Novel self-learning memory mechanical arm and glaze spraying machine with mechanical arm

Abstract

A novel self-learning memory mechanical arm comprises a mounting base, a first servo motor, a second servo motor, a first mechanical arm body and a second mechanical arm body. The mounting base is designed in a pi shape and comprises a mounting plate, a right rotating shaft plate and a left rotating shaft plate, the right rotating shaft plate and the left rotating shaft plate are integrally and vertically arranged at the bottom of the mounting plate and are arranged in a left-right parallel and spaced mode, and the first servo motor and the second servo motor are arranged on the right side of the right rotating shaft plate and the left side of the left rotating shaft plate respectively; the upper end of the first mechanical arm and the upper end of the second mechanical arm are in power connection with the first servo motor and the second servo motor correspondingly, and the lower end of the second mechanical arm is further movably coupled with the first mechanical arm. In addition, the utility model further provides a glaze spraying machine with the novel self-learning memory mechanical arm. According to the utility model, a movement structure consisting of double servo motors and four mechanical arms is designed, so that the movement of the spray gun can be controlled more quickly and more accurately in an automatic glaze spraying process; the utility model has the advantages of strong practicability and strong popularization significance.

Description

TECHNICAL FIELD

[0001] The utility model relates to ceramic production field especially relates to a novel self -learning memory mechanical arm and have the glaze spraying machine of this mechanical arm. BACKGROUND

[0002] Glaze spraying is a commonly used ceramic surface decoration method. It is a glazing process that uses a glaze sprayer to atomize the glaze and uniformly spray it onto the surface of the ceramic body. Glaze spraying process is mainly used for large vessels, complex shapes, thin-walled or surface decoration special effect body glazing. It can be sprayed multiple times to achieve multi-color glazing, and can obtain a relatively thick glaze layer.

[0003] The existing glaze spraying methods include manual glaze spraying, straight-line automatic glaze spraying line, rotary disc automatic glaze spraying machine, and robot glaze spraying. Manual glaze spraying has low production efficiency and uneven glaze thickness. If color glaze is used, uneven glaze thickness can easily cause product color difference. Although the straight-line automatic glaze spraying line and the rotary disc automatic glaze spraying machine improve production efficiency, the spray gun (or nozzle) is installed on a fixed support with a fixed distance from the body rotating tray, and the relative distance between the nozzle and the body surface changes constantly during the glaze spraying process (the distance between the nozzle and the surface of the large-diameter body decreases; the distance between the nozzle and the surface of the small-diameter body increases), resulting in uneven glaze thickness on the body surface and product color difference, which is not suitable for glaze spraying of complex-shaped bodies. As for the robot glaze spraying method, intelligent robots are expensive and complex, so it is difficult to control the use and maintenance cost of glaze spraying. SUMMARY

[0004] Therefore, it is necessary to provide a novel self-learning memory mechanical arm to overcome the shortcomings of the prior art.

[0005] A novel self-learning memory mechanical arm, comprising a mounting seat, a first servo motor, a second servo motor, a first mechanical arm and a second mechanical arm. The mounting seat is designed in the shape of "π" and comprises a mounting plate, a right rotating shaft plate and a left rotating shaft plate integrally erected on the bottom of the mounting plate and arranged in parallel and spaced apart on the left and right sides, the first servo motor and the second servo motor are respectively installed on the right side of the right rotating shaft plate and the left side of the left rotating shaft plate, the upper ends of the first mechanical arm and the second mechanical arm are respectively connected with the first servo motor and the second servo motor, and the lower end of the second mechanical arm is further connected with the first mechanical arm. The first servo motor and the second servo motor each comprise a servo motor body and an encoder installed on one side of the servo motor body.

[0006] Further, the first mechanical arm comprises a first upper arm, a first rotating shaft joint and a first lower arm, the upper end of the first upper arm is connected with the first servo motor, the first rotating shaft joint is connected with the lower end of the first upper arm, and the upper end of the first lower arm is connected with the first rotating shaft joint.

