CN117208579B - Loading and unloading kiln clamp for intelligent closestool transfer and loading and unloading method - Google Patents
Loading and unloading kiln clamp for intelligent closestool transfer and loading and unloading method Download PDFInfo
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- CN117208579B CN117208579B CN202311470362.2A CN202311470362A CN117208579B CN 117208579 B CN117208579 B CN 117208579B CN 202311470362 A CN202311470362 A CN 202311470362A CN 117208579 B CN117208579 B CN 117208579B
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- bevel gear
- closestool
- clamp
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- 238000012546 transfer Methods 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 11
- 229920001821 foam rubber Polymers 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 36
- 210000000078 claw Anatomy 0.000 claims description 26
- 238000001179 sorption measurement Methods 0.000 claims description 22
- 239000007787 solid Substances 0.000 claims description 20
- 238000003825 pressing Methods 0.000 claims description 18
- 229920001971 elastomer Polymers 0.000 claims description 8
- 239000003292 glue Substances 0.000 claims description 8
- 238000010073 coating (rubber) Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005452 bending Methods 0.000 description 3
- 239000006260 foam Substances 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 238000004026 adhesive bonding Methods 0.000 description 2
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910010293 ceramic material Inorganic materials 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The invention discloses a loading and unloading kiln fixture for intelligent closestool transfer and a loading and unloading method, and particularly relates to the field of intelligent closestool loading and unloading kilns. The invention can accurately pad the pad between the two groups of closestool bodies, can elastically alleviate the impact on the closestool bodies through the foam rubber sprayed on the periphery above the pad, effectively avoids the damage to the overlapping of the two groups of closestool bodies, and simultaneously is not easy to deviate and slide in the loading and unloading process.
Description
Technical Field
The invention relates to the technical field of intelligent closestool loading and unloading kilns, in particular to a loading and unloading kiln clamp for intelligent closestool transfer and a loading and unloading method.
Background
The automatic separation device has the advantages that the separation frame manipulator is frequently used in intelligent closestool loading and unloading kiln production, some things which are high in risk, high in strength and single and repeated in work can be completed by the frame manipulator, the loading and unloading kiln manipulator in the prior art is a four-shaft frame loading and unloading kiln manipulator, fixed-point loading and unloading of a closestool on a kiln car can be realized, remote control can be realized, the manipulator, the kiln car and a conveying line can be in signal interaction, full-automatic production is realized, productivity is greatly improved, and the automatic separation device is safer and more environment-friendly, and reduces manpower input.
When the kiln is unloaded by using the manipulator, the toilets are required to be stacked layer by layer, the upper-layer toilets are stacked on the lower-layer toilets, and the toilets are made of ceramic materials and are fragile, so that collision is easy to occur when the upper-layer toilets and the lower-layer toilets are contacted in the stacking process, and damage is caused to the toilets.
Disclosure of Invention
The invention provides a kiln loading and unloading clamp and a kiln loading and unloading method for intelligent closestool transfer, which aims to solve the problems that: when the existing kiln loading and unloading manipulator is used for loading and unloading the closestool, the manual placement of the backing plate is not accurate and stable enough, so that the backing plate is easy to deviate and slide.
In order to achieve the above purpose, the present invention provides the following technical solutions: the utility model provides an intelligent closestool shifts and uses loading and unloading kiln anchor clamps, including loading and unloading arm, install the calibration camera on the loading and unloading arm, paper filling mechanism and gripper, paper filling mechanism includes the motor case, gear frame and pendulum rod, install the initiative bevel gear on the gear frame, passive bevel gear and left passive hollow shaft, and passive bevel gear and left passive hollow shaft all mesh the transmission with initiative bevel gear, the one end of passive bevel gear is fixed with the right passive hollow shaft, the one end of pendulum rod is fixed with passive solid shaft, the outside of right passive hollow shaft is fixedly installed the layer board, install the gasbag on the layer board, install the clamp plate on the passive solid shaft, the gasbag is located between layer board and the clamp plate, the adsorption block is installed to the one end that the pendulum rod kept away from passive solid shaft, the outside fixed mounting of adsorption block has the rubberizing piece;
when the driving bevel gear rotates, the right driven hollow shaft and the driven solid shaft are respectively driven to move in opposite directions by the driven bevel gear and the left driven hollow shaft, and the swing rod adsorbs the backing plate by the adsorption block.
