CN111168656B - Intelligent detection equipment for toilet flushing function - Google Patents
Intelligent detection equipment for toilet flushing function Download PDFInfo
- Publication number
- CN111168656B CN111168656B CN201811341893.0A CN201811341893A CN111168656B CN 111168656 B CN111168656 B CN 111168656B CN 201811341893 A CN201811341893 A CN 201811341893A CN 111168656 B CN111168656 B CN 111168656B
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- toilet
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- 238000001514 detection method Methods 0.000 title claims abstract description 32
- 238000011010 flushing procedure Methods 0.000 title claims abstract description 20
- 238000012360 testing method Methods 0.000 claims abstract description 96
- 230000004888 barrier function Effects 0.000 claims abstract description 22
- 230000001681 protective effect Effects 0.000 claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 55
- 239000000463 material Substances 0.000 claims description 51
- 238000005303 weighing Methods 0.000 claims description 24
- 230000003993 interaction Effects 0.000 claims description 13
- 238000000034 method Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 16
- 230000009471 action Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/005—Testing of complete machines, e.g. washing-machines or mobile phones
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M99/00—Subject matter not provided for in other groups of this subclass
- G01M99/008—Subject matter not provided for in other groups of this subclass by doing functionality tests
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The application relates to the technical field of detection equipment, in particular to intelligent detection equipment for a toilet flushing function, which comprises a robot, a test platform, a toilet to be tested, a protective barrier, a ground platform, a robot control cabinet, an electric control cabinet and a toilet cart; the front and the rear of the left side on the ground platform are respectively provided with a robot control cabinet and an electric control cabinet; the ground platform is provided with a protective barrier which is U-shaped, the front part in the protective barrier is provided with a robot, the left side of the rear part in the protective barrier is provided with a toilet cart, the right side of the rear part in the protective barrier is provided with a test platform, and the test platform is provided with a toilet to be tested; the robot is used for realizing detection of each function of the closestool to be detected, and has the advantages of high speed, high working efficiency, capability of realizing pipelining detection, high detection efficiency, capability of reducing detection cost and the like.
Description
Technical Field
The application relates to the technical field of detection equipment, in particular to intelligent detection equipment for a toilet flushing function.
Background
With the improvement of living standard of people, living environment of people is changed. Toilets are used by people as sanitary appliances. The toilet bowl is composed of the following main parts: the water tank comprises a water inlet pipe, a water outlet pipe, a water seepage pipe, a water plug, a floating ball, a water discharging knob, a lever, a water supplementing mechanism, a water tank and a bent pipe communicated with the water tank. The basic principle of the water closet is to use the gravity of water to convert the potential energy of water into the kinetic energy of water, thereby wrapping the discharged dirt into the sewer pipe. According to the internal structure, the ball valve type water closet can be divided into three types of common ball valve type water closet, automatic control type water closet and pneumatic type water closet.
However, in any type of toilet, since the frequency of use of the toilet is high, it is always necessary to search for the detection of functions in various aspects before shipment. The traditional detection mode adopts manual detection of each function. There are the following problems: firstly, traditional manual detection mode, speed is slow, and work efficiency is low. Secondly, the traditional manual detection mode has poor detection effect and larger error, so that partial unqualified products flow into the market. Thirdly, the traditional manual detection mode needs a plurality of professional detection personnel to operate, and is high in detection cost and labor intensity.
Disclosure of Invention
The application aims to provide intelligent detection equipment for a toilet flushing function, aiming at the defects and shortcomings of the prior art.
