CN107838937A - The automatic throwing manipulator of ceramic outer - Google Patents
The automatic throwing manipulator of ceramic outer Download PDFInfo
- Publication number
- CN107838937A CN107838937A CN201711262550.0A CN201711262550A CN107838937A CN 107838937 A CN107838937 A CN 107838937A CN 201711262550 A CN201711262550 A CN 201711262550A CN 107838937 A CN107838937 A CN 107838937A
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- CN
- China
- Prior art keywords
- wrist
- backward
- ceramic
- arm
- manipulator
- 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.)
- Pending
Links
- 239000000919 ceramic Substances 0.000 title claims abstract description 33
- 210000000707 wrist Anatomy 0.000 claims abstract description 25
- 238000005516 engineering process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
- B25J15/0213—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by gears
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of automatic throwing manipulator of ceramic outer, set corresponding to the mainshaft mechanism of ceramic automatic Blank drawing machine, including arm and wrist and forward and backward palm, the wrist is installed on crane by left/right movement device, the crane is installed on side plate frame by forward and backward Z axis manipulator sliding pair and driven by Z axis manipulator screw pair and lifted, the wrist is installed on arm by luffing mechanism, and forward and backward palm is installed in wrist by front and rear open/close mechanism.The present invention is by programme-control and coordinates mainshaft mechanism to realize the automatic throwing of ceramics, substitutes ceramic throwing by hand with mechanical automation means, production efficiency is improved, so as to meet the demand in market.
Description
Technical field
The present invention relates to prepare ceramic device, specially a kind of automatic throwing manipulator of ceramic outer.
Background technology
With the development of society, people gradually increase the demand of ceramics, and ceramic throwing mainly leans on artificial hand at present
Work throwing, can not meet the needs of market, furthermore artificial hand throwing too relies on individual skill, and precision, efficiency all compared with
Low, some technologies can not pass on, and so as to cause the forfeiture of ceramic throwing technology, eventually result in ceramic and increasingly lack
It is few.
In view of the shortcomings of the prior art, the applicant devises one kind《The automatic Blank drawing machine of ceramics》, its object is to substitute
Artificial throwing, improve throwing precision and throwing efficiency.
The content of the invention
It is that the automatic throwing machinery of ceramic outer is portable it is an object of the invention to the critical component to the automatic Blank drawing machine of ceramics
Play patent application protection.
The automatic throwing manipulator of ceramic outer of above mentioned problem is can solve the problem that, its technical scheme corresponds to the automatic throwing of ceramics
The mainshaft mechanism of machine is set, except that including arm and wrist and forward and backward palm, the wrist is by moving left and right machine
Structure is installed on crane, and the crane is installed on side plate frame by forward and backward Z axis manipulator sliding pair and by Z axis machinery
Hand screw pair drives lifting, and the wrist is installed on arm by luffing mechanism, and forward and backward palm passes through front and rear opening and closing machine
Structure is installed in wrist.
A kind of structure of the left/right movement device includes rack pinion pair, the secondary rack of the rack pinion
It is opened on arm, the secondary gear of rack pinion is installed on the output shaft of mobile stepper motor；It is described to swing up and down machine
Structure includes swing steering engine, and the output shaft of the swing steering engine is wrist and the articulated axle of arm, the wrist and swing steering engine
Output shaft fixed connection；The front and rear open/close mechanism includes the synchromesh gear of forward and backward engagement and engaged with front or rear synchromesh gear
Opening and closing little gear, the opening and closing little gear are installed on the output shaft of opening and closing steering wheel.
Conventionally, the side plate frame is installed on the base of ceramic automatic Blank drawing machine.
Beneficial effects of the present invention：
The automatic throwing manipulator of ceramic outer of the present invention by programme-control and coordinate mainshaft mechanism can realize ceramics from
Dynamic throwing, substitute ceramic throwing by hand with mechanical automation means, production efficiency is improved, so as to meet the demand in market.
Brief description of the drawings
Fig. 1 is the three-dimensional structure diagram of one embodiment of the present invention.
Fig. 2 is the installation diagram of Fig. 1 embodiments.
Fig. 3 is Fig. 2 dorsal view.
Figure number identifies：1st, arm；2nd, wrist；3rd, palm；4th, crane；5th, Z axis manipulator sliding pair；6th, side plate frame；7、Z
Axis robot screw pair；8th, rack pinion pair；9th, rack；10th, gear；11st, mobile stepper motor；12nd, swing steering engine；
13rd, synchromesh gear；14th, opening and closing little gear；15th, opening and closing steering wheel；16th, base；17th, mainshaft mechanism.
