Manipulator for slitting raw paper

Abstract

The utility model discloses a manipulator for slitting raw paper, belongs to the technical field of raw paper cutting, and solves the problem that the raw paper at the top is turned up in the cutting process when the raw paper is cut by taking a stack as a unit in the prior art. And the problem that the sizes of the finally cut tissues cannot be guaranteed to be completely consistent can be solved. Comprising a portal frame and a connecting plate transversely connected to the portal frame in a sliding mode, the side, away from the portal frame, of the connecting plate is vertically connected with a mounting plate in a sliding mode, the mounting plate is in a 7 shape, the side, away from the connecting plate, of the mounting plate is fixedly connected with a vertically-arranged air cylinder, and a piston rod of the air cylinder is fixedly connected with a machine shell. The servo motor controls the lead screw to rotate to achieve displacement, the air cylinder controls the machine shell to press paper, the cutting wheel rotates to cut body paper, the distance sensor is matched with a circuit to ensure cutting precision, and the electromagnet attracts the spring to drive the air cylinder to complete cutting.

Description

Technical Field

[0001] The utility model relates to the technical field of base paper cutting, in particular to a robot for base paper slitting. Background Art

[0002] Base paper cutting is an important part of the papermaking process, which involves cutting large rolls or sheets of base paper into smaller sheets according to certain size requirements. This process not only requires precise cutting technology to ensure the consistency of paper size and the smoothness of the edges, but also has high requirements for cutting speed and efficiency.

[0003] At present, when cutting base paper, it is usually cut in units of a stack. However, during the cutting process, the top of the base paper may turn over, which will cause the size of the final cut paper to be unable to be guaranteed to be completely consistent.

[0004] Therefore, a base paper slitting robot is proposed to solve or alleviate the above problems. Utility Model Content

[0005] The utility model aims to solve the shortcomings in the prior art and proposes a robot for cutting base paper.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A robot for cutting base paper comprises a gantry, a connecting plate connected to the gantry in a transverse sliding manner, a mounting plate vertically slidably connected to a side of the connecting plate away from the gantry, the mounting plate is in a 7-shape, a vertically arranged cylinder is fixedly connected to a side of the mounting plate away from the connecting plate, a piston rod of the cylinder is fixedly connected to a casing, a servo motor is fixedly connected inside the casing, an output shaft of the servo motor passes through the casing and is fixedly connected to a cutting wheel, the width of the casing is greater than the diameter of the cutting wheel, and a plurality of pressure rollers are rotatably connected to the bottom surface of the casing.

[0008] Preferably, the upper end of the connecting plate is fixedly connected to a connecting seat with a hole, the bottom surface of the connecting seat is fixedly connected to a ring-shaped electromagnet, a connecting rod passing through the hole is passed through the electromagnet, the inner top surface of the mounting plate is fixedly connected to the upper end of the connecting rod, the outer ring of the connecting rod is provided with a metal spring, and the two ends of the metal spring are respectively fixedly connected to the connecting seat and the inner top surface of the mounting plate.

[0009] Preferably, a through hole is formed on the inner top surface of the mounting plate, and the upper end of the connecting rod is interference fit in the through hole.

[0010] Preferably, both ends of the gantry are fixedly connected with bearing seats, the inner ring of the bearing seat is fixedly connected with a lead screw, the end of the lead screw is in interference fit with the inner ring of the bearing seat, a nut seat is threadedly connected to the lead screw, the connecting plate is fixedly connected with the nut seat, and one end of the lead screw is drivably connected to a power source.

[0011] Preferably, a slide rail is fixedly connected to the gantry below the lead screw, a slide seat is slidably connected to the slide rail, and the slide seat is fixedly connected with the connecting plate.

[0012] Preferably, it further includes a control circuit, and the control circuit is coupled to the air cylinder, the servo motor, and the electromagnet.

