A multi-station robot

Abstract

The application relates to a multi-station mechanical arm, comprising a base provided with a lifting assembly; a first rotating disc rotatably assembled on the lifting assembly; four groups of clamping pieces rotatably arranged on the circumferential side of the first rotating disc; the clamping piece comprises an upper clamping plate arranged on one side of the clamping piece, an inner ring arranged on the upper clamping plate, and an outer ring connected to the upper clamping plate and annularly arranged on the outer circumferential side of the inner ring; the thickness of the annular groove between the inner ring and the outer ring is adapted to the wall thickness of the opening of a cup body; and the upper clamping plate is provided with a ventilation assembly capable of blowing and sucking air. Through the above arrangement, the cup body can be processed and transferred between multiple stations, and the cup body side wall is not directly clamped, four groups of clamping pieces can continuously circulate in four stations to carry out feeding, edge glaze brushing, cup bottom cleaning and discharging, and the processing speed is effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm, in particular to a multi-station mechanical arm. BACKGROUND

[0002] Before glazing, it is called a clay embryo or a blank, made of kaolin, with very light and light luster. In the past, due to the difference in performance of raw materials or the limitation of various product shapes, mechanical glazing has become a mature technology and has been widely used. Many enterprises have introduced mechanical glazing systems from abroad, such as Figure 4 The cup shown in the figure includes a cup body 33, a convex cup bottom 35, and the remaining part of the convex part of the cup bottom 35 needs to be glazed, and the inner and outer sides of the cup body 33 and the handle need to be glazed. The glaze used for the glazing of the cup opening of the cup body 33 and the glazing of the cup body is different. The conventional mechanical glazing system needs to connect multiple devices through a production line to perform cup feeding and glazing, and unloading, especially glazing of two different glazes. The clamping part will damage the previously glazed glaze, the operation is very troublesome, and the moving factors are large, which is easy to cause product damage due to improper handling operation. Secondly, it also occupies a larger space. SUMMARY

[0003] To solve the above technical problems, the present application provides a multi-station mechanical arm which can effectively solve the above technical problems.

[0004] To achieve the above purpose, the technical scheme of the present application is as follows:

[0005] A multi-station mechanical arm, comprising:

[0006] a base provided with a lifting assembly;

[0007] a first turntable rotatably assembled on the lifting assembly;

[0008] four groups of clamping pieces rotatably arranged on the periphery of the first turntable, the clamping pieces comprising:

[0009] an upper clamping plate arranged on one side of the clamping piece, an inner ring arranged on the upper clamping plate, and an outer ring connected to the upper clamping plate and arranged outside the inner ring, the thickness of the annular groove between the inner ring and the outer ring being adapted to the wall thickness of the opening of the cup body, and the upper clamping plate being provided with a ventilation assembly capable of blowing and sucking air;

[0010] a lower clamping plate rotatably arranged on the other side of the clamping piece, a support frame connected to the lower clamping plate, a pad seat arranged on the support frame and located below the inner ring, and a support block arranged on the pad seat, the support block and the pad seat being annular.

[0011] The technical scheme is realized as follows: the first rotating disc is provided with a first work station, a second work station, a third work station and a fourth work station, the third work station (not shown in the figure) is located at the rear side of the first rotating disc, the fourth work station (not shown in the figure) is located at the front side of the first rotating disc, the four work stations are identical in structure and are provided with identical clamping members, the first work station is used for glazing, the second work station is used for cleaning and discharging, the third work station is used for feeding, and the fourth work station is used for edge coating; first, the cup is fed by the clamping member in the third work station, the outer ring and the inner ring of the upper clamping plate are sleeved on the inner and outer sides of the cup mouth of the cup, and the convex edge at the bottom of the cup is located on the supporting block; the first rotating disc rotates the clamping member to the first work station, the clamping member drives the cup to descend by the lifting assembly to perform glazing, the clamping member can be rotated before glazing to make the cup mouth inclined into the glaze pool, and the clamping member is rotated back and forth during glazing to make the glazing more uniform; then the clamping member is brought to the fourth work station by the first rotating disc to clean the cup bottom, and the cup mouth is coated with edge glaze and discharged after cleaning; the discharge can be performed by manual or servo moving clamping jaw.

