Device and method for shaping inner packaging of irregularly shaped articles based on pulp fibers

Abstract

A device for shaping inner packaging of irregularly shaped articles based on pulp fiber comprises a base, a workbench is arranged on the base, the workbench is a direct carrier for packaging shaping, and is arranged on a synchronous belt in the X direction, the output of the first stepper motor is connected to the synchronous wheel of the synchronous belt, two vertical Z-axis screws are arranged on the left and right sides of the base, the bottom end of each Z-axis screw is connected to the second stepper motor through a coupling 1, a Y-axis screw is arranged between the two Z-axis screws, one end of the Y-axis screw is connected to the third stepper motor through a coupling, a pulp delivery channel is installed on the Y-axis screw through a nut connector 2, and the pulp extrusion port of the pulp delivery channel opens toward the workbench below it. The invention obtains pulp fiber through the pulp inlet and the pulp delivery channel, extrude the pulp fiber from the pulp extrusion port, and shapes the inner packaging of the article, and has the characteristics of being green, environmentally friendly, safe, stable, and having good implementation effects.

Description

Technical Field

[0001] The invention belongs to the technical field of packaging, and in particular relates to a device and method for inner packaging shaping of irregular-shaped articles based on pulp fibers. Background Art

[0002] As an important accessory of an item, packaging plays a role in carrying and protecting. Due to the uniform specifications of general items, their packaging can usually be mass-produced. However, for some special and valuable items such as cultural relics, due to the specificity of their appearance, the traditional inner packaging often does not fit their appearance well, which affects the packaging effect. Summary of the invention

[0003] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a device and method for shaping inner packaging of irregularly shaped articles based on pulp fibers, using pulp fibers as raw materials, and shaping "tailor-made" inner packaging for the articles according to the three-dimensional contour of the articles by the device, especially for some uniquely shaped cultural relics, which can further enhance the protection effect. It has the characteristics of being green, environmentally friendly, safe, stable, and having good implementation effects.

[0004] In order to achieve the above object, the technical solution adopted by the present invention is:

[0005] A device for shaping inner packaging of articles with irregular shapes based on pulp fibers comprises a base, a workbench is arranged on the base, the workbench is a direct carrier for packaging shaping, and is arranged on an X-direction synchronous belt, the output of a first stepper motor is connected to a synchronous wheel of the synchronous belt, two vertical Z-axis lead screws are arranged on the left and right sides of the base, the bottom end of each Z-axis lead screw is connected to a second stepper motor through a coupling 1, a Y-axis lead screw is arranged between the two Z-axis lead screws, one end of the Y-axis lead screw is connected to a third stepper motor through a coupling, a slurry delivery channel is installed on the Y-axis lead screw through a nut connector 2, and a slurry extrusion port of the slurry delivery channel opens toward the workbench below it.

[0006] There are two cylindrical through holes on the two sides of the workbench in the Y direction. The inner surfaces of the cylindrical through holes are smooth. Two sliding rods pass through them respectively. The two ends of the sliding rods are fixed. The workbench can move smoothly along the sliding rods in the X axis under the drive of the first stepper motor, the synchronous wheel and the synchronous belt.

[0007] A cooling plate is attached to the surface of the workbench to help the pulp packaging to cool and form.

[0008] The base is in a square shape and plays a supporting role for the entire device.

[0009] The other end of the Y-axis lead screw and the third stepping motor are respectively installed on a Z-axis lead screw through a nut connector.

[0010] The pulp squeezing mouth sleeve is provided with a heating sleeve, which heats the pulp and squeezes it out to shape and package it.

[0011] Furthermore, the present invention also includes a control module, a three-dimensional scanner and a main control computer. The three-dimensional scanner is used to obtain point cloud data of the object to be packaged. The main control computer pre-processes, features matches, and segments the point cloud data, reconstructs the fitting surface, establishes a three-dimensional model of the inner packaging, generates execution codes for controlling the movement of three groups of transmission systems, and downloads the execution codes to the control module through the serial port. The control module includes a microprocessor and a drive module, which controls the operation of the first stepper motor, the second stepper motor, the third stepper motor and the pulping port, so that the pulping port can move freely in the three-dimensional Euclidean space to extrude pulp fibers to shape the inner packaging of the item.

