Mechanical picking device for paper making

Abstract

The present invention relates to a mechanical picking device for paper making, which includes a frame, a cantilever, a support frame, a first driving mechanism and a controller. A plurality of cantilevers are provided corresponding to the frame corners of the support frame. One end of each cantilever is rotatably connected to the frame, and the other end is provided with a second driving mechanism. A papermaking net for carrying pulp is arranged on the inner side of the frame of the support frame, and multi-degree-of-freedom joints are arranged on the frame corners of the support frame. The power output ends of the second driving mechanisms are respectively connected to the frame corners of the support frame through the corresponding multi-degree-of-freedom joints. The mechanical picking device for paper making designed by the present invention successfully realizes the automatic replacement of manual paper making actions through structural design, efficiently and stably completes the paper making task. Moreover, this structural design simplifies the overall complexity of the device while enabling it to easily meet the paper making requirements of large pulp tanks, with low manufacturing costs and greatly improving economic benefits.

Description

Technical Field

[0001] The present invention relates to the technical field of paper-making machines, and particularly to a mechanical picking device for paper-making. Background Art

[0002] Traditional paper-making processes generally include steps such as pulping, papermaking, pressing, drying, and processing. The papermaking step, which evenly distributes the pulp on the paper-making net to form a wet paper sheet, is a crucial link that directly determines the quality and uniformity of the final paper. However, for a long time, the papermaking process has mainly relied on manual operation or simple mechanical automation, both of which have significant limitations.

[0003] Firstly, manual papermaking highly depends on the experience of the papermaker. They need to rely on experience to judge the pulp concentration, distribution, and the optimal posture of the paper-making net, and manually make corresponding adjustments. This operation mode relying on subjective judgment is not only inefficient but also easily affected by human factors such as fatigue and differences in proficiency, ultimately resulting in problems such as uneven paper thickness and large quality fluctuations, making it difficult to meet the requirements of modern production for high-quality paper.

[0004] Secondly, although simple mechanical automation papermaking equipment has improved production efficiency to a certain extent, its flexibility is insufficient and it is difficult to adapt to complex production environments. These devices usually use preset programs to control the movement trajectory of the paper-making net, lacking the ability of real-time feedback on the pulp state and dynamic adjustment; for example, when the pulp concentration or distribution changes, these devices cannot automatically adjust the posture or movement trajectory of the paper-making net, resulting in unstable quality of the produced wet paper sheet.

[0005] Furthermore, for the production of large-sized paper, such as a pulp pool with a length greater than 6 meters and a width greater than 3 meters, a solution that combines a large mechanical arm (such as a five-axis manipulator) with a vision system for control is theoretically feasible. However, the cost of this solution is extremely high. Due to the limited working range of a single mechanical arm, in order to cover the entire large pulp pool, multiple mechanical arms usually need to be deployed to work together, which further increases the equipment cost and the complexity of the control system, resulting in poor economy and making it difficult to be widely applied in actual production.

[0006] In summary, the existing paper-making technologies have many deficiencies in terms of efficiency, quality stability, adaptability, and economy. There is an urgent need for a new paper-making device that can effectively solve these problems and achieve efficient, stable, and high-quality paper-making production. Summary of the Invention

[0007] To solve the above problems, the present invention provides a mechanical picking device for paper-making that is simple in structure, low in cost, and applicable to large pulp pools.

[0008] To achieve the above object, the mechanical picking device for papermaking designed by the present invention includes a frame, a cantilever, a support frame, a first driving mechanism and a controller. A plurality of cantilevers are provided corresponding to the corners of the support frame. One end of each cantilever is rotatably connected to the frame, and the other end is provided with a second driving mechanism. A papermaking net for carrying pulp is provided inside the frame of the support frame, and multi-degree-of-freedom joints are provided at the corners of the support frame. The power output ends of the second driving mechanisms are respectively connected to the corners of the support frame through the corresponding multi-degree-of-freedom joints. The power output end of the first driving mechanism is connected to any one of the cantilevers to drive each cantilever to drive the support frame to swing relative to the frame along a predetermined trajectory. Wherein, when the support frame swings relative to the frame along a predetermined trajectory under the drive of the first driving mechanism, the support frame enters the pulp pool at a predetermined angle relative to the horizontal plane under the drive of the plurality of second driving mechanisms for pulp picking. When the first driving mechanism drives the papermaking net carrying pulp to swing to a predetermined position, the controller controls one or more of the plurality of second driving mechanisms to homogenize the papermaking net, and the homogenization includes tilting and / or rotating the support frame.