[0012] As a preferred scheme of the present application, the base is provided with a first sealing box forming a sealed enclosed space around the base, and the lifting assembly is fixedly connected to the base and located in the enclosed space.

[0013] The technical scheme is realized as follows: the base can be arranged in the glaze pool to save floor space, and the first sealing box can increase the sealing property.

[0014] As a preferred scheme of the present application, the power output end of the lifting assembly is drivingly connected with a second rotating motor, and the first rotating disc is connected to the power output shaft of the second rotating motor.

[0015] The technical scheme is realized as follows: the second rotating motor is lifted by starting the lifting assembly, and the rotating disc is driven to rotate by the second rotating motor, so that the rotating disc can be moved and lifted, and the first sealing box can prevent the glaze from entering the second rotating motor and the lifting assembly.

[0016] As a preferred scheme of the present application, the air passage includes an air cavity arranged in the upper clamping plate in a sealed manner, a plurality of air channels having one end communicated with the air cavity and the other end communicated with the top of the ring groove, and an air inlet communicated with the other end of the air cavity and penetrating through the upper clamping plate.

[0017] The technical scheme is realized as follows: the air inlet is used to connect a hose and an air pump, the air pump is selected to be a blowing and sucking dual-purpose centrifugal air pump capable of air intake and air outlet, the air pump is started to blow air during glazing, the ring groove is blown by the air cavity and the air channels, so that the glaze is prevented from flowing into the ring groove and adhering to the cup mouth.

[0018] As a preferred scheme of the present application, the first rotating disc is uniformly provided with four groups of second sealing boxes, a first rotating motor is arranged in the second sealing box, a power output shaft of the first rotating motor is drivingly connected with a second rotating disc, an eccentric rotating seat is arranged on one side of the second rotating disc, and the clamping piece is detachably arranged on the rotating seat.

[0019] The above technical scheme is realized, the first rotating motor is started, the clamping piece is rotated by the first rotating motor, the first rotating motor is sealingly arranged in the second sealing box, and the power output end is rotatingly and sealingly penetrated through the wall of the second sealing box and connected with the second rotating disc and the clamping piece, the orientation of the cup mouth can be adjusted in the vertical plane by the first rotating motor, the rotating seat is eccentrically and vertically arranged on the second rotating disc, the height of the cup body can be adjusted, the cup mouth is inclined downward before glazing, the cup body is driven downward into the glaze pool by the lifting assembly, the cup body is swung in the glaze pool by starting the first rotating motor again to accelerate the glazing process, the cup mouth is downwardly poured when the cup body is withdrawn from the glaze pool to remove the excess glaze, the cup body can still be swung to shake the residual glaze fully for multiple times after being withdrawn, and the excess glaze is shaken off.

[0020] As a preferred scheme of the present application, the upper side of one group of the clamping pieces is further provided with a cleaning assembly.

[0021] The above technical scheme is realized, the cup bottom is cleaned, the cup body needs to be placed on a kiln plate for firing, the glaze is completely melted during firing, if the cup bottom has glaze, the cup body will be adhered to the kiln plate after cooling, therefore, the cup bottom is scraped and cleaned to prevent adhesion at the place where the cup body is placed on the kiln plate.

[0022] As a preferred scheme of the present application, the cleaning assembly comprises a lifting frame arranged above one group of the clamping pieces, an up-down driving assembly connected with the lifting frame, a cleaning frame connected with a power output end of the up-down driving assembly, a cleaning motor arranged on the lower side of the cleaning frame, a mounting seat connected with a power output shaft of the cleaning motor, and a scraping piece detachably arranged on the mounting seat, a spray head is further arranged above the cleaning motor, and one end of the spray head is communicated with a water inlet.

