CN221212145U - Semi-finished ceramic glazing device based on flexible clamping jaw - Google Patents

Abstract

The utility model discloses a semi-finished ceramic glazing device based on a flexible clamping jaw, which consists of an inner meshing rotating track assembly, a mechanical arm assembly, a flexible clamping jaw assembly, a painting brush assembly, a supporting table assembly and an electric control loop, wherein the inner meshing rotating track assembly consists of an inner meshing rotating guide rail, four guide rail clamping wheels, a substrate, a servo motor, a driving shaft and a driving gear, the flexible clamping jaw assembly consists of a clamping jaw center, three groups of supporting rods, movable rods, a fixed block, a baffle plate, flexible fingers, a spherical hinge fixed rod, a spherical hinge movable rod and an electromagnet, the painting brush assembly consists of a painting brush frame, a painting brush and an iron disc, the meshing rotating track assembly drives the mechanical arm assembly to move, and the flexible clamping jaw assembly grabs the painting brush to perform glazing operation on the semi-finished ceramic, so that the ceramic is good in flexibility, not easy to damage, high in automation degree and convenient to use, and the glazing efficiency of the semi-finished ceramic is improved.

Description

Semi-finished ceramic glazing device based on flexible clamping jaw

Technical Field

The utility model belongs to the field of ceramic industrial automation, and mainly relates to a semi-finished ceramic glazing device based on a flexible clamping jaw.

Background

The ceramic belongs to an inorganic nonmetallic material, is often used for daily life, has a very wide application range, is an indispensable daily use article, such as kitchen tableware, tea set, ceramic ornament and the like in home, has the advantages of no fading, no water absorption, no denaturation, no harm to human body, easy cleaning and the like, and also has the problem of fragility and the like. Although modern technology is developed rapidly, the production process of ceramic finished products always lacks effective automation means, and the problems of complex technological process, high labor cost input, low degree of automation among working procedures and the like still exist in the production of ceramic finished products.

The research on the glazing means of semi-finished ceramics becomes a great research hot spot in the ceramic industrial automation field. The semi-finished ceramic glazing technology is a deep fusion of an automation technology and a processing technology, and can replace manpower to automatically glazing according to actual processing requirements, so that the processing cost is greatly saved, the manpower is liberated, and the actual production and processing efficiency is improved.

According to different glazing modes, the semi-finished ceramic glazing is mainly divided into manual glazing and machine glazing. Manual glazing relies on manpower to use a painting tool to manually paint patterns in small areas of ceramics, and the method has high manpower cost, low repeatability and poor actual production efficiency despite certain flexibility, and has higher requirements on the production experience of the glazing workers. The machine glazing can realize certain automation, but the glazing tool is in rigid contact with the ceramic surface, and scratches are easily caused on the ceramic surface. The semi-finished ceramic glazing device based on the flexible clamping jaw has the advantages of good flexibility, difficult ceramic damage, high automation degree, convenience in use and the like, and the application of the flexible clamping jaw to the semi-finished ceramic glazing technology has good development prospect and great innovation advantage.

Disclosure of utility model

In order to solve the problems in the prior art, the utility model aims to provide a semi-finished ceramic glazing device based on a flexible clamping jaw, so as to solve the problems of high labor cost, low repeatability, rigid contact and the like in the existing ceramic glazing mode.

The utility model discloses a semi-finished ceramic glazing device based on a flexible clamping jaw, which consists of an inner meshed rotary track assembly (1), a mechanical arm assembly (2), a flexible clamping jaw assembly (3), a painting brush assembly (4), a supporting platform assembly (5) and an electric control loop (6).

