CN117207163B - Loading and unloading kiln manipulator clamp for intelligent closestool processing - Google Patents
Loading and unloading kiln manipulator clamp for intelligent closestool processing Download PDFInfo
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- CN117207163B CN117207163B CN202311470181.XA CN202311470181A CN117207163B CN 117207163 B CN117207163 B CN 117207163B CN 202311470181 A CN202311470181 A CN 202311470181A CN 117207163 B CN117207163 B CN 117207163B
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- 238000004140 cleaning Methods 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims description 57
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- 230000007704 transition Effects 0.000 claims description 7
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- 238000009434 installation Methods 0.000 claims description 3
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Abstract
The invention discloses a loading and unloading kiln manipulator clamp for intelligent closestool processing, and particularly relates to the loading and unloading field of intelligent closestool, which comprises a walking shaft, a robot and a mechanical arm, wherein the robot is arranged above the walking shaft in a sliding manner, the mechanical arm is fixedly arranged on the robot, an execution terminal of the mechanical arm is provided with a clamp mechanism, the clamp mechanism clamps a cleaning surface of a closestool body through vertical sliding of an upper claw pointing to a lower claw, the clamp mechanism also comprises a connecting block and clamping claws, the clamping claws are provided with two groups, a connecting rod is connected between the connecting block and the clamping claws, two ends of the connecting rod are respectively connected with the clamping claws and the connecting block in a rotating manner, and the connecting block vertically moves to drive the two groups of clamping claws to transversely move through the connecting rod. The invention has compact structure, narrow width direction and flexible clamping action, can be suitable for clamping products with different external dimensions, and can meet the accurate and stable clamping of different products through vision and clamp cooperation.
Description
Technical Field
The invention relates to the technical field of loading and unloading of intelligent toilets, in particular to a loading and unloading kiln manipulator clamp for intelligent toilet processing.
Background
The production process of the common closestool comprises the following steps: product design, slurry preparation, glaze configuration, slip casting, blank repairing, blank checking, glazing, kiln filling, sintering, inspection, packaging and warehousing; wherein, slip casting: mold closing, sizing, consolidation, demolding and repairing; trimming: trimming the blank, smoothing and checking cracks; and (3) drying: drying the wet blank, reducing the moisture of the blank and improving the firing quality; checking blank: looking up appearance defects such as cracks, impurities, concave-convex and the like; glazing: glazing the pipeline, glazing the water distribution holes and glazing the surface for three times; labeling: the trademark becomes a permanent mark after high temperature; kiln loading: loading the qualified glaze blank on a kiln car; firing: drying, preheating, sintering and cooling; and (3) checking: appearance inspection and functional inspection.
However, when the existing kiln loading and unloading clamp is actually used, the defects still exist, such as large width and large occupied space, and the existing kiln loading and unloading clamp adopts a plate frame structure, has poor rigidity and stability, is not flexible enough in clamping action, and can only adapt to clamping products with the same external dimensions.
Disclosure of Invention
The invention provides a loading and unloading kiln manipulator clamp for intelligent closestool processing, which aims to solve the problems that: the existing kiln loading and unloading clamp is large in width, large in occupied space, poor in rigidity and stability and inflexible in clamping action.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an intelligent closestool processing is with loading and unloading kiln manipulator anchor clamps, including the walking axle, robot and arm, the top of walking axle is located in the robot slip, arm fixed mounting is on the robot, the execution terminal of arm installs fixture mechanism, fixture mechanism is through the directional vertical slip of lower claw finger of last claw carries out the centre gripping to the clean face of closestool main part, fixture mechanism still includes connecting block and clamping jaw, and the clamping jaw is provided with two sets of, be connected with the connecting rod between connecting block and the clamping jaw, and the both ends of connecting rod are connected with clamping jaw and connecting block rotation respectively, connecting block vertical movement passes through connecting rod drive two sets of clamping jaw lateral shifting, go up claw finger and lower claw finger and lie in two sets of clamping jaw opposite sides, and go up claw finger and clamping jaw sliding connection, lower claw finger and clamping jaw fixed connection, one side movable sleeve of fixture mechanism is equipped with cross bar mechanism, cross bar mechanism drives and inhales the board and absorb the cardboard, cross bar mechanism drives detection mechanism through the long post, detection mechanism drives the board through the detection seat and detects the cleaning face surface.