In a preferred embodiment, the mechanical claw comprises a frame, a connecting block is vertically and slidably installed in the frame, side clamping jaws are transversely and slidably installed at the bottom of the frame, two groups of side clamping jaws are oppositely arranged, a connecting rod is connected between the connecting block and the side clamping jaws, two ends of the connecting rod are respectively and rotatably connected with the connecting block and the side clamping jaws, when the connecting block vertically moves, the connecting rod is used for respectively driving the two groups of side clamping jaws to transversely move, an upper claw plate and a lower claw plate are respectively installed at the outer sides of the two groups of side clamping jaws, and the upper claw plate is in sliding fit with the side clamping jaws.
In a preferred embodiment, the connection block is mounted with a main drive mechanism, and the main drive mechanism is used to drive the connection block for vertical movement.
In a preferred embodiment, a secondary drive mechanism is mounted on top of the upper jaw plate and pushes the upper jaw plate towards the lower jaw plate to grip the toilet body.
In a preferred embodiment, the motor housing has a drive motor mounted therein, and an output shaft of the drive motor is fixedly connected to the drive bevel gear.
In a preferred embodiment, the driven bevel gear is rotatably connected to the gear rack via a right driven hollow shaft, and the right driven hollow shaft is fixedly connected to the pallet.
In a preferred embodiment, when the left passive hollow shaft rotates, the pressing plate is driven to rotate by the passive solid shaft, and the passive solid shaft penetrates through the right passive hollow shaft.
In a preferred embodiment, the outer side of the air bag is connected with a rubber supply pipe through a main one-way valve, and the air bag is communicated with the gluing block through a secondary one-way valve.
In a preferred embodiment, an air pump is further mounted on the swing rod and is communicated with the adsorption block.
The invention also provides a loading and unloading method of the loading and unloading kiln clamp for intelligent closestool transfer, which comprises the following operation steps:
s1, a driving bevel gear drives a driven bevel gear and a left driven hollow shaft to mutually reverse, when a swing rod is inclined, a supporting plate is overlapped with a pressing plate, at the moment, an air bag extracts foam rubber through a rubber supply pipe and ejects the foam rubber from a rubber coating block, and the foam rubber is sprayed on the periphery of a cushion plate;
s2, the air pump sucks the backing plate through the adsorption block, the driven bevel gear and the left driven hollow shaft are reset to enable the swing rod to be vertical, at the moment, the supporting plate is separated from the pressing plate, and the glue spraying block stops glue spraying;
s3, starting visual detection by the calibration camera, starting the mechanical claw to work after the calibration camera is in place, pushing the connecting block to move downwards by the main driving mechanism, enabling the two groups of side clamping claws to be mutually far away through the connecting rod until the lower clamping claw plate is abutted to the lower part of the clean surface of the closestool body, and pushing the upper clamping claw plate to move downwards to clamp the clean surface of the closestool body from the upper part of the clean surface by the auxiliary driving mechanism;
s4, the calibration camera drives the mechanical claw to convey the closestool body to the upper part of the other group of closestool bodies, the base plate is positioned between the two groups of closestool bodies, the closestool bodies above the base plate are continuously moved, and the base plate can be pushed to cover the upper part of the bottom closestool body, so that the base plate is padded between the two groups of closestool bodies.
The invention has the beneficial effects that:
1. according to the invention, the base plate is accurately padded between the two groups of closestool bodies through the paper filling mechanism, foam rubber sprayed on the periphery above the base plate can elastically alleviate impact on the closestool bodies, so that the two groups of closestool bodies are effectively prevented from being damaged by overlapping and pressing, and meanwhile, the base plate is not easy to deviate and slide in the loading and unloading process.
