CN113199607B

CN113199607B - Six-axis robot for glaze spraying operation in cold environment

Info

Publication number: CN113199607B
Application number: CN202110491505.2A
Authority: CN
Inventors: 汤绍成
Original assignee: Shenzhen Boyang Precision Technology Co ltd
Current assignee: Shenzhen Boyang Precision Technology Co ltd
Priority date: 2021-05-06
Filing date: 2021-05-06
Publication date: 2023-07-04
Anticipated expiration: 2041-05-06
Also published as: CN113199607A

Abstract

The invention discloses a six-axis robot for glaze spraying operation in a cold environment, which relates to the technical field of robots and comprises an equipment main body, wherein an adjusting base is arranged at the top end of the equipment main body, a spray head is arranged on the right side of the adjusting base, a dredging module is fixed on the inner wall of the adjusting base, a limiting module is arranged above the dredging module, a cleaning module is arranged on the right side of the dredging module, a protection module is arranged above the spray head, the dredging module comprises a sliding rail, a supporting rod is fixed above the sliding rail, the limiting module comprises a limiting groove, the limiting groove is formed in the outer wall of a guide plate, the inner wall of the limiting groove is attached to the lower end of the limiting rod, and the six-axis robot for glaze spraying operation in the cold environment is provided with the dredging module and the cleaning module, and can avoid residual glaze inside the spray head through cooperation between the two, so that the condition that the glaze is blocked after the inside of the spray head is solidified is avoided.

Description

Six-axis robot for glaze spraying operation in cold environment

Technical Field

The invention relates to the technical field of robots, in particular to a six-axis robot for performing glaze spraying operation in a cold environment.

Background

From the mechanical point of view, industrial robots are generally divided into serial robots and parallel robots. The serial robot is characterized in that the motion of one axis changes the origin of coordinates of the other axis, while the motion of one axis of the parallel robot does not change the origin of coordinates of the other axis. Early industrial robots used a tandem mechanism. A parallel mechanism is defined as a closed loop mechanism in which the moving and fixed platforms are connected by at least two independent motion chains, the mechanism having two or more degrees of freedom and being driven in parallel. The parallel mechanism has two components, a wrist and an arm, respectively. The arm activity area has a great influence on the activity space, and the wrist is the connecting part of the tool and the main body. Compared with the serial robot, the parallel robot has the advantages of high rigidity, stable structure, high bearing capacity, high inching precision and small motion load. In position solving, the forward solution of the serial robot is easy, but the backward solution is very difficult; in contrast, parallel robots are difficult to solve positively and very easy to solve negatively.

The glaze spraying method is to spray glaze material onto the surface of the blank by means of glaze sprayer. The glazing method is suitable for large-scale products and products with complex shapes or thin tyres and the like which need glazing for multiple times, can be used for glazing for multiple times, can obtain thicker glaze layers, and is used for glazing in a plurality of ceramic tile factories. The glazing mechanical method combining glazing and spraying can achieve the effects of high efficiency and smooth and flat glaze surface. The glaze hanging of the green body of the large sanitary ware product generally adopts an automatic glaze spraying method.

The six robots that carry out glaze spraying operation under the present cold environment can only can't protect the shower nozzle, under cold condition, because the frit is liquid form, the shower nozzle can often lead to the shower nozzle to block up owing to the frit solidifies to need the manual work to clean it, thereby avoid the shower nozzle to block up the normal operating that influences equipment, the shower nozzle exposes in the external world for a long time and causes the damage easily moreover.

Disclosure of Invention

(one) solving the technical problems

Aiming at the defects of the prior art, the invention provides a six-axis robot for carrying out glaze spraying operation in a cold environment, and solves the problems mentioned in the background art.