An inner meshing rotary guide rail (1-1) of an inner meshing rotary track assembly (1) is placed on a workbench, a guide rail clamping wheel I (1-2), a guide rail clamping wheel II (1-7), a guide rail clamping wheel III (1-8) and a guide rail clamping wheel IV (1-9) are fixedly connected to a base plate (1-3) through bolts, clamping grooves of the guide rail clamping wheel I (1-2) and the guide rail clamping wheel II (1-7) are clamped with the inner ring side of the inner meshing rotary guide rail (1-1), clamping grooves of the guide rail clamping wheel III (1-8) and the guide rail clamping wheel IV (1-9) are clamped with the outer ring side of the inner meshing rotary guide rail (1-1), a shell of a servo motor (1-4) is fixedly connected with a base plate (1-3) through bolts, a motor shaft of the servo motor (1-4) is fixedly connected with a driving shaft (1-5) through welding, the driving shaft (1-5) is fixedly connected with a driving gear (1-6) in a key mode, the driving gear (1-6) is meshed with the inner tooth motor (1-1) and the inner tooth motor (1-1) is meshed with the inner tooth motor to drive the inner tooth motor (1-1) to rotate along the central axis of the inner meshing rotary guide rail (1-1). Wherein the first guide rail clamping wheel (1-2), the second guide rail clamping wheel (1-7), the third guide rail clamping wheel (1-8) and the fourth guide rail clamping wheel (1-9) have the same composition structure.

The motor base (2-1) of the mechanical arm assembly (2) is fixed on the base plate (1-3) through bolts, a motor is arranged in the motor base (2-1), a motor shaft of the motor in the motor base (2-1) is welded and fixed with the rotary chassis (2-2), the rotary chassis (2-2) is driven to do rotary motion around a central axis of the motor, the large arm motor (2-3) is welded and fixed on the rotary chassis (2-2), a motor shaft of the large arm motor (2-3) and the large arm (2-4) are welded and fixed, the motor shaft of the large arm motor (2-3) rotates to drive the large arm (2-4) to do swing motion, a motor shell of the small arm motor (2-5) is connected and fixed at the tail end of the large arm (2-4) through bolts, the motor shaft of the small arm motor (2-5) and the small arm (2-6) are driven to do swing motion through the motor shaft of the small arm motor (2-5), and the motor shaft of the small arm motor (2-6) rotates to drive the small arm (2-6) to do swing motion, and the motor shaft of the large arm motor (2-6) and the tail end of the large arm motor (2-3) rotate around the tail end of the motor shaft to do rotary disc (2-6) to do rotary motion around the central axis of the motor.

The tail end rotating disc (2-7) on the mechanical arm assembly (2) is fixedly welded in a clamping jaw center (3-1) in the flexible clamping jaw assembly (3), the first supporting rod (3-2), the second supporting rod (3-3) and the third supporting rod (3-4) are fixedly connected on the clamping jaw center (3-1) through bolts, the first movable rod (3-5), the second movable rod (3-6) and the third movable rod (3-7) are respectively sleeved in the first supporting rod (3-2), the second supporting rod (3-3) and the third supporting rod (3-4) to form three telescopic rod structures, the first fixed block (3-8), the second fixed block (3-9) and the third fixed block (3-10) are respectively welded on the tail ends of the first movable rod (3-5), the second movable rod (3-6) and the third movable rod (3-7), the first baffle (3-11), the second baffle (3-12) and the third baffle (3-13) are respectively fixedly connected on the first fixed block (3-8), the second fixed block (3-9), the third fixed block (3-10) and the first fixed block (3-8) are fixedly clamped on the first fixed block (3-8) through bolts, the second fixing block (3-9) and the second baffle (3-12) fix the head end of the second flexible finger (3-15) through the clamping effect, the third fixing block (3-10) and the third baffle (3-13) fix the head end of the third flexible finger (3-16) through the clamping effect, the spherical hinge fixing rod (3-17) is welded and fixed on the center (3-1) of the clamping jaw, the spherical hinge movable rod (3-18) is connected with the spherical hinge fixing rod (3-17) through a spherical hinge mode, and the tail end of the spherical hinge movable rod (3-18) is welded with the electromagnet (3-19). The first support rod (3-2), the second support rod (3-3) and the third support rod (3-4) are identical in structure, are fixedly installed at intervals of 120 degrees along the central axis of the center (3-1) of the clamping jaw, the first movable rod (3-5), the second movable rod (3-6) and the third movable rod (3-7) are identical in structure, the first fixed block (3-8), the second fixed block (3-9) and the third fixed block (3-10) are identical in structure, the first baffle (3-11), the second baffle (3-12) and the third baffle (3-13) are identical in structure, the first flexible finger (3-14), the second flexible finger (3-15) and the third flexible finger (3-16) are identical in structure, and three flexible fingers can be independently controlled respectively.