2. According to the invention, the connecting block is pushed to move downwards through the main driving mechanism, the two groups of side clamping jaws are mutually far away through the connecting rod until the lower claw plate is close to the lower part of the clean surface of the closestool body, the auxiliary driving mechanism pushes the upper claw plate to move downwards to clamp the clean surface of the closestool body from the upper part of the clean surface, and finally the closestool body is stored above the other group of closestool bodies, so that the clean surface of the closestool body can be clamped up and down by simulating fingers.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention.
FIG. 2 is a schematic side view of the paper feeding mechanism of the present invention.
Fig. 3 is a schematic top view of the paper filling mechanism of the present invention.
Fig. 4 is a schematic diagram of a gear rack according to the present invention.
Fig. 5 is a schematic diagram of the swing rod structure of the present invention.
FIG. 6 is a schematic diagram of the adsorption pad process of the present invention.
Fig. 7 is a schematic view of the structure of the gripper of the present invention.
Fig. 8 is a schematic of the workflow of the present invention.
The reference numerals are: 1. a loading and unloading mechanical arm; 2. calibrating the camera; 3. a paper filling mechanism; 31. a motor case; 32. a gear frame; 33. a drive bevel gear; 34. a passive bevel gear; 341. a left passive hollow shaft; 342. a right passive hollow shaft; 35. swing rod; 36. a passive solid shaft; 37. a supporting plate; 371. an air bag; 372. a rubber supply pipe; 38. a pressing plate; 39. an adsorption block; 391. coating a glue block; 4. a mechanical claw; 41. a connecting block; 42. a connecting rod; 43. side clamping jaws; 44. an upper claw plate; 45. a lower claw plate; 46. a main driving mechanism; 47. an auxiliary driving mechanism; 5. a backing plate; 6. a toilet body.
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. 1-8 of the accompanying drawings, a loading and unloading kiln clamp for intelligent closestool transfer comprises a loading and unloading mechanical arm 1, wherein a calibration camera 2, a paper filling mechanism 3 and a mechanical claw 4 are installed on the loading and unloading mechanical arm 1, the paper filling mechanism 3 comprises a motor case 31, a gear rack 32 and a swinging rod 35, a driving bevel gear 33, a driven bevel gear 34 and a left driven hollow shaft 341 are installed on the gear rack 32, the driven bevel gear 34 and the left driven hollow shaft 341 are in meshed transmission with the driving bevel gear 33, a right driven hollow shaft 342 is fixedly arranged at one end of the driven bevel gear 34, a driven solid shaft 36 is fixedly arranged at one end of the swinging rod 35, a supporting plate 37 is fixedly arranged at the outer side of the right driven hollow shaft 342, an air bag 371 is installed on the supporting plate 37, a pressing plate 38 is installed on the driven solid shaft 36, the air bag 371 is positioned between the supporting plate 37 and the pressing plate 38, an adsorption block 39 is installed at one end of the swinging rod 35 far away from the driven solid shaft 36, and a glue block 391 is fixedly installed at the outer side of the adsorption block 39;
when the drive bevel gear 33 rotates, the right driven hollow shaft 342 and the driven solid shaft 36 are respectively driven by the driven bevel gear 34 and the left driven hollow shaft 341 to move in opposite directions, the swing rod 35 adsorbs the base plate 5 through the adsorption block 39, and the adsorption block 39 adsorbs the base plate 5 while the glue coating block 391 sprays foam glue to the periphery of the base plate 5.
A driving motor is installed in the motor case 31, an output shaft of the driving motor is fixedly connected with the drive bevel gear 33, and the driving motor drives the drive bevel gear 33 to actively rotate.
The driven bevel gear 34 is rotatably connected with the gear rack 32 through a right driven hollow shaft 342, the right driven hollow shaft 342 is fixedly connected with the supporting plate 37, and the right driven hollow shaft 342 can drive the supporting plate 37 to rotate.
When the left driven hollow shaft 341 rotates, the pressing plate 38 is driven to rotate by the driven solid shaft 36, the driven solid shaft 36 penetrates through the right driven hollow shaft 342, and when the left driven hollow shaft 341 rotates, the driven bevel gear 34 can rotate reversely, so that the supporting plate 37 and the pressing plate 38 rotate reversely.
