Toilet seat subsequent matching system and method

Abstract

The invention provides a toilet seat follow-up matching system and method, and the system comprises a follow-up robot system which is used for grabbing a toilet seat, positioning a toilet body, placing the toilet seat on the toilet body, and pressing the toilet seat; the matching robot system is used for shaping a following position on the closestool body according to the outline of a standard closestool mud blank; after the toilet seat is placed on the toilet body, the outer side of the following position on the toilet body is rolled by using a roller, and the toilet seat is matched with a following robot system to enable the joint surface of the toilet seat and the toilet body to be seamless. The robot system is applied to the toilet seat carrying and bonding process, manual bonding is simulated by means of the stability of the robot, and matching automation of toilet seat carrying and bonding is achieved, so that the labor intensity of workers is reduced, and the product quality is improved.

Description

Technical Field

[0001] The invention relates to the technical field of sanitary ware production, and in particular to a toilet seat connection and matching system and method. Background Art

[0002] With the continuous development of science and technology, robot technology has gradually penetrated into various industries. As an important part of people's daily life, the application of robots in the bathroom industry will greatly improve the labor intensity of operators, improve work efficiency and reduce production costs.

[0003] At present, the industry basically relies on manual handling and joining by two people, which results in problems such as high labor intensity, poor stability, and unstable manual pressing force after joining. Summary of the invention

[0004] In order to solve the deficiencies in the prior art, the purpose of the present invention is to provide a toilet seat joining and matching system and method, which utilizes the stability of a robot and imitates the manual joining technique to achieve automated toilet seat joining and matching.

[0005] To achieve the above object, the present invention provides a toilet seat fitting system, comprising:

[0006] Then the robot system is used to grab the toilet seat, position the toilet body, place the toilet seat on the toilet body, and press the toilet seat;

[0007] The matching robot system is used to shape the connecting position on the toilet body according to the outer contour of the standard toilet clay blank; after the toilet ring is placed on the toilet body, the outer side of the connecting position on the toilet body is rolled by a roller, and the connecting robot system is cooperated to ensure that there is no gap between the joint surface of the toilet ring and the toilet body.

[0008] Furthermore, the robot system comprises:

[0009] Robot base;

[0010] The robot body is mounted on the robot base; the robot body has a T-axis flange;

[0011] A servo adjustment assembly is mounted on the T-axis flange connected to the robot body and is used to press the toilet seat;

[0012] A floating suction cup assembly is mounted on the servo adjustment assembly via a cross-axis floating device and is used to grab the toilet seat;

[0013] The vacuum generator assembly is installed on the connecting robot body and connected to the floating suction cup assembly.

[0014] Further, it is characterized in that the servo adjustment assembly comprises: a mounting frame and a laser rangefinder fixed on the mounting frame, a visual calibration pin, a cross-axis floating device, a first camera, a servo adjustment system, and a pneumatic device;

[0015] The servo adjustment system comprises a plurality of servo electric cylinders, and the plurality of servo electric cylinders are respectively arranged around the mounting frame;

[0016] The pneumatic device comprises a plurality of groups of cylinders, and the plurality of groups of cylinders are respectively and correspondingly mounted on the outsides of the plurality of groups of servo electric cylinders;

[0017] The visual calibration pin is used to calibrate the position calibration accuracy of the first camera and the robot body.

[0018] Further, the floating suction cup assembly includes: a mounting plate, a plurality of digital vacuum pressure gauges, and a plurality of vacuum sponge suction cups;

[0019] The multiple digital vacuum pressure gauges are respectively installed on the vacuum sponge suction cups;

[0020] The multiple vacuum sponge suction cups are respectively arranged on the lower surface around the mounting plate and are used to suck the toilet seat.

[0021] Further, the vacuum generating assembly includes a mounting plate, a plurality of filters, and a plurality of vacuum generators;

[0022] The mounting plate is used to connect the robot body; both sides of the mounting plate are downward bending areas;

[0023] The plurality of vacuum generators are respectively fixed at the top edge of the mounting plate;

[0024] The multiple filters are respectively fixed on the bending areas of the mounting plate and are located below each of the vacuum generators.

[0025] Furthermore, the matching robot system comprises:

[0026] Robot base;

[0027] A matching robot body is installed on the robot base;

[0028] The second camera and the floating device are both installed at the end of the matching robot body. The force of the floating device is adjustable and has constant force floating and force feedback functions;

[0029] The roller mechanism is fixed on the floating device, and the roller is used to shape the connection position on the toilet body.

