Feeding and discharging mechanism and pedestal pan production equipment

Abstract

The utility model discloses a feeding and discharging mechanism and pedestal pan production equipment. The feeding and discharging mechanism comprises a mechanical arm and a clamp assembly. The mechanical arm is used for driving the clamp assembly to move. The clamp assembly comprises an adapter piece, a first mounting piece, a movable clamping piece, a fixed clamping piece and a first driving piece, the adapter piece is connected with the first mounting piece and the mechanical arm, the movable clamping piece and the fixed clamping piece are both connected with the first mounting piece, and the movable clamping piece is driven by the first driving piece to move towards or away from the fixed clamping piece; when the fixed clamping piece is driven by the mechanical arm to move to the position below the workpiece, the movable clamping piece is driven by the first driving piece to move towards the fixed clamping piece till the movable clamping piece is located below the workpiece, so that when the clamp assembly is driven by the mechanical arm to move upwards, the fixed clamping piece and the movable clamping piece can bear the workpiece. The feeding and discharging mechanism supports the bottom faces of the workpieces, and the problem that the workpieces are polluted by flexible materials does not exist.

Description

Technical Field

[0001] The utility model relates to the field of toilet production and manufacturing, in particular to a loading and unloading mechanism and toilet production equipment. Background Art

[0002] In the prior art, after the toilet dry embryo is sprayed with glaze, it is transported to the kiln car through the production line. Workers use power-assisted arms to clamp the two sides of the embryo and move the embryo from the production line to the kiln car. The kiln car then transports the embryo into the kiln for firing. In order to avoid damaging the embryo when the power-assisted arms clamp the embryo, a large amount of flexible material is wrapped around the clamping arm in the power-assisted arm that is used to contact the embryo. The flexible material is easily deformed and detached due to friction, resulting in the risk of contaminating the embryo. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model proposes a loading and unloading mechanism, which uses a method of supporting the bottom surface of the workpiece for transportation, and does not need to use a flexible material to cover the clamping member, so there is no problem of the flexible material contaminating the workpiece.

[0004] The utility model also provides a toilet production device having the loading and unloading mechanism.

[0005] According to the first embodiment of the utility model, the loading and unloading mechanism includes a mechanical arm and a clamp assembly:

[0006] The clamp assembly includes an adapter, a first mounting member, a mobile clamping member, a fixed clamping member and a first driving member, the adapter is respectively connected to the first mounting member and the mechanical arm, the mobile clamping member and the fixed clamping member are both connected to the first mounting member, and the mobile clamping member can be driven by the first driving member to move toward or away from the fixed clamping member;

[0007] When the fixed clamping member is driven by the robot arm to move to the bottom of the workpiece, the movable clamping member is driven by the first driving member to move toward the fixed clamping member until the movable clamping member is located under the workpiece, so that when the clamp assembly is driven by the robot arm to move upward, the fixed clamping member and the movable clamping member can support the workpiece.

[0008] The loading and unloading mechanism according to the embodiment of the utility model has at least the following beneficial effects:

[0009] The loading and unloading mechanism of the present application does not require manual operation by the operator. The mechanical arm and the clamp assembly can automatically complete the work of moving, positioning, supporting and carrying, with high work efficiency, which greatly reduces the probability of safety accidents. In addition, compared with the method of clamping the side wall of the workpiece for transportation in the prior art, since the clamp assembly of the embodiment of the present application adopts the method of supporting the bottom surface of the workpiece for transportation, on the one hand, it has better stability during transportation and is not easy to slip. On the other hand, there is no need to use flexible materials to cover the clamping parts, so there is no problem of flexible materials contaminating the workpiece. In addition, since the distance between the mobile clamping part and the fixed clamping part is adjustable, it can be applied to almost all toilet sizes and has a wide range of applicability.

[0010] According to some embodiments of the utility model, either one of the adapter and the first mounting member is provided with a guide rail, and the other is provided with a guide groove, the guide rail and the guide groove extend in a vertical direction, and the adapter and the first mounting member are slidably connected through the cooperation of the guide rail and the guide groove;

[0011] When the first mounting member is subjected to an upward supporting force, the first mounting member can move upward relative to the adapter.

