Automatic mud coating system for toilet seat

Abstract

A toilet seat automatic mud coating system; an intelligent robot is installed on the side of the toilet seat mud coating production line; a mud coating device and a camera device are installed at the free end of the intelligent robot, and a control system is placed outside the intelligent robot; the camera device is placed above the toilet seat, and is used to collect real-time image information of the toilet seat, and transmit the real-time image information to the control system; preset image information is set in the control system, and deviation data is obtained after calculation and comparison between the real-time image information and the preset image information, and the control system transmits the deviation data to the intelligent robot, and after receiving the information, the intelligent robot drives the mud spraying device to compensate for the deviation data through spraying action, thereby realizing automatic mud coating of the toilet seat. This mud coating system uses intelligent robots to replace traditional manual operations, which not only reduces labor costs and improves production efficiency, but also improves the spraying accuracy rate, ensuring the quality and qualified rate of products.

Description

Technical Field

[0001] The invention relates to the field of mechanical manufacturing, in particular to an automatic mud coating system for a toilet seat. Background Art

[0002] At present, in the production process of sanitary ceramics, the work of applying adhesive mud on toilet seats is usually done manually. Due to the low efficiency and poor precision of manual operation, the high temperature, high humidity and high dust at the work site seriously affect the health of operators, and the high labor intensity and high cost have a significant impact on small-scale production companies.

[0003] With the rapid development of intelligent technology, intelligent robots are used in all walks of life to replace manual operations. They are not limited by the working environment and can effectively improve work efficiency and accuracy. However, due to the variety of toilet seat models and the mud coating process after the toilet seat is formed, traditional robots operate according to specific trajectories according to preset programs. When there is a deviation in the placement of the workpiece to be processed, it cannot be detected in time, resulting in a large number of low-quality workpieces and a waste of resources. Summary of the invention

[0004] The present invention is aimed at the technical defects mentioned in the background technology. Firstly, it provides an automatic mud coating system for toilet seats based on vision and cooperating with an intelligent robot; secondly, it provides a connecting frame group for connecting and installing the various components for realizing such automatic mud coating.

[0005] In order to achieve the above-mentioned invention object, the technical solution adopted by the present invention is: an automatic mud coating system for a toilet seat, including an intelligent robot, a mud coating device, a camera device and a control system;

[0006] The intelligent robot is installed on the side of the toilet seat mud coating production line through a connecting piece; the mud coating device and the camera device are installed on the free end of the intelligent robot through a connecting frame group, and the control system is placed outside the intelligent robot and connected to the intelligent robot, the mud coating device and the camera device respectively;

[0007] The camera device is placed above the toilet seat and is used to collect real-time image information of the toilet seat and transmit the real-time image information to the control system; the control system is provided with preset image information, and the deviation data is obtained after calculation and comparison between the real-time image information and the preset image information. The control system transmits the deviation data to the intelligent robot. After receiving the information, the intelligent robot drives the mud spraying device to compensate for the deviation data through spraying action, thereby realizing automatic mud coating of the toilet seat.

[0008] As a preferred solution: the intelligent robot is matched with a control program, which identifies and calculates the position of the toilet seat through real-time image information collected by the camera device; each time the camera device collects real-time image information and transmits it to the control system for calculation and comparison, the intelligent robot drives the mud spraying device to complete a set of spraying actions.

[0009] As a preferred solution: the camera device includes a camera and a light source, the camera is installed in the central part of the light source, the camera lens is placed below the central part of the light source, and the camera and the light source are respectively installed on the free end of the intelligent robot through brackets.

[0010] As a preferred solution: the mud spraying device includes a mud pipeline, a pipeline connector and a spray gun; the mud pipeline is connected to the raw material tank and is provided with a valve, the end of the mud pipeline is installed on the connecting frame group through the pipeline connector, and the spray gun is inserted into the connecting frame group, one end of which is connected to the pipeline connector and the other end is suspended above the toilet seat.

[0011] As a preferred solution: the control system is connected to the toilet production line master control system, the toilet production line master control system sends mud coating instructions to the control system, and after receiving the instructions, the control system controls the intelligent robot, mud coating device and camera device to perform the mud coating process. After the action is completed, the control system will feedback the completion instruction to the toilet production line master control system.