The outside of gasbag 371 is connected with through the main check valve and supplies rubber tube 372, and gasbag 371 passes through vice check valve and rubber coating piece 391 intercommunication, supplies rubber tube 372 to the inside unidirectional transport foam of gasbag 371, and gasbag 371 passes through vice check valve to rubber coating piece 391 unidirectional transport foam and blowout.
The swing rod 35 is also provided with an air pump which is communicated with the adsorption block 39, and the air pump can suck the backing plate 5 through the adsorption block 39 and drive the backing plate to transfer.
In this embodiment, the implementation scenario specifically includes: the paper filling mechanism 3 is firstly sent to the place where the backing plate 5 is placed through the loading and unloading mechanical arm 1, as shown in fig. 6, the placing of the backing plate 5 is in an inclined way, the bottom of the backing plate 5 is provided with an air cylinder pushing obliquely upwards, the structure is in the prior art, the purpose is to push the backing plate 5 obliquely upwards, the adsorption of the adsorption block 39 is convenient, the driving motor inside the motor box 31 is started, the driving bevel gear 33 can be directly driven to rotate, as shown in fig. 3 and 4, at the moment, the driven bevel gear 34 and the left driven hollow shaft 341 are mutually reversed, the driven solid shaft 36 drives the swinging rod 35 to incline, the supporting plate 37 is overlapped with the pressing plate 38 and gradually clamps the air bag 371, at the moment, the air bag 371 extracts foam rubber through the rubber supplying pipe 372 and sprays from the gluing block 391, one end of the backing plate 5 is provided with a bending part for matching with a toilet water tank, after the adsorption block 39 reaches the bending part, the air pump sucks and fixes the bending part of the backing plate 5, the whole paper filling mechanism 3 is lifted upwards by the loading and unloading mechanical arm 1, at the moment, the driving motor drives the driven bevel gear 34 and the left driven hollow shaft 341 to reset to enable the pressing plate 35 to be vertical, the pressing plate 37 and the pressing plate 38 is separated from the foam rubber cushion plate 38 and the inner part is sprayed and the foam rubber is restored to the inside the air bag for a certain time.
Referring to fig. 1 and 7 of the accompanying drawings, the mechanical claw 4 comprises a frame, a connecting block 41 is vertically and slidably installed in the frame, side clamping jaws 43 are transversely and slidably installed at the bottom of the frame, two groups of side clamping jaws 43 are oppositely arranged, a connecting rod 42 is connected between the connecting block 41 and the side clamping jaws 43, two ends of the connecting rod 42 are respectively and rotatably connected with the connecting block 41 and the side clamping jaws 43, when the connecting block 41 vertically moves, the connecting rod 42 respectively drives the two groups of side clamping jaws 43 to transversely move, an upper clamping jaw plate 44 and a lower clamping jaw plate 45 are respectively installed at the outer sides of the two groups of side clamping jaws 43, the upper clamping jaw plate 44 is in sliding fit with the side clamping jaws 43, the two groups of side clamping jaws 43 are transversely adjusted according to the width of the closestool body 6, and the upper clamping jaw plate 44 vertically moves to clamp the clean surface of the closestool body 6.
A main driving mechanism 46 is mounted on the connection block 41, and the main driving mechanism 46 is used for driving the connection block 41 to vertically move.
A sub driving mechanism 47 is installed at the top of the upper jaw plate 44, and the sub driving mechanism 47 pushes the upper jaw plate 44 to clamp the toilet body 6 close to the lower jaw plate 45.
The main driving mechanism and the auxiliary driving mechanism are preferably cylinder structures, and linear driving mechanisms such as a screw motor, a hydraulic rod and the like can also be selected.
