Burned product extraction device and burning system

Abstract

The present invention relates to a fired product taking-out device and a firing system. The fired product taking-out device is a device for taking out a fired product from a firing table having a placement surface on which the fired product is placed, wherein the fired product taking-out device includes: a robot arm; a gripping member provided to the robot arm and formed of a metal material and capable of gripping the firing table; and a protection member formed in a portion of the gripping member that contacts the firing table and composed of a ceramic coating film containing a ceramic component.

Description

Technical Field

[0001] This invention relates to a device for removing a calcined object. Background Technology

[0002] For example, Japanese Patent Publication No. Hei 6-154582 discloses a technology relating to an apparatus for recovering products fired in a firing furnace. The apparatus disclosed therein is configured to recover product powder obtained by heating raw material powder filled in a sagger (firing container) from the sagger. More specifically, after the raw material powder filled in the sagger is conveyed to the firing furnace and fired, the sagger is held by a pair of sagger clamps in a product recovery unit, and the product powder inside the sagger is recovered into a product recovery tank.

[0003] Furthermore, Japanese Patent Publication No. 2006-206338 discloses a refractory material (firing platform) used in firing an object to be fired. In this disclosed technology, the firing platform, formed in a plate shape, has a mounting surface for placing the object to be fired, and the object is fired while mounted on the mounting surface. The firing platform is configured to be reusable.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. Hei 6-154582

[0007] Patent Document 2: Japanese Patent Application Publication No. 2006-206338 Summary of the Invention

[0008] The problem the invention aims to solve

[0009] Furthermore, in the technology described in Japanese Patent Application Publication No. Hei 6-154582, the firing furnace and the product recovery unit are configured separately. Therefore, the saggers that hold the raw material powder and the fired product powder are configured to move between the firing furnace and the product recovery unit via a trolley. As a result, the saggers are sufficiently cooled until they reach the product recovery unit after being heated in the firing furnace. Here, to further shorten the time from firing the powder to removing the product, it is preferable to remove the product immediately from the saggers output from the firing furnace. In this case, the saggers are transported to the product recovery unit at a high temperature, thus exposing the parts holding the saggers to high temperatures, which may cause defects. Moreover, in the technology described in Japanese Patent Application Publication No. 2006-206338, the fired object is sufficiently cooled when removed from the firing platform. Therefore, when the fired object is fired again using the firing platform, the firing platform needs to be reheated, potentially increasing energy consumption.

[0010] The present invention was made in view of this, and provides a workpiece removal device that allows for easy removal of the workpiece from a firing platform or firing container heated to a high temperature.

[0011] Solution for solving the problem

[0012] One disclosed technical solution is a firing removal device for removing a fired object from a firing table having a mounting surface for holding the fired object. The firing removal device includes: a robotic arm; a holding member disposed on the robotic arm, formed of a metallic material, and capable of holding the firing table; and a protective member formed in the portion of the holding member that contacts the firing table, and composed of a ceramic coating containing ceramic components.

[0013] According to this workpiece removal device, a protective member made of a ceramic coating is provided in the portion of the holding member that contacts the firing table. The ceramic coating exhibits excellent heat resistance, thus enabling it to hold the firing table heated to a high temperature. Furthermore, heat is difficult to conduct from the protective member to the holding member, thereby suppressing any adverse phenomena that might occur due to the holding member being exposed to high temperatures. Moreover, the holding member is made of metal, thus providing high rigidity and reliably holding the firing table. This reliably holds the firing table heated to a high temperature, allowing for easy removal of the workpiece from the table. Consequently, the firing table remains at a high temperature, significantly reducing the energy required to heat the table when it is reused for firing the workpiece again.

[0014] According to a preferred embodiment of the sintered material removal device, the ceramic coating is a ceramic spray-plated coating. Ceramic spray-plated coatings, formed by spraying, offer superior heat resistance and corrosion resistance, thus effectively protecting the holding components.

[0015] According to a preferred embodiment of the workpiece removal device, the robotic arm is configured to tilt the firing platform at least by rotating the holding member about a predetermined axis. The workpiece removal device includes a retrieval device located below the tilted position of the firing platform to retrieve the workpiece placed on the firing platform. This allows for easy removal of the workpiece from the firing platform.

[0016] According to a preferred embodiment of the workpiece removal device, the holding member includes a first holding member and a second holding member disposed in a first direction opposite to the first holding member. The first holding member has a first holding surface that contacts the firing table, a first upper claw portion located above the first holding surface and protruding relative to the first holding surface toward the second holding member, and a first lower claw portion located below the first holding surface and protruding relative to the first holding surface toward the second holding member. The second holding member has a second holding surface that contacts the firing table, a second upper claw portion located above the second holding surface and protruding relative to the second holding surface toward the first holding member, and a second lower claw portion located below the second holding surface and protruding relative to the second holding surface toward the first holding member. Thus, the holding member has a first upper claw portion, a first lower claw portion, a second upper claw portion, and a second lower claw portion, thereby preventing the firing table from falling off the holding member when the firing table is moved or rotated. As a result, the firing table can be moved or rotated at a higher speed, and the workpiece can be removed from the firing table in a shorter time.

[0017] According to a preferred embodiment of the workpiece removal device, the first holding member has a first middle claw portion, which is located at least between the first upper claw portion and the first lower claw portion in the vertical direction, and protrudes from the first holding surface toward the second holding member. Furthermore, when the firing platform contacts the first holding surface, in a top view, it is positioned on the side of the second direction closer to the end of the firing platform on the side of the second direction than the end of the firing platform on the side of the second direction. The second holding member has a second middle claw portion, which is located at least between the second upper claw portion and the second lower claw portion in the vertical direction, and protrudes from the second holding surface toward the first holding member. Furthermore, when the firing platform contacts the second holding surface, in a top view, it is positioned on the side of the second direction closer to the end of the firing platform on the side of the second direction than the end of the firing platform on the side of the second direction. Thus, the holding member also has a first middle claw and a second middle claw, which more reliably prevents the firing table from falling off the holding member when it is moved or rotated. As a result, the firing table can be moved or rotated at a higher speed, and the workpiece can be removed from the firing table in a shorter time.

[0018] According to a preferred embodiment of the workpiece removal device, the length of the first middle claw in the first direction is longer than the lengths of the first upper claw and the first lower claw in the first direction. The length of the second middle claw in the first direction is longer than the lengths of the second upper claw and the second lower claw in the first direction. With this structure, it is possible to more reliably prevent the firing platform held by the holding member from falling from one side in the second direction.

[0019] According to a preferred embodiment of the workpiece removal device, the robotic arm has an arm portion equipped with the gripping member, and the protective member is formed on at least the upper surface of the arm portion. With this structure, even if a portion of the workpiece placed on the firing platform falls onto the upper surface of the arm portion, the arm portion can be protected by the protective member made of a ceramic coating, thus suppressing any adverse phenomena that may occur on the arm portion.

[0020] A firing system disclosed herein includes: a firing furnace that conveys the firing platform and fires the workpiece placed on the mounting surface of the firing platform; a conveyor line located downstream of the firing furnace that conveys the firing platform from the firing furnace; a workpiece removal device; and a recovery line located downstream of the workpiece removal device that recovers the firing platform, the workpiece removal device being located downstream of the conveyor line. According to this structure, firing, removal, and recovery of the firing platform can be performed efficiently.

[0021] According to a preferred embodiment of the firing system, the conveyor line includes a first conveying mechanism for conveying the firing table and a first elevator for moving the firing table to a position above the first conveying mechanism. Thus, the workpiece removal device can easily lift the firing table from the conveyor line.

[0022] According to a preferred embodiment of the firing system, the recycling line includes a second conveying mechanism for conveying the firing table and a second lifting mechanism positioned above the second conveying mechanism for placing the firing table on the second conveying mechanism. The second lifting mechanism is configured to position the firing table on the second conveying mechanism by moving downwards. Thus, the workpiece removal device can easily place the firing table onto the recycling line.