[0012] As a preferred solution: the spraying process of the automatic mud coating system is as follows:

[0013] Before the mud coating process, standard parts are selected and placed in specific positions. The image information is first collected by the camera device. The position and shape of the toilet seat are generated by pixel reading and display. The control system generates a mud coating program, which is saved in the robot system as a mud coating motion trajectory program. The image information of the standard parts collected by the camera device is stored in the control system as preset image information;

[0014] After the mud coating process begins, the robot arm moves from the starting working position to the reference position; after reaching the position, the camera device collects real-time image information and sends it to the control system; after receiving the real-time image information, the control system compares and calculates it with the preset image information in its memory to obtain the actual deviation data, and transmits the deviation data to the robot. The robot has a set path program entered into it. After receiving the deviation data, it enters the compensation posture and controls the robot arm to move in positioning according to the compensated path program. At the same time, the valve system in the mud coating device opens, and the automatic application of adhesive mud is completed during the compensation movement of the arm; after completing the mud coating process, the robot arm returns to the initial position, waiting for the mud coating operation of the next workpiece.

[0015] As a preferred solution: after the mud coating process begins, the real-time image information of each workpiece to be processed is compared with the preset image information.

[0016] A connecting frame assembly used in an automatic mud coating system for a toilet seat, comprising a connecting frame, a camera bracket and a light source bracket;

[0017] The connecting frame is hung on the free end of the intelligent robot through a connecting pipe; a camera bracket and a light source bracket in the camera device are installed on one side of the connecting frame, and a spray gun and a pipe connector in the mud spraying device are installed on the other side;

[0018] The camera in the camera device and the spray gun in the mud spraying device are arranged in parallel.

[0019] As a preferred option:

[0020] In the connection rack:

[0021] One end of the connecting pipe is fixedly connected to the center of the bottom plate in the connecting frame, and the other end is connected to the free end of the intelligent robot through a flange;

[0022] The adjustment frame is integrated with the bottom plate and is placed on one side of the bottom plate. A group of long through holes arranged side by side are arranged on the adjustment frame.

[0023] The connector fixing plate is vertically fixed to the upper surface of one side of the bottom plate, and a hole for installing the pipeline connector is arranged on the connector fixing plate;

[0024] The spray gun bracket is placed below the other side of the bottom plate, and a hole for installing the spray gun is arranged on the horizontal section of the spray gun bracket.

[0025] As a preferred option:

[0026] In the light source bracket:

[0027] A camera mounting hole is arranged in the center of the light source mounting plate, and the light source is mounted on the bottom surface of the light source mounting plate through a connecting piece;

[0028] The two sides of the light source mounting plate are respectively provided with vertical hanging plates perpendicular thereto, the upper ends of the vertical hanging plates are horizontal hanging plates, the hanging plates are placed on the adjustment plates of the connecting frame, and are movably connected thereto through connecting pieces, and the horizontal position is adjustable.

[0029] As a preferred solution: the vertical plates of the hanging plate of the light source installation plate are respectively provided with camera bracket adjustment holes.

[0030] As a preferred solution: In the camera bracket:

[0031] The camera bracket is a right-angled W-shaped structure, including a camera enclosing plate in the center and camera bracket positioning plates on both sides;

[0032] The camera surrounding plate half surrounds the outside of the upper part of the camera, and the camera bracket positioning plate is movably connected to the hanging plate vertical plate in the light source bracket through connecting parts, and the longitudinal position is adjustable; the camera lens passes through the light source bottom plate and the central part of the light source and is placed below the center of the light source.

[0033] Compared with the prior art, the mud coating system disclosed in the present invention is to add an intelligent robot to the existing toilet seat mud coating production line, and use the intelligent robot to replace traditional manual operation. The robot is equipped with a set motion control program. Based on visual effects, it collects real-time image information to realize automatic identification and calculation of the initial position of the toilet seat, compensates for deviation data, and performs position correction through the robot to complete the automatic application of adhesive mud. It not only reduces labor costs and improves production efficiency, but also improves the spraying accuracy, thereby ensuring product quality and pass rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0035] Figure 2 for Figure 1 A partial enlarged view of the .

[0036] Figure 3 Schematic diagram of the connecting frame structure.

[0037] Figure 4 A top view of the camera bracket.

[0038] Figure 5 This is the front view of the camera bracket.

[0039] Figure 6 for Figure 5 Top view of the .

[0040] Figure 7 It is a top view of the light source bracket.

[0041] Figure 8 It is a side view of the light source bracket.

[0042] Fig. 9 This is the front view of the light source bracket.

[0043] Fig.10 It is a flow chart of the control system of the present invention.

[0044] In the figure: toilet seat 1, mud spraying device 2, camera device 3, mud pipeline 4, robot 5, pipeline connector 6, spray gun 7, connecting pipe 8, connecting frame 9, light source bracket 10, camera bracket 11, light source 12, camera 13, control system 14.