[0023] The above technical scheme is realized, the cleaning assembly is arranged at the fourth station, the cup mouth is located in the groove between the outer ring and the inner ring, the air suction is started by the ventilation assembly, the cup body is adsorbed on the upper clamping plate, the first rotating disc is rotated and the up-down driving assembly is started to drive the cleaning motor to lift, the scraping piece is located on the cup bottom, the cleaning motor is started to drive the scraping piece to rotate, the cup body glaze is scraped, the state of the clamping piece at the fourth station is maintained, the cleaning assembly is started to spray water on the scraping plate to remove the glaze on the scraping plate after the clamping piece is removed, the scraping plate is made of silica gel or rubber, has elasticity and low hardness, and reduces damage to the cup bottom.

[0024] As a preferred scheme of the present application, the lower side of the clamping piece is driven to be connected with a sealing seat, a third rotating motor is arranged in the sealing seat, a sealing sleeve is embedded in the rotating seat, and a power output shaft of the third rotating motor rotates and penetrates the rotating seat in a sealing mode and is connected with the lower clamping plate.

[0025] When the clamping piece is moved from the fourth station to the second station, the support frame is inserted into the lower clamping plate by manual or servo movement of an external person, the air suction of the air supply assembly is changed to air blowing, the cup bottom falls on the support block, the third rotating motor is started to rotate the cup body, the glaze brush or the glaze nozzle is moved to the cup opening by servo movement, the glaze is brushed or sprayed on the edge of the cup opening of the rotating cup body, and then the pad seat is moved to the kiln plate by manual or multi-axis servo movement of the clamping assembly to complete the unloading.

[0026] As a preferred scheme of the present application, the bottom of the inner ring and the outer ring is provided with a convex ring which is downwardly protruding and semicircular.

[0027] The above technical solution is realized, so that the glaze is gathered at the bottom of the convex ring under the action of gravity, and the glaze is reduced to contaminate the opposite sides of the outer ring and the inner ring.

[0028] As a preferred scheme of the present application, the lifting assembly and the up-down driving assembly are selected from the following structures: air cylinder, electric cylinder or hydraulic cylinder, and the clamping piece is selected from the following structures: bidirectional screw rod or clamping cylinder.

[0029] In summary, the present application has the following beneficial effects:

[0030] The present application provides a multi-station mechanical arm. First, the cup body is loaded by the clamping piece in the third station, the outer ring and the inner ring of the upper clamping plate are sleeved on the inner and outer sides of the cup opening of the cup body, the convex edge at the bottom of the cup body is located on the support block, the clamping piece is rotated to the first station by the first rotating disc, the clamping piece drives the cup body to descend for glazing by the lifting assembly, the clamping piece is rotated before glazing, the cup opening is inclined into the glaze pool, the clamping piece is rotated back and forth during glazing, the glazing is more uniform, then the clamping piece is brought to the fourth station by the first rotating disc to clean the cup bottom, the cup opening is brushed with edge glaze and unloaded after cleaning in the second station, and the unloading can be unloaded by manual or servo moving clamping jaw, so that the cup body can be processed and transferred between multiple stations, the cup body is not directly clamped on the side wall, four clamping pieces can continuously circulate for loading, brushing edge glaze, cleaning the cup bottom and unloading in four stations, and the processing speed is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced. Obviously, the accompanying drawings in the following description only represent some of the embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of these drawings.

[0032] Figure 1 Part of the front view of the present application.

[0033] Figure 2 Structure diagram of the second turntable of the present application.

[0034] Figure 3 Structure diagram of the cleaning assembly of the present application.

[0035] Figure 4 Enlarged view of A in the present application. Figure 1

[0036] Figure 5 Enlarged view of B in the present application. Figure 1

[0037] Figure 6 Structure diagram of the cup of the present application.

[0038] Corresponding component names represented by numbers and letters in the drawings:

[0039] 1, lifting assembly; 2, first turntable; 3, first rotating motor; 4, second rotating motor; 5, first work station; 6, second work station; 7, second turntable; 8, base; 9, spray head; 10, first sealed box; 11, second sealed box; 12, rotating seat; 13, lifting frame; 14, up-down driving assembly; 15, cleaning frame; 16, water inlet interface; 17, cleaning motor; 18, mounting seat; 19, scraper; 20, clamping piece; 21, upper clamping plate; 22, air inlet interface; 23, inner ring; 24, outer ring; 26, air cavity; 27, air duct; 28, sealing seat; 29, third rotating motor; 30, sealing sleeve; 31, support frame; 32, pad seat; 33, cup body; 34, cup mouth; 35, cup bottom; 37, support block; 38, lower clamping plate; 39, convex ring. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments only represent some of the embodiments of the present application, and for those skilled in the art, other drawings can be obtained without creative labor on the basis of these drawings.

