Multifunctional tool clamp, grabbing robot and closestool stacking system

Abstract

The utility model discloses a multifunctional work fixture, a grabbing robot and a closestool stacking system, and the work fixture comprises a fixture main body which is in butt joint with an external robot; the detection module is connected with the clamp main body and is used for detecting the position of an external workpiece to be grabbed; the first grabbing module is connected with the clamp main body and is used for grabbing an external closestool; the second grabbing module is connected with the clamp main body and is used for grabbing an external plastic tray; and the third grabbing module is connected with the clamp main body and is used for grabbing an external wood base plate. The full-automatic stacking system integrates multiple functions of plastic tray placement, wood base plate grabbing, intelligent closestool grabbing and the like, the production efficiency of sanitary products can be remarkably improved through the system, the labor cost is greatly reduced, and the safety and reliability of the operation process are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, and particularly relates to a multifunctional tooling fixture, a grasping robot and a palletizing system for toilets. Background Art

[0002] Nowadays, robots are widely used in the sanitary ware industry, covering all aspects of the production process, and can perform operations such as cleaning, disinfection, grinding, polishing, glazing, handling, packaging, palletizing, etc. In recent years, 3D vision systems have also been applied in the sanitary ware processing industry, such as automatic grinding of sanitary ware, and robots are guided by 3D vision systems to perform precise operations. These applications not only improve the production efficiency and product quality of the sanitary ware industry, but also reduce labor costs and safety risks, which are important signs of the modernization and intelligentization of the sanitary ware industry. With the continuous progress of technology and the expansion of application scenarios, the role of robots in the sanitary ware industry will become more prominent.

[0003] The utility model relates to the handling and palletizing scenarios of robots applied to intelligent toilets. According to the placement requirements, intelligent toilets need to be stacked layer by layer on standard plastic pallets. The upper-layer toilets are stacked on the lower-layer toilets, with 6 toilets placed in each layer for a total of 2 layers. Wooden pallets are placed between each layer to prevent product wear, collision, and contact between toilets, playing a role of buffering and protection. In view of the problems such as high labor intensity, low efficiency, high risk, and monotonous and repetitive work content in manually performing such placement work, the utility model designs a clamping and palletizing robot with versatility to replace manual operation. Summary of the Invention

[0004] In order to solve the above technical problems, embodiments of the present application describe a multifunctional tooling fixture, a grasping robot, and a palletizing system for toilets.

[0005] In a first aspect, according to an embodiment of the present utility model, there is provided a multifunctional tooling fixture, comprising:

[0006] A fixture main body, which is docked with an external robot;

[0007] A detection module, which is connected to the fixture main body and is used for detecting the position of an external workpiece to be grasped;

[0008] A first grasping module, which is connected to the fixture main body and is used for grasping an external toilet;

[0009] A second grasping module, which is connected to the fixture main body and is used for grasping an external plastic pallet;

[0010] A third grasping module, which is connected to the fixture main body and is used for grasping an external wooden pallet.

[0011] Furthermore, the first grasping module includes:

[0012] A mounting plate, which is connected to the bottom of the fixture body;

[0013] A first grasping cylinder, which is fixed to the bottom of the mounting plate, and two first cylinder jaws are provided on the first grasping cylinder;

[0014] Two first jaw connectors, which are respectively and detachably connected to the two first cylinder jaws in a one-to-one correspondence;

[0015] A mounting frame, which is arranged at the bottom of the mounting plate;

[0016] A second grasping cylinder, which is arranged at the bottom of the mounting frame, and two second cylinder jaws are provided on the second grasping cylinder;

[0017] Two second jaw connectors, which are respectively and detachably connected to the two second cylinder jaws in a one-to-one correspondence, and the two second jaw connectors and the two first jaw connectors are arranged in four different directions respectively.

[0018] Furthermore, protective layers are provided at the contact positions of the two second jaw connectors and the two first jaw connectors with the external toilet.

[0019] Furthermore, the second grasping module includes:

[0020] Two rotating shafts, which are respectively rotatably connected to the bottoms of both sides of the fixture body, and tray grippers are installed at both ends of any one of the rotating shafts;

[0021] A driving mechanism, which drives the two rotating shafts to rotate and controls the opening and closing of the tray grippers.

[0022] Furthermore, the driving mechanism includes: two driving units, which are connected to the fixture body and are respectively and detachably connected to the two rotating shafts, and respectively drive the two rotating shafts to rotate;

[0023] Any one of the driving units includes:

[0024] A gear, which is sleeved on any one of the rotating shafts;

[0025] A linear cylinder, which is arranged on the fixture body;

[0026] A guide rail, which is arranged on the fixture body;

[0027] A slider, which is slidably connected to the guide rail;

[0028] A rack, which is connected to the output end of the linear cylinder and the slider, and the rack meshes with the gear.

[0029] Further, the third grasping module includes:

[0030] Four lifting mechanisms, which are respectively arranged at the four corners of the fixture body to provide the driving force for lifting;

[0031] Four suction cup mechanisms, which are respectively connected to the output ends of the four lifting mechanisms.