[0012] The present invention also provides a molding method using the pulp fiber-based irregular-shaped article inner packaging molding device, which is characterized by comprising the following steps:

[0013] Step 1: Scan the three-dimensional surface of the object to be packaged with a three-dimensional scanner, and output point cloud data containing the three-dimensional features of the object surface;

[0014] Step 2: Use the host computer to pre-process the point cloud data, perform feature matching, and data segmentation, reconstruct the fitting surface, and establish a three-dimensional model of the inner packaging, i.e., an STL file;

[0015] Step 3: The main control computer generates execution codes for controlling the motion of the three transmission systems according to the established three-dimensional model of the object;

[0016] Step 4: Download the execution code to the control module through the serial port;

[0017] Step 5: The control module controls the operation of the first stepper motor, the second stepper motor, and the third stepper motor to drive the pulp squeezing port to move freely in the three-dimensional European space, obtain pulp fibers through the pulp inlet of the pulp delivery channel, heat the pulp fibers through the heating sleeve of the pulp squeezing port, and squeeze out the hot pulp from the pulp squeezing port, and complete the shaping of the inner packaging of the item after cooling.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. Green and environmentally friendly. The inner packaging material is made of pulp fiber, which is rich in resources and low in cost. It can be self-degraded in the natural environment and is renewable and pollution-free.

[0020] 2. Safe and stable. The pulp fiber has good sealing performance and strong plasticity, which can ensure that the valuables being packaged are not damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the invention.

[0022] Figure 2 Schematic diagram of the three-dimensional transmission decomposition of the device Figure 1 .

[0023] Figure 3 Schematic diagram of the three-dimensional transmission decomposition of the device Figure 2 .

[0024] Figure 4 Schematic diagram of the three-dimensional transmission decomposition of the device Figure 3 .

[0025] Figure 5 The working flow diagram of the device. DETAILED DESCRIPTION

[0026] The embodiments of the present invention are described in detail below with reference to the accompanying drawings and examples.

[0027] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the present invention is a device for forming inner packaging of irregular-shaped articles based on pulp fibers, comprising a base 4 and a workbench 1, wherein the base 4 may be in a "mouth" shape to support the entire device.

[0028] The workbench 1 is a direct carrier for packaging shaping, and a cooling plate can be attached to its surface to help the pulp packaging cool and shape. The workbench 1 is set on the synchronous belt 7 in the X direction, and the synchronous wheel 6 of the synchronous belt 7 is installed on the output shaft of the first stepper motor 5. The first stepper motor 5 drives the synchronous wheel 6 to rotate, and then drives the synchronous belt 7 and even the workbench 1 to move in the X axis (Cartesian right-hand coordinate system). The workbench 1 can be higher than the top surface of the base 4, or slightly lower than the top surface of the base 4. One side of the synchronous belt 7 is connected to the synchronous wheel 6, and the other side can be connected to the bearing 8 and fixed under the workbench 1, so that the workbench 1 can move freely in the X axis.

[0029] In order to ensure the smooth movement of the workbench 1, there are two cylindrical through holes on the two sides of the Y direction. The inner surface of the cylindrical through holes is smooth. Two slide bars 2 are respectively passed through them. The two ends of the slide bars 2 are fixed to the base 4 with screws 3. The surface of the slide bars 2 is smooth, which plays a role in supporting and assisting the sliding of the workbench 1. Therefore, the workbench 1 can move smoothly along the slide bars 2 in the X axis under the drive of the first stepper motor 5, the synchronous wheel 6, the synchronous belt 7 and the bearing 8.

[0030] Two vertical Z-axis lead screws 11 are provided on the left and right sides of the base 4. The bottom end of each Z-axis lead screw 11 is connected to the second stepper motor 9 through a coupling 10. The second stepper motor 9 drives the device to freely move along the Z axis.

[0031] A Y-axis screw 15 is arranged between the two Z-axis screws 11, wherein one end of the Y-axis screw 15 is connected to the third stepper motor 13 through a coupling 14, and the other end of the Y-axis screw 15 and the third stepper motor 13 are respectively installed on a Z-axis screw 11 through a nut connector 12, and the third stepper motor 13 drives the Y-axis of the device to move freely.