In a preferred embodiment, the fixture mechanism further comprises a mounting seat and a stand column, wherein the stand column is fixedly mounted at the top of the mounting seat, two groups of stand columns are transversely and correspondingly arranged, a transition flange is fixedly arranged at the top of the stand column, and the stand column is connected with the mechanical arm through the transition flange.
In a preferred embodiment, the bottom of mount pad fixed mounting has the transverse guide slider group, and two sets of clamping jaw pass through transverse guide slider group lateral sliding, and the centre fixed mounting of two sets of stands has the master cylinder, and the bottom fixedly connected with cylinder frame of master cylinder, and the output shaft of master cylinder runs through in the inside fixedly connected with of cylinder frame and floats and connect, and the fixed connection between floating joint and the connecting block, and the front of connecting block and clamping jaw is all fixed and is equipped with the axle, and cup joints between axle and the connecting rod.
In a preferred embodiment, a vertical guide rail sliding block set is fixedly arranged between one side of the connecting block and the inner wall of the cylinder frame, the connecting block vertically slides through the vertical guide rail sliding block set, an auxiliary cylinder is fixedly arranged on the opposite side of the two groups of clamping jaws, and the upper claw finger pushes the vertical sliding through the auxiliary cylinder.
In a preferred embodiment, a visual camera is fixedly mounted on the periphery of one end of the mechanical arm, and the clamp mechanism is located in the identification range of the visual camera.
In a preferred embodiment, the cross rod mechanism further comprises a shear rod and a hollow plate, the shear rod is rotationally connected with the hollow plate, the shear rod is composed of two groups of crossed long plates, a central rotating shaft penetrates through the crossing points of the two groups of long plates, a shaft collar is fixedly arranged at the top end of the shear rod and is in shaft connection with the connecting shaft of the clamping jaw, a hanging ring is fixedly arranged at the top of the hollow plate and is rotationally connected with the bottom end of the shear rod, and air passages are formed in the hollow plate, the long column and the suction-discharge plate.
In a preferred embodiment, detection mechanism includes mobile jib, auxiliary rod, intermediate frame and miniature air pump, and the cross setting between mobile jib and the auxiliary rod, intermediate frame are located the junction of mobile jib and auxiliary rod, and intermediate frame fixed locate the centre of mobile jib, and the movable mouth has been seted up to the inside of intermediate frame, and auxiliary rod activity runs through in the inside of movable mouth, and the inside of movable mouth is fixed and is equipped with the cross axle, and the cross axle rotates and runs through in the junction of mobile jib and auxiliary rod, and intermediate frame's top fixed mounting has the mounting panel, and miniature air pump demountable installation is in the top of mounting panel.
In a preferred embodiment, the two ends of the main rod and the auxiliary rod are provided with an adjusting short opening and an adjusting long opening, the adjusting long opening is correspondingly arranged with the hollow slab, the bottom of one end of the main rod and the auxiliary rod, which is far away from the detection seat, is provided with a balancing weight in a rotating way, the top of the detection seat is fixedly provided with a threaded column, the top of the threaded column is connected with a nut in a threaded way, and the threaded column movably penetrates through the corresponding adjusting short opening.
In a preferred embodiment, a limiting side plate is fixedly arranged at one end of the bottom of the detection seat, a wheel seat is movably arranged at one side of the bottom of the limiting side plate, a spring column is fixedly arranged between the wheel seat and the limiting side plate, and a roller is rotatably arranged at one end, away from the limiting side plate, of the wheel seat.
In a preferred embodiment, a pressure sensor is fixedly arranged at one end of the bottom of the detection seat away from the limiting side plate, and the detection plate is fixedly arranged in the middle of the bottom of the detection seat.
The invention has the beneficial effects that:
1. the invention has compact structure and narrow width direction, can not interfere with the product when the clamp goes deep into the product cleaning surface, and is not easy to interfere with the kiln plate of the loading and unloading kiln car in the moving process; the clamping of more intelligent closestool products with different types can be met; the finger structure simulating the clamping action of the human finger enables the clamping action to be flexible, and the clamping device can be suitable for clamping products with different external dimensions; the accurate and stable clamping of different products can be met through the cooperation of vision and the clamp.
2. According to the invention, the paper board is adsorbed by the air passage of the suction and discharge plate, and when the clamp mechanism moves to the grabbing position, the micro air pump stops working, so that the paper board falls into the toilet main body, and the paper board is a dustproof paper board for protecting the inside of the toilet main body.
