Imitation handmade ceramic forming processing equipment and processing method thereof

Abstract

The invention relates to the technical field of traditional ceramic manufacturing, in particular to imitation handmade ceramic forming machining equipment and a machining method thereof.The imitation handmade ceramic forming machining equipment comprises a rack used for supporting all functional modules and providing a stable working platform; the forming unit is arranged on the rack and comprises a multi-degree-of-freedom mechanical arm, a hand-imitating tool head, a flexible pressurizing mechanism and a rotary driving assembly; the driving system provides power for the forming unit and the auxiliary device; the detection control module integrates a sensor group and a controller, the sensor group is used for monitoring pressure, displacement and visual information in the forming process in real time, and the controller is internally provided with a manual forming process database and feeds back closed-loop control forming parameters based on sensors; the auxiliary system comprises a blank pretreatment device, a mold system, a demolding mechanism and a cleaning device, is used for blank preparation, forming supporting, demolding assisting and post-treatment, and is suitable for efficient and high-precision mechanical implementation of traditional manual throwing, kneading molding, fettling and other processes.

Description

Technical Field

[0001] The invention relates to the technical field of traditional ceramic production, and specifically relates to hand-made imitation ceramic forming processing equipment and a processing method thereof. Background Art

[0002] Ceramic forming is one of the key processes in ceramic manufacturing, which directly affects the dimensional accuracy, surface quality and mechanical properties of the product. Traditional ceramic forming mainly relies on manual craftsmanship (such as throwing, hand kneading, printing, etc.). Its advantage is that the craftsman can flexibly control the pressure, speed and local force through the wrist, so that the body presents a natural and smooth curve, delicate surface texture and uniform density distribution, which is especially suitable for making ceramic products with complex shapes and strong artistry. However, manual forming has significant defects: low efficiency, long time-consuming single-piece forming, and it is difficult to meet the needs of large-scale production; poor consistency, affected by the experience and physical fluctuations of the craftsman, the thickness and shape of the body are prone to deviations, and the scrap rate is high; high labor intensity, long-term work requires extremely high arm strength and concentration of the craftsman, and the labor cost is rising. Although the existing automated ceramic forming equipment can improve production efficiency, it generally adopts rigid mold pressing or grouting forming methods, which is difficult to reproduce the artistic effect and process characteristics of manual forming, resulting in the lack of natural texture and personalized characteristics of handmade products. Especially when processing complex shapes, traditional automated equipment cannot achieve manual precision operations such as multi-angle pressure application and dynamic trajectory adjustment, and the blank is prone to problems such as uneven density and dull surface texture. In addition, the existing equipment has poor adaptability to changes in parameters such as blank viscosity and moisture content, and requires frequent manual intervention to adjust process parameters, which restricts production stability and product consistency. In view of the above problems, the existing technology needs to be improved urgently. Summary of the invention

[0003] In view of the shortcomings of the prior art, the object of the present invention is to provide a hand-like ceramic forming processing equipment and a processing method thereof.

[0004] To achieve the above object, the present invention provides the following technical solution: a hand-made ceramic forming and processing equipment, comprising: Rack, used to support various functional modules and provide a stable working platform; The molding unit is arranged on the frame and includes a multi-degree-of-freedom robot arm, a hand-like tool head, a flexible pressurizing mechanism and a rotary drive assembly; Drive system, which provides power for the molding unit and auxiliary devices; A detection control module, integrating a sensor group and a controller, wherein the sensor group is used to monitor the pressure, displacement and visual information during the molding process in real time, and the controller has a built-in manual molding process database and controls the molding parameters in a closed loop based on sensor feedback; The auxiliary system includes a blank pretreatment device, a mold system, a demolding mechanism, and a cleaning device, and is used for blank preparation, forming support, demolding assistance, and post-treatment.

[0005] In some of the embodiments, the multi-degree-of-freedom robotic arm is a 6-axis collaborative robotic arm with a repeat positioning accuracy of ≤±0.05 mm. The joint configuration includes rotational, oscillating, and translational degrees of freedom, and is used to reproduce the complex motion trajectories of manual forming.

[0006] In some of the embodiments, the manual-like tool head is a replaceable structure, including a throwing head, a plasticizing head, or a trimming head. The head material is silicone, polyurethane, or a metal-based flexible coating, and the surface roughness Ra ≤ 1.6 μm.

[0007] In some of the embodiments, the flexible pressurizing mechanism includes a servo electric cylinder / cylinder, a proportional valve, and a pressure sensor. The accuracy of the pressure sensor is ±0.05% FS, and it is installed at the connection between the manual-like tool head and the robotic arm, and is used to feedback the contact pressure in real time and feedback it to the controller to achieve pressure closed-loop control.

[0008] In some of the embodiments, the rotary drive assembly includes a servo motor and a harmonic reducer, and drives the multi-degree-of-freedom robotic arm to rotate around the vertical axis. The rotational speed range is 5 - 300 rpm, and it supports synchronous or asynchronous control with the rotational speed of the mold.

[0009] In some of the embodiments, the sensor group of the detection and control module includes: A pressure sensor installed on the manual-like tool head; A displacement sensor for monitoring the deviation of the robotic arm motion trajectory; A vision sensor for blank body size measurement and surface defect detection.

[0010] In some of the embodiments, the controller is a PLC industrial computer, which has a built-in manual forming process database, stores the manual forming parameters of different shapes, and supports parameter calling, correction, and self-learning update.

[0011] In some of the embodiments, the mold system includes a gypsum mold or a metal mold. The mold surface is polished, and positioning grooves or adsorption holes are arranged on the inner side for blank fixing; the demolding mechanism is a pneumatic ejecting device, which cooperates with an elastic buffer pad to avoid stress concentration and cracking of the blank body.

[0012] To achieve the above object, the present invention also provides the following technical solution: The processing method of the above-mentioned manual-like ceramic forming and processing equipment includes the following steps: (1)Process parameter input and correction: The user selects the target shape through the human-machine interface and inputs the blank material (clay, porcelain clay, ceramic slurry), target size, and accuracy requirements. The controller retrieves the corresponding parameters (initial pressure, rotation speed, radial feed rate, axial lifting rate) from the manual forming process database and corrects the parameters according to the blank viscosity coefficient (μ) (e.g., if μ increases, the initial pressure is reduced). (2)Blank pretreatment and positioning: After kneading and impurity removal, the blank is pushed to the center position of the mold by the feeding device (positioning error ≤ 0.5 mm). The mold rotation drive is started, and the mold rotates uniformly at the set speed (5 - 300 rpm). (3)Manual-like forming process: a. Contact stage: The multi-degree-of-freedom robotic arm drives the manual-like tool head to contact the top of the blank at the set inclination angle (10° - 45°). The pressure sensor monitors the contact pressure in real time, and the force application is adjusted to the target value (e.g., 40 - 50 N) through the flexible pressure mechanism to avoid overpressure splashing. b. Trajectory movement stage: The robotic arm feeds radially according to the planned trajectory (helix or irregular curve) (rate 0.5 - 5 mm / s). At the same time, the drive module maintains the rotation of the mold (rate 5 - 300 rpm), and the tool head rotates synchronously (rate synchronized with the mold or adjusted proportionally), simulating the manual "rotation + feed" action. The pressure sensor continuously feeds back the local pressure, and the controller dynamically adjusts the force application in each area (e.g., the edge pressure is higher than the center) to ensure uniform blank density (deviation ≤ ±2%). c. Lifting and shaping stage: When the blank reaches the target height, the robotic arm reduces the axial lifting rate (0.1 - 1 mm / s), the rotation speed drops to 5 - 30 rpm, and the tool head slowly moves up along the outer contour of the blank (the trajectory is the same as manual trimming). The vision sensor detects the size deviation in real time (within ±0.5 mm). If it exceeds the tolerance, the robotic arm trajectory is adjusted for compensation. (4)Demolding and post-treatment: After forming, the demolding mechanism ejects the blank evenly at a speed of ≤ 5 mm / s. The robotic arm switches to the trimming head (pressure 5 - 20 N) to finely trim the bottom burr. The cleaning device removes the residual blank material on the surface through an air gun or a soft brush to complete single-piece forming.