[0032] The Y-axis lead screw 15 is provided with a pulp delivery channel 18 through a second nut connector 16. The pulp squeezing port 17 of the pulp delivery channel 18 opens toward the workbench 1 below it. The second nut connector 16 is installed on the Y-axis lead screw 15 and can be used to fix the pulp delivery channel 18 and its squeezing port 17. The squeezing port 17 is covered with a heating sleeve to heat the pulp and squeeze it out to shape the package. The pulp inlet 19 of the pulp delivery channel 18 serves as the input end of the pulp fiber of the packaging material, and the pulp is transferred to the squeezing port 17 through the pulp delivery channel 18.

[0033] According to the above structure, the actions of the three motors and the action of the pulp squeezing port 17 can be controlled to squeeze out pulp fibers to form an inner package 23 on the workbench 1.

[0034] Specific reference Figure 2 , Figure 3 as well as Figure 4 , three-dimensional space transmission method of the device:

[0035] See attached Figure 2 , the transmission diagram of the X-axis (in the Cartesian right-hand coordinate system) of the device. The synchronous wheel 6 rotates with the rotation of the first stepper motor 5, driving the synchronous belt 7 to move together, and the bearing 8 rotates together. With the cooperation of the first stepper motor 5, the synchronous wheel 6, the synchronous belt 7 and the bearing 8, and the supporting sliding action of the slide bar 2 (reliably fixed on the base 4 by the screw 3), the workbench 1 moves freely along the X-axis with the synchronous belt 7, that is, moves forward and backward.

[0036] See attached Figure 3 , the transmission diagram of the Z axis (under the Cartesian right-hand coordinate system) of the device. The coupler 10 rotates with the rotation of the second stepping motor 9, and drives the Z axis lead screw 11 to rotate together, and together with the nut connector 12, it forms a Z axis lead screw transmission system to realize the free movement of the slurry squeezing port 17 on the Z axis, that is, up and down movement.

[0037] See attached Figure 4 , the Y-axis (Cartesian right-hand coordinate system) transmission diagram of the device. The coupler 14 rotates with the rotation of the third stepper motor 13, and drives the Y-axis lead screw 15 to rotate together, and together with the nut connector 16, it forms a Y-axis lead screw transmission system. The nut connector 16 is fixed with the slurry squeezing port 17, which drives the slurry squeezing port 17 to move freely on the Y-axis, that is, to move left and right.

[0038] The three transmission systems X, Y, and Z work in coordination to drive the pulp squeezing port 17 to move freely in the three-dimensional Euclidean space according to a predetermined program, obtain pulp fibers through the pulp inlet 19 and the pulp delivery channel 18, and after being heated by the heating sleeve of the pulp squeezing port 17, the pulp fibers are squeezed out from the pulp squeezing port 17, and finally cooled and formed by the cooling plate on the surface of the workbench 1, thereby completing the shaping of the inner packaging 23 of the article.

[0039] Furthermore, in order to realize a complete automatic control process, the present invention also includes a control module 20, a three-dimensional scanner 21 and a main control computer 22. The three-dimensional scanner 21 is used to obtain point cloud data of the object to be packaged. The main control computer 22 receives the point cloud data through a USB interface or the like, and performs preprocessing, feature matching, data segmentation, reconstructs the fitting surface, establishes a three-dimensional model of the inner packaging 23, generates execution codes for controlling the movement of the three groups of transmission systems, and downloads the execution codes to the control module 20 through the serial port. The control module 20 includes a microprocessor and a drive module, which controls the operation of the first stepper motor 5, the second stepper motor 9, the third stepper motor 13 and the pulping port 17, so that the pulping port 17 can move freely in the three-dimensional Euclidean space to extrude pulp fibers to shape the inner packaging 23 of the object.

