CN106976080A - The industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface - Google Patents
The industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface Download PDFInfo
- Publication number
- CN106976080A CN106976080A CN201710375247.5A CN201710375247A CN106976080A CN 106976080 A CN106976080 A CN 106976080A CN 201710375247 A CN201710375247 A CN 201710375247A CN 106976080 A CN106976080 A CN 106976080A
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- CN
- China
- Prior art keywords
- manipulator
- liquid
- ceramicses
- ceramic block
- honeycomb structure
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
-
- C—CHEMISTRY; METALLURGY
- C04—CEMENTS; CONCRETE; ARTIFICIAL STONE; CERAMICS; REFRACTORIES
- C04B—LIME, MAGNESIA; SLAG; CEMENTS; COMPOSITIONS THEREOF, e.g. MORTARS, CONCRETE OR LIKE BUILDING MATERIALS; ARTIFICIAL STONE; CERAMICS; REFRACTORIES; TREATMENT OF NATURAL STONE
- C04B41/00—After-treatment of mortars, concrete, artificial stone or ceramics; Treatment of natural stone
- C04B41/45—Coating or impregnating, e.g. injection in masonry, partial coating of green or fired ceramics, organic coating compositions for adhering together two concrete elements
- C04B41/4505—Coating or impregnating, e.g. injection in masonry, partial coating of green or fired ceramics, organic coating compositions for adhering together two concrete elements characterised by the method of application
- C04B41/4535—Coating or impregnating, e.g. injection in masonry, partial coating of green or fired ceramics, organic coating compositions for adhering together two concrete elements characterised by the method of application applied as a solution, emulsion, dispersion or suspension
-
- C—CHEMISTRY; METALLURGY
- C04—CEMENTS; CONCRETE; ARTIFICIAL STONE; CERAMICS; REFRACTORIES
- C04B—LIME, MAGNESIA; SLAG; CEMENTS; COMPOSITIONS THEREOF, e.g. MORTARS, CONCRETE OR LIKE BUILDING MATERIALS; ARTIFICIAL STONE; CERAMICS; REFRACTORIES; TREATMENT OF NATURAL STONE
- C04B41/00—After-treatment of mortars, concrete, artificial stone or ceramics; Treatment of natural stone
- C04B41/80—After-treatment of mortars, concrete, artificial stone or ceramics; Treatment of natural stone of only ceramics
- C04B41/81—Coating or impregnation
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Materials Engineering (AREA)
- Structural Engineering (AREA)
- Organic Chemistry (AREA)
- Dispersion Chemistry (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface.Including the feed arrangement being sequentially connected, conveyer, grabbing device, liquid-immersion device, drip liquid device, drying unit, drawing mechanism.The present invention is rational in infrastructure, easy to use.Original workman's mode of operation can be changed, workman only needs feeding and discharging in production, it is to avoid solvent is contacted in cleaning process, the infringement healthy to workman is reduced.Full automatic production technology, reduces labor strength, reduces the consumption of solvent.The technical process of original several workmans is concentrated in a machine simultaneously, enterprises using the labor amount is reduced.Whole technique is compressed in an equipment, is reduced the occupancy of production site, has been saved production space.Mechanically actuated, technique is precisely controlled, it is ensured that product quality.
Description
Technical field：
The present invention relates to a kind of industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface.
Background technology：
To realize the change of ceramic catalyst surface nature, special cermacis is needed to be sufficiently mixed with solvent, and mixed process is needed
Will be by several steps such as immersion liquid, drip liquid, drying.Existing process process needs real by artificial or simple mechanical assistance
It is existing.Under artificial operating condition, due to the difference in operation of workman, problems with can be produced：
First, the immersion liquid time can not accurately control, so that the performance of product has difference.
2nd, solvent liquid level can not be constant, causes dip amount by difference, and has influence on properties of product.
3rd, while overflowing solvent does not collect recycling, the waste of solvent is added.
