CN108805925A - A kind of sanitary ceramics toilet seat unloads kiln method and unloads kiln device automatically automatically - Google Patents
A kind of sanitary ceramics toilet seat unloads kiln method and unloads kiln device automatically automatically Download PDFInfo
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- CN108805925A CN108805925A CN201810940164.0A CN201810940164A CN108805925A CN 108805925 A CN108805925 A CN 108805925A CN 201810940164 A CN201810940164 A CN 201810940164A CN 108805925 A CN108805925 A CN 108805925A
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- toilet seat
- kiln
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- unloads
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
- G06T7/66—Analysis of geometric attributes of image moments or centre of gravity
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T1/00—General purpose image data processing
- G06T1/0014—Image feed-back for automatic industrial control, e.g. robot with camera
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
- G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
- G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D3/00—Charging; Discharging; Manipulation of charge
- F27D2003/0001—Positioning the charge
- F27D2003/0002—Positioning the charge involving positioning devices, e.g. buffers, buffer zones
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Robotics (AREA)
- Geometry (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Bidet-Like Cleaning Device And Other Flush Toilet Accessories (AREA)
Abstract
The present invention discloses a kind of sanitary ceramics toilet seat and unloads kiln method automatically and unload kiln device automatically, includes the following steps：Toilet seat to unloading kiln region is scanned and shoots with video-corder, to obtain the image for unloading kiln region toilet seat；Image recording is analyzed, image is extracted by gravity model appoach, and form the height map for entirely unloading kiln region；Height map is matched with the coordinate system of artificial settings；Control unit analyzes the placement position of toilet seat and the coordinate of toilet seat, and each toilet seat coordinate matching to handling unit origin is formed to the three-dimensional coordinate of crawl toilet seat；Handling unit carries out displacement according to the coordinate of crawl toilet seat；It is carried to after handling unit crawl toilet seat and transfers region, and handling unit returns to the carrying that origin carries out next toilet seat；The present invention provides to unload kiln method and unloads kiln device automatically automatically, realizes that toilet seat unloads kiln automatically, unloads kiln, lift to move etc. without traditional artificial, greatly reduce artificial labor intensity, meet the needs of batch production.
Description
Technical field
The present invention relates to sanitary ware industries, especially unload kiln method automatically with a kind of sanitary ceramics toilet seat and the automatic kiln that unloads fills
It is equipped with pass.
Background technology
At present country's ceramic industry toilet seat unload kiln mode be broadly divided into it is following two：
The first, manually unloads kiln, this pattern by it is pure it is artificial carry out removing platform, by it is double by toilet seat from kiln
It is carryed down on vehicle, there are many defects for this mode, for example, toilet seat weight weight, average weight reach 50kg, hand labor intensity
Greatly, it needs more people while carrying, efficiency is low；In addition toilet seat just out needs to cool from kiln car acceptable to personnel
Otherwise temperature is easy scald staff, such as to cool to room temperature, very large space is needed to be cooled down, to the occupancy of workshop
Greatly, cost is high, and has seriously delayed subsequent handling processing；
It is second, artificial that fixture is pushed to be carried；Toilet seat is gripped by fixture, specially：Fixture is pushed into and is unloaded
In kiln line, toilet seat outer surface is clamped in by fixture, although this mode can allow staff without being in direct contact toilet seat
Ontology, but still need into the kiln line of high temperature, hand labor intensity is many still without reducing, and directly grips the outer of toilet seat
Surface is easy to leave the gripping marking in appearance in toilet seat；Moreover, the toilet seat on kiln car, which is put, need to be spaced larger sky
Between, otherwise it can not grip operation for fixture, so that more products can not be put, the isodose toilet seat the case where, needed
It repeatedly fires, and then increases firing cost；
To sum up, it is badly in need of a hand labor intensity, anti-scald, at low cost and quickly unload the device of kiln to meet of capable of reducing
Production requirement.