The application relates to intelligent detection equipment for a toilet flushing function, which comprises a robot, a test platform, a toilet to be tested, a protective barrier, a ground platform, a robot control cabinet, an electric control cabinet and a toilet cart; the front and the rear of the left side on the ground platform are respectively provided with a robot control cabinet and an electric control cabinet; the ground platform is provided with a protective barrier which is U-shaped, the front part in the protective barrier is provided with a robot, the left side of the rear part in the protective barrier is provided with a toilet cart, the right side of the rear part in the protective barrier is provided with a test platform, and the test platform is provided with a toilet to be tested;
the testing platform comprises a key set servo motor, a key set guide rail, a functional sliding block, a test feed port, an acquisition camera, a line drawing pen, a storage platform, an adjustable positioning supporting pin, a weighing supporting table, a water receiving water tank, a material receiving sliding block, a key set supporting frame, a material receiving guide rail, an electronic scale, an adjustable supporting pin of the weighing supporting table, a material receiving leakage net, an electromagnetic valve, a material gathering device, a pneumatic valve, a drainage pipeline, a testing platform supporting frame and a vertical rod;
the storage platform comprises a square frame, a square storage flat plate is arranged on the top surface of the square frame, a round hole groove is formed in the middle of the square storage flat plate, a material gathering device is arranged on the bottom surface of the round hole groove, and a material receiving and leaking net is arranged on the bottom surface of the material gathering device; a test platform supporting frame is arranged on the right side of the top surface of the object placing platform; the test platform support frame is provided with a key set support frame;
a key set guide rail is arranged at the rear part of the top surface of the test platform support frame, a functional sliding block is arranged on the key set guide rail, and a test feeding port is arranged on the outer surface of the functional sliding block; a key set servo motor is arranged on the other side of the top surface of the test platform support frame, the key set servo motor is connected with a functional sliding block, a connecting plate is arranged on a shell of the key set servo motor, and an acquisition camera is arranged on the outer end of the connecting plate; the outer end face of the key set supporting frame is provided with a key set servo motor which is connected with a pneumatic valve, and the pneumatic valve is connected with a test feeding port; a weighing supporting table is arranged in the square frame; an electronic scale is arranged on the top surface of the weighing support table; the electronic scale is provided with a water receiving water tank, one side surface of the water receiving water tank is provided with a drainage pipeline, and the drainage pipeline is provided with an electromagnetic valve; one side of the weighing support table is provided with a vertical support table, a material receiving guide rail is arranged on the top surface of the vertical support table, and a material receiving sliding block is arranged on the material receiving guide rail.
Further, the robot comprises a robot clamp, a robot main body electric controller, a robot main body foundation, a robot interaction control cabinet, a robot primary rotating motor, a robot primary auxiliary rotating motor, a robot secondary mechanical arm, a robot secondary forward tilting motor, a robot tertiary rotating motor, a robot primary mechanical arm, a first robot quaternary rotating motor, a robot primary forward tilting motor, a robot tertiary forward tilting motor and a second robot quaternary rotating motor;
the robot main body foundation is provided with a robot main body electric controller; a first-stage rotating motor of the robot is arranged on the electric controller of the robot main body, and a robot interaction control cabinet is arranged on the side surface of the first-stage rotating motor of the robot; the robot primary auxiliary rotating motor is arranged on the robot primary rotating motor, a robot secondary mechanical arm is arranged on a motor shaft of the robot primary auxiliary rotating motor, a robot secondary forward tilting motor is arranged on the outer end head of the robot secondary mechanical arm, a robot tertiary rotating motor is arranged on the robot secondary forward tilting motor, and the robot tertiary rotating motor is connected with the robot primary mechanical arm; the first robot four-stage rotating motor is arranged on the first-stage mechanical arm of the robot and is connected with the robot clamp;
a first-stage forward tilting motor of the robot is arranged on the second-stage mechanical arm of the robot; two sides of the outer end of the first-stage mechanical arm of the robot are respectively provided with a third-stage forward tilting motor of the robot and a fourth-stage rotating motor of the second robot; the robot clamp consists of a large robot clamp and a small robot clamp; the large robot clamp is connected with a four-stage rotating motor of the first robot, and the small robot clamp is arranged on the large robot clamp.
Further, four corners of the bottom surface of the square frame are respectively provided with an adjustable positioning support pin.
Further, adjustable supporting pins of the weighing supporting table are respectively arranged at four corners of the bottom surface of the weighing supporting table.
Further, a vertical rod is arranged at the corner end of the outer side of the surface of the object placing platform.
After the structure is adopted, the application has the beneficial effects that: the intelligent detection equipment for the toilet flushing function has the advantages of being high in speed, high in working efficiency, capable of realizing pipelining detection, high in detection efficiency, capable of reducing detection cost and the like.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate and together with the description serve to explain the application, if necessary:
FIG. 1 is a schematic overall perspective view of the present application;
fig. 2 is a schematic structural view of the robot of the present application;
FIG. 3 is a partially enlarged schematic structural view of the robot of the present application;
FIG. 4 is a schematic left-hand structural view of the robot of the present application;
FIG. 5 is a schematic perspective view of a test platform according to the present application;
FIG. 6 is a schematic diagram of a left-hand configuration of the test platform of the present application;
FIG. 7 is a schematic view of another perspective view of the test platform of the present application;
FIG. 8 is a schematic perspective view of a robot operating a toilet under test in operation of the present application;
FIG. 9 is a schematic top view of the present application;
fig. 10 is a schematic perspective view of another direction of the robot operating the toilet to be tested when the present application is working.