[0045] In addition, the names of the components in the specific mechanism are as follows:

[0046] The connecting frame 9 includes: an adjustment frame 9-1, a bottom plate 9-2, a spray gun support 9-3, and a connecting head fixing plate 9-4;

[0047] In the light source bracket 10: a hanging plate horizontal 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 bracket adjustment hole 10-6;

[0048] The camera bracket 11 includes: a camera surrounding plate 11 - 1 and a camera bracket positioning plate 11 - 2 . DETAILED DESCRIPTION

[0049] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0050] See attached Figure 1-10 The mud spraying system disclosed in the present invention is to install a vision-based intelligent robot on the side of the existing toilet seat mud spraying production line, use the program-set intelligent robot to automatically identify and compare the position of the toilet seat 1, and the intelligent robot drives the mud spray gun to automatically apply bonding mud.

[0051] This automatic mud coating system for toilet seats includes 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 collection mechanism, the control system is an information receiving-comparison calculation-information output mechanism, and the intelligent robot and the mud coating device are information execution mechanisms.

[0052] The control system is connected to the main control system of the toilet production line. The main control system of the toilet production line sends mud coating instructions to the control system. After receiving the instructions, the control system controls the intelligent robot, mud coating device and camera device to perform the mud coating process. After the action is completed, the control system will feedback the completion instruction to the main control system of the toilet production line.

[0053] The intelligent robot 5 is installed on the side of the toilet seat mud coating production line through anchor bolts and other connectors. The mud coating device 2 and the camera device 3 are installed at the free end of the intelligent robot 5, that is, the elbow end of the robot, through a connecting frame assembly, and can rotate freely at multiple angles at any time. As a preferred embodiment, the intelligent robot is a six-axis intelligent robot. The control system is placed outside the intelligent robot and is connected to the intelligent robot and the camera device respectively.

[0054] The camera device 3 is placed above the toilet seat, and is used to collect real-time image information of the toilet seat, and transmit the real-time image information to the control system; the control system is provided with preset image information, and the real-time image information is compared with the preset image information to obtain deviation data, and the control system transmits the deviation data to the intelligent robot, and the intelligent robot drives the mud spraying device to compensate for the deviation data through spraying after receiving the information, so as to realize automatic mud coating of the toilet seat. The preset image information, i.e., the image information of the toilet seat after mud spraying, is pre-entered into the control system. The intelligent robot is matched with a control program, and the position of the toilet seat is identified and calculated through the real-time image information collected by the camera device; after each real-time image information is collected by the camera device and transmitted to the control system for calculation and comparison, the intelligent robot drives the mud spraying device to complete a set of spraying actions.

[0055] The camera device 3 includes a camera 13 and a light source 12. The camera is installed in the central part of the light source. The lens of the camera is placed below the central part of the light source. The camera and the light source are respectively installed on a connecting frame assembly through brackets. The connecting frame assembly is installed at the free end of the intelligent robot.

[0056] The mud spraying device includes a mud pipeline 4, a pipeline connector 6 and a spray gun 7. The mud pipeline is connected to the raw material tank and is equipped with a valve for control. The valve is connected to the control system. The end of the mud pipeline is installed on the connecting frame group through the pipeline connector 6. The spray gun 7 is inserted on the connecting frame group, one end of which is connected to the pipeline connector and the other end is suspended above the toilet seat. The mechanical arm of the intelligent robot drives the camera device and the spray gun of the mud spraying device to rotate freely, moving along the trajectory of its specific program.

[0057] The connecting frame assembly of the automatic mud coating system for toilet seat mentioned above comprises a connecting frame 9, a camera bracket 11 and a light source bracket 10. The connecting frame is hung on the free end of the intelligent robot through a connecting pipe 8; the camera bracket 11 and the light source bracket 10 in the camera device are installed on one side of the connecting frame, and the spray gun 7 and the pipe connector 6 in the mud spraying device 2 are installed on the other side. The camera in the camera device and the spray gun in the mud spraying device are arranged in parallel.

