold 25; when the sensing member of the power shaft of the translational power element 37 approaches the second sensor 42, the second sensor 42 transmits its signal to the controller 5, the controller 5 Controlling the translational power element 37 and the upper turntable motor 19 to reset, the translational power element 37 drives the cutting device 1 to reset and move, the turntable motor 19 drives the upper turntable mold 14 to rotate and rotate; when the cutting line 7 moves to the position of the second introduction port 50, the translation power The sensing member of the power shaft of the component 37 approaches the first sensor 41, the first sensor 41 transmits its signal to the controller 5, and the controller 5 controls the lower dial mold 25 to The cutting motor 12 stops rotating, and the translational power element 37 continues to drive the cutting device 1 to move, so that the cutting line 7 of the cutting device 1 leaves the lower dial mold 25, and when the sensing member of the power shaft of the translational power unit 37 approaches the third sensor 43, the third The sensor 43 transmits its signal to the controller 5, and the controller 5 controls the translational power element 37 to stop; after the cutting line 7 of the cutting device 1 leaves the lower dial mold 25, the controller 5 controls the lower power element 26 to drive the lower moving dial 3 downward. When the lower power component 26 is reset, the sensing member of the power shaft of the lower power component 26 approaches the seventh sensor 47, and the seventh sensor 47 transmits its signal to the controller 5, and the controller 5 controls the lower power component 26 to stop; The lower turntable mold 25 unfolds the cut through grass core 48 into a through-grain paper;

In order to move the cutting line 4 according to the trajectory of the spiral, the upper guiding template 21 is provided with an upper guiding groove 51 having the same shape as the spiral, and the upper guiding groove 51 is provided with a first introduction port 49, The guiding groove 51 is in communication with the first introduction port 49; the lower guiding template 32 is provided with a lower guiding groove 52, the shape of the lower guiding groove 52 is the same as that of the spiral line, and the lower guiding groove 52 is provided with the second introduction port 50, the lower portion The guide groove 52 communicates with the second introduction port 50.

In order to implement the cutting line 7 to cut the upper mold core 14 and the grass core 48 in the lower turn mold 25, the center line of the upper chute 16 is the same as the center line of the down groove 27, and the center line of the upper slide 17 and the center of the lower slide 28 The line is the same; the size of the upper chute 16 is the same as the size of the down chute 27, and the size of the upper slide 17 is the same as the center line of the glide 28; the cutting line 7 is an annular closed line, the cutting line 7 and the driving wheel 8, The first driven wheel 9, the second driven wheel 10, and the third driven wheel 11 are tangent.

In order to implement the dynamic matching connection between the upper mold tube 22 and the upper turntable base 18 and the dynamic cooperation of the lower mold base 33 and the lower turntable base 29, a plurality of balls are arranged between the upper mold tube 22 and the upper turntable base 18, and the lower mold is arranged. A plurality of balls are uniformly disposed between the cylinder 33 and the lower turntable seat 29; when the upper turntable motor 19 rotates, the upper turntable motor 19 drives the upper driven gear 23 of the upper mold cylinder 22 to rotate, and the upper driven gear 23 drives the upper mold cylinder 22 to The lower turntable motor 30 rotates on the ball, the lower turntable motor 30 drives the lower drive gear 31 to rotate, and the lower drive gear 31 drives the lower die 33 to rotate on the ball of the lower turntable 29.

In order to make the through-grain core 48 in the upper turntable mold 14 and the through-grass core 48 in the lower turntable mold 25 have the same size, the axis of the upper mold cylinder 22 and the axis of the lower mold cylinder 33 are parallel to each other, and the axis of the upper mold cylinder 22 is parallel. The axis of the lower mold cylinder 33 is on the same vertical plane, and the inner diameter and height of the upper mold cylinder 22 are the same as the inner diameter and height of the lower mold cylinder 33.

The workflow of the intelligent through-grain paper cutting robot is: install the grass core 48 → the upper turntable mold 14 into the cutting position → the first cutting position → the first cutting → the first exit cutting position → the upper turntable mold 14 reset → the lower turntable The mold 25 enters the cutting position → the second cutting position → the second cutting → the second exiting the cutting position → the lower turntable mold 25 is reset → so that the cycle continues.