[0009] Optionally, the support frame is a rectangular frame, and four cantilevers are provided corresponding to the four corners of the support frame.

[0010] Optionally, the controller realizes the tilting of the support frame by controlling the second driving mechanisms on the same side of the support frame to move downward or upward synchronously; the controller realizes the rotation of the support frame by controlling each second driving mechanism to drive each side of the support frame to tilt in sequence along the circumferential direction of the support frame.

[0011] Optionally, the second driving mechanism is a linear driving mechanism. When the first driving mechanism drives the support frame to swing, the power output end of the second driving mechanism extends a predetermined distance.

[0012] Optionally, the controller realizes the tilting of the support frame by controlling the second driving mechanisms on the same side of the support frame to move downward synchronously and simultaneously controlling the second driving mechanisms on the other opposite side of the support frame to move upward; or, the controller realizes the tilting of the support frame by controlling the second driving mechanism at one corner of the support frame to move downward and simultaneously controlling the second driving mechanism at the other opposite corner of the support frame to move upward.

[0013] Optionally, the frame of the support frame is made of a material with deformation ability; the controller controls the second driving mechanism located at any corner of the support frame to move downward or upward to achieve the inclination of the support frame; the controller controls each of the second driving mechanisms to move downward or upward, and the movement distances of the second driving mechanisms increase or decrease sequentially along the circumference of the support frame to achieve the rotation of the support frame.

[0014] Optionally, the multi-degree-of-freedom joint is a spherical joint or a universal joint.

[0015] Optionally, both the first driving mechanism and the second driving mechanism are linear driving mechanisms driven by servo motors.

[0016] The mechanical picking device for paper making designed by the present invention has successfully realized the automatic replacement of manual paper picking actions through structural design, efficiently and stably completed the paper picking task. Moreover, this structural design simplifies the overall complexity of the device while enabling it to easily meet the paper picking requirements of large pulp vats, with low manufacturing costs and greatly improving economic benefits. In addition, the device can dynamically adjust the posture of the paper picking net to ensure uniform distribution of pulp, and finally obtain high-quality paper with uniform thickness and stable quality. Description of the Drawings

[0017] Figure 1 is a schematic plan view of the picking device provided by an embodiment of the present application;

[0018] Figure 2 is another perspective schematic plan view of the picking device provided by an embodiment of the present application;

[0019] Figure 3 is an embodiment schematic diagram of the support frame in an embodiment of the present application;

[0020] Figure 4 is a functional block diagram of the picking device provided by an embodiment of the present application;

[0021] Figure 5 is a schematic diagram of the cantilever swing provided by an embodiment of the present application.

[0022] Wherein: frame 10, cantilever 20, cantilever 20a, cantilever 20b, cantilever 30c, cantilever 40d, support frame 30, paper picking net 31, first driving mechanism 40, controller 50, second driving mechanism 60, driving mechanism 60a, driving mechanism 60b, driving mechanism 60c, driving mechanism 60d, multi-degree-of-freedom joint 70, vision module 80, camera 90. Detailed Embodiments

[0023] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only for explaining and illustrating the present invention, and are not used to limit the present invention.

