An automatic kiln loading jig and an automatic kiln loading station

Abstract

The application discloses an automatic kiln loading clamp, which comprises a large arm, a cross arm, a fixed arm, a movable arm, a supporting plate, a counterweight mechanism and a locking mechanism; the large arm is vertically arranged; the cross arm is connected with the large arm and can move up and down relative to the large arm; the fixed arm is fixedly arranged on the cross arm; the movable arm is arranged on the cross arm and can move along the cross arm; the supporting plate is arranged on the opposite side of the fixed arm and the movable arm; the counterweight mechanism is connected with the large arm and the cross arm; the locking mechanism comprises a locking cylinder and a locking block; the locking cylinder is transversely arranged on the large arm; the cross arm is further provided with a positioning plate; and the locking block is connected with the piston rod of the locking cylinder. Accordingly, the application further discloses an automatic kiln loading workstation. By using the application, flexible transportation of the toilet blank can be realized, the change of the height and the inclination of the material taking end and the kiln car end can be adapted, the adaptability is high, and the automation degree is high.

Description

Technical Field

[0001] This invention relates to the field of ceramic production equipment, and in particular to an automatic kiln loading fixture and an automatic kiln loading workstation. Background Technology

[0002] Currently, in China's ceramic industry, the loading of toilets into kilns before firing relies primarily on manual labor using electric hoists, pneumatic hoists, or cylinders to drive simple clamps. This manual handling during production results in low automation. Some companies have attempted to improve this method by using robotic arms in conjunction with U-shaped billet racks. However, kiln cars experience frequent temperature fluctuations, causing changes in flatness and height. Due to the special nature of the billets, they must be placed stably on the kiln car's pallet. Consequently, the billet rack is prone to collisions with the kiln car or pallet, damaging these components. This is especially problematic when loading high-rise kiln cars, where existing clamps are unusable, necessitating manual handling, leading to high labor intensity and a high rate of billet damage. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an automatic kiln loading fixture and an automatic kiln loading workstation, which enables flexible handling of toilet blanks. It can adapt to changes in height and inclination at the material picking end and the kiln car end, exhibiting strong adaptability and a high degree of automation.

[0004] To address the aforementioned technical problems, this invention provides an automatic kiln loading fixture, comprising a main arm, a horizontal arm, a fixed arm, a movable arm, a support plate, a counterweight mechanism, and a locking mechanism. The main arm is vertically oriented, and the horizontal arm is connected to the main arm and can move up and down relative to the main arm. The fixed arm is fixedly mounted on the horizontal arm, and the movable arm is mounted on the horizontal arm and can move horizontally along the horizontal arm. The support plate is located on opposite sides of the fixed arm and the movable arm. The counterweight mechanism is connected to the main arm and the horizontal arm and provides a preset upward pulling force to the horizontal arm. The locking mechanism includes a locking cylinder and a locking block. The locking cylinder is horizontally mounted on the main arm, and the horizontal arm also has a positioning plate. The locking block is connected to the piston rod of the locking cylinder, and the locking block can be driven by the locking cylinder to press against the positioning plate.

[0005] As an improvement to the above solution, the upper arm is provided with a vertical slide rail, the positioning plate is vertically disposed on the upper surface of the horizontal arm, and the side of the positioning plate facing the upper arm is provided with a vertical slider. The vertical slider is configured to cooperate with the vertical slide rail and can slide along the vertical slide rail.

[0006] As an improvement to the above solution, the horizontal arm is provided with a horizontal slide rail, and the movable arm is provided with a horizontal slider. The horizontal slider is configured to cooperate with the horizontal slide rail and can slide along the horizontal slide rail.

[0007] As an improvement to the above solution, the movable arm is connected to an opening and closing drive mechanism, which has a fixed part and a telescopic part. The fixed part is connected to the fixed arm or the horizontal arm, and the telescopic part is connected to the movable arm.

[0008] As an improvement to the above solution, the opening and closing drive mechanism is one of a cylinder, a hydraulic cylinder, a linear motor, or an electric push rod.

[0009] As an improvement to the above solution, the side of the locking block facing the positioning plate has an anti-slip structure or is made of an anti-slip material.

