WO2020062300A1 - 陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备及其机械手布料与图案调整的控制方法 - Google Patents

陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备及其机械手布料与图案调整的控制方法 Download PDF

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Publication number
WO2020062300A1
WO2020062300A1 PCT/CN2018/109209 CN2018109209W WO2020062300A1 WO 2020062300 A1 WO2020062300 A1 WO 2020062300A1 CN 2018109209 W CN2018109209 W CN 2018109209W WO 2020062300 A1 WO2020062300 A1 WO 2020062300A1
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WO
WIPO (PCT)
Prior art keywords
pattern
cloth
manipulator
texture
feeding
Prior art date
Application number
PCT/CN2018/109209
Other languages
English (en)
French (fr)
Inventor
王永强
肖惠银
古战文
陈伟胤
林育成
王瑞峰
刘学斌
Original Assignee
东莞市唯美陶瓷工业园有限公司
江西和美陶瓷有限公司
东莞市唯美装饰材料有限公司
重庆唯美陶瓷有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 东莞市唯美陶瓷工业园有限公司, 江西和美陶瓷有限公司, 东莞市唯美装饰材料有限公司, 重庆唯美陶瓷有限公司 filed Critical 东莞市唯美陶瓷工业园有限公司
Priority to PCT/CN2018/109209 priority Critical patent/WO2020062300A1/zh
Publication of WO2020062300A1 publication Critical patent/WO2020062300A1/zh
Priority to US17/099,873 priority patent/US11639013B2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B17/00—Details of, or accessories for, apparatus for shaping the material; Auxiliary measures taken in connection with such shaping
    • B28B17/0063—Control arrangements
    • B28B17/0081—Process control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
    • B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
    • B28B13/0215—Feeding the moulding material in measured quantities from a container or silo
    • B28B13/022—Feeding several successive layers, optionally of different materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/0075—Manipulators for painting or coating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B28—WORKING CEMENT, CLAY, OR STONE
    • B28B—SHAPING CLAY OR OTHER CERAMIC COMPOSITIONS; SHAPING SLAG; SHAPING MIXTURES CONTAINING CEMENTITIOUS MATERIAL, e.g. PLASTER
    • B28B13/00—Feeding the unshaped material to moulds or apparatus for producing shaped articles; Discharging shaped articles from such moulds or apparatus
    • B28B13/02—Feeding the unshaped material to moulds or apparatus for producing shaped articles
    • B28B13/0215—Feeding the moulding material in measured quantities from a container or silo
    • B28B13/027—Feeding the moulding material in measured quantities from a container or silo by using a removable belt or conveyor transferring the moulding material to the moulding cavities
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B25J9/026—Gantry-type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration

Definitions

  • the invention relates to a manipulator cloth equipment with a ceramic tile whose body texture is consistent with the surface decoration pattern and a method for controlling the manipulator cloth and pattern adjustment.
  • ceramic tiles have developed a relatively mature surface decoration technology.
  • industrial printing machines, rubber roller printing machines and inkjet printing technology various colors of glaze and ceramic ink can be printed on the tile surface. It can imitate any pattern of natural stone texture, but most of its texture patterns are reflected on the surface of the brick body. Although some products can make articles in the brick blank, they are also messy or simple line patterns, and the printing on the tile surface The pattern does not correspond or is simply a line. It does not show the consistent decorative effect from the inside to the outside after finishing the stone grooves, chamfers, and edging.
  • CN201611266007.7 discloses a forming production process of whole-body porcelain polished tiles.
  • the production process is controlled by a conveyor belt device, a front cloth device, a powder correction device, a rear cloth device, a material pile slope arrangement device, and a roller compaction.
  • the device, cutting device, turtle crack generating device, stamping forming device, etc. operate in an orderly and systematic manner according to the designed process steps.
  • the tile products produced have the characteristics of hard, wear-resistant and durable that are generally used in porcelain polishing tiles. It also has the rich, realistic and bright texture pattern color of general glazed tiles, which can realize the natural stone texture effect and the texture of the porcelain polished tile product production process from inside to outside.
  • the disadvantages are: First, the product pattern is simple. The pattern effect cannot be changed at any time. The production of products with different texture effects requires replacement of different cloth systems, and the production cost is too high. Second, the pattern texture cannot set fixed-point cloth, and the texture is random Strong, can not meet the pattern requirements of high fine texture
  • the purpose of the present invention is to provide a robot arm cloth making equipment for making precise alignment through-body ceramic tiles with line texture color and texture consistent with the surface decoration pattern.