[0041] ​​Embodiment

[0042] As shown in the drawings, a multi-station mechanical arm comprises: Figures 1-6 A base 8 is provided with a lifting assembly 1;

[0043] A first rotating disc 2 is rotatably assembled to the lifting assembly 1;

[0044] Four sets of clamping pieces 20 are uniformly rotatably arranged around the first rotating disc 2, and the clamping piece 20 comprises:

[0045] An upper clamping plate 21 is arranged on one side of the clamping piece 20, an inner ring 23 is arranged on the upper clamping plate 21, an outer ring 24 is connected to the upper clamping plate 21 and arranged around the outer periphery of the inner ring 23, the thickness of the annular groove between the inner ring 23 and the outer ring 24 is adapted to the wall thickness of the opening of the cup body 33, and the upper clamping plate 21 is provided with a ventilation assembly capable of blowing and sucking air;

[0046] A lower clamping plate 38 is rotatably arranged on the other side of the clamping piece 20, a support frame 31 is connected to the lower clamping plate 38, a pad seat 32 is arranged on the support frame 31 and located on the lower side of the inner ring 23, and a support block 37 is arranged on the pad seat 32, and the support block 37 and the pad seat 32 are annular.

[0047] The base 8 is provided with a first sealing box 10 which forms a sealed enclosed space around the base 8, the lifting assembly 1 is fixedly connected to the base 8 and located in the enclosed space, the base 8 can be arranged in the glaze pool to save floor space, and the sealing property can be improved by the first sealing box 10.

[0048] The power output end of the lifting assembly 1 is drivingly connected with a second rotating motor 4, the first rotating disc 2 is connected to the power output shaft of the second rotating motor 4, the second rotating motor 4 is lifted by starting the lifting assembly 1, the rotating disc is driven to rotate by the second rotating motor 4, so that the rotating disc can be moved and lifted, and the first sealing box 10 can prevent the glaze from entering the second rotating motor 4 and the lifting assembly 1.

[0049] The ventilation comprises: a gas cavity 26 which is sealingly arranged in the inner part of the upper clamping plate 21, a plurality of air ducts 27 which are connected at one end to the gas cavity 26 and at the other end to the top of the annular groove, and an air inlet 22 which is connected at one end to the gas cavity 26 and penetrates through the upper clamping plate 21, the air inlet 22 is used to connect a hose and an air pump, the air pump is selected to be a blowing and sucking dual-purpose centrifugal air pump which can intake and exhaust air, the air pump is started to blow air when glazing, the annular groove is blown by the gas cavity 26 and the air duct 27, so that the glaze is prevented from flowing into the annular groove and adhering to the edge of the cup opening 34.

[0050]

[0051] ​The first rotating disc 2 is uniformly provided with four groups of second sealing boxes 11, the first rotating motor 3 is arranged in the second sealing box 11, the power output shaft of the first rotating motor 3 is drivingly connected with the second rotating disc 7, the second rotating disc 7 is eccentrically provided with a rotating seat 12 on one side, the clamping piece 20 is detachably arranged on the rotating seat 12, the first rotating motor 3 is started, the clamping piece 20 is rotated by the first rotating motor 3, the first rotating motor 3 is sealingly arranged in the second sealing box 11, the power output end is sealingly penetrated through the wall of the second sealing box 11 and connected with the second rotating disc 7 and the clamping piece 20, the first rotating motor 3 can adjust the orientation of the cup mouth 34 in the vertical plane, and the rotating seat 12 is vertically eccentric to the second rotating disc 7, the height of the cup body 33 can be adjusted, the cup mouth 34 is inclined downward before glazing, the cup body 33 is driven downward into the glaze pool by the lifting assembly 1, the first rotating motor 3 is started again to make the cup body 33 swing in the glaze pool to accelerate the glazing process, the cup mouth 34 is downwardly poured when exiting the glaze pool to remove the excess glaze, the cup body 33 can still be swung after exiting to make the residual glaze fully shaken and removed.