[0023] One disclosed technical solution is a firing removal device for removing a fired object from a firing container with an opening on its upper surface. The firing removal device includes: a robotic arm; a holding member disposed on the robotic arm, formed of a metallic material, and capable of holding the firing container; and a protective member formed in the portion of the holding member that contacts the firing container, and composed of a ceramic coating containing ceramic components.

[0024] According to this workpiece removal device, a protective member made of a ceramic coating is provided in the portion of the holding member that contacts the firing container. The ceramic coating exhibits excellent heat resistance, thus enabling the holding member to be heated to a high temperature. Furthermore, heat is difficult to conduct from the protective member to the holding member, thereby suppressing any adverse phenomena that may occur due to the holding member being exposed to high temperatures. Moreover, the holding member is made of metal, thus providing high rigidity and reliably holding the firing container. In this way, the firing container heated to a high temperature can be reliably held, allowing for easy removal of the workpiece from the heated container.

[0025] According to a preferred embodiment of the sintered material removal device, the ceramic coating is a ceramic spray-plated coating. Ceramic spray-plated coatings formed by spraying exhibit excellent heat resistance and corrosion resistance, thus effectively protecting the holding components.

[0026] According to a preferred embodiment of the fired object removal device, the robotic arm is configured to rotate the holding member to allow the firing container to tilt vertically. The device includes a recovery unit located below the tilted position of the firing container to recover the fired object stored within it. This allows for easy removal of the fired object from the firing container.

[0027] According to a preferred embodiment of the firing object removal device, the holding member includes a first holding member and a second holding member disposed opposite to the first holding member. The first holding member has a first holding surface that contacts the firing container, a first upper claw portion located above the first holding surface and protruding toward the second holding member relative to the first holding surface, and a first lower claw portion located below the first holding surface and protruding toward the second holding member relative to the first holding surface. The second holding member has a second holding surface that contacts the firing container, a second upper claw portion located above the second holding surface and protruding toward the first holding member relative to the second holding surface, and a second lower claw portion located below the second holding surface and protruding toward the first holding member relative to the second holding surface. Thus, the holding member has a first upper claw portion, a first lower claw portion, a second upper claw portion, and a second lower claw portion, thereby preventing the firing container from falling off the holding member when the firing container is moved or rotated. As a result, the firing container can be moved or rotated at a higher speed, and the fired object can be removed from the firing container in a shorter time.

[0028] According to a preferred embodiment of the workpiece removal device, the firing container has a rectangular bottom portion and four side portions extending upward from the bottom portion. Each side portion has a downwardly recessed portion. When multiple firing containers are stacked vertically, the first lower claw of the first holding member and the second lower claw of the second holding member, which hold the uppermost firing container, are located in the recesses of the lower firing container. With this structure, even with the first and second lower claws preventing the firing containers from falling, multiple layers of firing containers can be stacked without interference from the pre-placed firing containers.

[0029] According to a preferred embodiment of the workpiece removal device, when the first and second gripping members are arranged in a first direction, the length of the first lower claw in the first direction is shorter than the length of the first upper claw in the first direction, and the length of the second lower claw in the first direction is shorter than the length of the second upper claw in the first direction. When placing the firing container, the placement position of the firing container may shift due to contact between the first and second lower claws and the bottom surface of the firing container. However, by making the first and second lower claws relatively short, the contact area with the firing container can be reduced, thus suppressing the shift in the placement position of the firing container.

[0030] A firing system disclosed herein includes: a firing furnace for conveying the firing container and firing the material to be fired contained within the firing container; a conveyor line located downstream of the firing furnace for conveying the firing container from the firing furnace; a material removal device; and a recovery line located downstream of the material removal device for recovering the firing container, the material removal device being located downstream of the conveyor line. According to this structure, the firing of the material, the removal of the material, and the recovery of the firing container can be performed efficiently.

[0031] According to a preferred embodiment of the firing system, the conveyor line includes a first conveying mechanism for conveying the firing container and a first elevator for moving the firing container to a position above the first conveying mechanism. Thus, the workpiece removal device can easily lift the firing container from the conveyor line.

[0032] According to a preferred embodiment of the firing system, the recycling line includes a second conveying mechanism for transporting the firing container and a second lifting mechanism positioned above the second conveying mechanism for placing the firing container on the second conveying mechanism. The second lifting mechanism is configured to position the firing container on the second conveying mechanism by moving downwards. Thus, the calcined material removal device can easily place the firing container on the recycling line. Attached Figure Description

[0033] Figure 1 This is a top view schematically illustrating a firing system of one embodiment.

[0034] Figure 2 This is a top view schematically showing a firing platform according to one embodiment.

[0035] Figure 3 This is a schematic side view of a firing platform according to one embodiment.

[0036] Figure 4This is a schematic side view of a first elevator according to one embodiment.

[0037] Figure 5 This is a schematic side view of a first elevator according to one embodiment, showing the lifting of the firing platform from... Figure 4 The side view shows the state of being raised upwards.

[0038] Figure 6 This is a partial side view schematically showing one embodiment of the extraction device.

[0039] Figure 7 This is a partial top view schematically showing one embodiment of the extraction device, showing the state before holding the heating plate.

[0040] Figure 8 This is a schematic front view of a partial extraction device according to one embodiment, showing the state before the heating plate is held.

[0041] Figure 9 This is a schematic side view of a gripping member in one embodiment.

[0042] Figure 10 This is a partial top view schematically showing one embodiment of the extraction device, and a top view showing the state of holding the firing plate.

[0043] Figure 11 This is a schematic front view of a partial extraction device according to one embodiment, and a front view showing the state of holding the firing plate.

[0044] Figure 12 This is a side view showing the state in which the firing platform above the recycling apparatus in one embodiment is flipped over.

[0045] Figure 13 This is a schematic side view of a second elevator according to one embodiment.

[0046] Figure 14 This is a schematic side view of a second elevator according to one embodiment, showing the lifting of the firing platform from... Figure 11 The side view of the state shown is the state that is moving downwards.

[0047] Figure 15 This is a top view schematically illustrating a firing system of one embodiment.

[0048] Figure 16 This is a schematic top view of a firing vessel according to one embodiment.

[0049] Figure 17This is a schematic side view of a firing vessel according to one embodiment.

[0050] Figure 18 This is a schematic side view of a first elevator according to one embodiment.

[0051] Figure 19 This is a schematic side view of a first elevator according to one embodiment, showing the lifting of the firing vessel from... Figure 18 The side view shows the state of being raised upwards.

[0052] Figure 20 This is a partial side view schematically showing one embodiment of the extraction device.

[0053] Figure 21 This is a schematic top view of a partial extraction device according to one embodiment.

[0054] Figure 22 This is a side view schematically showing the first gripping member and the second gripping member of one embodiment.

[0055] Figure 23 This is a side view showing the state in which the first and second holding members hold the firing container according to one embodiment.

[0056] Figure 24 This is a side view showing the state of the burning container being flipped over above the recycling device in one embodiment.

[0057] Figure 25 This is a schematic side view of a second elevator according to one embodiment.

[0058] Figure 26 This is a schematic side view of a second elevator according to one embodiment, showing the lifting of two overlapping firing containers from... Figure 25 The side view of the state shown is the state that is moving downwards.

[0059] Figure 27 This is a side view showing the state of stacking other firing containers on top of a firing container.