(II) technical scheme

In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides a six robots of glaze spraying operation carries out under cold environment, includes the equipment main part, equipment main part top is provided with adjusts the base, it is provided with the shower nozzle to adjust the base right side, it is fixed with the mediation module to adjust base inner wall, spacing module has been put to mediation module top, mediation module right side is provided with clean module, the shower nozzle top is provided with protection module, the mediation module includes the slide rail, the slide rail top is fixed with the bracing piece, spacing module includes the spacing groove, the spacing groove is seted up on the guide plate outer wall, spacing groove inner wall and gag lever post lower extreme laminating, clean module includes L type gag lever post, L type gag lever post is fixed on dredge lever post outer wall, L type gag lever post below is provided with the guide block, set up spacing hole on the guide block outer wall, protection module includes the stay cord, the stay cord is fixed on the right side of guide plate, the stay cord runs through waterproof packing ring and adjusts the inner wall of base simultaneously and winds and establish on the belt pulley outer wall.

Preferably, the right side of the supporting rod is fixed with a reset spring, the reset spring is fixed on the outer wall of the guide plate, the guide plate penetrates through the inner wall of the supporting plate and is fixed with a dredging rod, the outer wall of the supporting plate is provided with a guide hole, and the size of the dredging rod is matched with that of the spray head.

Preferably, a positioning block is arranged on the right side of the guide plate and is fixed above the sliding rail, and the sliding rail is fixed at the bottom of the inner wall of the adjusting base.

Preferably, the stop lever runs through the sleeve inner wall, the sleeve passes through the spring and is connected with the stop lever transmission, the sleeve is fixed at regulation base inner wall top.

Preferably, the size of the limiting hole is matched with that of the L-shaped limiting rod, a cleaning barrel is arranged on the right side of the L-shaped limiting rod, and the cleaning barrel is fixed on the inner wall of the adjusting base.

Preferably, the inner wall of the cleaning barrel is penetrated by the dredging rod, the flow guide block penetrates through the inner wall of the adjusting base and is fixedly provided with a second reset spring, the second reset spring is fixed on the inner wall of the adjusting base, the number of the second reset springs is two, and the two groups of the second reset springs are symmetrically arranged by taking the center line of the vertical direction of the flow guide block as a symmetrical axis.

Preferably, the right side of the flow guide block is attached to the second positioning block, the second positioning block is fixed to the bottom of the inner wall of the adjusting base, a slag discharging port is formed in the right side of the second positioning block, and the slag discharging port is formed in the outer wall of the adjusting base.

Preferably, the belt pulley is fixed on the outer wall of the adjusting base, a protection base is arranged below the belt pulley, the protection base is fixed on the upper surface of the spray head, and the pull rope penetrates through the inner wall of the protection base and is fixed above the connecting plate.

Preferably, the connecting plate can slide from top to bottom at the protection base inner wall, is that connecting plate top is fixed with No. three reset spring, no. three reset spring is fixed on the protection base inner wall, the connecting plate below is fixed at the guard plate, the guard plate can slide from top to bottom along shower nozzle right side outer wall.

(III) beneficial effects

The invention provides a six-axis robot for glaze spraying operation in a cold environment. The beneficial effects are as follows:

(1) The six-axis robot for glaze spraying operation in the cold environment is provided with the dredging module and the cleaning module, and the residual glaze inside the spray head can be avoided through the cooperation between the dredging module and the cleaning module, so that the condition that the glaze is blocked after being solidified inside the spray head is avoided, and the work of operators is reduced.

(2) The six-axis robot for carrying out glaze spraying operation in the cold environment is provided with a protection module. The protection module can shelter from the shower nozzle, avoids the shower nozzle to expose and receive the damage in the external world to avoided increasing manufacturing cost.

Drawings

FIG. 1 is a schematic diagram of the front structure of the present invention;

FIG. 2 is a schematic view of the inner wall structure of the adjusting base of the present invention;

FIG. 3 is a schematic view of a partial structure A of the present invention;

fig. 4 is a schematic view of a partial B structure of the present invention.