Embodiment
Illustrated embodiment is described further to technical scheme below in conjunction with the accompanying drawings.
The mainshaft mechanism 17 that the automatic throwing manipulator of ceramic outer of the present invention corresponds to the automatic Blank drawing machine of ceramics is set, and it is tied
Structure includes arm 1 and wrist 2 and forward and backward palm 3, and the arm 1 is installed on crane 4 by left/right movement device, institute
Crane 4 is stated to be installed on side plate frame 6 and by the band of Z axis manipulator screw pair 7 of centre by forward and backward Z axis manipulator sliding pair 5
Dynamic lifting, the side plate frame 6 are fixedly installed on the base 16 of ceramic automatic Blank drawing machine, and the wrist 2 is by swinging up and down machine
Structure is installed on arm 1, and forward and backward palm 3 (main shaft of mainshaft mechanism 17 is between forward and backward palm 21) passes through front and rear opening and closing machine
Structure is installed in wrist 2, wherein：
The left/right movement device includes rack pinion pair 8, and the rack 9 of the rack pinion pair 8 is opened in
On the rear portion top surface of arm 1, the rear portion of the arm 1 is located on crane 4 by sliding pair, the tooth of rack pinion pair 8
Wheel 10 is installed on the output shaft of mobile stepper motor 11, and the mobile stepper motor 11 is installed on crane 4；The upper bottom
Motivation structure includes the swing steering engine 12 for being installed on the anterior rear side of arm 1, and the output shaft of the swing steering engine 12 is wrist 2 and arm
The articulated axle of 1 front end, the wrist 2 and the output shaft fixed connection of swing steering engine 12；The front and rear open/close mechanism includes forward and backward engagement
Synchromesh gear 13 and the opening and closing little gear 14 that is engaged with preamble gear 13, forward and backward palm 3 is respectively at forward and backward synchronous gear
Take turns and installed on 13 front ends, the opening and closing little gear 14 is installed on the output shaft of opening and closing steering wheel 15, and the opening and closing steering wheel 15 is installed
In in wrist 2, opening and closing steering wheel 15 drives forward and backward synchromesh gear 13, the forward and backward band of synchromesh gear 14 by the way that opening and closing little gear 14 is synchronous
The forward and backward opening and closing of palm 3 are moved, as shown in Figure 1, Figure 2, Figure 3 shows.
The present invention the method for operation be：
Manipulator can not only realize the upper and lower lifting of Z-direction and change the shape of ceramic form axial direction, the hand of manipulator
Arm 1 left and right can stretch, and wrist 2 can be around 1 upper and lower swing of arm, and forward and backward palm is gone forward in wrist 2, rear opening and closing, throwing when
Wait the shape size that can change ceramic form radial direction and the curve form for changing ceramics.
The main shaft of mainshaft mechanism 17 can realize rotation about the z axis, the left and right movement of X-direction, the upper and lower liter of Z-direction
The swing of drop and front and rear direction, so as to change the shape inside ceramic form.
Claims (3)
1. the automatic throwing manipulator of ceramic outer, set corresponding to the mainshaft mechanism (17) of ceramic automatic Blank drawing machine, its feature exists
In：Including arm (1) and wrist (2) and forward and backward palm (3), the wrist (2) is installed on lifting by left/right movement device
On frame (4), the crane (4) is installed on side plate frame (6) by forward and backward Z axis manipulator sliding pair (5) and by Z axis machinery
Hand screw pair (7) drives lifting, and the wrist (2) is installed on arm (1) by luffing mechanism, and forward and backward palm (3) is logical
Front and rear open/close mechanism is crossed to be installed in wrist (2).
2. the automatic throwing manipulator of ceramic outer according to claim 1, it is characterised in that：The left/right movement device bag
Rack pinion pair (8) is included, the rack (9) of the rack pinion secondary (8) is opened on arm (1), and rack-and-pinion passes
The gear (10) of dynamic pair (8) is installed on the output shaft of mobile stepper motor (11)；The luffing mechanism includes swinging rudder
Machine (12), the output shaft of the swing steering engine (12) is wrist (2) and the articulated axle of arm (1), and the wrist (2) is with swinging rudder
The output shaft fixed connection of machine (12)；The front and rear open/close mechanism include forward and backward engagement synchromesh gear (13) and with it is front or rear same
The opening and closing little gear (14) of gear (13) engagement is walked, the opening and closing little gear (14) is installed on the output shaft of opening and closing steering wheel (15)
On.