[0060] Explanation of reference numerals in the attached figures

[0061] 5. Firing platform; 5A. Placement surface; 5D. Side view; 10. Firing system; 20. Firing furnace; 30. Conveyor line; 35. First conveyor mechanism; 40. First elevator; 50. Firing removal device; 52. Robotic arm; 70. Holding member; 71. First holding member; 71A. First holding surface; 71B. First upper claw; 71C. First lower claw; 71D. First middle claw; 72. Second holding member; 72A. Second holding surface; 72B. Second upper claw; 72C. Second lower claw; 72D. Second middle claw; 80. Holding 85. Protective component; 90. Recycling device; 95. Recycling line; 100. Second conveying mechanism; 205. Second elevator; 205. Firing container; 205A. Bottom surface; 205B. Side surface; 205H. Recess; 210. Firing system; 250. Firing removal device; 270. Holding component; 271. First holding component; 271A. First holding surface; 271B. First upper claw; 271C. First lower claw; 272. Second holding component; 272A. Second holding surface; 272B. Second upper claw; 272C. Second lower claw. Detailed Implementation

[0062] Hereinafter, with reference to the accompanying drawings, one of the typical embodiments of this disclosure will be described in detail. Furthermore, in the following drawings, components and parts that perform the same function will be labeled with the same reference numerals. In addition, the dimensional relationships (length, width, thickness, etc.) in the drawings do not reflect actual dimensional relationships. The directions of up, down, left, right, front, and back are indicated by arrows U, D, L, R, F, and Rr, respectively, in the drawings. Here, the directions of up, down, left, right, front, and back are determined only for ease of explanation, and unless specifically mentioned, they do not limit the technical solution of this application.

[0063] Figure 1 This is a schematic top view of the firing system 10. The firing system 10 includes a firing furnace 20, a conveyor line 30, a workpiece removal device 50, and a recovery line 90. In the firing system 10, a firing platform 5 (also see [reference needed]) is used for placing the workpiece 8. Figure 2 The firing platform 5 is configured to move sequentially and repeatedly between the firing furnace 20, the conveyor line 30, the work-to-be-fired removal device 50, and the recovery line 90. That is, the firing platform 5 is repeatedly used within the firing system 10. In this embodiment, in the direction of conveying the firing platform 5 (the conveying direction), the firing furnace 20 is positioned at the upstream end, and the recovery line 90 is positioned at the downstream end.

[0064] Figure 2 This is a top view of the firing platform 5. Figure 3 This is a side view of the firing platform 5. (Example) Figure 2 and Figure 3As shown, the firing plate 5 is formed in a flat plate shape. When viewed from above, the firing plate 5 is rectangular (in this case, square). The firing plate 5 has a substrate 8 for firing (see reference). Figure 4 The mounting surface 5A on which the workpiece 8 is placed. The workpiece 8 is placed on the mounting surface 5A by... Figure 2 The mounting area 5B is enclosed by a double-dotted line. The firing plate 5 is formed of a material with excellent heat resistance (refractory properties). Examples of materials constituting the firing plate 5 include aluminum-rich andalusite (3Al₂O₃·2SiO₂), cordierite (2MgO·2Al₂O₃·5SiO₂), aluminum-rich andalusite·cordierite, and alumina (aluminum oxide: Al₂O₃), among other ceramic materials. The coefficient of thermal expansion of the firing plate 5 is, for example, 2 × 10⁻⁶. -3 K -1 ~4×10 -3 K -1 (For example, if the firing plate 5 is formed of aluminum-rich andalusite and cordierite, it is 3×10.) -3 K -1 ).

[0065] like Figure 1 As shown, the firing furnace 20 is used to place the firing tray on the firing platform 5 (refer to...). Figure 2 The burned object 8 (also refer to) Figure 4 The firing furnace 20 is formed as a channel type, and the firing plates 5 are conveyed inside the firing furnace 20. The firing furnace 20 has a conveying path 25 for conveying the firing plates 5 inside. A plurality of ceramic rollers 28 are provided in the conveying path 25 at predetermined intervals, for example. The firing plates 5 are conveyed on the ceramic rollers 28. The firing furnace 20 of this embodiment is a continuous firing furnace that conveys a plurality of firing plates 5 in the conveying path 25 and continuously fires the workpiece 8 placed on the firing plates 5. Various structures can be adopted as continuous firing furnaces. For example, roller kilns (RHK) and so-called pusher furnaces can be cited as continuous firing furnaces. A roller kiln is a continuous firing furnace that uses ceramic rollers to convey the firing plates 5. On the other hand, a pusher furnace does not have conveying rollers for conveying the firing plates 5 like a roller kiln. The firing plates 5 are slid and conveyed on a ceramic track by being pushed in sequence by pushers. The inner wall of the firing furnace 20 can be formed, for example, by overlapping ceramic fiber plates shaped into a predetermined form. The ceramic fiber plates are, for example, plates formed by adding inorganic fillers and inorganic-organic binders to so-called expanded fibers and shaping them into a plate shape. The firing furnace 20 has an inlet 21 for feeding the firing platform 5 and an outlet 22 formed downstream of the inlet 21 for discharging the firing platform 5. The conveying path 25 is connected to the conveyor line 30 via the outlet 22.

[0066] like Figure 1As shown, the conveyor line 30 is located downstream of the firing furnace 20. The length of the conveyor line 30 in the longitudinal direction (here, the left-right direction) is shorter than the length of the firing furnace 20 in the longitudinal direction (here, the left-right direction). The conveyor line 30 includes a first conveying mechanism 35 for conveying the firing table 5 output from the firing furnace 20, a stop 39 for preventing the movement of the firing table 5 at a predetermined position on the first conveying mechanism 35, and a first elevator 40 for moving the firing table 5 to a position above the first conveying mechanism 35. The first conveying mechanism 35 has a plurality of conveying rollers 38 arranged at predetermined intervals. The firing table 5 is conveyed on the conveying rollers 38. Figure 4 As shown, the stop member 39 is positioned downstream of the first elevator 40. The upper end 39A of the stop member 39 is positioned above the conveyor roller 38. The stop member 39 is configured to stop the firing table 5 conveyed on the conveyor roller 38 at the holding position GP. The stop member 39 is configured to contact the side surface 5D of the firing table 5. The first elevator 40 includes a first platform 42 formed in a U-shaped cross-section and a first lifting mechanism 44 that moves the first platform 42 vertically. The upper end 42A of the first platform 42 is configured to contact the bottom surface 5C of the firing table 5. The first platform 42 is connected to the first lifting mechanism 44. The first lifting mechanism 44 is, for example, a cylinder. It is configured such that before the firing table 5 reaches the holding position GP, ​​the first lifting mechanism 44 moves the first platform 42 downward so that the upper end 42A of the first platform 42 is positioned below the conveyor roller 38. On the other hand, such as Figure 5 As shown, the firing platform 5, located in the holding position GP, ​​is configured such that when it is moved upward, the first lifting mechanism 44 moves the first platform 42 upward, so that the upper end 42A of the first platform 42 is positioned above the conveyor roller 38 and the stop member 39. Therefore, the bottom surface 5C of the firing platform 5 is positioned above the conveyor roller 38 and the stop member 39, and the firing platform 5 can be easily held using the holding member 70 of the workpiece removal device 50 (described later).

[0067] like Figure 1 As shown, the workpiece removal device 50 is located downstream of the conveyor line 30. The workpiece removal device 50 removes the workpiece 8 (see reference 5A) placed on the mounting surface 5A of the firing platform 5. Figure 4 The device for conveying the firing plate 5 from the conveyor line 30 to the recovery line 90. The firing plate removal device 50 includes a robotic arm 52 and a holding member 70 (see reference). Figure 7 ), protective components 80 (refer to) Figure 7 ) and recycling device 85.

[0068] like Figure 6As shown, the robotic arm 52 is a six-axis vertical multi-joint type machine. The robotic arm 52 is mounted on a machine platform 88. The robotic arm 52 includes a base component 53, a first link 54, a second link 55, a third link 56, a fourth link 57, a fifth link 58, a sixth link 59, a first joint 61, a second joint 62, a third joint 63, a fourth joint 64, a fifth joint 65, and a sixth joint 66.