[0007] Further, the second mechanical arm comprises a second upper arm, a second rotation shaft joint, a second lower arm and a third rotation shaft joint, the upper end of the second upper arm is connected with the second servo motor in power, the lower end of the second upper arm is connected with the second rotation shaft joint in activity, the upper end of the second lower arm is connected with the second rotation shaft joint in activity, and the lower end of the second lower arm is connected with the third rotation shaft joint in activity, and the third rotation shaft joint is also connected with the middle part of the first lower arm in activity.

[0008] Further, the first upper arm and the second lower arm are arranged in parallel, and the arm length of the first upper arm is consistent with the arm length of the second lower arm.

[0009] In addition, the utility model discloses a kind of glaze spraying machine with novel self-learning memory mechanical arm.

[0010] A kind of glaze spraying machine with novel self-learning memory mechanical arm, it includes rack, station turntable, glaze spraying mechanical arm, glaze spraying gun and control system, the station turntable, glaze spraying mechanical arm and control system are all installed on rack, and glaze spraying mechanical arm is located the upper side of station turntable, the glaze spraying gun is installed at the lower end of glaze spraying mechanical arm, and the control system is electrically connected with station turntable, glaze spraying mechanical arm and glaze spraying gun respectively and signal connection.The glaze spraying mechanical arm is the novel self-learning memory mechanical arm described above, it includes mounting seat, first servo motor, second servo motor, first mechanical arm and second mechanical arm.The mounting seat is designed as " π " shape, it includes mounting plate and right rotation shaft plate and left rotation shaft plate that are vertically integrated on the bottom of mounting plate and arranged in parallel and spaced apart on the left and right, the first servo motor and second servo motor are installed on the right side of right rotation shaft plate and the left side of left rotation shaft plate respectively, the upper end of first mechanical arm and second mechanical arm is installed and connected with first servo motor and second servo motor in power respectively, and the lower end of second mechanical arm is also connected with first mechanical arm in activity.The first servo motor and second servo motor all include servo motor body and encoder installed on the side of servo motor body.

[0011] Further, the first mechanical arm comprises a first upper arm, a first rotation shaft joint and a first lower arm, the upper end of the first upper arm is connected with the first servo motor in power, the lower end of the first upper arm is connected with the first rotation shaft joint in activity, and the upper end of the first lower arm is connected with the first rotation shaft joint in activity.

[0012] Further, the second mechanical arm comprises a second upper arm, a second rotation shaft joint, a second lower arm and a third rotation shaft joint, the upper end of the second upper arm is connected with a second servo motor, the lower end of the second upper arm is connected with the second rotation shaft joint, the upper end of the second lower arm is connected with the second rotation shaft joint, and the lower end of the second lower arm is connected with the third rotation shaft joint, and the third rotation shaft joint is also connected with the middle part of the first lower arm.

[0013] Further, the first upper arm and the second lower arm are arranged in parallel, and the arm length of the first upper arm is consistent with that of the second lower arm. The second upper arm and the first lower arm are arranged in parallel, and the arm length of the second upper arm is smaller than that of the first lower arm.

[0014] Further, the work station turntable comprises a work station turntable support, a work station turntable motor, a blank tray rotation shaft, a blank tray rotation motor and a blank tray. The work station turntable support and the work station turntable motor are arranged on the frame, and the work station turntable motor is connected with the work station turntable support and can drive the work station turntable support to rotate, the blank tray rotation shaft and the blank tray rotation motor are arranged on the work station turntable support, and the blank tray rotation motor is connected with the blank tray rotation shaft and can drive the blank tray rotation shaft to rotate, and the blank tray is arranged on the upper end of the blank tray rotation shaft. The work station turntable motor and the blank tray rotation motor each comprise a servo motor body and an encoder arranged on one side of the servo motor body.

[0015] Further, the work station turntable comprises two sets of blank tray rotation shafts, blank tray rotation motors and blank trays, the two sets of blank tray rotation shafts and blank tray rotation motors are arranged on the two sides of the work station turntable support, and the two sets of blank tray rotation motors are connected with the corresponding blank tray rotation shafts and can drive the corresponding blank tray rotation shafts to rotate, and the two sets of blank trays are arranged on the upper ends of the two sets of blank tray rotation shafts.