[0013] Preferably, the control circuit includes

[0014] a distance sensor, which is arranged on the inner top surface of the gantry, and the distance sensor detects the thickness change of the base paper and feeds back a distance signal;

[0015] a voltage comparison circuit, the input end of the voltage comparison circuit is coupled to the output end of the distance sensor, and the voltage comparison circuit outputs a comparison signal in response to the distance signal being less than a preset distance reference signal therein;

[0016] a delay circuit, the input end of the delay circuit is coupled to the output end of the voltage comparison circuit, the delay circuit responds to the comparison signal and starts timing, and outputs a delay signal after the timing ends;

[0017] a switch circuit, the switch circuit is connected to the delay circuit and the electromagnet, and the switch circuit controls the electromagnet to be powered on in response to the delay signal;

[0018] a servo motor controller, its input end is coupled to the output end of the switch circuit, and the servo motor controller controls the servo motor to work in response to a signal from the switch circuit.

[0019] Preferably, the voltage comparison circuit includes a voltage comparator, the delay circuit includes an RC delay circuit, the switch circuit includes a triode switch, the base of the triode switch is coupled to the output end of the delay circuit, the collector of the triode switch is connected to power, the emitter of the triode switch is connected to the ground in series with the electromagnet, and the servo motor controller includes an STM32 series single-chip microcomputer.

[0020] The utility model has the following beneficial effects:

[0021] The utility model realizes displacement by controlling the rotation of the lead screw by a servo motor, controls the machine shell to press the paper by an air cylinder, rotates the cutting wheel to cut the base paper, and the distance sensor and the circuit cooperate to ensure the cutting accuracy, and the electromagnet adsorbs the spring to drive the air cylinder to complete the cutting. Description of the Drawings

[0022] To more clearly illustrate the technical solutions of the embodiments of the present utility model, the accompanying drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following accompanying drawings only show some embodiments of the present utility model, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related accompanying drawings can also be obtained based on these drawings.

[0023] Figure 1 Structural schematic of the present utility model Figure 1 ;

[0024] Figure 2 Structural schematic of the present utility model Figure 2 ;

[0025] Figure 3 Structural schematic of the present utility model Figure 3 ;

[0026] Figure 4 Structural block diagram of the control circuit in the present utility model;

[0027] Figure 5 Wiring diagram of the voltage comparison circuit, delay circuit, and switch circuit in the present utility model.

[0028] 1. Gantry; 2. Bearing seat; 3. Lead screw; 4. Nut seat; 5. Slide rail; 6. Slide seat; 7. Connecting plate; 8. Connecting seat; 9. Electromagnet; 10. Connecting rod; 11. Metal spring; 12. Mounting plate; 13. Through hole; 14. Cylinder; 15. Machine shell; 16. Press roller; 17. Cutting wheel; 18. Distance sensor; 19. Voltage comparison circuit; 20. Delay circuit; 21. Switch circuit; 22. Servo motor controller; 23. Servo motor. Specific embodiments

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. Usually, the components of the embodiments of the present utility model described and shown in the accompanying drawings here can be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present utility model provided in the accompanying drawings is not intended to limit the scope of the claimed present utility model, but merely represents the selected embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts fall within the scope of protection of the present utility model.

[0031] It should be noted that like reference numerals and letters denote like items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0032] In the description of the present utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the figures, or the orientation or positional relationship in which the utility model product is customarily placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. It is only for the convenience of describing the present utility model 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 to the present utility model.

[0033] In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0034] In the description of the present utility model, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "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 communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0035] A manipulator for slitting base paper, as Figures 1-3 shown, includes a gantry 1, a connecting plate 7 slidably connected horizontally to the gantry 1. Both ends of the gantry 1 are fixedly connected with bearing seats 2. The inner ring of the bearing seat 2 is fixedly connected with a lead screw 3. The end of the lead screw 3 is in interference fit with the inner ring of the bearing seat 2. A nut seat 4 is threadedly connected to the lead screw 3. The connecting plate 7 is fixedly connected with the nut seat 4. A slide rail 5 is fixedly connected to the gantry 1 and located below the lead screw 3. A slide block 6 is slidably connected to the slide rail 5. The slide block 6 is fixedly connected with the connecting plate 7. One end of the lead screw 3 can be drivingly connected to a power source. An installation plate 12 is slidably connected vertically to the side of the connecting plate 7 away from the gantry 1. The installation plate 12 is in the shape of a "7". A vertically arranged air cylinder 14 is fixedly connected to the side of the installation plate 12 away from the connecting plate 7. The piston rod of the air cylinder 14 is fixedly connected with a machine housing 15. A servo motor 23 is fixedly connected inside the machine housing 15. The output shaft of the servo motor 23 penetrates through the machine housing 15 and is fixedly connected with a cutting wheel 17. The width of the machine housing 15 is greater than the diameter of the cutting wheel 17. A plurality of pressure roller wheels 16 are rotatably connected to the bottom surface of the machine housing 15.

