WO2016202137A1

WO2016202137A1 - Smart robotic device for cutting rice paper

Info

Publication number: WO2016202137A1
Application number: PCT/CN2016/082574
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: CN104999500A; CN104999500B

Abstract

Provided is a smart robotic device 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 robotic device 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 through-grain paper processing mechanism, in particular to an intelligent through-grain paper cutting robot device.

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 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 device to improve the processing efficiency of the through-grain paper.

The technical solution adopted by the present invention is: the intelligent through-grain paper cutting robot device comprises a cutting device, an upper moving turntable, a lower moving turntable, a frame and a controller, and the cutting device, the upper moving turntable and the lower moving turntable are installed on 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, and a 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 translation device comprises a translational power component, a translation slot and a translation seat, the translation slot is connected with the frame, the translation slot is coupled with the translation seat, and the cutting frame and the translation seat are Connecting, 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 is driven by the translation device. The upper moving device includes an upper moving device and an upper rotating plate mold, the upper moving device is connected to 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 upper 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, and the upper sliding seat is dynamically coupled with the upper sliding slot, and the upper sliding seat is moved by the upper power component; Turn The disc mold comprises an upper turntable seat, an upper turntable motor, an upper drive gear, an upper guide template and an upper mold tube, and the upper guide template is connected with the upper mold tube, the upper mold tube is connected with the upper turntable base, and the upper mold tube is provided with the upper mold tube The driven gear, the upper turntable 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 plate is arranged on the upper turntable Internal rotation; the outer casing of the upper turntable motor is connected with the upper sliding seat, and the upper moving device drives the upper rotary plate mold to move by the upper sliding seat; the lower moving rotary table includes the lower moving device and the lower rotating plate mold, and the lower moving device is connected with the frame, the lower rotating table The mold is connected with the upper moving device; 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, and the power shaft of the lower power component is connected with the sliding seat, and the sliding seat is connected with The sliding groove is matched with the connection, and the lower power component is used to drive the sliding seat to move; the lower rotating die includes the lower turntable and the lower turntable motor a lower driving gear, a lower guiding template and a lower mold tube, the lower guiding template is connected with the lower mold tube, the lower mold tube is connected with the lower rotary table seat, and the lower mold tube is provided with a lower driven gear, a lower turntable seat and a lower turntable motor outer casing Connected, the rotating shaft of the lower turntable motor is connected with the lower driving gear, the lower driving gear meshes with the lower driven gear, the lower guiding die plate is driven by the lower turntable motor, and the lower die cylinder is rotated in the lower turntable seat; the outer casing of the lower turntable motor is connected with the sliding seat The lower moving device drives the lower dial mold to move through the sliding seat; 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 translation power The stroke of the component; the fourth sensor and the fifth sensor are disposed on the outer casing of the upper power component, and the power component The force axis is disposed on the sensing element for controlling the stroke of the upper power component; the sixth sensor and the seventh sensor are disposed on the outer casing of the lower power component, and the power shaft of the lower power component is disposed on the sensing component for controlling the stroke of the lower power component .