[0013] In some of these embodiments, in step (3), the trajectory planning is based on the typical motion trajectories of manual forming (such as the helix of throwing and the irregular curve of pinching and shaping), and is converted into the joint space coordinates of the robotic arm through the inverse kinematics algorithm to achieve high-precision trajectory tracking (trajectory deviation ≤ ±0.2 mm). In step (9), after the blank is demolded, it is dried (naturally dried or dried at low temperature), and the final firing shrinkage rate ≤ ±3%.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: By integrating a multi-degree-of-freedom robotic arm, a flexible pressurizing mechanism, and a closed-loop control system, automated production is achieved while retaining the artistic effect of manual shaping, with the advantages of high efficiency, good consistency, reduced labor intensity, and retention of the manual artistic effect.

[0015] Details of one or more embodiments of the present application are set forth in the following drawings and description, so that other features, objects, and advantages of the present application will become more clearly understood. The present application will be described in detail and understood through the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is a flowchart of the processing method of the present invention; Figure 3 is a logic diagram of pressure distribution control of the present invention.

[0017] In the figure: 1, frame; 2, multi-degree-of-freedom robotic arm; 3, manual-like tool head; 4, flexible pressurizing mechanism; 5, pressure sensor; 6, displacement sensor; 7, vision sensor; 8, controller; 9, mold system; 10, demolding mechanism. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] Traditional ceramic forming processes rely on manual operations by craftsmen. Although complex shapes and delicate textures can be achieved, they face systematic bottlenecks in large-scale production scenarios. During the manual forming process, it is difficult to precisely quantify and control the force application trajectory, contact pressure, and rotation speed of the operator, resulting in a dispersion of the blank thickness distribution exceeding the process tolerance range. There is a lack of a real-time feedback adjustment mechanism during the dynamic forming stage, and the local stress concentration caused by fluctuations in the viscosity coefficient of the blank material cannot be compensated in a timely manner, resulting in abnormal density gradients inside the blank. Insufficient precision in the coordinated movement of the mold leads to an imbalance in the interfacial shear force distribution during the demolding process, and microcrack propagation is likely to occur on the surface of the blank.

[0020] For example, in the mass production of shaped ceramic sculptures, during the manual potting stage, the inclination angle of the tool head and the feed rate need to be repeatedly adjusted to match the complex curved surface. The operator needs to synchronously control the rotation speed of the rotating mold and the radial force application. However, the accumulation of trajectory tracking errors is caused by the limitation of human perception accuracy. When the change in the moisture content of the blank leads to the drift of viscoelastic parameters, manual pressing cannot match the rheological properties of the material in real time. Plastic deformation occurs in the shoulder area of the blank due to overpressure, while incomplete densification occurs in the bottom area due to insufficient pressure. During the demolding stage, the control of the manual ejection force is inaccurate, and non-uniform friction occurs at the contact surface between the blank and the mold, inducing uneven residual stress distribution.

[0021] If the above problems are not solved, the forming quality of the blank will be severely limited by the individual skills of the operator, and the standardization of process parameters cannot be achieved. The mismatch between the rheological properties of the blank and the forming kinetic parameters will lead to a non-linear increase in the scrap rate, restricting the feasibility of mass production of high-value-added ceramic products. The out-of-control mechanical state at the demolding interface may cause hidden damage to the blank, reducing the mechanical strength and dimensional stability of the fired product and affecting the application reliability of complex ceramic components in precision industrial scenarios.

[0022] Facing the above problems, this application first considers how to match the dynamic force application trajectory in manual forming with the rheological properties of the material. Traditional mechanical forming equipment adopts a fixed trajectory and a rigid pressurization mode, which cannot adapt to the imbalance of stress distribution caused by the fluctuation of the viscosity coefficient of the blank. In response, this application explores the integration of a flexible pressurization mechanism at the end of the robotic arm, and establishes a closed-loop control through real-time pressure feedback, enabling the force applied by the tool head to be dynamically adjusted following the rheological state of the blank. At the same time, to solve the problem of insufficient precision in the coordinated movement of the mold, it is proposed to introduce a servo motor and a harmonic reducer in the rotary drive assembly to achieve precise synchronous control of the mold rotation speed and the robotic arm trajectory. Aiming at the out-of-control mechanical state at the demolding interface, a pneumatic ejection device is designed to cooperate with an elastic buffer pad to absorb the interface shear force through speed control and buffer materials.

[0023] In response, this application proposes a ceramic forming and processing equipment imitating manual work, including: a frame for supporting each functional module and providing a stable working platform; a forming unit arranged in the middle of the frame, including a multi-degree-of-freedom robotic arm, a manual-work-imitating tool head, a flexible pressurization mechanism, and a rotary drive assembly; a drive system for providing power to the forming unit and auxiliary devices; a detection and control module integrating a sensor group and a controller. The sensor group is used to monitor the pressure, displacement, and visual information during the forming process in real time. The controller has a manual forming process database built-in and closed-loop controls the forming parameters based on the sensor feedback; an auxiliary system including a blank pretreatment device, a mold system, a demolding mechanism, and a cleaning device for blank preparation, forming support, demolding assistance, and post-processing.

[0024] Among them, the frame refers to the structure that supports each functional module and provides a stable working platform. Specifically, it can be realized by a steel structure welded frame or an aluminum alloy profile assembled frame. Its function is to provide rigid support for the forming unit, drive system, etc., and ensure the accuracy of the robotic arm's motion trajectory and the stability of pressure control during the forming process. Among them, the forming unit refers to the functional module that performs the ceramic forming action, including a multi-degree-of-freedom robotic arm, a manual-like tool head, a flexible pressurizing mechanism, and a rotary drive assembly. Specifically, it can be realized by a six-axis robotic arm with a replaceable tool head. Its function is to reproduce the composite trajectory of manual forming through the multi-degree-of-freedom motion of the robotic arm, and simulate the manual force application characteristics in combination with the flexible pressurizing mechanism. Among them, the drive system refers to the device that provides power for the forming unit and auxiliary devices. Specifically, it can be realized by a servo motor, pneumatic components, or a hydraulic system. Its function is to provide accurate power output for the robotic arm movement, mold rotation, and pressurizing mechanism. Among them, the detection and control module refers to the system that integrates a sensor group and a controller. Specifically, it can be realized by a pressure sensor, a displacement sensor, a vision sensor in combination with a PLC or an industrial computer. Its function is to achieve closed-loop control by real-time monitoring of the pressure, displacement, and vision data during the forming process, and combining with the process database to ensure that the forming parameters are consistent with the manual process. Among them, the auxiliary system refers to the functional module for blank pretreatment, forming support, demolding, and post-treatment, specifically including a blank pretreatment device, a mold system, a demolding mechanism, and a cleaning device. Its function is to complete blank positioning, mold synchronous rotation, non-destructive demolding of the green body, and surface cleaning through an automated process, reducing manual intervention. The core innovation of this application lies in constructing an automated manual-like forming device by integrating a multi-degree-of-freedom robotic arm, a manual-like tool head, and a closed-loop detection and control system. While retaining the advantages of the manual forming process, it uses robotic arm trajectory reproduction, flexible pressurization control, and real-time parameter adjustment to solve the problems of low efficiency, poor consistency, and high labor intensity in manual forming.