[0036] The upper end of the connecting plate 7 is fixedly connected with a connecting seat 8 with holes. The bottom surface of the connecting seat 8 is fixedly connected with an annular electromagnet 9. A connecting rod 10 passing through the holes is arranged in the electromagnet 9. The inner top surface of the mounting plate 12 is fixedly connected with the upper end of the connecting rod 10. A metal spring 11 is sleeved on the outer circle of the connecting rod 10. The two ends of the metal spring 11 are respectively fixedly connected with the bottom surface of the connecting seat 8 and the inner top surface of the mounting plate 12. A through hole 13 is opened on the inner top surface of the mounting plate 12. The upper end of the connecting rod 10 is in interference fit in the through hole 13.

[0037] As Figure 4 and 5 shown, it further includes a control circuit. The control circuit is coupled to the air cylinder 14, the servo motor 23, and the electromagnet 9. The control circuit includes a distance sensor 18, a voltage comparison circuit 19, a delay circuit 20, a switch circuit 21, and a servo motor controller 22. The voltage comparison circuit 19 includes a voltage comparator. The delay circuit 20 includes an RC delay circuit 20. The switch circuit 21 includes a triode switch. The base of the triode switch is coupled to the output end of the delay circuit 20. The collector of the triode switch is connected to power supply. The emitter of the triode switch is connected in series with the electromagnet 9 and then grounded. The servo motor controller 22 includes an STM32 series single-chip microcomputer.

[0038] The distance sensor 18 is arranged on the inner top surface of the gantry 1. The distance sensor 18 detects the thickness change of the base paper and feeds back a distance signal. The input end of the voltage comparison circuit 19 is coupled to the output end of the distance sensor 18. The voltage comparison circuit 19 outputs a comparison signal in response to the distance signal being less than a preset distance reference signal therein. The input end of the delay circuit 20 is coupled to the output end of the voltage comparison circuit 19. The delay circuit 20 responds to the comparison signal and starts timing, and outputs a delay signal after the timing ends. The switch circuit 21 connects the delay circuit 20 and the electromagnet 9. The switch circuit 21 controls the electromagnet 9 to be energized in response to the delay signal. The input end of the servo motor controller 22 is coupled to the output end of the switch circuit 21. The control circuit of the servo motor 23 controls the servo motor 23 to work in response to the signal from the switch circuit 21.

[0039] When the utility model is actually applied, the servo motor controller 22 is used to control the power source of the driving motor to drive the lead screw 3 to rotate in the bearing block 2. Since the lead screw 3 is threadedly connected to the nut sleeve, and the sliding seat 6 and the slide rail 5 are slidably connected to limit the rotation of the connecting plate 7 together, the connecting plate 7 is restricted from rotating, and then the connecting plate 7 is displaced in the length direction of the gantry 1. When displaced, it can also drive structures such as the mounting plate 12 to be displaced together. The air cylinder 14 can control the housing 15 to descend, so that the housing 15 presses a stack of base paper through the pressure roller 16. When the servo motor 23 works, it drives the cutting wheel 17 to rotate, so that the cutting wheel 17 can follow the displacement to cut the base paper. In the actual process, the distance sensor 18 will detect the base paper passing through the gantry 1 and feedback the distance signal to the voltage comparison circuit 19. When the voltage comparison circuit 19 judges that the distance signal is less than the preset distance reference signal and outputs a comparison signal, it continuously outputs the comparison signal to the delay circuit 20. The capacitor in the delay circuit 20 starts to charge and count time. When the charging ends, that is, the timing ends. This timing can ensure that the base paper is displaced to a suitable cutting position, and then sends a delay signal to the switch circuit 21, so that the switch circuit 21 is turned on, making the electromagnet 9 energized, and then adsorbing the metal spring 11, so that the mounting plate 12 moves downward along with the connecting rod 10, thereby driving the air cylinder 14 to move downward. In the case where the displacement process of the air cylinder 14 is insufficient, it can further supplement the displacement of the cutting wheel 17, and then complete the cutting of the base paper.