[0052] The upper side of one group of the clamping pieces 20 is further provided with a cleaning assembly to clean the cup bottom 35, because the cup body 33 needs to be placed on the kiln plate for burning, the glaze is completely melted during the burning process, if the cup bottom 35 has glaze, the cup body 33 will be stuck on the kiln plate after cooling, therefore, the cup bottom 35 is scraped and cleaned to prevent sticking at the connection between the cup bottom 35 and the kiln plate.

[0053] The cleaning assembly comprises a lifting frame 13 arranged above one group of the clamping pieces 20, an up-down driving assembly 14 connected with the lifting frame 13, a cleaning frame 15 connected with the power output end of the up-down driving assembly 14, a cleaning motor 17 arranged on the lower side of the cleaning frame 15, a mounting seat 18 connected with the power output shaft of the cleaning motor 17, and a scraper 19 detachably arranged on the mounting seat 18, a spray head 9 is further arranged above the cleaning motor 17, one end of the spray head 9 is communicated with a water inlet 16, the cleaning assembly is arranged at the fourth station, the cup mouth 34 is located in the groove between the outer ring 24 and the inner ring 23, the air suction assembly is started to suck the cup body 33 to the upper clamping plate 21, the first rotating disc 2 is rotated and the up-down driving assembly 14 is started to drive the cleaning motor 17 to lift, the scraper 19 is located on the cup bottom 35, the cleaning motor 17 is started to drive the scraper 19 to rotate, the glaze on the cup body 33 is scraped, the state of the clamping piece 20 at the fourth station is maintained, the clamping piece 20 is removed, the spray head 9 is started to spray water on the scraper to remove the glaze on the scraper, the scraper is made of silica gel or rubber, has elasticity and low hardness, and reduces damage to the cup bottom 35.

[0054] The lower side of the clamping piece 20 is drivenly connected with a sealing seat 28, the third rotating motor 29 is arranged in the sealing seat 28, the rotating seat 12 is embedded with a sealing sleeve 30, the power output shaft of the third rotating motor 29 rotates sealingly through the rotating seat 12 and is connected to the lower clamping plate 38, when the clamping piece 20 is moved from the fourth station to the second station 6, the support frame 31 is inserted into the lower clamping plate 38 by manual or servo moving of the outside, the air suction of the air supply assembly is changed to air blowing, the cup bottom 35 falls on the support block 37, the third rotating motor 29 is started to rotate the cup body 33, the glaze brush or the glaze nozzle 9 is moved to the cup mouth 34 by servo moving to brush or spray the glaze on the cup mouth 34 of the rotating cup body 33, and then the pad seat 32 is moved to the kiln plate by manual or multi-axis servo moving of the clamping piece to complete the unloading.

[0055] The bottom of the inner ring 23 and the outer ring 24 is provided with a convex ring 39 which is protruded downward and semicircular, so that the glaze is gathered at the bottom of the convex ring 39 under the action of gravity, and the glaze is reduced to contaminate the opposite side of the inner ring 23 and the outer ring 24.

[0056] The lifting assembly 1 and the up-down driving assembly 14 are selected from the following structures: air cylinder, electric cylinder or hydraulic cylinder, and the clamping piece 20 is selected from the following structures: bidirectional screw or clamping air cylinder, in the embodiment, the lifting assembly 1 is selected as the lifting air cylinder, and the clamping piece 20 is selected as the bidirectional screw.