  • Another object of the present invention is to provide a robot arm cloth control method that accurately controls the cloth position of the robot arm and solves the problem that only the brick blank line pattern can align the surface decoration pattern.
  • Yet another object of the present invention is to provide a control method for pattern adjustment that can adjust the texture and pattern of the green body at any time through a program without replacing any hardware of the material cart, thereby reducing the development difficulty.
  • the technical solution of the present invention is the robot arm cloth equipment with the same texture as the surface decoration pattern of the ceramic tiles.
  • the special feature is that the cloth pattern cloth block assembly and the cloth pattern cloth block assembly pass through the cloth belt Moving to the texture pattern cloth mechanism assembly and the conveying module sent to the press for forming.
  • the block pattern cloth mechanism assembly is composed of a cloth belt, a manipulator provided at a head end of the cloth belt, and a block pattern cloth mechanism provided at a tail end of the cloth belt.
  • the block pattern cloth distribution mechanism includes a plurality of stepless variable speed motors that adjust the feeding ratio by adjusting the operating frequency, a hopper driven by the stepless variable speed motors, and each of the hoppers is docked and simultaneously drops a plurality of different color materials.
  • the cloth bucket is driven by the motor to swing left and right to unload the material; a bottom of the cloth bucket is provided with a pneumatic gate switch, and the cloth belt is arranged below the pneumatic gate switch.
  • a stainless steel elbow bent at a 90 degree is provided at each end of the lowering pipe of the connection mixing tank, and the stainless steel elbows are arranged symmetrically in the mixing tank.
  • the limit probe is used to control the actual feeding height; when the powder in the mixing tank reaches the level set by the limit probe, the limit probe circuit sends a signal to the stepless variable speed motor and Stop it.
  • the texture pattern cloth mechanism assembly is composed of a circulating conveying module, a set of manipulators sequentially arranged on the circulating conveying module, a conveying module provided at a tail end of the circulating conveying module, and a feeding device.
  • the conveying module is composed of a cloth distribution platform and a grid provided on the cloth distribution platform; a circulating belt is connected to the press and the cloth distribution belt, and the block cloth distribution mechanism assembly and the manipulator complete the arrangement of the cake pattern and pass
  • the cloth belt described above is conveyed to the endless belt. After the whole line is arranged by the group of robotic arms, it is conveyed by the cloth feeding platform into the press frame after the feeding device to complete the cloth movement; the texture pattern cloth mechanism The assembly completes the cloth pattern of the whole body line texture.
  • the feeding device is composed of a transfer warehouse, a plurality of discharge pipes connected to the lower end of the transfer warehouse, a storage chamber where the discharge pipes are assembled, and a discharge opening at the bottom of the storage chamber and a gate at the end of the discharge opening .
  • the manipulator is provided with a control lever radially disposed above the lower opening of the storage cavity, gears provided at both ends of the control lever, and longitudinally disposed parallel to the axis of the storage cavity respectively on both sides of the gear.
  • the bottom ends of the plates and the longitudinal plates are provided with a rack meshing with the gears, and the top ends of the longitudinal plates are respectively symmetrically arranged parallel to the diameter line of the storage cavity.
  • the vertical column includes a first stepless variable speed motor that drives the swing arm to move along the axis of the storage cavity, and a second stepless variable speed motor that drives the vertical plate to move along the diameter of the storage cavity.
  • the swing arm of the manipulator drives the feeding opening connected to the storage cavity to distribute the pattern according to the designed pattern trajectory; the feeding opening is controlled by the switch of the gate opening, and the feeding opening is controlled by a first stepless variable speed motor It is driven by the second stepless variable speed motor and moves according to the trajectories set in the axial and radial directions.
  • the feeding opening is changed by the controller according to the thickness of the pattern according to the thickness of the pattern.
  • the large pattern corresponds to the feeding opening with a larger diameter.
  • the corresponding small pattern corresponds to the small-diameter feeding opening; wherein the robot hand is arranged to complete the large block pattern arrangement, and the group of robot arms cooperate to complete the line pattern arrangement.