In this embodiment, the implementation scenario specifically includes: the calibration camera 2 starts visual detection, and the specific implementation principle and flow are as follows:
step S101: the loading and unloading mechanical arm 1 runs to a photographing position corresponding to the camera, and is communicated with the camera in a TCP communication mode to trigger photographing operation of the camera;
step S102: the camera operates an algorithm module, and a depth map and a color map are obtained and used for algorithm operation processing;
step S103: converting the depth map into point cloud characteristics for matching the grabbing positions and fool-proof measures;
step S104: removing interference characteristics of the point cloud to obtain more accurate data;
step S105: planning a corresponding extraction range in the obtained feature map;
step S106: verifying similarity with the template;
step S107: extracting kiln plate characteristics in the point cloud characteristics, and detecting the relative positions of the kiln plate and the characteristics of the grabbing blank body for anti-collision detection;
step S108: the corresponding templates added in a matching way are used for acquiring different grabbing poses in a 3D multi-template matching way;
step S109: converting the coordinate system of the camera into the coordinate system of the loading and unloading mechanical arm 1;
step S110: the pose of the grabbing point is flexibly compensated through the algorithm compensation function, and the value of the grabbing pose can be flexibly adjusted so as to be convenient to adjust;
step S111: the robot coordinate system obtained by the output algorithm is output to the loading and unloading mechanical arm 1;
after the mechanical gripper 4 is in place, the main driving mechanism 46 pushes the connecting block 41 to move downwards, the two groups of side clamping jaws 43 are far away from each other through the connecting rod 42 until the lower clamping jaw plate 45 is abutted to the lower part of the clean surface of the closestool body 6, the auxiliary driving mechanism 47 pushes the upper clamping jaw plate 44 to move downwards to clamp the clean surface of the closestool body 6 from the upper part of the clean surface, and the calibration camera 2 drives the mechanical gripper 4 to convey the closestool body 6 to the upper part of the other group of closestool bodies 6.
In summary, when the toilet main body 6 is moved to above the other toilet main body 6, the pad 5 is located between the two toilet main bodies 6, and the upper toilet main body 6 is moved continuously as shown in fig. 1, so that the pad 5 automatically pads between the two toilet main bodies 6, and the pad 5 and the foam rubber around the pad can elastically alleviate the impact on the toilet main body 6.
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 (10)
1. The utility model provides an intelligence closestool shifts and uses loading and unloading kiln anchor clamps, includes loading and unloading arm (1), its characterized in that: the automatic paper feeding device is characterized in that a calibration camera (2), a paper feeding mechanism (3) and a mechanical claw (4) are mounted on the loading and unloading mechanical arm (1), the paper feeding mechanism (3) comprises a motor box (31), a gear rack (32) and a swinging rod (35), a driving bevel gear (33), a driven bevel gear (34) and a left driven hollow shaft (341) are mounted on the gear rack (32), the driven bevel gear (34) and the left driven hollow shaft (341) are in meshed transmission with the driving bevel gear (33), a right driven hollow shaft (342) is fixedly arranged at one end of the driven bevel gear (34), a driven solid shaft (36) is fixedly arranged at one end of the swinging rod (35), a supporting plate (37) is fixedly arranged at the outer side of the right driven hollow shaft (342), an air bag (371) is mounted on the supporting plate (37), a pressing plate (38) is mounted on the driven solid shaft (36), the air bag (371) is located between the supporting plate (37) and the pressing plate (38), an adsorption block (39) is mounted at one end of the swinging rod (35) far away from the driven solid shaft (36), and an adsorption block (39) is fixedly coated at the outer side of the adsorption block (391).
When the drive bevel gear (33) rotates, the right driven hollow shaft (342) and the driven solid shaft (36) are respectively driven by the driven bevel gear (34) and the left driven hollow shaft (341) to move in opposite directions, and the swing rod (35) adsorbs the backing plate (5) through the adsorption block (39).
2. The intelligent toilet transfer kiln clamp as claimed in claim 1, wherein: the mechanical claw (4) comprises a frame, connecting block (41) is installed in the frame in a vertical sliding mode, side clamping jaws (43) are installed at the bottom of the frame in a horizontal sliding mode, two groups of side clamping jaws (43) are arranged in a facing mode, connecting rods (42) are connected between the connecting block (41) and the side clamping jaws (43), two ends of each connecting rod (42) are respectively connected with the connecting block (41) and the side clamping jaws (43) in a rotating mode, when the connecting block (41) moves vertically, the connecting rods (42) respectively drive the two groups of side clamping jaws (43) to move horizontally, two groups of side clamping jaws (43) are respectively installed on the outer sides of an upper clamping jaw plate (44) and a lower clamping jaw plate (45), and the upper clamping jaw plate (44) is in sliding fit with the side clamping jaws (43).
