CN206126307U - A multifunctional machinery hand equipment for shifting ceramic vessel base - Google Patents

Abstract

The utility model provides a multifunctional machinery hand equipment for shifting ceramic vessel base, including unable adjustment base, mobile support, first linking arm, second linking arm, wrist portion, mobile support utilizes first pivot rotationally to install on unable adjustment base, the lower extreme of first linking arm utilizes the second pivot to form with mobile support and articulates, the upper end of first linking arm utilizes the third pivot to form with the upper end of second linking arm and articulates, wrist portion utilizes fourth pivot formation articulated with the lower extreme of second linking arm, the front end activity of wrist portion is equipped with the sucking disc subassembly, and the sucking disc subassembly is including rotatable lamella, sucking disc support, two upper and lower sucking discs, and every sucking disc central authorities is formed with the suction hole, the rotatable lamella utilizes the 5th pivot rotationally to install the front end in wrist portion. The utility model discloses can realize the translation transfer process that stands upside down, the upset transfer process of also can realizing standing upside down under the cooperation of other activity sucking discs.

Description

For the multifunction manipulator equipment of transfer ceramic bowl base

Technical field

This utility model belongs to the technical field of ceramic bowl production equipment, and in particular to a kind of for transfer ceramic bowl base Multifunction manipulator equipment.

Background technology

Ceramic bowl is printed with decorative pattern in the outer surface (DE in such as Fig. 1 FG positions) of bowl wall.Traditional ceramicses bowl is adopted Pattern is formed with the mode of decal paper.Later, people devise using silica gel head ceramic bowl surface print on aqueouss colorant and Form the transfer printing equipment of pattern.Ceramic bowl pattern transfer printing equipment is included with the good silica gel material of plane intaglio plate, flexibility The silica gel head of material making, suspension bracket, top and the suspension bracket lower end of silica gel head link together, and the bottom of silica gel head is in natural pendency It is hemispherical under state；In the dip step of the course of work, silica gel head moves down and presses and scribble the plane of aqueouss colorant Intaglio plate, and aqueouss colorant corresponding with pattern is dipped in, in the print steps of the course of work, ceramic bowl base is placed on into positioning On seat, then silica gel head is moved downward, and silica gel head is deformed into the shape with ceramic bowl base surface profiles, and by aqueouss colorant pattern Ceramic base substrate on ceramic base substrate just can be entered kiln high temperature sintering, be obtained with figuratum ceramics by bat printing afterwards Product.Its concrete structure and the course of work are as shown in patent documentation CN105082744A.

Above-mentioned ceramic bowl base needs the transfer through multi-form twice during impressing pattern：It is by still for the first time The ceramic bowl base 8 of the handstand of non-impressing pattern（Openpore）Early-stage work platform 84 from outside printing equipment is transferred to positioning support 85 Above, in first time transfer process, ceramic bowl base 8 is not required to upset, as shown in Fig. 4 arrow a, can be to bowl base 8 after shifting for the first time Outer surface implements printing；Second transfer is that the ceramic bowl base 8 of outer surface printed ink is transferred to from positioning support 85 Lower Stages 86 outside printing equipment, in second transfer process ceramic bowl base 8 need upset, and be from the rim of a bowl down The upset of back-off attitude be upright attitude from the rim of a bowl upward, as shown in Fig. 4 arrow b, can be to ceramic bowl after shifting for second Base 8 implements next procedure, for example, can be that ceramic bowl base inner surface is continued to implement printing, or ceramic bowl base is sent into kiln Stove is implemented to fire.In present specification, translation transfer process that above-mentioned first time transfer process is referred to as stood upside down will be shifted for second Process is referred to as stood upside down and overturns transfer process.

People attempt to attempt completing above-mentioned transfer process using mechanical hand.But for some bowl of foot 81 presents little lower auger The ceramic bowl 8 of degree（Ceramic bowl as shown in Figure 1, is formed with annular groove 82 between its bowl of foot 81 and bowl wall bottom）For, still Can pitch into annular groove 82 and clamp bowl foot 81 using chucking device 83, so as to implementing to clamp and overturning, as shown in Figure 2.But For most of ceramic bowls（That is conventional ceramic bowl）For, its bowl of foot mostly is up big and down small taper, it is clear that under handstand state It is difficult to bowl foot is implemented to clamp, as shown in Figure 3.In a word, clipping mechanical hand cannot be implemented to clamp and turn over to conventional ceramic bowl Turn.