[0030] On the other hand, the present invention also provides a toilet seat fitting method, comprising the following steps:

[0031] Then the robot system takes a photo to locate the toilet body and corrects the X, Y, and θ position angle parameters of the toilet body;

[0032] Then the robot system corrects the Z-height parameter of the toilet body;

[0033] The matching robot system takes photos to locate the toilet body, and corrects the X, Y, and θ position angle parameters of the toilet body;

[0034] The matching robot system uses a roller mechanism to perform initial shaping of the connection position on the toilet body according to the outline of the standard toilet clay blank;

[0035] Then the robot system takes a photo to locate the toilet seat and corrects the X, Y, and θ position angle parameters of the toilet seat;

[0036] Then the robot system corrects the Z-height parameter of the toilet seat;

[0037] The robotic system then moves to the grasping position and grasps the toilet seat;

[0038] Then the robot system moves to the attachment position of the toilet body, places the grasped toilet seat on the toilet body, and presses the toilet seat through the servo adjustment component;

[0039] The matching robot system moves to the target position, uses a roller mechanism to roll the outer side of the connecting position of the toilet body, and cooperates with the connecting robot system to ensure that there is no gap between the joint surfaces of the toilet ring and the toilet body.

[0040] Furthermore, the step of then moving the robot system to the grabbing position and grabbing the toilet seat further includes:

[0041] The robot system then controls the robot to move to the grabbing position of the toilet seat, turns on the vacuum generator, and sucks the toilet seat through the vacuum sponge suction cup. When the digital vacuum pressure meter reaches the set pressure value, the grabbing is successful.

[0042] Furthermore, the matching robot system moves to the target position, and uses a roller mechanism to roll the outer side of the connecting position of the toilet body to make the joint surface of the toilet ring and the toilet body seamless, further comprising:

[0043] For the connecting position on the toilet body with the toilet seat, the matching robot system uses a roller mechanism to roll the outer side of the connecting position according to a preset sequence;

[0044] When the roller mechanism reaches the first position and contacts the toilet body, the robot system then controls the third servo electric cylinder and the fourth servo electric cylinder to extend simultaneously and press the toilet seat according to the set pressure;

[0045] When the roller mechanism reaches the second position, the robot system then controls the fourth servo electric cylinder to retract, and the second servo electric cylinder to extend, pressing the toilet seat according to the set pressure;

[0046] When the roller mechanism reaches the third position, the robot system then controls the third servo electric cylinder to retract, and at the same time the first servo electric cylinder extends to press the toilet seat according to the set pressure;

[0047] When the roller mechanism reaches the fourth position, the robot system then controls the second servo electric cylinder to retract, and the fourth servo electric cylinder to extend, pressing the toilet seat according to the set pressure;

[0048] After the roller mechanism reaches the fifth position, it leaves the toilet body; the connecting robot system controls the first servo electric cylinder and the fourth servo electric cylinder to retract, leaving the connecting position, and the connecting is completed.

[0049] Furthermore, the connecting robot system is configured with a first camera and a laser rangefinder, which are respectively used to correct the X, Y, θ position angle parameters and Z direction height parameters of the toilet body and the toilet seat; the matching robot system is configured with a second camera, which is used to correct the X, Y, θ position angle parameters of the toilet body.

[0050] The toilet seat matching system of the present invention has the following beneficial effects compared with the prior art:

[0051] The robot system is applied in the process of toilet seat transportation and bonding, which takes advantage of the robot's stability and imitates manual bonding, thus realizing the automation of toilet seat transportation and bonding matching, thereby reducing manual labor intensity and improving product quality.