The use method of the intelligent through-grain cutting robot device is: when working, the through-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 power component to drive the cutting device to move, and when the cutting device moves to the first introduction of the upper turntable mold When the mouth position is within, the sensing component of the power component of the translational power component approaches 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. After the line rotates and the cutting line rotates, the controller controls the upper turntable motor to drive the upper turntable mold to rotate, and at the same time, the controller controls the translational dynamic component to drive the cutting device to move, and uses the rotating cutting line to cut the grass core in the upper rotary mold; The rotation of the rotary die and the movement of the cutting device, the rotating cutting line cuts the grass core along the upper guiding template of the upper rotary 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 The controller controls the translational power component and the upper turntable motor to reset, the translational power component drives the cutting device to reset and move, the turntable motor drives the upper turntable die to rotate, and when the cutting line moves to the first inlet position, the translation of the power component of the power component is translated. The piece is close to the first sensor, the first sensor The signal is transmitted to the controller, the controller controls the upper 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 upper turntable die, and when the sensing component of the power component of the translational power component approaches the first When the three sensors are used, the third sensor transmits its signal to the controller, and the controller controls the translational power component to stop; after the cutting line of the cutting device leaves the upper turntable mold, the controller controls the upper power component to drive the upper moving dial to move upward and reset, and the power is turned on. When the component is reset, the sensing component of the power component of the upper power component approaches the fifth sensor, the fifth 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 drives the lower moving moving wheel to move upwards; when the lower moving rotating disk moves upward, the grass core is loaded into the upper rotating plate mold of the moving rotating turntable; When moving to the line cutting position, the power of the lower power element The sensing component is close to the sixth sensor, and the sixth sensor transmits its signal to the controller. The controller controls the power component to stop, and the lower moving disk stops moving. After the lower moving disk stops, the controller controls the translational power component to drive the cutting device to move. When the cutting device moves into the second inlet position of the lower dial mold, the sensing member of the translational power element power shaft approaches the first sensor, the first sensor transmits its signal to the controller, and the controller controls the translational power element to stop; After the power component stops, the controller controls the cutting motor to drive the cutting line to rotate. After the cutting line rotates, the controller controls the lower turntable motor to drive the lower turntable mold to rotate. At the same time, the controller controls the translational dynamic component to drive the cutting device to move, using the rotating cutting line. Cutting the grass core in the lower turntable mold; as the lower turntable mold rotates and the cutting device moves, the rotating cutting line cuts the grass core along the lower guide template of the lower turntable mold; when the sensing member of the power component of the translational power element approaches the second sensor When the second sensor will The signal is transmitted to the controller, the controller controls the translational power component and the upper turntable motor to reset, the translational power component drives the cutting device to reset and move, the turntable motor drives the upper turntable die to rotate, and when the cutting line moves to the second inlet position, the pan The sensing component of the power component power shaft is close to the first sensor, the first sensor transmits its signal to the controller, the controller controls the lower dial mold and the cutting motor to stop rotating, and the translational power component continues to drive the cutting device to move, so that the cutting line of the cutting device Leaving the lower 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 translational power element to stop; after the cutting line of the cutting device leaves the lower turntable mold, Under the control of the controller, the power component drives the lower moving carriage to move downward and reset. When the lower power 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, under the control of the controller. The power component stops; opening the lower turntable mold will Good grass cut through the core expands to pass toilet paper; the cycle continues.

The utility model has the beneficial effects that: the intelligent through-grain paper cutting robot device controls the cutting mobile rotating disk or the lower moving rotating disk to move to the cutting position by using the controller, and controls the cutting line of the cutting device to cut the moving rotating disk or the lower moving rotating table by using the controller. The core, which continuously circulates and cuts the grass core into a grass paper, the intelligent 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.

DRAWINGS

1 is a schematic structural view of a smart grass paper cutting robot device;

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 grass paper cutting robot device, and FIG. 2 is a top view of the first embodiment of the present invention. The smart grass paper cutting robot device includes a cutting device 1, an upper moving carousel 2, a lower moving carousel 3, The frame 4 and the 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 includes a wire cutting device 35 and a translating device 36, and the wire cutting device 35 includes a cutting frame 6 Cutting line 7, driving wheel 8, first driven wheel 9, second driven wheel 10, third driven wheel 11 and cutting motor 12, driving wheel 8, first driven wheel 9, second driven wheel 10 and third passive The wheel axle of the wheel 11 is dynamically 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, the first The two passive wheels 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, the translation slot 38 is connected to the frame 4, the translation slot 38 is movably coupled with the translation seat 39, the cutter 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, and the translational power element 37 is translated. The power shaft is connected to the translation seat 39, and 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 connected. The upper moving device 13 includes an upper power component 15, an upper sliding slot 16 and an upper sliding seat 17, and the outer casing of the upper power component 15 and the upper sliding slot 16 are connected and connected to the frame 4, and the upper power component 15 is connected. The upper power shaft is connected to the upper sliding block 17, and the upper sliding seat 17 is connected with the upper sliding slot 16 to move the upper sliding block 17 by the upper power component 15. The upper rotating die 14 includes an upper turntable 18 and an upper turntable motor 19 The upper driving gear 20, the upper guiding die plate 21 and the upper die cylinder 22, the upper guiding die plate 21 is connected to the upper die cylinder 22, the upper die cylinder 22 is dynamically coupled with the upper turntable seat 18, and the upper die cylinder 22 is provided with an upper driven gear 23 , upper turntable 18 and upper turntable motor 19 The outer casing is connected, the rotating shaft of the upper turntable 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 driven to rotate in the upper turntable seat 18 by the upper turntable motor 19; The upper casing of the upper turntable motor 19 is connected to the upper slide 17, and the upper moving device 13 drives the upper rotary die 14 to move by the upper slide 17; the lower moving turntable 3 includes a lower moving device 24 and a lower turntable die 25, and the lower moving device 24 The frame 4 is connected, the lower turntable die 25 is connected to the upper moving device 24, and the lower moving device 24 includes a lower power component 26, a sliding groove 27 and a lower sliding seat 28. The outer casing of the lower power component 26 and the sliding groove 27 are connected to the frame 4. Connecting, the power shaft of the lower power component 26 is connected with the sliding seat 28, the sliding seat 28 is movably coupled with the sliding groove 27, and the lower sliding member 28 is moved by the lower power component 26; the lower rotary die 25 includes a lower turntable 29 and a lower turntable. The motor 30, the lower drive 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 passive tooth 34. The lower turntable 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 is driven by the lower turntable motor 30 and The lower mold cylinder 33 rotates in the lower turntable seat 29; the outer casing of the lower turntable motor 30 is connected to the lower slide seat 28, and the lower moving device 24 drives the lower turntable mold 25 to move through the slide seat 28; the controller 5 is provided with an automatic switch 40, first Sensor 41, second sensor 42, third sensor 43, fourth sensor 44, fifth sensor 45, sixth sensor 46, seventh sensor 47, and stop switch 55; first sensor 41, second sensor 42, and third sensor 43 is 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 upper power component 15 The outer casing, 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, and the power shaft of the lower power component 26 is disposed on the outer casing. An inductive element for controlling the travel of the lower power element 26.