[0025] The working process and principle of this application are as follows: The frame, as the basic support structure of the entire device, provides a stable working platform for each functional module. The forming unit is installed in the middle of the frame and is the core component for realizing manual-like ceramic forming. The multi-degree-of-freedom robotic arm simulates the flexible movement of the human hand, and the manual-like tool head and the flexible pressurizing mechanism cooperate to achieve precise force application to the blank. The rotary drive assembly drives the mold or the blank to rotate, and cooperates with the motion trajectory of the robotic arm to complete the forming process.

[0026] The drive system provides power for the forming unit and auxiliary devices to ensure the coordinated operation of each component. The detection and control module real-time monitors the key parameters during the forming process, such as pressure, displacement, and vision information, through the sensor group. The controller dynamically adjusts the forming parameters according to the built-in manual forming process database and sensor feedback to achieve closed-loop control.

[0027] The auxiliary system includes multiple functional devices that cooperate to complete the auxiliary work before and after forming. The blank pretreatment device conducts preliminary treatment on the raw materials; the mold system provides support for the forming process; the demolding mechanism assists the formed blank to separate from the mold; the cleaning device conducts surface treatment on the formed blank.

[0028] Each component works together to simulate and optimize the manual forming process. The precise control of the robotic arm and the tool head, combined with real-time monitoring and closed-loop regulation, makes the forming process more stable and controllable. The introduction of the auxiliary system improves the overall work efficiency and reduces manual intervention.

[0029] The selection of key technical features takes into account the characteristics of manual-like forming and the requirements of industrial production. The application of a multi-degree-of-freedom robotic arm improves the flexibility of the forming process; the combination of a flexible pressing mechanism and a real-time monitoring system enables precise control of the forming force; the application of a built-in process database and a closed-loop control system improves the consistency and repeatability of the forming process.

[0030] As a preferred embodiment, the solution of the present application is specifically implemented as follows: The frame adopts an aluminum alloy profile frame structure, which has high strength and good seismic resistance. The multi-degree-of-freedom robotic arm in the forming unit selects a 6-axis collaborative robot, which has rotational, swinging, and translational degrees of freedom. The manual-like tool head adopts a replaceable design, including a throwing head, a kneading head, and a trimming head, and the head material can be selected from silicone or polyurethane. The flexible pressing mechanism consists of a servo electric cylinder and a pressure sensor to achieve precise pressure control. The rotary drive assembly adopts a combination of a servo motor and a harmonic reducer to provide stable rotary power.

[0031] The drive system includes a servo driver and a control cabinet, which provide power and control signals for each actuator. The detection and control module integrates a pressure sensor, a displacement sensor, and a vision sensor to collect key data of the forming process in real time. The controller adopts an industrial-grade PLC, which has a built-in manual forming process database to achieve rapid parameter calling and updating.

[0032] In the auxiliary system, the blank pretreatment device includes a kneading machine and a impurity removal device; the mold system adopts a gypsum mold or a metal mold, and the surface is polished; the demolding mechanism is a pneumatic ejection device, which is equipped with an elastic buffer pad; the cleaning device includes an air gun and a soft brush, which are used to remove the residues on the surface of the blank.

[0033] In actual operation, the target product type and process parameters are first input through the human-machine interface. After pre-treatment, the blank is fed into the mold, and the forming unit starts to work. The robotic arm drives the tool head to move along a preset trajectory, while the rotary drive assembly drives the mold to rotate. The detection and control module monitors the forming process in real time, and the controller dynamically adjusts the forming parameters according to the feedback data. After forming is completed, the demolding mechanism ejects the green body, and the cleaning device performs surface treatment to complete the entire forming process.

[0034] Through the above solution, the present application realizes the automation and precise control of the ceramic forming process. The application of a multi-degree-of-freedom robotic arm and a manual-mimicking tool head, combined with real-time pressure monitoring and closed-loop control, enables the forming process to precisely simulate manual operations and maintain the artistic characteristics of the product. At the same time, the improvement of the automation level significantly enhances the production efficiency and reduces the uncertainty of manual operations. The built-in process database and parameter self-learning function improve the consistency and repeatability of the product. The introduction of the auxiliary system simplifies the processing flow before and after forming, further improving the overall production efficiency. This solution that combines traditional processes and modern automation technologies provides new possibilities for the large-scale production of ceramic products while maintaining the manual characteristics and artistic value of the products.

[0035] In some of the above solutions of the present application, when the multi-degree-of-freedom robotic arm in the forming unit reproduces the composite motion trajectory of manual forming, there are problems such as insufficient trajectory accuracy and the inability of the joint degree-of-freedom configuration to match manual actions, resulting in a large deviation in the trajectory tracking of the spiral or irregular curve during the green body forming process, which affects the shape accuracy of the green body.

[0036] The present application further proposes that the multi-degree-of-freedom robotic arm is a 6-axis collaborative robotic arm with a repeat positioning accuracy of ≤±0.05 mm, and the joint configuration includes rotational, swinging, and translational degrees of freedom for reproducing the composite motion trajectory of manual forming.

[0037] Among them, the joint configuration of the 6-axis collaborative robotic arm includes rotational, swinging, and translational degrees of freedom, covering the spatial motion dimensions required for manual forming; the repeat positioning accuracy is controlled within ±0.05 mm and is achieved through a high-precision reducer and a servo motor; the trajectory planning at the end of the robotic arm is based on the spiral or irregular curve of manual forming, and the joint angle commands are generated through the inverse kinematics algorithm.

[0038] Specifically, the rotational degree of freedom of the 6-axis collaborative robotic arm is driven by a harmonic reducer to achieve continuous 360° rotation around the vertical axis; the swinging degree of freedom is driven by a servo motor for a linkage mechanism to simulate the pitching and deflection movements of the wrist; the translational degree of freedom is achieved through linear guides and ball screws for axial and radial displacements. An imitation manual tool head is installed at the end of the robotic arm. During the movement process, each joint moves synchronously according to a preset trajectory. Among them, the rotational degree of freedom provides the basic movement for the circumferential forming of the blank, the swinging degree of freedom adjusts the contact angle between the tool head and the blank, and the translational degree of freedom controls the feeding path of the tool head. The repeat positioning accuracy is monitored in real time by a closed-loop encoder. When it is detected that the position deviation of the end of the robotic arm exceeds ±0.05 mm, the servo motor immediately performs pulse compensation. During the trajectory generation process, the spiral trajectory of manual forming is decomposed into composite parameters of the radial feeding rate and the rotational angular velocity, and is converted into an angular displacement command sequence of six joints through an inverse kinematics algorithm, so that the trajectory error of the end of the robotic arm is controlled within ±0.2 mm. This implementation method enables the robotic arm to accurately reproduce the complex trajectory formed by the multi-directional movement of the craftsman's wrist in manual forming, ensuring that the shape of the blank is consistent with that of the handmade product.

[0039] As a preferred embodiment, the solution of the present application is specifically implemented as follows: The multi-degree-of-freedom robotic arm adopts a 6-axis collaborative robotic arm structure, and the repeat positioning accuracy reaches ±0.05 mm. The joint configuration of the robotic arm includes rotational, swinging, and translational degrees of freedom for reproducing the composite movement trajectory of manual forming. For example, during the process of throwing pottery on the wheel, the robotic arm can simulate the spiral movement trajectory; during the process of kneading and shaping, the robotic arm can simulate the irregular curve movement trajectory.

[0040] Specifically, the 6-axis collaborative robotic arm includes a base, a large arm, a small arm, a wrist, and an end effector. The base is connected to the large arm through a rotational joint, the large arm is connected to the small arm through a swinging joint, the small arm is connected to the wrist through a rotational joint, and the wrist is connected to the end effector through three orthogonal rotational joints. This structure enables the robotic arm to achieve flexible movement in three-dimensional space.