[0012] According to some embodiments of the present utility model, the clamp assembly further includes a limit member, the limit member is connected to the adapter, and the limit member defines an extreme position of downward movement of the first mounting member;

[0013] Wherein, when the first mounting member moves downward to the extreme position, the limiting member abuts against the first mounting member.

[0014] According to some embodiments of the utility model, the limiting member is a bolt, the first mounting member includes a first mounting plane, the adapter includes a second mounting plane, the first mounting plane and the second mounting plane are arranged in parallel, and the first mounting plane has a through hole;

[0015] One end of the bolt is fixed to the second mounting plane, and the other end passes through the through hole. In addition, a limiting portion is provided at the other end of the bolt, and the outer diameter of the limiting portion is larger than the inner diameter of the through hole to limit the downward movement of the first mounting plane.

[0016] According to some embodiments of the utility model, the clamp assembly also includes a second driving member, which is arranged on the adapter, and the output end of the second driving member is connected to the first mounting member, and the second driving member can apply downward pressure to the first mounting member, and the second driving member can apply upward pulling force to the first mounting member.

[0017] According to some embodiments of the utility model, the clamp assembly also includes a third driving member and a stop member, the third driving member is connected to the adapter, the output end of the third driving member is connected to the stop member, and the third driving member can drive the stop member to abut against the first mounting member to limit the relative sliding of the first mounting member and the adapter.

[0018] According to some embodiments of the present invention, the adapter, the movable clamping member, and the fixed clamping member are all connected to the same side of the first mounting member.

[0019] According to some embodiments of the present utility model, the clamp assembly also includes a second mounting member, a laser ranging assembly and a camera assembly, the second mounting member includes a first end and a second end, the first end is connected to the adapter, the second end extends to above the area between the movable clamping member and the fixed clamping member, and the laser ranging assembly and the camera assembly are connected to the second end.

[0020] According to some embodiments of the utility model, the fixed clamping member is provided with a first laser sensor, which is communicatively connected to the robotic arm, and / or the movable clamping member is provided with a second laser sensor, which is communicatively connected to the first driving member.

[0021] According to the second aspect of the present invention, a toilet production device includes:

[0022] A conveyor line, the conveyor line comprising a loading position and an unloading position;

[0023] A loading and unloading mechanism as described in any one of the above embodiments;

[0024] Wherein, the loading and unloading mechanism is arranged at the loading position to transport the workpiece to the conveyor line, and / or the loading and unloading mechanism is arranged at the unloading position to move the workpiece away from the conveyor line.

[0025] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention is further described below with reference to the accompanying drawings and embodiments, wherein:

[0027] Figure 1 It is a structural schematic diagram of a clamp assembly according to an embodiment of the utility model;

[0028] Figure 2 It is a schematic diagram of the clamp assembly of another embodiment of the utility model from another angle;

[0029] Figure 3 It is a structural schematic diagram of a first mounting member and other components mounted on the first mounting member according to an embodiment of the utility model;

[0030] Figure 4 for Figure 2 A magnified schematic diagram of the middle A area;

[0031] Figure 5 It is a side view of the clamp assembly according to an embodiment of the present utility model.

[0032] Reference numerals:

[0033] Adapter 100; second mounting plane 110;

[0034] First mounting member 200; first mounting plane 210;

[0035] Mobile clamping member 300; second laser sensor 310; fixed clamping member 350; first laser sensor 360;

[0036] A first driving member 400; a second driving member 410; a third driving member 420; a stop member 430;

[0037] Limiting member 500; limiting portion 510;

[0038] Second mounting component 600 ; laser ranging component 610 ; camera component 620 . DETAILED DESCRIPTION

[0039] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0040] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0041] In the description of the present utility model, "several" means more than one, "many" means more than two, "greater than", "less than", "exceed" etc. are understood to exclude the number itself, and "above", "below", "within" etc. are understood to include the number itself. If there is a description of "first" or "second", it is only used to distinguish the technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0042] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0043] In the description of the utility model, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0044] In the prior art, after the toilet dry embryo is sprayed with glaze, it is transported to the kiln car through the production line. Workers use power-assisted arms to clamp the two sides of the embryo and move the embryo from the production line to the kiln car. The kiln car then transports the embryo into the kiln for firing. In order to avoid damaging the embryo when the power-assisted arms clamp the embryo, a large amount of flexible material is wrapped around the clamping arm in the power-assisted arm that is used to contact the embryo. The flexible material is easily deformed and detached due to friction, resulting in the risk of contaminating the embryo.