[0016] Further, the glaze spraying gun comprises a gun rotation motor, a gun rotation shaft and a gun, the gun rotation motor is arranged on the lower end of the first mechanical arm, one end of the gun rotation shaft is connected with the gun rotation motor, and the gun is arranged on the other end of the gun rotation shaft. The gun rotation motor comprises a servo motor body and an encoder arranged on one side of the servo motor body.

[0017] Further, the gun is designed in the shape of a pistol, comprising a gun handle and a gun head. The gun handle is arranged on the end of the gun rotation shaft, and the gun head is arranged on the upper end of the gun handle. A manual glaze spraying button is arranged on the gun handle.

[0018] Furthermore, the control system includes a self-learning memory processor and a control panel, wherein the self-learning memory processor is electrically and signal-connected to the control panel, the workstation turntable, the glazing robotic arm, and the glazing gun.

[0019] In summary, the beneficial effects of this novel self-learning memory robotic arm and the glazing machine equipped with it are as follows: By designing a motion structure consisting of dual servo motors and four robotic arms, the movement of the spray gun can be controlled more quickly and accurately during automated glazing, shortening the glazing time and improving the glaze quality; the self-learning memory robotic arm, the rotating spray gun, and the workstation turntable work together to enable the nozzle to move along any curve along the surface of the blank during the glazing process, and the nozzle can maintain a fixed vertical distance from the surface of the blank while making curved movements, ensuring that the glaze layer thickness is uniform in all parts of the blank surface, greatly improving the glazing effect of ceramic and other products; this utility model is highly practical and has significant promotional value. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a glazing machine with a novel self-learning and memory robotic arm according to the present invention.

[0021] Figure 2 for Figure 1 Schematic diagram of the structure of the intermediate workstation rotary table;

[0022] Figure 3 for Figure 1 A schematic diagram of the structure of the spray glazing robotic arm;

[0023] Figure 4 for Figure 1 A schematic diagram of the structure of a spray glazing gun. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this utility model clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the utility model.

[0025] like Figures 1 to 4 As shown, this utility model provides a glazing machine 100 with a novel self-learning and memory robotic arm, which includes a frame 10, a workstation turntable 20, a glazing robotic arm 30, a glazing gun 40, and a control system 50. The workstation turntable 20, the glazing robotic arm 30, and the control system 50 are all mounted on the frame 10, and the glazing robotic arm 30 is located on the upper side of the workstation turntable 20. The glazing gun 40 is mounted on the lower end of the glazing robotic arm 30. The control system 50 is electrically and signal connected to the workstation turntable 20, the glazing robotic arm 30, and the glazing gun 40.

[0026] The work station turntable 20 comprises a work station turntable support 21, a work station turntable motor 22, a blank tray rotating shaft 23, a blank tray rotating motor 24 and a blank tray 25. The work station turntable support 21 and the work station turntable motor 22 are both arranged on the frame 10, and the work station turntable motor 22 is in power connection with the work station turntable support 21 and can drive the work station turntable support 21 to rotate, the blank tray rotating shaft 23 and the blank tray rotating motor 24 are both arranged on the work station turntable support 21, and the blank tray rotating motor 24 is in power connection with the blank tray rotating shaft 23 and can drive the blank tray rotating shaft 23 to rotate, and the blank tray 25 is arranged on the upper end of the blank tray rotating shaft 23. The work station turntable motor 22 and the blank tray rotating motor 24 both comprise a servo motor body 60 and an encoder 70 arranged on one side of the servo motor body 60.

[0027] When it is needed to clamp and fix the ceramic product to be processed by glazing, it is only needed to place it on the blank tray 25, and the blank tray 25 will clamp and fix it by using negative pressure adsorption or mechanical clamping. After the product is clamped and fixed, the work station turntable motor 22 will drive the product to revolve around the corresponding rotating shaft, so that the product is in position correspondence with the glazing gun 40 and receives surface glazing processing. In the process of glazing processing, the blank tray rotating motor 24 will also drive the product to rotate, so that the glazing gun 40 can surround the product surface to perform glazing processing without dead angle. Since the structure of each motor on the work station turntable 20 is provided with the encoder 70 device, the rotation positioning of the product is more accurate and reliable.