In the figure: 1. an apparatus main body; 2. adjusting the base; 3. a spray head; 4. a dredging module; 41. a slide rail; 42. a support rod; 43. a return spring; 44. a deflector; 45. a positioning block; 46. a dredging rod; 5. a support plate; 6. a deflector aperture; 7. a limit module; 71. a limit groove; 72. a limit rod; 73. a sleeve; 8. a cleaning module; 81. an L-shaped limit rod; 82. a cleaning barrel; 83. a flow guiding block; 84. a limiting hole; 85. a second return spring; 86. a second positioning block; 87. a slag discharge port; 9. a protection module; 91. a pull rope; 92. a waterproof gasket; 93. a belt pulley; 94. a protective base; 95. a connecting plate; 96. a return spring III; 97. and (5) protecting the plate.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Referring to fig. 1-4, the present invention provides a technical solution: six robots that carry out glaze spraying operation under cold environment, including equipment main part 1, equipment main part 1 top is provided with adjusts base 2, adjusts base 2 right side and is fixed with shower nozzle 3, adjusts 2 inner wall inner walls of base and is fixed with mediation module 4, and spacing module 7 has been put to mediation module 4 top, and mediation module 4 right side is provided with cleaning module 8, and shower nozzle 3 top is provided with protection module 9.

The invention is provided with a dredging module 4, the dredging module 4 comprises a sliding rail 41, the upper surface of the sliding rail 41 is fixedly provided with a supporting rod 42 which can support a return spring 43, the right side of the supporting rod 42 is fixedly provided with the return spring 43 which can drive a guide plate 44 to slide left and right, the right side of the return spring 43 is fixedly arranged on the outer wall of the guide plate 44, the right side of the guide plate 44 penetrates through the inner wall of the supporting plate 5 and is fixedly provided with a dredging rod 46 which can dredge and clean a spray head 3, the outer wall of the supporting plate 5 is provided with a guide hole 6 which can enable glaze to flow into the right side of the supporting plate 5, the size of the dredging rod 46 is matched with the size of the spray head 3, the right side of the guide plate 44 is provided with a positioning block 45 which can limit the rightward sliding range of the guide plate, the positioning block 45 is fixedly arranged above the sliding rail 41, and the sliding rail 41 is fixedly arranged at the bottom of the inner wall of the adjusting base 2.

The limiting module 7 is arranged in the invention, the limiting module 7 comprises a limiting groove 71, the limiting groove 71 is formed on the outer wall of the guide plate 44, the inner wall of the limiting groove 71 is attached to the lower end of the limiting rod 72, the limiting rod 72 penetrates through the inner wall of the sleeve 73, the sleeve 73 is in transmission connection with the limiting rod 72 through a spring, the sleeve 73 is fixed on the top of the inner wall of the adjusting base 2, and when the guide plate 44 slides leftwards along the sliding rail 41, the limiting rod 72 can slide rightwards along the limiting groove 71 relative to the guide plate 44, so that the short-term position limiting of the guide plate 44 can be carried out.

The invention is provided with a cleaning module 8, the cleaning module 8 comprises an L-shaped limiting rod 81, the L-shaped limiting rod 81 is fixed on the outer wall of a dredging rod 46, the L-shaped limiting rod 81 can slide left and right along with the dredging rod 46, a flow guide block 83 is arranged below the L-shaped limiting rod 81, a limiting hole 84 is arranged on the outer wall of the flow guide block 83, the size and the size of the limiting hole 84 are matched with those of the L-shaped limiting rod 81, when the L-shaped limiting rod 81 slides leftwards along with the dredging rod 46 into the limiting hole 84, the L-shaped limiting rod 81 can limit the flow guide block 83 to slide up and down, a cleaning barrel 82 capable of cleaning the outer wall of the dredging rod 46 is arranged on the right side of the L-shaped limiting rod 81, the cleaning barrel 82 is fixed on the inner wall of the adjusting base 2, the inner wall of the cleaning barrel 82 is penetrated by the dredging rod 46, the guide block 83 runs through the inner wall of the adjusting base 2 and is fixedly provided with a second reset spring 85 capable of sliding up and down along the inner wall of the adjusting base 2, the second reset spring 85 is fixed on the inner wall of the adjusting base 2, the number of the second reset springs 85 is two, the two groups of the second reset springs 85 are symmetrically arranged by taking the central line of the vertical direction of the guide block 83 as a symmetrical axis, the right side of the guide block 83 is attached to a second positioning block 86, the second positioning block 86 is fixed at the bottom of the inner wall of the adjusting base 2, the right side of the second positioning block 86 is provided with a slag discharging port 87, the slag discharging port 87 is arranged on the outer wall of the adjusting base 2, and when the guide block 83 slides downwards along the left side of the second positioning block 86 to the top parallel and level thereof, glaze residues attached to the outer wall of the dredging rod 46 can flow out of the adjusting base 2 through the slag discharging port 87.

