Manipulator clamp structure, stone burning device and stone processing production line

Abstract

The utility model provides a mechanical arm clamp structure, a stone burning device and a stone machining production line. The mechanical arm clamp structure comprises a mechanical arm, and the mechanical arm can move under the driving action of a driving part; the adapter plate is connected to the operating end of the mechanical arm, and the adapter plate is provided with at least one connecting position; the clamp is detachably connected to the connecting position, the clamp can fix the spray gun so that the spray gun can be used for burning the stone surface, the movement flexibility of the mechanical arm is high, the spray gun can conduct burning operation on the complex or large-area stone surface, the area of a burning area and the applicability of special-shaped surface burning are improved, and the practicability is high. And diversified and refined fire processing requirements are met.

Description

Technical Field

[0001] The utility model belongs to the technical field of clamping, and specifically, the utility model relates to a manipulator fixture structure, a stone burning device and a stone processing production line. Background Art

[0002] In the stone processing industry, the burning treatment technology is one of the important means to improve the texture and aesthetics of stones.

[0003] In the prior art, the moving flexibility of the spray gun used for the burning treatment of the stone surface is insufficient, and it is difficult to perform burning operations on complex or large-area stone surfaces, resulting in limited burning areas and unable to meet the diverse and refined burning processing requirements. Summary of the Utility Model

[0004] An object of the utility model is to provide a new technical solution for a manipulator fixture structure, a stone burning device and a stone processing production line.

[0005] According to the first aspect of the utility model, a manipulator fixture structure is provided, including:

[0006] A robotic arm that can move under the driving action of a driving member;

[0007] An adapter plate connected to the operating end of the robotic arm, and having at least one connection position on the adapter plate;

[0008] A fixture detachably connected to the connection position, and the fixture can fix a spray gun to be used for burning the stone surface.

[0009] Optionally, the robotic arm includes a plurality of sequentially movably connected support arms, and the plurality of support arms include a driving support arm and an operating support arm. The driving support arm is used for connecting to a driving member, and one end of the operating support arm away from the driving support arm forms the operating end, and the operating end has at least four degrees of freedom.

[0010] Optionally, a bracket and a connector are provided at the operating end. The bracket can be rotatably connected to the operating support arm around a first direction, and the connector can be rotatably connected to the bracket around a second direction, and the second direction is perpendicular to the first direction.

[0011] Optionally, the adapter plate includes a connection area and a plurality of connection positions, the connection area is connected to the operating end of the robotic arm, and the plurality of connection positions are arranged at equal intervals on the periphery of the connection area.

[0012] Optionally, the adapter plate includes four connection positions, and the four connection positions are arranged in a cross shape on the periphery of the connection area.

[0013] Optionally, the clamp comprises a vertical clamping portion and a transverse clamping portion, one end of the vertical clamping portion is detachably connected to the connecting position, and the middle portion of the transverse clamping portion is connected to the other end of the vertical clamping portion;

[0014] The spray gun comprises an air inlet pipe, a distribution pipe and a spray head which are connected in sequence, the air inlet pipe is fixed to the vertical clamping part, the distribution pipe is fixed to the horizontal clamping part, and the spray head can extend from the horizontal clamping part.

[0015] Optionally, the spray gun includes a plurality of spray heads, and the plurality of spray heads are arranged in sequence side by side.

[0016] Optionally, a first U-shaped buckle is provided in the vertical clamping portion, the first U-shaped buckle is wound around the air inlet pipe and both ends of the first U-shaped buckle are connected to the vertical clamping portion;

[0017] A second U-shaped buckle is arranged in the transverse clamping portion. The second U-shaped buckle is wound around the distribution tube and has two ends connected to the transverse clamping portion.

[0018] According to a second aspect of the utility model, a stone burning device is provided, the stone burning device comprising a gas storage structure and the manipulator clamp structure described in the first aspect;

[0019] The gas storage structure is connected to the spray gun.

[0020] According to a third aspect of the utility model, a stone processing production line is provided, the stone processing production line comprising a conveyor line and the manipulator clamp structure described in the second aspect;

[0021] The conveying line is used for conveying stones and has a burning station, and the spray gun is used for burning the surface of the stones at the burning station.

[0022] A technical effect of the utility model is:

[0023] An embodiment of the present application provides a manipulator clamp structure, which includes a manipulator arm, which can move under the driving action of a driving member; an adapter plate, which is connected to the operating end of the manipulator arm, and has at least one connection position; a clamp, which is detachably connected to the connection position, and the clamp can fix a spray gun so that the spray gun can be used to burn the surface of the stone. The manipulator arm has high mobility and can enable the spray gun to perform burning operations on complex or large-area stone surfaces, thereby increasing the area of ​​the burning area and the applicability of burning special-shaped surfaces, and meeting the diverse and refined burning processing needs.