  • Another technical solution of the present invention is the robot arm cloth control method in which the overall texture of the ceramic tile is consistent with the surface decoration pattern, which is special in that it includes the following steps:
  • Another technical solution of the present invention is a pattern adjustment and control method of the ceramic tile whose body texture is consistent with the surface decoration pattern, which is special in that it includes the following steps:
  • step (3) If yes, go back to step (3);
  • step (2) If no, go back to step (2).
  • FIG. 1 is a schematic structural diagram of a ceramic robot hand distribution device according to the present invention
  • FIG. 2 is a schematic structural diagram of a ceramic manipulator feeding device according to the present invention.
  • FIG. 3 is a schematic diagram of a pattern corresponding to a ceramic robot hand distributing device according to the present invention.
  • FIG. 4 is a schematic structural diagram of a block pattern cake distribution mechanism assembly of a ceramic robot hand distribution device according to the present invention.
  • FIG. 5 is a flowchart of a method for controlling a ceramic manipulator cloth according to the present invention.
  • FIG. 6 is a pattern adjustment control method of the ceramic robot hand cloth device of the present invention.
  • Block distribution mechanism assembly Cloth belt 11 Robot 12 Joystick 121 Gear 122 Vertical plate 123 Rack 124 Swing arm 125 Column 126 Cake distribution mechanism 13 Pattern 21 Pattern 22 Pattern 23 Pattern 24 Pattern 25 Pattern 26 Texture pattern cloth mechanism assembly 3 Circulation conveyor module 31 Endless belt 311 Feeding device 32 Transit warehouse 321 Feeding tube 322 Storage cavity 323 Feed opening 324 Gate 325 Conveying module 33 Cloth platform 331 Grill 332 Robot 34 Robot 35 Robot 36 Robot 37 Robot 38 Press 4 Stepless variable speed motor 5 The first continuously variable motor 51 Second continuously variable motor 52 Hopper 6 Feeding tube 61 Mixing tank 62 Limit probe 63 Feed opening 64 Cloth bucket 65 Stainless steel elbow 66 Pneumatic gate switch 67 Zh Zh Zh
  • the ceramic tile robot body equipment with the same texture as the surface decoration pattern is moved by the block pattern cloth mechanism assembly 1 and the block pattern cake cloth cloth mechanism assembly through the cloth belt 11 to the texture pattern cloth.
  • the mechanism assembly 3 and the conveying module 33 sent to the press for forming are composed.
  • the block pattern cloth distribution mechanism 1 assembly is composed of a cloth belt 11, a robot 12 provided at a leading end of the cloth belt 11, and a block pattern cloth distribution mechanism 13 provided at a tail end of the cloth belt 11.
  • the block pattern cloth distribution mechanism 13 includes a plurality of stepless variable speed motors 5 which adjust the feeding ratio by adjusting the operating frequency, a hopper 6 driven by the stepless variable speed motors 5, and each of the hoppers 6.
  • the lower feeding tube 61 which simultaneously drops a plurality of different color materials
  • the mixing tank 62 which is connected to each of the lower feeding tubes 61, is provided with a limit probe 63 for controlling the material level.
  • the material hopper 65 is connected with the lower material opening 64 of the material tank 62; the material hopper 65 is driven by a motor (not shown) to swing left and right to discharge the material; the bottom of the material hopper 65 is provided with a pneumatic gate switch 67
  • the cloth belt is provided below the pneumatic gate switch 67.
  • each lower pipe 61 of the connecting mixing tank 62 is provided with a 90-degree bent stainless steel elbow 66, and the stainless steel elbows 66 are arranged symmetrically in the mixing tank 62 .
  • the limit probe 63 is used to control the actual cutting height; when the powder in the mixing tank 62 reaches the level set by the limit probe 63, the limit probe 63 circuit sends a signal Feedback to the stepless variable speed motor 5 and stop it.
  • the texture pattern cloth mechanism assembly 3 is composed of a circulating conveying module 31, a group of robots 34 to 38 disposed in sequence on the circulating conveying module 31, and a rear end of the circulating conveying module 31.
  • the conveying module 33 at the end is composed of a feeding device 32; the conveying module 33 is composed of a distribution platform 331 and a grid 332 provided on the distribution platform 331.
  • the circulating belt 311 is connected to the press 4 and the cloth belt 11.
  • the block-shaped cloth mechanism assembly 1 and the robot 12 are arranged on the cloth belt 11 after being arranged on the cloth belt 11 through the cloth belt 11 and passed through the robot 34, After the robotic arm 35, the robotic arm 36, the robotic arm 37, and the robotic arm 38 are arranged to complete the whole body line, they are conveyed into the die frame of the press 4 by the fabricating platform 331 through the feeding device 32 to complete the clothing operation.