[0045] In addition, the efficiency of using a power arm for handling is slow and the labor cost is high. Moreover, if the power arm does not hold the embryo firmly and causes the embryo to fall, there is a risk of injuring the operator.

[0046] To solve the above problems, the present application proposes a loading and unloading mechanism that can realize fully automatic handling function. The loading and unloading mechanism is used to load and unload workpieces. It should be noted that the workpiece can be a dry toilet blank, a finished toilet, etc., or a workpiece of other shapes.

[0047] The loading and unloading mechanism includes a mechanical arm (not shown in the figure) and a clamp assembly. The mechanical arm can be a six-axis mechanical arm, a gantry mechanical arm, etc., and should have at least the degree of freedom of movement in the vertical direction and the degree of freedom of movement in the horizontal direction. The mechanical arm is connected to the clamp assembly and is used to drive the clamp assembly to move to a set loading position or unloading position so that the clamp assembly can perform a clamping or loosening action.

[0048] The fixture assembly includes an adapter 100, a first mounting member 200, a movable clamping member 300, a fixed clamping member 350 and a first driving member 400. The adapter 100 is as shown in FIG. Figure 1 and Figure 2 As shown, it is a long strip member, which can be made of a square tube, a round tube or a metal plate. The upper end of the adapter 100 is used to connect with the robot arm, and the lower end of the adapter 100 is used to connect with the first mounting member 200. Figures 1 to 3 As shown, the first mounting member 200 is a plate-like structure, on which a movable clamping member 300, a fixed clamping member 350 and a first driving member 400 are arranged. Thus, the movement of the mechanical arm can drive the first mounting member 200, the movable clamping member 300 and the fixed clamping member 350 to move synchronously.

[0049] The fixed clamping member 350 is fixedly connected to the first mounting member 200, and the movable clamping member 300 is slidably connected to the first mounting member 200. Figure 3 As shown, the first mounting member 200 is provided with a guide rail, and the mobile clamping member 300 is provided with a guide groove. Through the cooperation of the guide rail and the guide groove, the mobile clamping member 300 can slide in the horizontal direction relative to the first mounting member 200. In addition, the mobile clamping member 300 is connected to the output end of the first driving member 400, so that the mobile clamping member 300 is driven by the first driving member 400 to move toward or away from the fixed clamping member 350.

[0050] To facilitate the subsequent description, Figure 3 As shown, the moving direction of the mobile clamping member 300 is named as the first direction, and the direction located in the horizontal plane and perpendicular to the first direction is named as the second direction. When the loading and unloading mechanism takes materials from the conveyor line, first, the robot arm will drive the clamp assembly to move to the set unloading position through vertical and horizontal movements. At this time, the distance between the fixed clamping member 350 and the mobile clamping member 300 is opened to be greater than the width of the workpiece, and then the robot arm drives the clamp assembly to move toward the workpiece along the second direction so that the workpiece is located between the fixed clamping member 350 and the mobile clamping member 300. Subsequently, the robot arm drives the clamp assembly to move along the first direction so that the fixed clamping member 350 moves to the bottom of the workpiece. Then the robot arm remains stationary, and the first driving member 400 drives the mobile clamping member 300 to move toward the fixed clamping member 350 so that the mobile clamping member 300 and the fixed clamping member 350 gradually close until the mobile clamping member 300 moves to the bottom of the workpiece. At this time, the first driving member 400 is no longer driven, and the robot arm is lifted in the vertical direction to drive the clamp assembly to move upward, and the fixed clamping member 350 and the movable clamping member 300 can abut against the bottom surface of the workpiece, thereby supporting the workpiece to move.