Fig. 11 is a schematic perspective view of a robot holder according to the present application.
Reference numerals illustrate:
robot 1, robot clamp 1-1-2, robot main body electric controller 1-2, robot main body foundation 1-3, robot interaction control cabinet 1-4, robot primary rotating motor 1-5, robot primary auxiliary rotating motor 1-6, robot secondary mechanical arm 1-7, robot secondary forward tilting motor 1-8, robot tertiary rotating motor 1-9, robot primary mechanical arm 1-10, first robot quaternary rotating motor 1-11, robot primary forward tilting motor 1-12, robot tertiary forward tilting motor 1-13, second robot quaternary rotating motor 1-14, test platform 2 the device comprises a key set servo motor 2-1, a key set guide rail 2-2, a functional slide block 2-3, a test feed port 2-4, a collection camera 2-5, a line drawing pen 2-6, a storage platform 2-7, an adjustable positioning support pin 2-8, a weighing support table 2-9, a water receiving water tank 2-10, a receiving slide block 2-11, a key set support frame 2-12, a receiving guide rail 2-13, an electronic scale 2-14, a weighing support table adjustable support pin 2-15, a receiving drain net 2-16, an electromagnetic valve 2-17, a material gathering device 2-18, a pneumatic valve 2-19, a drainage pipeline 2-20, a test platform support frame 2-21, a vertical rod 2-22, a closestool 3 to be tested, a protective barrier 4, a horizontal table 5, a robot control cabinet 6, an electric control cabinet 7, toilet cart 8.
Detailed Description
The present application will now be described in detail with reference to the drawings and the specific embodiments thereof, wherein the exemplary embodiments and the description are for the purpose of illustrating the application only and are not to be construed as limiting the application.
As shown in fig. 1 to 11, the intelligent detection device for toilet flushing function in this embodiment includes a robot 1, a test platform 2, a toilet 3 to be tested, a protective barrier 4, a platform 5, a robot control cabinet 6, an electric control cabinet 7, and a toilet cart 8; the left front and rear sides of the platform 5 are respectively provided with a robot control cabinet 6 and an electric control cabinet 7; the utility model discloses a safety fence, including the platform 5, install protection barrier 4 on the platform 5, this protection barrier 4 is the U-shaped, and the front portion is installed in this protection barrier 4 and is installed robot 1, and the rear portion left side is provided with closestool shallow 8 in this protection barrier 4, and rear portion right side is provided with test platform 2 in this protection barrier 4, is provided with the closestool 3 that awaits measuring on the test platform 2.
In this design, the toilet 3 to be tested is placed on the toilet cart 8, and the toilet cart 8 is pushed to a fixed position. The robot 1 clamps the closestool 3 to be tested to the test platform 2, and the test platform 2 automatically tests after the water pipe is manually connected. The robot control cabinet 6 controls the movement mode of the robot 1, and the electric control cabinet 7 controls the movement mode of the test platform 2.