[0069] like Figure 6 As shown, the first link 54 is connected to the base member 53 via the first joint 61. The first link 54 is configured to rotate relative to the base member 53 about a first axis L1 extending in the vertical direction. The second link 55 is connected to the first link 54 via the second joint 62. The second link 55 is configured to rotate relative to the first link 54 about a second axis L2 extending in the horizontal direction. The third link 56 is connected to the second link 55 via the third joint 63. The third link 56 is configured to rotate relative to the second link 55 about a third axis L3 extending in the horizontal direction.

[0070] like Figure 6 As shown, the fourth link 57 is connected to the third link 56 via the fourth joint 64. The fourth link 57 is configured to rotate relative to the third link 56 about a fourth axis L4 extending horizontally (the direction in which the fourth link 57 extends). The fifth link 58 is connected to the fourth link 57 via the fifth joint 65. The fifth link 58 is configured to rotate relative to the fourth link 57 about a fifth axis L5 extending horizontally. The sixth link 59 is connected to the fifth link 58 via the sixth joint 66. The sixth link 59 is configured to rotate relative to the fifth link 58 about a sixth axis L6 extending horizontally.

[0071] like Figure 7 As shown, the sixth link 59 has a first arm 67A and a second arm 67B positioned opposite to the first arm 67A. The first arm 67A is connected to the sixth link 59 via a first shaft 68A. The second arm 67B is connected to the sixth link 59 via a second shaft 68B. The first arm 67A and the second arm 67B extend in the front-rear direction. The first shaft 68A and the second shaft 68B extend in the left-right direction. The first arm 67A and the second arm 67B are configured to be able to move closer to each other and further apart via the first shaft 68A and the second shaft 68B. That is, the first arm 67A and the second arm 67B are moved closer by retracting the first shaft 68A and the second shaft 68B, and moved further apart by advancing the first shaft 68A and the second shaft 68B.

[0072] The holding member 70 is configured to hold the firing platform 5. The holding member 70 is mounted on the robotic arm 52. More specifically, as... Figure 7 As shown, the gripping member 70 is provided on the first arm 67A and the second arm 67B of the sixth link 59. The gripping member 70 is formed of a metallic material. For example, the gripping member 70 is formed of stainless steel. The coefficient of thermal expansion of the gripping member 70 is, for example, 15 × 10⁻⁶. -6 K -1 ~20×10 -6 K -1 (For example, in the case where the gripping member 70 is formed of SUS304, it is 17.3 × 10 -6 K -1 The gripping member 70 includes a first gripping member 71 and a second gripping member 72 positioned opposite the first gripping member 71 in the left-right direction. The left-right direction is an example of the first direction. The first gripping member 71 and the second gripping member 72 are arranged along the left-right direction. The first gripping member 71 is provided in the first arm portion 67A. The first gripping member 71 includes a front first gripping member 71F and a rear first gripping member 71R located behind the front first gripping member 71F. Hereinafter, the front first gripping member 71F and the rear first gripping member 71R are sometimes collectively referred to as the first gripping member 71. Here, both first gripping members 71 are provided in the first arm portion 67A. The second gripping member 72 is provided in the second arm portion 67B. The second gripping member 72 includes a front second gripping member 72F and a rear second gripping member 72R located behind the front second gripping member 72F. Hereinafter, the front second gripping member 72F and the rear second gripping member 72R are sometimes collectively referred to as the second gripping member 72. The front first gripping member 71F, the rear first gripping member 71R, the front second gripping member 72F, and the rear second gripping member 72R have the same structure except for their installation position and orientation.

[0073] like Figure 8As shown, the first gripping member 71 has a first gripping surface 71A that contacts the firing table 5, a first upper claw portion 71B located above the first gripping surface 71A and protruding towards the second gripping member 72 (here, towards the right) relative to the first gripping surface 71A, a first lower claw portion 71C located below the first gripping surface 71A and protruding towards the second gripping member 72 relative to the first gripping surface 71A, and a first middle claw portion 71D. The first gripping surface 71A indirectly contacts the firing table 5 (specifically, the side surface 5D of the firing table 5) through the protective member 80. The left-right lengths MA1 of the first upper claw portion 71B and the first lower claw portion 71C are the same. The first upper claw portion 71B is formed to a length that does not contact the workpiece 8 placed on the mounting surface 5A of the firing table 5. The first upper claw portion 71B does not overlap with the mounting area 5B of the firing platform 5 when viewed from above. The vertical distance L1 between the first upper claw portion 71B and the first lower claw portion 71C (refer to...) Figure 9 The length LX of the firing plate 5 in the vertical direction is compared to (refer to) Figure 3 (Long.) Figure 9 As shown, the first middle claw portion 71D is located at least between the first upper claw portion 71B and the first lower claw portion 71C in the vertical direction. Here, the first middle claw portion 71D extends from the upper end of the first upper claw portion 71B to the lower end of the first lower claw portion 71C. Figure 7 As shown, the first middle claw portion 71D protrudes from the first gripping surface 71A toward the second gripping member 72. The first middle claw portion 71D of the front first gripping member 71F is located forward of the first upper claw portion 71B and the first lower claw portion 71C. When the firing table 5 contacts the first gripping surface 71A, the first middle claw portion 71D of the front first gripping member 71F is located forward of the front end 5F of the firing table 5 when viewed from above (refer to...). Figure 10 The first middle claw 71D of the front first gripping member 71F is located forward of the front end 67AF of the first arm 67A. The first middle claw 71D of the rear first gripping member 71R is located rearward of the first upper claw 71B and the first lower claw 71C. When the firing table 5 contacts the first gripping surface 71A, the first middle claw 71D of the rear first gripping member 71R is located rearward of the rear end 5R of the firing table 5 when viewed from above (refer to...). Figure 10 ).like Figure 8 As shown, the length MA2 of the first middle claw 71D in the left-right direction is longer than the length MA1 of the first upper claw 71B and the first lower claw 71C in the left-right direction.

[0074] like Figure 8As shown, the second gripping member 72 has a second gripping surface 72A that contacts the firing table 5, a second upper claw portion 72B located above the second gripping surface 72A and protruding towards the first gripping member 71 (in this case, to the left) relative to the second gripping surface 72A, a second lower claw portion 72C located below the second gripping surface 72A and protruding towards the first gripping member 71 relative to the second gripping surface 72A, and a second middle claw portion 72D. The second gripping surface 72A indirectly contacts the firing table 5 (specifically, the side surface 5D of the firing table 5) through the protective member 80. The left-right lengths MB1 of the second upper claw portion 72B and the second lower claw portion 72C are the same. The second upper claw portion 72B is formed to a length that does not contact the workpiece 8 placed on the mounting surface 5A of the firing table 5. The second upper claw portion 72B does not overlap with the mounting area 5B of the firing platform 5 when viewed from above. The vertical distance between the second upper claw portion 72B and the second lower claw portion 72C is the same as the vertical distance L1 between the first upper claw portion 71B and the first lower claw portion 71C (refer to...). Figure 9 Equal to the vertical length LX of the firing plate 5 (refer to...) Figure 3 The second middle claw portion 72D is located at least between the second upper claw portion 72B and the second lower claw portion 72C in the vertical direction. Here, the second middle claw portion 72D extends from the upper end of the second upper claw portion 72B to the lower end of the second lower claw portion 72C. (As shown) Figure 7 As shown, the second middle claw portion 72D protrudes from the second gripping surface 72A toward the first gripping member 71. The second middle claw portion 72D of the front second gripping member 72F is located further forward than the second upper claw portion 72B and the second lower claw portion 72C (see reference). Figure 10 The second middle claw 72D of the front second gripping member 72F, when in contact with the second gripping surface 72A, is positioned forward of the front end 5F of the firing table 5 in a top view. The second middle claw 72D of the front second gripping member 72F is positioned forward of the front end 67BF of the second arm 67B. The second middle claw 72D of the rear second gripping member 72R is positioned rearward of the second upper claw 72B and the second lower claw 72C. The second middle claw 72D of the rear second gripping member 72R, when in contact with the second gripping surface 72A, is positioned rearward of the rear end 5R of the firing table 5 in a top view (see reference). Figure 10 ).like Figure 8 As shown, the length MB2 of the second middle claw 72D in the left-right direction is longer than the length MB1 of the second upper claw 72B and the second lower claw 72C in the left-right direction.