3. According to the invention, when the lower parts of the two groups of connecting rods are opened, the scissor rods slide along the inside of the adjusting long opening through the hollow plate, so that one ends of the main rod and the auxiliary rod with the detection seat start to slide far away, the balance weight at the other ends is attached to the upper surface of the closestool main body, and the detection seat detects the upper surface of the detection range of the cleaning surface through the pressure sensor and the detection plate in the sliding process.
4. According to the invention, the main rod and the auxiliary rod cannot collide to influence the clamping jaw under the limit of the movable opening, the roller slides along the periphery of the cleaning surface under the support of the wheel seat, so that the guide is provided for the sliding of the detection seat, the wheel seat compresses the spring of the spring column when the main rod and the auxiliary rod are limited, namely, the wheel seat moves to the farthest position, the limiting side plate performs limiting blocking, and the main rod and the auxiliary rod play a balance role above the closestool body, so that the clamping of the clamp mechanism is more stable, and the front-back inclination condition of the closestool body is avoided.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the present invention.
Fig. 2 is a schematic perspective view of the clamping mechanism of the present invention.
Fig. 3 is a schematic front view of the clamping mechanism of the present invention.
FIG. 4 is a schematic rear view of the clamp mechanism of the present invention.
Figure 5 is a schematic view of the mounting cross bar mechanism of the present invention.
Figure 6 is a schematic front view of the cross bar mechanism and detection mechanism of the present invention.
Fig. 7 is a schematic top view of the toilet body of the present invention.
Fig. 8 is a schematic view of the hollow slab structure of the present invention.
Fig. 9 is a schematic diagram of an intermediate frame of the present invention.
Fig. 10 is a schematic diagram of an end portion of a test socket according to the present invention.
The reference numerals are: 1. a walking shaft; 2. a robot; 3. a mechanical arm; 4. a vision camera; 5. a clamp mechanism; 51. a mounting base; 511. a transverse guide rail slide block group; 52. a column; 521. a transition flange; 522. a main cylinder; 523. a cylinder frame; 524. a floating joint; 525. a connecting block; 526. a vertical guide rail slide block group; 527. a connecting shaft; 528. a connecting rod; 53. a clamping jaw; 531. an auxiliary cylinder; 532. an upper jaw finger; 533. a lower claw finger; 6. a toilet body; 61. cleaning the dough; 7. a cross bar mechanism; 71. a cutter bar; 72. a collar; 73. a hollow slab; 731. a long column; 732. a suction plate; 733. hanging rings; 734. an airway; 74. a paperboard; 75. a central spindle; 8. a detection mechanism; 81. a main rod; 82. an auxiliary rod; 83. a middle frame; 831. a movable opening; 832. a cross axis; 833. a mounting plate; 84. a micro air pump; 85. adjusting the short opening; 86. adjusting the long opening; 87. a detection seat; 871. a threaded column; 872. a limit side plate; 873. a wheel seat; 874. a spring post; 875. a roller; 876. a pressure sensor; 877. a detection plate; 88. and a balance weight.
Detailed Description
The following detailed description of the present application is provided in conjunction with the accompanying drawings, and it is to be understood that the following detailed description is merely illustrative of the application and is not to be construed as limiting the scope of the application, since numerous insubstantial modifications and adaptations of the application will be to those skilled in the art in light of the foregoing disclosure.