[0041] Furthermore, the control system of the robotic arm adopts an advanced kinematics algorithm to convert the complex manual forming trajectory into the movement parameters of each joint. Thus, the robotic arm can accurately reproduce the composite movement trajectory of manual forming, such as a spiral or an irregular curve.

[0042] Through the above technical solutions, the present application achieves an accurate simulation of the complex movement trajectories in manual ceramic forming. The high-precision positioning of the robotic arm and its flexible multi-degree-of-freedom movement capabilities make the forming process more stable and controllable, reducing the uncertainties of manual operations. At the same time, the robotic arm can work continuously for a long time, improving production efficiency and reducing labor intensity. In addition, through the preset movement trajectories, the robotic arm can ensure the consistency of each forming, improving the stability of product quality.

[0043] In some of the above solutions of the present application, the forming unit reproduces the manual forming actions through the cooperation of the robotic arm and the tool head. However, the material and structure of the tool head are difficult to adapt to the different tactile and force application requirements of different forming processes, resulting in easy friction damage or uneven force application on the surface of the green body, affecting the forming quality.

[0044] The present application further proposes that the manual-like tool head is a replaceable structure, including a throwing head, a modeling head or a trimming head. The head material is silicone, polyurethane or a metal-based flexible coating, with a surface roughness Ra ≤ 1.6 μm, simulating the tactile and force application characteristics of manual fingertips.

[0045] Among them, the replaceable structure realizes the rapid switching of the tool head through a standardized interface, adapting to the processes of throwing, modeling or trimming; the Shore hardness of the silicone material is A20 - A40, and the surface hardness of the polyurethane or metal-based flexible coating is A10 - A30, matching the force application requirements of different forming stages through the hardness gradient; the surface roughness Ra ≤ 1.6 μm is achieved through polishing or coating processes, reducing the friction coefficient with the blank.

[0046] Specifically, a Shore A30 silicone throwing head is selected in the throwing stage. Its elastic modulus matches the deformation characteristics of the fingertips during manual throwing, and the surface roughness Ra 1.2 μm reduces the adhesion of the blank; during the modeling stage, it is switched to a polyurethane modeling head, and the surface hardness A15 provides a local shaping ability similar to that of a finger, absorbing the force application fluctuations through flexible deformation; during the trimming stage, a metal-based flexible coating trimming head is used, and the surface hardness A25 ensures the trimming accuracy, and Ra 0.8 μm reduces the risk of scratching. The tool head replacement process is completed within 30 seconds through a magnetic interface. The material hardness and roughness parameters are dynamically matched based on the viscosity coefficient of the blank, ensuring that the pressure distribution during the force application process is consistent with manual operations and avoiding cracks or thickness deviations caused by local stress concentration.

[0047] As a preferred embodiment, the solution of the present application is specifically implemented as follows: The manual - like tool head adopts a replaceable structure, including three types: the throwing head, the plasticizing head, and the trimming head. The throwing head is used for the preliminary shaping of the ceramic blank, the plasticizing head is used for detailed shaping, and the trimming head is used for surface trimming. The material of the tool head is selected as silicone, with a Shore hardness of A30, simulating the touch of human fingertips. The surface of the tool head is precision - machined, and the surface roughness Ra is 1.2μm, ensuring that no obvious marks are left when contacting the blank. A quick - change interface is set at the connection between the tool head and the robotic arm, facilitating quick replacement according to different forming stages.

[0048] Through the above - mentioned technical solutions, this application realizes the multi - functionality and refinement of the manual - like tool head. The replaceable structure meets the requirements of different forming stages and improves the processing flexibility. The silicone material and the precision - machined surface simulate the manual touch, contributing to obtaining a natural and smooth blank surface. The quick - change interface design improves the tool replacement efficiency and reduces the production interruption time. These improvements together enhance the quality and efficiency of manual - like ceramic forming.

[0049] In some of the above - mentioned solutions of this application, the flexible pressure - applying mechanism is used to adjust the force applied by the manual - like tool head to the blank. However, in actual applications, insufficient real - time feedback accuracy of the contact pressure may lead to force application deviation, which in turn affects the uniformity of the blank density and even causes over - pressure splashing or insufficient forming of the blank. This application further proposes that the flexible pressure - applying mechanism includes a servo electric cylinder or a cylinder, a proportional valve, and a pressure sensor. The accuracy of the pressure sensor is ±0.05%FS. It is installed at the connection between the manual - like tool head and the robotic arm, used to real - time feedback the contact pressure and feedback it to the controller to achieve pressure closed - loop control, and the adjustment accuracy is ±0.1N. Among them, the servo electric cylinder or the cylinder serves as the power output unit, adjusts the gas or hydraulic flow through the proportional valve to control the magnitude of the output force; the pressure sensor adopts the Keyence PX409 type, with a measuring range covering 0 - 500N, installed at the connection between the tool head and the robotic arm, directly measuring the actual pressure on the contact surface between the tool head and the blank; the signal of the pressure sensor is transmitted to the controller, compared with the preset pressure threshold to generate an adjustment instruction, and the output pressure of the servo electric cylinder or the cylinder is adjusted through the proportional valve to form a closed - loop control circuit. Specifically, during the contact stage, when the tool head contacts the top of the blank at a set inclination angle, the pressure sensor collects the contact pressure data in real time. When the measured pressure deviates from the target value by 40 - 50 N, the controller dynamically adjusts the output of the servo cylinder or cylinder with an adjustment accuracy of ±0.1 N. For example, when the contact pressure instantaneously exceeds the limit due to an increase in the viscosity coefficient of the blank, the proportional valve reduces the gas or hydraulic flow rate, causing the output force of the servo cylinder or cylinder to decrease and preventing the blank from splashing. During the trajectory movement stage, when the tool head feeds along a spiral trajectory, the pressure sensor continuously monitors the local pressure fluctuations. The controller dynamically increases the output force according to the pressure requirements in the edge area to ensure that the density deviation of each area of the green body is controlled within ±2%. Through the closed-loop linkage of the pressure sensor and the servo actuator, precise control of the force application process is achieved, eliminating the defects of the green body caused by uneven force application in traditional manual operations.

[0050] As a preferred embodiment, the solution of the present application is specifically implemented as follows: The flexible pressing mechanism includes a servo cylinder, a proportional valve, and a pressure sensor. The pressure sensor is installed at the connection between the manual-like tool head and the robotic arm. The pressure sensor uses a strain gauge sensor with a measurement range of 0 - 500 N and an accuracy of ±0.05% FS. The servo cylinder is driven by a servo motor with a stroke of 100 mm and a maximum thrust of 1000 N. The proportional valve is an electro-hydraulic proportional valve with a response time of less than 10 ms. The controller uses a PID closed-loop control algorithm to adjust the displacement of the servo cylinder and the opening of the proportional valve according to the real-time feedback signal of the pressure sensor, achieving precise control of the pressure. The system can achieve a pressure adjustment accuracy of 0.1 N, meeting the requirements for fine pressure control during the ceramic forming process.

[0051] Through the above technical solution, the present application realizes the real-time and precise control of the contact pressure during the ceramic forming process. The pressure sensor provides a high-precision pressure feedback signal. Combining with the fast response characteristics of the servo cylinder and the proportional valve, the system can sensitively adjust the pressure applied to the blank. This precise pressure control helps to avoid blank deformation or cracking and improve the consistency of the forming quality. At the same time, the closed-loop control system can adapt to the physical characteristics of different blanks, automatically adjust the pressure parameters, reduce the dependence on the operator's experience, and improve the production efficiency and product qualification rate.

[0052] In some of the above solutions of the present application, a rotary drive assembly is proposed to drive the multi-degree-of-freedom robotic arm to rotate around the vertical axis. However, during the manual forming process, the green body needs to adapt to the rotational speed changes of different shapes. For example, a higher rotational speed is required during the throwing stage to achieve uniform stretching, while the rotational speed needs to be reduced during the lifting and shaping stage to avoid deformation. The existing drive system is difficult to precisely control the coordinated movement of the robotic arm and the mold within a wide rotational speed range, resulting in inflexible rotational speed switching during the forming process and affecting the forming quality and efficiency of the green body.