Invention content
It is the problems in existing it is an object of the invention to solve, provide a kind of sanitary ceramics toilet seat unload automatically kiln method and
It is automatic to unload kiln device, simple structure and reasonable design and easily realize, realize that toilet seat unloads kiln automatically, without it is traditional artificial unload kiln,
Lift to move etc. greatly reduces artificial labor intensity, meets the needs of batch production.
To reach above-mentioned purpose, the present invention adopts the following technical scheme that：
A kind of sanitary ceramics toilet seat unloads kiln method automatically, this unloads kiln method and includes the following steps automatically：
Step 1：Toilet seat to unloading kiln region is scanned and shoots with video-corder, to obtain the image for unloading kiln region toilet seat；
Step 2：Image recording is analyzed, image is extracted by gravity model appoach, and form the height for entirely unloading kiln region
Figure；
Step 3：Height map is analyzed, height map is matched with the coordinate system of artificial settings, on height map
Abscissa is X-coordinate, and ordinate is Y coordinate, and described image color is defined as Z coordinate；
Step 4：Control unit analyzes the placement position of toilet seat and the coordinate of toilet seat, extremely by each toilet seat coordinate matching
Handling unit origin forms the three-dimensional coordinate of crawl toilet seat；
Step 5：Handling unit carries out displacement according to the coordinate of crawl toilet seat；
Step 6：Handling unit crawl toilet seat after be carried to transfer region, and handling unit return to origin carry out it is next
The carrying of toilet seat.
Further, in step 1：It is scanned and schemes to unloading kiln region using image acquisition unit and infrared scan unit
As shooting with video-corder, described image acquiring unit obtains the image in infrared scan unit infrared scanning region；
Further, in step 1：After kiln car, which moves to, unloads kiln region, the infrared scan unit to unload kiln region into
Row scanning；
In step 2：Analysis module analyzes institute's image recording, uses in gravity model appoach extraction image each frame image
Structure light, then carry out height map integration.
Further, in step 4：Control unit excludes interfering object in height map, separation and each toilet seat of identification, with
The three-dimensional coordinate of each toilet seat is being sent to handling unit by the 3 d pose and placing direction for analyzing each toilet seat.
Further, in step 4：When control unit determines placing direction, height map is used, frame is selected to carry out toilet seat
Judgement, the side for selecting frame inner area larger are set as close to cistern position, and the smaller side of area is set as seat ring edge.
Further, in step 4：Control unit determines the profile of seat ring, and root according to selecting frame after judging placing attitude
The coordinate for supplying the handling unit to capture toilet seat is matched according to parameter is manually set.
Further, in step 1, described image acquiring unit is with the frequency acquisition image of 300-500 frames/S.
Further, in step 6：The component that holds in the handling unit stretches into toilet seat, and the first drive component
Move down, when oscillating rod being driven to swing described in hold the clamping piece of component and inwardly pack up, drive the first drive component to move up again, join
Movable pendulum lever drives clamping piece to open the inner top surface for withstanding on toilet seat.
A kind of sanitary ceramics toilet seat unloads kiln device automatically, it is characterised in that：Including unloading kiln region, transferring region, solid
Vision positioning component, handling unit and control unit；
Stereoscopic vision positioning component carries out stereoscan to the toilet seat for unloading kiln region, is carried out to toilet seat real
Shi Dingwei, and the location information of generation is transferred to control unit；
Handling unit is controlled by control unit, and for driving the stereoscopic vision positioning component scanning to unload kiln region,
And toilet seat on kiln region is unloaded described in carrying to transferring region.
Further, stereoscopic vision positioning component setting unloads kiln in handling unit, and with the moving sweep of handling unit
Region.
Further, the stereoscopic vision positioning component includes image acquisition unit and infrared scan unit；It is described infrared
Scanning element sends out infrared scanning, and described image acquiring unit carries out image recording, to obtain the figure in infrared scanning region
Picture.
Further, the stereoscopic vision positioning component further includes analysis module, which receives image and obtain list
The image that member is taken in, and the height map in kiln region is unloaded described in splicing.