[0058] The connecting frame includes an adjustment frame, a connecting pipe and a spray gun bracket, which are integrally formed welded structural parts. One end of the connecting pipe is welded and fixed to the center of the bottom plate in the connecting frame, and the other end is connected to the free end of the intelligent robot through a flange. The adjustment frame 9-1 is integrated with the bottom plate 9-2 and is placed on one side of the bottom plate. A group of long through holes arranged side by side are arranged on the adjustment frame. The connector fixing plate 9-4 is vertically fixed to the upper surface of one side of the bottom plate, and a hole for installing the pipeline connector is arranged on the connector fixing plate. The side of the pipeline connector is installed on the connector fixing plate through bolts and other connectors to fix the pipeline and ensure the stability of the spraying work. The spray gun bracket 9-3 is placed below the other side of the bottom plate, and the horizontal section of the spray gun bracket is lower. The horizontal section is connected to the bottom plate by an inclined reinforcing rib plate. The horizontal section of the spray gun bracket is provided with a hole for installing the spray gun, and the spray gun is inserted into the hole, with the outlet facing downward, and the upper port of the spray gun is connected to the pipeline connector. The spray gun bracket can keep the spray gun and the connecting frame in a vertical position at all times. When the spray gun rotates with the intelligent robot, it moves completely with the connecting frame to ensure the accuracy of the spraying position.

[0059] In the light source bracket, a camera mounting hole 10-3 is provided in the center of the light source mounting plate 10-2. The light source 12 is installed on the bottom surface of the light source mounting plate by bolts and other connectors. The light source is a ring structure with a through hole in the center thereof, through which the camera passes. Vertical plates 10-2 perpendicular to the light source mounting plate are provided on both sides of the light source mounting plate. The upper end of the vertical plates is a horizontal horizontal plate 10-1. The horizontal plate is placed on the adjustment plate 9-1 of the connecting frame and is movably connected to it by a connector. The connector passes through the hole on the horizontal plate 10-1 and the long strip hole on the adjustment frame, so that the horizontal position of the light source bracket on the adjustment frame can be adjusted. Long strip camera bracket adjustment holes 10-6 are provided on the vertical plates of the light source mounting plate.

[0060] The camera bracket is arranged as a whole inside the light source bracket. The camera bracket is a right-angled W-shaped structure as a whole, including a camera enclosing plate 11-1 in the central part and camera bracket positioning plates 11-2 on both sides. The camera enclosing plate is a semi-enclosed structure, semi-enclosed on the outer surface of the upper part of the camera. Preferably, a mounting hole is set on the camera enclosing plate, and the camera enclosing plate can be connected to the upper outer wall of the camera to ensure stability. The camera bracket positioning plate 11-2 is movably connected to the hanging plate vertical plate 10-2 in the light source bracket through bolts and other connecting parts. The bolts pass through the mounting holes on the camera bracket positioning plate 11-2 and the camera bracket adjustment holes 10-6 on the hanging plate vertical plate, so that the longitudinal position of the camera bracket in the light source bracket can be adjusted. The lens of the lower part of the camera passes through the light source bottom plate and the central part of the light source, and is placed below the center of the light source.

[0061] The spraying process of the automatic mud coating system is as follows:

[0062] Before the mud coating process, standard parts are selected and placed in specific positions. The image information is first collected by the camera device. The position and shape of the toilet seat are generated by pixel reading and display. The control system generates a mud coating program, which is saved in the robot system as a mud coating motion trajectory program. The image information of the standard parts collected by the camera device is stored in the control system as preset image information;

[0063] After the toilet seat is in place on the production line, the product model is communicated to the intelligent robot. The intelligent robot executes a specific program, places the camera above the toilet seat, the robot sends a camera trigger signal, the light source implements fill light for shooting the toilet seat, the camera collects real-time image information of the toilet seat, and transmits the real-time image information to the control system; the control system is set with preset image information, and the real-time image information is compared with the preset image information to obtain the deviation data. The control system transmits the deviation data to the intelligent robot. After receiving the information, the intelligent robot automatically corrects the pre-programmed program, and the intelligent robot drives the mud spraying device to realize automatic mud coating of the toilet seat.

Claims

1. An automatic mud coating system for a toilet seat, comprising an intelligent robot and a mud coating device, characterized in that: Also included are camera units and control systems; The intelligent robot is installed on the side of the toilet seat mud coating production line through a connecting piece; the mud coating device and the camera device are installed on the free end of the intelligent robot through a connecting frame group, and the control system is placed outside the intelligent robot and connected to the intelligent robot, the mud coating device and the camera device respectively; The camera device is placed above the toilet seat, and is used to collect real-time image information of the toilet seat, and transmit the real-time image information to the control system; the control system is provided with preset image information, and the real-time image information is compared with the preset image information to obtain deviation data, and the control system transmits the deviation data to the intelligent robot, and after receiving the information, the intelligent robot drives the mud spraying device to compensate for the deviation data through spraying action, so as to realize automatic mud coating of the toilet seat; The intelligent robot is equipped with a control program to identify and calculate the position of the toilet seat through real-time image information collected by the camera device; After the camera device collects real-time image information and transmits it 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 includes a camera and a light source, the camera is installed at the central part of the light source, the lens of the camera is placed below the central part of the light source, and the camera and the light source are respectively installed at the free end of the intelligent robot through brackets; The mud spraying device includes a mud pipeline, a pipeline connector and a spray gun; the mud pipeline is connected to the raw material tank and is provided with a valve, the end of the mud pipeline is installed on the connecting frame group through the pipeline connector, and the spray gun is inserted into the connecting frame group, one end of which is connected to the pipeline connector and the other end is suspended above the toilet seat.