Referring to fig. 1-5 of the specification, a loading and unloading kiln manipulator clamp for intelligent closestool processing comprises a walking shaft 1, a robot 2 and a mechanical arm 3, wherein the robot 2 is arranged above the walking shaft 1 in a sliding manner, the mechanical arm 3 is fixedly arranged on the robot 2, one end of the mechanical arm 3 is fixedly provided with a clamp mechanism 5 through bolts, the clamp mechanism 5 comprises a mounting seat 51, a stand column 52 and a clamping jaw 53, the stand column 52 and the clamping jaw 53 are respectively and fixedly arranged at the top and the bottom of the mounting seat 51, the bottom of the mounting seat 51 is fixedly provided with a transverse guide rail slide block group 511, two groups of clamping jaws 53 can conveniently transversely move through the transverse guide rail slide block group 511, the stand column 52 is transversely correspondingly provided with two groups, the top of the stand column 52 is fixedly provided with a transition flange 521, the mounting with the mechanical arm 3 can be carried out through the transition flange 521, the middle of the two groups of stand columns 52 is fixedly provided with a main cylinder 522, the bottom of the main cylinder 522 is fixedly connected with a cylinder frame 523, the output shaft of the main cylinder 522 is fixedly connected with a floating joint 524, the bottom of the floating joint 524 is fixedly connected with a connecting block 525, one side of the connecting block 525 is fixedly provided with a vertical guide rail sliding block group 526, the connecting block 525 is convenient for vertical sliding of the connecting block 525 through the vertical guide rail sliding block group 526, the front surfaces of the connecting block 525 and the clamping jaw 53 are fixedly provided with connecting shafts 527, a connecting rod 528 is rotationally connected between the two groups of connecting shafts 527, the connecting rods 528 are provided with two groups, the two ends of the connecting rod 528 are respectively provided with left-handed threads and right-handed threads, the connecting rods are matched with left-handed and right-handed joint bearings, the distance between the connecting rod shafts is adjustable, the contraction and outward expansion position limit of the clamping jaw 53 is adjustable, the connecting shafts 527 on the connecting block 525 are used as coincident points, the clamping jaw 53 is transversely correspondingly provided with the two groups, and the clamping jaw 53 is in sliding connection with the transverse guide rail sliding block group 511, the two groups of clamping jaws 53 can be pushed to transversely slide through the connecting shafts 527 on the clamping jaws 53, auxiliary air cylinders 531 are fixedly arranged on opposite sides of the two groups of clamping jaws 53, upper jaw fingers 532 are fixedly arranged at the bottoms of the auxiliary air cylinders 531, the upper jaw fingers 532 are in sliding connection with the clamping jaws 53, lower jaw fingers 533 are fixedly arranged at the bottom ends of the clamping jaws 53, the lower jaw fingers 533 are positioned below the upper jaw fingers 532, the upper jaw fingers 532 are pushed to be close to the lower jaw fingers 533 through the auxiliary air cylinders 531, a cleaning surface 61 can be clamped from above and below, a cross rod mechanism 7 is movably sleeved on one side of the clamp mechanism 5, the cross rod mechanism 7 serves as a middle linkage mechanism of a connecting rod 528, a main rod 81 and an auxiliary rod 82, a detection mechanism 8 is connected to the bottom of the cross rod mechanism 7 in a transmission mode, and the detection mechanism 8 can drive a detection plate 877 to detect the surface of the cleaning surface 61 through a detection seat 87.
The mechanical arm 3 clamps the location closestool main part 6 through fixture mechanism 5, and closestool main part 6 is current intelligent closestool, and the top edge of closestool main part 6 is equipped with washes face 61, and the one end periphery of mechanical arm 3 has vision camera 4 through bolt fixed mounting, and fixture mechanism 5 is located the discernment scope of vision camera 4.
In this embodiment, the implementation scenario specifically includes: the robot 2 slides above the walking shaft 1 and is used for carrying the closestool body 6, the vision camera 4 recognizes the closestool body 6 and uploads a signal to start the work, the robot 2 controls the position of the clamp mechanism 5 through the mechanical arm 3, after the clamp mechanism 5 is adjusted in place through the monitoring of the vision camera 4, the main cylinder 522 drives the connecting block 525 to vertically slide, under the linkage of the two groups of connecting rods 528, the two groups of clamping jaws 53 can be pushed to transversely slide away from each other until the upper jaw fingers 532 and the lower jaw fingers 533 are respectively sent to the water approaching tank side of the cleaning surface of the closestool body 6, the clamping jaws 53 expanding from inside to outside to the left and right can abut against the left and right wall surfaces of the cleaning surface, the upper jaw fingers 532 are lowered through the auxiliary cylinder 531, the upper jaw fingers 532 and the lower jaw fingers 533 are matched to clamp the left and right convex edges of the cleaning surface, the effect of grabbing the closestool body 6 is achieved, and the robot 2 drives the clamp mechanism 5 to move to the next station together with the closestool body 6, and the loading and unloading actions of the closestool are completed.