[0075] like Figure 7 and Figure 9As shown, the protective member 80 is formed in the portion of the holding member 70 that contacts the firing table 5. The protective member 80 is formed at least in the portion opposite to the firing table 5 when the firing table 5 is held by the holding member 70. In this embodiment, the protective member 80 is formed on the first holding surface 71A, the first upper claw portion 71B, the first lower claw portion 71C, and the first middle claw portion 71D of the first holding member 71, and on the second holding surface 72A, the second upper claw portion 72B, the second lower claw portion 72C, and the second middle claw portion 72D of the second holding member 72. The protective member 80 is formed, for example, on the surfaces of the first upper claw portion 71B and the second upper claw portion 72B that face the mounting surface 5A of the firing table 5 (in this case, the lower surface), on the surfaces of the first lower claw portion 71C and the second lower claw portion 72C that face the bottom surface 5C of the firing table 5 (in this case, the upper surface), and on the surfaces of the first middle claw portion 71D and the second middle claw portion 72D that face the side surface 5D of the firing table 5. The protective member 80 may also be formed on the surfaces of the first upper claw portion 71B and the second upper claw portion 72B that face the workpiece 8 placed on the mounting surface 5A of the firing table 5 (in this case, the surface extending along the front-back direction and the vertical direction). The first gripping surface 71A and the second gripping surface 72A are in indirect contact with the firing table 5 via the protective member 80. The first upper claw portion 71B, the first lower claw portion 71C, the first middle claw portion 71D, the second upper claw portion 72B, the second lower claw portion 72C, and the second middle claw portion 72D can indirectly contact the firing plate 5 through the protective member 80. Furthermore, in this embodiment, the protective member 80 is also formed on the upper surface 67AX of the first arm portion 67A and the upper surface 67BX of the second arm portion 67B. Alternatively, the protective member 80 can also be formed integrally on the first arm portion 67A and the second arm portion 67B. The protective member 80 is composed of a ceramic coating containing ceramic components. As the ceramic component, it can be, for example, a ceramic material formed from the oxides of various metals (oxide-based ceramics) or a non-oxide ceramic material such as carbides, borides, nitrides, or apatite. The coefficient of thermal expansion of the protective member 80 is, for example, 5 × 10⁻⁶. -6 K -1 ~9.6×10 -6 K -1 (For example, in the case where the protective component 80 is formed of gray aluminum oxide, it is 5.3 × 10⁻⁶) - 6 K -1 In addition, besides Figure 7 and Figure 9 In addition, the illustration of protective component 80 is omitted for convenience.

[0076] More specifically, examples of oxide-based ceramics include, for instance, alumina, zirconium oxide, yttrium oxide, chromium oxide, titanium oxide, cobaltite, magnesium oxide, silicon oxide, calcium oxide, cerium oxide, ferrite, spinel, zircon, nickel oxide, silver oxide, copper oxide, zinc oxide, gallium oxide, strontium oxide, scandium oxide, samarium oxide, bismuth oxide, lanthanum oxide, lutetium oxide, hafnium oxide, vanadium oxide, niobium oxide, tungsten oxide, manganese oxide, tantalum oxide, terbium oxide, europium oxide, neodymium oxide, tin oxide, antimony oxide, antimony-containing tin oxide, indium oxide, tin-containing indium oxide, zirconium aluminate, zirconium silicate, hafnium aluminate, hafnium silicate, titanium silicate, lanthanum silicate, lanthanum aluminate, yttrium silicate, titanium silicate, and tantalum silicate. For example, gray alumina (Al₂O₃-3TiO₂) can be appropriately used as an alumina-based material.

[0077] In addition, as non-oxide ceramics, examples include carbides such as tungsten carbide (WC), chromium carbide, vanadium carbide, niobium carbide, molybdenum carbide, tantalum carbide, titanium carbide, zirconium carbide, hafnium carbide, silicon carbide, and boron carbide; borides such as tungsten boride (WB), molybdenum boride, chromium boride, hafnium boride, zirconium boride, tantalum boride, and titanium boride; nitrides such as boron nitride, titanium nitride, silicon nitride, and aluminum nitride; magnesium olivine, talc, cordierite, aluminum-rich andalusite, barium titanate, lead titanate, lead zirconium titanate, Mn-Zn ferrite, Ni-Zn ferrite, seron, and other complexes; phosphate compounds such as hydroxyapatite and calcium phosphate.

[0078] Ceramic coatings can be formed, for example, by spraying. The spraying method is not particularly limited; for example, atmospheric plasma spraying (APS), low-pressure plasma spraying (LPS), high-pressure plasma spraying, high-velocity oxygen flame (HVOF) spraying, thermal fogging, and high-velocity air flame (HVAF) spraying are all suitable methods. Furthermore, the method for forming the ceramic coating is not limited to spraying; for example, chemical vapor deposition (CVD), physical vapor deposition (PVD), sputtering, spin coating, dipping, and spray coating are also possible.

[0079] like Figure 10 and Figure 11As shown, the first holding member 71 and the second holding member 72 hold the firing table 5. At this time, the firing table 5 is held by the first holding surface 71A of the first holding member 71 and the second holding surface 72A of the second holding member 72. Protective members 80 (see reference) are provided on the first holding surface 71A and the second holding surface 72A. Figure 7 Therefore, even when holding the high-temperature firing plate 5, the firing plate 5 does not directly contact the first holding member 71 and the second holding member 72. Thus, the occurrence of heat-induced adverse phenomena in the first holding member 71 and the second holding member 72 is suppressed. In this way, the holding member 70, which is equipped with the protective member 80, exhibits excellent heat resistance and corrosion resistance, and the outflow of metal material caused by the heat of the high-temperature firing plate 5 is suppressed, thereby preventing the firing plate 5 from being contaminated by metal material. Furthermore, when the firing table 5 is held by the first holding member 71 and the second holding member 72, the first upper claw portion 71B of the first holding member 71 and the second upper claw portion 72B of the second holding member 72 are positioned above the mounting surface 5A of the firing table 5, the first lower claw portion 71C of the first holding member 71 and the second lower claw portion 72C of the second holding member 72 are positioned below the bottom surface 5C of the firing table 5, and the first middle claw portion 71D of the first holding member 71 and the second middle claw portion 72D of the second holding member 72 are positioned in front of or behind the side surface 5D of the firing table 5. Normally, the first upper claw portion 71B, the second upper claw portion 72B, the first lower claw portion 71C, the second lower claw portion 72C, the first middle claw portion 71D, and the second middle claw portion 72D do not contact the firing table 5.

[0080] Figure 12 This is a side view showing the firing platform 5 above the recycling unit 85 being flipped over. Additionally, Figure 12 From Figure 1 A side view when looking at the right from the left. For example... Figure 12 As shown, robotic arm 52 (reference) Figure 6 The machine is configured such that the firing platform 5 can be tilted at least by rotating the holding member 70 about a predetermined axis. Here, the robotic arm 52 is configured to be able to flip the firing platform 5 vertically. The robotic arm 52 achieves this by rotating the sixth link 59 (see reference...) Figure 6 The holding member 70 rotates around the sixth axis L6. The recovery device 85 recovers the workpiece 8 placed on the mounting surface 5A of the firing platform 5. The recovery device 85 is shaped like a mortar. Figure 1As shown, the recovery device 85 is located to the left of the robotic arm 52. The recovery device 85 is positioned below the inclined (in this case, flipped) position of the firing platform 5. That is, the robotic arm 52 rotates the holding member 70 above the recovery device 85, causing the firing platform 5 to flip up and down (i.e., to be in a state where the mounting surface 5A faces downwards). As a result, the workpiece 8 placed on the mounting surface 5A of the firing platform 5 falls into the recovery device 85. Then, after the workpiece 8 placed on the firing platform 5 is recovered into the recovery device 85, the robotic arm 52 rotates the holding member 70 to return the firing platform 5 to its original state (i.e., the state where the mounting surface 5A faces upwards). Here, even if the firing table 5 shifts when it is moved or flipped, the first upper claw 71B, the first lower claw 71C, and the first middle claw 71D of the first holding member 71, and the second upper claw 72B, the second lower claw 72C, and the second middle claw 72D of the second holding member 72 can prevent the firing table 5 from falling off the holding member 70.

