CN210436346U - Automatic mud system of scribbling of toilet seat circle - Google Patents
Automatic mud system of scribbling of toilet seat circle Download PDFInfo
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- CN210436346U CN210436346U CN201920269348.9U CN201920269348U CN210436346U CN 210436346 U CN210436346 U CN 210436346U CN 201920269348 U CN201920269348 U CN 201920269348U CN 210436346 U CN210436346 U CN 210436346U
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Abstract
An automatic mud coating system for toilet seat rings; the intelligent robot is arranged on the side surface of the toilet seat mud coating production line; the mud coating device and the camera device are installed at the free end of the intelligent robot, and the control system is arranged outside the intelligent robot; the camera device is arranged above the toilet seat ring and used for acquiring real-time image information of the toilet seat ring and transmitting the real-time image information to the control system; the control system is internally provided with preset image information, the real-time image information and the preset image information are calculated and compared to obtain deviation data, the control system transmits the deviation data to the intelligent robot, and the intelligent robot receives the information and then drives the mud spraying device to compensate the deviation data through spraying action, so that automatic mud coating of the toilet seat ring is realized. This kind scribbles mud system replaces traditional manual operation with intelligent robot, not only reduces the cost of labor, improves production efficiency, has still improved the accurate rate of spraying, guarantees the quality and the qualification rate of product.
Description
Technical Field
The utility model relates to the field of machine manufacturing, especially an automatic mud system of scribbling of toilet seat circle.
Background
At present, in the production process of sanitary ware, the work of smearing and bonding slurry on a toilet seat is generally operated manually. Because the working efficiency of manual operation is low, the precision is poor, the temperature of the working site environment is high, the humidity is high, the dust is more, the health of operators is seriously influenced, the labor intensity of the operators is high, the cost is high, and the influence on production enterprises with smaller scale is not small.
Along with the rapid development of intelligent science and technology, all use intelligent robot to replace artifical implementation operation in each trade, not only do not receive operational environment's restriction, can effectual improvement work efficiency and work precision moreover. But because the model of toilet seat circle is diversified, and the mud process of scribbling after the shaping of toilet seat circle is one and just the process of comparing, and traditional robot carries out specific orbit operation according to predetermineeing good procedure, can not in time notice and produce a large amount of low quality work pieces when having the deviation to the putting of waiting to process the work piece, resource-wasting.
SUMMERY OF THE UTILITY MODEL
The utility model provides an automatic mud coating system of toilet seat ring based on vision and cooperating with intelligent robot, aiming at the technical defects mentioned in the background technology; and the other is to provide a connecting frame group for realizing the connection and installation of all the parts of the automatic mud coating.
In order to realize the purpose of the invention, the utility model adopts the technical scheme that: an automatic mud coating system for a toilet seat comprises an intelligent robot, a mud coating device, a camera device and a control system;
the intelligent robot is arranged on the side surface of the toilet seat mud coating production line through a connecting piece; the mud coating device and the camera device are installed at the free end of the intelligent robot through a connecting frame set, and the control system is arranged outside the intelligent robot and is respectively connected with the intelligent robot, the mud coating device and the camera device;
the camera device is arranged above the toilet seat ring and used for acquiring real-time image information of the toilet seat ring and transmitting the real-time image information to the control system; the control system is internally provided with preset image information, the real-time image information and the preset image information are calculated and compared to obtain deviation data, the control system transmits the deviation data to the intelligent robot, and the intelligent robot receives the information and then drives the mud spraying device to compensate the deviation data through spraying action, so that automatic mud coating of the toilet seat ring is realized.
The intelligent robot is matched with a control program, and the position of the toilet seat ring is identified and calculated through real-time image information acquired by the camera device;
after the camera device collects real-time image information once and transmits the real-time image information to the control system for calculation and comparison, the intelligent robot drives the mud spraying device to complete a set of spraying actions.
