The Structural Research On Sanitary Ceramics Billet Fettling Robot

Aiming at the working environment of the sanitary ceramics production enterprise, comprehensively considering the appearance characteristics of sanitary ceramic products and processing-requirement and combining with the existing wipe billet robot technology, the paper put forward a kind of manipulator which can closely imitate artificial wipe billet action.This manipulator is different from common wipe billet tools using "rotation" to polish the surface of the ceramic by wipe rounds.And the paper designed a kind of flexible manipulator which was installed at the end of the mechanical arm.And it can imitate human "reciprocating linear" grinding action and adapt to changes of sanitary ceramics complex surface.Combining with the existing wipe billet robot technology and the applications of robot in the field of sanitary ceramics production, the paper put forward that using joint robot arm to realize macro trajectory's action, and analyzed the institution of joints, the machine configuration and the selection requirements.First of all, according to the appearance and material characteristics of the ceramic green body,combining with the available technology,this paper proposed a kind of flexible mechanical fingers agencies which has certain ability to adapt to the complicated curved surface.Secondly, the paper deduced the relation between the force on the mechanical arm and the movement of flexible mechanical finger which based on the equation of static equilibrium.Thirdly, the paper obtained the experimental data about the ceramic surface stress and effect of the wipe billet by analyzing of the experiment of ceramic green body stress.Fourthly,according to the result of the experiment data and the relation between the stress and the changes of the fingers angle,using the fingers angle sensor to trajectory of robot arm,the paper deduced the complete theory so that it can feedback making plans on machine arm motion trajectory in the process of wipe billet operation.The paper proposed a new type of geared-5linkages mechanism to realize reciprocating linear motion and carried on the analysis of kinematics and dynamics and eliminated the singularity posture in the process of movement.The paper made the three-dimensional modeling of the wipe billet manipulator by using Solid Works,and avoided the interference which appeared in the process of connecting rod in the actual movement situation by space theory.The paper used motion plugin to simulate the movement of manipulator and obtained the movement,velocity and acceleration-time graphs about the manipulator, and verified the feasibility of the design through the analysis of simulation data.