2. The automatic mud coating system for toilet seat according to claim 1, characterized in that: The control system is connected to the main control system of the toilet production line. The main control system of the toilet production line sends mud coating instructions to the control system. After receiving the instructions, the control system controls the intelligent robot, mud coating device and camera device to perform the mud coating process. After the action is completed, the control system will feedback the completion instruction to the main control system of the toilet production line.

3. The automatic mud coating system for toilet seat according to any one of claims 1-2, characterized in that: The spraying process of the automatic mud coating system is as follows: Before the mud coating process, standard parts are selected and placed in specific positions. The image information is first collected by the camera device. The position and shape of the toilet seat are generated by pixel reading and display. The control system generates a mud coating program, which is saved in the robot system as a mud coating motion trajectory program. The image information of the standard parts collected by the camera device is stored in the control system as preset image information; After the mud coating process begins, the robot arm moves from the starting working position to the reference position; after reaching the position, the camera device collects real-time image information and sends it to the control system; after receiving the real-time image information, the control system compares and calculates it with the preset image information in its memory to obtain the actual deviation data, and transmits the deviation data to the robot. The robot has a set path program entered into it. After receiving the deviation data, it enters the compensation posture and controls the robot arm to move in positioning according to the compensated path program. At the same time, the valve system in the mud coating device opens, and the automatic application of adhesive mud is completed during the compensation movement of the arm; after completing the mud coating process, the robot arm returns to the initial position, waiting for the mud coating operation of the next workpiece.

4. The automatic mud coating system for toilet seat according to claim 3, characterized in that: After the mud coating process begins, the real-time image information of each workpiece to be processed is compared with the preset image information.

5. The automatic mud coating system for toilet seat according to claim 1, characterized in that: The connecting frame assembly includes a connecting frame, a camera bracket and a light source bracket; The connecting frame is hung on the free end of the intelligent robot through a connecting pipe; a camera bracket and a light source bracket in the camera device are installed on one side of the connecting frame, and a spray gun and a pipe connector in the mud spraying device are installed on the other side; The camera in the camera device and the spray gun in the mud spraying device are arranged in parallel.

6. The automatic mud coating system for toilet seat according to claim 5, characterized in that: In the connection frame: One end of the connecting pipe is fixedly connected to the center of the bottom plate in the connecting frame, and the other end is connected to the free end of the intelligent robot through a flange; The adjustment frame is integrated with the bottom plate and is placed on one side of the bottom plate. A group of long through holes arranged side by side are arranged on the adjustment frame. The connector fixing plate is vertically fixed to the upper surface of one side of the bottom plate, and a hole for installing the pipeline connector is arranged on the connector fixing plate; The spray gun bracket is placed below the other side of the bottom plate, and a hole for installing the spray gun is arranged on the horizontal section of the spray gun bracket.

7. The automatic mud coating system for toilet seat according to claim 5, characterized in that: In the light source bracket: A camera mounting hole is arranged in the center of the light source mounting plate, and the light source is mounted on the bottom surface of the light source mounting plate through a connecting piece; The two sides of the light source mounting plate are respectively provided with vertical hanging plates perpendicular thereto, the upper ends of the vertical hanging plates are horizontal hanging plates, the hanging plates are placed on the adjustment plates of the connecting frame, and are movably connected thereto through connecting pieces, and the horizontal position is adjustable.

8. The automatic mud coating system for toilet seat according to claim 7, characterized in that: Camera bracket adjustment holes are respectively arranged on the hanging plate vertical plates of the light source installation plate.

9. The automatic mud coating system for toilet seat according to claim 5, characterized in that: Camera Bracket: The camera bracket is a right-angled W-shaped structure, including a camera enclosing plate in the center and camera bracket positioning plates on both sides; The camera surrounding plate half surrounds the outside of the upper part of the camera, and the camera bracket positioning plate is movably connected to the hanging plate vertical plate in the light source bracket through connecting parts, and the longitudinal position is adjustable; the camera lens passes through the light source bottom plate and the central part of the light source and is placed below the center of the light source.

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