[0024] Embodiment 1

[0025] As Figures 1 to 5 shown, the mechanical picking device for paper making described in this embodiment is applied to pick pulp from a pulp pool. The device includes a frame 10, a cantilever 20, a support frame 30, a first driving mechanism 40 and a controller 50. A plurality of the cantilevers 20 are arranged corresponding to the corners of the support frame 30. One end of each cantilever 20 is rotatably connected to the frame 10, and the other end is provided with a second driving mechanism 60. A papermaking net 31 for carrying pulp is arranged inside the frame of the support frame 30, and multi-degree-of-freedom joints 70 are arranged at the corners of the support frame 30. The power output ends of the second driving mechanisms 60 are respectively connected to the corners of the support frame 30 through the corresponding multi-degree-of-freedom joints 70. The power output end of the first driving mechanism 40 is connected to any one of the cantilevers 20 to drive each cantilever 20 to drive the support frame 30 to swing relative to the frame 10 along a predetermined trajectory. Wherein, when the support frame 30 swings relative to the frame 10 along a predetermined trajectory under the drive of the first driving mechanism 40, the support frame 30 enters the pulp pool at a predetermined angle relative to the horizontal plane under the drive of the plurality of second driving mechanisms 60 for pulp picking. When the first driving mechanism 40 drives the papermaking net 31 carrying pulp to swing to a predetermined position, the controller 50 controls one or more of the plurality of second driving mechanisms 60 to homogenize the papermaking net 31, and the homogenization includes tilting and / or rotating the support frame 30.

[0026] Specifically, taking the support frame 30 as a rectangular frame with four cantilevers 20 (respectively marked as cantilever 20a, cantilever 20b, cantilever 20c, cantilever 20d) provided at the four corners as an example, the structure and working principle of the paper making device of the present invention will be described in detail.

[0027] First, the frame 10 is fixed on the ground beside the pulp pool, providing stable support for the whole device. One end of each of the four cantilevers 20 is respectively rotatably connected to the frame 10 through a hinge, so that the cantilever 20 can swing relative to the frame 10, and the other end of the cantilever 20 is respectively connected to the corresponding second driving mechanism 60 (respectively marked as driving mechanism 60a, driving mechanism 60b, driving mechanism 60c, driving mechanism 60d). Among them, the power output end of each second driving mechanism 60 is connected to a corner of the support frame 30 through a multi-degree-of-freedom joint 70. This connection method suspends the support frame 30 above the pulp pool, preparing for pulp picking.

[0028] In addition, in this embodiment, the support frame 30 is a rectangular frame, and a papermaking net 31 for carrying pulp is provided inside the frame. The papermaking net 31 can be made of nylon net, metal net or other suitable water-permeable materials. In this embodiment, both the first driving mechanism 40 and the second driving mechanism 60 can adopt a lead screw nut mechanism driven by a servo motor to achieve precise displacement control.

[0029] As Figure 1 , Figure 2 and Figure 3 shown, during pulp scooping, exemplarily:

[0030] The power output end of the first driving mechanism 40 is connected to any one of the four cantilevers 20 (for example, the cantilever 20a). When the first driving mechanism 40 expands and contracts, it will drive the cantilever 20a to swing, and then drive the other three cantilevers 20 to swing synchronously, so that the support frame 30 swings relative to the frame 10 along a predetermined trajectory, simulating the action of manual papermaking. At the same time, the controller 50 controls the coordinated actions of the second driving mechanisms 60 to precisely control the attitude of the support frame 30, so that the support frame 30 can enter the pulp pool at a predetermined angle. For example, the controller 50 can control the driving mechanisms 60a and 60b on the same side of the support frame 30 to extend a predetermined distance synchronously according to a preset program, so that the support frame 30 tilts into the pulp pool. At this time, the multi-degree-of-freedom joints 70 at the corresponding corners of the support frame 30 can compensate for the tilt of the support frame 30, maintain the stability of the papermaking net 31, and ensure that an appropriate amount of pulp is scooped. In this embodiment, the multi-degree-of-freedom joint 70 is a spherical joint or a universal joint.

[0031] Subsequently, when the support frame 30 swings to a predetermined position (for example, above the liquid level of the pulp pool), the uniformity of the pulp distribution on the papermaking net 31 can be judged by manual observation, and then the controller 50 controls the second driving mechanism 60 to adjust the attitude of the papermaking net 31 to perform the pulp leveling operation. In this embodiment, the pulp leveling operation can be achieved by tilting and / or rotating the support frame 30. The pulp leveling operation aims to make the pulp distribution on the papermaking net 31 more uniform, such as small-angle tilting, rotation or a combination of both, so that the pulp is redistributed on the papermaking net 31, eliminating local thick or thin areas. That is, through this fine attitude control and pulp leveling operation, not only can the quality consistency of a single sheet of paper be improved, but also it can be ensured that each subsequent sheet of paper has the same quality level, realizing the repeatability of the pulp scooping quality, and ultimately improving the overall quality and stability of the product.