[0052] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0054] Figure 1 Schematic diagram of the application of the toilet seat matching system according to an embodiment of the present invention;

[0055] Figure 2 A schematic diagram of the structure of a robot system according to an embodiment of the present invention;

[0056] Figure 3 is a schematic structural diagram of a servo adjustment assembly according to an embodiment of the present invention;

[0057] Figure 4 A schematic diagram of the structure of a floating suction cup assembly according to an embodiment of the present invention;

[0058] Figure 5 A schematic diagram of the structure of a vacuum generator assembly according to an embodiment of the present invention;

[0059] Figure 6 A schematic diagram of the structure of a matching robot system according to an embodiment of the present invention;

[0060] Figure 7 It is a schematic diagram of the position angle parameter correction principle according to an embodiment of the present invention;

[0061] Figure 8 A schematic diagram of the sequence of the initial shaping of the toilet body according to an embodiment of the present invention;

[0062] Fig. 9 It is a schematic diagram of the sequence of rolling the outer side of the connecting position on the toilet body according to an embodiment of the present invention;

[0063] Fig.10 The present invention is a flowchart of a toilet seat matching method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0064] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0065] Embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are only for exemplary purposes and are not intended to limit the scope of protection of the present invention.

[0066] The term "including" and its variations used herein are open inclusions, i.e., "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0067] In the accompanying drawings, some structural or method features are shown in a specific arrangement and / or order. However, it should be understood that such a specific arrangement and / or order may not be required. In some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. In addition, the inclusion of structural or method features in a specific figure does not mean that such features are required in all embodiments, and in some embodiments, these features may not be included or may be combined with other features.

[0068] It should be understood that although the terms "first", "second", etc. may be used here to describe various units or data, these units or data should not be limited by these terms. These terms are used only to distinguish one feature from another. For example, without departing from the scope of the exemplary embodiment, a first feature may be referred to as a second feature, and similarly, a second feature may be referred to as a first feature.

[0069] It should be noted that the modifications of "one" and "plurality" mentioned in the present invention are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more". "Plurality" should be understood as two or more.

[0070] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0071] In the embodiment of the present invention, the toilet ring refers to the toilet upper ring in the process of forming a wet-blank toilet, and the mud-blank toilet is formed by bonding the toilet upper ring and the toilet body. Next refers to grabbing the toilet upper ring and placing it on the toilet body, and bonding the toilet upper ring and the toilet body together, and this process is called next.

[0072] Example 1

[0073] Figure 1 Schematic diagram of the application of the toilet seat matching system according to an embodiment of the present invention. Figure 1As shown, an embodiment of the present invention provides a toilet seat connecting and matching system, including a connecting robot system 100 and a matching robot system 200. The connecting robot system 100 is used to grab the toilet seat 300 and position the toilet body 400, and then place the toilet seat 300 on the toilet body 400, and press the toilet seat through the servo system and floating device on the connecting robot system 100; the matching robot system 200 is used to shape the connecting position (the upper part of the toilet body 400) on the toilet body 400 according to the outer contour of the standard toilet clay, and after the toilet seat 300 is placed on the toilet body 400, use a roller to roll the outer side of the connecting position on the toilet body 400, and cooperate with the connecting robot system 100 to make the joint surface of the toilet seat 300 and the toilet body 400 seamless.

[0074] Figure 2 Schematic diagram of the structure of the robot system according to an embodiment of the present invention. Figure 2 As shown, the robot system 100 includes: a first robot base 101, a robot body 102, a servo adjustment assembly 103, a floating suction cup assembly 104, a vacuum generator assembly 105, a proportional valve 106, a pipeline package 107, a solenoid valve assembly 108, and an electrical box assembly 109. The robot body 102 is mounted on the first robot base 101, the vacuum generator assembly 105, the proportional valve 106, the pipeline package 107, the solenoid valve assembly 108, and the electrical box assembly 109 are all mounted on the robot body 102, and the servo adjustment assembly 103 is mounted on the T-axis flange of the robot body 102 by screws. The floating suction cup assembly 104 is connected to the robot body 102 by a cross-axis floating device 1034 (such as Figure 3 As shown) is connected to the servo adjustment assembly 103 and to the vacuum generator assembly 105.

[0075] In an embodiment of the present invention, the proportional valve 106, the pipeline package 107, the solenoid valve assembly 108, and the electrical box assembly 109 are respectively connected to the robot body 102 through the mounting plate. The proportional valve 106 is used to control the size of the air source pressure to adjust the suction force of the vacuum sponge suction cups 431-434. The pipeline package 107 is used to place air pipes and cables to prevent wear during the movement of the robot. The solenoid valve assembly 108 includes five solenoid valves, which are used to control the four vacuum generators 531-534 to generate and destroy vacuum and control the extension and retraction of the pneumatic device (including four groups of cylinders 371-374, the main function of the four groups of cylinders is to maintain the fixed state and floating state of the floating suction cup assembly together with the cross-axis floating device: the cylinder extends out of the floating suction cup assembly to be fixed, and the cylinder retracts the floating suction cup assembly to be in a floating state). The electrical box assembly 109 is a box for placing electrical terminals, which is responsible for power supply and communication of the equipment.