Further, the handling unit includes multiaxis pivoted arm and holds component；The component that holds is set to multiaxis turn
On arm；It includes clamping piece, oscillating rod and the first driving unit to hold component；The clamping piece is articulated with oscillating rod one end, swings
The other end of bar connects with the first driving unit.
Further, the clamping piece is equipped with the cushion pad for being used to support toilet seat.
Further, the component that holds further includes pressing plate and the second driving unit, and the pressing plate is secured to the second driving
In the drive shaft of unit.
Further, first, second driving unit is driving cylinder or hydraulic cylinder.
Compared with the existing technology, the advantageous effect of acquirement is technical solutions according to the invention：
(1) a kind of sanitary ceramics toilet seat provided by the present invention unloads kiln method and unloads kiln device automatically automatically, structure letter
Single, reasonable design and easily realization realize that toilet seat unloads kiln automatically, unload kiln, lift to move etc. without traditional artificial, greatly reduce people
The labor intensity of work, meets the needs of batch production；
(2) present invention is scanned video recording using infrared scan unit with image acquisition unit, using infrared ray cutting type
Scanning, and fit structure light camera corresponds to shooting, forms many images, this image acquisition mode is unique, and precision is high；Logical
It crosses analysis module to be analyzed, to each frame the image collected using the structure light in gravity model appoach extraction image, and piece together
The height map in kiln region entirely is unloaded, and height map is analyzed by control unit, morphologic filtering is used to height map
With interfering object, segmentation and each toilet seat of identification in geometrical constraint rejection image, then the origin (people with handling unit
Matched for the coordinate system of setting) to obtain the 3 d pose and placing direction of each toilet seat, finally notify handling unit
It is carried；This mode can realize automatically scanning and automatic transporting function, without manually being intervened, realize that full-automation is unloaded
Kiln；
(3) image acquisition unit is installed in handling unit by the present invention, no longer needs to add the equipment for driving video camera, will
Two functions are integrated, simplify the complexity of structure, and operation is easier；
(4) present invention uses multiaxis pivoted arm and holds the carrying that component realizes toilet seat, will hold component and stretches into toilet seat
In inner ring (water outlet), such mode is realized outside fast removal, and toilet seat outer surface will not be scratched, and ensures the beauty of product
Degree；Moreover, the spacing of putting between each toilet seat is allow to reduce using this grasp mode, and then accommodate more toilet seats
Device can reduce the number of firing in this way, and firing cost is greatly lowered；
(5) present invention also sets up a pressing plate, is pressed on above toilet seat by pressing plate, and stability when ensureing to carry carries
Rise production safety performance.
(6) present invention is also additionally arranged cushion pad, plays the role of protecting toilet seat, is not easy scratching products surface；
(7) present invention using driving cylinder or hydraulic cylinder as driving part, it is simple in structure, at low cost, and technology
Maturation can ensure quick acting, with improving production efficiency；
(8) of the present invention to unload kiln method, it is not only applicable in traditional toilet seat, intellectual water closet is equally applicable, nothing
It need to confirm product type, the shape and depth of toilet seat are can be obtained by image acquisition unit, carrying can be calculated automatically
Position；
(9) toilet seat that the present invention unloads in kiln region unordered can be put, and can be together fired with polytypic toilet seat,
With automatic identification and confirm position functions；
(10) present invention directly docks the product after unloading kiln with region is transferred, and toilet seat is fed directly to check portion,
It no longer needs to be placed on transport vehicle and carry, save landed cost and carry labor intensity.
Description of the drawings
Attached drawing described herein is used to provide further understanding of the present invention, and constitutes the part of the present invention, this hair
Bright illustrative embodiments and their description are not constituted improper limitations of the present invention for explaining the present invention.In the accompanying drawings：
Fig. 1 is the dimensional structure diagram that ceramic pedestal pan of the present invention unloads kiln device automatically；
Fig. 2 is the control flow chart that ceramic pedestal pan of the present invention unloads kiln device automatically；
Fig. 3 is Z coordinate schematic diagram in height map of the present invention；
Fig. 4 is the structural schematic diagram one of handling unit of the present invention；
Fig. 5 is the structural schematic diagram two of handling unit of the present invention；
Fig. 6 is toilet seat direction determining schematic diagram of the present invention.