[0032] In addition, a suitable water entry angle of the support frame 30 (the forming wire 31) can prevent the forming wire 31 from being overly immersed in the pulp pool, avoiding excessive or insufficient pulp accumulation, and thus affecting the uniformity of the final paper. In this embodiment, the water entry angle is generally set between 15 degrees and 45 degrees. For example, specific water entry angles such as 15 degrees, 20 degrees, 25 degrees, 30 degrees, 35 degrees, 40 degrees, or 45 degrees can be selected according to factors such as the pulp concentration, the depth of the pulp pool, and the papermaking speed.

[0033] In some embodiments, as Figure 3 shown, the controller 50 controls the second driving mechanisms 60 located on the same side of the support frame 30 to move downward or upward synchronously to achieve the tilting of the support frame 30; the controller 50 controls each of the second driving mechanisms 60 to sequentially drive each side of the support frame 30 to tilt along the circumferential direction of the support frame 30 to achieve the rotation of the support frame 30.

[0034] During specific implementation, as Figure 3 shown, when tilting the support frame 30 for pulp homogenization: for example, to tilt the support frame 30 forward, the controller 50 can control the driving mechanism 60a and the driving mechanism 60b to move downward synchronously (the power output ends of the second driving mechanisms 60 extend), while the driving mechanism 60c and the driving mechanism 60d remain stationary or move upward, so that the support frame 30 tilts forward, and the tilting angle can be adjusted by controlling the downward movement distance of the driving mechanism 60a and the driving mechanism 60b. Similarly, to tilt the support frame 30 backward, the controller 50 can control the driving mechanism 60c and the driving mechanism 60d to move downward synchronously, while the driving mechanism 60a and the driving mechanism 60b remain stationary or move upward. This tilting action can redistribute the pulp on the forming wire 31, for example, guiding the pulp from a thicker area to a thinner area. The controller 50 can also control each of the second driving mechanisms 60 to sequentially drive each side of the support frame 30 to tilt along the circumferential direction of the support frame 30 to achieve the rotation of the support frame 30. For example, to rotate the support frame 30 clockwise, the controller 50 can sequentially control the driving mechanism 60a and the driving mechanism 60b, the driving mechanism 60b and the driving mechanism 60c, the driving mechanism 60c and the driving mechanism 60d, and the driving mechanism 60d and the driving mechanism 60a to move downward, so that the support frame 30 rotates around the central axis, and the rotation angle and speed can be adjusted by controlling the movement distance and time difference of each driving mechanism. This rotation action can make the pulp more evenly distributed on the forming wire 31 and eliminate local concentration differences.

[0035] In some embodiments, as Figure 3As shown, the second driving mechanism 60 is a linear driving mechanism. When the first driving mechanism 40 drives the support frame 30 to swing, the power output end of the second driving mechanism 60 extends a predetermined distance. In this way, by adjusting the extended distance of the second driving mechanism 60, it can be ensured that the wire mesh 31 can pick up pulp in the pulp pool at different depths with the best attitude and depth, avoiding both the wire mesh 31 being overly immersed in the bottom of the pulp pool, resulting in too thick a pulp accumulation, and preventing the wire mesh 31 from being immersed insufficiently, leading to too little pulp being picked up and affecting the formation of the paper.

[0036] In this embodiment, as Figure 3 shown, the controller 50 controls the second driving mechanisms 60 located on the same side of the support frame 30 to move downward synchronously, and at the same time controls the second driving mechanisms 60 on the other opposite side of the support frame 30 to move upward to achieve the tilting of the support frame 30; or, the controller 50 controls the second driving mechanism 60 at one corner of the support frame 30 to move downward, and at the same time controls the second driving mechanism 60 at the other opposite corner of the support frame 30 to move upward to achieve the tilting of the support frame 30.

