CN109227889A - A kind of intelligent robot flexible manufacturing system - Google Patents

A kind of intelligent robot flexible manufacturing system Download PDF

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Publication number
CN109227889A
CN109227889A CN201810998270.4A CN201810998270A CN109227889A CN 109227889 A CN109227889 A CN 109227889A CN 201810998270 A CN201810998270 A CN 201810998270A CN 109227889 A CN109227889 A CN 109227889A
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CN
China
Prior art keywords
mold
wheel
mud
chain type
emery wheel
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Granted
Application number
CN201810998270.4A
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Chinese (zh)
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CN109227889B (en
Inventor
吕庆杰
吕宣儒
宋小虎
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Tangshan Slomick Intelligent Environmental Protection Equipment Co Ltd
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Tangshan Slomick Intelligent Environmental Protection Equipment Co Ltd
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Priority to CN201810998270.4A priority Critical patent/CN109227889B/en
Publication of CN109227889A publication Critical patent/CN109227889A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B28WORKING CEMENT, CLAY, OR STONE
    • B28BSHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B3/00Producing shaped articles from the material by using presses; Presses specially adapted therefor

Abstract

The invention proposes a kind of intelligent robot flexible manufacturing systems, comprising: clay shredder, rotating disk mechanism, mold transportation manipulator, roller head machine, chain type drying production line, finished product transportation manipulator, side washing machine;The clay shredder transports raw material to delivery outlet by cutting the cutting of mud component, the mold transportation manipulator transports the mold with clod to roller head machine, mold after rolling is transported and is placed into chain type drying production line by the mold transportation manipulator, the finished product after drying is sucked out from mold by sucking disc mechanism for the finished product transportation manipulator, and transport to side washing machine, side washing, polishing are carried out to finished product by side washing machine.The present invention realize automatic clamping and placing mold, pug convey automatically, cut automatically mud, automatically throwing mud, automatic rolling and replace artificial work completely, to reduce the labor intensity of worker, reduce operation cost, improve production efficiency.

Description

A kind of intelligent robot flexible manufacturing system
Technical field
The present invention relates to ceramic field shaping technique, in particular to a kind of intelligent robot flexible manufacturing system.
Background technique
In the Production of Ceramics activity of reality, manual handling is needed in existing ceramics rolling production line, places model, and worker Manipulation strength it is big, working efficiency is low, and efforts environment is more severe, in addition, it is existing ceramics rolling production line in, cut The cutting of mud machine is not of uniform size, so that the mud cake thin and thick cut out is inconsistent, even the shape of a hoof occurs sometimes, rolls next procedure It causes weight between product inconsistent in molded, or even causes ceramic product structure partially thin, so that product is deformed cracking and lack It falls into, rejection rate improves.
Summary of the invention
The purpose of the present invention aims to solve at least one of described technological deficiency.
For this purpose, work efficiency is high, rejection rate it is an object of the invention to propose a kind of intelligent robot flexible manufacturing system It is small.
To achieve the goals above, the present invention provides a kind of intelligent robot flexible manufacturing system, comprising: clay shredder turns Disc mechanism, mold transportation manipulator, roller head machine, chain type drying production line, finished product transportation manipulator, side washing machine;
The delivery outlet of the clay shredder is set to the top of rotating disk mechanism, and mud group is cut in the delivery outlet setting of the clay shredder Raw material is transported to delivery outlet and is cut by cutting mud component by part, suction dredge structure, the clay shredder, then will be after cutting by suction dredge structure Clod transports in the mold to rotating disk mechanism, and the rotating disk mechanism is equipped with multiple rotatable molds and holds tray, described Mold holds tray for placing mold, and the mold Transport Machinery is equipped with die clamp, the mold transportation manipulator on hand The mold for being placed with clod on rotating disk mechanism is clamped by die clamp, while placing empty mold, the mould to rotating disk mechanism Tool transportation manipulator transports the mold with clod to roller head machine, clamps the mold after being rolled by roller head machine, and The mold for having clod is placed to roller head machine, the rolling wheel of the roller head machine rolls downwards the mold with clod, The mold transportation manipulator transports the mold after rolling and the chain type bracket of the entrance that is placed into chain type drying production line On, while the empty mold on chain type bracket is clamped, and empty mold is put back on rotating disk mechanism;
The chain type drying production line transports the mold on the chain type bracket of entrance to chain type drying production line Hothouse is dried, then transports to the exit of chain type drying production line, and exit is equipped with finished product transportation manipulator, it is described at Product Transport Machinery is equipped with sucking disc mechanism on hand, and the finished product transportation manipulator is by sucking disc mechanism by the finished product after drying from mold Middle suction, and transport to side washing machine, side washing, polishing are carried out to finished product by side washing machine.
Further, the clay shredder further includes feeding transport establishment, Qie Ni transport establishment, and the feeding transport establishment inclines Oblique is built in Qie Ni transport establishment, and feeding transport establishment two sides are equipped with sprocket wheel feed mechanism, and multiple fortune mud framves are built On the sprocket wheel feed mechanism of two sides, for placing raw material in the fortune mud frame, the fortune mud frame of raw material is placed by feeding transport establishment Low side transports top, and after the rotation of the sprocket wheel on top, raw material is fallen into Qie Ni transport establishment by fortune mud frame, described to cut mud transporter Structure transports raw material to the delivery outlet of clay shredder.