Specific implementation mode
In order to keep technical problems, technical solutions and advantages to be solved clearer, clear, tie below
Drawings and examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used
To explain the present invention, it is not intended to limit the present invention.
As shown in Figure 1, a kind of sanitary ceramics toilet seat of the present invention unloads kiln device automatically, including unloads kiln region 1, transfers
Region 2, stereoscopic vision positioning component 3, handling unit 4 and control unit 5；
Unload kiln region 1：Include entering the region that can be touched to handling unit 4 after going out kiln for kiln car 11, when kiln car 11
Go out kiln along sliding rail and enter after this unloads kiln region 1,11 touch-sensitive device of kiln car, and then makes the pause of kiln car 11 in the areas Xie Yao
Domain 1 (present invention unloads the efficiency of kiln with raising so that two groups are unloaded kiln car 11 as an example)
Transfer region 2：It, which is used for accepting, carries the toilet seat 6 that comes from unloading kiln region 1, toilet seat 6 is transported to next
Process (present invention by taking two transfer region 2 as an example, when being not limited only to quantity defined by the present embodiment)；
As shown in Figure 2,3, stereoscopic vision positioning component 3 is arranged in handling unit 4, and in the drive of handling unit 4
Under unload kiln region 1 to described toilet seat 6 carry out stereoscan (i.e. by described image acquiring unit 31 and infrared scan unit 33
It is installed in handling unit 4, and is scanned and shooting with 4 displacement of handling unit to unloading kiln region 1), and by the image of generation
Information is transferred to analysis module 32；
Structure light camera and noctovisor scan instrument, institute is respectively adopted with infrared scan unit 33 in described image acquiring unit 31
It states the infrared ray that noctovisor scan instrument 33 is sent out and carries out infrared scanning to unloading kiln region 1 with 4 displacement of handling unit, i.e., it is infrared
Line to unload kiln region 1 carry out wire cutting mode scanning, and structure light camera 31 then correspond to infrared scan unit 33 sent out it is red
Outside line shot (the present embodiment is shot with the frequency of 300-500 frames/S, i.e., the speed of 300 to 500 pictures per second into
Row shooting), the region that the scanning of noctovisor scan instrument 33 is completed is shot at mostly many images, so as to subsequent analysis module 32 in this way
Analyze and be integrated into height map；
The stereoscopic vision positioning component 3 includes image acquisition unit 31, analysis module 32 and infrared scan unit 33, institute
It states analysis module 32 and receives the image that image acquisition unit 31 is taken in, each frame the image collected is extracted using gravity model appoach
Structure light in image calculates the three-dimensional coordinate of the corresponding toilet surface of the frame according to the camera parameter demarcated in advance；It will
The three-dimensional coordinate that each frame is calculated is spliced into the height map of entire scene；
It is filtered out after the height map that the reception of described control unit 5 analysis module 32 is depicted as and unloads each toilet seat 6 on kiln region 1
Three-dimensional coordinate and placing direction, and match the coordinate of handling unit 4, form the three-dimensional coordinate transmission that can capture toilet seat
To handling unit 4, wherein described control unit 5 carries out coordinate analysis according to height map, and the abscissa of height map epigraph is determined
Justice is X-coordinate, and ordinate is defined as Y coordinate, this X, Y coordinates according to unload the cross in kiln region 1, longitudinal direction is correspondingly arranged, in image
Color be defined as the Z coordinate of toilet seat 6；The Z coordinate is by being manually set described image color to define the numerical value of Z coordinate
Range；
As shown in Figure 4,5, the handling unit 4 its be controlled by control unit 5, and carry the toilet seat 6 unloaded on kiln region 1
To transfer region 2；
The handling unit 4 is including multiaxis pivoted arm 401 and holds component 402；The component 402 that holds is set to multiaxis turn
On arm 401；It includes clamping piece 402A, oscillating rod 402B and the first driving unit 402C to hold component 402；The clamping piece 402A
It is articulated with the one end oscillating rod 402B, the other end connects with the first driving unit 402C；Wherein, the first driving unit 402C
Drive rod drives oscillating rod 402B to swing, and linkage is held in toilet seat 6 with clamping piece 402A hinged oscillating rod 402B, and passes through
Toilet seat 6 is carried to by multiaxis pivoted arm 401 transfers region 2；The clamping piece 402A is equipped with the buffering for being used to support toilet seat 6
Pad 7；The component 402 that holds further includes pressing plate 9 and the second driving unit 8, and second driving drives the pressing plate 9 to be pressed on
On 6 seat ring of toilet seat.