[0081] like Figure 1 As shown, the recovery line 90 is located downstream of the firing material removal device 50. The recovery line 90 recovers the firing table 5 conveyed from the firing material removal device 50. The length of the recovery line 90 in the longitudinal direction (here, the left-right direction) is longer than the length of the firing furnace 20 in the longitudinal direction (here, the left-right direction). The recovery line 90 includes a second conveying mechanism 95 for conveying the firing table 5 conveyed from the firing material removal device 50 and a second elevator 100 for placing the firing table 5 at a predetermined position on the second conveying mechanism 95. The second conveying mechanism 95 has a drive shaft 96 extending in the longitudinal direction, a driven shaft 97 extending in the longitudinal direction, and a pair of belt members 98 extending in the left-right direction and wound around the drive shaft 96 and the driven shaft 97. The firing table 5 is placed on the belt members 98. When the drive shaft 96 rotates, the belt members 98 travel in the left-right direction. Thus, the firing table 5 placed on the belt members 98 is conveyed. That is, the firing platform 5 is conveyed on the conveyor belt 98. The second elevator 100 is positioned between the pair of conveyor belts 98. The second elevator 100 is positioned to the right of the driven shaft 97. Figure 13As shown, the second lifting mechanism 100 includes a flat second platform 102, a pair of guide members 103 disposed on the second platform 102 and formed in an L-shape cross-section, and a second lifting mechanism 104 for moving the second platform 102 in the vertical direction. A firing table 5 is mounted on the second platform 102. The second platform 102 has a shape smaller than the bottom surface 5C of the firing table 5. In this embodiment, the firing table 5 is mounted on the second platform 102 with the guide members 103 in between. Alternatively, the firing table 5 may be mounted directly on the second platform 102, or it may be mounted on a member other than the guide members 103 on the second platform 102. The second platform 102 is connected to the second lifting mechanism 104. The guide members 103 are members that suppress the offset of the firing table 5 when it is mounted on the second platform 102 by the holding member 70 of the robotic arm 52. When the firing plate 5 is placed on the second platform 102, the first lower claw portion 71C and the second lower claw portion 72C contact the bottom surface 5C of the firing plate 5. Therefore, friction may cause the firing plate 5 to shift position, but the position shift of the firing plate 5 can be suppressed by the guide member 103. The second lifting mechanism 104 is, for example, a cylinder. It is configured such that when the firing plate 5 is not placed on the second platform 102, the second lifting mechanism 104 moves the second platform 102 upward so that the second platform 102 is positioned above the second conveying mechanism 95 (more specifically, above the belt member 98). On the other hand, as Figure 14 As shown, the configuration is such that when the firing plate 5 is placed on the second platform 102, the second lifting mechanism 104 moves the second platform 102 downward (more specifically, to a position lower than the belt member 98). Here, the second platform 102 is smaller than the bottom surface 5C of the firing plate 5, so when the second platform 102 is lowered by the second lifting mechanism 104, the second platform 102 moves downward via the belt member 98, but the firing plate 5 contacts the belt member 98. In this way, the firing plate 5 is placed on the belt member 98.

[0082] In the above-described embodiments, the protective member 80 is formed only in a portion of the holding member 70, but is not limited thereto. For example, the protective member 80 may also be formed throughout the entire holding member 70. That is, the protective member 80 may also be formed in the portion of the holding member 70 that does not contact the firing plate 5.

[0083] In the above-described embodiment, the robotic arm 52 rotates the holding member 70 above the recycling device 85 to flip the firing platform 5 up and down, thereby moving the object to be fired 8 into the recycling device 85. However, for example, the object to be fired 8 can also be moved into the recycling device 85 by tilting the firing platform 5 at a predetermined angle and sliding it from the firing platform 5.

[0084] Figure 15 This is a schematic top view illustrating another embodiment of the firing system 210. The firing system 210 includes a firing furnace 20, a conveyor line 30, a workpiece removal device 250, and a recovery line 90. In the firing system 210, a firing container 205 (also see...) is used to receive the workpiece. Figure 16 The firing container 205 is configured to move sequentially and repeatedly between the firing furnace 20, the conveyor line 30, the work-to-be-fired removal device 250, and the recovery line 90. That is, the firing container 205 is repeatedly used within the firing system 210. In this embodiment, in the direction of conveying the firing container 205 (the conveying direction), the firing furnace 20 is positioned at the upstream end, and the recovery line 90 is positioned at the downstream end.

[0085] Figure 16 This is a top view of the firing container 205. Figure 17 This is a side view of the firing vessel 205. (Example) Figure 16 and Figure 17 As shown, the firing container 205 is formed as a box shape with an open upper surface. The firing container 205 holds the object to be fired. The firing container 205 is formed of a material with excellent heat resistance (refractory properties). The firing container 205 can be formed of the same material as the material forming the firing platform 5. The firing container 205 has a rectangular bottom portion 205A and four side portions 205B extending upward from the bottom portion 205A. Recesses 205H are formed in the side portions 205B facing downward. By forming the recesses 205H in the firing container 205, a gap is formed between the upper firing container 205 and the lower firing container 205 when multiple firing containers 205 are stacked in the vertical direction.

[0086] Firing furnace 20 is used for firing and storage in firing container 205 (see reference). Figure 16 The firing furnace 20 of this embodiment is a continuous firing furnace that transports multiple firing containers 205 in the transport path 25 and continuously fires the objects to be fired stored in the firing containers 205.

[0087] like Figure 15 As shown, the conveyor line 30 is located downstream of the firing furnace 20. The length of the conveyor line 30 in the longitudinal direction (here, the left-right direction) is shorter than the length of the firing furnace 20 in the longitudinal direction (here, the left-right direction). The conveyor line 30 includes a first conveying mechanism 35 for conveying the firing container 205 output from the firing furnace 20, a stop 39 for preventing the movement of the firing container 205 at a predetermined position on the first conveying mechanism 35, and a first elevator 40 for moving the firing container 205 to a position above the first conveying mechanism 35. The first conveying mechanism 35 has a plurality of conveying rollers 38 arranged at predetermined intervals. The firing container 205 is conveyed on the conveying rollers 38. Figure 18As shown, the stop 39 is positioned downstream of the first elevator 40. The upper end 39A of the stop 39 is positioned above the conveyor roller 38. The stop 39 is configured to stop the firing container 205 conveyed on the conveyor roller 38 at the holding position GP. The first elevator 40 includes a first platform 42 formed in a U-shaped cross-section and a first lifting mechanism 44 that moves the first platform 42 vertically. The upper end 42A of the first platform 42 is configured to contact the bottom surface 205A of the firing container 205. The first platform 42 is connected to the first lifting mechanism 44. The first lifting mechanism 44 is, for example, a cylinder. It is configured such that before the firing container 205 reaches the holding position GP, ​​the first lifting mechanism 44 moves the first platform 42 downward so that the upper end 42A of the first platform 42 is positioned below the conveyor roller 38. On the other hand, as Figure 19 As shown, the configuration is such that when the firing container 205, located in the holding position GP, ​​is moved upward, the first lifting mechanism 44 moves the first platform 42 upward, so that the upper end 42A of the first platform 42 is positioned above the conveying roller 38 and the stop member 39. Therefore, the bottom part 205A of the firing container 205 is positioned above the conveying roller 38 and the stop member 39, and thus the firing container 205 can be easily held using the holding member 270 of the workpiece removal device 250 (described later).