The painting brush rack (4-1) of the painting brush assembly (4) is horizontally arranged outside the inner meshed rotary guide rail (1-1), the specific position can be adjusted by an operator according to requirements, the painting brushes (4-2) are arranged on the painting brush rack (4-1) according to the size, and the rear ends of the painting brushes (4-2) are welded with iron discs (4-3).

The supporting platform (5-1) of the supporting platform assembly (5) is horizontally arranged on the central axis of the inner meshed rotary guide rail (1-1) and is fixed with the workbench through bolts, the sucker (5-3) is fixed in a pit at the upper part of the supporting platform (5-1) through glue, and the semi-finished ceramic (5-2) is adsorbed and fixed on the central axis of the supporting platform (5-1) through the sucker (5-3).

According to the semi-finished ceramic glazing device based on the flexible clamping jaw, the electric control loop (6) consists of an air compressor (6-1), an air filter (6-2), a pressure reducing valve (6-3), an oil mist device (6-4), a servo valve (6-5), a pressure sensor I (6-6), an electromagnetic directional valve I (6-7), a vacuum generator I (6-8), a silencer I (6-9), a pressure sensor II (6-10), an electromagnetic directional valve II (6-11), a flow sensor (6-12), a pressure sensor III (6-13), an electromagnetic directional valve III (6-14), an electromagnetic directional valve IV (6-15), a vacuum generator II (6-16) and a silencer II (6-17); in the electric control loop (6), after the servo valve (6-5) and the electromagnetic directional valve II (6-11) are electrified, the air compressor (6-1) provides compressed air, the compressed air is purified through the air filter (6-2), the pressure reducing valve (6-3) and the oil mist device (6-4), the air is sent into the air inlet of the flexible finger I (3-14), so that internal pressure is provided for the flexible finger I (3-14), the flexible finger I (3-14) generates bending deformation, the pressure sensor II (6-10) sends the detected pressure to the controller, and the controller can control the internal pressure of the flexible finger I (3-14) through controlling the servo valve (6-5), so that the bending deformation degree of the flexible finger I (3-14) is controlled, meanwhile, the vacuum generator I (6-8) and the silencer I (6-9) are connected in the control loop, and the flexible finger I (3-14) can be subjected to negative pressure after the electromagnetic directional valve I (6-7) is electrified, so that the stretching degree of the flexible finger I (3-14) can be controlled better.

Meanwhile, compressed gas provided by the air compressor (6-1) can be provided for the first supporting rod (3-2) and the first movable rod (3-5), the telescopic movement of the first movable rod (3-5) is realized through the on-off control of the electromagnetic reversing valve III (6-14), and the flowmeter (6-12) can collect gas path flow information and send the gas path flow information to the controller. The control process of the first flexible finger (3-14) is only described above, the control method of the second flexible finger (3-15) and the third flexible finger (3-16) is the same as the control method of the first flexible finger (3-14), and the three flexible fingers can be controlled independently.

The iron disc (4-3) at the rear end of the painting brush (4-2) can be adsorbed by electrifying the electromagnet (3-19) at the tail end of the spherical hinge mechanism, and the middle section grabbed by three flexible fingers of the painting brush (4-2) is matched with the rear end adsorbed by the electromagnet (3-19) to realize two-point fixation, so that the painting brush is grabbed by the flexible clamping jaw assembly (3). After the electromagnet (3-19) is powered off and three flexible fingers are deflated, the brush (4-2) can be released, and after the electromagnetic reversing valve IV (6-15) is powered on, the suction disc (5-3) can be used for realizing negative pressure suction of the bottom of the semi-finished ceramic (5-2) through the vacuum generator II (6-16).