[0053] The present application further proposes that the rotary drive assembly includes a servo motor and a harmonic reducer, which drives the multi-degree-of-freedom robotic arm to rotate around the vertical axis, with a rotational speed range of 5 - 300 rpm, supporting synchronous or asynchronous control with the rotational speed of the mold.

[0054] Among them, the servo motor outputs power to the robotic arm rotation axis through the harmonic reducer. The reduction ratio of the harmonic reducer is set to 1:50 to 1:100, and the transmission error is controlled within ±5 arcseconds to ensure the rotational angle accuracy of the robotic arm. The rotational speed range is achieved by matching the encoder resolution of the servo motor with the pulse frequency of the controller. The lowest rotational speed is maintained stable by the backlash compensation algorithm of the harmonic reducer. In the synchronous control mode, the rotational speed of the robotic arm and the mold maintain a fixed proportional relationship, and the proportional coefficient is adjusted in real time by the controller; in the asynchronous control mode, the rotational speeds of the robotic arm and the mold are independently adjusted, and the difference between the two does not exceed the set threshold.

[0055] Specifically, after receiving the rotational speed instruction sent by the controller, the servo motor amplifies the output torque and reduces the rotational speed fluctuation through the harmonic reducer, driving the robotic arm to rotate around the vertical axis at 5 - 300 rpm. During the billet drawing stage, the robotic arm and the mold adopt the synchronous control mode, and their rotational speeds are matched at 1:1 to ensure uniform extension of the billet; during the billet trimming stage, the robotic arm switches to the asynchronous control mode, the rotational speed drops to 5 - 30 rpm, and the mold remains stationary to avoid deformation of the unfixed billet due to high-speed rotation. The rigid connection structure of the harmonic reducer eliminates gear clearance, enabling the robotic arm to maintain a trajectory positioning accuracy of ±0.05 mm even when rotating at low speed. The closed-loop control of the servo motor combined with encoder feedback controls the rotational speed fluctuation within ±0.1% to achieve precise synchronization or independent adjustment with the rotational speed of the mold.

[0056] As a preferred embodiment, the solution of the present application is specifically implemented as follows: The rotary drive assembly includes a servo motor and a harmonic reducer. The servo motor is of the Yaskawa SGMJV-04ADA21 model, with a rated power of 400 W and a rated rotational speed of 3000 rpm. The harmonic reducer is of the Harmonic Drive SHF-20-100-2UH model, with a reduction ratio of 100:1 and a transmission efficiency of 90%. The servo motor is connected to the input shaft of the harmonic reducer through a coupling, and the output shaft of the harmonic reducer is fixedly connected to the base of the multi-degree-of-freedom robotic arm through a flange.

[0057] The control system uses a Siemens S7-1500 PLC, which communicates with the servo drive through a PROFINET bus. A multi-speed motion mode is set in the PLC program, enabling rotational speed adjustment within the range of 5 - 300 rpm, and the acceleration and deceleration times can be set to 0.1 - 2 s. The rotational speed feedback is obtained through the servo motor encoder signal, and the closed-loop control accuracy reaches ±0.1 rpm.

[0058] The rotary drive assembly is installed at the bottom of the frame and fixed by bolts. An elastic coupling is set between the motor and the reducer to absorb the axial deviation and reduce vibration. A key connection is adopted between the output shaft and the base of the robotic arm to ensure the transmission of a large torque. A protective cover is set outside the entire drive system to prevent dust from entering.

[0059] During use, the PLC sends speed commands to the servo drive according to the requirements of the forming process. The drive controls the rotation of the servo motor, which drives the multi-degree-of-freedom robotic arm to rotate around the vertical axis after being decelerated by the harmonic reducer. The rotation speed can be adjusted within the range of 5 - 300 rpm to meet the requirements of different ware types and forming stages. Through the PLC program setting, synchronous or asynchronous control with the rotation speed of the mold can be achieved, flexibly simulating the rotation characteristics of manual forming.

[0060] Through the above technical solutions, the present application realizes the precise rotation control of the multi-degree-of-freedom robotic arm. The rotary drive assembly provides a stable and reliable power output with a wide speed range, which can meet the requirements of forming different ceramic ware types. The application of the harmonic reducer ensures the transmission characteristics of high precision and low backlash, effectively suppressing vibration. The synchronous or asynchronous control function with the rotation speed of the mold enables the robotic arm to flexibly simulate the complex rotation actions during manual forming, improving the authenticity and flexibility of manual-like forming. This design significantly improves the precision and consistency of ceramic forming while retaining the artistic characteristics of manual forming.

[0061] In some of the above solutions of the present application, the detection and control module monitors the pressure, displacement, and visual information during the forming process in real time through an integrated sensor group. However, in actual applications, the selection and installation position of the sensors directly affect the monitoring accuracy. If the sensor accuracy is insufficient or the installation position is improper, it may lead to uneven pressure distribution, cumulative trajectory deviation, or missed detection of surface defects, thereby affecting the forming quality of the green body.

[0062] The present application further proposes that the pressure sensor adopts the Keyence PX409 type with a measuring range of 0 - 500 N and is installed on the manual-like tool head; the displacement sensor adopts the Heidenhain LC185 type with an accuracy of ±0.002 mm to monitor the trajectory deviation of the robotic arm; the vision sensor adopts the Cognex In-Sight 3D-L4000 type for the measurement of the green body size and the detection of surface defects.

[0063] Among them, the selection of the pressure sensor needs to meet the requirements of range and accuracy. The full range of the Keyence PX409 pressure sensor is 500N, and the accuracy is ±0.05%FS. Its installation position is at the connection between the manual tool head and the robotic arm, directly measuring the contact pressure between the tool head and the blank; the displacement sensor is selected as the Heidenhain LC185 type, with a linear accuracy of ±0.002mm, installed on the end effector of the robotic arm to collect the deviation between the actual movement trajectory and the preset trajectory of the robotic arm in real time; the vision sensor is the Cognex In-Sight 3D-L4000 type, with a three-dimensional measurement accuracy of ±0.1mm, configured on the side of the forming unit to capture the surface topography of the blank through binocular stereo vision. The data of the pressure sensor and the displacement sensor are compared with the pressure-displacement curve in the process database in real time through the controller, and the vision sensor synchronously detects cracks or burr defects on the surface of the blank. After the data of the three are fused, a closed-loop control command is generated.

[0064] Specifically, in the contact stage, the Keyence PX409 pressure sensor feeds back the initial contact pressure within an error range of ±0.25N to prevent the blank from splashing due to overpressure of the tool head; in the trajectory movement stage, the Heidenhain LC185 displacement sensor monitors the radial feed trajectory of the robotic arm with an accuracy of ±0.002mm. When the detected trajectory deviation exceeds ±0.2mm, the controller immediately adjusts the joint angle of the robotic arm; in the lifting and shaping stage, the Cognex In-Sight 3D-L4000 vision sensor scans the contour of the blank with a measurement accuracy of ±0.1mm. If the detected height deviation exceeds ±0.5mm, the robotic arm trajectory compensation is triggered. The combination of the pressure sensor and the displacement sensor realizes the synchronous closed-loop control of force application and displacement, and the vision sensor supplements the detection of macroscopic dimensions and surface quality. The three work together to control the deviation of the blank density distribution within ±2%, increase the surface defect detection rate to over 99%, and improve the single-piece forming qualification rate to 95%.