The camera device comprises a camera and a light source, the camera is installed at the central part of the light source, a lens of the camera is arranged below the central part of the light source, and the camera and the light source are installed at the free end of the intelligent robot through a support respectively.
The mud spraying device comprises a mud pipeline, a pipeline connector and a spray gun; the mud pipeline is connected with the head tank and is provided with a valve, the end part of the mud pipeline is installed on the connecting frame group through a pipeline connector, the spray gun is inserted on the connecting frame group, one end of the spray gun is connected with the pipeline connector, and the other end of the spray gun is suspended above the toilet seat ring.
The control system is connected with a toilet production line master control system, the toilet production line master control system sends a mud coating instruction to the control system, the control system receives the mud coating instruction and controls the intelligent robot, the mud coating device and the camera device to perform a mud coating process, and after the action is completed, the control system completes the instruction feedback to the toilet production line master control system.
A connecting frame group applied to an automatic mud coating system of a toilet seat ring comprises a connecting frame, a camera bracket and a light source bracket;
the connecting frame is hung at the free end of the intelligent robot through a connecting pipe; one side of the connecting frame is provided with a camera bracket and a light source bracket in the camera device, and the other side is provided with a spray gun and a pipeline connector in the mud spraying device;
the camera in the camera device and the spray gun in the mud spraying device are arranged in parallel.
In the link:
one end of the connecting pipe is fixedly connected with the center of the bottom plate in the connecting frame, and the other end of the connecting pipe is connected with the free end of the intelligent robot through a flange;
the adjusting frame and the bottom plate are integrated and are arranged on one side of the bottom plate, and a group of strip through holes arranged side by side are formed in the adjusting frame;
the connector fixing plate is vertically and fixedly connected to the upper surface of one side of the base plate, and a hole for mounting a pipeline connector is formed in the connector fixing plate;
the spray gun support is arranged below the other side of the bottom plate, and a hole for mounting a spray gun is arranged on the horizontal section of the spray gun support.
In the light source support:
the center of the light source mounting plate is provided with a camera mounting hole, and the light source is mounted on the bottom surface of the light source mounting plate through a connecting piece;
and hanging plate vertical plates vertical to the light source mounting plate are respectively arranged on two sides of the light source mounting plate in a matching way, a horizontal hanging plate transverse plate is arranged at the upper end of each hanging plate vertical plate, the hanging plate transverse plates are lapped on the adjusting plates of the connecting frame and are movably connected with the adjusting plates through connecting pieces, and the horizontal position is adjustable.
And camera support adjusting holes are respectively formed in vertical plates of a hanging plate of the light source mounting plate.
In the camera support:
the camera bracket is integrally of a right-angled W-shaped structure and comprises a camera enclosing plate at the central part and camera bracket positioning plates at two sides;
the camera surrounding plate is semi-surrounded outside the upper part of the camera, the camera support positioning plate is respectively and movably connected with a hanging plate vertical plate in the light source support through a connecting piece, and the longitudinal position is adjustable; the lens of the camera passes through the light source bottom plate and the central part of the light source and is arranged below the center of the light source.
Compared with the prior art, the utility model discloses a mud system scribbles, it installs intelligent robot additional on the mud production line to scribble at current toilet seat circle, replace traditional manual operation with intelligent robot, be equipped with the action control procedure that has set for in the robot, based on visual effect, realize carrying out automatic identification and calculation to the initial position of toilet seat circle through gathering real-time image information, compensate deviation data, carry out position correction through the robot, accomplish the automatic bonding mud that scribbles, not only reduce the cost of labor, improve production efficiency, the spraying precision is still improved, guarantee the quality and the qualification rate of product.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a partially enlarged view of fig. 1.
Fig. 3 is a schematic view of the structure of the connecting frame.
Fig. 4 is a top view of a camera stand.
Fig. 5 is a front view of the camera stand.