[0051] In the above process, there is no need for operators to perform manual operations. The robot arm and the clamp assembly can automatically complete the work of moving, positioning, supporting and carrying, with high work efficiency, which greatly reduces the probability of safety accidents. In addition, compared with the method of clamping the side wall of the workpiece for transportation in the prior art, since the clamp assembly of the embodiment of the present application adopts the method of supporting the bottom surface of the workpiece for transportation, on the one hand, it has better stability during transportation and is not easy to slip, and on the other hand, there is no need to use flexible materials to cover the clamping member, so there is no problem of flexible materials contaminating the workpiece. In addition, since the distance between the mobile clamping member 300 and the fixed clamping member 350 is adjustable, it can be applied to almost all toilet sizes and has a wide range of applicability.

[0052] In some embodiments, either one of the adapter 100 and the first mounting member 200 is provided with a guide rail, and the other is provided with a guide groove. Figures 1 to 3 In the illustrated embodiment, the adapter 100 is provided with a guide rail, and the first mounting member 200 is provided with a guide groove, and the adapter 100 and the first mounting member 200 are slidably connected through the cooperation of the guide rail and the guide groove. The guide rail and the guide groove extend in the vertical direction, so that the first mounting member 200 can move relative to the adapter 100 in the vertical direction.

[0053] It should be understood that when the loading and unloading mechanism transports the workpiece to the set location, it is necessary to unload the material. Taking the loading and unloading mechanism of the present application transporting the dry toilet embryo to the kiln car as an example, the kiln car is provided with multiple layers of kiln plates to separate multiple layers of placement space. The loading and unloading mechanism needs to transport the dry toilet embryo from the conveyor line to the kiln car for stacking. The kiln car is provided with a pad, which can be foam, etc., for carrying and raising the dry toilet embryo, so that there is a certain gap between the bottom of the embryo and the kiln plate, so as to facilitate the insertion of the clamping parts of the loading and unloading mechanism to place the embryo, and to exit after the embryo is placed.

[0054] In this embodiment, after the loading and unloading mechanism carries the embryo to the top of the cushion block, the mechanical arm drives the clamp assembly to move down to place the embryo, and after the embryo abuts against the cushion block, the mechanical arm drives the clamp assembly to continue to move down to separate the embryo from the clamping member and ensure that the embryo is placed on the cushion block. At this time, since the clamping member moves down to abut against the kiln plate, the kiln plate will give the clamping member an upward supporting force, which is transmitted to the first mounting member 200 via the movable clamping member 300 and the fixed clamping member 350, thereby driving the first mounting member 200 to move upward relative to the adapter 100.

[0055] It should be noted that if the mechanical arm and the various components of the clamp assembly are rigidly connected, when the clamp assembly abuts against the kiln plate, the mechanical arm, the clamp assembly and the kiln plate will have a rigid collision, thereby causing damage to the loading and unloading mechanism or the kiln car. In the present application, due to the sliding connection between the first mounting member 200 and the adapter 100, the downward pressure of the mechanical arm and the reaction force of the kiln plate can be eliminated, thereby ensuring that the embryo is placed in place while avoiding damage to the components caused by the rigid collision.

[0056] Furthermore, the clamp assembly further includes a limiter 500, which is connected to the adapter 100 and defines a limit position of the first mounting member 200 when the first mounting member 200 moves downward to the limit position, and the limiter 500 abuts against the first mounting member 200.

[0057] The specific implementation of the stopper 500 may be a bolt, such as Figure 3 and Figure 4 As shown, the first mounting member 200 includes a first mounting plane 210, and the adapter 100 includes a second mounting plane 110. The first mounting plane 210 and the second mounting plane 110 are arranged in parallel, and a through hole is arranged on the first mounting plane 210. The second mounting plane 110 is located above the first mounting plane 210, and the upper end of the bolt is fixedly connected to the second mounting plane 110. The connection method is not limited to welding, threaded connection, etc. Figure 4 In the illustrated embodiment, a through hole is also provided on the second mounting plane 110 , and the bolt passes through the through hole of the second mounting plane 110 and is connected to the first nut. The bolt head and the first nut are respectively located on the upper and lower sides of the second mounting plane 110 , thereby fixing the bolt on the second mounting plane 110 .