[0065] As a preferred embodiment, the solution of the present application is specifically implemented as follows: The detection and control module integrates a pressure sensor, a displacement sensor, and a vision sensor. The pressure sensor is of the Keyence PX409 type, with a range of 0-500N, installed on the manual tool head. The displacement sensor is of the Heidenhain LC185 type, with an accuracy of ±0.002mm, used to monitor the trajectory deviation of the robotic arm. The vision sensor is of the Cognex In-Sight 3D-L4000 type, used for blank size measurement and surface defect detection.

[0066] Specifically, the pressure sensor monitors the pressure changes in real time when the manual - like tool head contacts the blank. The displacement sensor continuously tracks the movement trajectory of the robotic arm and compares the deviation between the preset trajectory and the actual trajectory. The vision sensor measures the dimensions of the formed blank, with an accuracy of up to ±0.1 mm, and simultaneously detects defects such as cracks and burrs on the surface of the blank.

[0067] Through the above - mentioned technical solutions, this application realizes the comprehensive monitoring and precise control of the ceramic forming process. The pressure sensor ensures that the pressure applied during the forming process is always maintained within an appropriate range, avoiding deformation or cracking of the blank. The displacement sensor effectively guarantees the accuracy of the robotic arm's movement trajectory and improves the forming accuracy. The vision sensor realizes the rapid detection of the formed blank, promptly discovers and corrects dimensional deviations and surface defects, and improves the product qualification rate. Thus, this application significantly improves the automation level and product quality stability of manual - like ceramic forming.

[0068] In some of the above - mentioned solutions of this application, the detection and control module needs to process multi - sensor feedback and control the forming parameters, but lacks an efficient parameter management mechanism, resulting in low efficiency of calling manual forming process parameters and insufficient dynamic adjustment ability, which affects the forming accuracy and consistency of the blank.

[0069] This application further proposes that the controller is a Siemens S7 - 1500 PLC or an Advantech industrial computer, with a built - in manual forming process database that stores the manual forming parameters of different shapes, supports parameter calling, correction, and self - learning update.

[0070] Among them, the controller uses an industrial - grade PLC or an industrial computer, and its hardware configuration meets the requirements of real - time data processing; the manual forming process database stores pressure - displacement curves, rotational speed - time curves, and feed rate parameters classified by shape; parameter calling automatically loads the corresponding parameter group after selecting the shape through the human - machine interface; parameter correction dynamically adjusts the process parameters based on the sensor feedback data; self - learning update records the effective parameters after correction and updates them to the database.

[0071] Specifically, after the operator selects the target shape through the human - machine interface, the controller retrieves the corresponding parameter group from the database as the initial process parameters. During the forming process, the pressure sensor, displacement sensor, and vision sensor collect the blank forming data in real time. The controller compares the sensor data with the preset parameter curves. When it detects changes in the viscosity coefficient of the blank or dimensional deviations, it automatically corrects the pressure, rotational speed, or feed rate parameters. After the corrected parameters are verified to be effective, they are recorded in the database and overwrite the original parameters or are added as variant parameter groups. The self - learning update mechanism enables the controller to accumulate optimized parameters under different blank material characteristics, improving the control accuracy of subsequent forming processes. The continuous optimization of the database reduces the dependence on manual experience and ensures the consistency of the forming quality of different batches of blanks.

[0072] As a preferred embodiment, the solution of the present application is specifically implemented as follows: The controller uses a Siemens S7-1500 PLC and has a manually formed process database built-in. This database stores the manually formed parameters of different shapes, including bowls, cups, bottles, sculptures, etc. The stored parameters include pressure-displacement curves, rotational speed-time curves, feed rates, etc. The controller supports parameter calling, correction, and self-learning update functions.

[0073] In practical applications, the operator selects the target shape, such as a teacup, through the human-machine interface. The controller retrieves the corresponding forming parameters of the teacup from the database. Further, the controller dynamically adjusts the applied force according to the real-time sensor feedback, such as the contact pressure detected by the pressure sensor. Thus, closed-loop control is achieved to ensure the consistency between the forming process and the manual process.

[0074] Specifically, during the process of throwing the clay, the controller calls the rotational speed-time curve of the teacup. For example, the rotational speed in the initial stage is 200 rpm and gradually decreases to 50 rpm. At the same time, the controller controls the axial movement of the robotic arm according to the pressure-displacement curve. For example, the initial pressure is 40 N and gradually decreases to 10 N as the height of the clay blank increases. The feed rate decreases from 1 mm / s to 0.2 mm / s.

[0075] As a preferred implementation method, the controller has a self-learning function. By recording the parameter deviations during multiple forming processes, the parameters in the database are automatically optimized. For example, if it is detected that the thickness of the clay blank is too thin, the pressure value in the corresponding stage is increased. This adaptive mechanism further improves the stability and consistency of the forming.

[0076] Through the above technical solutions, the present application realizes the digitization and intelligentization of the manually formed process. The built-in process database provides standardized forming parameters for different shapes, reducing the dependence on the operator's experience. The closed-loop control and self-learning functions further improve the stability and adaptability of the forming process. Thus, while retaining the advantages of the manually formed process, the present application significantly improves the production efficiency and product consistency, providing technical support for the automation upgrade of the ceramic manufacturing industry.

[0077] In some of the above solutions of the present application, when the mold fixes the blank, the forming may be offset due to unstable positioning, and the blank is prone to cracking due to stress concentration during the demolding process, affecting the finished product rate.

[0078] The present application further proposes that the mold system includes a gypsum mold or a metal mold. The surface of the mold is polished, with a roughness Ra ≤ 0.8 μm. Positioning grooves or suction holes are provided on the inner side for blank fixing. The demolding mechanism is a pneumatic ejector device with an ejection speed ≤ 5 mm / s, which is combined with an elastic buffer pad, made of sponge or rubber with a Shore A hardness of 10 - 20, to avoid stress concentration and cracking of the green body.

[0079] Among them, the polishing treatment of the mold surface reduces the demolding resistance by reducing the surface friction coefficient. A roughness Ra ≤ 0.8 μm ensures the smoothness of the green body surface and the smoothness of separation from the mold. The positioning grooves or suction holes are arranged in an array, with a spacing of 10 - 15 mm and a depth of 2 - 3 mm. The blank is fixed through mechanical fitting or negative pressure adsorption, and the positioning error ≤ 0.5 mm. The pneumatic ejector device uses a proportional valve to control the cylinder stroke, and the ejection speed is limited within 5 mm / s by a flow regulating valve to avoid deformation of the green body caused by sudden speed changes. The elastic buffer pad has a thickness of 5 - 8 mm and is installed on the contact surface between the ejector rod and the green body. The sponge or rubber material with a Shore A hardness of 10 - 20 absorbs the ejection impact energy through elastic deformation and reduces the local stress peak.

[0080] Specifically, after forming is completed, the pneumatic ejector device is activated. The ejector rod pushes the bottom of the green body at a constant speed ≤ 5 mm / s. The elastic buffer pad is compressed by 10% - 15% under pressure, evenly distributing the ejection force to the bottom surface of the green body. The suction holes on the inner side of the mold are switched to the blowing mode during the demolding stage, and compressed air of 0.1 - 0.3 MPa is introduced to form an air gap of 0.05 - 0.1 mm between the green body and the inner wall of the mold, reducing the separation resistance. The friction coefficient between the polished mold surface and the green body ≤ 0.15. With the axial ejection force and radial gas assistance, damage - free demolding of the green body is achieved. During the ejection process, the hardness parameter of the elastic buffer pad is matched with the ejection speed to ensure that the stress peak ≤ 60% of the ultimate tensile strength of the green body, avoiding the generation of microcracks.