[0040] See attached Figure 5 , specifically including the following steps:

[0041] Step 1: Scan the three-dimensional surface of the object to be packaged by a three-dimensional scanner 21, and output point cloud data containing three-dimensional features of the object surface;

[0042] Step 2: Use the main control computer 22 to pre-process the point cloud data, perform feature matching, and data segmentation, reconstruct the fitting surface, and establish a three-dimensional model of the inner packaging 23, that is, an STL file; Step 3: The main control computer 22 generates execution codes for controlling the movement of the three transmission systems based on the established three-dimensional model of the object;

[0043] Step 4: Download the execution code to the control module 20 via the serial port;

[0044] Step 5: The control module 20 controls the operation of the first stepper motor 5, the second stepper motor 9, and the third stepper motor 13, driving the pulp squeezing port 17 to move freely in the three-dimensional Euclidean space, obtaining pulp fibers through the pulp inlet 19 of the pulp delivery channel 18, heating the pulp fibers through the heating sleeve of the pulp squeezing port 17, and squeezing the hot pulp out of the pulp squeezing port 17. After being cooled by the cooling plate on the surface of the workbench 1, the shaping of the inner packaging 23 of the article is completed.

[0045] Regarding step 2 and step 3, specifically, when performing a three-dimensional scanning of an object, due to the inevitable interference in the external environment, such as noise, abnormal points will appear in the point cloud model of the object, affecting the accurate modeling of the actual contour of the object. The main control computer 22 can optimize the point cloud data of the object through reverse engineering software such as Surfacer. By setting the error limit, the contour line of the object can be fitted by the least squares method, the order of the curve can be determined according to the shape contour, the distance between each data point and the fitting curve can be calculated, and the isolated points with excessive errors can be eliminated. The point cloud data is denoised by least squares filtering, Gaussian filtering or Kalman filtering, and the scanner blind area is interpolated and corrected in combination with the interpolation strategy to further improve the point cloud model of the object and improve the surface fitting accuracy.

[0046] According to the inner packaging safety level requirements of the items to be packaged, such as the thickness of the inner packaging and the gap between the inner wall of the inner packaging and the items, the corresponding parameters of the inner packaging of the object are set. Specifically, according to the gap parameters between the inner wall of the inner packaging and the items, the point cloud contour of the item is equidistantly expanded to obtain a second point cloud contour, which will form the inner wall of the inner packaging of the item, which fits the outer shape of the item and only differs in size; according to the thickness requirements of the inner packaging, the second point cloud contour is expanded again to obtain a third point cloud contour, which will form the outer wall of the inner packaging, and can be in any shape, such as a square (here it is mainly considered to fit the common square transport box). The second point cloud contour and the third point cloud contour together constitute the point cloud data of the inner packaging of the item, and the point cloud model of the inner packaging of the item is established by extracting effective feature points. Taking the inner packaging of the "four-block" structure as an example, the inner packaging point cloud model obtained after the above processing is further segmented, and the inner packaging point cloud data is segmented into four parts (so that the item can stand in it and be protected by the buffer of the inner packaging), and the reconstruction of the fitting surface is completed. Next, slice each part, and use software such as Cura to convert the three-dimensional model into several equidistant two-dimensional plane slices, and output the execution code based on the inner packaging model of the item to control the movement of the three transmission systems. In actual implementation, based on the advantage of high viscosity of pulp fibers, the inner packaging of the item can be formed by layered shaping and cooling and automatic bonding. The inner packaging serves as a buffer between the main body of the item and the outer packaging. In actual application, the "four-piece" inner packaging clamps the item between it, which directly buffers and protects the item. Furthermore, after the item stands between the four parts of the inner packaging, ropes, lines, belts, etc. can be used to bundle the four parts of the inner packaging, that is, the "four-in-one" operation, to assist fixation and enhance the protection effect; when taking out the item, you only need to untie the bundle, that is, the "one-to-four" operation, the inner packaging is released, and the item can be taken out.