[0058] The lower end of the bolt passes through the through hole of the first mounting plane 210 and extends below the first mounting plane 210. The lower end of the bolt is also provided with a limiting portion 510, which can be as follows: Figure 4 In the second nut shown, the outer diameter of the limiting portion 510 is larger than the inner diameter of the through hole of the first mounting plane 210, so that when the first mounting plane 210 moves downward to the limit position, the second nut abuts against the first mounting plane 210, so that the bolt is stressed and further downward movement of the first mounting member 200 is limited. In addition, the first nut can also limit the limit position of the first mounting member 200 when it moves upward compared to the adapter 100.

[0059] It should be understood that in the process of transporting the workpiece, the first mounting member 200 is subject to its own gravity, the gravity of components such as the movable clamping member 300 and the fixed clamping member 350 arranged on the first mounting member 200, and the gravity of the workpiece. The first mounting member 200 has a tendency to move downward compared to the adapter 100. The setting of the limit member 500 defines the extreme position of the downward movement of the first mounting member 200, thereby preventing the first mounting member 200 from falling off the adapter 100.

[0060] In other embodiments, the specific implementation of the limit member 500 can also be a protrusion protruding from the adapter 100, and a slide groove extending in the vertical direction is provided on the first mounting member 200, and the protrusion is inserted into the slide groove. When the first mounting member 200 moves downward to the extreme position, the protrusion moves to the top of the slide groove and abuts against the groove wall.

[0061] Similarly, in other embodiments, the specific implementation of the position-limiting member 500 may also be a slide groove, and a protrusion is provided on the first mounting member 200. There are many implementations of the position-limiting member 500, which will not be described in detail here.

[0062] In some embodiments, the clamp assembly further includes a second driving member 410, which is disposed on the adapter 100, and an output end of the second driving member 410 is connected to the first mounting member 200. It should be noted that the second driving member 410 plays different roles under different working conditions.

[0063] Still taking the process of the unloading mechanism transporting the embryo to the kiln car as an example, after the embryo is placed on the pad of the kiln car, the robot arm will also drive the clamp assembly to move downward to ensure that the embryo is placed in place. At this time, the second driving member 410 works, and the second driving member 410 applies an upward pulling force to the first mounting member 200 to offset part of the gravity of the first mounting member 200, thereby preventing the first mounting member 200 and the components arranged on the first mounting member 200 from being too heavy and causing the kiln plate to be crushed.

[0064] For ease of understanding, specific data is used for explanation, but the data does not represent real data or real working conditions and is only for reference. For example, if the weight of the embryo is 50KN, the sum of the weights of the first mounting member 200 and the components arranged on the first mounting member 200 is 50KN, then the tension on the stopper 500 is 100KN. After the embryo is placed on the pad, the tension on the stopper 500 is 50KN. If the clamp assembly continues to move down to abut against the kiln plate, the pressure on the kiln plate should be 50KN, which is a relatively large pressure value.

[0065] In this embodiment, after the embryo is placed on the pad and the robot arm continues to move downward, the second driving member 410 works to apply an upward pulling force of 49KN to the first mounting member 200, so that the pulling force on the limit member 500 is 1KN. When the clamping member abuts against the kiln plate, the pressure on the kiln plate is only 1KN. This pressure value is small and will not cause excessive load on the kiln plate.

[0066] In addition, after placing the workpiece, the loading and unloading mechanism needs to withdraw the clamp assembly and restore it to the initial position. During the resetting process, based on the fact that the clamping member is in contact with the kiln plate in the previous step, the clamp assembly needs to be lifted first to separate the clamping member from the kiln plate, and then the movable clamping member 300 is moved away from the fixed clamping member 350, so that the clamp assembly can be slowly withdrawn from the workpiece along the second direction. Finally, the first mounting member 200 is restored to the extreme position of contact with the limit member 500.