4th, drying time can not be controlled accurately, cause product dry and wet degree different.
5th, artificial operation, low production efficiency, take production space greatly, while the volatilization of solvent can also be strong to workman's body
Health causes damage.
The content of the invention：
To solve the deficiency in above-mentioned technical problem, it is an object of the present invention to provide one kind can overcome drawbacks described above,
The industrial robot automation equipment of the honeycomb structure ceramicses modifying inner surface of convenient use.
The industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface provided by the present invention, it is characterized in that,
Including the feed arrangement being sequentially connected, conveyer, grabbing device, liquid-immersion device, drip liquid device, drying unit, drawing mechanism.
Described grabbing device is that dual-arm robot includes input manipulator and output manipulator, described dual-arm robot
For sealing machine hand；The ceramic block of input manipulator crawl feed arrangement input is delivered to will pottery after liquid-immersion device, drip liquid device
Porcelain block is delivered to drying unit；Ceramic block crawl in drying unit is put into drawing mechanism by output manipulator.
Described liquid-immersion device, drip liquid device and drying unit is arranged side by side, and described liquid-immersion device is immersion liquid groove；It is described
Drip liquid device for drip liquid bath；Described drying unit includes warm-air pipe, warm-air pipe connection output manipulator.
Described dual-arm robot includes input manipulator and output manipulator；Input manipulator and output manipulator are wrapped
Clamping handgrip, sliding-rail sliding, manipulator seal closure and overhead guard cylinder are included, handgrip is clamped and it is controlled by clamping cylinder, lifting cylinder
Capture and lifted, and clamp handgrip and moved along sliding-rail sliding；Mechanical seal cover covers clamping handgrip and manipulator seal closure
Bottom end be provided with sealing strip；Vortex pump carries out air-breathing to manipulator seal closure by pipeline, blown；Machinery is exported simultaneously
The mechanical seal cover connection warm-air pipe of hand.
Described liquid-immersion device connects solvent tank by pipeline and solvent delivery pump.
1. the accurate control of immersion liquid time.The present invention realizes the accurate control of immersion liquid time by default.Simultaneously
Different products can be directed to, the immersion liquid time is modified, the variation of technique is realized.
2. solvent liquid level is constant.The present invention is automatically adjusted by the real-time monitoring to immersion liquid tank liquor face and system, is made
Immersion liquid groove solvent liquid level is stable in the range of needs, so as to ensure the consistent of product dip amount.
3. overflow and drip the collection of liquid bath solvent.The present invention is realizing solvent liquid by the design of immersion liquid groove overfall
While face is stable, the solvent overflowed has been reclaimed.Meanwhile, the collection hole of liquid bath is dripped, by the solvent water conservancy diversion of bleeding to collecting tank, warp
Again immersion liquid tank liquor is added to after processing, the waste of solvent is reduced.
4. the accurate control of immersion liquid time.The present invention realizes the accurate control of immersion liquid time, simultaneously by default
Different products can be directed to, the immersion liquid time is modified, the variation of technique is realized.
5. the accurate control of drying time.The present invention passes through default, it is possible to achieve the accurate control of drying time.Machine
The probe of tool on hand can be with the drying effect of real time inspection product, it is ensured that product humidity.Different productions can be directed to simultaneously
Product, modify to drying time, realize the variation of technique.
6. the automation of technique.The present invention realizes the full-automatic of whole technique by the refinement to whole technological process
Change.By the operation of manipulator, make technology controlling and process more accurate.Meanwhile, the production technology of automation, it is to avoid workman and solvent
Directly contact, reduce the infringement healthy to workman.
7. the saving of production space.Whole technological process is concentrated in one by the present invention by the concentration to whole technique
Inside equipment, the occupancy of hall space is greatly reduced.Same space can produce more products, add the upper of company
Produce efficiency.