[0028] Specifically in the embodiment, the blank tray rotating shaft 23, the blank tray rotating motor 24 and the blank tray 25 of the work station turntable 20 are provided with two groups, the blank tray rotating shaft 23 and the blank tray rotating motor 24 of the two groups are arranged on the two sides of the work station turntable support 21, and the blank tray rotating motor 24 of the two groups is in power connection with the corresponding blank tray rotating shaft 23 and can drive the corresponding blank tray rotating shaft 23 to rotate, and the blank tray 25 of the two groups is arranged on the upper end of the blank tray rotating shaft 23. The two groups of tray structures enable the work station turntable 20 to clamp and hold two products at the same time to perform glazing processing in turn, so that the glazing machine has the function of continuous processing, and the processing efficiency is effectively improved. It can be understood that in other embodiments, the tray structure on the work station turntable 20 can also be provided with more groups, which are all within the protection scope of the utility model.

[0029] The glaze spraying mechanical arm 30 comprises a mounting base 31, a first servo motor 32, a second servo motor 33, a first mechanical arm 34 and a second mechanical arm 35. The mounting base 31 is designed in a "π" shape, comprising a mounting plate 311, a right rotating shaft plate 312 and a left rotating shaft plate 313 integrally erected on the bottom of the mounting plate 311 and arranged in parallel and spaced apart left and right, the first servo motor 32 and the second servo motor 33 are respectively arranged on the right side of the right rotating shaft plate 312 and the left side of the left rotating shaft plate 313, the upper ends of the first mechanical arm 34 and the second mechanical arm 35 are respectively arranged in power connection with the first servo motor 32 and the second servo motor 33, and the lower end of the second mechanical arm 35 is further arranged in movable shaft connection with the first mechanical arm 34. The first servo motor 32 and the second servo motor 33 each comprise a servo motor body 60 and an encoder 70 arranged on one side of the servo motor body 60.

[0030] The first mechanical arm 34 comprises a first upper arm 341, a first rotating shaft joint (not shown in the figure) and a first lower arm 342, the upper end of the first upper arm 341 is in power connection with the first servo motor 32, the first rotating shaft joint is in movable shaft connection with the lower end of the first upper arm 341, and the upper end of the first lower arm 342 is in movable shaft connection with the first rotating shaft joint.

[0031] The second mechanical arm 35 comprises a second upper arm 351, a second rotating shaft joint 352, a second lower arm 353 and a third rotating shaft joint 354, the upper end of the second upper arm 351 is in power connection with the second servo motor 33, the second rotating shaft joint 352 is in movable shaft connection with the lower end of the second upper arm 351, the upper end of the second lower arm 353 is in movable shaft connection with the second rotating shaft joint 352, and the third rotating shaft joint 354 is in movable shaft connection with the lower end of the second lower arm 353, and the third rotating shaft joint 354 is also in movable shaft connection with the middle part of the first lower arm 342.

[0032] Specifically, in the embodiment, the first upper arm 341 and the second lower arm 353 are arranged in parallel, and the arm length of the first upper arm 341 is consistent with that of the second lower arm 353. The second upper arm 351 and the first lower arm 342 are arranged in parallel, and the arm length of the second upper arm 351 is smaller than that of the first lower arm 342.

[0033] The double mechanical arms adopt a bionic force arm structure design, the multi-axis joint structure makes the mechanical arm very flexible, and the combined design of the first mechanical arm 34 and the second mechanical arm 35 not only improves the overall carrying strength of the mechanical arm, but also enhances the precise positioning effect of the mechanical arm. The servo motor is also matched with the encoder 70, so that the driving control of the servo motor by the control system 50 is more accurate and stable. The movement structure composed of the double servo motors and the multiple joint mechanical arms can more quickly and accurately control the movement of the spray gun 43 in the automatic glaze spraying process, shorten the glaze spraying time and improve the glaze quality.