[0010] As an improvement to the above solution, the positioning plates are symmetrically arranged on both sides of the main arm, and a reinforcing plate is also provided between the positioning plates and the cross arm.

[0011] As an improvement to the above solution, the counterweight mechanism includes a first mounting plate, a second mounting plate, and a counterweight cylinder; the first mounting plate is connected to the main arm and extends laterally from the main arm, the second mounting plate is connected to the cross arm and extends laterally from the cross arm, the first mounting plate and the second mounting plate are directly opposite each other, the counterweight cylinder is provided with a counterweight piston rod, the counterweight cylinder is fixedly mounted on the first mounting plate, and the counterweight piston rod extends from the counterweight cylinder and is connected to the second mounting plate.

[0012] Accordingly, the present invention also provides an automatic kiln loading workstation, including a kiln loading positioning auxiliary device, a transport robot, a robot truss, and an automatic kiln loading fixture as described above; the transport robot is fixed on the robot truss, and the automatic kiln loading fixture is fixed to the end of the movable part of the transport robot; the kiln loading positioning auxiliary device is used for positioning the kiln frame and the billet to be transferred.

[0013] Implementing this invention has the following beneficial effects:

[0014] With the above structure, the billet is supported by pallets on the relatively openable fixed arm and movable arm, preventing damage during clamping. A counterweight mechanism is provided between the main arm and the horizontal arm. The horizontal arm is connected to the main arm and can move up and down relative to the main arm. After setting a certain spatial coordinate for the handling robot, flexible handling of toilet billets can be achieved. It can adapt to changes in height and inclination at the material picking end and the kiln car end, exhibiting strong adaptability and a high degree of automation.

[0015] The counterweight cylinder, in conjunction with the locking mechanism, enables the horizontal arm and the main arm to switch between rigid and movable connections. Combined with the counterweight cylinder's counterweight and buffering effect, it allows for the gentle handling of billets and adapts to deviations such as kiln car height in real-world scenarios. It prevents rigid collisions between the clamps and the kiln car, reduces the requirements on the handling robot, and ensures stable and reliable operation.

[0016] This application designs two sets of transverse slide rails on the surface of the cross arm frame, and a transverse slider and base plate that cooperate with them, to ensure that the movable arm can provide strong anti-torsion capability and reduce the deflection of the movable arm. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of an automatic kiln loading fixture according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the structure of an automatic kiln loading fixture from another perspective according to an embodiment of the present invention;

[0019] Figure 3 yes Figure 2 Enlarged view of part A;

[0020] Figure 4 This is a schematic diagram of the structure of an automatic kiln loading workstation according to an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. It is hereby declared that the directional terms such as up, down, left, right, front, back, inside, and outside used in this text are based solely on the accompanying drawings and are not intended to specifically limit the invention.

[0022] like Figures 1-3 As shown, the first embodiment of the present invention provides an automatic kiln loading fixture, including a main arm 1, a horizontal arm 2, a fixed arm 3, a movable arm 4, a support plate 5, a counterweight mechanism 5, and a locking mechanism 6; the main arm 1 is vertically arranged, the horizontal arm 2 is connected to the main arm 1 and can move up and down relative to the main arm 1; the fixed arm 3 is fixedly arranged on the horizontal arm 2, and the movable arm 4 is arranged on the horizontal arm 2 and can be translated along the horizontal arm 2; the support plate 5 is arranged on the opposite side of the fixed arm 3 and the movable arm 4; the counterweight mechanism 5 is connected to the main arm 1 and the horizontal arm 2 and is used to provide a preset upward pulling force to the horizontal arm 2; the locking mechanism 6 includes a locking cylinder 61 and a locking block 62, the locking cylinder 61 is horizontally arranged on the main arm 1, the horizontal arm 2 is also provided with a positioning plate 7, the locking block 62 is connected to the piston rod of the locking cylinder 61, and the locking block 62 can be driven by the locking cylinder 61 to press the positioning plate 7.