Further, the suction dredge structure includes rotating mechanism, inhales mud cylinder, suction head, and the suction mud cylinder is mounted on In the rotation axis of rotating mechanism, the end for inhaling mud cylinder is equipped with suction head.
Further, the rotating disk mechanism further includes rotating device of rotary table, mud-pressing mechanism, and multiple rotatable molds are held Tray is mounted on the rotating device of rotary table, and the mud-pressing mechanism includes pressure mud cylinder, mud pressing head, support tool cylinder, holds in the palm tool head, The pressure mud cylinder is oppositely arranged vertically with support tool cylinder, and the end of mud cylinder is pressed to be equipped with mud pressing head, the support tool cylinder End is equipped with support tool head, and pressure bricklayer's position is equipped between the pressure mud cylinder and support tool cylinder, and the rotating device of rotary table rotates mould Tool holds tray and is overlapped with pressure bricklayer's position.
Further, the die clamp includes rotating disc, mold handgrip, is symmetrically arranged with two moulds below the rotating disc Has handgrip, the top of the rotating disc is connect with mold transportation manipulator.
Further, adjacent in the positional relationship and rotating disk mechanism that two mold handgrips are grabbed between mold It is corresponding that mold holds tray positional relationship.
Further, the chain type drying production line includes hothouse, the sprocket wheel fortune for being set to front and rear sides in hothouse Transfer mechanism has connected multiple chain type brackets between the sprocket wheel transport establishment of two sides, and chain type bracket and sprocket wheel transport establishment pass through support Frame rotates axis connection, and chain type bracket is for placing mold.
Further, the sprocket wheel transport establishment is made of multiple concatenated sprocket wheels, is set to dry indoor sprocket wheel phase The middle part of hothouse is symmetrical arranged, the sprocket wheel for being set to chain type drying production line inlet and outlet is driving wheel, actively The rotation axis connection driving mechanism of wheel.
Further, the side washing machine include side washing turntable, rotating blade drive, station driving device, beveling device, Outer device, disk position adjustment device are ground, is equipped with multiple side washing stations, the rotation axis of the side washing turntable above the side washing turntable Connect rotating blade drive, the station driving device includes eccentric motor, driving pulley, the output shaft of the eccentric motor with The rotation axis connection of driving pulley, is designed with driven pulley below each side washing station, the driving pulley and all It is connected between driven pulley by belt, the beveling device, mill outer device, disk position adjustment device successively turn around side washing Disk setting, the disk position adjustment device include lead screw driving wheel, lead screw telescoping mechanism, fixing seat, telescopic adjustment seat, adjustment electricity Machine, adjustment wheel, one end of the lead screw telescoping mechanism is fixed with lead screw driving wheel, and lead screw telescoping mechanism passes through in fixing seat Threaded hole is fixed in fixing seat, and the telescopic adjustment seat is fixed by bearing and telescopic adjustment seat, and the adjustment motor is fixed In telescopic adjustment seat, and adjust mounting and adjusting wheel at the rotation axis of motor.
Further, the beveling device includes lifting device, 2 or multiple grinding wheel devices, on the lifting device Equipped with 2 or multiple grinding wheel devices, each grinding wheel device includes emery wheel adjustment device, emery wheel hold-down devices, emery wheel drive Dynamic device, emery wheel, the emery wheel adjustment device include emery wheel telescopic device, emery wheel rotating device, the emery wheel telescopic device One end is mounted on emery wheel rotating device, and the other end of the emery wheel telescopic device installs emery wheel, the emery wheel rotating device peace On lifting device, the rotation axis of the emery wheel is connect with emery wheel driving device, and the side of the top of the emery wheel is equipped with mill Hold-down devices are taken turns, and emery wheel hold-down devices are fixed with emery wheel driving device.
The invention has the following advantages:
1, the present invention can achieve automatic clamping and placing mold, pug for mud system by data link robot and automatically Automatic conveying, cut automatically mud, throw automatically mud, automatic rolling and replace artificial work completely, to reduce the labour of worker Intensity, the operating environment for improving worker are also reduced because labour is unstable or recruitment difficulty is given manufacturing enterprise's bring inconvenience, Operation cost is reduced, production efficiency is improved.
2, clay shredder of the invention can control the size of clod cutting by controlling the travelling speed of wire-electrode cutting device, And then realize and accurately cut mud, save raw material;In addition, driving mud pressing head to press to using pressure mud cylinder using the design of rotating disk mechanism Clod in mold is pressed into rudimentary model by mold, meanwhile, support tool cylinder drives support tool head to move upwards the bottom for resisting mold Portion avoids mold mobile, avoids the rudimentary model shape anomaly of clod, moreover it is possible to ensure the position of the rudimentary model of clod in a mold It is accurate to set, and is conducive to following process.
3, when in use, two mold handgrip movements can be different, such as mold Transport Machinery for die clamp of the invention Hand clamps the mold for being placed with clod on rotating disk mechanism by die clamp, while empty mold is placed to rotating disk mechanism, i.e., and one A mold handgrip is pinching action, another mold handgrip is loosening up, realizes synchronous working, can greatly improve work in this way Make efficiency.