[0076] Figure 3 is a schematic diagram of the structure of a servo adjustment component according to an embodiment of the present invention, as shown in Figure 3 As shown, the servo adjustment assembly 103 includes a mounting frame 1031, a laser rangefinder 1032, a visual calibration pin 1033, a cross-axis floating device 1034, a first camera 1035, a servo adjustment system (including four groups of servo electric cylinders 361-364, which are respectively arranged around the mounting frame 1031), and a pneumatic device (including four groups of cylinders 371-374, which are respectively and correspondingly installed on the outside of the four groups of servo electric cylinders 361-364. The visual calibration pin 1033 is used to calibrate the position calibration accuracy of the first camera 1035 and the robot body 102.

[0077] Figure 4 Schematic diagram of the structure of a floating suction cup assembly according to an embodiment of the present invention. Figure 4 As shown, the floating suction cup assembly 104 includes a first mounting plate 1041, and a plurality of digital vacuum pressure gauges 421-424 mounted on vacuum sponge suction cups 431-434. Vacuum sponge suction cups 431-434 are respectively arranged on the lower surface around the first mounting plate 1041, and the vacuum sponge suction cups 431-434 are used to suck the toilet seat 300.

[0078] Figure 5 is a schematic diagram of the structure of a vacuum generator assembly according to an embodiment of the present invention, as shown in Figure 5 As shown, the vacuum generator assembly 105 includes a second mounting plate 1051, four filters 521-524, and four vacuum generators 531-534. The second mounting plate 1051 is used to mount the filters 521-524 and the vacuum generators 531-534, and is connected to the robot body 102. The filters 521-524 are used to filter impurities and dust that fall from the toilet seat 300 during suction. Both sides of the second mounting plate 1051 are downward bending areas, and the four vacuum generators 531-534 are respectively mounted at the top edge of the second mounting plate 1051. The four filters 521-524 are respectively located below the four vacuum generators 531-534 and fixed on the bending area of ​​the second mounting plate 1051.

[0079] Figure 6 Schematic diagram of the matching robot system structure according to an embodiment of the present invention. Figure 6As shown, the matching robot system 200 of this embodiment includes: a second robot base 201, a matching robot body 202, a second camera 203, a floating device 204 and a roller mechanism 205. The matching robot body 202 is mounted on the second robot base 201, the second camera 203 and the floating device 204 are both mounted on the upper end of the matching robot body 202, and the roller mechanism 205 is fixed on the floating device 204. Before the toilet ring is connected, the roller of the roller mechanism 205 is used to perform the initial shaping of the toilet body 400, and after the toilet ring is connected, the outer side of the connection position on the toilet body 400 is rolled, so that there is no gap between the joint surface of the toilet ring 300 and the toilet body 400.

[0080] The toilet seat joining and matching system of the embodiment of the present invention is used in the toilet seat transport and joining process, and utilizes the stability of the robot, imitates the manual joining technique, realizes the automation of toilet seat joining and matching, and has the following characteristics: reducing manual labor intensity, improving product quality, intelligent control, etc.

[0081] The toilet seat matching system of the present invention has the following working process:

[0082] Initial state: Then the robot body 102 is in the servo-powered state, the cylinders 371-374 of the pneumatic device are in the extended state, the servo electric cylinders 361-364 of the servo adjustment system are in the retracted state, and the vacuum generators 531-534 are in the closed state. The matching robot body 202 is in the servo-powered state, and the floating device 204 remains in the floating state;

[0083] 1) After receiving the operation instruction, the robot body 102 moves to the top of the toilet body 400, takes a picture of the toilet body 400 through the first camera 1035, and corrects the X, Y, and θ position angle parameters of the toilet body 400. Figure 7 Explain the principle of the camera correcting the robot's position:

[0084] ① Obtain the robot's reference pose matrix T base

[0085]

[0086] Among them, x base ,y base 、z base The translation coordinate of the reference, r 11 、r 21 、r 31 ...are the known parameters of the rotation matrix.