Referring to fig. 5-10 of the specification, the cross rod mechanism 7 includes a scissor rod 71 and a hollow plate 73, the scissor rod 71 and the hollow plate 73 are rotatably connected through a rotation shaft, the scissor rod 71 is composed of two groups of crossed long plates, a central rotation shaft 75 penetrates through the crossing point of the two groups of long plates, a collar 72 is fixedly arranged at the top end of the scissor rod 71, the collar 72 is sleeved with a connecting shaft 527 of the clamping jaw 53, the two groups of scissor rods 71 serve as an intermediate transmission mechanism of a main rod 81 and an auxiliary rod 82, and the two groups of scissor rods 71 form a scissor structure through the central rotation shaft 75 at the crossing point.
The bottom of hollow plate 73 is fixed and is equipped with long post 731, the bottom mounting of long post 731 is equipped with and inhales the exhaust plate 732, the top of hollow plate 73 is fixed and is equipped with link 733, hollow plate 73, the inside of long post 731 and exhaust plate 732 has all been seted up air flue 734, the cardboard 74 has been adsorbed to the bottom of exhaust plate 732, communicate air flue 734 through miniature air pump 84, can make exhaust plate 732 adsorb cardboard 74, stop work after putting into place and put cardboard 74 into the jar of closestool main part 6, accomplish the work of placing, the process of cardboard 74 need not to be placed in the subsequent packing, simultaneously long post 731 passes through link 733 and connects scissors pole 71, can slide again in the inside of adjusting long mouth 86 and drive mobile jib 81 and accessory bar 82 and move.
The detection mechanism 8 comprises a main rod 81, an auxiliary rod 82, a middle frame 83 and a micro air pump 84, wherein the main rod 81 and the auxiliary rod 82 are arranged in a crossing manner, the middle frame 83 is located at the crossing position of the main rod 81 and the auxiliary rod 82, the middle frame 83 is fixedly arranged in the middle of the main rod 81, the micro air pump 84 is detachably mounted at the top of the middle frame 83 through screws, the micro air pump 84 is convenient to fix the position of the micro air pump 84, a movable opening 831 is formed in the middle frame 83, the auxiliary rod 82 movably penetrates through the movable opening 831, a cross shaft 832 is fixedly arranged in the movable opening 831, the cross shaft 832 rotates to penetrate through the crossing position of the main rod 81 and the auxiliary rod 82, a mounting plate 833 is fixedly arranged at the top of the middle frame 83, the micro air pump 84 is detachably mounted at the top of the mounting plate 833, and the scissors structure similar to that of two groups of scissors rods 71 is in a vertical scissors structure, and the main rod 81 and the auxiliary rod 82 are in a transverse scissors structure.
The regulation short mouth 85 and the regulation long mouth 86 have all been seted up at the both ends of mobile jib 81 and auxiliary rod 82, it corresponds the setting with hollow slab 73 to adjust long mouth 86, the both ends bottom of mobile jib 81 and auxiliary rod 82 all rotates and is equipped with detection seat 87 and balancing piece 88, the fixed screw thread post 871 that is equipped with in top of detection seat 87, and screw thread post 871's top threaded connection has the nut, screw thread post 871 activity runs through in the inside of corresponding regulation short mouth 85, can install the detection seat 87 at the detection end of mobile jib 81 and auxiliary rod 82 through screw thread post 871, can dismantle convenient maintenance.
The bottom one end of detecting seat 87 is fixed to be equipped with spacing curb plate 872, spacing curb plate 872 bottom one side activity is equipped with wheel seat 873, fixed be equipped with spring post 874 between wheel seat 873 and the spacing curb plate 872, the one end rotation that wheel seat 873 kept away from spacing curb plate 872 is equipped with gyro wheel 875, spacing curb plate 872 passes through spring post 874 and supports wheel seat 873, spring post 874 is current structure, the center post runs through in the inside of spring, and the one end and the spring post 874 of center post are fixed, the other end slip runs through in the inside of wheel seat 873, the spring plays the elastic support effect in the middle of spacing curb plate 872 and wheel seat 873, make gyro wheel 875 roll along the surface of cleaning surface 61, play the effect of direction and spacing.
The pressure sensor 876 is fixedly arranged at one end, far away from the limiting side plate 872, of the bottom of the detection seat 87, the detection plate 877 is fixedly arranged in the middle of the bottom of the detection seat 87, the detection plate 877 is used as a detection head directly contacting the upper surface of the cleaning surface 61, when the upper surface of the detection range of the cleaning surface 61 is raised or recessed, the pressure sensor 876 detects changed pressure data, the uploaded data can indicate that the detection of the closestool body 6 is unqualified, and because the front wall of the closestool body 6 is thin, surface concave-convex is easier to appear during the firing or paint spraying process, and later single detection is required.