  • the texture pattern cloth mechanism assembly completes the cloth patterning of the whole body line texture pattern.
  • the feeding device 32 includes a plurality of feeding tubes 322 connected to the lower end of the transfer bin 321 and the lower end of the transfer bin 321, and a storage chamber 323 and a bottom end of the storage chamber 323 are assembled It has a blanking port 324 and a gate 325 at the end of the blanking port 324.
  • the manipulator 12 is provided with a control lever 121 radially disposed above a material opening 324 of the storage cavity, gears 122 respectively disposed at both ends of the control lever 121, and symmetrically disposed on both sides of the gear 122.
  • gears 122 respectively disposed at both ends of the control lever 121, and symmetrically disposed on both sides of the gear 122.
  • Both sides of the swing arm 125 are symmetrically connected to a vertical column 126 arranged parallel to the axis of the storage cavity 323.
  • the first column 126 is provided with a first continuously variable motor 51 that drives the swing arm 125 to move along the axis of the storage cavity 323. 2.
  • the swing arm 125 is provided with a second stepless variable speed motor 52 that drives the longitudinal plate 123 to move along the diameter of the storage cavity 323.
  • the swing arm 125 of the manipulator drives the unloading port 324 connected to the storage cavity 323 according to the design pattern.
  • the pattern distributes the pattern; the feeding opening 324 is controlled by the switch of the gate 325, and the feeding opening 325 is driven by the first stepless variable speed motor 51 and the second stepless variable speed motor 52, respectively.
  • the trajectory set in the radial direction moves, and the feeding opening 324 is controlled by the controller. Replacing the pattern according to the thickness of different size specifications, a large pattern corresponding to a larger diameter at the discharge port 324, the discharge port 324 corresponding to the small diameter corresponding to the small pattern.
  • the product pattern is divided into six parts according to the texture position, which are respectively pattern 21, pattern 22, pattern 23, pattern 24, pattern 25, and pattern 26, which are respectively described by the robot 12, robot 34, and robot 35.