[0087] ②According to the deviations (Δx, Δy, Δθ) detected by the 2D camera, the transformation matrix T is obtained offset

[0088]

[0089] ③ Compensate the deviation to the reference pose to obtain the corrected matrix T new

[0090]

[0091] Then, the robot body 102 moves to the target position according to the photographing result, measures the distance through the laser rangefinder 1032, and corrects the Z-axis height parameter of the toilet body 400.

[0092] In the embodiment of the present invention, the principle of point laser correction of the height parameter of the toilet body in the Z direction is:

[0093] ① Get the translation coordinates of the benchmark

[0094]

[0095] ②According to the height difference Δz measured by the displacement sensor, the conversion coordinates are obtained

[0096]

[0097] ③ Compensate the height difference to the reference translation coordinates to obtain the corrected coordinates P new

[0098]

[0099] 2) The matching robot body 202 moves to the top of the toilet body 400, takes a picture of the toilet body 400 with the second camera 203, and corrects the X, Y, and θ position angle parameters. The matching robot body 202 moves to the target position according to the picture taking result, and uses the roller mechanism 205 at the end of the floating device 204 to adjust the position of the toilet body 400 as shown in the figure. Figure 8 The first shaping is performed on the connecting position of the toilet body 400 in the order indicated in the middle figure. During the first shaping, after the floating mechanism 205 is fully extended, the outer contour trajectory of the roller is the same as the outer contour of the standard toilet clay blank as the standard for the first shaping. If the shape of the toilet body 400 is not deformed, the roller will just contact the toilet body 400 without applying pressure. If the toilet body 400 has an outward expansion deformation, the roller will apply a certain thrust to the outward expansion of the toilet body 400 to shape the toilet body 400. For concave deformation, the roller does not contact the body and no treatment is performed. After the first shaping is completed, the matching robot body 202 returns to the standby position.

[0100] 3) Then the robot body 102 moves to the top of the toilet seat 300, takes a photo with the first camera 1035, and corrects the X, Y, and θ position angle parameters of the toilet seat. Then the robot body 102 moves to the target position according to the photo result, measures the distance with the laser rangefinder 1032, and corrects the Z-direction height parameter of the toilet seat 300. Then the robot body 102 moves to the grasping position, the vacuum generator 531-534 is turned on, the vacuum sponge suction cups 431-434 suck the toilet seat 300, and the digital vacuum pressure gauges 421-424 reach the set pressure value, and the grasping is successful.

[0101] 4) Then the robot body 102 moves to the toilet body 400 connection position, and the cylinders 371-374 of the pneumatic device retract, so that the horizontal fixation is released. The vacuum generators 531-534 break the vacuum, and the vacuum sponge suction cups 431-434 release the toilet seat 300, and the toilet seat 300 is placed on the toilet body 400 by its own weight.

[0102] Matching robot body 202 moves to the target position, according to Fig. 9 In the order indicated by the arrows, the roller mechanism 205 at the end of the floating device 204 is used to roll the outer side of the toilet body 400 at the next position. Fig. 9 After the toilet body 400 is contacted by the third servo electric cylinder 363 and the fourth servo electric cylinder 364 in the servo adjustment system on the robot body 102, the third servo electric cylinder 363 and the fourth servo electric cylinder 364 in the servo adjustment system on the robot body 102 extend simultaneously to press the toilet seat 300 according to the set pressure. The pressure is set according to the structure and humidity of the toilet seat 300. The pressure setting should be satisfied to ensure that there is no gap between the joint surface of the toilet seat 300 and the toilet body 400, and the toilet seat should not be deformed or cracked.

[0103] 5) When the roller mechanism 205 reaches Fig. 9 After reaching position ③, the fourth servo electric cylinder 364 in the servo adjustment system on the robot body 102 is retracted, and at the same time, the second servo electric cylinder 362 in the servo adjustment system on the robot body 102 is extended to press the toilet seat 300 according to the set pressure. Fig. 9 After reaching position ②, the third servo electric cylinder 363 in the servo adjustment system on the robot body 102 is retracted, and at the same time, the first servo electric cylinder 361 in the servo adjustment system on the robot body 102 is extended to press the toilet seat 300 according to the set pressure. Fig. 9After reaching position ①, the second servo electric cylinder 362 in the servo adjustment system on the robot body 102 is retracted, and the fourth servo electric cylinder 364 in the servo adjustment system on the robot body 102 is extended to press the toilet seat 300 according to the set pressure. The roller mechanism 205 finally reaches the end position ( Fig. 9 The first servo electric cylinder 361 and the fourth servo electric cylinder 364 in the servo adjustment system on the robot body 102 are retracted. The matching robot body 202 leaves the matching position and returns to the operation origin. The cylinders 371-374 in the pneumatic device extend, and the floating suction cup assembly 104 remains in a horizontal state. Then the robot body 102 leaves the matching position, and then completes and returns to the operation origin.