4, hothouse is divided into the dry section of the left and right sides by the present invention, and in the dry section of hothouse left and right side Multi-layer chain wheel carrier chain is had on all, such design can be by roll forming rear mold during transportation with regard to carrying out Heating, by the design size of hothouse, the number of plies of sprocket wheel carrier chain, sprocket wheel travelling speed etc., to guarantee roll forming rear mold The drying time of tool improves whole working efficiency, reduces labor intensity, and such design also makes the dry of roll forming rear mold It is dry uniform, to improve the quality of finished product, reduce rejection rate.
5, the present invention is equipped with cooling channel region in the lower section at the middle part of hothouse, and empty mold is sent to cooling channel Region is cooled down, so that after the mold is cooled, then chain type drying production line entrance is transported back, mold can be further increased Quality reduces rejection rate.
6, the present invention using disk position adjustment device design, by adjusting wheel contacted with the finished product on side washing station, at The position of product is adjusted, it is ensured that the position of finished product is correct, improves the processing quality of finished product.This external-adjuster wheel can also be to finished product It polishes, the outer of finished product is carried out to preliminary polishing, is conducive to following process.
7, the fabrication processing of intelligent robot flexible manufacturing system of the invention is to be cut first to raw material, so After be put into mold, then in mold clod carry out roll-forming, then mold is put into hothouse and is done It is dry, after the finished product after drying is then carried out the adjustment of finished product position, preliminary grinding, beveling, mill outer, enter finished product detection area Domain carries out quality testing to the finished product after processing, rejects underproof finished product, and whole process is set using the coordinate of seamless connection Meter introduces coordinate robots, articulated robot (i.e. mold transportation manipulator and finished product transporter in ceramic roll forming production Tool hand) and pneumatic conveyer system realize counterweight physical strength post, technical post operation worker substitution;Using manipulator by mold The mold be put into each station, while taking out processing is put into next station, can be substantially reduced process time, improves processing Efficiency reduces labor intensity.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description Obviously, or practice through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figures Obviously and it is readily appreciated that, in which:
Fig. 1 is overall structure figure of the invention;
Fig. 2 is the overall structure figure on another direction of the invention;
Fig. 3 is the top view of Fig. 1;
Fig. 4 is the front view of Fig. 3;
Fig. 5 is the left view of Fig. 3;
Fig. 6 is the structure chart of clay shredder and rotating disk mechanism of the invention;
Fig. 7 is the main view of Fig. 6;
Fig. 8 is the right view of Fig. 7;
Fig. 9 is the structure chart of die clamp of the invention;
Figure 10 is the top view of side washing machine of the invention;
Figure 11 is the structure chart of side washing machine of the invention;
Figure 12 is the structure chart on another direction of side washing machine of the invention;
Figure 13 is the structure chart of beveling device of the invention;
Figure 14 is the structure chart that disk position of the invention adjusts device.
In figure, 1, clay shredder;2, rotating disk mechanism;3, mold transportation manipulator;4, roller head machine;5, the dry production of chain type Line;6, finished product transportation manipulator;7, side washing machine;8, mold;
101, feeding transport establishment;102, Qie Ni transport establishment;103, suction dredge structure;104, mud component is cut;105, sprocket wheel Feed mechanism;106, mud frame is transported;1031, rotating mechanism;1032, suction head;1033, mud cylinder is inhaled;
201, mold holds tray;202, mud cylinder is pressed;203, support tool cylinder;204, rotating device of rotary table;205, mud is pressed Head;206, support tool head;
301, rotating disc;302, mold handgrip;
501, hothouse, 502, sprocket wheel transport establishment;
71, side washing turntable;72, outer device is ground;73, beveling device;74, disk position adjusts device;75, station driving dress It sets;76, rotating blade drive;77, side washing station;78, driven pulley;79, driving pulley;
741, lead screw driving wheel;742, lead screw telescoping mechanism;743, telescopic adjustment seat;744, adjustment wheel;745, adjustment electricity Machine;746, fixing seat;
731, emery wheel;732, lifting device;733, emery wheel hold-down devices;734, emery wheel driving device;735, emery wheel adjusts Device;7351, emery wheel rotating device;7352, emery wheel telescopic device;
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
The present invention provides a kind of intelligent robot flexible manufacturing system, with reference to shown in attached drawing 1-14, comprising: clay shredder 1 turns Disc mechanism 2, mold transportation manipulator 3, roller head machine 4, chain type drying production line 5, finished product transportation manipulator 6, side washing machine 7.
The delivery outlet of clay shredder 1 is set to the top of rotating disk mechanism 2, and mud component is cut in the delivery outlet setting of clay shredder 1 104, raw material is transported to delivery outlet and is cut by cutting mud component 104 by suction dredge structure 103, clay shredder 1, then will by suction dredge structure 103 Clod after cutting is transported to the mold 8 on rotating disk mechanism 2, and rotating disk mechanism 2 holds equipped with multiple rotatable molds and drags Disk 201, mold hold tray 201 and are equipped with die clamp, mold Transport Machinery for placing mold 8, mold transportation manipulator 3 Hand 3 clamps the mold 8 for being placed with clod on rotating disk mechanism 2 by die clamp, while empty mold 8 is placed to rotating disk mechanism 2, Mold transportation manipulator 3 is by the transport of mold 8 with clod to roller head machine 4, and clamping is by the mould after the rolling of roller head machine 4 Tool 8, and the mold 8 for having clod is placed to roller head machine 4, the rolling wheel of roller head machine 4 rolls downwards with clod Mold 8 after rolling is transported and is placed into the chain type of the entrance of chain type drying production line 5 by mold 8, mold transportation manipulator 3 On bracket, while the empty mold 8 on chain type bracket is clamped, and empty mold 8 is put back on rotating disk mechanism 2.