[0023] The counterweight mechanism 5 includes a first mounting plate 51, a second mounting plate 52, and a counterweight cylinder 53. The first mounting plate 51 is connected to the main arm 1 and extends laterally from the main arm 1. The second mounting plate 52 is connected to the cross arm 2 and extends laterally from the cross arm 2. The first mounting plate 51 and the second mounting plate 52 are vertically aligned. The counterweight cylinder 53 contains a counterweight piston rod 531. The counterweight cylinder 53 is fixedly mounted on the first mounting plate 51. The counterweight piston rod 531 extends from the counterweight cylinder 53 and connects to the second mounting plate 52. The counterweight cylinder 53 can be a conventional cylinder. Compressed gas is introduced into the counterweight cylinder 53, which pushes the counterweight piston rod 531 to rise, thereby balancing the weight of the cross arm 2, the structure mounted on the cross arm 2, and the blank. When needed, the cross arm 2 can also be actively driven to rise and fall by controlling the pressure of the introduced compressed gas. The counterweight cylinder 53, in conjunction with the locking mechanism 6, enables the horizontal arm 2 and the upper arm 1 to switch between rigid connection and movable connection. Combined with the counterweight cylinder 53's counterweight and buffering effect, it enables the billet to be handled gently and adapts to deviations such as kiln car height in real-world scenarios, preventing rigid collisions between the clamp and the kiln car. This reduces the requirements for the handling robot and ensures stable and reliable operation.

[0024] With the above structure, the billet is supported by the pallet 5 on the relatively openable fixed arm 3 and movable arm 4, preventing damage to the billet during clamping. A counterweight mechanism 5 is provided between the main arm 1 and the horizontal arm 2. The horizontal arm 2 is connected to the main arm 1 and can move up and down relative to the main arm 1. After setting a certain spatial coordinate for the handling robot, flexible handling of toilet billets can be achieved. It can adapt to changes in height and inclination at the material picking end and the kiln car end, exhibiting strong adaptability and a high degree of automation.

[0025] To ensure smooth movement of the horizontal arm 2 relative to the upper arm 1, the upper arm 1 is provided with a vertical slide rail 11. A positioning plate 7 is vertically mounted on the upper surface of the horizontal arm 2. A vertical slider 71 is provided on the side of the positioning plate 7 facing the upper arm 1. The vertical slider 71 cooperates with the vertical slide rail 11 and can slide along it. Preferably, the positioning plates 7 are symmetrically arranged on both sides of the upper arm 1, and a reinforcing plate 8 is also provided between the positioning plates 7 and the horizontal arm 2. The reinforcing plate 8 has weight-reducing holes 81. There are two sets of vertical sliders 71, located at different heights on the positioning plates 7. The symmetrically arranged positioning plates 7 ensure balanced sliding on both sides of the horizontal arm 2.

[0026] The horizontal arm 2 is provided with a transverse slide rail 21, and the movable arm 4 is provided with a transverse slider 41. The transverse slider 41 is configured to cooperate with the transverse slide rail 21 and can slide along the transverse slide rail 21. The transverse slide rail 21 is located on the front of the horizontal arm 2. The horizontal arm 2 has a rectangular frame structure, including a horizontal arm frame 22 and a vertical arm frame 23. The two transverse slide rails 21 are respectively located on the horizontal arm frames 22 at different heights. The end of the movable arm 4 is connected to the transverse slider 41 through a base plate 24. The back of the base plate 24 is provided with a drive end 241, which extends towards the rear of the horizontal arm 2. The rectangular frame structure of the horizontal arm 2 can increase the torsional strength of the horizontal arm 2, prevent deformation of the horizontal arm 2 from affecting the parallelism between the fixed arm 3 and the movable arm 4, and ensure stable material transfer. Similarly, since the movable arm 4 needs to be connected to the moving structure, its structural strength is weakened. Therefore, this application designs two sets of transverse slide rails 21 on the surface of the transverse arm frame 22, and transverse sliders 41 and base plates 24 that cooperate with them, to ensure that the movable arm 4 can provide strong anti-torsion capability and reduce the deflection of the movable arm 4.

[0027] To drive the movable arm 4 to move, the movable arm 4 is connected to an opening and closing drive mechanism 9. The opening and closing drive mechanism 9 has a fixed part 91 and a telescopic part 92. The fixed part 91 is connected to the fixed arm 3 or the cross arm 2, and the telescopic part 92 is connected to the movable arm 4 through the drive end 241. Preferably, the opening and closing drive mechanism 9 is an electric push rod. In this case, the fixed part 91 is the push rod body, and the telescopic part 92 is a hydraulic piston rod. The electric push rod uses a hydraulic pump in the push rod body to supply hydraulic oil to different positions of the push rod body to drive the hydraulic piston rod to extend and retract, thereby pushing the movable arm 4 away from or towards the fixed arm 3. The displacement is precise and the action is agile, which can meet the need for precise adjustment of the distance between the movable arm 4 and the fixed arm 3.