  • the manipulator 36, the manipulator 37, and the manipulator 38 correspond to the completion of the arrangement of the pattern, wherein the manipulator 12 corresponds to the completion of the arrangement of the large block pattern, and the other five groups of the manipulator 34 to the manipulator 38 cooperate to complete the arrangement of the line pattern.
  • the method for controlling the cloth distribution of the manipulator with the same texture as the surface decoration pattern of the ceramic tile includes the following steps:
  • the pattern adjustment control method of the ceramic tile whose body texture is consistent with the surface decoration pattern includes the following steps:
  • step (3) If yes, go back to step (3);
  • step (2) If no, go back to step (2).

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Ceramic Engineering (AREA)
  • Manufacturing & Machinery (AREA)
  • Automation & Control Theory (AREA)
  • Robotics (AREA)
  • Devices For Post-Treatments, Processing, Supply, Discharge, And Other Processes (AREA)
  • Manipulator (AREA)

Abstract

一种陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备及其机械手布料与图案调整的控制方法。机械手布料设备由块状图案布料机构总成(1)、块状图案布料机构总成(1)经布料皮带(11)移动至的纹理图案布料机构总成(3)、以及送至压机成型的输送模块(33)组成，其中，机械手(12)对应完成大片块状图案布置，一组机械手(34-38)配合完成线状图案的布置。机械手布料控制方法，包括：(1)上电，机械手布料设备启动；(2)检测是否有料位信号？(3)是，则无级变速电机停止运行；(4)否，则无级变速电机运行；(5)继续检测是否有料位信号？(6)是，则无级变速电机停止运行；(7)否，则无级变速电机运行；(8)如此循环，直到停机。

Description

陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备及其机械手布料与图案调整的控制方法 技术领域
本发明涉及一种陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备及其机械手布料与图案调整的控制方法。
 背景技术
瓷砖作为建筑陶瓷的一大类，其表面装饰技术已经发展的比较成熟，通过工业印花机、胶辊印花机和喷墨打印技术可将各种颜色的釉料、陶瓷墨水打印到砖面上，可以仿任何图案的天然石材纹理，但其纹理图案大多都是体现在砖体的表层面上，一些产品虽然能够在砖坯中做文章，也是一些杂乱无章或者是简单的线条图案，与瓷砖表面的印花图案没有对应或者只是简单的线条对应，呈现不出石材的拉槽、倒角、磨边等精加工后的由里到外都一致的装饰效果。
CN201611266007.7公开了一种通体瓷质抛光砖的成型生产工艺, 该生产工艺通过控制传送带装置、前置布料装置、粉料纠形装置、后置布料装置、料堆斜坡拼排装置、碾压装置、裁切装置、龟裂缝产生装置、冲压成型装置等按设计好的工艺步骤有序、系统运行，生产出的瓷砖产品既有一般通体瓷质抛光砖所具有坚硬、耐磨、耐用的特性，又具有一般釉面砖的丰富、逼真、鲜艳的纹理图案色泽，能实现天然石材纹理效果且纹理达到由里到外通体一致的瓷质抛光砖产品的生产工艺。其不足之处是: 第一、产品图案简一，不能随时更改图案效果，生产不同纹理效果的产品需要更换不同的布料系统，生产成本过高；第二、图案纹理不能定置定点布料，纹理随机性较强，不能满足精细度性高纹理的图案要求。
 技术问题
本发明的目的是提供一种制作精准对位通体陶瓷砖线条纹理颜色和纹理与表面装饰图案一致的机械手布料设备。本发明的另一目的是提供一种精确控制机械手布料位置，解决只有砖坯线条图案能够对位表面装饰图案问题的机械手布料控制方法。本发明的再一目的是提供一种通过程序随时调整坯体的纹理、图案，不需要更换料车的任何硬件，从而降低开发难度的图案调整的控制方法。
 技术解决方案