Chain type drying production line 5 transports the mold 8 on the chain type bracket of entrance to dry in chain type drying production line 5 Dry room is dried, then transports to the exit of chain type drying production line 5, and exit is equipped with finished product transportation manipulator 6, finished product fortune Defeated manipulator 6 is equipped with sucking disc mechanism, and finished product transportation manipulator 6 is inhaled the finished product after drying by sucking disc mechanism from mold 8 Out, it and transports to side washing machine 7, side washing, polishing is carried out to finished product by side washing machine 7.
Need to illustrate when, in order to preferably show 5 internal structure of chain type drying production line, in Fig. 1-5 and be not drawn into chain 5 shell of formula drying production line.
The structure of clay shredder 1 is described in lower mask body:
Clay shredder 1 further includes feeding transport establishment 101, Qie Ni transport establishment 102, and the inclination of feeding transport establishment 101 is built In Qie Ni transport establishment 102,101 two sides of feeding transport establishment are equipped with sprocket wheel feed mechanism 105, and multiple fortune mud framves 106 are built On two sides sprocket wheel feed mechanism 105, for placing raw material in fortune mud frame 106, when feeding, 105 turns of two sides sprocket wheel feed mechanism It is dynamic, and then fortune mud frame 106 is driven to move, the fortune mud frame 106 for placing raw material transports top by the low side of feeding transport establishment 101, After the rotation of the sprocket wheel on top, raw material is fallen into Qie Ni transport establishment 102 by fortune mud frame 106, and Qie Ni transport establishment 102 is by raw material It transports to the delivery outlet of clay shredder 1, wherein Qie Ni transport establishment 102 can select belt transport unit, and Qie Ni transport establishment 102 transporting directions are consistent with fortune 106 length direction of mud frame.
In addition, being additionally provided with clod clamping device in the two sides of Qie Ni transport establishment 102, clod is clamped when for cutting, being kept away It is mobile to exempt from clod, realizes accurate cutting.
Mud component 104 of cutting in clay shredder 1 includes cutting mud cylinder, wire-electrode cutting device, and the mud cylinder of cutting is vertically arranged in Under the delivery outlet of Qie Ni transport establishment 102, and the end for cutting mud cylinder is equipped with wire-electrode cutting device, cuts mud transport when clod transports After the delivery outlet of mechanism 102, one end of clod is sucked by suction dredge structure 103, cuts mud cylinder and acts on upwards, drives wire-electrode cutting device It moves upwards, cuts clod.It can control the size of clod cutting by the travelling speed of moving-wire cutter device.
Suction dredge structure 103 in clay shredder 1 includes rotating mechanism 1031, inhales mud cylinder 1033, suction head 1032, inhales mud gas Cylinder 1033 is mounted in the rotation axis of rotating mechanism 1031, and the end for inhaling mud cylinder 1033 is equipped with suction head 1032.Rotating mechanism 1031 drive rotation axis rotation, and then drive and inhale mud cylinder 1033 and the rotation of suction head 1032, when suction head 1032 moves to just When to clod, then clod is sucked in suction head 1032, cuts clod by cutting mud component 104, and then rotating mechanism 1031, which drives, inhales Clod on mud head 1032 moves to the top of mold 8, and clod is put into mold 8.
Rotating disk mechanism 2 is specifically described below:
Rotating disk mechanism 2 further includes rotating device of rotary table 204, mud-pressing mechanism, and multiple rotatable molds hold the peace of tray 201 On rotating device of rotary table 204, plurality of rotatable mold, which holds tray 201 and occupy the turntable center of circle, to be uniformly distributed, and is pressed Mud mechanism includes pressure mud cylinder 202, mud pressing head 205, support tool cylinder 203, holds in the palm tool head 206, and pressure mud cylinder 202 and support have cylinder 203 are oppositely arranged vertically, and the end of mud cylinder 202 is pressed to be equipped with mud pressing head 205, and the end of support tool cylinder 203 is equipped with support tool head 206, it presses and is equipped with pressure bricklayer's position between mud cylinder 202 and support tool cylinder 203, rotating device of rotary table 204 rotates mold and holds tray 201 are overlapped with pressure bricklayer's position, i.e., the mold 8 with clod that rotating device of rotary table 204 can be rotated that mold is held on tray 201 arrives Bricklayer's position is pressed, then presses mud cylinder 202 and support tool cylinder 203 to move at the same time, pressure mud cylinder 202 drives mud pressing head 205 to press to mould Tool 8, is pressed into rudimentary model for the clod in mold 8, while asking tool cylinder 203 that support tool head 206 is driven to move upwards and resisting mold 8 Bottom, avoid mold 8 mobile, avoid the rudimentary model shape anomaly of clod, moreover it is possible to ensure the rudimentary model of clod in mold 8 In position it is accurate, be conducive to following process.