[0024] Other features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings incorporated in and forming a part of the specification illustrate embodiments of the present utility model and, together with the description thereof, are used to explain the principles of the present utility model.

[0026] Figure 1 Schematic diagram of a manipulator fixture structure provided for an embodiment of the present utility model;

[0027] Figure 2 Partial schematic diagram of a manipulator fixture structure provided for an embodiment of the present utility model;

[0028] Figure 3 Partial internal view of a manipulator fixture structure provided for an embodiment of the present utility model;

[0029] Figure 4 Schematic diagram of a stone burning device provided for an embodiment of the present utility model;

[0030] Figure 5 Schematic diagram of a stone processing production line provided for an embodiment of the present utility model.

[0031] Wherein:

[0032] 100, manipulator fixture structure; 1, robotic arm; 11, support arm; 111, bracket; 112, connector; 2, adapter plate; 21, connection position; 22, connection area; 3, fixture; 31, vertical clamping portion; 311, first U-shaped buckle; 32, horizontal clamping portion; 321, second U-shaped buckle; 4, spray gun; 41, intake pipe; 42, distribution pipe; 43, nozzle;

[0033] 200, conveyor line. Detailed implementation manners

[0034] Various exemplary embodiments of the present utility model will now be described in detail with reference to the drawings. It should be noted that: unless otherwise specifically stated, the relative arrangements of components and steps set forth in these embodiments, numerical expressions and values do not limit the scope of the present utility model.

[0035] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the drawings. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and should not be construed as limiting the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0036] The terms "first" and "second" in the description and claims of this application may explicitly or implicitly include one or more of such features. In the description of this application, unless otherwise specified, the meaning of "a plurality" is two or more. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0037] In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to this application.

[0038] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0039] It should be noted that: similar reference numerals and letters represent similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0040] The embodiment of this application provides a manipulator fixture structure. The robotic arm of the manipulator fixture structure can clamp the spray gun so that, while flexibly moving the spray gun, the surface of the stone can be burned by the spray gun to form a burned surface on the stone surface. On the basis of ensuring the flexibility of the movement of the spray gun, the area of the burned area and the applicability of burning the special-shaped surface can be improved.

[0041] In some embodiments, referring to Figures 1 to 3 , the manipulator fixture structure includes:

[0042] A robotic arm 1, which can move under the driving action of a driving member;

[0043] An adapter plate 2, which is connected to the operating end of the robotic arm 1, and the adapter plate 2 has at least one connection position 21;

[0044] The jig 3 is detachably connected to the connection position 21. The jig 3 can fix the spray gun 4 so that the spray gun 4 is used for flaming the stone surface.

[0045] In this embodiment, the robotic arm 1 can move under the drive of a driving member such as a motor or a hydraulic press, and can move at multiple angles in three-dimensional space to ensure the flexibility of the movement of the robotic arm 1 driving the spray gun 4. The adapter plate 2 is connected between the robotic arm 1 and the jig 3. Specifically, the adapter plate 2 can extend from the operating end of the robotic arm 1 to the connection position 21 to avoid the obstruction of the robotic arm 1 to the jig 3, facilitating the detachable connection of the jig 3 at the connection position 21.

[0046] See Figure 2 and Figure 3 The jig 3 can be used to clamp and fix the spray gun 4. For example, the spray gun 4 can be fixed on the jig 3 through a chuck or a buckle. The spray gun 4 is used for flaming the stone surface to form a flamed surface on the stone surface.

[0047] Specifically, the formation of a flamed surface on the stone surface may include:

[0048] First, select the rough stone material, perform preliminary cutting and grinding to make it have regular shape and size, and at the same time remove the burrs and sharp corners on the surface.

[0049] Second, put the preliminarily processed stone into a high-temperature furnace for burning. Under the action of high temperature, the minerals on the stone surface will undergo an oxidation reaction to form a uniform oxide layer. During the burning process, control the temperature and time to ensure that an ideal texture and texture are formed on the stone surface.

[0050] Third, after the burning is completed, further cut and grind the stone to make its surface smoother and more uniform. At the same time, special treatments such as waterproofing and anti-fouling can be performed on the stone surface, so that the oxide layer formed on the surface of the flamed stone has a unique texture and texture. Moreover, the presence of the oxide layer improves the corrosion resistance and service life of the stone, and also increases the anti-slip property of the stone.