[0081] As a preferred embodiment, the solution of the present application is specifically implemented as follows: The mold system is made of gypsum material. The surface of the mold is mechanically polished to form a smooth contact surface. Three groups of positioning grooves are distributed annularly on the inner side of the mold. The groove depth is 2 mm and they are arranged in an equilateral triangle. An array of suction holes with a diameter of 0.5 mm is provided at the bottom of the positioning grooves. The suction holes are connected to an external air pump through a vacuum pipeline. The demolding mechanism is driven by a double - acting cylinder. A polyurethane elastic buffer pad is installed at the end of the cylinder piston rod. The buffer pad has a thickness of 8 mm and honeycomb - shaped through - holes are opened on its surface. During the ejection process, the cylinder pushes the buffer pad to contact the bottom of the green body at a constant speed, and the ejection force is controlled below 0.3 MPa by a proportional valve. When the green body is separated from the mold, the buffer pad disperses the contact stress through the honeycomb hole structure, and a mechanical limit device is provided at the end of the cylinder stroke to prevent over - stroke.

[0082] Through the above technical solution, the present application effectively solves the problem of stress concentration of the blank caused by rigid contact in the traditional demoulding process. The cooperation between the elastic buffer pad and the speed-limiting ejection mechanism allows the impact force generated by the demoulding action to be flexibly absorbed, avoiding microcrack defects caused by excessive local force on the bottom of the blank. The positioning groove and the adsorption hole on the inside of the mold work together to achieve precise alignment and stable fixation of the blank and the mold during the forming stage, reducing the positional deviation of the blank during the forming process, thereby ensuring the reliability of the demoulding action.

[0083] In some of the above-mentioned solutions of the present application, the traditional design of the mold system and the demoulding mechanism has the problems of blank positioning deviation leading to molding defects and demoulding stress concentration causing blank cracking.

[0084] The present application further proposes that the mold system includes a plaster mold or a metal mold. The mold surface is polished with a roughness Ra≤0.8μm, and a positioning groove or adsorption hole is arranged on the inside for fixing the blank. The demolding mechanism is a pneumatic ejection device with an ejection speed ≤5mm / s, which is equipped with an elastic buffer pad made of sponge or rubber with a hardness of Shore A10-A20 to avoid stress concentration and cracking of the blank.

[0085] Among them, the mold surface polishing treatment reduces the friction resistance between the blank and the mold, the positioning groove or adsorption hole realizes the center positioning of the blank, and the positioning error is ≤0.5mm; the pneumatic ejector device adopts a proportional valve to control the ejection speed, and monitors the ejection stroke through a displacement sensor. When the ejection speed exceeds 5mm / s, the speed closed-loop adjustment is triggered; the elastic buffer pad is installed on the contact surface between the ejector rod and the blank, and absorbs instantaneous impact loads through compression deformation. The porosity of the sponge material is controlled in the range of 60-80%, and the rubber material adopts a closed-cell foam structure.

[0086] Specifically, after the molding process is completed, the mold rotation drive stops, and the pneumatic ejection device receives the controller command to start. The ejector rod is lifted at a uniform speed of 2-4mm / s, and the displacement sensor feeds back the ejection displacement in real time. When it is detected that the ejection speed exceeds 5mm / s, the proportional valve automatically reduces the air pressure input. During the ejection process, the elastic buffer pad undergoes 10-15% compression deformation, attenuating the peak ejection force from 50N to below 30N. The adsorption holes on the inside of the mold are switched to negative pressure release mode during the ejection stage to eliminate the vacuum adsorption force between the blank and the mold. After the blank leaves the mold, the visual sensor detects the bottom burrs and triggers the robotic arm to switch the trimming head for 0.5-1mm finishing operations, and the trimming pressure is controlled in the range of 8-12N.

[0087] As a preferred embodiment, the solution of the present application is specifically implemented as follows: After the user selects the target mold type and inputs the blank material information through the human-machine interface, the controller automatically retrieves the initial forming parameters from the process database and dynamically corrects them according to the blank characteristics. After pretreatment, the blank is precisely pushed to the center of the mold, and the mold rotation drive is started and maintained at a constant speed. During the forming process, the robotic arm drives the tool head to contact the top of the blank at a specific inclination angle, adjusts the applied force to the target range through real-time pressure feedback to avoid overpressure. Subsequently, the robotic arm performs radial feeding along the planned trajectory while maintaining the coordinated cooperation between the mold rotation speed and the tool head rotation movement. The pressure sensor continuously collects local pressure data and dynamically adjusts the applied force intensity in each area through the controller. When the blank body reaches the preset height, the robotic arm switches to the lifting and shaping mode, reduces the axial lifting rate and synchronously adjusts the rotation speed. The vision sensor monitors the dimensional deviation in real time and triggers the trajectory compensation mechanism. After the forming is completed, the demolding mechanism ejects the blank body evenly at a low speed, the robotic arm switches to the trimming tool for fine trimming, and the cleaning device removes the surface residues to complete the single-piece processing.

[0088] Through the above technical solutions, the present application effectively solves the problems of low efficiency, poor consistency, and high labor intensity in traditional manual forming. Through automatic parameter correction and multi-sensor collaborative control, precise force application and trajectory tracking during the blank forming process are achieved, avoiding uneven force application and shape deviation caused by experience differences or physical fluctuations in manual operations. The dynamic pressure regulation and vision compensation mechanism ensure the uniformity of the blank density distribution and dimensional accuracy. The demolding buffer and post-processing procedures reduce the risk of blank cracking. The overall process can achieve the forming effect of the manual process without manual intervention.

[0089] In some of the above solutions of the present application, if the robotic arm trajectory planning does not accurately reproduce the motion mode of manual forming, it may lead to shape deviation of the blank or unnatural surface texture; at the same time, if the shrinkage rate is not effectively controlled during the drying and firing processes after demolding, it is easy to cause blank deformation or cracking. The present application further proposes to perform trajectory planning based on the typical motion trajectory of manual forming, convert it into the robotic arm joint space coordinates through the inverse kinematics algorithm to achieve high-precision trajectory tracking, and control the trajectory deviation within ±0.2 mm; after the blank is demolded, it is naturally dried or dried at a low temperature, and the shrinkage rate after final firing is controlled within ±3%. Among them, for trajectory planning, typical motion trajectories formed manually are adopted, such as the spiral line of throwing pottery or the irregular curve of plasticine kneading. Through the inverse kinematics algorithm, the Cartesian space coordinates are converted into the rotation angles and displacement amounts of each joint of the robotic arm to ensure the trajectory tracking accuracy. After demolding, the green body is dried naturally or by low-temperature drying according to its material properties. The drying temperature is controlled at 40 - 60 °C, and the humidity ≤ 30%RH to avoid stress concentration caused by rapid dehydration. During the firing stage, a gradient heating curve is adopted. The maximum temperature is set at 800 - 1300 °C according to the type of blank material, the heating rate ≤ 5 °C / min, and the cooling rate ≤ 3 °C / min. By matching the coefficient of thermal expansion, the shrinkage rate difference is reduced. Specifically, during the trajectory motion stage, the robotic arm decomposes the spiral line trajectory into the collaborative motion parameters of each joint through the inverse algorithm, and adjusts the rotation speed and feed rate in real time to ensure that the tool head moves precisely along the preset path. For example, the radius increment of the spiral line trajectory is related to the radial feed rate of the robotic arm. The radial displacement increases by 0.5 - 5 mm per revolution, and at the same time, the rotation speed of the tool head is synchronized with the mold, with a deviation ≤ ±0.5 rpm. After demolding, the green body is placed in a drying environment. When drying naturally, the ambient temperature is maintained at 25 - 30 °C for 48 - 72 hours; for low-temperature drying, a hot air circulation system is used, with a temperature uniformity error ≤ ±2 °C, and the drying time is shortened to 8 - 12 hours. During the firing process, by monitoring the dimensional changes of the green body in real time, the furnace temperature distribution is dynamically adjusted. For example, in the critical shrinkage temperature range (400 - 600 °C), the holding time is extended by 20 - 30 minutes to evenly reorganize the internal structure of the green body, and finally the overall shrinkage rate ≤ ±3% is achieved.