[0104] The toilet seat fitting system provided by the present invention has the following advantages:

[0105] The present invention utilizes a servo gas floating controlled roller (matched on the robot body) and a servo electric cylinder + floating suction cup device (connected to the robot body), and realizes the automation of connecting the toilet rim and the body through the matching operation of the roller and the servo electric cylinder, thereby replacing the manual two-hand operation in the matching work of the toilet rim and the body in actual production;

[0106] Adopt sponge suction cups (4 groups) to grab the upper ring of the toilet, carry it and match it with the toilet body. The sponge suction cups cover a large area and can be applied to the production of a variety of products. They are highly versatile. The electrical proportional valve is used to control the suction force of the sponge suction cups to achieve different adsorption force requirements for different products, protect the products and prevent deformation.

[0107] The present invention is equipped with a camera and a laser distance measuring device. Before grabbing, the camera is used to take pictures and the laser is used to measure the distance to locate the toilet seat, thereby ensuring the grabbing accuracy and the connection accuracy.

[0108] The floating suction cup assembly of the present invention adopts a cross-axis floating device and uses a servo system to perform sequential pressing to imitate manual bonding and improve the product qualification rate;

[0109] The present invention is equipped with 4 pneumatic devices, which, when extended, work together with the cross-axis floating device to keep the sponge suction cup in a horizontal state, and when retracted, the sponge suction cup is in a floating state;

[0110] The sponge suction cup of the present invention adopts a split vacuum generator and is equipped with a filter, which can effectively deal with dust and impurities on the toilet seat in a mud blank state.

[0111] Example 2

[0112] This embodiment provides a toilet seat fitting method. Fig.10This is a flow chart of a toilet seat matching method according to an embodiment of the present invention. Fig.10 The toilet seat matching method of the present invention is described in detail.

[0113] First, in step 1001, the robot system takes a photo to locate the toilet body, and corrects the X, Y, and θ position angle parameters of the toilet body. The robot system is then equipped with a first camera. After receiving the operation instruction, the robot system moves the first robot to the top of the toilet body, takes a photo of the toilet body through the camera, and then corrects the X, Y, and θ position angle parameters of the toilet body.

[0114] In step 1002, the robot system then corrects the Z-direction height parameter of the toilet body. The robot system is then equipped with a laser rangefinder, which measures the distance and corrects the Z-direction height parameter of the toilet body.

[0115] In step 1003, the matching robot system takes a photo to locate the toilet body, and corrects the X, Y, and θ position angle parameters of the toilet body. The matching robot system is equipped with a second camera. After receiving the operation instruction, the matching robot system moves the second robot to the top of the toilet body, takes a photo of the toilet body through the second camera, and then corrects the X, Y, and θ position angle parameters of the toilet body.

[0116] In step 1004, the matching robot system shapes the connection position on the toilet body according to the outer contour of the standard toilet clay. The matching robot system is equipped with a floating device and a roller mechanism. The roller mechanism at the end of the floating device is used to perform the initial shaping of the connection position on the toilet body according to the preset instruction sequence. The outer contour trajectory of the roller is the same as the outer contour of the standard toilet clay as the standard for the initial shaping, and the connection position on the toilet body is initially shaped.

[0117] In step 1005, the robot system then takes a photo to locate the toilet seat, and corrects the X, Y, and θ position angle parameters of the toilet seat. Then, the robot system moves the first robot to the top of the toilet seat, takes a photo of the toilet seat through the camera, and then corrects the X, Y, and θ position angle parameters of the toilet seat.

[0118] In step 1006, the robot system then corrects the Z-axis height parameter of the toilet seat.

[0119] In step 1007, the robot system then moves to the grabbing position to grab the toilet seat. Then the robot system moves the first robot to the grabbing position according to the camera positioning result. Then the robot system uses a sponge suction cup (4 groups) to grab the toilet seat, carry it and match it with the toilet body.