The invention is provided with a protection module 9, the protection module 9 comprises a pull rope 91, the pull rope 91 is fixed on the right side of a guide plate 44, the guide plate 44 can drive the pull rope 91 to slide left and right, the pull rope 91 simultaneously penetrates through a waterproof gasket 92 and the inner wall of an adjusting base 2 and is wound on the outer wall of a belt pulley 93, the belt pulley 93 is fixed on the outer wall of the adjusting base 2, a protection base 94 is arranged below the belt pulley 93, the protection base 94 is fixed on the upper surface of a spray head 3, the pull rope 91 penetrates through the inner wall of the protection base 94 and is fixed above a connecting plate 95, the connecting plate 95 can slide up and down on the inner wall of the protection base 94, a third reset spring 96 is fixed above the connecting plate 95, and when the connecting plate 95 slides up along the inner wall of the protection base 94, the third reset spring 96 can drive the connecting plate to return to an initial position downwards. The third return spring 96 is fixed on the inner wall of the protective base 94, the lower part of the connecting plate 95 is fixed on the protective plate 97, and the protective plate 97 can slide up and down along the outer wall of the right side of the spray head 3.

When the spraying glaze is started, the glaze firstly flows into the left side of the supporting plate 5 through the guide blocks 83, at the moment, the glaze exerts leftward acting force on the guide plates 44, the guide plates 44 slide leftwards along the upper surfaces of the sliding rails 41, the guide plates 44 drive the dredging rods 46 to slide leftwards out of the spray heads 3, meanwhile, the guide plates 44 drive the pull ropes 91 to slide leftwards, the pull ropes 91 drive the connecting plates 95 to slide upwards, the connecting plates 95 drive the protection plates 97 to slide upwards along the outer walls of the right sides of the spray heads 3, so that the glaze is sprayed out through the spray heads 3, meanwhile, the limiting rods 72 slide rightwards relative to the guide plates 44 along the limiting grooves 71, the limiting rods 72 limit the short-term positions of the guide plates 44, meanwhile, the dredging rods 46 drive the L-shaped limiting rods 81 to slide leftwards into the limiting holes 84, so that the positions of the guide blocks 83 are limited, after the spraying is finished, the glaze pressure in the regulation base 2 gradually reduces, return spring 43 is greater than the effort of gag lever post 72 to guide plate 44 this moment, return spring 43 drives guide plate 44 and slides to the right, guide plate 44 drives the open-off lever 46 and slides to the left, clean bucket 82 can clean the glaze that remains on the open-off lever 46 outer wall this moment, avoid open-off lever 46 to remain the glaze and block up shower nozzle 3, simultaneously open-off lever 46 drives L shape gag lever post 81 to slide out spacing hole 84 inside to the right, guide block 83 slides down, thereby make remaining glaze flow out regulation base 2 inside through the slag notch 87, simultaneously No. three return spring 96 drive connecting plate 95 slide down, connecting plate 95 drives guard plate 97 down, connecting plate 95 shelters from the protection again to the shower nozzle 3 outside.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a six robots of glaze spraying operation carries out under cold environment, includes equipment main part (1), equipment main part (1) top is provided with adjusts base (2), it is fixed with shower nozzle (3) to adjust base (2) right side, it is fixed with mediation module (4) to adjust base (2) inner wall, spacing module (7) have been placed on mediation module (4), mediation module (4) right side is provided with cleaning module (8), shower nozzle (3) top is provided with protection module (9);

the dredging module (4) comprises a sliding rail (41), a supporting rod (42) capable of supporting a return spring (43) is fixed on the upper surface of the sliding rail (41), the right side of the supporting rod (42) is fixedly provided with the return spring (43) capable of driving a guide plate (44) to slide left and right, the right side of the return spring (43) is fixedly arranged on the outer wall of the guide plate (44), the right side of the guide plate (44) penetrates through the inner wall of a supporting plate (5) and is fixedly provided with a dredging rod (46) capable of dredging and cleaning a spray head (3), the outer wall of the supporting plate (5) is provided with a guide hole (6) capable of enabling glaze to flow into the right side of the supporting plate (5), and the sliding rail (41) is fixedly arranged at the bottom of the inner wall of the adjusting base (2);