Fig. 6 is a top view of fig. 5.
Fig. 7 is a top view of a light source holder.
Fig. 8 is a side view of a light source holder.
Fig. 9 is a front view of the light source holder.
Fig. 10 is a block flow diagram of the control system of the present invention.
In the figure: toilet seat ring 1, spout mud device 2, camera device 3, mud pipeline 4, robot 5, pipe connection head 6, spray gun 7, connecting pipe 8, link 9, light source support 10, camera support 11, light source 12, camera 13, control system 14.
In addition, the names of the components in the specific mechanism are as follows:
in the connecting frame 9: the spray gun comprises an adjusting frame 9-1, a bottom plate 9-2, a spray gun bracket 9-3 and a connector fixing plate 9-4;
in the light source holder 10: the camera hanging plate comprises a hanging plate transverse plate 10-1, a light source mounting frame 10-2, a camera mounting hole 10-3, a hanging plate vertical plate 10-4, a hanging plate mounting hole 10-5 and a camera support adjusting hole 10-6;
in the camera stand 11: the camera comprises a camera enclosing plate 11-1 and a camera support positioning plate 11-2.
Detailed Description
The present invention will be further explained with reference to the drawings and examples.
Referring to the attached drawings 1-10, the utility model discloses a this kind of spout mud system installs the intelligent robot based on vision additional in the side of current toilet seat circle spout mud production line, uses the intelligent robot who sets for the procedure to carry out automatic identification and compare the position of calculating toilet seat circle 1 to drive the automatic bonding mud of paining of mud spray gun by intelligent robot.
The automatic mud coating system for the toilet seat comprises an intelligent robot 5, a mud coating device 2, a camera device 3 and a control system 14, wherein the camera device is an information acquisition mechanism, the control system is an information receiving-comparing calculation-information output mechanism, and the intelligent robot and the mud coating device are information execution mechanisms.
The control system is connected with a toilet production line master control system, the toilet production line master control system sends a mud coating instruction to the control system, the control system receives the mud coating instruction and controls the intelligent robot, the mud coating device and the camera device to perform a mud coating process, and after the action is completed, the control system completes the instruction feedback to the toilet production line master control system.
The intelligent robot 5 is installed on the side face of the toilet seat mud coating production line through connecting pieces such as foundation bolts. The mud coating device 2 and the camera device 3 are arranged at the free end of the intelligent robot 5 through a connecting frame set, namely the elbow end of the robot, can rotate freely in multiple angles, and preferably, the intelligent robot adopts a six-axis intelligent robot. The control system is arranged outside the intelligent robot and is respectively connected with the intelligent robot and the camera device.
The camera device 3 is arranged above the toilet seat ring and used for acquiring real-time image information of the toilet seat ring and transmitting the real-time image information to the control system; the control system is internally provided with preset image information, the real-time image information and the preset image information are calculated and compared to obtain deviation data, the control system transmits the deviation data to the intelligent robot, and the intelligent robot receives the information and then drives the mud spraying device to compensate the deviation data through spraying action, so that automatic mud coating of the toilet seat ring is realized. The preset image information, namely the image information of the toilet seat completing mud spraying, is pre-recorded into the control system. A control program is matched in the intelligent robot, and the position of the toilet seat ring is identified and calculated through real-time image information acquired by a camera device; after the camera device collects real-time image information once and transmits the real-time image information to the control system for calculation and comparison, the intelligent robot drives the mud spraying device to complete a set of spraying actions.
The camera device 3 comprises a camera 13 and a light source 12, the camera is mounted in the central part of the light source, a lens of the camera is arranged below the central part of the light source, the camera and the light source are respectively mounted on a connecting frame group through a support, and the connecting frame group is mounted at the free end of the intelligent robot.