The structure of die clamp is described below in detail:
Die clamp includes rotating disc 301, mold handgrip 302, and two mold handgrips are symmetrically arranged with below rotating disc 301 302, the top of rotating disc 301 is connect with mold transportation manipulator 3.The position between mold 8 that two mold handgrips 302 are grabbed Setting relationship, with mold adjacent on rotating disk mechanism 2 to hold 201 positional relationship of tray corresponding.
Wherein, each mold handgrip 302 is driven by a handgrip motor, and mold handgrip 302 is made of lead screw and clamping jaw, The both ends of lead screw all pass through clamping jaw link block connection clamping jaw, and are connected through a screw thread between lead screw and clamping jaw link block, both ends The hand of spiral of clamping jaw link block on the contrary, lead screw driving axis connection handgrip motor, when work, handgrip motor drives lead screw to turn It is dynamic, and then drive clamping jaw link block along guide screw movement, by the rotation direction of handgrip motor can control both ends clamping jaw clamp or Loosen.
When in use, two movements of mold handgrip 302 can be different, such as mold Transport Machinery for die clamp of the invention Hand 3 clamps the mold 8 for being placed with clod on rotating disk mechanism 2 by die clamp, while empty mold 8 is placed to rotating disk mechanism 2, That is a mold handgrip 302 is pinching action, another mold handgrip 302 is loosening up, realizes synchronous working.
In addition, the mold transportation manipulator 3 and finished product transportation manipulator 6 in the present invention can use multi-spindle machining hand, it is excellent Choosing uses four axis robots or six axis robot.
The structure of chain type drying production line 5 is described in detail below:
Chain type drying production line 5 includes hothouse, the sprocket wheel transport establishment for being set to front and rear sides in hothouse, two side chains Multiple chain type brackets are connected between wheel transport establishment, and chain type bracket and sprocket wheel transport establishment pass through carriage turns axis connection, Chain type bracket is for placing mold 8.
Sprocket wheel transport establishment is made of multiple concatenated sprocket wheels, and being set to dry indoor sprocket wheel is driven wheel, and opposite It is symmetrical arranged in the middle part of hothouse, the sprocket wheel for being set to 5 inlet and outlet of chain type drying production line is driving wheel, driving wheel Rotation axis connection driving mechanism.When work, driving mechanism drives driving wheel rotation, and driving wheel passes through the driven rotation of chain-driving It is dynamic, and then drive the chain type movement of bracket being fixedly connected with chain, and chain type bracket is when sprocket wheel transport establishment moves, due to turn The effect of carriage turns axis, so that chain type carrier direction is consistent.
The middle part that dry indoor sprocket wheel is set to about hothouse is symmetrical arranged, and the drying of hothouse left and right side In area all on have a multi-layer chain wheel carrier chain, the lower section at the middle part of hothouse is equipped with cooling channel region, and cooling channel area Also it is symmetrically arranged with sprocket wheel in domain, when transport, chain type bracket is transported from the driving wheel of 5 entrance of chain type drying production line to hothouse The sprocket wheel carrier chain of top layer in the dry section of left side, in this stage, mold transportation manipulator 3 can take sky from chain type bracket Mold 8, and the mold 8 after roll forming is placed on chain type bracket;Then chain type bracket is conveyed by the sprocket wheel of top layer again Chain is transported from top to bottom to the sprocket wheel carrier chain of lower layer, is then transported by the sprocket wheel carrier chain of the lower layer of left side dry section to right side Then the sprocket wheel carrier chain of the lower layer of dry section is transported from the bottom up by the lower layer of right side dry section to the sprocket wheel conveying of top layer Chain, then directly transported by the sprocket wheel carrier chain of top layer to the driving wheel of the outlet of chain type drying production line 5, in this stage, Finished product transportation manipulator 6 take from chain type bracket it is dry after finished product;Last empty mold 8 is as chain type bracket is by drying life The driving wheel of the outlet of producing line transports back chain type bracket from 5 import of chain type drying production line through the sprocket wheel in cooling channel region The driving wheel at place, waiting are taken again.
By hothouse be divided into the left and right sides dry section, and in the dry section of hothouse left and right side all on divide into There is multilayer sprocket wheel carrier chain, such design can just heat roll forming rear mold 8 during transportation, lead to The design size of hothouse, the number of plies of sprocket wheel carrier chain, sprocket wheel travelling speed etc. are crossed, to guarantee the dry of roll forming rear mold 8 The dry time improves whole working efficiency, reduces labor intensity, and such design also makes the drying of roll forming rear mold 8 equal It is even, to improve the quality of finished product, reduce rejection rate.
Be equipped with cooling channel region in the lower section at the middle part of hothouse, by empty mold 8 be sent to cooling channel region into Row cooling, so that after mold 8 is cooling, then 5 entrance of chain type drying production line is transported back, the matter of mold 8 can be further increased Amount reduces rejection rate.