本发明的技术解决方案是所述陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备，其特殊之处在于，由块状图案布料机构总成、块状图案料饼布料机构总成经布料皮带移动至纹理图案布料机构总成、以及送至压机成型的输送模块组成。
作为优选：所述块状图案布料机构总成由布料皮带、设置在所述布料皮带首端的机械手、位于布料皮带尾端设置的块状图案布料机构组成。
作为优选：所述块状图案布料机构包括数个通过调整运行频率进而控制下料配比的无极变速电机、所述无极变速电机驱动的料斗、所述各料斗分别对接同时落多种不同色料的下料管、与所述各下料管对接的混料罐、所述混料罐设有用于控制料位的限位探针，混料罐的下料口对接的布料斗组成；所述布料斗通过电机带动使其左、右摆动下料；所述布料斗底部设有一气动闸口开关，所述气动闸口开关下方设有所述布料皮带。
作为优选：所述连接混料罐各下料管端部均设置呈90度弯折的不锈钢弯头，所述不锈钢弯头分别对称设置排列在混料罐中。
作为优选：所述限位探针用于控制实际下料高度；当混料罐粉料达到限位探针所设置的料位后，限位探针电路发出信号反馈至所述无极变速电机并使其停止运行。
作为优选：所述纹理图案布料机构总成由循环输送模块、顺序设置在所述循环输送模块上的一组机械手、设置在所述循环输送模块尾端的输送模块、补料装置组成。
作为优选：所述输送模块由布料平台及设置在所述布料平台上的格栅组成；循环皮带连接压机和布料皮带，所述块状布料机构总成与机械手完成料饼图案布置后经所述的布料皮带输送到循环皮带上面，通过所述一组机械手布置完成通体线条后，经所述补料装置后由所述布料平台输送进压机模框完成布料动作；所述纹理图案布料机构总成完成通体线条纹理图案的布料。
作为优选：所述补料装置由中转仓、中转仓下端接出的多根下料管、下料管汇集的储料腔、储料腔底端设有下料口及下料口端的闸口组成。
作为优选：所述机械手由储料腔下料口上方径向设置的操控杆、操控杆两端分别设置的齿轮、位于所述齿轮的两侧分别对称设有与储料腔轴线平行设的纵板、纵板底端设有与所述齿轮啮合的齿条、纵板顶端分别与储料腔径线平行对称设置的摆臂、摆臂的两侧端分别对称连接与储料腔轴线平行设置的纵柱、纵柱上设有带动摆臂沿储料腔轴线位移的第一无级变速电机、摆臂上设有带动纵板沿储料腔径线位移的第二无级变速电机组成；
所述机械手摆臂带动连接储料腔的下料口按照设计的图案轨迹对图案进行布料；所述下料口通过所述闸口的开关控制下料，所述下料口由第一无极变速电机和第二无极变速电机分别带动，按照轴向、径向设置的轨迹移动，所述下料口在控制器的控制下按照图案粗细更换不同大小规格，大图案对应口径较大的下料口，相对应的小图案对应的小口径下料口；其中，所述机械手对应完成大片块状图案布置，所述一组机械手配合完成线状图案的布置。
本发明的另一技术解决方案是所述陶瓷砖通体纹理与表面装饰图案一致的机械手布料控制方法，其特殊之处在于，包括以下步骤：
（1）上电，机械手布料设备启动；
（2）检测是否有料位信号？
（3）是，则无级变速电机停止运行；
（4）否，则无级变速电机运行；
（5）继续检测是否有料位信号？
（6）是，则无级变速电机停止运行；
（7）否，则无级变速电机运行；
（8）如此循环，直到停机。
本发明的再一技术解决方案是所述陶瓷砖通体纹理与表面装饰图案一致的图案调整控制方法，其特殊之处在于，包括以下步骤：
（1）CAD文件图案提取；
（2）CAD轨迹图案输进机械手布料设备PLC控制器；
（3）机械手按设定轨迹动作布料；
（4）检查图案是否在预定位置；
（5）是，则返回步骤（3）；
（6）无级变速电机停止运行；
（7）否，则返回步骤（2）。
 有益效果
（1）使用机械手布料代替模板的对位布料，设计两种规格的机械手布料装置，分别对应布置片状和线条两种图案效果，并能精确控制机械手的布料位置，解决只有砖坯线条图案能够对位表面装饰图案的问题。
（2）机械手布料设备去掉模板的开发及制作环节，可以大幅缩短产品开发周期，开发过程中还可以通过程序随时调整坯体的纹理，不需要更换料车的任何硬件，从而降低开发难度。
（3）提高转产效率。机械手布料无须更换模板，更改布料设备的参数设置即可完成产品的转产上线，大幅度降低转产工作量，提高工作效率。
（4）增加版面数量。新产品的开发可以无限制增加版面效果，相对于前期对位产品只有六个版面效果的设计，大幅度提高产品喷墨设计的丰富性。
 附图说明
图1是本发明陶瓷机械手布料设备的结构示意图；
图2 是本发明陶瓷机械手补料装置的结构示意图；
图3是本发明陶瓷机械手布料装置对应的图案示意图；
图4 是本发明陶瓷机械手布料装置块状图案料饼布料机构总成的结构示意图；
图5是本发明陶瓷机械手布料控制方法的流程图；
图6是本发明陶瓷机械手布料装置的图案调整控制方法。
主要组件符号说明：
块状布料机构总成1 布料皮带11 机械手12 操控杆121
齿轮122 纵板123 齿条124 摆臂125
纵柱126 料饼布料机构13 图案21 图案22
图案23 图案24 图案25 图案26
纹理图案布料机构总成3 循环输送模块31 循环皮带311 补料装置32
中转仓321 下料管322 储料腔323 下料口324
闸口325 输送模块33 布料平台331 格栅332
机械手34 机械手35 机械手36 机械手37
机械手38 压机4 无极变速电机5 第一无级变速电机51
第二无级变速电机52 料斗6 下料管61 混料罐62
限位探针63 下料口64 布料斗65 不锈钢弯头66