More specifically, the first, second driving unit 402A, 8 being driving cylinder or hydraulic cylinder.
A kind of sanitary ceramics toilet seat unloads kiln method automatically, this unloads kiln method and includes the following steps (such as Fig. 2,3 institutes automatically
Show)：
Step 1：Toilet seat 6 to unloading kiln region 1 is scanned and shoots with video-corder；After kiln car 11, which moves to, unloads kiln region 1, touch
After touching inductive switch, kiln car 11 suspends in unloading kiln region 1, and control unit 5 sends out action command to handling unit 4 at this time, carries
Unit 4, which is moved to, unloads kiln region 1, so that the image acquisition unit and infrared scan unit in stereoscopic vision positioning component 3 are to unloading
It is scanned comprehensively in kiln region 1；It is scanned and schemes to unloading kiln region 1 using image acquisition unit 31 and infrared scan unit 33
As shooting with video-corder, described image acquiring unit 31 obtains the image in 33 infrared scanning region of infrared scan unit；Wherein, described infrared
When scanning element 33 is scanned to unloading kiln region 1, and image acquisition unit 31 corresponds to infrared ray and is shot, with 300-500
The frequency acquisition image of frame/S；
Step 2：Analysis module 32 in stereoscopic vision positioning component 3 analyzes the image of intake, passes through gravity model appoach
Image recording is extracted, and forms the height map for entirely unloading kiln region 1, specially：Analysis module 32 divides institute's image recording
Analysis extracts the structure light in image, then carries out split to many images after extraction, forms the height map for entirely unloading kiln region 1；
Step 3：Control unit 5 is analyzed unloading 1 height map of kiln region, by height map and the coordinate system of artificial settings into
Row matching, specifically, the abscissa on height map is defined as X-coordinate, ordinate is defined as Y coordinate, and color is defined as Z in image
(mode that this color defines Z coordinate is by the numberical range of artificial settings Z coordinate, for example, by shade in image to coordinate
Come definition numerical value, by the different definition numerical value etc. of color)；Control unit 5 excludes interfering object, separation and knowledge in height map
(in present embodiment, the mode of exclusive PCR object does not constrain rejection image to each toilet seat 6 using morphologic filtering and geometry
In interfering object, but be not limited only to this mode and carry out exclusive PCR object, other can realize that the scheme of the object of the invention all belongs to
In the protection domain of invention), to analyze the 3 d pose and placing direction of each toilet seat 6,
Step 4：Control unit 5 analyzes the placing direction of toilet seat 6 and the coordinate of toilet seat 6, by 6 coordinate of each toilet seat
It is assigned to 4 origin of handling unit and forms the three-dimensional coordinate of crawl toilet seat, and the three-dimensional coordinate for capturing toilet seat is sent to
Handling unit 4；Wherein, control unit 5 determine placing attitude when (as shown in Figure 6), to height map use select frame to toilet seat into
Row judgement, two with area select in frame, and the larger side of area is set as close to cistern position, and the smaller side of area is set
It is set to seat ring edge；According to select frame judge placing attitude after determine the profile of seat ring, and determine for handling unit 4 capture sit
The coordinate of closet；The three-dimensional coordinate of the three-dimensional coordinate of each toilet seat 6 and crawl toilet seat 6 is being sent to handling unit 4；
Step 5：Handling unit 4 carries out displacement according to the three-dimensional coordinate of crawl toilet seat 6；
Step 6：Handling unit 4 is carried to transfer region 2 after capturing toilet seat 6, and handling unit 4 returns to origin and carries out down
The carrying of one toilet seat 6；Specially：The component 402 that holds in the handling unit 4 stretches into toilet seat 6, and the first driving
Cylinder 402A is moved down, and clamping piece 402A is inwardly packed up when oscillating rod 402B being driven to swing, until clamping piece 402A enters toilet seat
In 6 seat ring of device, the first driving cylinder 402A is driven to move up again, linkage oscillating rod 402B drives clamping piece 402A to withstand on toilet seat
The inner top surface of 6 seat ring of device；The second driving cylinder 8 acts, and the pressing plate 9 being attached thereto is driven to press set on 6 seat ring of toilet seat
Upper surface.