[0120] In step 1008, the robot system then moves to the attachment position of the toilet body, places the grasped toilet ring on the toilet body, and presses the toilet ring through the servo adjustment assembly.

[0121] In step 1009, the matching robot system moves to the target position, uses a roller mechanism to roll the outside of the connecting position of the toilet body, and cooperates with the connecting robot system to ensure that there is no gap between the joint surface of the toilet ring and the toilet body, but does not cause deformation and cracks to the toilet ring.

[0122] In some exemplary embodiments, the configuration of the robot system and the matching robot system is as described in Example 1.

[0123] In some exemplary embodiments, the step of the robot system moving to the grasping position to grasp the toilet seat further includes: the robot system controls the robot to move to the grasping position of the toilet seat, turns on the vacuum generator, and sucks the toilet seat through the vacuum sponge suction cup; when the digital vacuum pressure meter reaches the set pressure value, the grasping is successful.

[0124] In some exemplary embodiments, the matching robot system moves to the target position, and uses a roller mechanism to roll the outer side of the connecting position of the toilet body to make the joint surface of the toilet ring and the toilet body seamless, further comprising:

[0125] With respect to the outer side of the connecting position on the toilet body on which the toilet seat is placed, the matching robot system uses a roller mechanism to roll the connecting position in a preset order; when the roller mechanism reaches the first position (starting position) and contacts the toilet body, the connecting robot system controls the third servo electric cylinder and the fourth servo electric cylinder in the servo adjustment system on the connecting robot body to extend simultaneously, and press the toilet seat according to the set pressure; when the roller mechanism reaches the second position, the connecting robot system controls the fourth servo electric cylinder to retract, and at the same time, the second servo electric cylinder in the servo adjustment system extends, and presses the toilet seat according to the set pressure; when the roller mechanism reaches After the third position, the following robot system controls the third servo electric cylinder in the servo adjustment system to retract, and at the same time, the first servo electric cylinder in the servo adjustment system extends to press the toilet seat according to the set pressure; when the roller mechanism reaches the fourth position, the following robot system controls the second servo electric cylinder in the servo adjustment system to retract, and at the same time, the fourth servo electric cylinder in the servo adjustment system extends to press the toilet seat according to the set pressure; after the roller mechanism reaches the fifth position (the end position), it leaves the toilet body; at the same time, the following robot system controls the first servo electric cylinder and the fourth servo electric cylinder in the servo adjustment system to retract, leave the following position, and then complete.

[0126] Those skilled in the art can understand that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions recorded in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A toilet seat fitting system, characterized in that: include: Then the robot system is used to grab the toilet seat, position the toilet body, place the toilet seat on the toilet body, and press the toilet seat; The matching robot system is used to shape the connecting position on the toilet body according to the outer contour of the standard toilet clay blank; after the toilet ring is placed on the toilet body, the outer side of the connecting position on the toilet body is rolled by a roller, and the connecting robot system is cooperated to ensure that there is no gap between the joint surface of the toilet ring and the toilet body.

2. The toilet seat attachment and matching system according to claim 1, characterized in that: The robot system comprises: Robot base; The robot body is mounted on the robot base; the robot body has a T-axis flange; A servo adjustment assembly is mounted on the T-axis flange connected to the robot body and is used to press the toilet seat; A floating suction cup assembly is mounted on the servo adjustment assembly via a cross-axis floating device and is used to grab the toilet seat; The vacuum generator assembly is installed on the connecting robot body and connected to the floating suction cup assembly.

3. The toilet seat attachment and matching system according to claim 2, characterized in that: The servo adjustment assembly includes: a mounting frame and a laser rangefinder fixed to the mounting frame, a visual calibration pin, a cross-axis floating device, a first camera, a servo adjustment system, and a pneumatic device; The servo adjustment system comprises a plurality of servo electric cylinders, and the plurality of servo electric cylinders are respectively arranged around the mounting frame; The pneumatic device comprises a plurality of groups of cylinders, and the plurality of groups of cylinders are respectively and correspondingly mounted on the outsides of the plurality of groups of servo electric cylinders; The visual calibration pin is used to calibrate the position calibration accuracy of the first camera and the robot body.