[0051] In addition, before or after forming a flamed surface on the stone surface, a litchi surface can also be formed on the stone surface. Specifically, the formation of a litchi surface on the stone surface may include:

[0052] First, select the rough stone material, perform preliminary cutting and grinding to make it have regular shape and size.

[0053] Second, put the preliminarily processed stone into a litchi surface processing machine, and through the action of high-pressure friction and cutting, make the stone surface form uniform uneven small granular shapes, and precisely control the strength and speed of friction and cutting according to the hardness and texture of the stone.

[0054] Finally, after mechanical grinding is completed, manual polishing is carried out to improve the gloss of the stone surface and further adjust the fineness and depth of the litchi surface texture, so that the stone surface presents a texture similar to that of litchi peel, with unique beauty and texture, giving a strong three-dimensional sense and visual impact. Moreover, the litchi surface stone has high hardness, wear resistance and corrosion resistance, which can extend the service life of the stone.

[0055] In summary, both the flamed surface processing and the litchi surface processing of the stone are to process the stone surface through specific technological means to endow the stone with unique texture, texture and performance.

[0056] The manipulator fixture structure provided by the embodiment of the present application includes a robotic arm 1, and the robotic arm 1 can move under the driving action of a driving member; an adapter plate 2, the adapter plate 2 is connected to the operating end of the robotic arm 1, and the adapter plate 2 has at least one connection position 21; a fixture 3, the fixture 3 is detachably connected to the connection position 21, and the fixture 3 can fix a spray gun 4 so that the spray gun 4 is used to flame the stone surface. The robotic arm 1 has high movement flexibility, which can enable the spray gun 4 to perform flaming operations on complex or large-area stone surfaces, improving the area of the flamed area and the applicability of flamed surfaces with special shapes, and meeting the diversified and refined flamed processing requirements.

[0057] In one embodiment, referring to Figure 1 , the robotic arm 1 includes a plurality of sequentially movably connected support arms 11. The plurality of support arms 11 include a driving support arm and an operating support arm. The driving support arm is used to connect to the driving member, and one end of the operating support arm away from the driving support arm forms an operating end, and the operating end has at least four degrees of freedom.

[0058] In this embodiment, the robotic arm 1 adopts a structure in which a plurality of support arms are sequentially movably connected. The robotic arm 1 includes a driving support arm and an operating support arm. Among them, the end of the operating support arm is designed with an operating end with at least four degrees of freedom, ensuring the flexible movement and positioning of the spray gun 4 in three-dimensional space, and improving the accuracy and efficiency of the flaming operation.

[0059] In one embodiment, the robotic arm 1 is a high-degree-of-freedom robotic arm. The robotic arm 1 has 6 independent degrees of freedom of movement. Specifically, the operating end of the robotic arm 1 can translate along the X-axis, Y-axis, and Z-axis and rotate around the X-axis, Y-axis, and Z-axis. The X-axis, Y-axis, and Z-axis are respectively the horizontal, vertical, and vertical directions in the installation environment of the manipulator fixture structure, so that the robotic arm 1 can perform complex movements and pose adjustments through the control and linkage of joints, such as realizing complex movement paths and poses, so that the robotic arm 1 can complete various precise operation tasks to adapt to a variety of working environments and task requirements.

[0060] In addition, the robotic arm 1 with 6 degrees of freedom also has high load capacity and stability, and can meet the requirements of different working conditions for the performance of the robotic arm.

[0061] In one embodiment, see Figure 1 The operating end is provided with a bracket 111 and a connecting head 112. The bracket 111 can be rotated around a first direction and connected to the operating arm. The connecting head 112 can be rotated around a second direction and connected to the bracket 111. The second direction is perpendicular to the first direction.

[0062] In this embodiment, the first direction can be Figure 1 The W direction in the figure, the second direction can be Figure 1 In the S direction, since the connecting head 112 is connected to the bracket 111, when the bracket 111 rotates around the first direction, the bracket 111 can drive the connecting head 112 to rotate around the first direction; and the connecting head 112 itself can rotate around the second direction, that is, the connecting head 112 can realize multi-dimensional movement around the first direction and around the second direction. The adapter plate 2 is connected to the operating end of the robot arm 1 through the connecting head 112 and the bracket 111, which improves the mobility of the clamp 3 and the spray gun 4 on the adapter plate 2.