Compared with the prior art, the utility model has the following advantages and beneficial effects:

1. According to the semi-finished ceramic glazing device based on the flexible clamping jaw, the painting brush (4-2) is grabbed by the flexible clamping jaw assembly (3), so that flexible contact of the semi-finished ceramic (5-2) is realized, flexibility and safety in the glazing process are improved, contact damage of the traditional rigid contact to the semi-finished ceramic (5-2) is avoided, and production cost is saved.

2. According to the semi-finished ceramic glazing device based on the flexible clamping jaw, the inner-meshing rotary track assembly (1) is designed, the servo motor (1-4) is adopted as a driver, the substrate (1-3) can rotate along the central axis of the inner-meshing rotary track (1-1), the self-rotational symmetry of the semi-finished ceramic (5-2) has certain universality, the vacuum generator II (6-16) is used for realizing the negative pressure adsorption of the bottom of the suction disc (5-3) to the semi-finished ceramic (5-2), the position of the semi-finished ceramic (5-2) is further fixed in the glazing process, and the relative sliding between the semi-finished ceramic (5-2) and the supporting table (5-1) caused by rotating the semi-finished ceramic (5-2) is avoided, so that the glazing operation is more accurate.

3. According to the semi-finished ceramic glazing device based on the flexible clamping jaw, the telescopic rod structure is adopted, the telescopic rod is driven by air pressure to realize telescopic movement of the flexible clamping jaw arm, the structure is light, meanwhile, the tail end of the clamping jaw center (3-1) is provided with the electromagnet (3-19) which can be adsorbed with the iron disc (4-3) at the rear end of the painting brush (4-2), and the grabbing requirements of the painting brushes (4-2) with different sizes can be met.

4. According to the semi-finished ceramic glazing device based on the flexible clamping jaw, through the respective control of the first flexible finger (3-14), the second flexible finger (3-15) and the third flexible finger (3-16), the differentiation of the internal air pressure of the three flexible fingers can be realized, the iron pan (4-3) at the rear end of the painting brush (4-2) can be adsorbed through the electrifying of the electromagnet (3-19) at the tail end of the spherical hinge mechanism, the painting brush (4-2) can realize two-point positioning through the mutual matching of the middle section of the grabbing of the three flexible fingers and the rear end of the adsorbing of the electromagnet (3-19), so that the change of the grabbing attitude deflection angle of the painting brush (4-2) when being grabbed is realized, the glazing operation control of a pen point is better realized, meanwhile, the attitude deflection angle of the painting brush (4-2) is in a water drop shape, the change of the contact surface size of the painting brush (4-2) and the semi-finished ceramic (5-2) can be realized, and the more fine operation points such as skimming, smearing and the like in the painting process are realized.

Drawings

FIG. 1 is an isometric view of a semi-finished ceramic glazing device based on flexible jaws;

FIG. 2 is a schematic illustration of an intermeshing rotary track assembly for a semi-finished ceramic glazing device based on flexible jaws;

FIG. 3 is a schematic diagram of a mechanical arm assembly of a semi-finished ceramic glazing device based on flexible clamping jaws;

FIG. 4 is a schematic diagram of a flexible clamping jaw assembly of a semi-finished ceramic glazing device based on flexible clamping jaws;

FIG. 5 is a schematic diagram II of a flexible clamping jaw assembly of a semi-finished ceramic glazing device based on flexible clamping jaws;

FIG. 6 is a schematic diagram of a semi-finished ceramic glazing device brush assembly based on flexible jaws;

FIG. 7 is a cross-sectional view of a semi-finished ceramic glazing device pallet assembly based on flexible clamping jaws;

FIG. 8 is a schematic diagram of the overall electrical control loop of a semi-finished ceramic glazing device based on flexible jaws;

FIG. 9 is a schematic diagram of a flexible finger electrical control loop of a semi-finished ceramic glazing device based on flexible jaws.