[0034] The glaze spraying gun 40 comprises a spraying gun rotating motor 41, a spraying gun rotating shaft 42 and a spraying gun 43. The spraying gun rotating motor 41 is arranged at the lower end of the first mechanical arm 34. One end of the spraying gun rotating shaft 42 is connected with the spraying gun rotating motor 41. The spraying gun 43 is arranged at the other end of the spraying gun rotating shaft 42. The spraying gun rotating motor 41 comprises a servo motor body 60 and an encoder 70 arranged at one side of the servo motor body 60. The glaze spraying gun 40 with the rotating motor structure can flexibly adjust the angle of the spraying head, so as to realize the glaze spraying processing of the product surface at the optimal angle.

[0035] The spraying gun 43 is designed in the shape of a pistol, which comprises a spraying gun handle 431 and a spraying gun head 432. The spraying gun handle 431 is arranged at the end of the spraying gun rotating shaft 42. The spraying gun head 432 is arranged at the upper end of the spraying gun handle 431. A manual glaze spraying button (not shown in the figure) is further arranged on the spraying gun handle 431. The pistol-shaped spraying gun 43 is more convenient for the operator to hold, so as to perform the manual glaze spraying demonstration for the glaze spraying machine to learn and memorize.

[0036] The control system 50 comprises a self-learning and memorizing processor (not shown in the figure) and a control panel 51. The self-learning and memorizing processor is electrically and signal connected with the control panel 51, the work station rotating table 20, the glaze spraying mechanical arm 30 and the glaze spraying gun 40. When the product such as ceramic is subjected to the surface glaze spraying processing, the product is first clamped and fixed on the work station rotating table 20, and then the professional glaze spraying operator manually holds the glaze spraying gun 40 to perform the glaze spraying processing on the product surface.

[0037] During the manual glaze spraying operation of the operator, the encoders 70 at the work station rotating table 20, the glaze spraying mechanical arm 30 and the glaze spraying gun 40 accurately record the displacement or the rotating angle of the rotating shaft, the mechanical arm and the spraying head, and save and memorize these parameters in the self-learning and memorizing processor. After the operator manually completes the demonstration glaze spraying operation once, the glaze spraying machine can read the parameters saved and memorized in the processor, and control the encoders 70 and the servo motors in the reverse direction to perform the operation, so as to realize the high-precision automatic glaze spraying processing of the glaze spraying machine on the product.

[0038] The novel self-learning memory mechanical arm and the glaze spraying machine with the mechanical arm have the advantages that the movement structure composed of the double servo motors and the four mechanical arms can control the movement of the spray gun 43 more quickly and more accurately in the automatic glaze spraying process, the glaze spraying time is shortened, and the glaze surface quality is improved; the self-learning memory mechanical arm, the rotary spray gun 43 and the work station turntable 20 and other structures are matched with each other, the spray head can move along the surface of the body type in an arbitrary curve in the glaze spraying process, the spray head can keep a fixed vertical distance from the body surface when performing the curve movement, the glaze layer thickness of each part of the body surface is uniform, the glaze spraying effect of the product surface such as ceramic is greatly improved; and the novel glaze spraying machine has high practicability and strong popularization significance.

[0039] The above-described embodiments only express one implementation of the utility model, and the description is relatively specific and detailed, but it cannot be understood as the limitation of the utility model patent scope. It should be pointed out that, for ordinary skilled persons in the art, some modifications and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent should be subject to the appended claims.

Claims

1. A novel self-learning memory robotic arm characterized by: The installation seat, the first servo motor, the second servo motor, the first mechanical arm and the second mechanical arm; the installation seat is designed as "π", which includes the installation plate, the right rotating shaft plate and the left rotating shaft plate which are vertically integrated on the bottom of the installation plate and are arranged in parallel and spaced apart, the first servo motor and the second servo motor are respectively installed on the right side of the right rotating shaft plate and the left side of the left rotating shaft plate, the upper end of the first mechanical arm and the second mechanical arm is respectively connected with the first servo motor and the second servo motor, and the lower end of the second mechanical arm is also connected with the first mechanical arm; the first servo motor and the second servo motor both include the servo motor body and the encoder installed on one side of the servo motor body.

2. The novel self-learning memory robotic arm as claimed in claim 1, wherein: The first mechanical arm includes the first upper arm, the first rotating shaft joint and the first lower arm, the upper end of the first upper arm is connected with the first servo motor, the first rotating shaft joint is connected with the lower end of the first upper arm, and the upper end of the first lower arm is connected with the first rotating shaft joint.