The beneficial effects of the invention are as follows：
It is rational in infrastructure, it is easy to use.Original workman's mode of operation can be changed, workman only needs feeding with going out in production
Material, it is to avoid solvent is contacted in cleaning process, reduces the infringement healthy to workman.
Full automatic production technology, reduces labor strength, reduces the consumption of solvent.Simultaneously will original several works
The technical process of people is concentrated in a machine, reduces enterprises using the labor amount.
Whole technique is compressed in an equipment, is reduced the occupancy of production site, has been saved production space.
Mechanically actuated, technique is precisely controlled, it is ensured that product quality.
Brief description of the drawings
Below in conjunction with the accompanying drawings and embodiment the present invention is further detailed explanation：
Fig. 1 is schematic structural view of the invention；
Fig. 2 is dual-arm robot structural representation of the present invention；
A, feed arrangement in figure；B, H conveyer；C, G grabbing device；D liquid-immersion devices；E, drip liquid device；F drying dresses
Put；I, drawing mechanism；1st, output manipulator moves forward and backward cylinder；2nd, manipulator front support；3rd, slide rail is moved left and right；4th, gas is lifted
Cylinder；5th, clamping cylinder；6th, overhead guard cylinder；7th, manipulator seal closure；8th, slide rail is moved forward and backward；9th, input manipulator moves forward and backward gas
Cylinder；10th, handgrip is clamped；11st, sliding block.
Specific embodiment：
The industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface as Figure 1-Figure 2, it is characterized in that,
Including the feed arrangement being sequentially connected, conveyer, grabbing device, liquid-immersion device, drip liquid device, drying unit, discharging dress
Put；.
Described grabbing device is that dual-arm robot includes input manipulator and output manipulator, described dual-arm robot
For sealing machine hand；The ceramic block of input manipulator crawl feed arrangement input is delivered to will pottery after liquid-immersion device, drip liquid device
Porcelain block is delivered to drying unit；Ceramic block crawl in drying unit is put into drawing mechanism by output manipulator.
Described liquid-immersion device, drip liquid device and drying unit is arranged side by side, and described liquid-immersion device is immersion liquid groove；It is described
Drip liquid device for drip liquid bath；Described drying unit includes warm-air pipe, warm-air pipe connection output manipulator.
Described dual-arm robot includes input manipulator and output manipulator；Input manipulator and output manipulator are wrapped
Clamping handgrip, sliding-rail sliding, manipulator seal closure and overhead guard cylinder are included, handgrip is clamped and it is controlled by clamping cylinder, lifting cylinder
Capture and lifted, and clamp handgrip and moved along sliding-rail sliding；Mechanical seal cover covers clamping handgrip and manipulator seal closure
Bottom end be provided with sealing strip；Vortex pump carries out air-breathing to manipulator seal closure by pipeline, blown；Machinery is exported simultaneously
The mechanical seal cover connection warm-air pipe of hand.
Described liquid-immersion device connects solvent tank by pipeline and solvent delivery pump.
Manipulator, which moves left and right cylinder, is used for moving left and right for two clamping handgrips, so that ceramic block is put into not by manipulator
With in groove；
Manipulator, which moves forward and backward cylinder 1,9, to be used to clamp the movable of handgrip 10, and the ceramic block on conveyer belt is captured
And be put into groove or ceramic block crawl in groove is put on conveyer belt；
Manipulator front support 2 gets up robot support, to clamp the operation of handgrip 2；
Move left and right the cooperation of slide rail 3 and move left and right cylinder, realize that both sides clamp moving left and right for handgrip；
Lifting cylinder 4 is used for manipulator and captures the lifting after ceramic block；
Clamping cylinder 5 is used to clamp handgrip by the clamping of ceramic block；
Overhead guard cylinder 6 is used for the sealing of overhead guard and ceramic block；
Manipulator seal closure 7 coordinates with overhead guard cylinder 6, realizes fitting between manipulator seal closure 7 and ceramic block, so as to
Air-breathing and blowing operation.