气动闸口开关67      
 
 本发明的最佳实施方式
本发明下面将结合附图作进一步详述：
请参阅图1所示，该陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备，由块状图案布料机构总成1、块状图案料饼布料机构总成经布料皮带11移动至纹理图案布料机构总成3、以及送至压机成型的输送模块33组成。
请参阅图1所示，所述块状图案布料机构1总成由布料皮带11、设置在所述布料皮带11首端的机械手12、位于布料皮带11尾端设置的块状图案布料机构13组成。
请参阅图4所示，所述块状图案布料机构13包括数个通过调整运行频率进而控制下料配比的无极变速电机5、所述无极变速电机5驱动的料斗6、所述各料斗6分别对接同时落多种不同色料的下料管61、与所述各下料管61对接的混料罐62、所述混料罐62设有用于控制料位的限位探针63，混料罐62的下料口64对接的布料斗65组成；所述布料斗65通过电机(图中未示)带动使其左、右摆动下料；所述布料斗65底部设有一气动闸口开关67，所述气动闸口开关67下方设有所述布料皮带。
请参阅图4所示，所述连接混料罐62各下料管61端部均设置呈90度弯折的不锈钢弯头66，所述不锈钢弯头66分别对称设置排列在混料罐62中。
请参阅图4所示，所述限位探针63用于控制实际下料高度；当混料罐62粉料达到限位探针63所设置的料位后，限位探针63电路发出信号反馈至所述无极变速电机5并使其停止运行。
请参阅图1所示，所述纹理图案布料机构总成3由循环输送模块31、顺序设置在所述循环输送模块31上的一组机械手34至机械手38、设置在所述循环输送模块31尾端的输送模块33、补料装置32组成；所述输送模块33由布料平台331及设置在所述布料平台331上的格栅332组成。循环皮带311连接压机4和布料皮带11，所述块状布料机构总成1与机械手12完成料饼图案布置后经所述的布料皮带11输送到循环皮带311上面，通过所述机械手34、机械手35、机械手36、机械手37、机械手38布置完成通体线条后，经所述补料装置32后由所述布料平台331输送进压机4模框完成布料动作。所述纹理图案布料机构总成完成通体线条纹理图案的布料。
请参阅图2所示，所述补料装置32由中转仓321、中转仓321下端接出的多根下料管322、下料管322汇集的储料腔323、储料腔323底端设有下料口324及下料口324端的闸口325组成。
请参阅图2所示，所述机械手12由储料腔下料口324上方径向设置的操控杆121、操控杆121两端分别设置的齿轮122、位于所述齿轮122的两侧分别对称设有与储料腔323轴线平行设的纵板123、纵板123底端设有与所述齿轮122啮合的齿条124、纵板123顶端分别与储料腔323径线平行对称设置的摆臂125、摆臂125的两侧端分别对称连接与储料腔323轴线平行设置的纵柱126、纵柱126上设有带动摆臂125沿储料腔323轴线位移的第一无级变速电机51、摆臂125上设有带动纵板123沿储料腔323径线位移的第二无级变速电机52组成；所述机械手摆臂125带动连接储料腔323的下料口324按照设计的图案轨迹对图案进行布料；所述下料口324通过所述闸口325的开关控制下料，所述下料口325由第一无极变速电机51和第二无极变速电机52分别带动，按照轴向、径向设置的轨迹移动，所述下料口324在控制器的控制下按照图案粗细更换不同大小规格，大图案对应口径较大的下料口324，相对应的小图案对应的小口径下料口324。
请参阅图3所示，产品图案按纹理位置分成六个部分，分别对应是图案21、图案22、图案23、图案24、图案25、图案26，分别由所述的机械手12、机械手34、机械手35、机械手36、机械手37、机械手38对应完成图案的布置动作，其中所述机械手12对应完成大片块状图案布置，其它五组所述机械手34至机械手38配合完成线状图案的布置。
请参阅图5所示，该陶瓷砖通体纹理与表面装饰图案一致的机械手布料控制方法，包括以下步骤：
（1）上电，机械手布料设备启动；
（2）检测是否有料位信号？
（3）是，则无级变速电机停止运行；
（4）否，则无级变速电机运行；
（5）继续检测是否有料位信号？
（6）是，则无级变速电机停止运行；
（7）否，则无级变速电机运行；
（8）如此循环，直到停机。
请参阅图6所示，该陶瓷砖通体纹理与表面装饰图案一致的图案调整控制方法，包括以下步骤：
（1）CAD文件图案提取；
（2）CAD轨迹图案输进机械手布料设备PLC控制器；
（3）机械手按设定轨迹动作布料；
（4）检查图案是否在预定位置；
（5）是，则返回步骤（3）；
（6）无级变速电机停止运行；
（7）否，则返回步骤（2）。
 工业实用性
以上所述仅为本发明的较佳实施例，凡依本发明权利要求范围所做的均等变化与修饰，皆应属本发明权利要求的涵盖范围。

Claims (10)

  1. 一种陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备，其特征在于，由块状图案布料机构总成、块状图案料饼布料机构总成经布料皮带移动至纹理图案布料机构总成、以及送至压机成型的输送模块组成。