The workflow of the intelligent through-grain cutting robot is specifically:

Loading the grass core 48: opening the upper guide template 21 of the upper turntable mold 14, loading the grass core 48 into the upper mold tube 22, and then covering the upper guide template 21; while the upper turntable mold 14 is moving downward, opening the lower turntable The lower guide template 32 of the mold 25 is used to load the grass core 48 into the lower mold cylinder 33, and then the cover is returned to the lower guide template 32; after the cutting of the grass core 48 in the upper mold cylinder 22 is completed, the lower turn mold 25 is moved upward, under Opening the upper guide template while the turntable mold 25 is moving upward 21, the grass core 48 will be loaded into the upper mold tube 22, and then the cover is turned back to the guide template 21;

The upper rotary die 14 is inserted into the cutting position: after the through-core core 48 is loaded into the upper die cylinder 22, the upper power component 15 is controlled by the controller 5 to bring the upper slide 17 to move downward in the upper sliding slot 16, and the upper sliding seat 17 is carried on the turntable The mold 14 moves to the line cutting position; when the upper moving turntable 2 moves to the line cutting position, the controller 5 controls the upper moving turntable 2 to stop moving downward;

The first cutting position: after the upper moving turntable 2 is stopped, the controller 5 controls the translational power element 37 to move with the translation seat 39 to the translation slot 38, and the translation seat 39 moves with the cutting frame 6 to the left when the cutting line of the cutting device 1 7 when moving into the position of the first introduction port 49 of the upper turntable mold 14, the controller 5 controls the translational power element 37 to stop;

First cutting: After the translational power element 37 is stopped, the controller 5 controls the cutting motor 12 to drive the driving wheel 8 to rotate, and the driving wheel 8 drives the first driven wheel 9, the second driven wheel 10 and the third driven wheel 11 through the cutting line 7. Rotating, the cutting line 7 is rotated in a circular motion; after the cutting line 7 is rotated in a ring shape, the controller 5 controls the upper turntable motor 19 to drive the upper driving gear 20 to rotate, and the upper driving gear 20 is rotated by the upper driven gear 23 to the upper mold 22; After the mold 22 is rotated, the controller 5 controls the translational power element 37 with the translation seat 39 to continue to move to the left in the translation slot 38, so that the circularly rotating cutting line 7 moves from the outside to the inside along the upper guide groove 51 of the upper guide template 21. Cutting the grass core 48 in the upper mold tube 22 by cutting line 7;

The first exiting the cutting position: after the cutting line 7 cuts the grass core 48 in the upper mold tube 22 into the paper, the controller 5 controls the upper turntable motor 19 to drive the upper drive gear 20 to reverse, and the upper drive gear 20 passes the upper driven gear. 23 drives the upper mold tube 22 to reverse; at the same time, the controller 5 controls the translational power element 37 to move the translation seat 39 to the right, so that the cutting line 7 moves from the inside to the outside along the upper guide groove 51 of the upper guide template 21; 7 moves to the position of the first inlet 49, the controller 5 controls the upper dial die 14 and the cutting motor 12 to stop rotating; after the cutting line 7 moves to the position of the first inlet 49, the translational power element 37 continues to drive the translation seat 39 to the right. Moving, the translation seat 39 drives the cutting frame 6 to move to the right, so that the cutting line 7 leaves the first introduction port 49, and when the translational power element 37 is reset, the controller 5 controls the translational power element 37 to stop;

The upper turntable die 14 is reset: after the cutting line 7 leaves the first inlet 49, the controller 5 controls the upper power component 15 to drive the upper slide 17 to drive the upper turntable die 14 to move upward and reset, and when the upper power component 15 is reset, the controller 5 controls The upper power element 15 is stopped;

The lower turntable mold 25 enters the cutting position: after the upper turntable mold 14 is reset, the controller 5 controls The power component 26 drives the sliding seat 28 to move in the sliding groove 27, and the sliding seat 28 drives the lower moving dial 3 to move upward; when the lower moving dial 3 moves to the cutting position, the controller 5 controls the lower power component 26 to stop, and the lower moving dial 3 stops. mobile;