Further, it is also possible to which clay shredder 1, rotating disk mechanism 2, mold transportation manipulator 3, roller head machine 4 are placed on chain type Finished product transportation manipulator 6, side washing machine 7 are placed on the exit of chain type drying production line 5 by the entrance of drying production line 5, this Kind layout can propose the whole work efficiency of production line, be also beneficial to observation production process.
Sucking disc mechanism on finished product transportation manipulator 6 will it is dry in chain type drying production line 5 after mold 8 in finished product be sucked out Afterwards, it is placed on the side washing station 77 of side washing machine 7, the adjustment of finished product position, preliminary grinding, beveling, mill outer is successively carried out to finished product Deng processing, then into finished product detection region, quality testing is carried out to the finished product after processing, rejects underproof finished product.
The structure of side washing machine 7 is described in detail below:
Side washing machine 7 is outer including side washing turntable 71, rotating blade drive 76, station driving device 75, beveling device 73, mill Device 74 is adjusted along device 72, disk position, beveling device 73, mill outer device 72, disk position adjustment device 74 successively surround side washing Turntable 71 is arranged.
Multiple side washing stations 77, the rotation axis connection rotating blade drive of side washing turntable 71 are equipped with above side washing turntable 71 76, station driving device 75 includes eccentric motor, driving pulley 79, the rotation axis of the output shaft and driving pulley 79 of eccentric motor Connection, the lower section of each side washing station 77 is designed with driven pulley 78, passes through between driving pulley 79 and all driven pulleys 78 Belt connection, when work, eccentric motor drives driving pulley 79 to rotate, so that driven pulley 78 be driven to rotate, and then drives and washes Side station 77 rotates.
It includes lead screw driving wheel 741, lead screw telescoping mechanism 742, fixing seat 746, telescopic adjustment seat that disk position, which adjusts device 74, 743, motor 745, adjustment wheel 744 are adjusted, one end of lead screw telescoping mechanism 742 is fixed with lead screw driving wheel 741, and lead screw is flexible The threaded hole that mechanism 742 passes through in fixing seat 746 is fixed in fixing seat 746, and telescopic adjustment seat 743 passes through bearing and flexible tune It is fixed to save seat 743, adjustment motor 745 is fixed on telescopic adjustment seat 743, and mounting and adjusting wheel at the rotation axis of adjustment motor 745 744.When needing to adjust wheel 744 close to side washing station 77, lead screw driving wheel 741 controls the lead screw in lead screw telescoping mechanism 742 Rotation, so that telescopic adjustment seat 743 is moved along threads of lead screw direction, to drive adjustment motor 745,744 fortune of adjustment wheel Dynamic, adjustment motor 745 drives 744 rotation of adjustment wheel, is contacted by adjustment wheel 744 with the finished product on side washing station 77, to finished product Position is adjusted, it is ensured that the position of finished product is correct, improves the processing quality of finished product.This external-adjuster wheel 744 can also be to finished product It polishes, the outer of finished product is carried out to preliminary polishing, is conducive to following process.
Beveling device 73 include lifting device 732,2 or multiple grinding wheel devices, lifting device 732 be equipped with 2 or Multiple grinding wheel devices control 2 by lifting device 732 or multiple grinding wheel devices are gone up and down simultaneously, and each grinding wheel device includes Emery wheel adjusts device 735, emery wheel hold-down devices 733, emery wheel driving device 734, emery wheel 731, and it includes mill that emery wheel, which adjusts device 735, Telescopic device 7352, emery wheel rotating device 7351 are taken turns, wherein emery wheel telescopic device 7352 is internally threaded, and is realized by screw thread It is flexible, drive emery wheel 731 mobile to side washing station 77, one end of emery wheel telescopic device 7352 is mounted on emery wheel rotating device 7351 On, the other end of emery wheel telescopic device 7352 installs emery wheel 731, and emery wheel rotating device 7351 is mounted on lifting device 732, grinds The rotation axis of wheel 731 is connect with emery wheel driving device 734, and the side of the top of emery wheel 731 is equipped with emery wheel hold-down devices 733, and Emery wheel hold-down devices 733 and emery wheel driving device 734 are fixed.
Emery wheel hold-down devices 733 are equipped with pressure by screw thread adjustable column, briquetting, pressure regulating wheel, the top of screw thread adjustable column The lower part of regulating wheel, screw thread adjustable column is equipped with briquetting, by rotation pressure regulating wheel, and then rotates screw thread adjustable column and transports downwards It is dynamic, it drives briquetting to press to emery wheel 731, tilts emery wheel 731, be conducive to the bevel edge of polishing finished product.
The fabrication processing of intelligent robot flexible manufacturing system of the invention is to be cut first to raw material, then It is put into mold, roll-forming then is carried out to the clod in mold, then mold is put into hothouse and is dried, Then after the finished product after drying being carried out the adjustment of finished product position, preliminary grinding, beveling, mill outer, finished product detection region is entered, it is right Finished product after processing carries out quality testing, rejects underproof finished product, and whole process is designed using the coordinate of seamless connection, made pottery Porcelain roll forming production in introduce coordinate robots, articulated robot (i.e. mold transportation manipulator and finished product transportation manipulator) and Pneumatic conveyer system realizes the substitution in counterweight physical strength post, technical post operation worker;Mold is put into using manipulator Each station, while the mold for taking out processing is put into next station, can be substantially reduced process time, improves processing efficiency, Reduce labor intensity.