The smart grass paper cutting robot device is used by: loading the grass core 48 into the upper turntable mold 14 of the upper moving turntable 2 during operation, and controlling the upper power component 15 by the controller 5 to move the upper moving turntable 2 downward; While moving the upper 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 is close to the fourth The sensor 44 and the fourth sensor 44 transmit their signals to the controller 5, the controller 5 controls the upper power component 15 to stop, and the upper moving dial 2 stops moving; after the upper moving dial 2 stops moving, the controller 5 controls the translational dynamic component 37 to drive The cutting 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 control. 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 is rotated, the controller 5 Controlling the upper turntable motor 19 to drive 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 through-grass core 48 in the upper rotary die 14; The rotation of the 14 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 shaft of the translational power component 37 approaches the second sensor 42, the second sensor 42 transmits its signal to the controller 5, the controller 5 controls the translation of the translational power element 37 and the upper turntable motor 19, the translational power element 37 drives the cutting device 1 to reset movement, and the turntable motor 19 drives the upper turntable mold 14 to reset and rotate; 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 mold 14 and the cutting motor 12 stops rotating, 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 upper turntable die 14 when the translation power When the sensing member of the power shaft of the component 37 approaches the third sensor 43, the third sensor 43 transmits its signal to the controller 5, and the controller 5 controls the translational power component 37 to stop; after the cutting line 7 of the cutting device 1 leaves the upper rotary die 14 , The controller 5 controls the upper power component 15 to drive the upper moving dial 2 to move upward and reset. When the upper power component 15 is reset, the sensing component of the power shaft of the upper power component 15 approaches the fifth sensor 45, and the fifth sensor 45 transmits its signal to the controller. 5, the controller 5 controls the upper power component 15 to stop; opens the upper turntable die 14 to expand the cut through grass core 48 into a through-grain paper; after the upper power component 15 is stopped, the upper moving turntable 2 is reset, and the controller 5 controls the lower power component 26 The lower moving carousel 3 is moved upward; while the lower moving carousel 3 is moved upward, the grass core 48 is loaded into the upper carousel mold 14 of the upper moving carousel 2; when the lower moving carousel 3 is moved to the wire cutting position, the lower power component 26 is powered. The sensing member of the shaft approaches the sixth sensor 46, and the sixth sensor 46 transmits its signal to the controller 5, the controller 5 controls the lower power member 26 to stop, and the lower moving dial 3 stops moving; after the lower moving dial 3 stops, the controller 5 Controlling the translational power element 37 drives the cutting device 1 to move, and when the cutting device 1 moves into the position of the second introduction port 50 of the lower dial mold 25, the translation of the power shaft of the power element 37 is translated. Proximity to the first sensor 41, 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, cutting After the line 7 is rotated, the controller 5 controls the lower turntable motor 30 to drive the lower turntable mold 25 to rotate. At the same time, the controller 5 controls the translational power element 37 to drive the cutting device 1 to move, and cuts the grass in the lower turntable mold 25 by the rotating cutting line 7. Core 48; with the rotation of the lower turntable mold 25 and the movement of the cutting device 1, the rotating cutting line 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 first When the sensor 42 is used, the second sensor 42 transmits its signal to the controller 5, the controller 5 controls the translation of the translational power component 37 and the upper turntable motor 19, and the translational power component 37 drives the cutting device 1 to reset the movement, and the turntable motor 19 drives the upper turntable. The mold 14 is reset and rotated; when the cutting line 7 is moved to the position of the second introduction port 50, 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, the controller 5 controls the lower dial mold 25 and the cutting motor 12 to stop 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 turntable The mold 25, when the sensing member of the power shaft of the translational power element 37 approaches the third sensor 43, the third sensor 43 transmits its signal to the controller 5, and the controller 5 controls the translation of the translational power element 37; the cutting line 7 of the cutting device 1 After leaving the lower turntable mold 25, the controller 5 controls the lower power element 26 to drive the lower moving dial 3 to move downward and reset. When the lower power element 26 is reset, the sensing member of the power shaft of the lower power unit 26 approaches the seventh sensor 47, and the seventh. The sensor 47 transmits its signal to the controller 5, which controls the lower power element 26 to stop; opens the lower turntable mold 25 The cut grass core 48 is unfolded into a grass paper; this is continuously circulated.