3. the automatic throwing manipulator of ceramic outer according to claim 1 or 2, it is characterised in that：Side plate frame (6) peace
On base (16) loaded on ceramic automatic Blank drawing machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711262550.0A CN107838937A (en) | 2017-12-04 | 2017-12-04 | The automatic throwing manipulator of ceramic outer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711262550.0A CN107838937A (en) | 2017-12-04 | 2017-12-04 | The automatic throwing manipulator of ceramic outer |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107838937A true CN107838937A (en) | 2018-03-27 |
Family
ID=61663557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711262550.0A Pending CN107838937A (en) | 2017-12-04 | 2017-12-04 | The automatic throwing manipulator of ceramic outer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107838937A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436789A (en) * | 2018-12-29 | 2019-03-08 | 天津森雅医疗设备科技有限公司 | It is a kind of intelligently to send medicine terminal grabbing device |
| CN110253744A (en) * | 2019-07-12 | 2019-09-20 | 北部湾大学 | A kind of Nixing pottery production technology automatically shows device and its selling system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000229313A (en) * | 1999-02-12 | 2000-08-22 | Yamawa Togyo Kk | Method and apparatus for molding string bottom groove of tableware or the like made of pottery |
| JP2007191213A (en) * | 2006-01-16 | 2007-08-02 | Touzai Corporation:Kk | Forming apparatus for vessel |
| CN101143457A (en) * | 2007-09-26 | 2008-03-19 | 徐晗 | Digital controlled ceramic constructing forming machine |
| CN205735417U (en) * | 2016-06-22 | 2016-11-30 | 醴陵市华旺瓷业有限公司 | A kind of automatic ceramic blank rotating device |
| CN106393152A (en) * | 2016-12-01 | 2017-02-15 | 无锡市创恒机械有限公司 | Synchronous mechanical grabber |
| CN206029895U (en) * | 2016-09-21 | 2017-03-22 | 宋晨昕 | Plain type manipulator device |
| CN206690086U (en) * | 2017-04-12 | 2017-12-01 | 杨林刚 | Simulation or teaching demonstration bionic mechanical arm |
| CN207509248U (en) * | 2017-12-04 | 2018-06-19 | 钦州学院 | The automatic throwing manipulator of ceramic outer |
-
2017
- 2017-12-04 CN CN201711262550.0A patent/CN107838937A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000229313A (en) * | 1999-02-12 | 2000-08-22 | Yamawa Togyo Kk | Method and apparatus for molding string bottom groove of tableware or the like made of pottery |
| JP2007191213A (en) * | 2006-01-16 | 2007-08-02 | Touzai Corporation:Kk | Forming apparatus for vessel |
| CN101143457A (en) * | 2007-09-26 | 2008-03-19 | 徐晗 | Digital controlled ceramic constructing forming machine |
| CN205735417U (en) * | 2016-06-22 | 2016-11-30 | 醴陵市华旺瓷业有限公司 | A kind of automatic ceramic blank rotating device |
| CN206029895U (en) * | 2016-09-21 | 2017-03-22 | 宋晨昕 | Plain type manipulator device |
| CN106393152A (en) * | 2016-12-01 | 2017-02-15 | 无锡市创恒机械有限公司 | Synchronous mechanical grabber |
| CN206690086U (en) * | 2017-04-12 | 2017-12-01 | 杨林刚 | Simulation or teaching demonstration bionic mechanical arm |
| CN207509248U (en) * | 2017-12-04 | 2018-06-19 | 钦州学院 | The automatic throwing manipulator of ceramic outer |
Non-Patent Citations (1)
| Title |
|---|
| 谢崇桥等: "《瓷器》", 上海世纪出版股份有限公司与上海科学技术出版社, pages: 29 - 30 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436789A (en) * | 2018-12-29 | 2019-03-08 | 天津森雅医疗设备科技有限公司 | It is a kind of intelligently to send medicine terminal grabbing device |
| CN109436789B (en) * | 2018-12-29 | 2024-02-20 | 天津森雅医疗设备科技有限公司 | Intelligence is sent medicine terminal grabbing device |
| CN110253744A (en) * | 2019-07-12 | 2019-09-20 | 北部湾大学 | A kind of Nixing pottery production technology automatically shows device and its selling system |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180327 |
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| WD01 | Invention patent application deemed withdrawn after publication |