The second cutting position: after moving the turntable 3 into the cutting position, the controller 5 controls the translational power element 37 to move with the translation seat 39 to the translation slot 38, and the translation seat 39 moves with the cutting frame 6 to the left when the cutting device 1 When the cutting line 7 moves into the position of the second introduction port 50 of the lower dial mold 25, the controller 5 controls the translational power element 37 to stop;

Second cutting: After the translational power element 37 is stopped, the controller 5 controls the cutting motor 12 to drive the driving wheel 8 to rotate, and the driving wheel 8 drives the first driven wheel 9, the second driven wheel 10 and the third driven wheel 11 through the cutting line 7. Rotating, the cutting line 7 is rotated in a circular motion; after the cutting line 7 is rotated, the controller 5 controls the lower dial motor 30 to drive the lower driving gear 31 to rotate, and the lower driving gear 31 drives the lower mold barrel 33 to rotate by the lower driven gear 34; After the lower mold cylinder 33 rotates, the controller 5 controls the translational power element 37 with the translation seat 39 to continue to move to the left in the translation slot 38, so that the cutting line 7 is cut along the lower guide groove 52 of the lower guide template 32 to move from the outside to the inside, utilizing The cutting line 7 cuts the grass core 48 in the lower mold 33;

The second exit cutting position: after the cutting line 7 cuts the grass core 48 in the lower mold cylinder 33 into the paper, the controller 5 controls the lower turn motor 30 to drive the lower drive gear 31 to reverse, and the lower drive gear 31 passes the lower driven gear. 34 drives the lower mold cylinder 33 to reverse; at the same time, the controller 5 controls the translational power element 37 to move the translation seat 39 to the right, so that the cutting line 7 moves from the inside to the outside along the lower guide groove 52 of the lower guide template 32; When the cutting line 7 moves to the position of the second introduction port 50, the controller 5 controls the lower dial mold 25 and the cutting motor 12 to stop rotating; when the cutting line 7 moves to the position of the second introduction port 50, the translational power element 37 continues to drive the translation seat. 39 moves to the right, the translation seat 39 drives the cutting frame 6 to the right to move the cutting line 7 of the cutting device 1 away from the second introduction port 50, and when the translational power element 37 is reset, the controller 5 controls the translational power element 37 to stop;

The lower turntable mold 25 is reset: after the cutting line 7 leaves the second introduction port 50, the controller 5 controls the lower power component 26 to drive the lower sliding seat 28 to drive the lower rotary mold 25 to move downward and reset, and when the lower power component 26 is reset, the controller 5 controls The lower power element 26 is stopped.

In order to carry out the cutting line 7 to cut the through-grain core 48 and to exit the position of the straw core 48, when the cutting line 7 cuts the straw core 48, the upper dial mold 14 is rotated in the clockwise direction, and the cutting line 7 is along the upper guiding groove 51 of the upper guiding template 21. When the cutting line 7 exits the upper guiding groove 51, the upper dial mold 14 is rotated counterclockwise, and the cutting line 7 is guided along the upper guiding template 21 The upper guide groove 51 moves in a clockwise direction; or, when the cutting line 7 cuts the grass core 48, the lower dial mold 25 rotates clockwise, and the cutting line 7 is counterclockwise along the lower guide groove 52 of the lower guide template 32. The direction moves; when the cutting line 7 exits the lower guide groove 52, the lower dial mold 25 rotates in the counterclockwise direction, and the cutting line 7 moves in the clockwise direction along the lower guide groove 52 of the lower guide template 32.

In order to facilitate the loading of the grass core 48 into the upper mold tube 22 and the lower mold tube 33, the upper guide template 21 is connected to the upper mold tube 22 by a hinge, and the lower guide template 32 is connected to the lower mold tube 33 by a link.

The upper power element 15, the lower power element 26, and the translational power element 37 include a variety of structures; the upper power element 15, the lower power element 26, and the translational power element 37 are comprised of hydraulic cylinders, an upper power element 15, a lower power element 26, and a translation The power component 37 is connected to a hydraulic device, and the controller 5 is connected to the hydraulic device through a hydraulic control line; or, the upper power component 15, the lower power component 26, and the translational power component 37 are constituted by cylinders, the upper power component 15, the lower power component 26, and The translational power element 37 is connected to the air source device, and the controller 5 is connected to the air source device through the air source control line; or the upper power element 15, the lower power element 26, and the translational power element 37 are composed of an electric push rod, and the controller 5 passes The electric control line is coupled to the upper power element 15, the lower power element 26, and the translational power element 37.