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 device is: installing the grass core 48 → the upper turntable mold 14 into the cutting position → the first cutting position → the first cutting → the first exiting the cutting position → the upper turntable mold 14 reset → lower Turntable mold 25 into the cutting position → the second cutting position → the second cutting → the second exit cutting position → the lower turntable mold 25 reset → so continuous circulation.

The workflow of the intelligent through-grain cutting robot device 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 guiding template 32 of the mold 25 loads the weed core 48 into the lower mold cylinder 33, and then covers the lower guiding template 32; the through-grain core 48 in the upper mold tube 22 is cut and finished, and then turned down. The disc mold 25 is moved upward, and while the lower dial mold 25 is moved upward, the upper guide template 21 is opened, the through-grass core 48 is loaded into the upper mold tube 22, and then the upper guide template 21 is closed; thus continuously circulating;

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 die 25 enters the cutting position: after the upper turntable die 14 is reset, the controller 5 controls the lower power component 26 to move the sliding seat 28 to move in the sliding groove 27, the sliding seat 28 drives the lower moving turntable 3 to move upward; and the lower moving turntable 3 moves to When the line is cut, the controller 5 controls the lower power element 26 to stop, and the lower moving dial 3 stops moving;

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; 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 Moving right, the translation seat 39 drives the cutting frame 6 to move to the right, so that the cutting line 7 of the cutting device 1 leaves 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. Move counterclockwise; cutting line 7 exits the upper guide groove In the case of the groove 51, the upper turntable mold 14 is rotated in the counterclockwise direction, and the cutting line 7 is moved in the clockwise direction along the upper guide groove 51 of the upper guide template 21; or, when the cutting line 7 cuts the straw core 48, the lower turntable mold 25 is pressed. Turning clockwise, the cutting line 7 moves in the counterclockwise direction along the lower guiding groove 52 of the lower guiding template 32; when the cutting line 7 exits the lower guiding groove 52, the lower rotating mold 25 rotates in the counterclockwise direction, along the cutting line 7 The lower guide groove 52 of the lower guide template 32 is moved in the clockwise direction.