4. The toilet seat attachment and matching system according to claim 2, characterized in that: The floating suction cup assembly comprises: a mounting plate, a plurality of digital vacuum pressure gauges, and a plurality of vacuum sponge suction cups; The multiple digital vacuum pressure gauges are respectively installed on the vacuum sponge suction cups; The multiple vacuum sponge suction cups are respectively arranged on the lower surface around the mounting plate and are used to suck the toilet seat.

5. The toilet seat attachment and matching system according to claim 2, characterized in that: The vacuum generating assembly includes a mounting plate, a plurality of filters, and a plurality of vacuum generators; The mounting plate is used to connect the robot body; both sides of the mounting plate are downward bending areas; The plurality of vacuum generators are respectively fixed at the top edge of the mounting plate; The multiple filters are respectively fixed on the bending areas of the mounting plate and are located below each of the vacuum generators.

6. The toilet seat attachment and matching system according to claim 1, characterized in that: The matching robot system comprises: Robot base; A matching robot body is installed on the robot base; The second camera and the floating device are both installed at the end of the matching robot body. The force of the floating device is adjustable and has constant force floating and force feedback functions; The roller mechanism is fixed on the floating device, and the roller is used to shape the connection position on the toilet body.

7. A toilet seat fitting method, characterized in that: The following steps are involved: Then the robot system takes a photo to locate the toilet body and corrects the X, Y, and θ position angle parameters of the toilet body; Then the robot system corrects the Z-height parameter of the toilet body; The matching robot system takes photos to locate the toilet body, and corrects the X, Y, and θ position angle parameters of the toilet body; The matching robot system uses a roller mechanism to perform initial shaping of the connection position on the toilet body according to the outline of the standard toilet clay blank; Then the robot system takes a photo to locate the toilet seat and corrects the X, Y, and θ position angle parameters of the toilet seat; Then the robot system corrects the Z-height parameter of the toilet seat; The robotic system then moves to the grasping position and grasps the toilet seat; Then the robot system moves to the attachment position of the toilet body, places the grasped toilet seat on the toilet body, and presses the toilet seat through the servo adjustment component; The matching robot system moves to the target position, uses a roller mechanism to roll the outer side of the connecting position of the toilet body, and cooperates with the connecting robot system to ensure that there is no gap between the joint surfaces of the toilet ring and the toilet body.

8. The toilet seat connection and matching method according to claim 7, characterized in that: The step of then moving the robot system to the grabbing position to grab the toilet seat further includes: The robot system then controls the robot to move to the grabbing position of the toilet seat, turns on the vacuum generator, and sucks the toilet seat through the vacuum sponge suction cup. When the digital vacuum pressure meter reaches the set pressure value, the grabbing is successful.

9. The toilet seat bonding method according to claim 7, characterized in that: The matching robot system moves to the target position, and uses a roller mechanism to roll the outer side of the connecting position of the toilet body to make the joint surface of the toilet ring and the toilet body seamless, further comprising: For the connecting position on the toilet body with the toilet seat, the matching robot system uses a roller mechanism to roll the outer side of the connecting position according to a preset sequence; When the roller mechanism reaches the first position and contacts the toilet body, the robot system then controls the third servo electric cylinder and the fourth servo electric cylinder to extend simultaneously and press the toilet seat according to the set pressure; When the roller mechanism reaches the second position, the robot system then controls the fourth servo electric cylinder to retract, and the second servo electric cylinder to extend, pressing the toilet seat according to the set pressure; When the roller mechanism reaches the third position, the robot system then controls the third servo electric cylinder to retract, and at the same time the first servo electric cylinder extends to press the toilet seat according to the set pressure; When the roller mechanism reaches the fourth position, the robot system then controls the second servo electric cylinder to retract, and the fourth servo electric cylinder to extend, pressing the toilet seat according to the set pressure; After the roller mechanism reaches the fifth position, it leaves the toilet body; the connecting robot system controls the first servo electric cylinder and the fourth servo electric cylinder to retract, leaving the connecting position, and the connecting is completed.

10. The toilet seat connection and matching method according to claim 7, characterized in that: The following robot system is configured with a first camera and a laser rangefinder, which are respectively used to correct the X, Y, θ position angle parameters and Z direction height parameters of the toilet body and the toilet seat; the matching robot system is configured with a second camera, which is used to correct the X, Y, θ position angle parameters of the toilet body.

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