The robot 1 comprises a robot clamp 1-1, a robot main body electric controller 1-2, a robot main body foundation 1-3, a robot interaction control cabinet 1-4, a robot primary rotating motor 1-5, a robot primary auxiliary rotating motor 1-6, a robot secondary mechanical arm 1-7, a robot secondary forward tilting motor 1-8, a robot tertiary rotating motor 1-9, a robot primary mechanical arm 1-10, a first robot quaternary rotating motor 1-11, a robot primary forward tilting motor 1-12, a robot tertiary forward tilting motor 1-13 and a second robot quaternary rotating motor 1-14;
the robot main body foundation 1-3 is provided with a robot main body electric controller 1-2; the robot main body electric controller 1-2 is provided with a robot primary rotating motor 1-5, and the side surface of the robot primary rotating motor 1-5 is provided with a robot interaction control cabinet 1-4; the robot primary rotating motor 1-5 is provided with a robot primary auxiliary rotating motor 1-6, a motor shaft of the robot primary auxiliary rotating motor 1-6 is provided with a robot secondary mechanical arm 1-7, the outer end of the robot secondary mechanical arm 1-7 is provided with a robot secondary forward tilting motor 1-8, the robot secondary forward tilting motor 1-8 is provided with a robot tertiary rotating motor 1-9, and the robot tertiary rotating motor 1-9 is connected with the robot primary mechanical arm 1-10; the first-stage mechanical arm 1-10 of the robot is provided with a first-stage rotating motor 1-11, and the first-stage rotating motor 1-11 of the robot is connected with the robot clamp 1-1;
the robot secondary mechanical arm 1-7 is provided with a robot primary forward tilting motor 1-12; two sides of the outer end of the first-stage mechanical arm 1-10 of the robot are respectively provided with a third-stage forward tilting motor 1-13 of the robot and a fourth-stage rotating motor 1-14 of the second robot;
the robot clamp 1-1 consists of a large robot clamp 1-1-1 and a small robot clamp 1-1-2; the large robot clamp 1-1-1 is connected with a first robot four-stage rotating motor 1-11, and the small robot clamp 1-1-2 is arranged on the large robot clamp 1-1-1;
the test platform 2 comprises a key set servo motor 2-1, a key set guide rail 2-2, a functional sliding block 2-3, a test feed inlet 2-4, a collecting camera 2-5, a storage platform 2-7, an adjustable positioning support pin 2-8, a weighing support table 2-9, a water receiving water tank 2-10, a material receiving sliding block 2-11, a key set support frame 2-12, a material receiving guide rail 2-13, an electronic scale 2-14, a weighing support table adjustable support pin 2-15, a material receiving drain net 2-16, an electromagnetic valve 2-17, a material gathering device 2-18, a pneumatic valve 2-19, a drainage pipeline 2-20, a test platform support frame 2-21 and a vertical rod 2-22;
the storage platform 2-7 comprises a square frame, a square storage flat plate is arranged on the top surface of the square frame, a round hole groove is formed in the middle of the square storage flat plate, a material gathering device 2-18 is arranged on the bottom surface of the round hole groove, and a material receiving leakage net 2-16 is arranged on the bottom surface of the material gathering device 2-18; the right side of the top surface of the object placing platform 2-7 is provided with a test platform supporting frame 2-21; the test platform support frames 2-21 are provided with key set support frames 2-12;
the rear part of the top surface of the test platform support frame 2-21 is provided with a key set guide rail 2-2, the key set guide rail 2-2 is provided with a functional slide block 2-3, and the outer surface of the functional slide block 2-3 is provided with a test feed opening 2-4; a key set servo motor 2-1 is arranged on the other side of the top surface of the test platform support frame 2-21, the key set servo motor 2-1 is connected with a functional sliding block 2-3, a connecting plate is arranged on a shell of the key set servo motor 2-1, and an acquisition camera 2-5 is arranged on the outer end of the connecting plate;
the outer end face of the key set supporting frame 2-12 is provided with a key set servo motor 2-1, the key set servo motor 2-1 is connected with a pneumatic valve 2-19, the pneumatic valve 2-19 is connected with a test feeding port 2-4,
a weighing support table 2-9 is arranged in the square frame 2-7-1; the top surface of the weighing support table 2-9 is provided with an electronic scale 2-14; the electronic scale 2-14 is provided with a water receiving water tank 2-10, one side surface of the water receiving water tank 2-10 is provided with a drainage pipeline 2-20, and the drainage pipeline 2-20 is provided with an electromagnetic valve 2-17;
one side of the weighing support table 2-9 is provided with a vertical support table, a material receiving guide rail 2-13 is arranged on the top surface of the vertical support table, and a material receiving sliding block 2-11 is arranged on the material receiving guide rail 2-13.
Further, four corners of the bottom surface of the square frame 2-7-1 are respectively provided with an adjustable positioning support pin 2-8.
Further, four corners of the bottom surface of the weighing support table 2-9 are respectively provided with adjustable support pins 2-15 of the weighing support table.
Further, a vertical rod 2-22 is arranged at the corner end of the outer side of the surface of the object placing platform 2-7.
The functions and the working principle of each part of the robot 1 in the design are as follows:
wherein: the functions of the various parts of the robot are as follows:
robot clamp 1-1: the work of clamping and scribing the closestool and the painting brush is completed.