The present invention can achieve automatic clamping and placing mold 8, pug for mud system by data link robot and automatically Automatic conveying, cut automatically mud, throw automatically mud, automatic rolling and replace artificial work completely, to reduce the labour of worker Intensity, the operating environment for improving worker are also reduced because labour is unstable or recruitment difficulty is given manufacturing enterprise's bring inconvenience, Operation cost is reduced, production efficiency is improved.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example Property, it is not considered as limiting the invention, those skilled in the art are not departing from the principle of the present invention and objective In the case where can make changes, modifications, alterations, and variations to the above described embodiments within the scope of the invention.The scope of the present invention It is extremely equally limited by appended claims.

Claims (10)

1. a kind of intelligent robot flexible manufacturing system characterized by comprising clay shredder, rotating disk mechanism, mold Transport Machinery Hand, roller head machine, chain type drying production line, finished product transportation manipulator, side washing machine;
The delivery outlet of the clay shredder is set to the top of rotating disk mechanism, and the delivery outlet setting of the clay shredder cut mud component, Suction dredge structure, the clay shredder transport raw material to delivery outlet by cutting the cutting of mud component, then by suction dredge structure by the mud after cutting Block transports in the mold to rotating disk mechanism, and the rotating disk mechanism is equipped with multiple rotatable molds and holds tray, the mould Tool holds tray and is equipped with die clamp on hand for placing mold, the mold Transport Machinery, and the mold transportation manipulator is logical The mold for being placed with clod on die clamp clamping rotating disk mechanism is crossed, while placing empty mold, the mold to rotating disk mechanism Transportation manipulator transports the mold with clod to roller head machine, clamping rolled by roller head machine after mold, and to Roller head machine places the mold for having clod, and the rolling wheel of the roller head machine rolls downwards the mold with clod, institute On the chain type bracket for stating the entrance that the mold after rolling is transported and be placed into chain type drying production line by mold transportation manipulator, The empty mold on chain type bracket is clamped simultaneously, and empty mold is put back on rotating disk mechanism;
The chain type drying production line transports the mold on the chain type bracket of entrance to the drying in chain type drying production line Room is dried, then transports to the exit of chain type drying production line, and exit is equipped with finished product transportation manipulator, the finished product fortune Defeated manipulator is equipped with sucking disc mechanism, and the finished product transportation manipulator is inhaled the finished product after drying by sucking disc mechanism from mold Out, it and transports to side washing machine, side washing, polishing is carried out to finished product by side washing machine.
2. intelligent robot flexible manufacturing system as described in claim 1, it is characterised in that: the clay shredder further includes feeding Transport establishment, Qie Ni transport establishment, the feeding transport establishment inclination are built in Qie Ni transport establishment, the feeding transporter Structure two sides are equipped with sprocket wheel feed mechanism, and multiple fortune mud framves are built on the sprocket wheel feed mechanism of two sides, for putting in the fortune mud frame Set raw material, place raw material fortune mud frame by feeding transport establishment low side transport top, through top sprocket wheel rotation after, raw material by Fortune mud frame is fallen into Qie Ni transport establishment, and the Qie Ni transport establishment transports raw material to the delivery outlet of clay shredder.
3. intelligent robot flexible manufacturing system as described in claim 1, it is characterised in that: the suction dredge structure includes rotation Mud cylinder, suction head are inhaled by mechanism, and the suction mud cylinder is mounted in the rotation axis of rotating mechanism, the end for inhaling mud cylinder Equipped with suction head.
4. intelligent robot flexible manufacturing system as described in claim 1, it is characterised in that: the rotating disk mechanism further includes turning Disk rotating device, mud-pressing mechanism, multiple rotatable molds hold tray and are mounted on the rotating device of rotary table, the pressure mud Mechanism includes pressure mud cylinder, mud pressing head, support tool cylinder, support tool head, and the pressure mud cylinder is oppositely arranged vertically with support tool cylinder, and The end of mud cylinder is pressed to be equipped with mud pressing head, the end of the support tool cylinder is equipped with support tool head, the pressure mud cylinder and support tool cylinder Between be equipped with pressure bricklayer's position, rotating device of rotary table rotation mold holds tray and is overlapped with pressure bricklayer's.
5. intelligent robot flexible manufacturing system as described in claim 1, it is characterised in that: the die clamp includes rotation Disk, mold handgrip, the rotating disc lower section are symmetrically arranged with two mold handgrips, the top of the rotating disc and mold Transport Machinery Hand connection.
6. intelligent robot flexible manufacturing system as claimed in claim 5, it is characterised in that: two mold handgrips are grabbed It is corresponding that the positional relationship between mold taken with mold adjacent on rotating disk mechanism holds tray positional relationship.
7. intelligent robot flexible manufacturing system as described in claim 1, it is characterised in that: the chain type drying production line packet It includes hothouse, be set to the sprocket wheel transport establishment of front and rear sides in hothouse, connected between the sprocket wheel transport establishment of two sides multiple Chain type bracket, and chain type bracket and sprocket wheel transport establishment, by carriage turns axis connection, chain type bracket is for placing mold.