The preferred embodiment of the present invention has shown and described in above description, as previously described, it should be understood that the present invention is not office
Be limited to form disclosed herein, be not to be taken as excluding other embodiments, and can be used for various other combinations, modification and
Environment, and can be changed by the above teachings or related fields of technology or knowledge in the scope of the invention is set forth herein
It is dynamic.And changes and modifications made by those skilled in the art do not depart from the spirit and scope of the present invention, then it all should be appended by the present invention
In scope of the claims.
Claims (16)
1. a kind of sanitary ceramics toilet seat unloads kiln method automatically, it is characterised in that：This unloads kiln method and includes the following steps automatically：
Step 1：Toilet seat to unloading kiln region is scanned and shoots with video-corder, to obtain the image for unloading kiln region toilet seat；
Step 2：Image recording is analyzed, image is extracted by gravity model appoach, and form the height map for entirely unloading kiln region；
Step 3：Height map is analyzed, height map is matched with the coordinate system of artificial settings, the horizontal seat on height map
It is designated as X-coordinate, ordinate is Y coordinate, and described image color is defined as Z coordinate；
Step 4：Control unit analyzes the placement position of toilet seat and the coordinate of toilet seat, by each toilet seat coordinate matching to carrying
Unit origin forms the three-dimensional coordinate of crawl toilet seat；
Step 5：Handling unit carries out displacement according to the coordinate of crawl toilet seat；
Step 6：It is carried to after handling unit crawl toilet seat and transfers region, and handling unit returns to origin and carries out next toilet seat
The carrying of device.
2. a kind of sanitary ceramics toilet seat as described in claim 1 unloads kiln method automatically, it is characterised in that：
In step 1：It is scanned using image acquisition unit and infrared scan unit to unloading kiln region and image recording, the figure
As acquiring unit obtains the image in infrared scan unit infrared scanning region.
3. a kind of sanitary ceramics toilet seat as claimed in claim 2 unloads kiln method automatically, it is characterised in that：
In step 1：After kiln car, which moves to, unloads kiln region, the infrared scan unit is scanned to unloading kiln region；
In step 2：Analysis module analyzes institute's image recording, and the knot in gravity model appoach extraction image is used to each frame image
Structure light, then carry out height map integration.
4. a kind of sanitary ceramics toilet seat as described in claim 1 unloads kiln method automatically, it is characterised in that：
In step 4：Control unit excludes interfering object in height map, separation and each toilet seat of identification, to analyze each toilet seat
The three-dimensional coordinate of each toilet seat is being sent to handling unit by the 3 d pose and placing direction of device.
5. a kind of sanitary ceramics toilet seat as claimed in claim 4 unloads kiln method automatically, it is characterised in that：
In step 4：When control unit determines placing direction, to height map using selecting frame to judge toilet seat, frame inner face is selected
The larger side of product is set as close to cistern position, and the smaller side of area is set as seat ring edge.
6. a kind of sanitary ceramics toilet seat as claimed in claim 5 unloads kiln method automatically, it is characterised in that：
In step 4：Control unit is according to selecting frame to judge to determine the profile of seat ring after placing attitude, and according to parameter is manually set
Match the coordinate for handling unit crawl toilet seat.