Robot big clamp 1-1-1: the clamping movement of the sample toilet-3 is completed.
Robot small clamp 1-1-2: the clamping movement of the sample toilet-3 is completed.
Robot main body electric controller 1-2: and acquiring and controlling the overall action of the robot and performing data interaction with a robot control cabinet.
Robot main body foundation 1-3: the robot is fixed.
Robot interaction control cabinet 1-4: the interaction control cabinet is in communication interaction with the robot control cabinet 6 to control the movement of the robot.
Robot primary rotating electrical machines 1-5: the robot is mainly completed to rotate 360 degrees in the whole direction perpendicular to the ground.
Robot primary auxiliary rotating motor 1-6: the rotary positioning function is completed together with the primary rotary motor 1-5, the resonance effect of a single motor is reduced, and the positioning precision is improved.
The robot secondary mechanical arm 1-7v mainly completes the 1-stage forward tilting action.
Robot second grade forward tilting motor 1-8: the 2-stage mechanical arm is driven to finish 2-stage forward tilting.
Three-stage rotating motor 1-9: the self-axis rotation of the first-stage mechanical arms 1-10 of the robot is mainly completed.
First-stage mechanical arm of robot 1-10: mainly completes the 2-stage forward tilting action.
First robot four-stage rotating electrical machines 1-11: mainly drives the mechanical clamp 1-1 to do self-axis rotation motion.
Robot one-stage forward tilting motor 1-12: and (3) completing the rotation movement and performing 1-stage forward tilting movement on the 2-stage mechanical arm of the robot.
Three-stage forward tilting motors 1-13 of the robot: the robot clamp 1-1 is driven to finish 3-stage forward tilting actions.
Second robot four-stage rotating electrical machines 1-14: the robot clamp 1-1 is driven to complete the clamp rotation.
In this design, the robot 1 works as follows: the robot main body foundation-1-3 is driven into the underground fixed robot main body-1, the robot interaction control cabinet-1-4 and the robot control cabinet 6 are communicated to control the robot to complete movement work, the robot primary rotating motor 1-5 and the robot primary auxiliary rotating motor 1-6 are linked to complete 360-degree rotation movement of the upper main body of the robot perpendicular to the ground, the robot primary forward tilting motor 1-12 works to position different movement directions, the robot secondary mechanical arm 1-7 is controlled to do forward and backward swinging movement by taking the robot primary rotating motor as a central shaft, the robot secondary forward tilting motor-1-8 is controlled to control the robot primary mechanical arm 1-10 to do forward and backward swinging movement by taking the robot secondary forward tilting motor 1-8 as the central shaft. The three-stage rotating motor 1-9 of the robot drives the two-stage mechanical arm 1-10 of the robot to perform self-rotation, and the three-stage forward tilting motor 1-13 of the robot drives the mechanical clamp 1-1 to perform forward and backward swinging movement by taking the tail end of the two-stage mechanical arm 1-7 of the robot as a fulcrum. The second robot four-stage rotating motor 1-14 drives the robot clamp 1-1 to complete 360-degree rotating motion.
In this design, the working principle of the test platform 2 is as follows:
the test toilet bowl-3 is placed on the object placing platform-2-7, a water pipe is manually connected, the key set servo motor 2-1 drives the key set guide rail-2-2 to drive the functional sliding block-2-3 to move to the center of the test toilet bowl-3, the pneumatic valve-2-19 is started, the flushing key of the test toilet bowl-3 is pressed, the drainage of the test toilet bowl-3 is directly discharged into the water receiving water tank-2-10, the weight of water received by the water receiving water tank-2-10 is read by the electronic scale 2-14, the electromagnetic valve 2-17 is opened after the reading is finished, and the drainage pipeline 2-20 drains water. The key set servo motor 2-1 drives the key set guide rail 2-2 to drive the functional sliding block 2-3 to move to the center of the test closestool 3, the test feeding port 2-4 is placed in a to-be-discharged test material, the pneumatic valve 2-19 is pneumatic, the test closestool 3 is pressed down to flush a key, the test material and water are discharged out of the test closestool 3, the water and the test material are polymerized and discharged to the receiving hopper 2-16 through the material gathering device 2-18, the receiving hopper 2-16 receives the discharged test material, the water enters the water receiving water tank 2-10, and after the water in the water receiving water tank 2-10 is weighed by the valve 2-14, the electromagnetic valve 2-17 is opened to discharge water through the drainage pipeline 2-20. And (5) collecting cameras 2-5 to take pictures of the feeding positions of the toilets, and calculating residual test materials. The material receiving slide block 2-11 is driven by the material receiving guide rail 2-13, the material receiving leakage net 2-16 is pushed to the tail end of the material receiving guide rail 2-13, the test material is manually taken out and is put back into the test material feeding port 2-4 for testing again. The two test feed inlets 2-4 are respectively used for placing different test materials.