[0037] In this way, to make the support frame 30 tilt forward, the controller 50 will instruct the driving mechanisms 60a and 60b to move downward (extend) synchronously, and at the same time instruct the driving mechanisms 60c and 60d to move upward (contract) synchronously, so that the support frame 30 can be adjusted to the desired attitude faster, which is especially suitable for pulp with relatively low concentration and relatively good fluidity, because this type of pulp is more likely to redistribute on the wire mesh 31. In addition, in addition to synchronously controlling the driving mechanisms on the same side, the controller 50 can also achieve tilting by controlling the reverse movement of the two second driving mechanisms 60 located on the diagonal of the support frame 30. For example, to make the support frame 30 tilt along the left front - right rear diagonal, the controller 50 will instruct the driving mechanism 60a to move downward and at the same time instruct the driving mechanism 60c to move upward to achieve more flexible and precise tilting control.

[0038] In some embodiments, as Figure 3 shown, the frame of the support frame 30 is made of a material with deformability; the controller 50 controls the second driving mechanism 60 at any corner of the support frame 30 to move downward or upward to achieve the tilting of the support frame 30; the controller 50 controls each of the second driving mechanisms 60 to move downward or upward, and the movement distances of each of the second driving mechanisms 60 increase or decrease sequentially along the circumference of the support frame 30 to achieve the rotation of the support frame 30.

[0039] In this embodiment, the frame of the support frame 30 is made of a material with deformation ability, such as elastic metal, composite material or flexible plastic, etc. This flexible design endows the support frame 30 with a certain deformation ability, enabling it to better adapt to the pulp distribution on the paper-making mesh 31. For example, when the pulp is unevenly distributed on the paper-making mesh 31, the flexible frame can undergo local deformation according to the thickness of the pulp:

[0040] For example, the controller 50 can tilt the support frame 30 by controlling the second driving mechanism 60 located at any corner of the support frame 30 to move downward or upward. To tilt the front left corner of the support frame 30 downward, the controller 50 can control the driving mechanism 60a to move downward, while the other driving mechanisms 60b, 60c and 60d remain stationary or move upward. At this time, the deformation ability of the flexible frame can cooperate with the action of the driving mechanism to make the tilt of the support frame 30 smoother and better conform to the shape of the pulp.

[0041] Furthermore, the controller 50 can also achieve the rotation of the support frame 30 by controlling each second driving mechanism 60 to move downward or upward, and the moving distances of the driving mechanisms increase or decrease sequentially along the circumferential direction of the support frame 30. For example, to rotate the support frame 30 clockwise, the controller 50 can control the driving mechanism 60a to move downward by a first distance, the driving mechanism 60b to move downward by a second distance, the driving mechanism 60c to move downward by a third distance, and the driving mechanism 60d to move downward by a fourth distance (the first distance > the second distance > the third distance > the fourth distance). This sequentially increasing or decreasing movement mode, combined with the deformation ability of the flexible frame, can enable the support frame 30 to achieve a smoother rotational movement, thereby more effectively making the pulp evenly distributed on the paper-making mesh 31.

[0042] In some embodiments, both the first driving mechanism 40 and the second driving mechanism 60 are linear driving mechanisms driven by servo motors. The servo motor has a fast response speed and can quickly respond to the instructions of the controller 50 to achieve a rapid attitude adjustment of the support frame 30, which is particularly important for the paper-making process that needs to quickly adapt to pulp changes.

[0043] In some other possible implementations, as Figure 4 shown, it further includes a vision module 80 electrically connected to the controller 50. The vision module 80 is used to collect image information when the paper-making mesh 31 carrying the pulp swings to a predetermined position, and calculate the pulp thickness distribution information on the paper-making mesh 31 according to the acquired image information; the controller 50 controls the second driving mechanism 60 to homogenize the pulp on the paper-making mesh 31 according to the acquired pulp thickness distribution information.