[0067] During the lifting process of the clamp assembly, since the first mounting member 200 is slidably connected to the adapter 100, in order to avoid an invalid stroke of the robot arm (that is, the robot arm rises but the position of the first mounting member remains unchanged), Figure 5 As shown, the clamp assembly also includes a third driving member 420 and a stop member 430. The third driving member 420 is connected to the adapter 100. The output end of the third driving member 420 is connected to the stop member 430, which is used to drive the stop member 430 to move so that the stop member 430 abuts against the first mounting member 200, thereby limiting the relative sliding of the first mounting member 200 and the adapter 100.

[0068] Before the clamp assembly is lifted, the third driving member 420 drives the stop member 430 to extend and abut against the first mounting member 200, so that the first mounting member 200 can be lifted synchronously with the robot arm. After the clamp assembly is completely withdrawn from the kiln car, the third driving member 420 drives the stop member 430 to retract, so that the first mounting member 200 moves downward to restore the original position. It can be understood that the stop member 430 can be set with some materials with a large friction coefficient, such as rubber, etc., to improve the abutment reliability between the stop member 430 and the first mounting member 200.

[0069] In the process of restoring the first mounting member 200 to the extreme position abutting against the limiting member 500, in addition to the tendency of the first mounting member 200 to move downward due to the action of gravity, the second driving member 410 can also assist the first mounting member 200 to move downward and reset. That is, in the process of resetting the first mounting member 200, the second driving member 410 works and applies downward pressure to the first mounting member 200 to promote the first mounting member 200 to move downward and ensure that the first mounting member 200 moves into place, so as to avoid the situation where the first mounting member 200 has a virtual position and causes the workpiece to shake during the transportation process.

[0070] In some embodiments, Figure 1 and Figure 3 As shown, the adapter 100, the movable clamping member 300, and the fixed clamping member 350 are all connected to the same side of the first mounting member 200. On the one hand, when assembling the fixture assembly, only one clamping and positioning is needed to achieve processing and assembly, avoiding secondary clamping and positioning that leads to low precision in parts processing and assembly, and reducing the probability of failure during operation. In addition, since the adapter 100 is located in front of the first mounting member 200, and the workpiece is also located in front of the first mounting member 200 after being clamped, the adapter 100 is close to the center of gravity of the fixture assembly and the workpiece in the horizontal direction, which can reduce the lateral load of the guide rail on the adapter 100, extend the service life of the guide rail and the guide groove, and reduce maintenance costs. It can be understood that when the second drive member 410 applies an upward pulling force to the first mounting member 200, it can also reduce the lateral load of the guide rail on the adapter 100.

[0071] In some embodiments, Figure 1 and Figure 2 As shown, the fixture assembly also includes a second mounting member 600, a laser distance measuring assembly 610 and a camera assembly 620. The second mounting member 600 is a long strip-shaped member, and its length direction is arranged along the second direction. The second mounting member 600 includes a first end and a second end, the first end is connected to the adapter 100, and the second end extends to the upper part of the area between the mobile clamping member 300 and the fixed clamping member 350. The laser distance measuring assembly 610 and the camera assembly 620 are connected to the second end of the second mounting member 600, that is, the laser distance measuring assembly 610 and the camera assembly 620 are arranged above the workpiece, and the camera assembly 620 is used to take pictures of the workpiece clamped by the fixture assembly to generate pictures, and the laser distance measuring assembly 610 is used to measure the distance of the kiln plate on the kiln car.

[0072] In some embodiments, Figure 1 and Figure 3 As shown, the fixed clamping member 350 is provided with a first laser sensor 360, which is connected to the mechanical arm in communication, so as to guide the mechanical arm to move, so that the mechanical arm can move in a first direction until the fixed clamping member 350 moves to the bottom of the workpiece. The mobile clamping member 300 is provided with a second laser sensor 310, which is connected to the first driving member 400 in communication, so as to guide the first driving member 400 to move, so that the first driving member 400 drives the mobile clamping member 300 to move, until the mobile clamping member 300 moves to the bottom of the workpiece.

[0073] The second aspect of the present application also proposes a toilet production device, which includes a conveyor line and the loading and unloading mechanism mentioned in the above embodiment. The loading and unloading mechanism can be set at the loading position, so as to be used to transport the workpiece from the logistics trolley, upstream processing device, etc. to the conveyor line, or the loading and unloading mechanism can also be set at the unloading position, so as to move the workpiece away from the conveyor line, and then transport it to the logistics trolley, downstream processing device or kiln car.