Specific work process is：
Ceramic block is put into the feed conveyor belt of right side, ceramic block advances with conveyer belt, the light of conveyer belt destination county
Electric switch constantly detects the position of ceramic block, when optoelectronic switch detects ceramic block, sends manipulator behavior signal.Equipment is received
To ceramic block arrive signal when, right side mechanical hand start action, lifting cylinder stretch out, drive clamp handgrip fall, ceramic block
Into handgrip sphere of action.
Clamping cylinder is withdrawn, and drives clamping handgrip 10 to shrink, handgrip clamps ceramic block.After the completion of clamping, overhead guard cylinder
Withdraw, driving mechanical hand seal closure 7 is fallen, manipulator seal closure 7 is realized with ceramic block and sealed.After the completion of sealing, lifting cylinder
Withdraw, drive and clamp the lifting such as handgrip, ceramic block, ceramic block is picked up, and leaves conveyer belt.Ceramic block lifting is completed, and inputs machine
Tool hand moves forward and backward cylinder and withdrawn, and ceramic block is moved to above immersion liquid groove, prepares immersion liquid.After ceramic block is ready to complete, lifting
Cylinder is stretched out, and ceramic block is put into immersion liquid groove, starts immersion liquid.After immersion liquid starts, vortex pump starts air-breathing work, passes through machinery
Solvent is picked up, entered by closed, air-breathing air blowing tracheae the sealing of hand seal closure and ceramic block, the suction of vortex pump from immersion liquid groove
Enter inside ceramic block, so that ceramic block fully absorbs solvent, preferably realize that the surface of ceramic block is modified.
The immersion liquid time is arrived, and vortex pump stops suction, after 5 seconds, and lifting cylinder is withdrawn, and ceramic block is carried from immersion liquid groove
Rise.
Ceramic block lifts completion, and input manipulator moves left and right cylinder withdrawal, right side mechanical hand, ceramic block are moved integrally
To above drip liquid bath, ceramic block prepares drip liquid.
After moving into place, lifting cylinder is stretched out, and ceramic block is put into drip liquid bath, starts to drip liquid.After drip liquid starts, vortex
Air pump starts blown work, by closed, air-breathing air blowing tracheae the sealing of manipulator seal closure and ceramic block, vortex pump
Blowing force blows out excess of solvent inside ceramic block, and excess of solvent enters drip liquid bath, is reclaimed by the recovery port of lower section, to reduce
The waste of solvent.
The drip liquid time arrives, and vortex pump stops suction, after 5 seconds, and overhead guard cylinder stretches out, and manipulator seal closure lifts,
Sealing with ceramic block is opened.Cylinder stretching is simultaneously clamped on, handgrip is clamped and unclamps ceramic block.After ceramic block unclamps, gas is lifted
Cylinder is withdrawn, and right manipulator rises from immersion liquid groove.The rear right manipulator of completion restPoses toward moving right, and waits next time
Operation.
Right manipulator restPoses completion, and left side mechanical hand starts to move to right, and is moved to above drip liquid bath.Lifting cylinder
Stretch out, bottom clamping handgrip is put down.After handgrip is put down in place, clamping cylinder is withdrawn, and is clamped handgrip and is clamped ceramic block, simultaneously
Overhead guard cylinder is withdrawn, and manipulator seal closure is fallen and ceramic block formation sealing state.
After clamping, lifting cylinder is withdrawn, and ceramic block is picked up from drip liquid bath, and output manipulator moves left and right cylinder receipts
Return, left side mechanical hand is moved integrally above drying tank.Mobile to complete, lifting cylinder is stretched out, and ceramic block is put into drying tank
It is interior, this drying of Zhu.