On the other hand, common sucking disc type mechanical hand also cannot implement above-mentioned second transfer process to conventional ceramic bowl, This is because, even if a bowl bottom can be held using sucker 9, afterwards turn over, the process as shown in Fig. 5 arrow c, but be turned over After coming, bowl base 8 again cannot be unclamped and make which and is stably placed on lower Stages 86 with front position by sucker 9, As shown in Figure 5.

In a word, in prior art, shortage can realize above-mentioned second transfer process（Stand upside down and overturn transfer process）Machinery Handss equipment, more lacks and can either realize above-mentioned second transfer process（Stand upside down and overturn transfer process）Above-mentioned first can also be realized Secondary transfer process（Stand upside down and translate transfer process）Robotic device.Thus in the prior art, above-mentioned transfer process twice is big Depend on what is be accomplished manually, so need to expend more artificial, in the case where labor cost increasingly raises up, be unfavorable for reducing Production cost.

Utility model content

The purpose of this utility model is to overcome disadvantages mentioned above and provide and a kind of for the multi-functional of transfer ceramic bowl base Robotic device, it can realize translation transfer process of standing upside down, it is also possible under the cooperation of other movable suctions realize that handstand is turned over Turn transfer process.

Its purpose can be realized by below scheme：A kind of multifunction manipulator equipment for transfer ceramic bowl base, which is special It is to include firm banking, movable bearing support, the first linking arm, the second linking arm, wrist portion to levy, and the movable bearing support utilizes One rotating shaft is installed in rotation on above firm banking, and the axial direction of first rotating shaft is vertical；The lower end profit of first linking arm Formed with movable bearing support with the second rotating shaft and be hinged, the axial direction of the second rotating shaft is horizontal direction；The upper end of first linking arm with The upper end of the second linking arm is formed using the 3rd rotating shaft and is hinged, the axial direction for being axially parallel to the second rotating shaft of the 3rd rotating shaft；It is described Wrist portion is formed using the 4th rotating shaft with the lower end of the second linking arm and is hinged, and the axial direction of the 4th rotating shaft is also parallel with the second rotating shaft Axially；

The front end of the wrist portion is movably equipped with Suction cup assembly, Suction cup assembly include rotatable lamella, sucker stand, upper and lower two Individual sucker, each sucker central authorities are formed with suction hole, and suction hole is connected to extraneous negative pressure source by suction nozzle；

Rotatable lamella is installed in rotation on the front end of wrist portion using the 5th rotating shaft, and the 5th rotating shaft is axially perpendicular to the 4th Rotating shaft, is also perpendicularly to the direction of upper and lower two suckers；Sucker stand is fixed with rotatable lamella and is connected together and in company with rotatable lamella motion, Upper and lower two suckers are fixedly mounted on sucker stand and in company with sucker stand motion, wherein sucker above is upward, position In lower section sucker down；It is additionally provided with the first drive mechanism, the first connection of driving for driving movable bearing support to rotate around first rotating shaft Arm around the second axis of rotation the second drive mechanism, drive the second linking arm around the 3rd axis of rotation the 3rd drive mechanism, drive Start wrist around the 4th axis of rotation the 4th drive mechanism, drive rotatable lamella around the 5th axis of rotation the 5th drive mechanism.

This utility model has advantages below and effect：

First, this utility model can realize translation transfer process of standing upside down, by the ceramic bowl base for standing upside down from outside printing equipment Face is moved to above positioning support.

2nd, this utility model can realize upset transfer process of standing upside down under the cooperation of other movable suctions, by outer surface The ceramic bowl base of printed ink is transferred to outside printing equipment from positioning support, and is back-off attitude directed downwardly from the rim of a bowl Upset is the upright attitude from the rim of a bowl upward.

Description of the drawings

Fig. 1 is the cross-sectional view of the ceramic bowl that a kind of bowl of foot presents little lower steep-taper.

Fig. 2 is the method for clamping schematic diagram that the ceramic bowl shown in Fig. 1 can be adopted.

Fig. 3 is the cross-section structure of the ceramic bowl that bowl foot presents big lower Small Taper and is difficult to the principle schematic for clamping.

Fig. 4 is transfer step schematic diagram of the ceramic bowl base in whole outer surface printing process.