[0088] like Figure 15 As shown, the calcined material removal device 250 is located downstream of the conveyor line 30. The calcined material removal device 250 is a device for removing the calcined material from the firing container 205. The calcined material removal device 250 includes a robotic arm 52 and a holding member 270 (see reference). Figure 22 ), protective components 80 (refer to) Figure 22 ) and recycling device 85.

[0089] like Figure 20 As shown, the robotic arm 52 is a six-axis vertical multi-joint type machine. The robotic arm 52 is mounted on a machine platform 88. The robotic arm 52 includes a base component 53, a first link 54, a second link 55, a third link 56, a fourth link 57, a fifth link 58, a sixth link 59, a first joint 61, a second joint 62, a third joint 63, a fourth joint 64, a fifth joint 65, and a sixth joint 66.

[0090] The holding member 270 is configured to hold the firing container 205. The holding member 270 is mounted on the robotic arm 52. More specifically, as... Figure 21As shown, the gripping member 270 is provided on the first arm 67A and the second arm 67B of the sixth link 59. The gripping member 270 is formed of a metal material. The gripping member 270 can be formed of the same metal material as the gripping member 270 of the burnt object removal device 250. The gripping member 270 includes a first gripping member 271 and a second gripping member 272 provided opposite to the first gripping member 271. The first gripping member 271 and the second gripping member 272 are arranged in a left-right direction. The first gripping member 271 is provided on the first arm 67A. Here, two first gripping members 271 are provided on the first arm 67A. The second gripping member 272 is provided on the second arm 67B. Here, two second gripping members 272 are provided on the second arm 67B.

[0091] Figure 22 This is a schematic side view showing the first gripping member 271 and the second gripping member 272. Figure 23 This is a side view showing the state in which the first gripping member 271 and the second gripping member 272 grip the firing container 205. Additionally, Figure 22 and Figure 23 From Figure 15 A side view taken from the front when looking at the rear. For example... Figure 22 As shown, the first gripping member 271 has a first gripping surface 271A that contacts the firing container 205, a first upper claw portion 271B located above the first gripping surface 271A and protruding relative to the first gripping surface 271A toward the second gripping member 272 (in this case, toward the right), and a first lower claw portion 271C located below the first gripping surface 271A and protruding relative to the first gripping surface 271A toward the second gripping member 272. The first gripping surface 271A indirectly contacts the firing container 205 (specifically, the side portion 205B of the firing container 205) through the protective member 80. The left-right length M1 of the first lower claw portion 271C is shorter than the left-right length M2 of the first upper claw portion 271B. The left-right direction is an example of the first direction.

[0092] like Figure 22 As shown, the second gripping member 272 has a first gripping surface 271A that contacts the firing container 205, a second upper claw portion 272B located above the second gripping surface 272A and protruding relative to the second gripping surface 272A toward the first gripping member 271 (in this case, to the left), and a second lower claw portion 272C located below the second gripping surface 272A and protruding relative to the second gripping surface 272A toward the first gripping member 271. The second gripping surface 272A indirectly contacts the firing container 205 (specifically, the side portion 205B of the firing container 205) through the protective member 80. The left-right length M3 of the second lower claw portion 272C is shorter than the left-right length M4 of the second upper claw portion 272B.

[0093] like Figure 22 As shown, the protective member 80 is formed in the portion of the holding member 270 that contacts the firing container 205. The protective member 80 can be made of the same ceramic coating as the protective member 80 formed in the holding member 70 of the workpiece removal device 50. In this embodiment, the protective member 80 is formed on the first holding surface 271A, the first upper claw portion 271B, and the first lower claw portion 271C of the first holding member 271, and the second holding surface 272A, the second upper claw portion 272B, and the second lower claw portion 272C of the second holding member 272. The first holding surface 271A and the second holding surface 272A are indirectly in contact with the firing container 205 through the protective member 80. The first upper claw portion 271B, the first lower claw portion 271C, the second upper claw portion 272B, and the second lower claw portion 272C are also indirectly in contact with the firing container 205 through the protective member 80. In addition, besides Figure 22 In addition, the illustration of protective component 80 is omitted for convenience.

[0094] like Figure 23 As shown, the first gripping member 271 and the second gripping member 272 grip the firing container 205. At this time, the firing container 205 is gripped by the first gripping surface 271A of the first gripping member 271 and the second gripping surface 272A of the second gripping member 272. Protective members 80 (see reference) are provided on the first gripping surface 271A and the second gripping surface 272A. Figure 22 Therefore, even when holding the high-temperature firing vessel 205, the firing vessel 205 does not directly contact the first holding member 271 and the second holding member 272. Thus, the occurrence of heat-induced adverse phenomena in the first holding member 271 and the second holding member 272 is suppressed. In this way, the holding member 270, which is equipped with the protective member 80, exhibits excellent heat resistance and corrosion resistance, and the outflow of metal material caused by the heat of the high-temperature firing vessel 205 is suppressed, thereby preventing the firing vessel 205 from being contaminated by metal material. Furthermore, when the firing container 205 is held by the first holding member 271 and the second holding member 272, the first upper claw portion 271B of the first holding member 271 and the second upper claw portion 272B of the second holding member 272 are located within the recess 205H of the firing container 205, and the first lower claw portion 271C of the first holding member 271 and the second lower claw portion 272C of the second holding member 272 are located below the bottom surface 205A of the firing container 205. Normally, the first upper claw portion 271B, the second upper claw portion 272B, the first lower claw portion 271C, and the second lower claw portion 272C do not contact the firing container 205.

[0095] Figure 24This is a side view showing the firing container 205 above the recycling unit 85 in an inverted state. Additionally, Figure 24 From Figure 15 A side view when looking at the right from the left. For example... Figure 24 As shown, robotic arm 52 (reference) Figure 20 The configuration allows the firing container 205 to be tilted up and down by rotating the holding member 270. The robotic arm 52, by rotating the sixth link 59 (see reference...),... Figure 20 The holding member 270 rotates around the sixth axis L6. The recovery device 85 recovers and stores the fired material in the firing container 205. The recovery device 85 is shaped like a mortar and pestle. Figure 15 As shown, the recovery device 85 is located to the left of the robotic arm 52. The recovery device 85 is located below the position where the firing container 205 is flipped. That is, the robotic arm 52 rotates the holding member 270 above the recovery device 85, causing the firing container 205 to flip upside down (i.e., to be in a downward-facing state). Then, after the fired material stored in the firing container 205 is recovered into the recovery device 85, the robotic arm 52 rotates the holding member 270 to restore the firing container 205 to its original state (i.e., the upward-facing state). Here, even if the firing container 205 shifts when it is moved or flipped, the first upper claw portion 271B and the first lower claw portion 271C of the first holding member 271, and the second upper claw portion 272B and the second lower claw portion 272C of the second holding member 272, prevent the firing container 205 from falling off the holding member 270.

[0096] like Figure 15 As shown, the recovery line 90 is located downstream of the calcined material removal device 250. The recovery line 90 includes a second conveying mechanism 95 for conveying the calcined container 205 from the calcined material removal device 250, and a second elevator 100 at a predetermined position on the second conveying mechanism 95 for loading the calcined container 205. Figure 25As shown, the second elevator 100 includes a flat second platform 102, a pair of guide members 103 disposed on the second platform 102 and formed in an L-shape cross-section, and a second lifting mechanism 104 for moving the second platform 102 in the vertical direction. A firing container 205 is placed on the second platform 102. The second platform 102 has a shape smaller than the bottom portion 205A of the firing container 205. In this embodiment, the firing container 205 is placed on the second platform 102 with the guide members 103 in between. Alternatively, the firing container 205 may be placed directly on the second platform 102, or it may be placed on a component other than the guide members 103 on the second platform 102. The configuration is such that when the second platform 102 is not carrying a firing vessel 205, and when the second platform 102 is equipped with a predetermined number or less (e.g., one) of firing vessels 205, the second lifting mechanism 104 moves the second platform 102 upward, positioning the second platform 102 above the second conveying mechanism 95 (more specifically, above the belt member 98). On the other hand, as... Figure 26 As shown, the configuration is such that when a predetermined number (e.g., two) of the firing containers 205 are placed on the second platform 102, the second lifting mechanism 104 moves the second platform 102 downwards (more specifically, to a position below the belt member 98). Here, the second platform 102 is smaller than the bottom portion 205A of the firing containers 205, so when the second platform 102 is lowered using the second lifting mechanism 104, the second platform 102 moves downwards via the belt member 98, but the firing containers 205 are in contact with the belt member 98. In this way, the two-layered firing containers 205 are placed on the belt member 98.