The mud spraying device comprises a mud pipeline 4, a pipeline connector 6 and a spray gun 7, the mud pipeline is connected with the raw material tank and provided with a valve for control, the valve is connected with a control system, the end part of the mud pipeline is installed through the pipeline connector 6 on the connecting frame set, the spray gun 7 is inserted on the connecting frame set, one end of the spray gun is connected with the pipeline connector, and the other end of the spray gun is suspended above the toilet seat ring. The mechanical arm of the intelligent robot drives the camera device and the spray gun of the mud spraying device to rotate freely and move along with the track of a specific program.
The connecting frame group of the automatic mud coating system for the toilet seat comprises a connecting frame 9, a camera support 11 and a light source support 10. The connecting frame is hung at the free end of the intelligent robot through a connecting pipe 8; one side of the connecting frame is provided with a camera bracket 11 and a light source bracket 10 in the camera device, and the other side is provided with a spray gun 7 and a pipeline connector 6 in the mud spraying device 2. The camera in the camera device is arranged in parallel with the spray gun in the mud spraying device.
The connecting frame comprises an adjusting frame, a connecting pipe and a spray gun bracket which are integrally formed welding structural parts. One end of the connecting pipe is welded and fixed with the center of the bottom plate in the connecting frame, and the other end of the connecting pipe is connected with the free end of the intelligent robot through a flange. The adjusting frame 9-1 and the bottom plate 9-2 are integrated and arranged on one side of the bottom plate, and a group of strip through holes arranged side by side are arranged on the adjusting frame. The connector fixing plate 9-4 is vertically and fixedly connected to the upper surface of one side of the bottom plate, and a hole for installing a pipeline connector is formed in the connector fixing plate. The side of the pipeline connector is arranged on the connector fixing plate through connecting pieces such as bolts and the like, and is used for fixing the pipeline and ensuring the stability of spraying work. The spray gun support 9-3 is arranged below the other side of the bottom plate, the horizontal section of the spray gun support is lower, the horizontal section is connected with the bottom plate through an inclined reinforcing rib plate, a hole for mounting a spray gun is formed in the horizontal section of the spray gun support, the spray gun is inserted into the hole, the outlet of the spray gun is downward, and the upper port of the spray gun is connected with the pipeline connector. The spray gun support can keep the spray gun and the connecting frame to be vertical all the time, and the spray gun support moves along with the connecting frame completely in the rotating process of the intelligent robot, so that the accuracy of the spraying position is guaranteed.
In the light source bracket, a camera mounting hole 10-3 is arranged at the center of a light source mounting plate 10-2, a light source 12 is mounted on the bottom surface of the light source mounting plate through a connecting piece such as a bolt, the light source is of an annular structure, a through hole is arranged at the center of the light source mounting plate, and a camera passes through the through hole. And hanging plate vertical plates 10-2 vertical to the light source mounting plate are respectively arranged on two sides of the light source mounting plate, a horizontal hanging plate transverse plate 10-1 is arranged at the upper end of the hanging plate vertical plate, the hanging plate transverse plate is lapped on an adjusting plate 9-1 of the connecting frame and is movably connected with the adjusting plate through a connecting piece, and the connecting piece penetrates through a hole in the hanging plate transverse plate 10-1 and a long hole in the adjusting frame to realize that the horizontal position of the light source support on the adjusting frame is adjustable. The vertical plates of the hanging plate of the light source mounting plate are respectively provided with a strip-shaped camera support adjusting hole 10-6.
The whole camera support is arranged in the light source support and is of a right-angled W-shaped structure and comprises a camera enclosing plate 11-1 in the center and camera support positioning plates 11-2 on two sides. The camera enclosing plate is of a semi-enclosing structure and is semi-enclosed on the outer surface of the upper part of the camera. Preferably, the camera enclosing plate is provided with the mounting hole, so that the camera enclosing plate and the outer wall of the upper part of the camera can be connected together, and the stability is ensured. The camera support positioning plate 11-2 is movably connected with a hanging plate vertical plate 10-2 in the light source support through connecting pieces such as bolts and the like, and the bolts penetrate through mounting holes in the camera support positioning plate 11-2 and camera support adjusting holes 10-6 in the hanging plate vertical plate, so that the longitudinal position of the camera support in the light source support can be adjusted. The lens of the lower part of the camera penetrates through the light source bottom plate and the central part of the light source and is arranged below the center of the light source.