  2. 根据权利要求1所述陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备，其特征在于，所述块状图案布料机构总成由布料皮带、设置在所述布料皮带首端的机械手、位于布料皮带尾端设置的块状图案布料机构组成;所述块状图案布料机构包括数个通过调整运行频率进而控制下料配比的无极变速电机、所述无极变速电机驱动的料斗、所述各料斗分别对接同时落多种不同色料的下料管、与所述各下料管对接的混料罐、所述混料罐设有用于控制料位的限位探针，混料罐的下料口对接的布料斗组成；所述布料斗通过电机带动使其左、右摆动下料；所述布料斗底部设有一气动闸口开关，所述气动闸口开关下方设有所述布料皮带。
  3. 根据权利要求2所述陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备，其特征在于，所述连接混料罐各下料管端部均设置呈90度弯折的不锈钢弯头，所述不锈钢弯头分别对称设置排列在混料罐中。
  4. 根据权利要求2所述陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备，其特征在于，所述限位探针用于控制实际下料高度；当混料罐粉料达到限位探针所设置的料位后，限位探针电路发出信号反馈至所述无极变速电机并使其停止运行。
  5. 根据权利要求1所述陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备，其特征在于，所述纹理图案布料机构总成由循环输送模块、顺序设置在所述循环输送模块上的一组机械手、设置在所述循环输送模块尾端的输送模块、补料装置组成。
  6. 根据权利要求5所述陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备，其特征在于，所述输送模块由布料平台及设置在所述布料平台上的格栅组成；循环皮带连接压机和布料皮带，所述块状布料机构总成与机械手完成料饼图案布置后经所述的布料皮带输送到循环皮带上面，通过所述一组机械手布置完成通体线条后，经所述补料装置后由所述布料平台输送进压机模框完成布料动作；所述纹理图案布料机构总成完成通体线条纹理图案的布料。
  7. 根据权利要求1所述陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备，其特征在于，所述补料装置由中转仓、中转仓下端接出的多根下料管、下料管汇集的储料腔、储料腔底端设有下料口及下料口端的闸口组成。
  8. 根据权利要求1或7所述陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备，其特征在于，所述机械手由储料腔下料口上方径向设置的操控杆、操控杆两端分别设置的齿轮、位于所述齿轮的两侧分别对称设有与储料腔轴线平行设的纵板、纵板底端设有与所述齿轮啮合的齿条、纵板顶端分别与储料腔径线平行对称设置的摆臂、摆臂的两侧端分别对称连接与储料腔轴线平行设置的纵柱、纵柱上设有带动摆臂沿储料腔轴线位移的第一无级变速电机、摆臂上设有带动纵板沿储料腔径线位移的第二无级变速电机组成；
    所述机械手摆臂带动连接储料腔的下料口按照设计的图案轨迹对图案进行布料；所述下料口通过所述闸口的开关控制下料，所述下料口由第一无极变速电机和第二无极变速电机分别带动，按照轴向、径向设置的轨迹移动，所述下料口在控制器的控制下按照图案粗细更换不同大小规格，大图案对应口径较大的下料口，相对应的小图案对应的小口径下料口；其中，所述机械手对应完成大片块状图案布置，所述一组机械手配合完成线状图案的布置。
  9. 一种陶瓷砖通体纹理与表面装饰图案一致的机械手布料控制方法，其特征在于，包括以下步骤：
    (1)上电，机械手布料设备启动；
    (2)检测是否有料位信号？
    (3)是，则无级变速电机停止运行；
    (4)否，则无级变速电机运行；
    (5)继续检测是否有料位信号？
    (6)是，则无级变速电机停止运行；
    (7)否，则无级变速电机运行；
    (8)如此循环，直到停机。
  10. 一种陶瓷砖通体纹理与表面装饰图案一致的图案调整控制方法，其特征在于，包括以下步骤：
    (1)CAD文件图案提取；
    (2)CAD轨迹图案输进机械手布料设备PLC控制器；
    (3)机械手按设定轨迹动作布料；
    (4)检查图案是否在预定位置；
    (5)是，则返回步骤(3)；
    (6)无级变速电机停止运行；
    (7)否，则返回步骤(2)。
PCT/CN2018/109209 2018-09-30 2018-09-30 陶瓷砖通体纹理与表面装饰图案一致的机械手布料设备及其机械手布料与图案调整的控制方法 WO2020062300A1 (zh)

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US17/099,873 US11639013B2 (en) 2018-09-30 2020-11-17 Mechanical arm material distribution equipment capable of realizing consistence between a whole-body texture and a surface decoration pattern of ceramic tile and control method for mechanical arm material distribution and pattern adjustment

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