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-grain cutting robot device comprises a cutting device (1), an upper moving turntable (2), a lower moving turntable (3), a frame (4) and a controller (5), a cutting device (1), an upper moving turntable (2) and the lower moving turntable (3) is mounted on the frame (4); the cutting device (1) comprises a wire cutting device (35) and a translating device (36), and the wire cutting device (35) comprises a cutting frame (6) ), a cutting line (7), a driving wheel (8), a first driven wheel (9), a second driven wheel (10), a third driven wheel (11), and a cutting motor (12), and the translating device (36) includes There is a translational power element (37), a translation slot (38) and a translation seat (39); the upper movement dial (2) includes an upper moving device (13) and an upper dial mold (14), and the upper moving device (13) includes The upper power component (15), the upper sliding slot (16) and the upper sliding seat (17), the upper dial mold (14) includes an upper turntable seat (18), an upper turntable motor (19), an upper drive gear (20), The upper guide plate (21) and the upper mold tube (22), the upper mold tube (22) is provided with an upper driven gear (23), the upper turntable seat (18) is connected with the outer casing of the upper turntable motor (19); 3) including the lower moving device (24) and the lower dial mold (25); moving down The device (24) includes a lower power component (26), a sliding groove (27) and a lower sliding seat (28). The lower rotating die (25) includes a lower turntable (29), a lower turntable motor (30), and a lower drive gear. (31), a lower guide template (32) and a lower mold tube (33); the controller (5) is provided with an automatic switch (40), a first sensor (41), a second sensor (42), and a third sensor (43) a fourth sensor (44), a fifth sensor (45), a sixth sensor (46), and a seventh sensor (47); characterized in that: the smart grass paper cutting robot device is used by: , 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 drive the upper moving turntable (2) to move downward; While moving the turntable (2) downward, the grass core (48) is loaded into the lower turntable die (25) of the lower moving turntable (3); when the upper moving turntable (2) is moved to the wire cutting position, the upper power component (15) The sensing part of the power shaft is close to the fourth sensor (44), the fourth sensor (44) transmits its signal to the controller (5), and the controller (5) controls the upper power element (15) to stop, and moves the turntable up (2) stop After the upper moving carousel (2) stops moving, 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 first introduction of the upper carousel mold (14) In the position of the mouth (49), 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), and the controller (5) controls The translational power component (37) stops; after the translational power component (37) stops, 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 Upper turntable motor (19) drives upper turntable die (14) Rotating, at the same time, the controller (5) controls the translational power element (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 mold (14); The rotation of the turntable mold (14) and the cutting device (1) are moved, and the rotating cutting line (7) cuts the grass core (48) along the upper guide template (21) of the upper turntable mold (14); when the translational power element (37) When the sensing member of the power shaft approaches the second sensor (42), the second sensor (42) transmits its signal to the controller (5), and the controller (5) controls the translational power element (37) and the upper turntable motor (19). Reset, the translational power component (37) drives the cutting device (1) to reset and move, and the turntable motor (19) drives the upper turntable die (14) to reset and rotate; when the cutting line (7) moves to the first inlet (49) position, The sensing member of the power shaft of the translational power element (37) is close to the first sensor (41), the first sensor (41) transmits its signal to the controller (5), and the controller (5) controls the upper dial mold (14) and the cutting The 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 upper turntable mold. (14) When the sensing member of the power shaft of the translational power element (37) approaches the third sensor (43), the third sensor (43) transmits its signal to the controller (5), and the controller (5) controls the translational power. The component (37) is stopped; after the cutting line (7) of the cutting device (1) leaves the upper turntable die (14), the controller (5) controls the upper power component (15) to drive the upper moving turntable (2) to move up and reset, When the power component (15) is reset, the sensing component of the power component of the upper power component (15) approaches the fifth sensor (45), and the fifth sensor (45) transmits its signal to the controller (5), and the controller (5) controls The upper power component (15) is stopped; the upper rotary disk mold (14) is opened to unfold the cut through grass core (48) into a through-grain paper; after the upper power component (15) is stopped, the upper moving turntable (2) is reset, and the controller (5) The control power element (26) drives the lower moving turntable (3) to move upward; while the lower moving turntable (3) moves upward, the grass core (48) is loaded into the upper turntable mold (14) of the upper moving turntable (2) When the lower moving dial (3) moves to the line 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. For the controller (5), the controller (5) controls the lower power component (26) to stop, the lower moving dial (3) stops moving; after the lower moving dial (3) stops, the controller (5) controls the translational dynamic component (37) Driving the cutting device (1) to move, when the cutting device (1) moves into the position of the second introduction port (50) of the lower dial mold (25), the sensing member of the power shaft of the translational power component (37) approaches the first sensor (41), 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) stops, the controller (5) controls Cutting motor (12) drives cutting After the line (7) rotates and the cutting line (7) rotates, the controller (5) controls the lower turntable motor (30) to drive the lower turntable mold (25) to rotate, and at the same time, the controller (5) controls the translational dynamic component (37) to drive The cutting device (1) moves, and the through-grass core (48) in the lower turntable mold (25) is cut by the rotating cutting line (7); as the lower turntable mold (25) rotates and the cutting device (1) moves, the rotating The cutting line (7) cuts the straw core (48) along the lower guide template (32) of the lower dial 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) transmitting its signal to the controller (5), the controller (5) controls the translation of the translational power component (37) and the upper turntable motor (19), and the translational power component (37) drives the cutting device (1) to reset movement. The turntable motor (19) drives the upper turntable die (14) to reset and rotate; when the cutting line (7) moves to the second inlet (50) position, the sensing member of the power component of the translational power 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) and the cutting motor (12) to stop rotating, moving flat The component (37) continues to move the cutting device (1), causing the cutting line (7) of the cutting device (1) to leave the lower turntable die (25), when the sensing member of the power shaft of the translational power component (37) approaches the third sensor ( 43), the third sensor (43) transmits its signal to the controller (5), the controller (5) controls the translational power element (37) to stop; the cutting line (7) of the cutting device (1) leaves the lower turntable mold After (25), the controller (5) controls the lower power component (26) to drive the lower moving dial (3) to move downward and reset. When the lower power component (26) is reset, the sensing component of the lower power component (26) power shaft is approached. The seventh sensor (47), the seventh sensor (47) transmits its signal to the controller (5), the controller (5) controls the lower power component (26) to stop; and the lower turntable mold (25) opens the cut grass The core (48) is unfolded as a pass-through paper; this is continuously circulated.
The smart grass paper cutting robot device according to claim 1, wherein when the upper turntable motor (19) rotates, the upper turntable motor (19) drives the upper driven gear (23) of the upper mold cylinder (22). Rotating, the upper driven gear (23) drives the upper die barrel (22) to rotate on the ball of the upper turntable (18); the lower turntable motor (30) drives the lower drive gear (31) to rotate, and the lower drive gear (31) drives The lower mold cylinder (33) rotates on the ball of the lower turntable (29).
The smart grass paper cutting robot device according to claim 1, wherein the workflow of the smart grass paper cutting robot device is: installing the grass core (48) → the upper turntable mold (14) into the cutting position → the first One cutting position → first cutting → first cutting position → upper turntable mold (14) reset → lower turntable mold (25) cutting position → second cutting Bit → second cutting → second exit cutting position → lower turntable mold (25) reset → so continuous cycle.
The smart grass paper cutting robot device according to claim 3, wherein the workflow of the smart grass paper cutting robot device is specifically:

Install the grass core (48): open the upper guide template (21) of the upper turntable mold (14), insert the grass core (48) into the upper mold tube (22), and then cover the upper guide template (21); While the turntable mold (14) is moving downward, the lower guide template (32) of the lower turntable mold (25) is opened, the through grass core (48) is loaded into the lower mold tube (33), and then the cover guide template is returned (32). After the cutting of the grass core (48) in the upper mold tube (22) is completed, the lower turn mold (25) moves upward, and while the lower turn mold (25) moves upward, the upper guide template (21) is opened, and the grass is passed. The core (48) is loaded into the upper mold tube (22), and then the cover is returned to the upper guide template (21);

The upper turntable mold (14) enters the cutting position: after the through-grain core (48) is loaded into the upper mold tube (22), the upper power unit (15) is controlled by the controller (5) with the upper slide (17) on the upper chute. (16) moving downward, the upper slide (17) is loaded with the turntable mold (14) to move to the line cutting position; when the upper moving turntable (2) is moved to the line cutting position, the controller (5) controls the upper moving turntable ( 2) stop moving downwards;

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

First cutting: After the translational power component (37) stops, the controller (5) controls the cutting motor (12) to drive the driving wheel (8) to rotate, and the driving wheel (8) drives the first passive wheel through the cutting line (7) ( 9), the second passive wheel (10) and the third passive wheel (11) rotate to make the cutting line (7) rotate in a circular motion; after the cutting line (7) rotates in a ring, the controller (5) controls the upper turntable motor ( 19) driving the upper drive gear (20) to rotate, the upper drive gear (20) is rotated by the upper driven gear (23) with the mold cylinder (22); after the upper mold cylinder (22) is rotated, the controller (5) controls the translation power The component (37) with the translation seat (39) continues 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 guiding groove (51) of the upper guiding template (21), Cutting the grass core (48) in the upper mold tube (22) by using a cutting line (7);