[0057] In use, the first rotating disc 2 is formed with the first station 5, the second station 6, the third station (not shown in the figure) and the fourth station (not shown in the figure), the third station is located at the rear side of the first rotating disc 2, the fourth station is located at the front side of the first rotating disc 2, the four stations are the same in structure and are provided with the clamping pieces 20 which are the same in structure, the first station 5 is used for glazing, the second station 6 is used for cleaning and unloading, the third station is used for feeding, and the fourth station is used for edge brushing, first, the cup body 33 is fed by the clamping piece 20 in the third station, the cup body 33 is in a horizontal state, the outer ring 24 and the inner ring 23 of the upper clamping plate 21 are sleeved on the inner and outer sides of the cup mouth 34 of the cup body 33, the convex edge at the bottom of the cup body 33 is located on the support block 37, the first rotating disc 2 rotates the clamping piece 20 to the first station 5, the clamping piece 20 drives the cup body 33 to descend for glazing by the lifting assembly 1, before glazing, the clamping piece 20 is rotated to make the cup mouth 34 inclined into the glaze pool, and the clamping piece 20 is rotated back and forth during glazing to make the glazing more uniform, then the clamping piece 20 is moved to the fourth station by the first rotating disc 2 to clean the cup bottom 35, after cleaning, the cup mouth 34 is brushed with edge glaze and unloaded in the second station 6, and the unloading can be performed by manual or servo moving of the clamping jaw.

[0058] The foregoing description of the disclosed embodiments enables a person skilled in the art to make or use the application. Modifications of these embodiments will occur to persons of skill in the art, and that the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Therefore, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-station robot, characterized by, The utility model relates to a cup body automatic production equipment, including: Base, be provided with lifting assembly; The first carousel of rotation type assembly is equipped with the lifting assembly; Four groups of even rotation type setting in the first carousel circumferential clamping piece, the clamping piece includes: setting in the upper clamping plate of one side of the clamping piece, setting in the inner ring of the upper clamping plate, the outer ring is connected to the upper clamping plate and is annularly arranged in the outer circumference of the inner ring, the thickness of the annular groove between the inner ring and the outer ring is adapted to the wall thickness at the opening of the cup body, the upper clamping plate is provided with the ventilation assembly that can blow and inhale; The lower clamping plate of rotation type setting in the other side of the clamping piece, the support frame is connected to the lower clamping plate, the pad seat is set in the support frame and is located the inner ring downside, and the support block is set in the pad seat, the support block and pad seat are annular; The power output end of the lifting assembly is driven to be connected with the second rotating motor, and the first carousel is connected to the power output shaft of the second rotating motor; The ventilation assembly includes: the air cavity of sealed type setting in the inner part of the upper clamping plate, a plurality of air passages are communicated with the air cavity and the top of the annular groove, and the air inlet is communicated with the other end of the air cavity and passes through the upper clamping plate; The upper side of one group of the clamping piece is further provided with the cleaning assembly; The lifting frame is set in one group of the clamping piece, the up-down drive assembly is connected to the lifting frame, the cleaning frame is connected to the power output end of the up-down drive assembly, the cleaning motor is set in the lower side of the cleaning frame, the mounting seat is connected to the power output shaft of the cleaning motor, and the scraper is detachably set in the mounting seat, the upper side of the cleaning motor is further provided with the spray head, and one end of the spray head is communicated with the water inlet.

2. The multi-station robotic arm of claim 1, wherein, The base is provided with the first sealing box that forms the sealed enclosure space with the periphery of the base, and the lifting assembly is fixedly connected to the base and located in the enclosure space.

3. The multi-station robotic arm of claim 1, wherein, The first carousel is uniformly annularly provided with four groups of second sealing boxes, the first rotating motor is arranged in the second sealing box, the power output shaft of the first rotating motor is driven to be connected with the second carousel, the rotating seat is eccentrically arranged on one side of the second carousel, and the clamping piece is detachably arranged in the rotating seat.

4. The multi-station robotic arm of claim 1, wherein, The lower side of the clamping piece is driven to be connected with the sealing seat, the third rotating motor is arranged in the sealing seat, the sealing sleeve is embedded in the rotating seat, and the power output shaft of the third rotating motor is rotatably and sealingly penetrated in the rotating seat and connected to the lower clamping plate.

5. The multi-station robotic arm of claim 1, wherein, The bottom of the inner ring and the outer ring is provided with a convex ring that is convex downward and semicircular.

6. The multi-station robotic arm of claim 1, wherein, The lifting assembly and the up-down drive assembly are selected from the following structures: air cylinder, electric cylinder or hydraulic cylinder, and the clamping piece is selected from the following structures: bidirectional screw or clamping air cylinder.

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