3. The intelligent toilet transfer kiln clamp as claimed in claim 2, wherein: a main driving mechanism (46) is arranged on the connecting block (41), and the main driving mechanism (46) is used for driving the connecting block (41) to move vertically.
4. A smart toilet transfer kiln clamp as defined in claim 3, wherein: an auxiliary driving mechanism (47) is arranged at the top of the upper claw plate (44), and the auxiliary driving mechanism (47) pushes the upper claw plate (44) to be close to the lower claw plate (45) so as to clamp the closestool body (6).
5. The intelligent toilet transfer kiln clamp as claimed in claim 4, wherein: the driving motor is installed in the motor box (31), and an output shaft of the driving motor is fixedly connected with the driving bevel gear (33).
6. The intelligent toilet transfer kiln clamp as claimed in claim 5, wherein: the driven bevel gear (34) is rotationally connected with the gear rack (32) through a right driven hollow shaft (342), and the right driven hollow shaft (342) is fixedly connected with the supporting plate (37).
7. The intelligent toilet transfer kiln clamp as claimed in claim 6, wherein: when the left driven hollow shaft (341) rotates, the pressing plate (38) is driven to rotate by the driven solid shaft (36), and the driven solid shaft (36) penetrates through the right driven hollow shaft (342).
8. The intelligent toilet transfer kiln clamp as claimed in claim 7, wherein: the outside of gasbag (371) is connected with through the main check valve and supplies rubber tube (372), and gasbag (371) are through vice check valve and rubber coating piece (391) intercommunication.
9. The intelligent toilet transfer kiln clamp as claimed in claim 8, wherein: an air pump is further arranged on the swing rod (35), and the air pump is communicated with the adsorption block (39).
10. The method for loading and unloading the intelligent closestool transferring kiln clamp according to claim 9, which is characterized by comprising the following operation steps:
s1, a driving bevel gear (33) drives a driven bevel gear (34) and a left driven hollow shaft (341) to mutually rotate reversely, when a swing rod (35) is inclined, a supporting plate (37) is overlapped with a pressing plate (38), at the moment, an air bag (371) extracts foam rubber through a rubber supply pipe (372) and ejects the foam rubber from a rubber coating block (391), and the foam rubber is sprayed on the periphery of a base plate (5);
s2, the air pump sucks the backing plate (5) through the adsorption block (39), the driven bevel gear (34) and the left driven hollow shaft (341) are reset to enable the swing rod (35) to be vertical, at the moment, the supporting plate (37) is separated from the pressing plate (38), and the glue spraying block (391) stops glue spraying;
s3, starting visual detection by the calibration camera (2), starting the mechanical claw (4) to work after the calibration camera is in place, pushing the connecting block (41) to move downwards by the main driving mechanism (46), enabling the two groups of side clamping claws (43) to be away from each other through the connecting rod (42) until the lower clamping claw plate (45) is abutted to the lower part of the clean surface of the closestool body (6), and pushing the upper clamping claw plate (44) to move downwards to clamp the clean surface of the closestool body (6) from the upper part of the clean surface by the auxiliary driving mechanism (47);
s4, the calibration camera (2) drives the mechanical claw (4) to convey the closestool body (6) to the upper part of the other group of closestool bodies (6), the base plate (5) is positioned between the two groups of closestool bodies (6), the closestool bodies (6) above the base plate can be pushed to cover the upper part of the closestool body (6) at the bottom, and the base plate (5) is padded between the two groups of closestool bodies (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311470362.2A CN117208579B (en) | 2023-11-07 | 2023-11-07 | Loading and unloading kiln clamp for intelligent closestool transfer and loading and unloading method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311470362.2A CN117208579B (en) | 2023-11-07 | 2023-11-07 | Loading and unloading kiln clamp for intelligent closestool transfer and loading and unloading method |
Publications (2)
| Publication Number | Publication Date |
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| CN117208579A CN117208579A (en) | 2023-12-12 |
| CN117208579B true CN117208579B (en) | 2024-02-02 |
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| CN117208579A (en) | 2023-12-12 |
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