Wherein:

In fig. 1, the inner engagement rotation rail assembly (1), the mechanical arm assembly (2), the flexible clamping jaw assembly (3), the painting brush assembly (4) and the supporting platform assembly (5).

In fig. 2, the inner engagement rotary rail assembly (1), the inner engagement rotary rail (1-1), the rail clamping wheel one (1-2), the base plate (1-3), the servo motor (1-4), the driving shaft (1-5), the driving gear (1-6), the rail clamping wheel two (1-7), the rail clamping wheel three (1-8) and the rail clamping wheel four (1-9).

In FIG. 3, the mechanical arm assembly (2), the motor base (2-1), the rotary chassis (2-2), the large arm motor (2-3), the large arm (2-4), the small arm motor (2-5), the small arm (2-6) and the tail end rotary disk (2-7).

In fig. 4 and 5, the flexible clamping jaw assembly (3), the clamping jaw center (3-1), the first supporting rod (3-2), the second supporting rod (3-3), the third supporting rod (3-4), the first movable rod (3-5), the second movable rod (3-6), the third movable rod (3-7), the first fixed block (3-8), the second fixed block (3-9), the third fixed block (3-10), the first baffle (3-11), the second baffle (3-12), the third baffle (3-13), the first flexible finger (3-14), the second flexible finger (3-15), the third flexible finger (3-16), the spherical hinge fixing rod (3-17), the spherical hinge movable rod (3-18) and the electromagnet (3-19).

In FIG. 6, a brush assembly (4), a brush holder (4-1), a brush (4-2), and a iron plate (4-3).

In FIG. 7, a pallet assembly (5), a pallet (5-1), a semi-finished ceramic (5-2), and a suction cup (5-3).

In fig. 8 and 9, the electric control circuit (6), the air compressor (6-1), the air filter (6-2), the pressure reducing valve (6-3), the oiler (6-4), the servo valve (6-5), the pressure sensor one (6-6), the electromagnetic directional valve one (6-7), the vacuum generator one (6-8), the muffler one (6-9), the pressure sensor two (6-10), the electromagnetic directional valve two (6-11), the flow sensor (6-12), the pressure sensor three (6-13), the electromagnetic directional valve three (6-14), the electromagnetic directional valve four (6-15), the vacuum generator two (6-16) and the muffler two (6-17).

Detailed Description

With reference to the accompanying drawings, the movement process of the semi-finished ceramic glazing device based on the flexible clamping jaw is as follows:

(1) Initial state of device

The inner-meshed rotary guide rail (1-1) is horizontally fixed on a workbench, the base plate (1-3) is clamped on the inner-meshed rotary guide rail (1-1) through a first guide rail clamping wheel (1-2), a second guide rail clamping wheel (1-7), a third guide rail clamping wheel (1-8) and a fourth guide rail clamping wheel (1-9), a motor seat (2-1) of a mechanical arm assembly (2) is arranged on the base plate (1-3), the mechanical arm assembly (2) is in an initial state, the initial state can be arbitrarily set according to favors or on-site space, the flexible clamping jaw assembly (3) is in a loosening state, a first flexible finger (3-14), a second flexible finger (3-15) and a third flexible finger (3-16) are not inflated, an electromagnetic reversing valve (6-7), an electromagnetic reversing valve II (6-11) and an electromagnetic reversing valve III (6-14) are closed, three telescopic rods are in a shortening state, a spherical hinge mechanism is natural, an electromagnet (3-19) is in a power-off state, semi-finished ceramic (5-2) is placed in a center of a supporting platform (5-1), the supporting platform (5-1) is fixed on the workbench (5-5) through the central axis of the workbench (5-5) and the ceramic semi-finished ceramic product is fixed on the workbench (5-5 through the central axis, the supporting table (5-1) is positioned at the center of the inner meshed rotary guide rail (1-1), the painting brush (4-2) is placed on the painting brush holder (4-1) according to the size, and an iron disc (4-3) is arranged at the rear end of the painting brush (4-2) and can be adsorbed with the electromagnet (3-19).