3. The novel self-learning memory robotic arm as claimed in claim 2, wherein: The second mechanical arm includes the second upper arm, the second rotating shaft joint, the second lower arm and the third rotating shaft joint, the upper end of the second upper arm is connected with the second servo motor, the second rotating shaft joint is connected with the lower end of the second upper arm, the upper end of the second lower arm is connected with the second rotating shaft joint, and the third rotating shaft joint is connected with the lower end of the second lower arm, and the third rotating shaft joint is also connected with the middle part of the first lower arm.

4. The novel self-learning memory robotic arm as claimed in claim 3, wherein: The first upper arm and the second lower arm are arranged in parallel, and the arm length of the first upper arm is consistent with that of the second lower arm; the second upper arm and the first lower arm are arranged in parallel, and the arm length of the second upper arm is smaller than that of the first lower arm.

5. A glaze spraying machine with a novel self-learning memory mechanical arm, characterized in that: The rack, the work station turntable, the glaze spraying mechanical arm, the glaze spraying gun and the control system, the work station turntable, the glaze spraying mechanical arm and the control system are installed on the rack, and the glaze spraying mechanical arm is located on the side above the work station turntable, the glaze spraying gun is installed on the lower end of the glaze spraying mechanical arm, and the control system is electrically and signal connected with the work station turntable, the glaze spraying mechanical arm and the glaze spraying gun; the glaze spraying mechanical arm is the novel self-learning mechanical arm as claimed in any one of claims 1 to 4.

6. The glaze spraying machine with a novel self-learning memory mechanical arm according to claim 5, characterized in that: The work station turntable includes the work station turntable support, the work station turntable motor, the blank tray rotating shaft, the blank tray rotating motor and the blank tray, the work station turntable support and the work station turntable motor are installed on the rack, and the work station turntable motor is connected with the work station turntable support and can drive the work station turntable support to rotate, the blank tray rotating shaft and the blank tray rotating motor are installed on the work station turntable support, and the blank tray rotating motor is connected with the blank tray rotating shaft and can drive the blank tray rotating shaft to rotate, and the blank tray is installed on the upper end of the blank tray rotating shaft; the work station turntable motor and the blank tray rotating motor both include the servo motor body and the encoder installed on one side of the servo motor body.

7. The glazing machine with a new self-learning memory mechanical arm according to claim 6, characterized in that: The blank tray rotating shaft, the blank tray rotating motor and the blank tray are provided with two groups, the two groups of blank tray rotating shafts and blank tray rotating motors are respectively arranged on the two sides of the work station turntable support, and the two groups of blank tray rotating motors are respectively connected with the corresponding blank tray rotating shafts and can drive the corresponding blank tray rotating shafts to rotate, and the two groups of blank tray are respectively arranged on the upper ends of the two groups of blank tray rotating shafts.

8. The glazing machine with a new self-learning memory mechanical arm according to claim 5, characterized in that: The spray gun comprises a spray gun rotating motor, a spray gun rotating shaft and a spray gun, the spray gun rotating motor is arranged at the lower end of the first mechanical arm, one end of the spray gun rotating shaft is connected with the spray gun rotating motor, and the spray gun is arranged at the other end of the spray gun rotating shaft; the spray gun rotating motor comprises a servo motor body and an encoder arranged on one side of the servo motor body.

9. The glazing machine with a new self-learning memory mechanical arm according to claim 8, characterized in that: The spray gun is designed in the shape of a pistol, which comprises a spray gun handle and a spray gun head; the spray gun handle is arranged at the end of the spray gun rotating shaft, and the spray gun head is arranged at the upper end of the spray gun handle; a manual spray button is further arranged on the spray gun handle.

10. The glaze spraying machine with a novel self-learning memory mechanical arm according to claim 5, characterized in that: The control system comprises a self-learning memory processor and a control panel, and the self-learning memory processor is respectively connected with the control panel and the work station turntable, the spray gun mechanism arm and the spray gun in electric and signal connection.

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