The spraying process of the automatic mud coating system is as follows:
before the mud coating process, selecting a standard part, placing the standard part to a specific position, acquiring image information of the standard part by a camera device, reading and displaying the position and the shape of a toilet seat ring by pixels, generating a mud coating program by a control system, storing the program into a robot system as a mud coating action track program, and storing the image information of the standard part acquired by the camera device as preset image information in the control system;
after the toilet seat ring is in place in the production line, the product model is communicated to the intelligent robot. Executing a specific program through an intelligent robot, placing a camera above the toilet seat, sending a camera trigger signal by the robot, supplementing light to the shot toilet seat by a light source, collecting real-time image information of the toilet seat by the camera, and transmitting the real-time image information to a control system; the control system is internally provided with preset image information, the real-time image information and the preset image information are calculated and compared to obtain deviation data, the control system transmits the deviation data to the intelligent robot, the intelligent robot receives the information and then automatically corrects a pre-programmed program, and the intelligent robot drives the mud spraying device to realize automatic mud coating of the toilet seat ring.
Claims (9)
1. An automatic mud coating system for a toilet seat comprises an intelligent robot and a mud coating device, and is characterized by further comprising a camera device and a control system;
the intelligent robot is arranged on the side surface of the toilet seat mud coating production line through a connecting piece; the mud coating device and the camera device are installed at the free end of the intelligent robot through a connecting frame set, and the control system is arranged outside the intelligent robot and is respectively connected with the intelligent robot, the mud coating device and the camera device;
the camera device is arranged above the toilet seat ring and used for acquiring real-time image information of the toilet seat ring and transmitting the real-time image information to the control system; the control system is internally provided with preset image information, the real-time image information and the preset image information are calculated and compared to obtain deviation data, the control system transmits the deviation data to the intelligent robot, and the intelligent robot receives the information and then drives the mud spraying device to compensate the deviation data through spraying action, so that automatic mud spraying of the toilet seat ring is realized;
the connecting frame group comprises a connecting frame, a camera bracket and a light source bracket; the connecting frame is hung at the free end of the intelligent robot through a connecting pipe; one side of the connecting frame is provided with a camera bracket and a light source bracket in the camera device, and the other side is provided with a spray gun and a pipeline connector in the mud spraying device;
the camera in the camera device and the spray gun in the mud spraying device are arranged in parallel.
2. The automatic toilet seat plastering system according to claim 1, wherein:
the intelligent robot is matched with a control program, and the position of the toilet seat ring is identified and calculated through real-time image information acquired by the camera device;
after the camera device collects real-time image information once and transmits the real-time image information to the control system for calculation and comparison, the intelligent robot drives the mud spraying device to complete a set of spraying actions.
3. The automatic toilet seat plastering system according to claim 1, wherein: the camera device comprises a camera and a light source, the camera is installed at the central part of the light source, a lens of the camera is arranged below the central part of the light source, and the camera and the light source are installed at the free end of the intelligent robot through a support respectively.
4. The automatic toilet seat plastering system according to claim 1, wherein: the mud spraying device comprises a mud pipeline, a pipeline connector and a spray gun; the mud pipeline is connected with the head tank and is provided with a valve, the end part of the mud pipeline is installed on the connecting frame group through a pipeline connector, the spray gun is inserted on the connecting frame group, one end of the spray gun is connected with the pipeline connector, and the other end of the spray gun is suspended above the toilet seat ring.