The test workflow of the design is as follows:
the basic flow is as follows: after the toilet cart 8 is pushed into the detection area, the robot 1 is controlled by a multi-dimensional motor to clamp the toilet 3 to be tested, and the toilet 3 to be tested is placed on the fixed position of the test platform 2 to start testing.
After the test toilet 3 is placed on the test platform 2, the test is started. The pneumatic valve 2-19 is driven by the servo motor 2-1 to move to a set position, and the pneumatic valve 2-19 stretches and contracts to press the toilet drain button. The collecting camera 2-5 collects and tests the water area inside the test toilet 3. The experimental material inlet 2-4 is provided with a test material required to be put in, and is driven by the servo motor 2-1 to move to the position right above the closestool 3 to be tested, the experimental material inlet 2-4 is opened to put in the test material, the pneumatic valve 2-19 clicks the flushing button to finish flushing, and the collecting camera 2-5 collects the residual test material in the test closestool 3. Repeating the test to complete automatic feeding, flushing and collecting of various tested materials.
The robot 1 clamps the line drawing pen 2-6 through the robot clamp 1-1, the robot 1 completes line drawing motions required by regulation in the test closestool 3 through multi-axis linkage by using the line drawing pen 2-6, the test closestool 3 is flushed after line drawing is completed, the acquisition camera 2-5 acquires images of the line drawing part in the test closestool 3 after flushing is completed, and residual calculation is carried out, so that a test result is obtained.
In this design, the overall test steps are as follows:
1. the toilet to be tested enters the test area
2. Robot clamping test toilet bowl placing test platform
3. The test platform completes the conventional flushing test main functions (automatic flushing, automatic feeding, automatic weighing and automatic recovery of test materials) of the toilet test through various mechanical devices
4. The robot clamps the line drawing pen to finish drawing lines at the appointed position in the toilet, and after the platform to be tested is automatically washed, the line residue at the line drawing part of the toilet is automatically collected. Automatic test
5. After the test is completed, the robot clamps the toilet back to the original toilet cart
6. Another sample, repeat the above steps.
The model of the robot manufactured by the Anchuan motor (China) limited company in the design is ES200RDII, and the robot is a multifunctional industrial robot with high production efficiency. The partial parameters are as follows: 6-axis vertical multi-joint; load: 2800Kg;
dynamic range: 2446mm; control cabinet: DX200; the application is as follows: carrying, stacking, assembling/sub-packaging and spraying.
In the design, the robot interaction control cabinet for controlling the action of the robot is a control cabinet which is matched with a model of an MH280II robot and is DX200, so as to control and drive the action of the robot.
In the design, the related servo motor adopts a sigma-7 series servo driver manufactured by Anchuan motor (China Co., ltd.).
In the design, the electric control cabinet adopts a MP2400 controller produced by An Chuan motor (China Co., ltd.).
In this design, the control circuits that are involved in the robot control cabinet 6 and the electric control cabinet 7, and the control circuits that are involved in controlling the robot are easily realized by those skilled in the art, and belong to the prior art.
The foregoing description is only of the preferred embodiments of the application, and all changes and modifications that come within the meaning and range of equivalency of the structures, features and principles of the application are therefore intended to be embraced therein.