8. intelligent robot flexible manufacturing system as claimed in claim 7, it is characterised in that: the sprocket wheel transport establishment is by more A concatenated sprocket wheel composition, the middle part for being set to dry indoor sprocket wheel relative to hothouse are symmetrical arranged, and it is dry to be set to chain type The sprocket wheel of dry production line inlet and outlet is driving wheel, the rotation axis connection driving mechanism of driving wheel.
9. intelligent robot flexible manufacturing system as described in claim 1, it is characterised in that: the side washing machine includes that side washing turns Disk, rotating blade drive, station driving device, beveling device, mill outer device, disk position adjust device, the side washing turntable Top is equipped with multiple side washing stations, the rotation axis connection rotating blade drive of the side washing turntable, the station driving device packet Include eccentric motor, driving pulley, the output shaft of the eccentric motor and the rotation axis connection of driving pulley, each side washing work The lower section of position is designed with driven pulley, is connected between the driving pulley and all driven pulleys by belt, the beveling Device, mill outer device, disk position adjustment device successively surround the setting of side washing turntable, and the disk position adjustment device includes lead screw driving Wheel, lead screw telescoping mechanism, fixing seat, telescopic adjustment seat, adjustment motor, adjustment wheel, one end of the lead screw telescoping mechanism is fixed There is lead screw driving wheel, and the threaded hole that lead screw telescoping mechanism passes through in fixing seat is fixed in fixing seat, the telescopic adjustment seat It is fixed by bearing and telescopic adjustment seat, the adjustment motor is fixed on telescopic adjustment seat, and pacifies at the rotation axis of adjustment motor The whole wheel of adjustment.
10. intelligent robot flexible manufacturing system as claimed in claim 9, it is characterised in that: the beveling device includes Lifting device, 2 or multiple grinding wheel devices, the lifting device are equipped with 2 or multiple grinding wheel devices, each emery wheel dress Setting all includes that emery wheel adjusts device, emery wheel hold-down devices, emery wheel driving device, emery wheel, and the emery wheel adjustment device includes emery wheel One end of telescopic device, emery wheel rotating device, the emery wheel telescopic device is mounted on emery wheel rotating device, and the emery wheel is flexible The other end of device installs emery wheel, and the emery wheel rotating device is mounted on lifting device, the rotation axis and emery wheel of the emery wheel Driving device connection, the side of the top of the emery wheel is equipped with emery wheel hold-down devices, and emery wheel hold-down devices and emery wheel driving fill Set fixation.
CN201810998270.4A 2018-08-29 2018-08-29 Flexible production system of intelligent robot Active CN109227889B (en)

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JPH04259508A (en) * 1991-02-14 1992-09-16 Inax Corp Quantitative feed device of water-containing exhausted mud
US20070194480A1 (en) * 2002-10-22 2007-08-23 Denso Corporation Method of conveying ceramic moldings
CN202480229U (en) * 2012-01-17 2012-10-10 北京中航里程科技有限公司 Automatic roller forming assembly line for ceramic cups and plates
CN104227836A (en) * 2014-09-09 2014-12-24 广西北流市智诚陶瓷自动化科技有限公司 Novel stepping mud cutting device
CN104608237A (en) * 2014-12-20 2015-05-13 佛山市南海鑫隆机工机械有限公司 Automatic porcelain forming production line and control method thereof
CN106671265A (en) * 2017-02-10 2017-05-17 泉州市德化县丰弘机械有限公司 Double-rotary-disc type ceramic green body rapid forming system and method
CN106956133A (en) * 2017-05-13 2017-07-18 温州职业技术学院 Industrial robot aids in intelligent flexible manufacturing line
CN207044380U (en) * 2017-06-12 2018-02-27 泉州市德化县丰弘机械有限公司 One kind automation blank forming device
CN207736498U (en) * 2017-09-29 2018-08-17 泉州坤泰机械精工制造有限公司 A kind of conveyer belt type automatic rolling machine

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH04259508A (en) * 1991-02-14 1992-09-16 Inax Corp Quantitative feed device of water-containing exhausted mud
US20070194480A1 (en) * 2002-10-22 2007-08-23 Denso Corporation Method of conveying ceramic moldings
CN202480229U (en) * 2012-01-17 2012-10-10 北京中航里程科技有限公司 Automatic roller forming assembly line for ceramic cups and plates
CN104227836A (en) * 2014-09-09 2014-12-24 广西北流市智诚陶瓷自动化科技有限公司 Novel stepping mud cutting device
CN104608237A (en) * 2014-12-20 2015-05-13 佛山市南海鑫隆机工机械有限公司 Automatic porcelain forming production line and control method thereof
CN106671265A (en) * 2017-02-10 2017-05-17 泉州市德化县丰弘机械有限公司 Double-rotary-disc type ceramic green body rapid forming system and method
CN106956133A (en) * 2017-05-13 2017-07-18 温州职业技术学院 Industrial robot aids in intelligent flexible manufacturing line
CN207044380U (en) * 2017-06-12 2018-02-27 泉州市德化县丰弘机械有限公司 One kind automation blank forming device
CN207736498U (en) * 2017-09-29 2018-08-17 泉州坤泰机械精工制造有限公司 A kind of conveyer belt type automatic rolling machine

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