[0063] In one embodiment, see Figure 2 and Figure 3 The adapter plate 2 includes a connection area 22 and a plurality of connection positions 21 . The connection area 22 is connected to the operating end of the robot arm 1 . The plurality of connection positions 21 are arranged at equal intervals around the connection area 22 .

[0064] In this embodiment, the adapter plate 2 is connected to the operating end of the robot arm 1, and a plurality of equally spaced connection positions 21 are provided on the adapter plate 2 to facilitate the installation and replacement of clamps 3 of different specifications or types, making the replacement of the clamp 3 simple and quick, and being able to adapt to the disconnection requirements without adjusting the robot arm structure, thereby improving the clamping efficiency and equipment utilization, and enhancing the versatility and flexibility of the robot arm clamp structure.

[0065] In one embodiment, see Figure 3 The adapter plate 2 includes four connection positions 21, and the four connection positions 21 are arranged in a cross shape on the surrounding side of the connection area 22, avoiding interference between the installation and movement of the clamps 3 on the connection positions 21, and further improving the convenience and stability of the installation of the clamps 3 on the connection positions 21.

[0066] Specifically, among the multiple connection positions 21, some of the connection positions 21 can be connected to the spray gun, and the remaining connection positions 21 can be used to connect and clamp other components to improve the applicability of the manipulator clamp structure.

[0067] In one embodiment, see Figure 2 and Figure 3 The clamp 3 includes a vertical clamping portion 31 and a horizontal clamping portion 32, one end of the vertical clamping portion 31 is detachably connected to the connecting position 21, and the middle portion of the horizontal clamping portion 32 is connected to the other end of the vertical clamping portion 31;

[0068] The spray gun 4 includes an air inlet pipe 41, a distribution pipe 42, and a nozzle 43 that are connected in sequence. The air inlet pipe 41 is fixed to the vertical clamping portion 31, the distribution pipe 42 is fixed to the horizontal clamping portion 32, and the nozzle 43 can extend from the horizontal clamping portion 32.

[0069] In this embodiment, the fixture 3 adopts a combined design of a vertical clamping portion 31 and a horizontal clamping portion 32, which can stably fix the spray gun 4. The fuel gas and oxygen in the air inlet pipe 41 are mixed in the distribution pipe 42 and distributed to multiple nozzles 43 through the distribution pipe 42. This not only enhances the reliability of fixing the spray gun 4 but also can achieve a wider fire burning coverage range and a more uniform heating effect through the multi-nozzle layout, improving the processing quality of the stone fire surface.

[0070] In one embodiment, referring to Figure 2 and Figure 3 , the spray gun 4 includes multiple nozzles 43, and the multiple nozzles 43 are arranged side by side in sequence.

[0071] In this embodiment, the distribution pipe 42 distributes the fuel gas to multiple nozzles 43. Processing the surface of the stone through the multi-nozzle configuration of the spray gun 4 can improve the efficiency and uniformity of the fire burning operation on the stone surface.

[0072] In addition, the nozzle 43 can be detachably connected to the distribution pipe 42 to facilitate the adjustment of the number of nozzles 43 on the distribution pipe 42; moreover, the nozzles 43 on the distribution pipe 42 can be controllably turned on and off to facilitate the adjustment of the number of nozzles 43 used for the fire burning operation.

[0073] In one embodiment, referring to Figure 3 , a first U-shaped buckle 311 is arranged inside the vertical clamping portion 31. The first U-shaped buckle 311 is wound around the air inlet pipe 41 and both ends are connected to the inside of the vertical clamping portion 31;

[0074] A second U-shaped buckle 321 is arranged inside the horizontal clamping portion 32. The second U-shaped buckle 321 is wound around the distribution pipe 42 and both ends are connected to the inside of the horizontal clamping portion 32.

[0075] In this embodiment, the setting of the first U-shaped buckle 311 and the second U-shaped buckle 321 can improve the applicability of locking the pipe. For example, the first U-shaped buckle 311 and the second U-shaped buckle 321 can effectively lock and fix round pipes, square pipes, or polygonal pipes; fixing the air inlet pipe 41 and the distribution pipe 42 through structures such as the first U-shaped buckle 311 and the second U-shaped buckle 321 can ensure the stability and movement accuracy of the spray gun 4 during operation.

[0076] Referring to Figure 4, an embodiment of the present application provides a stone burning device, which includes a gas storage structure and the above-mentioned manipulator fixture structure 100;

[0077] The gas storage structure is connected to the spray gun 4.