[0097] Furthermore, when using the firing vessel 205 of this embodiment, such as Figure 27 As shown, other firing containers 205 can be stacked on top of a firing container 205 that has already been placed. At this time, the first lower claw portion 271C of the first holding member 271 and the second lower claw portion 272C of the second holding member 272, which hold the upper firing container 205, are located in the recess 205H of the lower firing container 205. In this way, the first lower claw portion 271C and the second lower claw portion 272C do not interfere with the lower firing container 205, so the firing containers 205 can be appropriately stacked on top of the lower firing container 205.

[0098] In the above embodiment, two firing containers 205 are stacked in the vertical direction in the recycling line 90, but this is not a limitation. Three or more firing containers 205 may also be stacked in the vertical direction (e.g., five to ten).

[0099] The above description provides detailed examples of specific embodiments, but these embodiments are merely illustrative and not intended to limit the scope of the claims. Furthermore, the disclosure herein is open to various modifications; the constituent elements and processes mentioned herein can be appropriately omitted or combined without causing particular problems.

Claims

1. A device for removing a fired object, which removes the fired object from a firing platform having a mounting surface for holding the fired object, wherein, The device for removing the calcined object includes: robotic arm; A holding member, disposed on the robotic arm, and formed of a metallic material, capable of holding the firing platform; and A protective member, formed in the portion of the holding member that contacts the firing plate, and composed of a ceramic coating containing ceramic components. The robotic arm is configured to tilt the firing platform at least by rotating the holding member about a predetermined axis. The workpiece removal device includes a recovery unit located below the inclined position of the firing platform to recover the workpiece placed on the firing platform. The gripping member includes a first gripping member and a second gripping member disposed in a first direction opposite to the first gripping member. The first gripping member has a first gripping surface that contacts the firing plate, a first upper claw portion located above the first gripping surface and protruding toward the second gripping member relative to the first gripping surface, and a first lower claw portion located below the first gripping surface and protruding toward the second gripping member relative to the first gripping surface. The second gripping member has a second gripping surface that contacts the firing plate, a second upper claw portion located above the second gripping surface and protruding towards the first gripping member relative to the second gripping surface, and a second lower claw portion located below the second gripping surface and protruding towards the first gripping member relative to the second gripping surface. The first gripping member has a first middle claw portion, which is located at least between the first upper claw portion and the first lower claw portion in the vertical direction, and protrudes from the first gripping surface toward the second gripping member. Furthermore, when the firing table contacts the first gripping surface, in a top view, it is positioned on the side of the second direction closer to the end of the firing table on one side of the second direction than the end of the firing table on the side of the second direction. The second gripping member has a second middle claw portion, which is located at least between the second upper claw portion and the second lower claw portion in the vertical direction, and protrudes from the second gripping surface toward the first gripping member. When the firing table contacts the second gripping surface, it is located on the side of the second direction closer to the end of the firing table on the second direction when viewed from above.

2. The calcined object removal device according to claim 1, wherein, The ceramic coating is a ceramic spray coating.

3. The calcined object removal device according to claim 1 or 2, wherein, The length of the first claw portion in the first direction is longer than the length of the first upper claw portion and the first lower claw portion in the first direction. The length of the second middle claw in the first direction is longer than the length of the second upper claw and the second lower claw in the first direction.

4. The apparatus for removing the calcined object according to claim 1 or 2, wherein, The robotic arm has an arm portion equipped with the gripping component. The protective member is formed on at least the upper surface of the arm.

5. A firing system, wherein, The firing system includes: A firing furnace that conveys the firing platform as described in claim 1, and fires the workpiece as described in claim 1 placed on the mounting surface of the firing platform. A conveyor line, located downstream of the firing furnace, transports the firing platform from the firing furnace. The calcined object removal device according to claim 1; and A recovery line, located downstream of the object being fired removal device, recovers the firing platform. The burnt material removal device is located on the downstream side of the conveyor line.

6. The firing system according to claim 5, wherein, The conveyor line includes a first conveying mechanism for conveying the firing table and a first elevator for moving the firing table to a position above the first conveying mechanism.

7. The firing system according to claim 5 or 6, wherein, The recycling line includes a second conveying mechanism for conveying the firing table and a second elevator positioned above the second conveying mechanism for placing the firing table. The second lifting mechanism is configured to place the firing platform onto the second conveying mechanism by moving it downwards.

8. A device for removing a fired object, which removes the fired object from a firing container with an opening on its upper surface, wherein, The device for removing the calcined object includes: robotic arm; A holding member, disposed on the robotic arm, and formed of a metallic material, capable of holding the firing container; and A protective member, formed in the portion of the holding member that contacts the firing vessel, and composed of a ceramic coating containing ceramic components. The robotic arm is configured to allow the firing container to be tilted up and down by rotating the holding member. The device for removing the fired material includes a recovery unit located below the inverted position of the firing container to recover the fired material stored in the firing container. The gripping components include a first gripping component and a second gripping component located opposite to the first gripping component. The first gripping member has a first gripping surface that contacts the firing vessel, a first upper claw portion located above the first gripping surface and protruding toward the second gripping member relative to the first gripping surface, and a first lower claw portion located below the first gripping surface and protruding toward the second gripping member relative to the first gripping surface. The second gripping member has a second gripping surface that contacts the firing vessel, a second upper claw portion located above the second gripping surface and protruding towards the first gripping member relative to the second gripping surface, and a second lower claw portion located below the second gripping surface and protruding towards the first gripping member relative to the second gripping surface. The firing vessel has a rectangular bottom and four side portions extending upward from the bottom. The side surfaces are each formed with a downward-facing recess. When multiple firing containers are stacked vertically, the first lower claw portion of the first holding member holding the upper firing container and the second lower claw portion of the second holding member are located in the recess of the lower firing container.

9. The calcined object removal device according to claim 8, wherein, The ceramic coating is a ceramic spray coating.

10. The calcined object removal device according to claim 8 or 9, wherein, When the direction in which the first gripping member and the second gripping member are arranged is set as the first direction, The length of the first lower claw portion in the first direction is shorter than the length of the first upper claw portion in the first direction. The length of the second lower claw in the first direction is shorter than the length of the second upper claw in the first direction.

11. A firing system, wherein, The firing system includes: A firing furnace that conveys the firing container of claim 8 and fires the object to be fired as described in claim 8, which is housed within the firing container; A conveyor line, located downstream of the firing furnace, transports the firing containers from the firing furnace. The calcined object removal device as described in claim 8; and A recovery line, located downstream of the object being fired removal device, recovers the firing container. The burnt material removal device is located on the downstream side of the conveyor line.

12. The firing system according to claim 11, wherein, The conveyor line includes a first conveying mechanism for conveying the firing container and a first elevator for moving the firing container to a position above the first conveying mechanism.

13. The firing system according to claim 11 or 12, wherein, The recycling line includes a second conveying mechanism for transporting the firing vessel and a second elevator positioned above the second conveying mechanism for placing the firing vessel. The second lifting mechanism is used to position the firing container on the second conveying mechanism by moving it downwards.

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