Fig. 5 is to be difficult to the schematic diagram that overturns and make which and put down with front position the bowl base of handstand using sucker merely.

Fig. 6 is a kind of dimensional structure diagram of specific embodiment of this utility model.

Fig. 7 is the local vertical cross section structural representation of embodiment illustrated in fig. 6.

Fig. 8 is to implement to stand upside down to translate the first state schematic diagram of transfer process.

Fig. 9 is to implement stand upside down the second state for translating transfer process and the first state for implementing handstand upset transfer process Schematic diagram.

Figure 10 is to implement to stand upside down to overturn the second view of transfer process.

Figure 11 is to implement to stand upside down to overturn the third state schematic diagram of transfer process.

Figure 12 is to implement to stand upside down to overturn the 4th view of transfer process.

Figure 13 is to implement to stand upside down to overturn the 5th view of transfer process.

Specific embodiment

Shown in Fig. 6, Fig. 7, this is used for the multifunction manipulator equipment of transfer ceramic bowl base, includes firm banking 1, activity Bearing 2, the first linking arm 3, the second linking arm 4, wrist portion 5, the movable bearing support 2 are rotatably mounted using first rotating shaft 61 On firm banking 1, the axial direction of first rotating shaft 61 is vertical；The lower end of first linking arm 3 using the second rotating shaft 62 with Movable bearing support 2 is formed and is hinged, and the axial direction of the second rotating shaft 62 is horizontal direction；The upper end of first linking arm 3 is connected with second The upper end of arm 4 is formed using the 3rd rotating shaft 63 and is hinged, the axial direction for being axially parallel to the second rotating shaft 62 of the 3rd rotating shaft 63；The handss Wrist 5 is formed using the 4th rotating shaft 64 with the lower end of the second linking arm 4 and is hinged, and the axial direction of the 4th rotating shaft 64 is also parallel with second turn The axial direction of axle 62；The front end of the wrist portion 5 is movably equipped with Suction cup assembly, and Suction cup assembly includes rotatable lamella 7, sucker stand 93rd, upper and lower two suckers 9, each 9 central authorities of sucker are formed with suction hole 91, and suction hole 91 is connected to extraneous negative by suction nozzle 92 Potential source；Rotatable lamella 7 is installed in rotation on the front end of wrist portion 5 using the 5th rotating shaft 65, and the 5th rotating shaft 65 is axially perpendicular to 4th rotating shaft 64, is also perpendicularly to the direction of upper and lower two suckers 9；Sucker stand 93 is fixed with rotatable lamella 7 and is connected together and companion Rotatable lamella 7 is moved, and upper and lower two suckers 9 are fixedly mounted on sucker stand 93 and move in company with sucker stand 93, wherein being located at Upward, underlying sucker 9 is down for the sucker 9 of top；It is additionally provided with drive movable bearing support 2 to rotate around first rotating shaft 61 first Drive mechanism, the second drive mechanism, the second linking arm 4 of driving that the first linking arm 3 rotates around the second rotating shaft 62 are driven around the 3rd Rotating shaft 63 rotate the 3rd drive mechanism, drive wrist portion 5 rotates around the 4th rotating shaft 64 the 4th drive mechanism, driving rotatable lamella 7 the 5th drive mechanisms rotated around the 5th rotating shaft 65.

The course of work and principle of above-described embodiment is as follows：

During transfer ceramic bowl base, the first drive mechanism, the second drive mechanism, the 3rd drive mechanism, 4 wheel driven Dynamic mechanism action, makes movable bearing support 2 rotate around first rotating shaft 61, and the first linking arm 3 is rotated around the second rotating shaft 62, the second linking arm 4 rotate around the 3rd rotating shaft 63, and wrist portion 5 is rotated around the 4th rotating shaft 64, drive sucker 9 flexibly to travel to and fro between early-stage work platform 84, determine Between position bearing 85, lower Stages 86, and ceramic bowl base is held or unclamped by sucker, so as to realize the handstand of ceramic bowl base Translation transfer process or upset transfer process of standing upside down.