[0044] In specific implementation, the vision module 80 generally consists of one or more cameras 90 installed on the rack 10 and an image processing unit. The camera 90 can be installed above the pulp pool to clearly capture a complete image of the forming wire 31. When the forming wire 31 carrying the pulp swings to a predetermined position (for example, above the liquid level of the pulp pool), the camera 90 collects image information and transmits it to the image processing unit. The image processing unit analyzes the collected image using existing mature image recognition algorithms (such as edge detection, grayscale analysis, or deep learning-based image segmentation algorithms) to calculate the thickness distribution information of the pulp on the forming wire 31. Specifically, the image processing unit can convert the image into a grayscale image and calculate the pulp thickness of each area on the forming wire 31 according to the correspondence between the grayscale value and the pulp thickness. Then, this thickness information is transmitted to the controller 50 in the form of a data matrix or other suitable data format. At this time, the controller 50 controls the second driving mechanism 60 to perform pulp homogenization operations on the forming wire 31, such as adjusting the tilt or rotation angle of the support frame 30 to make the pulp distribution more uniform.

[0045] The mechanical picking device for papermaking provided in this embodiment has successfully realized the automated replacement of manual papermaking actions through structural design, efficiently and stably completed the papermaking task. Moreover, this structural design simplifies the overall complexity of the device while enabling it to easily meet the papermaking requirements of large pulp pools, with low manufacturing costs and greatly improving economic benefits. In addition, the device can dynamically adjust the posture of the forming wire 31 to ensure uniform pulp distribution, and finally obtain high-quality paper with uniform thickness and stable quality.

[0046] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0047] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "install", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A mechanical papermaking device for papermaking, characterized in that: The invention comprises a frame, a cantilever, a support frame, a first driving mechanism and a controller, wherein a plurality of cantilevers are arranged corresponding to the frame corners of the support frame, one end of each cantilever is rotatably connected to the frame, and the other end is provided with a second driving mechanism; a papermaking net for carrying paper pulp is arranged inside the support frame, and multi-degree-of-freedom joints are arranged on the frame corners of the support frame; The power output end of each second driving mechanism is respectively connected to the frame corner of the support frame through a corresponding multi-degree-of-freedom joint; the power output end of the first driving mechanism is connected to any cantilever to drive each cantilever to drive the support frame to swing along a predetermined trajectory relative to the frame; wherein, when the support frame swings relative to the frame along the predetermined trajectory under the drive of the first driving mechanism, the support frame enters the pulp pool at a predetermined angle relative to the horizontal plane under the drive of multiple second driving mechanisms for pulping; when the first driving mechanism drives the papermaking net carrying the pulp to swing to a predetermined position, the controller controls one or more of the multiple second driving mechanisms to homogenize the papermaking net, and the homogenization includes tilting and / or rotating the support frame; the support frame is a rectangular frame, and the second driving mechanism is a linear driving mechanism; the controller controls the second driving mechanism located on the same side of the support frame to move downward or upward synchronously to achieve the tilting of the support frame; the controller controls each second driving mechanism to drive each side of the support frame to tilt in sequence along the circumference of the support frame to achieve the rotation of the support frame.

2. The mechanical papermaking device according to claim 1, characterized in that: The cantilevers are provided with four arms corresponding to the four corners of the support frame.

3. The mechanical papermaking device according to claim 2, characterized in that: When the first driving mechanism drives the supporting frame to swing, the power output end of the second driving mechanism extends out a predetermined distance.

4. The mechanical papermaking device according to claim 3, characterized in that: The controller controls the second driving mechanism located on the same side of the support frame to move downward synchronously, and controls the second driving mechanism on the other opposite side of the support frame to move upward, so as to achieve the tilting of the support frame; or, the controller controls the second driving mechanism located at one corner of the support frame to move downward, and controls the second driving mechanism at the other opposite corner of the support frame to move upward, so as to achieve the tilting of the support frame.

5. The mechanical papermaking device according to any one of claims 1 to 4, characterized in that: The frame of the support frame is made of a deformable material; the controller controls the second driving mechanism located at any corner of the support frame to move downward or upward to achieve the tilt of the support frame; The controller controls each of the second driving mechanisms to move downward or upward, and the movement distance of each of the second driving mechanisms increases or decreases in sequence along the circumference of the supporting frame, so as to realize the rotation of the supporting frame.

6. The mechanical papermaking device according to claim 5, characterized in that: The multi-degree-of-freedom joint is a spherical joint or a universal joint.

7. The mechanical papermaking device according to claim 5, characterized in that: The first driving mechanism and the second driving mechanism are both linear driving mechanisms driven by servo motors.

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