[0040] The above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. For those skilled in the art, the present utility model can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model shall be included in the protection scope of the present utility model.

Claims

1. A robot for cutting base paper, characterized in that: The invention comprises a gantry (1), a connecting plate (7) connected to the gantry (1) in a transverse sliding manner, a side of the connecting plate (7) away from the gantry (1) being vertically slidably connected to a mounting plate (12), the mounting plate (12) being in a 7-shape, a side of the mounting plate (12) away from the connecting plate (7) being fixedly connected to a vertically arranged cylinder (14), a piston rod of the cylinder (14) being fixedly connected to a housing (15), a servo motor (23) being fixedly connected inside the housing (15), an output shaft of the servo motor (23) passing through the housing (15) and being fixedly connected to a cutting wheel (17), the width of the housing (15) being greater than the diameter of the cutting wheel (17), and a plurality of pressure rollers (16) being rotatably connected to the bottom surface of the housing (15).

2. A base paper slitting robot according to claim 1, characterized in that: The upper end of the connecting plate (7) is fixedly connected to a connecting seat (8) with a hole, the bottom surface of the connecting seat (8) is fixedly connected to an annular electromagnet (9), a connecting rod (10) passing through the hole is inserted into the electromagnet (9), the inner top surface of the mounting plate (12) is fixedly connected to the upper end of the connecting rod (10), the outer ring of the connecting rod (10) is provided with a metal spring (11), and the two ends of the metal spring (11) are respectively fixedly connected to the connecting seat (8) and the inner top surface of the mounting plate (12).

3. A base paper slitting robot according to claim 2, characterized in that: A through hole (13) is provided on the inner top surface of the mounting plate (12), and the upper end of the connecting rod (10) is interference-fitted in the through hole (13).

4. The paper slitting robot according to claim 1, characterized in that: The two ends of the gantry (1) are fixedly connected to bearing seats (2), the inner ring of the bearing seat (2) is fixedly connected to a screw rod (3), the end of the screw rod (3) is interference fit in the inner ring of the bearing seat (2), a nut seat (4) is threadedly connected to the screw rod (3), the connecting plate (7) is fixedly connected to the nut seat (4), and one end of the screw rod (3) can be connected to a power source.

5. A base paper slitting robot according to claim 4, characterized in that: The gantry (1) is fixedly connected to a slide rail (5) located below the screw rod (3), the slide rail (5) is slidably connected to a slide seat (6), and the slide seat (6) is fixedly connected to a connecting plate (7).

6. The base paper slitting robot according to claim 2, characterized in that: It also includes a control circuit, which is coupled to the cylinder (14), the servo motor (23), and the electromagnet (9).

7. A base paper slitting robot according to claim 6, characterized in that: The control circuit includes A distance sensor (18), the distance sensor (18) being arranged on the top surface of the gantry (1), the distance sensor (18) detecting a thickness change of the base paper and feeding back a distance signal; A voltage comparison circuit (19), wherein an input end of the voltage comparison circuit (19) is coupled to an output end of the distance sensor (18), and the voltage comparison circuit (19) outputs a comparison signal in response to the distance signal being smaller than a preset distance reference signal; A delay circuit (20), wherein an input end of the delay circuit (20) is coupled to an output end of the voltage comparison circuit (19), the delay circuit (20) responds to the comparison signal and starts timing, and outputs a delay signal after the timing ends; A switch circuit (21), wherein the switch circuit (21) is connected to the delay circuit (20) and the electromagnet (9), and the switch circuit (21) controls the electromagnet (9) to be energized after responding to the delay signal; The servo motor controller (22) has an input end coupled to the output end of the switch circuit (21), and the servo motor controller (22) controls the operation of the servo motor (23) in response to a signal from the switch circuit (21).

8. The paper slitting robot according to claim 7, characterized in that: The voltage comparison circuit (19) comprises a voltage comparator, the delay circuit (20) comprises an RC delay circuit (20), the switch circuit (21) comprises a transistor switch, the base of the transistor switch is coupled to the output end of the delay circuit (20), the collector of the transistor switch is electrically connected, the emitter of the transistor switch is connected in series with the electromagnet (9) and then grounded, and the servo motor controller (22) comprises an STM32 series single chip microcomputer.

Images