Claims

1. A device for forming inner packaging of articles with irregular shapes based on pulp fibers, comprising a base (4), a control module (20), a three-dimensional scanner (21) and a main control computer (22), wherein a workbench (1) is disposed on the base (4), and characterized in that: The workbench (1) is a direct carrier for packaging and molding, and is arranged on an X-direction synchronous belt (7). The output of the first stepper motor (5) is connected to the synchronous wheel (6) of the synchronous belt (7). Two vertical Z-axis lead screws (11) are arranged on the left and right sides of the base (4). The bottom end of each Z-axis lead screw (11) is connected to the second stepper motor (9) through a coupling (10). A Y-axis lead screw (15) is arranged between the two Z-axis lead screws (11), wherein one end of the Y-axis lead screw (15) is connected to the third stepper motor (13) through a coupling (14). A slurry delivery channel (18) is installed on the Y-axis lead screw (15) through a nut connector (16). The slurry extrusion port (17) of the slurry delivery channel (18) opens toward the workbench (1) below it. Two cylindrical through holes are provided on two sides of the workbench (1) in the Y direction, the inner surfaces of the cylindrical through holes are smooth, and two sliding rods (2) are respectively passed through the two cylindrical through holes. The two ends of the slide bar (2) are fixed, and the workbench (1) can move smoothly along the slide bar (2) on the X-axis under the drive of the first stepper motor (5), the synchronous wheel (6), and the synchronous belt (7). A cooling plate is attached to the surface of the workbench (1) to help the pulp packaging to be cooled and formed; the pulp extrusion port (17) is covered with a heating sleeve to heat the pulp and then extrude it to shape the packaging; The three-dimensional scanner (21) is used to obtain point cloud data of the object to be packaged. The main control computer (22) performs preprocessing, feature matching, and data segmentation on the point cloud data, reconstructs a fitting surface, establishes a three-dimensional model of the inner packaging (23), generates an execution code for controlling the movement of three groups of transmission systems, and downloads the execution code to the control module (20) through the serial port. The control module (20) includes a microprocessor and a drive module, which controls the operation of the first stepper motor (5), the second stepper motor (9), the third stepper motor (13), and the pulping port (17), so that the pulping port (17) moves freely in the three-dimensional European space to extrude pulp fibers to shape the inner packaging (23) of the object.

2. The device for forming inner packaging of irregularly shaped articles based on pulp fiber according to claim 1, characterized in that: The base (4) is in the shape of a square and plays a supporting role for the entire device.

3. The device for forming inner packaging of irregular-shaped articles based on pulp fiber according to claim 1, characterized in that: The other end of the Y-axis lead screw (15) and the third stepping motor (13) are respectively mounted on a Z-axis lead screw (11) via a nut connector (12).

4. A molding method using the pulp fiber-based irregular-shaped article inner packaging molding device according to claim 1, characterized in that: The following steps are involved: Step 1: Scanning the three-dimensional surface of the object to be packaged by a three-dimensional scanner (21) to output point cloud data containing three-dimensional features of the object surface; Step 2: using the main control computer (22) to pre-process the point cloud data, perform feature matching, and data segmentation, reconstruct the fitting surface, and establish a three-dimensional model of the inner packaging (23), i.e., an STL file; Step 3: The main control computer (22) generates execution codes for controlling the motion of the three transmission systems according to the established three-dimensional model of the object; Step 4: Download the execution code to the control module (20) via the serial port; Step 5: The control module (20) controls the operation of the first stepper motor (5), the second stepper motor (9), and the third stepper motor (13), driving the pulp squeezing port (17) to move freely in the three-dimensional Euclidean space, obtaining pulp fibers through the pulp inlet (19) of the pulp delivery channel (18), heating the pulp fibers through the heating sleeve of the pulp squeezing port (17), and squeezing out the hot pulp from the pulp squeezing port (17), and completing the shaping of the inner packaging (23) of the article after cooling; in: In the second step, the main control computer (22) optimizes the point cloud data through reverse engineering software, firstly sets the error limit, and fits the contour line of the object through the least square method, determines the curve order according to the shape contour, calculates the distance between each data point and the fitting curve, removes the isolated points with too large errors, then denoises the point cloud data, and interpolates and corrects the scanning blind area in combination with the interpolation strategy, further improves the point cloud model of the object, and improves the surface fitting accuracy; In the step 2, the point cloud contour of the object is equidistantly expanded according to the gap parameters between the inner wall of the inner packaging and the object to obtain a second point cloud contour. The second point cloud contour will form the inner wall of the inner packaging of the object, which is consistent with the outer shape of the object and only different in size. According to the thickness requirement of the inner packaging, the point cloud contour is expanded again on the basis of the second point cloud contour to obtain a third point cloud contour. The third point cloud contour will form the outer wall of the inner packaging. The second point cloud contour and the third point cloud contour together constitute the point cloud data of the inner packaging of the object, and a point cloud model of the inner packaging of the object is established by extracting effective feature points.

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