First exit the cutting position: the cutting line (7) will pass the grass core (48) in the upper mold tube (22) After cutting 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) drives the upper mold (22) through the upper driven gear (23) 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 guiding groove (51) of the upper guiding template (21). When the cutting line (7) moves to the position of the first introduction port (49), the controller (5) controls the upper dial mold (14) and the cutting motor (12) to stop rotating; the cutting line (7) moves to the first introduction After the position of the mouth (49), the translational power element (37) continues to drive the translation seat (39) to move to the right, and 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), 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) upward Move reset, when the upper power component (15) is reset, the controller (5) controls the upper power component (15) to stop;

The lower turntable mold (25) enters the cutting position: after the upper turntable mold (14) is reset, the controller (5) controls the lower power component (26) to drive the lower sliding seat (28) to move in the sliding groove (27), and the sliding seat (28) The lower moving carousel (3) is moved upward; when the lower moving carousel (3) is moved to the wire cutting position, the controller (5) controls the lower power component (26) to stop, and the lower moving carousel (3) stops moving;

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

Second cutting: After the translational power component (37) stops, the controller (5) controls the cutting motor (12) to drive the driving wheel (8) to rotate, and the driving wheel (8) drives the first passive wheel through the cutting line (7) ( 9), the second passive wheel (10) and the third passive wheel (11) rotate to make the cutting line (7) rotate in a circular motion; after the cutting line (7) is rotated, the controller (5) controls the lower turntable motor (30) driving the lower drive gear (31) to rotate, the lower drive gear (31) drives the lower mold cylinder (33) to rotate by the lower driven gear (34); after the lower mold cylinder (33) rotates, the controller (5) controls the translation The power element (37) with the translation seat (39) continues to move to the left in the translation slot (38), causing the cutting line (7) to be cut along the lower guide groove (52) of the lower guide template (32) to move from the outside to the inside, utilizing Cutting line (7) cutting the grass core (48) in the lower mold tube (33);

The second exit of the cutting position: the cutting line (7) cuts the grass core (48) in the lower mold tube (33) into the grass paper, and the controller (5) controls the lower turn motor (30) to drive the lower drive gear (31). Inverting, the lower drive gear (31) drives the lower mold cylinder (33) to reverse through the lower driven gear (34); meanwhile, at the same time, the controller (5) controls the translational power element (37) to drive the translation seat (39) toward Move right to move the cutting line (7) from the inside to the outside along the lower guiding groove (52) of the lower guiding template (32); when the cutting line (7) moves to the position of the second introduction port (50), the controller ( 5) controlling the lower dial mold (25) and the cutting motor (12) to stop rotating; when the cutting line (7) is moved to the second inlet (50) position, the translational power element (37) continues to drive the translation seat (39) Moving right, the translation seat (39) drives the cutting frame (6) to move to the right, so that the cutting line (7) of the cutting device (1) leaves the second introduction port (50), and when the translational power element (37) is reset, the control is performed. (5) controls the translational power element (37) to stop;

Lower turntable mold (25) reset: After the cutting line (7) leaves the second inlet (50), the controller (5) controls the lower power component (26) to drive the lower seat (28) to drive the lower turntable mold (25) downward. When the lower power component (26) is reset, the controller (5) controls the lower power element (26) to stop.
The intelligent through-grain cutting robot device according to claim 1, wherein when the cutting line (7) cuts the straw core (48), the upper dial mold (14) rotates clockwise, and the cutting line (7) The upper guide groove (51) along the upper guide template (21) moves in the counterclockwise direction.
The smart grass paper cutting robot device according to claim 1, wherein when the cutting line (7) exits the upper guiding groove (51) of the guiding template (21), the upper rotating mold (14) is reversed. When the hour hand is rotated, the cutting line (7) moves in the clockwise direction along the upper guide groove (51) of the upper guide template (21).
The smart grass paper cutting robot device according to claim 1, wherein when the cutting line (7) cuts the straw core (48), the lower dial mold (25) rotates clockwise, and the cutting line (7) The lower guide groove (52) of the lower guide template (32) is moved counterclockwise.
The smart grass paper cutting robot device according to claim 1, wherein when the cutting line (7) exits the lower guiding groove (52) of the lower guiding template (32), the lower rotating plate mold (25) is pressed. Turn counterclockwise, cutting line (7) down the lower guide template (32) The guide groove (52) moves in a clockwise direction.