7. as a kind of sanitary ceramics toilet seat of claim 1 to 6 any one of them unloads kiln method automatically, it is characterised in that：
In step 1, described image acquiring unit is with the frequency acquisition image of 300-500 frames/S.
8. as a kind of sanitary ceramics toilet seat of claim 1 to 6 any one of them unloads kiln method automatically, it is characterised in that：
In step 6：The component that holds in the handling unit stretches into toilet seat, and the first drive component moves down, and drives and swings
The clamping piece that component is held described in when bar is swung inwardly is packed up, and the first drive component is driven to move up again, and linkage oscillating rod drives
Clamping piece withstands on the inner top surface of toilet seat.
9. a kind of sanitary ceramics toilet seat unloads kiln device automatically, it is characterised in that：Including unloading kiln region, transferring region, stereopsis
Feel positioning component, handling unit and control unit；
Stereoscopic vision positioning component carries out stereoscan to the toilet seat for unloading kiln region, and it is fixed in real time to be carried out to toilet seat
Position, and the location information of generation is transferred to control unit；
Handling unit is controlled by control unit, and unloads kiln region for driving the stereoscopic vision positioning component to scan, and
Toilet seat on kiln region is unloaded described in carrying to transferring region.
10. a kind of sanitary ceramics toilet seat as claimed in claim 9 unloads kiln device automatically, it is characterised in that：Stereoscopic vision is fixed
The setting of hyte part unloads kiln region in handling unit, and with the moving sweep of handling unit.
11. a kind of sanitary ceramics toilet seat as claimed in claim 10 unloads kiln device automatically, it is characterised in that：The stereopsis
Feel that positioning component includes image acquisition unit and infrared scan unit；The infrared scan unit sends out infrared scanning, described
Image acquisition unit carries out image recording, to obtain the image in infrared scanning region.
12. a kind of sanitary ceramics toilet seat as claimed in claim 11 unloads kiln device automatically, it is characterised in that：The stereopsis
Feel that positioning component further includes analysis module, which receives the image that image acquisition unit is taken in, and is unloaded described in splicing
The height map in kiln region.
13. a kind of sanitary ceramics toilet seat as described in claim 9,10,11 or 12 unloads kiln device automatically, it is characterised in that：
The handling unit includes multiaxis pivoted arm and holds component；The component that holds is set on multiaxis pivoted arm；Holding component includes
Clamping piece, oscillating rod and the first driving unit；The clamping piece is articulated with oscillating rod one end, and the other end of oscillating rod and first drive
Moving cell connects.
14. a kind of sanitary ceramics toilet seat as claimed in claim 13 unloads kiln device automatically, it is characterised in that：The clamping piece
It is equipped with the cushion pad for being used to support toilet seat.
15. a kind of sanitary ceramics toilet seat as claimed in claim 14 unloads kiln device automatically, it is characterised in that：It is described to hold group
Part further includes pressing plate and the second driving unit, and the pressing plate is secured in the drive shaft of the second driving unit.
16. a kind of sanitary ceramics toilet seat as claimed in claim 15 unloads kiln device automatically, it is characterised in that：Described first,
Second driving unit is driving cylinder or hydraulic cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810940164.0A CN108805925A (en) | 2018-08-17 | 2018-08-17 | A kind of sanitary ceramics toilet seat unloads kiln method and unloads kiln device automatically automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810940164.0A CN108805925A (en) | 2018-08-17 | 2018-08-17 | A kind of sanitary ceramics toilet seat unloads kiln method and unloads kiln device automatically automatically |
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| Publication Number | Publication Date |
|---|---|
| CN108805925A true CN108805925A (en) | 2018-11-13 |
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| CN201810940164.0A Pending CN108805925A (en) | 2018-08-17 | 2018-08-17 | A kind of sanitary ceramics toilet seat unloads kiln method and unloads kiln device automatically automatically |
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| CN (1) | CN108805925A (en) |
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