[0078] In this embodiment, the gas storage structure can provide gas and oxygen for the intake pipe 41 of the spray gun 4. The gas and oxygen in the intake pipe 41 are mixed in the distribution pipe 42 and distributed to a plurality of nozzles 43 through the distribution pipe 42, which not only enhances the reliability of the fixation of the spray gun 4, but also improves the processing quality of the stone burning surface of the stone burning device.

[0079] See Figure 5 , an embodiment of the present application provides a stone processing production line, which includes a conveying line 200 and the above-mentioned manipulator fixture structure 100;

[0080] The conveying line 200 is used to convey stones and has a burning station, and the spray gun 4 is used to burn the surface of the stones at the burning station.

[0081] In this embodiment, the conveying line 200 can continuously convey stones to ensure the conveying efficiency of the stones; and when the conveying line 200 conveys the stones to the burning station, the spray gun 4 can burn the surface of the stones at the burning station from one or more surfaces of the stones. The moving flexibility of the robotic arm 1 is high, which enables the spray gun 4 to perform burning operations on the surface of complex or large-area stones, improving the area of the burning area and the applicability of burning on special-shaped surfaces, and meeting the diverse and refined burning processing requirements.

[0082] Although some specific embodiments of the present invention have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration and not for limiting the scope of the present invention. Those skilled in the art should understand that the above embodiments can be modified without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A manipulator fixture structure, characterized in that, Comprising: A robotic arm (1), which can move under the driving action of a driving member; An adapter plate (2), which is connected to the operating end of the robotic arm (1), and the adapter plate (2) has at least one connection position (21); A fixture (3), which is detachably connected to the connection position (21), and the fixture (3) can fix a spray gun (4) so that the spray gun (4) is used for burning the surface of the stone.

2. The manipulator fixture structure according to claim 1, characterized in that, The robotic arm (1) includes a plurality of sequentially movably connected support arms (11), and the plurality of support arms (11) include a driving support arm and an operating support arm. The driving support arm is used to connect to a driving member, and one end of the operating support arm away from the driving support arm forms the operating end, and the operating end has at least four degrees of freedom.

3. The manipulator fixture structure according to claim 2, wherein, A bracket (111) and a connector (112) are arranged at the operating end. The bracket (111) can be rotatably connected to the operating support arm around a first direction, and the connector (112) can be rotatably connected to the bracket (111) around a second direction, and the second direction is perpendicular to the first direction.

4. The manipulator fixture structure according to claim 1, wherein The adapter plate (2) includes a connection area (22) and a plurality of connection positions (21). The connection area (22) is connected to the operating end of the robotic arm (1), and the plurality of connection positions (21) are arranged at equal intervals on the periphery of the connection area (22).

5. The manipulator fixture structure according to claim 4, characterized in that, The adapter plate (2) includes four connection positions (21), and the four connection positions (21) are arranged in a cross shape on the periphery of the connection area (22).

6. The manipulator fixture structure according to claim 1, characterized in that, The fixture (3) includes a vertical clamping portion (31) and a horizontal clamping portion (32). One end of the vertical clamping portion (31) is detachably connected to the connection position (21), and the middle of the horizontal clamping portion (32) is connected to the other end of the vertical clamping portion (31); The spray gun (4) includes an air inlet pipe (41), a distribution pipe (42) and a spray head (43) that are sequentially communicated. The air inlet pipe (41) is fixed to the vertical clamping portion (31), the distribution pipe (42) is fixed to the horizontal clamping portion (32), and the spray head (43) can extend out of the horizontal clamping portion (32).

7. The manipulator fixture structure according to claim 6, wherein The spray gun (4) includes a plurality of spray heads (43), and the plurality of spray heads (43) are arranged side by side in sequence.

8. The manipulator fixture structure according to claim 6, wherein A first U-shaped buckle (311) is arranged inside the vertical clamping portion (31), and the first U-shaped buckle (311) is wound around the air inlet pipe (41) and both ends are connected to the inside of the vertical clamping portion (31); A second U-shaped buckle (321) is arranged inside the horizontal clamping portion (32), and the second U-shaped buckle (321) is wound around the distribution pipe (42) and both ends are connected to the inside of the horizontal clamping portion (32).

9. A stone burning device, characterized in that, Comprising a gas storage structure and the robotic arm fixture structure (100) according to any one of claims 1-8; The gas storage structure is communicated with the spray gun (4).

10. A stone processing production line, characterized in that, Comprising a conveying line (200) and the robotic arm fixture structure (100) according to any one of claims 1-8; The conveyor line (200) is used for conveying stones and has a flamed surface treatment station, and the spray gun (4) is used for performing flamed surface treatment on the surface of the stones at the flamed surface treatment station.

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