(2) Grabbing motion of painting brush

A servo motor (1-4) on a substrate (1-3) drives the substrate (1-3) to perform annular movement along the central axis of an inner meshed rotary guide rail (1-1), the substrate stops after approaching to a pen rack (4-1), then a mechanical arm assembly (2) on the substrate (1-3) drives a clamping jaw center (3-1) to be right above a painting brush (4-2) to be clamped through a tail end rotary disc (2-7), the clamping jaw center (3-1) moves downwards, a tail end electromagnet (3-19) of a spherical hinge mechanism is electrified, the electromagnet (3-19) is adsorbed with an iron disc (4-3) at the rear end of the painting brush (4-2), and the inner cavity of a first flexible finger (3-14) is inflated through a servo valve (6-5) and an electromagnetic reversing valve (6-11), so that bending deformation occurs, and a control method of the second flexible finger (3-15) and a third flexible finger (3-16) is identical with that of the first flexible finger (3-14). The first flexible finger (3-14), the second flexible finger (3-15) and the third flexible finger (3-16) can be controlled independently to realize differentiation of air pressure inside the first flexible finger, the second flexible finger and the third flexible finger, the middle section of the painting brush (4-2) is grabbed by the flexible clamping jaw which is bent to form a cage, the rear end of the painting brush (4-2) is fixed with the two points of the middle section, grabbing action of the cage-shaped flexible clamping jaw on the painting brush (4-2) is realized, and then the tail end of the mechanical arm assembly (2) is lifted to rotate the disc (2-7), so that grabbing motion of the painting brush (4-2) is completed.

(3) Glazing movement of semi-finished ceramic

After grabbing a painting brush (4-2), a rotary chassis (2-2) is driven by an internal motor of a motor base (2-1) to rotate through a compiling program, a motor shaft of a large arm motor (2-3) drives a large arm (2-4) to do swing motion, a small arm motor (2-5) is fixed at the tail end of the large arm (2-4) through bolts, a motor shaft of the small arm motor (2-5) drives a small arm (2-6) to swing, a rotary disc (2-7) at the tail end of the small arm (2-6) is driven by the internal motor to rotate along the central axis of the rotary disc (2-7), so that the rotation of a flexible clamping jaw center (3-1) around the self is realized, the circumferential motion of a base plate (1-3) along the central axis of an internal meshed rotary guide rail (1-1) is matched to realize semi-finished ceramic (5-2) glazing motion, and in the glazing process of the painting brush, cage type flexible contact surfaces with changeable attitude angles can be realized by controlling the internal cavity air pressures of a flexible finger I (3-14), a flexible finger II (3-15) and a flexible finger III (3-16) respectively, so that the flexible clamping jaw has better flexibility in the glazing process.

(4) Fine tuning control strategy for flexible fingers

The controller receives whether the air pressure signal detected by the pressure sensor II (6-10) deviates from a set value, if yes, the controller calculates the deviation and sends a signal to the electromagnetic directional valve II (6-11), so that the opening degree of the electromagnetic directional valve II (6-11) is controlled to realize negative feedback regulation control on the inner cavity pressure of the flexible finger I (3-14), and finally the pressure of the flexible finger I (3-14) reaches the set value and is kept stable. When the brush (4-2) grabbed by the flexible clamping jaw assembly (3) needs fine adjustment, a compiling program enables the air pressure set value of the first flexible finger (3-14) to be reduced, the air pressure set value of the second flexible finger (3-15) and the air pressure set value of the third flexible finger (3-16) to be increased, the space gesture deflection of the nib of the grabbed brush (4-2) to the first flexible finger (3-14) can be realized, the space gesture deflection of the nib of the brush (4-2) to the second flexible finger (3-15) and the third flexible finger (3-16) can be realized by the same way, further, the differential adjustment of the air pressure in the first flexible finger (3-14), the second flexible finger (3-15) and the third flexible finger (3-16) can be realized, the flexible clamping jaw assembly (3) forms a cage type flexible pen taking the center of the clamping jaw (3-1) as an origin, the rear end iron pan (4-3) of the brush (4-2) can be adsorbed by electrifying the tail end electromagnet (3-19) of the spherical hinge mechanism, the brush (4-2) can be realized by adsorbing the rear end iron pan (4-3), the brush (4-2) can realize the differential adjustment of the suction pressure of the two ends of the brush through the flexible clamping jaw (3-3) and the fixed brush end and the middle section (4), and then realize arbitrary deflection of painting brush (4-2) space gesture, the nib of painting brush (4-2) is the water droplet form simultaneously, can realize the nib of painting brush (4-2) and the change of semi-manufactured goods pottery (5-2) contact surface size through changing the gesture deflection of painting brush (4-2), and then the flexible glazing operation that the simulation staff wrist can freely rotate realizes the finer operation such as skimming, wiping, colluding, some in-process of painting brush (4-2).