Wherein, when needing to implement handstand translation transfer process（Needing will be the bowl base 8 for standing upside down flat from early-stage work platform 84 Move on to above positioning support 85）, drive sucker stand 93 to come above early-stage work platform 84, allow one be wherein located below to inhale Disk 9 holds the bowl bottom central part of handstand bowl base 8, as shown in Figure 8；Then, sucker stand 93 is driven to come on positioning support 85 Side, the rim of a bowl for keeping handstand bowl base 8 in this transfer process down, are then buckled in handstand bowl base 8 above positioning support 85, such as scheme Shown in 9, make following sucker 9 unclamp bowl base 8, this completes handstand translation transfer process.

After bowl base 80 completes printing on positioning support 85, when needing to implement handstand upset transfer process（Need The bowl base 80 of handstand is transferred to from above positioning support 85 on lower Stages 86 and is turned）, it is possible to use auxiliary Cylinder 94 and assisted sucking disc 90 coordinate, specific as follows：Before the bowl base 8 that next working cycle needs are printed is put down, in advance The bowl base 80 for having completed outer surface printing is picked up from positioning support 85 first with assisted sucking disc 90, the process for picking up is The process that the piston rod of assistant cylinder 94 shrinks upwards, 80 state of bowl base after picking up are as shown in Figure 9；Then, work as Suction cup assembly Just complete to stand upside down after translation transfer process, allow Suction cup assembly to move upwards, a sucker 9 is made above Suction cup assembly near bowl The bowl bottom inner surface position of base 80, as shown in Figure 10；Followed by bowl base 80 is unclamped by assisted sucking disc 90, is made under 80 nature of bowl base Fall, and the inner surface central authorities of bowl base 80 inhale naturally and are attached to above a sucker 9 above, bowl base 80 is held by the sucker 9, such as Shown in Figure 11；Hereafter, Suction cup assembly is driven to leave above positioning support 85, in the process, the 5th drive mechanism drives and rotates Piece 7 rotates 180 ° around the 5th rotating shaft 65, drives sucker stand 93, ceramic bowl base 80 to rotate 180 ° around the 5th rotating shaft 65, originally position Sucker 9 in top is changed into positioned at lower section, and originally underlying sucker 9 is changed into above, and ceramic bowl base 80 is changed into the rim of a bowl Front position upward, as shown in figure 12；Finally, the ceramic bowl base 80 of front position is driven to move to downstream together with Suction cup assembly Above workbench 86, ceramic bowl base 80 is unclamped by sucker 9, ceramic bowl base 80 is placed on lower Stages 86, is completed handstand and turn over Turn transfer process, as shown in figure 13.

Claims (1)

1. a kind of multifunction manipulator equipment for transfer ceramic bowl base, it is characterised in that include firm banking, activity Seat, the first linking arm, the second linking arm, wrist portion, the movable bearing support are installed in rotation on fixed bottom using first rotating shaft Above, the axial direction of first rotating shaft is vertical to seat；The lower end of first linking arm forms hinge with movable bearing support using the second rotating shaft Connect, the axial direction of the second rotating shaft is horizontal direction；The upper end of first linking arm utilizes the 3rd turn with the upper end of the second linking arm Axle is formed and is hinged, the axial direction for being axially parallel to the second rotating shaft of the 3rd rotating shaft；The wrist portion is sharp with the lower end of the second linking arm Formed with the 4th rotating shaft and be hinged, the axial direction axially also parallel with the second rotating shaft of the 4th rotating shaft；The front end activity of the wrist portion Suction cup assembly is provided with, Suction cup assembly includes rotatable lamella, sucker stand, upper and lower two suckers, and each sucker central authorities is formed with suction Pore, suction hole are connected to extraneous negative pressure source by suction nozzle；Rotatable lamella is installed in rotation on wrist portion using the 5th rotating shaft Front end, the 5th rotating shaft is axially perpendicular to the 4th rotating shaft, is also perpendicularly to the direction of upper and lower two suckers；Sucker stand and rotation Piece is fixed and is connected together and in company with rotatable lamella motion, and upper and lower two suckers are fixedly mounted on sucker stand and in company with sucker stand Motion, wherein sucker above is upward, underlying sucker is down；It is additionally provided with driving movable bearing support to turn around first rotating shaft Dynamic the first drive mechanism, drive the first linking arm around the second axis of rotation the second drive mechanism, drive the second linking arm around 3rd drive mechanism of the 3rd axis of rotation, drive wrist portion around the 4th axis of rotation the 4th drive mechanism, drive rotatable lamella Around the 5th drive mechanism of the 5th axis of rotation.