[0028] Alternatively, the opening and closing drive mechanism 9 can also be a cylinder. In this case, the fixed part 91 is the cylinder body, and the telescopic part 92 is the piston rod. By introducing compressed gas into the cylinder body to drive the piston rod to extend and retract, the movable arm 4 can be pushed away from or closer to the fixed arm 3. Cylinders are inexpensive and lightweight. Choosing a cylinder as the opening and closing drive mechanism can reduce the overall weight of this kiln clamp, making its movement more flexible. Depending on the actual needs, the opening and closing drive mechanism 9 can also be a hydraulic cylinder or a linear motor, or other mechanisms with linear drive capabilities.

[0029] Preferably, the locking block 62 has an anti-slip structure or is made of an anti-slip material on the side facing the positioning plate 7. The anti-slip structure refers to a rough surface, such as evenly distributed protrusions or wavy patterns; the anti-slip material refers to a material with a high coefficient of friction, such as silicone or rubber, to ensure that the locking block 62 can reliably fix the positioning plate 7.

[0030] Combination Figure 4 As shown, the second embodiment of the present invention provides an automatic kiln loading workstation, including a kiln loading positioning auxiliary device 100, a transport robot 200, a robot gantry 300, and an automatic kiln loading fixture 400 as described above; the transport robot 200 is fixed on the robot gantry 300, and the automatic kiln loading fixture 400 is fixed to the end of the movable part of the transport robot 200; the kiln loading positioning auxiliary device 100 is used for positioning the kiln frame and the billet to be transferred.

[0031] Specifically, the robot truss 300 is fixed to the ground with chemical bolts, and the transport robot 200 is connected to the robot truss 300 with bolts. The transport robot 200 is connected to the arm 1 of the automatic kiln loading fixture 400 via a flange. The kiln car 500 is located on the left and right sides of the transport robot 200, and the transmission line 600 is located in front of the transport robot 200. The kiln loading positioning auxiliary device 100 includes a limit switch 101, which is triggered when the kiln car reaches the predetermined loading position.

[0032] The working principle of this automatic kiln loading workstation is explained in detail below:

[0033] 1. Material Retrieval: The handling robot 200 drives the automatic kiln loading fixture 400 to one side of the transmission line 600. The opening and closing drive mechanism 9 drives the movable arm 4 to open, and the locking mechanism 6 is released. The horizontal arm 2 is at its lowest position under its own weight. The fixed arm 3 and the movable arm 4 abut against the support plate of the billet. Since the material retrieval height set by the handling robot 200 is generally lower than the actual height of the support plate, the fixed arm 3 and the movable arm 4 will rise relative to the main arm 1 under the support of the support plate to match different material retrieval height changes. After the main arm 1 descends to the position, the handling robot 200 drives the movable arm 4 and the fixed arm 3 to extend into both sides of the billet. Then, the opening and closing drive mechanism 9 drives the movable arm 4 to move closer to the fixed arm 3, and the pallet 5 extends into the bottom of the billet to complete the material retrieval.

[0034] 2. Transfer: The locking mechanism 6 fixes the boom 1 and the cross arm 2, and the transport robot 200 moves the billet into the predetermined position of the kiln car.

[0035] 3. Unloading: When the billet moves to the predetermined height of the material cart pallet 5, the locking mechanism 6 is released. At this time, the weight of the billet plus the weight of the overall structure on the cross arm 2 is greater than the upward pulling force of the counterweight mechanism 5. The high-pressure gas in the counterweight cylinder 53 of the counterweight mechanism 5 has certain compression characteristics, so the billet will slowly descend onto the material cart pallet 5, ensuring that the fragile billet will not deform or crack due to impact. Finally, the movable arm 4 opens and places the billet on the material cart pallet 5.