(5) Releasing movement of a brush

The releasing motion of the painting brush (4-2) is reverse motion of the grabbing motion of the painting brush (4-2), firstly, the substrate (1-3) is moved in a ring along the central axis of the inner meshed rotary guide rail (1-1) to enable the mechanical arm assembly (2) to be close to the painting rack (4-1), the tail end rotary disc (2-7) on the mechanical arm assembly (2) is enabled to drive the flexible clamping jaw assembly (3) through a compiling program, the painting brush (4-2) is driven to the upper portion of a painting brush groove, the electromagnet (3-19) at the tail end of the spherical hinge mechanism is powered off after the clamping jaw center (3-1) moves downwards, the electromagnet (3-19) is separated from the iron disc (4-3) at the rear end of the painting brush (4-2), the inner cavity of the flexible first finger (3-14) is controlled to be pumped through the first vacuum generator (6-8) and the first electromagnetic reversing valve (6-7), the inner cavity of the flexible second finger (3-15) and the flexible third finger (3-16) are enabled to deform, the control method is identical with that of the flexible first finger (3-14) to pump air, the painting brush can be carried out on the middle section (4-2), and then the painting brush (4) can be released to the middle section (4-2) after the middle section (4-2) moves.

The principles and embodiments of the present utility model have been described in this specification with reference to specific examples, which are provided to assist in understanding the methods of the present utility model and their core ideas; also, it is within the scope of the present utility model to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the utility model.

Claims (2)

1. The semi-finished ceramic glazing device based on the flexible clamping jaw is characterized by comprising an inner-meshing rotary track assembly (1), a mechanical arm assembly (2), a flexible clamping jaw assembly (3), a painting brush assembly (4), a supporting table assembly (5) and an electrical control loop (6), wherein the inner-meshing rotary track assembly (1) drives the mechanical arm assembly (2) to move, and the flexible clamping jaw assembly (3) grabs the painting brush (4-2) to perform glazing operation on the semi-finished ceramic (5-2);

The inner-meshing rotary track assembly (1) consists of an inner-meshing rotary guide rail (1-1), a guide rail clamping wheel I (1-2), a base plate (1-3), a servo motor (1-4), a driving shaft (1-5), a driving gear (1-6), a guide rail clamping wheel II (1-7), a guide rail clamping wheel III (1-8) and a guide rail clamping wheel IV (1-9), wherein the guide rail clamping wheel I (1-2), the guide rail clamping wheel II (1-7), the guide rail clamping wheel III (1-8) and the guide rail clamping wheel IV (1-9) are fixed on the base plate (1-3) through bolt connection, a shell of the servo motor (1-4) is fixedly connected with the base plate (1-3) through bolts, a motor shaft of the servo motor (1-4) is fixedly connected with the driving shaft (1-5) through welding, the driving shaft (1-5) is fixedly connected with the driving gear (1-6) through a key, the guide rail clamping wheel I (1-2), the guide rail clamping wheel II (1-7), the guide rail clamping wheel III (1-8), the guide rail clamping wheel IV (1-9) and the guide rail clamping wheel IV (1-2) are completely identical in structure with a mechanical arm (2), and a mechanical base plate (2) are formed by the motor (2-2) and a mechanical base plate (2) The mechanical arm comprises a large arm (2-4), a small arm motor (2-5), a small arm (2-6) and a tail end rotating disc (2-7), wherein a mechanical arm motor seat (2-1) is fixed on a base plate (1-3) through bolts, a motor shaft of an internal motor of the motor seat (2-1) is welded and fixed with a rotating chassis (2-2), the large arm motor (2-3) is welded and fixed on the rotating chassis (2-2), a motor shaft of the large arm motor (2-3) is welded and fixed with the large arm (2-4), a motor shell of the small arm motor (2-5) is fixed on the tail end of the large arm (2-4) through bolts, a motor shaft of the small arm motor (2-5) is welded and fixed with the small arm (2-6), and a motor shaft of the internal motor of the small arm (2-6) is welded and fixed with the tail end rotating disc (2-7);