[0074] The embodiments of the utility model are described in detail above in conjunction with the accompanying drawings, but the utility model is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the utility model. In addition, the embodiments of the utility model and the features in the embodiments can be combined with each other without conflict.

Claims

1. Loading and unloading mechanism, used for loading and unloading workpieces, characterized in that: Includes robot arm and gripper assembly: The mechanical arm is used to drive the clamp assembly to move; The clamp assembly includes an adapter, a first mounting member, a mobile clamping member, a fixed clamping member and a first driving member, the adapter is respectively connected to the first mounting member and the mechanical arm, the mobile clamping member and the fixed clamping member are both connected to the first mounting member, and the mobile clamping member can be driven by the first driving member to move toward or away from the fixed clamping member; When the fixed clamping member is driven by the robot arm to move to the bottom of the workpiece, the movable clamping member is driven by the first driving member to move toward the fixed clamping member until the movable clamping member is located under the workpiece, so that when the clamp assembly is driven by the robot arm to move upward, the fixed clamping member and the movable clamping member can support the workpiece.

2. The loading and unloading mechanism according to claim 1, characterized in that: Either one of the adapter and the first mounting member is provided with a guide rail, and the other is provided with a guide groove, the guide rail and the guide groove extend in a vertical direction, and the adapter and the first mounting member are slidably connected through the cooperation of the guide rail and the guide groove; When the first mounting member is subjected to an upward supporting force, the first mounting member can move upward relative to the adapter.

3. The loading and unloading mechanism according to claim 2, characterized in that: The clamp assembly further includes a limiter, the limiter is connected to the adapter, and the limiter defines an extreme position of downward movement of the first mounting member; Wherein, when the first mounting member moves downward to the extreme position, the limiting member abuts against the first mounting member.

4. The loading and unloading mechanism according to claim 3, characterized in that: The limiting member is a bolt, the first mounting member includes a first mounting plane, the adapter includes a second mounting plane, the first mounting plane and the second mounting plane are arranged in parallel, and the first mounting plane has a through hole; One end of the bolt is fixed to the second mounting plane, and the other end passes through the through hole. In addition, a limiting portion is provided at the other end of the bolt, and the outer diameter of the limiting portion is larger than the inner diameter of the through hole to limit the downward movement of the first mounting plane.

5. The loading and unloading mechanism according to claim 2, characterized in that: The clamp assembly also includes a second driving member, which is arranged on the adapter. The output end of the second driving member is connected to the first mounting member. The second driving member can apply downward pressure to the first mounting member, and the second driving member can apply upward pulling force to the first mounting member.

6. The loading and unloading mechanism according to claim 2, characterized in that: The clamp assembly also includes a third driving member and a stop member, the third driving member is connected to the adapter, the output end of the third driving member is connected to the stop member, and the third driving member can drive the stop member to abut against the first mounting member to limit the relative sliding of the first mounting member and the adapter.

7. The loading and unloading mechanism according to claim 1, characterized in that: The adapter, the movable clamping member, and the fixed clamping member are all connected to the same side of the first mounting member.

8. The loading and unloading mechanism according to claim 1, characterized in that: The clamp assembly also includes a second mounting member, a laser ranging assembly and a camera assembly, the second mounting member includes a first end and a second end, the first end is connected to the adapter, the second end extends to above the area between the movable clamping member and the fixed clamping member, and the laser ranging assembly and the camera assembly are connected to the second end.

9. The loading and unloading mechanism according to claim 1, characterized in that: The fixed clamping member is provided with a first laser sensor, which is communicatively connected to the mechanical arm, and / or the movable clamping member is provided with a second laser sensor, which is communicatively connected to the first driving member.

10. Toilet production equipment, characterized in that: include: A conveyor line, the conveyor line comprising a loading position and an unloading position; The loading and unloading mechanism according to any one of claims 1 to 9; Wherein, the loading and unloading mechanism is arranged at the loading position to transport the workpiece to the conveyor line, and / or the loading and unloading mechanism is arranged at the unloading position to move the workpiece away from the conveyor line.

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