After drying starts, heater is started working, and 300 degree of high temperature, plus thermogenetic hot blast are produced by electrical heating
Constantly blown out by blower fan.Formed by manipulator seal closure and the closed of ceramic block, hot blast conveying pipe, manipulator warm-air pipe
Sealing system, the hot blast of blowout is constantly blown into ceramic block, and ceramic block is dried.Drying time is arrived, and air-heater stops blowing hot-air,
After 5 seconds, overhead guard cylinder is stretched out, and manipulator seal closure lifts, and the sealing with ceramic block is opened.Before and after left machinery is changed hands simultaneously
Mobile cylinder is stretched out, and ceramic block is moved to above conveyer belt.
Mobile to complete, lifting cylinder is stretched out, and ceramic block is put down, and is put down rear clamping cylinder and is stretched out clamping handgrip by ceramic block
Unclamp.After the completion of, output each cylinder of manipulator restPoses, and waits next operation.Meanwhile, ceramic block is placed in discharging
On conveyer belt.
Above-mentioned case study on implementation is only for clear example of the present invention, and to be not the limit to embodiment of the present invention
It is fixed.The obvious changes or variations amplified out the spirit for belonging to the present invention is still in protection scope of the present invention.
Claims (5)
1. a kind of industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface, it is characterized in that, including be sequentially connected
Feed arrangement, conveyer, grabbing device, liquid-immersion device, drip liquid device, drying unit, drawing mechanism.
2. the industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface according to claim 1, its feature
It is that described grabbing device includes input manipulator and output manipulator for dual-arm robot, and described dual-arm robot is close
Seal manipulator；The ceramic block of input manipulator crawl feed arrangement input is delivered to ceramic block after liquid-immersion device, drip liquid device
It is delivered to drying unit；Ceramic block crawl in drying unit is put into drawing mechanism by output manipulator.
3. the industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface according to claim 1 or 2, it is special
Levying is, described liquid-immersion device, drip liquid device and drying unit is arranged side by side, and described liquid-immersion device is immersion liquid groove；Described
It is drip liquid bath to drip liquid device；Described drying unit includes warm-air pipe, warm-air pipe connection output manipulator.
4. the industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface according to claim 1, its feature
It is that described dual-arm robot includes input manipulator and output manipulator；Inputting manipulator and output manipulator includes folder
Hand, sliding-rail sliding, manipulator seal closure and overhead guard cylinder are kept a firm hand on, handgrip is clamped and controls it to capture by clamping cylinder, lifting cylinder
And lifting, and clamp handgrip and moved along sliding-rail sliding；Mechanical seal cover covers the bottom for clamping handgrip and manipulator seal closure
Face end is provided with sealing strip；Vortex pump carries out air-breathing to manipulator seal closure by pipeline, blown；Manipulator is exported simultaneously
Mechanical seal cover connects warm-air pipe.
5. the industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface according to claim 1, its feature
It is that described liquid-immersion device connects solvent tank by pipeline and solvent delivery pump.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710375247.5A CN106976080A (en) | 2017-05-24 | 2017-05-24 | The industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710375247.5A CN106976080A (en) | 2017-05-24 | 2017-05-24 | The industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106976080A true CN106976080A (en) | 2017-07-25 |
Family
ID=59342619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710375247.5A Withdrawn CN106976080A (en) | 2017-05-24 | 2017-05-24 | The industrial robot automation equipment of honeycomb structure ceramicses modifying inner surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106976080A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109704057A (en) * | 2019-02-01 | 2019-05-03 | 广东若贝特智能机器人科技有限公司 | A kind of parallel configuration, double Delta robots |
| CN111331717A (en) * | 2020-03-06 | 2020-06-26 | 张凯丽 | Ceramic glazing process |
-
2017
- 2017-05-24 CN CN201710375247.5A patent/CN106976080A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109704057A (en) * | 2019-02-01 | 2019-05-03 | 广东若贝特智能机器人科技有限公司 | A kind of parallel configuration, double Delta robots |
| CN111331717A (en) * | 2020-03-06 | 2020-06-26 | 张凯丽 | Ceramic glazing process |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170725 |
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| WW01 | Invention patent application withdrawn after publication |