Claims (5)
1. The intelligent detection equipment for the toilet flushing function comprises a robot, a test platform, a toilet to be tested, a protective barrier, a ground platform, a robot control cabinet, an electric control cabinet and a toilet cart; the front and the rear of the left side on the ground platform are respectively provided with a robot control cabinet and an electric control cabinet; the ground platform is provided with a protective barrier which is U-shaped, the front part in the protective barrier is provided with a robot, the left side of the rear part in the protective barrier is provided with a toilet cart, the right side of the rear part in the protective barrier is provided with a test platform, and the test platform is provided with a toilet to be tested;
the method is characterized in that: the testing platform comprises a key set servo motor, a key set guide rail, a functional sliding block, a test feed port, an acquisition camera, a line drawing pen, a storage platform, an adjustable positioning supporting pin, a weighing supporting table, a water receiving water tank, a material receiving sliding block, a key set supporting frame, a material receiving guide rail, an electronic scale, an adjustable supporting pin of the weighing supporting table, a material receiving leakage net, an electromagnetic valve, a material gathering device, a pneumatic valve, a drainage pipeline, a testing platform supporting frame and a vertical rod;
the storage platform comprises a square frame, a square storage flat plate is arranged on the top surface of the square frame, a round hole groove is formed in the middle of the square storage flat plate, a material gathering device is arranged on the bottom surface of the round hole groove, and a material receiving and leaking net is arranged on the bottom surface of the material gathering device; a test platform supporting frame is arranged on the right side of the top surface of the object placing platform; the test platform support frame is provided with a key set support frame; a key set guide rail is arranged at the rear part of the top surface of the test platform support frame, a functional sliding block is arranged on the key set guide rail, and a test feeding port is arranged on the outer surface of the functional sliding block; a key set servo motor is arranged on the other side of the top surface of the test platform support frame, the key set servo motor is connected with a functional sliding block, a connecting plate is arranged on a shell of the key set servo motor, and an acquisition camera is arranged on the outer end of the connecting plate; the outer end face of the key set supporting frame is provided with a key set servo motor which is connected with a pneumatic valve, and the pneumatic valve is connected with a test feeding port; a weighing supporting table is arranged in the square frame; an electronic scale is arranged on the top surface of the weighing support table; the electronic scale is provided with a water receiving water tank, one side surface of the water receiving water tank is provided with a drainage pipeline, and the drainage pipeline is provided with an electromagnetic valve; one side of the weighing support table is provided with a vertical support table, a material receiving guide rail is arranged on the top surface of the vertical support table, and a material receiving sliding block is arranged on the material receiving guide rail.
2. The toilet flushing function intelligent detection device according to claim 1, wherein: the robot comprises a robot clamp, a robot main body electric controller, a robot main body foundation, a robot interaction control cabinet, a robot primary rotating motor, a robot primary auxiliary rotating motor, a robot secondary mechanical arm, a robot secondary forward tilting motor, a robot tertiary rotating motor, a robot primary mechanical arm, a first robot quaternary rotating motor, a robot primary forward tilting motor, a robot tertiary forward tilting motor and a second robot quaternary rotating motor;
the robot main body foundation is provided with a robot main body electric controller; a first-stage rotating motor of the robot is arranged on the electric controller of the robot main body, and a robot interaction control cabinet is arranged on the side surface of the first-stage rotating motor of the robot; the robot primary auxiliary rotating motor is arranged on the robot primary rotating motor, a robot secondary mechanical arm is arranged on a motor shaft of the robot primary auxiliary rotating motor, a robot secondary forward tilting motor is arranged on the outer end head of the robot secondary mechanical arm, a robot tertiary rotating motor is arranged on the robot secondary forward tilting motor, and the robot tertiary rotating motor is connected with the robot primary mechanical arm; the first robot four-stage rotating motor is arranged on the first-stage mechanical arm of the robot and is connected with the robot clamp; a first-stage forward tilting motor of the robot is arranged on the second-stage mechanical arm of the robot; two sides of the outer end of the first-stage mechanical arm of the robot are respectively provided with a third-stage forward tilting motor of the robot and a fourth-stage rotating motor of the second robot; the robot clamp consists of a large robot clamp and a small robot clamp; the large robot clamp is connected with a four-stage rotating motor of the first robot, and the small robot clamp is arranged on the large robot clamp.
3. The toilet flushing function intelligent detection device according to claim 1, wherein: the four corners of the bottom surface of the square frame are respectively provided with an adjustable positioning supporting pin.
4. The toilet flushing function intelligent detection device according to claim 1, wherein: and adjustable supporting pins of the weighing supporting table are respectively arranged at four corners of the bottom surface of the weighing supporting table.
5. The toilet flushing function intelligent detection device according to claim 1, wherein: and a vertical rod is arranged at the corner end of the outer side of the surface of the object placing platform.
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| CN114803396B (en) * | 2022-06-27 | 2022-09-09 | 南通新蓝机器人科技有限公司 | Automatic detection workstation of intelligent robot furniture |
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