The frame 4 is provided with a grass core frame 53 and a through-grain paper frame 54 for loading the grass core 48 and the grass paper.

Claims

The intelligent through-paper cutting robot is characterized in that: the intelligent through-grain cutting robot comprises a cutting device (1), an upper moving turntable (2), a lower moving turntable (3), a frame (4) and a controller ( 5), the cutting device (1), the upper moving turntable (2) and the lower moving turntable (3) are mounted on the frame (4); the cutting device (1) comprises a wire cutting device (35) and a translation device (36), The wire cutting device (35) comprises a cutting frame (6), a cutting line (7), a driving wheel (8), a first passive wheel (9), a second passive wheel (10), a third passive wheel (11), and The cutting motor (12), the driving wheel (8), the first passive wheel (9), the second passive wheel (10) and the third passive wheel (11) are axially coupled with the cutting frame (6), and the cutting motor ( 12) The base is connected to the cutting frame (6), the rotating shaft of the cutting motor (12) is connected with the driving wheel (8), the cutting line (7) and the driving wheel (8), the first passive wheel (9), the second The passive wheel (10) and the third passive wheel (11) are movably coupled; the translation device (36) includes a translational power element (37), a translation slot (38) and a translation seat (39), a translation slot (38) and a machine The frame (4) is connected, the translation slot (38) is mechanically coupled with the translation seat (39), and is cut. The cutting frame (6) is coupled to the translation seat (39), and the outer casing of the translational power element (37) is coupled to the translation slot (38), and the power shaft of the translational power element (37) is coupled to the translation seat (39), using a translation device ( 36) driving the wire cutting device (35) to move; the upper moving carousel (2) comprises an upper moving device (13) and an upper rotating plate mold (14), and the upper moving device (13) is connected with the frame (4), the upper rotating plate mold (14) connected to the upper moving device (13); the upper moving device (13) includes an upper power component (15), an upper sliding slot (16) and an upper sliding seat (17), an outer casing of the upper power component (15), and The upper chute (16) is connected to the frame (4), the power shaft of the upper power component (15) is connected with the upper sliding seat (17), and the upper sliding seat (17) is mechanically coupled with the upper sliding slot (16). The upper power component (15) drives the upper slide (17) to move; the upper turntable die (14) includes an upper turntable (18), an upper turntable motor (19), an upper drive gear (20), and an upper guide template (21) And an upper mold tube (22), the upper guide template (21) is connected with the upper mold tube (22), the upper mold tube (22) is mechanically coupled with the upper turntable seat (18), and the upper mold tube (22) is provided with passive a gear (23), the upper turntable (18) is connected to the outer casing of the upper turntable motor (19), The rotating shaft of the turntable motor (19) is connected with the upper driving gear (20), the upper driving gear (20) is meshed with the upper driven gear (23), and the upper guiding plate (21) and the upper die barrel are driven by the upper turntable motor (19) ( 22) rotating in the upper turntable (18); the outer casing of the upper turntable motor (19) is connected to the upper slide (17), and the upper moving device (13) drives the upper turntable die (14) to move through the upper slide (17) The lower moving turntable (3) comprises a lower moving device (24) and a lower turntable die (25), the lower moving device (24) is connected to the frame (4), the lower turntable die (25) and the upper moving device (24) Connection; lower mobile device (24) comprising a lower power component (26), a sliding groove (27) and a lower seat (28), the outer casing of the lower power component (26) and the sliding groove (27) are connected to the frame (4), and the lower power component ( 26) The power shaft is connected with the sliding seat (28), the sliding seat (28) is mechanically coupled with the sliding groove (27), and the lower sliding member (28) is driven by the lower power component (26); the lower turntable mold (25) includes There are a lower turntable (29), a lower turntable motor (30), a lower drive gear (31), a lower guide die (32) and a lower die (33), and the lower guide die (32) is connected to the lower die (33). The lower mold tube (33) is dynamically coupled with the lower turntable base (29), the lower mold tube (33) is provided with a lower driven gear (34), and the lower turntable base (29) is connected to the outer casing of the lower turntable motor (30). The lower shaft of the lower turntable motor (30) is connected to the lower drive gear (31), the lower drive gear (31) is meshed with the lower driven gear (34), and the lower guide die (32) and the lower die are driven by the lower turntable