In this embodiment, the implementation scenario specifically includes: the collar 72 is sleeved on the connecting shaft 527 of the clamping jaw 53, refer to fig. 3, before grabbing, the paper board 74 is adsorbed through the air passage 734 of the suction and exhaust plate 732, the adsorption working principle of the micro air pump 84 is not repeated, when the clamp mechanism 5 moves to the grabbing position, the micro air pump 84 is stopped, the paper board 74 falls into the toilet main body 6, the paper board 74 protects the inside of the toilet main body 6 for dustproof paper boards, when the lower parts of the two groups of connecting rods 528 are opened, the scissor rods 71 slide along the inside of the adjusting long opening 86 through the hollow plate 73, one ends of the main rod 81 and the auxiliary rod 82 with the detection seat 87 start to keep away from sliding, the other end balance block 88 is tightly attached to the upper surface of the toilet main body 6 to play a balance role, the detection seat 87 detects the upper surface of the detection range of the toilet main body 61 through the pressure sensor 876 and the detection plate 877 in the sliding process, under the limit of the movable opening 831, the main rod 81 and the auxiliary rod 82 can not collide to influence the 53, the roller 875 slides along the periphery of the cleaning surface 61 under the support of the wheel seat 873, the sliding of the detection seat 87, meanwhile, the main rod 81 and the auxiliary rod 82 are provided with the guide seat 87, namely, the clamping jaw 873 is prevented from moving to the side plate 876, and the side plate is more stable, and the main body is more stable, and the side body is prevented from the compression.
The device has compact structure and narrow width direction, can not interfere with the product when the clamp goes deep into the product cleaning surface, and is not easy to interfere with the kiln plate of the loading and unloading kiln car in the moving process; the fixture mechanism adopts a thick square pipe and a thick plate to be welded as an upright post, and forms a stable square frame structure with upper and lower thick plates, a cylinder mounting plate and a guide rail mounting plate through threaded connection, so that the structural rigidity is good; the cylinder shaft of the large cylinder is lifted and lowered to be provided with a vertical guide rail slide block group as a guide, and the lifting and lowering of the cylinder are stable, so that the left and right claws are stably outwards expanded and tightened under the combined action of the transverse guide rail slide block group and the connecting rod mechanism; the left-handed threads and the right-handed threads are respectively arranged at the two ends of the connecting rod and are matched with the left-handed joint bearing and the right-handed joint bearing, so that the distance between connecting rod shafts is adjustable, the limit of the positions of contraction and expansion of the paw is adjustable, and the clamping of more intelligent closestool products in different types is met; the finger structure simulating the clamping action of the human finger enables the clamping action to be flexible, and the clamping device can be suitable for clamping products with different external dimensions; the accurate and stable clamping of different products can be met through the cooperation of vision and the clamp.
The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention.
Claims (3)
1. The utility model provides an intelligent closestool processing is with loading and unloading kiln manipulator anchor clamps, includes walking axle (1), robot (2) and arm (3), the top of walking axle (1) is located in the slip of robot (2), arm (3) fixed mounting is on robot (2), its characterized in that: the mechanical arm is characterized in that a clamp mechanism (5) is arranged at an execution terminal of the mechanical arm (3), the clamp mechanism (5) comprises a frame, a group of vertically sliding connecting blocks (525) and two groups of transversely sliding clamping jaws (53) are arranged on the frame, the connecting blocks (525) are connected with the clamping jaws (53) through connecting rods (528), two ends of the connecting rods (528) are respectively and rotatably connected with the connecting blocks (525) and the clamping jaws (53), lower claw fingers (533) and upper claw fingers (532) are arranged on the outer sides of the clamping jaws (53), the lower claw fingers (533) are fixedly connected with the clamping jaws (53), and the upper claw fingers (532) are in sliding fit with the clamping jaws (53);
when the connecting block (525) moves vertically downwards, the two groups of clamping jaws (53) are driven to be away from each other by the two groups of connecting rods (528), and the upper claw fingers (532) clamp the cleaning surface (61) of the closestool main body (6) through the approaching movement of the lower claw fingers (533);
the outer side of the clamp mechanism (5) is further provided with a cross rod mechanism (7) and a detection mechanism (8), the cross rod mechanism (7) comprises a long column (731) and a suction and discharge plate (732), the suction and discharge plate (732) is used for sucking the paperboard (74), and the detection mechanism (8) comprises a detection seat (87) and a detection plate (877);