5. The automatic toilet seat plastering system according to claim 1, wherein: the control system is connected with a toilet production line master control system, the toilet production line master control system sends a mud coating instruction to the control system, the control system receives the mud coating instruction and controls the intelligent robot, the mud coating device and the camera device to perform a mud coating process, and after the action is completed, the control system completes the instruction feedback to the toilet production line master control system.
6. The automatic toilet seat plastering system according to claim 1, wherein: in the connecting frame, one end of a connecting pipe is fixedly connected with the center of a bottom plate in the connecting frame, and the other end of the connecting pipe is connected with the free end of the intelligent robot through a flange; the adjusting frame and the bottom plate are integrated and are arranged on one side of the bottom plate, and a group of strip through holes arranged side by side are formed in the adjusting frame;
the connector fixing plate is vertically and fixedly connected to the upper surface of one side of the base plate, and a hole for mounting a pipeline connector is formed in the connector fixing plate;
the spray gun support is arranged below the other side of the bottom plate, and a hole for mounting a spray gun is arranged on the horizontal section of the spray gun support.
7. The automatic toilet seat plastering system according to claim 1, wherein: in the light source bracket, the center of the light source mounting plate is provided with a camera mounting hole, and the light source is mounted on the bottom surface of the light source mounting plate through a connecting piece;
and hanging plate vertical plates vertical to the light source mounting plate are respectively arranged on two sides of the light source mounting plate in a matching way, a horizontal hanging plate transverse plate is arranged at the upper end of each hanging plate vertical plate, the hanging plate transverse plates are lapped on the adjusting plates of the connecting frame and are movably connected with the adjusting plates through connecting pieces, and the horizontal position is adjustable.
8. The automatic mud coating system for toilet seats according to claim 7, characterized in that: and camera support adjusting holes are respectively formed in vertical plates of a hanging plate of the light source mounting plate.
9. The automatic toilet seat plastering system according to claim 1, wherein:
in the camera bracket, the whole camera bracket is of a right-angled W-shaped structure and comprises a camera enclosing plate at the central part and camera bracket positioning plates at two sides;
the camera surrounding plate is semi-surrounded outside the upper part of the camera, the camera support positioning plate is respectively and movably connected with a hanging plate vertical plate in the light source support through a connecting piece, and the longitudinal position is adjustable; the lens of the camera passes through the light source bottom plate and the central part of the light source and is arranged below the center of the light source.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920269348.9U CN210436346U (en) | 2019-03-04 | 2019-03-04 | Automatic mud system of scribbling of toilet seat circle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920269348.9U CN210436346U (en) | 2019-03-04 | 2019-03-04 | Automatic mud system of scribbling of toilet seat circle |
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| Publication Number | Publication Date |
|---|---|
| CN210436346U true CN210436346U (en) | 2020-05-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920269348.9U Active CN210436346U (en) | 2019-03-04 | 2019-03-04 | Automatic mud system of scribbling of toilet seat circle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635299A (en) * | 2021-07-23 | 2021-11-12 | 深圳市朗驰欣创科技股份有限公司 | Mechanical arm correction method, terminal device and storage medium |
-
2019
- 2019-03-04 CN CN201920269348.9U patent/CN210436346U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113635299A (en) * | 2021-07-23 | 2021-11-12 | 深圳市朗驰欣创科技股份有限公司 | Mechanical arm correction method, terminal device and storage medium |
| CN113635299B (en) * | 2021-07-23 | 2022-11-25 | 深圳市朗驰欣创科技股份有限公司 | Mechanical arm correction method, terminal device and storage medium |
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Address after: 063304 No.188 Yutang line, Fengnan District, Tangshan City, Hebei Province Patentee after: Tangshan Hexiang Intelligent Technology Co., Ltd Address before: 063000, Daling village, Xinzhuang Town, Fengnan District, Hebei, Tangshan City Patentee before: TANGSHAN HEXIANG INDUSTRIAL Co.,Ltd. |