the limiting module (7) comprises a limiting groove (71), the limiting groove (71) is formed in the outer wall of the guide plate (44), the inner wall of the limiting groove (71) is attached to the lower end of the limiting rod (72), the limiting rod (72) penetrates through the inner wall of the sleeve (73), the sleeve (73) is in transmission connection with the limiting rod (72) through a spring, the sleeve (73) is fixed at the top of the inner wall of the adjusting base (2), and when the guide plate (44) slides leftwards along the sliding rail (41), the limiting rod (72) can slide rightwards along the limiting groove (71) relative to the guide plate (44) and limits the short-term position of the guide plate (44);

the cleaning module (8) comprises an L-shaped limiting rod (81), the L-shaped limiting rod (81) is fixed on the outer wall of the dredging rod 46, the L-shaped limiting rod (81) can slide left and right along with the dredging rod (46), a guide block (83) is arranged below the L-shaped limiting rod (81), a limiting hole (84) is formed in the outer wall of the guide block (83), the size of the limiting hole (84) is matched with that of the L-shaped limiting rod (81), when the L-shaped limiting rod (81) slides left along with the dredging rod 46 into the limiting hole (84), the L-shaped limiting rod (81) can limit the guide block (83) to slide up and down, a cleaning barrel (82) capable of cleaning the outer wall of the dredging rod (46) is arranged on the right side of the L-shaped limiting rod (81), the cleaning barrel (82) is fixed on the inner wall of the adjusting base (2), the inner wall of the cleaning barrel (82) is penetrated by the dredging rod (46), the flow guide block (83) penetrates through the inner wall of the adjusting base (2) and is fixed with a second return spring (85) which can slide up and down along the inner wall of the adjusting base (2), the second return spring (85) is fixed on the inner wall of the adjusting base (2), the number of the second return springs (85) is two, the two groups of the second return springs (85) are symmetrically arranged by taking the central line of the vertical direction of the flow guide block (83) as a symmetrical axis, the right side of the flow guide block (83) is jointed with the second positioning block (86), the second positioning block (86) is fixed at the bottom of the inner wall of the adjusting base (2), a slag discharging port (87) is formed in the right side of the second positioning block (86), the slag discharging port (87) is formed in the outer wall of the adjusting base (2), and when the flow guiding block (83) slides downwards along the left side of the second positioning block (86) to be level with the top of the flow guiding block, glaze residues attached to the outer wall of the dredging rod (46) can flow out of the adjusting base (2) through the slag discharging port (87);

the protection module (9) comprises a pull rope (91), the pull rope (91) is fixed on the right side of the guide plate (44), the guide plate (44) can drive the pull rope (91) to slide left and right, the pull rope (91) simultaneously penetrates through the inner wall of the waterproof gasket (92) and the inner wall of the adjusting base (2) and winds around the outer wall of the belt pulley (93), the belt pulley (93) is fixed on the outer wall of the adjusting base (2), the protection base (94) is arranged below the belt pulley (93), the protection base (94) is fixed on the upper surface of the spray head (3), the pull rope (91) penetrates through the inner wall of the protection base (94) and is fixed above the connecting plate (95), the connecting plate (95) can slide up and down on the inner wall of the protection base (94), when the connecting plate (95) slides up along the inner wall of the protection base (94), the three return springs (96) can drive the same to return to the initial position downwards, the three return springs (96) are fixed on the inner wall of the protection base (94), the connecting plate (95) is fixed below the protection base (95) and can slide down along the outer wall of the spray head (97).

2. The six-axis robot for performing glaze spraying operation in cold environment according to claim 1, wherein: the size of the dredging rod (46) is matched with that of the spray head (3), a positioning block (45) capable of limiting the rightward sliding range of the dredging rod is arranged on the right side of the guide plate (44), and the positioning block (45) is fixed above the sliding rail (41).