the machine frame further comprises an installation seat (51) and stand columns (52), wherein the stand columns (52) are fixedly installed at the top of the installation seat (51), two groups of stand columns (52) are transversely and correspondingly arranged, transition flanges (521) are fixedly arranged at the top of the stand columns (52), and the stand columns (52) are connected with the mechanical arms (3) through the transition flanges (521);
the bottom of the mounting seat (51) is fixedly provided with a transverse guide rail sliding block set (511), two groups of clamping jaws (53) transversely slide through the transverse guide rail sliding block set (511), the middle of the two groups of upright posts (52) is fixedly provided with a main cylinder (522), the bottom of the main cylinder (522) is fixedly connected with a cylinder frame (523), an output shaft of the main cylinder (522) penetrates through the inside of the cylinder frame (523) and is fixedly connected with a floating joint (524), the floating joint (524) is fixedly connected with a connecting block (525), connecting blocks (525) and clamping jaws (53) are fixedly provided with connecting shafts (527), and the end parts of connecting rods (528) are rotationally sleeved with the connecting shafts (527);
a vertical guide rail sliding block group (526) is arranged between the connecting block (525) and the cylinder frame (523), the connecting block (525) moves vertically through the vertical guide rail sliding block group (526), auxiliary cylinders (531) are fixedly arranged on opposite sides of the two groups of clamping jaws (53), and the upper claw fingers (532) push the vertical movement through the auxiliary cylinders (531);
a visual camera (4) is arranged at the joint of the mechanical arm (3) and the clamp mechanism (5), and the clamp mechanism (5) is positioned in the identification range of the visual camera (4);
the cross rod mechanism (7) further comprises a shear rod (71) and a hollow plate (73), the shear rod (71) is rotationally connected with the hollow plate (73), the shear rod (71) is composed of two groups of crossed long plates, a central rotating shaft (75) penetrates through the crossing points of the two groups of long plates, a collar (72) is fixedly arranged at the top end of the shear rod (71), the collar (72) is sleeved with a connecting shaft (527) of the clamping jaw (53), a hanging ring (733) is fixedly arranged at the top of the hollow plate (73), the hanging ring (733) is rotationally connected with the bottom end of the shear rod (71), and air passages (734) are formed in the hollow plate (73), the long columns (731) and the suction and discharge plates (732);
the detection mechanism (8) comprises a main rod (81), an auxiliary rod (82), a middle frame (83) and a miniature air pump (84), wherein the main rod (81) and the auxiliary rod (82) are arranged in a crossing mode, the middle frame (83) is located at the crossing position of the main rod (81) and the auxiliary rod (82), the middle frame (83) is fixedly arranged in the middle of the main rod (81), a movable opening (831) is formed in the middle of the middle frame (83), the auxiliary rod (82) penetrates through the inside of the movable opening (831), a crossing shaft (832) is fixedly arranged in the inside of the movable opening (831), the crossing shaft (832) penetrates through the crossing position of the main rod (81) and the auxiliary rod (82) in a rotating mode, a mounting plate (833) is fixedly arranged at the top of the middle frame (83), and the miniature air pump (84) is detachably arranged at the top of the mounting plate (833).
The two ends of the main rod (81) and the two ends of the auxiliary rod (82) are respectively provided with an adjusting short port (85) and an adjusting long port (86), the adjusting long ports (86) are correspondingly arranged with the hollow plate (73), the bottoms of one ends of the main rod (81) and the auxiliary rod (82), which are far away from the detection seat (87), are respectively provided with a balancing block (88) in a rotating mode, the top of the detection seat (87) is fixedly provided with a threaded column (871), the top of the threaded column (871) is connected with a nut in a threaded mode, and the threaded column (871) movably penetrates through the corresponding adjusting short port (85);
the cross rod mechanism drives the suction and discharge plate to suck the paper board, the cross rod mechanism drives the detection mechanism through the long column, and the detection mechanism drives the detection plate to detect the surface of the cleaning surface through the detection seat;
the bottom of the hollow slab is fixedly provided with a long column, the bottom end of the long column is fixedly provided with a suction and discharge plate, the long column is connected with a scissor bar through a hanging ring, and the long column slides in the adjusting long opening and drives the main rod and the auxiliary rod to move.