motor (30). (33) rotating in the lower turntable (29); the outer casing of the lower turntable motor (30) is connected to the lower seat (28), and the lower moving device (24) drives the lower turntable die (25) to move through the lower sliding seat (28); The controller (5) is provided with an automatic switch (40), a first sensing (41), second sensor (42), third sensor (43), fourth sensor (44), fifth sensor (45), sixth sensor (46), and seventh sensor (47); first sensor (41), the second sensor (42) and the third sensor (43) are disposed on the outer casing of the translational power element (37), and the first sensor (41) is located between the second sensor (42) and the third sensor (43) The power shaft of the translational power element (37) is disposed on the sensing element for controlling the stroke of the translational power element (37); the fourth sensor (44) and the fifth sensor (45) are disposed on the outer casing of the upper power component (15) The power shaft of the power component (15) is disposed on the sensing component for controlling the stroke of the upper power component (15); the sixth sensor (46) and the seventh sensor (47) are disposed on the outer casing of the lower power component (26). The power shaft of the lower power element (26) is provided on the sensing element for controlling the stroke of the lower power element (26).
The smart through-paper cutting robot according to claim 1, wherein the upper guiding template (21) is provided with an upper guiding groove (51), and the upper guiding groove (51) has the same shape as the spiral. The upper guiding groove (51) is provided with a first introduction port (49), the upper guiding groove (51) is in communication with the first introduction port (49), and the lower guiding template (32) is provided with a lower guiding groove (52). The lower guide groove (52) has the same shape as the spiral, and the lower guide groove (52) is provided with a second introduction port (50), and the lower guide groove (52) communicates with the second introduction port (50).
The smart paper-cutting robot according to claim 1, wherein the center line of the upper sliding groove (16) is the same as the center line of the sliding groove (27), and the center line of the upper sliding seat (17) is The center line of the lower seat (28) is the same; the size of the upper chute (16) and the sliding groove (27) The dimensions are the same and the upper slide (17) is the same size as the centerline of the lower base (28).
The smart through-grain cutting robot according to claim 1, wherein a plurality of balls, a lower die (33) and a plurality of balls are arranged between the upper die barrel (22) and the upper turntable (18). A plurality of balls are uniformly distributed between the lower turntables (29).
The smart paper-cutting robot according to claim 1, wherein the axis of the upper mold cylinder (22) is parallel to the axis of the lower mold cylinder (33), the axis of the upper mold cylinder (22) and the lower portion. The axis of the mold cylinder (33) is on the same vertical plane, and the inner diameter and height of the upper mold cylinder (22) are the same as the inner diameter and height of the lower mold cylinder (33).
The smart grass paper cutting robot according to claim 1, wherein the cutting line (7) is an annular closed line, a cutting line (7) and a driving wheel (8), and a first driven wheel (9). The second passive wheel (10) and the third passive wheel (11) are tangent.
The smart grass paper cutting robot according to claim 1, wherein the upper guide template (21) is connected to the upper mold tube (22) by a hinge, and the lower guide template (32) is linked to the lower mold tube ( 33) Connection.
The smart grass paper cutting robot according to claim 1, wherein said upper power component (15), lower power component (26) and translational power component (37) are constituted by hydraulic cylinders, and upper power components (15) The lower power component (26) and the translational power component (37) are connected to the hydraulic device, and the controller (5) is connected to the hydraulic device through the hydraulic control line; or the upper power component (15), the lower power component (26), and The translational power element (37) is composed of a cylinder, and the upper power element (15), the lower power element (26) and the translational power element (37) are connected with a gas source device, and the controller (5) passes the gas source control line and the gas source device. Connecting; or, the upper power component (15), the lower power component (26), and the translational power component (37) are composed of an electric push rod, and the controller (5) passes the electric control line and the upper power component (15) and the lower power component (26) and the translational power element (37) are connected.
The smart grass paper cutting robot according to claim 1, characterized in that: the frame (4) is provided with a grass core frame (53) and a weed paper box (54) for loading the grass core (48). ) and through the grass.