[0090] As a preferred embodiment, the solution of this application is specifically implemented as follows: In the trajectory planning stage, the spiral line trajectory of manual throwing pottery is selected as the basic path. The kinematic model of the robotic arm is established by the D - H parameter method, and the Cartesian space coordinates of the spiral line are converted into the angle values of each joint of the six-axis robotic arm. The inverse kinematics algorithm is solved by the numerical iteration method, and the iteration termination condition is set as the joint angle error being less than 0.01 radian. During the trajectory tracking process, the encoder data of the robotic arm is obtained in real time, compared with the theoretical trajectory, and the PID control algorithm is used to dynamically adjust the output torque of the servo motor. After the green body is demolded, it is placed in a constant temperature and humidity environment for natural drying. The ambient temperature is controlled at 20 - 25 °C, and the humidity is maintained at 50 - 60%RH, with a drying period of 24 - 48 hours. The dried green body is sent to an electric kiln for firing. The firing program is set with a heating rate of 3 °C / min, the maximum temperature reaches 1280 °C, the holding time is set at 2 hours, and after the firing is completed, it is cooled to room temperature at a rate of 5 °C / min.

[0091] Through the above technical solutions, the present application effectively solves the problem of the shape deviation of the green body caused by the insufficient accuracy of the manual forming trajectory reproduction. The high-precision tracking of the manipulator for complex trajectories is realized through the inverse kinematics algorithm, ensuring a high degree of consistency between the formed green body and the designer's model. After demolding, the drying and firing parameters are controlled in stages to avoid the cracking of the green body caused by sudden changes in temperature and humidity, and the phase change process of the ceramic material is precisely controlled, and finally a finished product with stable dimensions and excellent mechanical properties is obtained.

[0092] The above embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several deformations and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

[0093] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A ceramic forming and processing equipment imitating manual work, characterized in that: including a frame for supporting each functional module and providing a stable working platform; a forming unit disposed on the frame, including a multi-degree-of-freedom robotic arm, a manual-like tool head, a flexible pressurizing mechanism, and a rotary drive assembly; a drive system for providing power to the forming unit and auxiliary devices; a detection and control module integrating a sensor group and a controller, the sensor group being used to monitor pressure, displacement, and visual information during the forming process in real time, and the controller having a manual forming process database built-in and closed-loop controlling forming parameters based on sensor feedback; an auxiliary system including a blank pretreatment device, a mold system, a demolding mechanism, and a cleaning device for blank preparation, forming support, demolding assistance, and post-treatment.

2. The ceramic forming and processing equipment imitating manual work according to claim 1, wherein: The multi-degree-of-freedom robotic arm is a 6-axis collaborative robotic arm with a repeat positioning accuracy of ≤±0.05 mm, and the joint configuration includes rotational, swinging, and translational degrees of freedom for reproducing the composite motion trajectory of manual forming.

3. A ceramic forming and processing device imitating manual work according to claim 1, characterized in that: The manual-like tool head is a replaceable structure, including a throwing head, a modeling head, or a trimming head, and the head material is silicone, polyurethane, or a metal-based flexible coating with a surface roughness Ra≤1.6 μm.

4. A ceramic forming and processing device imitating manual work according to claim 1, characterized in that: The flexible pressurizing mechanism includes a servo electric cylinder / cylinder, a proportional valve, and a pressure sensor with an accuracy of ±0.05%FS, installed at the connection between the manual-like tool head and the robotic arm for real-time feedback of the contact pressure and feedback to the controller to achieve pressure closed-loop control.

5. A ceramic forming and processing device imitating manual work according to claim 1, characterized in that: The rotary drive assembly includes a servo motor and a harmonic reducer, driving the multi-degree-of-freedom robotic arm to rotate around the vertical axis with a rotational speed range of 5-300 rpm, supporting synchronous or asynchronous control with the mold rotation speed.

6. The manual ceramic forming and processing equipment according to claim 1, characterized in that: The sensor group of the detection and control module includes: a pressure sensor installed on the manual-like tool head; a displacement sensor for monitoring the deviation of the robotic arm motion trajectory; a vision sensor for blank body size measurement and surface defect detection.

7. A manual imitation ceramic forming and processing device according to claim 1, characterized in that: The controller is a PLC industrial control computer with a manual forming process database built-in, storing manual forming parameters of different shapes, supporting parameter calling, correction, and self-learning update.

8. A ceramic forming and processing device imitating manual work according to claim 1, characterized in that: The mold system includes a gypsum mold or a metal mold, the mold surface is polished, and positioning grooves or adsorption holes are provided inside for blank fixing; the demolding mechanism is a pneumatic ejecting device, cooperating with an elastic buffer pad to avoid stress concentration and cracking of the blank body.

9. The processing method of a hand - imitating ceramic forming and processing device according to any one of claims 1 - 8, characterized in that: including the following steps: (1) Process parameter input and correction: The user selects the target shape through the human-machine interface, inputs the blank material (clay, porcelain clay, ceramic slurry), target size, and accuracy requirements; the controller retrieves the corresponding parameters (initial pressure, rotational speed, radial feed rate, axial lifting rate) from the manual forming process database and corrects the parameters according to the blank viscosity coefficient (μ) (if μ increases, the initial pressure is reduced); (2) Blank pretreatment and positioning: After kneading and impurity removal, the blank is pushed to the center position of the mold by a feeding device (positioning error ≤0.5 mm); the mold rotation drive is started, driving the mold to rotate at a set rotational speed (5-300 rpm) uniformly; (3) Manual-like forming process: a. Contact stage: The multi-degree-of-freedom robotic arm drives the manual tool head to contact the top of the blank at a set inclination angle (10° - 45°). The pressure sensor monitors the contact pressure in real time, and the flexible pressurizing mechanism adjusts the applied force to the target value (such as 40 - 50 N) to avoid overpressure splashing. b. Trajectory movement stage: The robotic arm feeds radially along the planned trajectory (helical or irregular curve) at a rate of 0.5 - 5 mm / s. At the same time, the drive module maintains the rotation of the mold (rate 5 - 300 rpm), and the tool head rotates synchronously (rate synchronized with the mold or adjusted proportionally), simulating the manual "rotation + feed" action. The pressure sensor continuously feeds back the local pressure, and the controller dynamically adjusts the applied force in each area (such as higher edge pressure than the center) to ensure uniform density of the green body (deviation ≤ ±2%). c. Lifting and shaping stage: When the green body reaches the target height, the robotic arm reduces the axial lifting rate (0.1 - 1 mm / s), and the rotation speed drops to 5 - 30 rpm. The tool head slowly moves upward along the outer contour of the green body (the trajectory is the same as manual trimming). The vision sensor detects the dimensional deviation in real time (within ±0.5 mm). If it exceeds the tolerance, the trajectory of the robotic arm is adjusted for compensation. (4) Demolding and post-processing: After forming, the demolding mechanism ejects the green body evenly at a speed of ≤5 mm / s. The robotic arm switches to the trimming head (pressure 5 - 20 N) to finely trim the bottom burr. The cleaning device removes the residual blank material on the surface through an air gun or a soft brush to complete single-piece forming.

10. The processing method of a ceramic forming and processing device imitating manual work according to claim 9, characterized in that: In step (3), the trajectory planning is based on the typical movement trajectories of manual forming (such as the helical line of throwing and the irregular curve of plasticine kneading), and is converted into the joint space coordinates of the robotic arm through the inverse kinematics algorithm to achieve high-precision trajectory tracking (trajectory deviation ≤ ±0.2 mm). In step (9), after demolding, the green body is dried (naturally dried or low-temperature dried), and the final shrinkage rate after firing is ≤ ±3%.

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