2. The handling kiln manipulator fixture for intelligent toilet processing according to claim 1, wherein: the detection seat is characterized in that a limiting side plate (872) is fixedly arranged at one end of the bottom of the detection seat (87), a wheel seat (873) is movably arranged on one side of the bottom of the limiting side plate (872), a spring column (874) is fixedly arranged between the wheel seat (873) and the limiting side plate (872), and a roller (875) is rotatably arranged at one end, far away from the limiting side plate (872), of the wheel seat (873).
3. The handling kiln manipulator fixture for intelligent toilet processing according to claim 2, wherein: one end of the bottom of the detection seat (87) far away from the limiting side plate (872) is fixedly provided with a pressure sensor (876), and the detection plate (877) is fixedly arranged in the middle of the bottom of the detection seat (87).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311470181.XA CN117207163B (en) | 2023-11-07 | 2023-11-07 | Loading and unloading kiln manipulator clamp for intelligent closestool processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311470181.XA CN117207163B (en) | 2023-11-07 | 2023-11-07 | Loading and unloading kiln manipulator clamp for intelligent closestool processing |
Publications (2)
| Publication Number | Publication Date |
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| CN117207163A CN117207163A (en) | 2023-12-12 |
| CN117207163B true CN117207163B (en) | 2024-01-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202311470181.XA Active CN117207163B (en) | 2023-11-07 | 2023-11-07 | Loading and unloading kiln manipulator clamp for intelligent closestool processing |
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| CN (1) | CN117207163B (en) |
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| US9074381B1 (en) * | 2014-04-25 | 2015-07-07 | Gary Lee Drew | Tile laying machine and a method of use |
| CA2921919A1 (en) * | 2016-02-25 | 2017-08-25 | Jovan Vracar | Intelligent hydraulic robotic arm (ihra) for pipe racking on drilling rigs |
| CN108861531A (en) * | 2018-01-12 | 2018-11-23 | 连云港杰瑞自动化有限公司 | A kind of salt core flexibility pick-and-place positioning system of view-based access control model identification |
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| CN110653843A (en) * | 2019-09-27 | 2020-01-07 | 深圳市立安科技有限公司 | Guide tracked closestool moves and carries manipulator convenient to remove |
| CN111993388A (en) * | 2020-07-31 | 2020-11-27 | 南京灵雀智能制造有限公司 | Lithium battery tray fixing combined clamp and clamping method |
| CN115448018A (en) * | 2022-09-26 | 2022-12-09 | 重庆智企魔方科技有限公司 | Cargo loading and unloading device for cargo compartment |
| CN218342132U (en) * | 2021-08-02 | 2023-01-20 | 广州鑫科智能装备有限公司 | A industrial robot grabbing device for bathroom product |
-
2023
- 2023-11-07 CN CN202311470181.XA patent/CN117207163B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9074381B1 (en) * | 2014-04-25 | 2015-07-07 | Gary Lee Drew | Tile laying machine and a method of use |
| CA2921919A1 (en) * | 2016-02-25 | 2017-08-25 | Jovan Vracar | Intelligent hydraulic robotic arm (ihra) for pipe racking on drilling rigs |
| CN108861531A (en) * | 2018-01-12 | 2018-11-23 | 连云港杰瑞自动化有限公司 | A kind of salt core flexibility pick-and-place positioning system of view-based access control model identification |
| CN208828819U (en) * | 2018-09-30 | 2019-05-07 | 惠达卫浴股份有限公司 | A kind of universal fixturing of ceramic pedestal pan |
| CN110653843A (en) * | 2019-09-27 | 2020-01-07 | 深圳市立安科技有限公司 | Guide tracked closestool moves and carries manipulator convenient to remove |
| CN111993388A (en) * | 2020-07-31 | 2020-11-27 | 南京灵雀智能制造有限公司 | Lithium battery tray fixing combined clamp and clamping method |
| CN218342132U (en) * | 2021-08-02 | 2023-01-20 | 广州鑫科智能装备有限公司 | A industrial robot grabbing device for bathroom product |
| CN115448018A (en) * | 2022-09-26 | 2022-12-09 | 重庆智企魔方科技有限公司 | Cargo loading and unloading device for cargo compartment |
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| Publication number | Publication date |
|---|---|
| CN117207163A (en) | 2023-12-12 |
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