The flexible clamping jaw assembly (3) consists of a clamping jaw center (3-1), a first supporting rod (3-2), a second supporting rod (3-3), a third supporting rod (3-4), a first movable rod (3-5), a second movable rod (3-6), a third movable rod (3-7), a first fixed block (3-8), a second fixed block (3-9), a third fixed block (3-10), a first baffle (3-11), a second baffle (3-12), a third baffle (3-13), a first flexible finger (3-14), a second flexible finger (3-15), a third flexible finger (3-16), a spherical hinge fixed rod (3-17), a spherical hinge movable rod (3-18) and an electromagnet (3-19), wherein the first supporting rod (3-2) is fixed on the clamping jaw center (3-1) through bolting, the first movable rod (3-5) is sleeved in the first supporting rod (3-2), the first fixed block (3-8) is welded at the tail end of the first movable rod (3-5), the first baffle (3-11) is fixed on the first fixed block (3-8) through bolting, and the first baffle (3-11) is fixed on the first fixed block (3-8) through bolting The first baffle (3-11) is used for fixing the head end of the first flexible finger (3-14) through a clamping effect, the structures and the installation of the second flexible finger (3-15) and the third flexible finger (3-16) are the same as those of the first flexible finger (3-14), the spherical hinge fixing rod (3-17) is welded and fixed on the center (3-1) of the clamping jaw, the spherical hinge movable rod (3-18) is connected with the spherical hinge fixing rod (3-17) in a spherical hinge mode, and the tail end of the spherical hinge movable rod (3-18) is welded with an electromagnet (3-19);

The painting brush assembly (4) is composed of a painting brush frame (4-1), painting brushes (4-2) and an iron disc (4-3), the painting brush frame (4-1) is horizontally arranged on the outer side of the inner meshed rotary guide rail (1-1), the specific position of the painting brush assembly can be adjusted by an operator according to requirements, the painting brushes (4-2) are arranged on the painting brush frame (4-1) according to the size, the iron disc (4-3) is welded at the rear end of the painting brushes (4-2), the supporting table assembly (5) is composed of a supporting table (5-1), semi-finished ceramic (5-2) and a sucking disc (5-3), the supporting table (5-1) is horizontally arranged on the central axis of the inner meshed rotary guide rail (1-1) and is fixed with the workbench through bolts, the sucking disc (5-3) is fixed in a pit on the upper portion of the supporting table (5-1) through glue, and the semi-finished ceramic (5-2) is fixed on the central axis of the supporting table (5-1) through the sucking disc (5-3).

2. A semi-manufactured ceramic glazing device based on flexible jaws according to claim 1, characterized in that: the electric control loop (6) is composed of an air compressor (6-1), an air filter (6-2), a pressure reducing valve (6-3), an oil mist device (6-4), a servo valve (6-5), a first pressure sensor (6-6), a first electromagnetic reversing valve (6-7), a first vacuum generator (6-8), a first silencer (6-9), a second pressure sensor (6-10), a second electromagnetic reversing valve (6-11), a flow sensor (6-12), a third pressure sensor (6-13), a third electromagnetic reversing valve (6-14), a fourth electromagnetic reversing valve (6-15), a second vacuum generator (6-16) and a second silencer (6-17).