[0036] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. An automatic kiln loading workstation, characterized in that, The system includes a kiln loading positioning auxiliary device, a transport robot, a robot truss, and an automatic kiln loading fixture; the transport robot is fixed to the robot truss, and the automatic kiln loading fixture is fixed to the end of the movable part of the transport robot; the kiln loading positioning auxiliary device is used for positioning the kiln frame and the billets to be transferred. The automatic kiln loading fixture includes a boom, a cross arm, a fixed arm, a movable arm, a pallet, a counterweight mechanism, and a locking mechanism. The main arm is vertically arranged, and the horizontal arm is connected to the main arm and can move up and down relative to the main arm; The fixed arm is fixedly mounted on the horizontal arm, and the movable arm is mounted on the horizontal arm and can translate along the horizontal arm; The tray is located on the opposite side of the fixed arm and the movable arm; The counterweight mechanism is connected to the main arm and the cross arm, and is used to provide a preset upward pulling force to the cross arm; The locking mechanism includes a locking cylinder and a locking block. The locking cylinder is horizontally disposed on the main arm. The main arm is also provided with a positioning plate. The locking block is connected to the piston rod of the locking cylinder. The locking block can be driven by the locking cylinder to press the positioning plate. It also includes the following control methods: Material Retrieval: The handling robot drives the automatic kiln loading fixture to one side of the transmission line. The movable arm opens, the locking mechanism is released, and the horizontal arm is at its lowest position under its own weight. The fixed arm and the movable arm abut against the support plate of the billet. After the large arm descends to the position, the handling robot drives the movable arm and the fixed arm to extend into both sides of the billet. Then, the movable arm moves closer to the fixed arm, and the pallet extends into the bottom of the billet to complete the material retrieval. Transfer: The locking mechanism fixes the upper arm and the cross arm, and the transport robot moves the billet into the predetermined position of the kiln car; Material feeding: When the billet moves to the predetermined height of the material cart pallet, the locking mechanism is released. At this time, the weight of the billet plus the weight of the overall structure on the cross arm is greater than the upward pulling force of the counterweight mechanism. The high-pressure gas in the counterweight cylinder of the counterweight mechanism has certain compression characteristics, and the billet slowly descends to the material cart pallet. Finally, the movable arm opens and places the billet on the material cart pallet.

2. The automatic kiln loading workstation as described in claim 1, characterized in that, The upper arm is provided with a vertical slide rail, and the positioning plate is vertically disposed on the upper surface of the horizontal arm. The side of the positioning plate facing the upper arm is provided with a vertical slider, which is configured to cooperate with the vertical slide rail and can slide along the vertical slide rail.

3. The automatic kiln loading workstation as described in claim 2, characterized in that, The horizontal arm is provided with a transverse slide rail, and the movable arm is provided with a transverse slider. The transverse slider is configured to cooperate with the transverse slide rail and can slide along the transverse slide rail.

4. The automatic kiln loading workstation as described in claim 3, characterized in that, The movable arm is connected to an opening and closing drive mechanism, which has a fixed part and a telescopic part. The fixed part is connected to the fixed arm or the horizontal arm, and the telescopic part is connected to the movable arm.

5. The automatic kiln loading workstation as described in claim 4, characterized in that, The opening and closing drive mechanism is one of a cylinder, a hydraulic cylinder, a linear motor, or an electric push rod.

6. The automatic kiln loading workstation as described in any one of claims 1-5, characterized in that, The side of the locking block facing the positioning plate has an anti-slip structure or is made of an anti-slip material.

7. The automatic kiln loading workstation as described in claim 1, characterized in that, The positioning plates are symmetrically arranged on both sides of the main arm, and a reinforcing plate is also provided between the positioning plates and the cross arm.

8. The automatic kiln loading workstation as described in claim 1, characterized in that, The counterweight mechanism includes a first mounting plate, a second mounting plate, and a counterweight cylinder; the first mounting plate is connected to the main arm and extends laterally from the main arm, the second mounting plate is connected to the cross arm and extends laterally from the cross arm, the first mounting plate and the second mounting plate are directly opposite each other, the counterweight cylinder is provided with a counterweight piston rod, the counterweight cylinder is fixedly mounted on the first mounting plate, and the counterweight piston rod extends from the counterweight cylinder and is connected to the second mounting plate.

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