[0032] Further, one of the lifting mechanisms includes:

[0033] A lifting cylinder, which is arranged on the fixture body;

[0034] A floating joint, the top end of which is connected to the output end of the lifting cylinder;

[0035] A suction cup fixing bracket, which is connected to the bottom end of the floating joint and one of the suction cup mechanisms;

[0036] Two guide sleeves, which are connected to the fixture body;

[0037] Two guide rods, the bottom ends of which respectively penetrate through the two guide sleeves in a one-to-one correspondence and are connected to the suction cup fixing bracket.

[0038] In a second aspect, according to an embodiment of the present invention, a grasping robot is provided, which includes the multifunctional tooling fixture in the first aspect embodiment.

[0039] In a third aspect, according to an embodiment of the present invention, a palletizing system for toilets is provided, which includes:

[0040] A fence;

[0041] A plastic pallet stacking area, which is located inside the fence and is used for stacking external plastic pallets in layers;

[0042] A wooden pallet stacking area, which is located inside the fence and is used for stacking external wooden pallets in layers;

[0043] The grasping robot in the second aspect embodiment, and the grasping robot is arranged inside the fence;

[0044] A first palletizing area, which is located inside the fence and is used to provide a palletizing space for external toilets;

[0045] A second palletizing area, which is located inside the fence and is used to provide a palletizing space for external toilets.

[0046] Further, the plastic pallet stacking area, the wooden pallet stacking area, the first palletizing area and the second palletizing area are respectively located at the four corners of the fence, the first palletizing area and the second palletizing area are not diagonally arranged, and the grasping robot is located between the plastic pallet stacking area, the wooden pallet stacking area, the first palletizing area and the second palletizing area.

[0047] A multi-functional tooling fixture, a grasping robot, and a palletizing system for toilets according to an embodiment of the present invention propose a fully automatic palletizing system that integrates functions such as placing plastic pallets, grasping wooden pallets, and grasping intelligent toilets. This system can significantly improve the production efficiency of sanitary products, greatly reduce labor costs, and ensure the safety and reliability of the operation process.

[0048] Specifically, this fully automatic palletizing system not only has the ability to accurately position and place standard plastic pallets automatically, but also can intelligently identify and grasp wooden pallets, and accurately grasp and transport intelligent toilets. During the palletizing process, the system can stack intelligent toilets layer by layer and orderly on the plastic pallets according to the preset placement requirements, while ensuring that wooden pallets are correctly placed between each layer, thus effectively avoiding direct contact between the toilets and preventing product damage caused by wear or collision.

[0049] This innovative design not only greatly reduces the labor intensity of manual operations, improves work efficiency, but also significantly reduces the safety risks caused by human factors. At the same time, the fully automated operation process also ensures the consistency and accuracy of product palletizing, further improving the overall quality of sanitary products. Therefore, this fully automatic palletizing system is undoubtedly an important step for the sanitary industry to move towards modern and intelligent production, providing strong technical support for the continuous development and upgrading of the industry.

[0050] It is to be understood that both the foregoing general description and the following detailed description are exemplary and are intended to provide further explanation of the claimed technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a schematic diagram of the overall structure of a multi-functional tooling fixture according to an embodiment of the present invention.

[0052] Figure 2 It is a schematic diagram of the structure at the first grasping module of a multi-functional tooling fixture according to an embodiment of the present invention.

[0053] Figure 3 It is a schematic diagram of the structure at the second and third grasping modules of a multi-functional tooling fixture according to an embodiment of the present invention.

[0054] Figure 4 It is a schematic diagram of the overall structure of a grasping robot according to an embodiment of the present invention.

[0055] Figure 5 It is a schematic diagram of the overall structure of a palletizing system for toilets according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0056] The preferred embodiments of the present utility model will be described in detail below in conjunction with the accompanying drawings, and the present utility model will be further elaborated.

[0057] First, in conjunction with Figures 1 to 3 A multifunctional tooling fixture according to an embodiment of the present utility model is described, which is used for grasping a toilet 900, a plastic tray 700, and a wooden backing plate 800, and has a wide range of application scenarios.

[0058] As Figures 1 to 3 shown, a multifunctional tooling fixture according to an embodiment of the present utility model includes a fixture main body 1, a detection module 2, a first grasping module, a second grasping module, and a third grasping module.

[0059] Specifically, as Figures 1 to 3 shown, the fixture main body 1 is docked with an external robot through a docking flange.

[0060] Specifically, as Figures 1 to 2 shown, the detection module 2 is connected to the fixture main body 1 and is used to detect the position of an external workpiece to be grasped. The detection module 2 is a 3D camera and is used to detect the position information of the toilet 900 to obtain accurate positioning compensation for the robot.

[0061] Specifically, as Figures 1 to 2 shown, the first grasping module is connected to the fixture main body 1 and is used to grasp the external toilet 900. The first grasping module includes: a mounting plate 31, a first grasping cylinder 32, two first jaw connectors 33, a mounting frame 34, a second grasping cylinder 35, and two second jaw connectors 36. The mounting plate 31 is connected to the bottom of the fixture main body 1; the first grasping cylinder 32 is fixed to the bottom of the mounting plate 31, and two first cylinder jaws are provided on the first grasping cylinder 32; the two first jaw connectors 33 are respectively detachably connected to the two first cylinder jaws in a one-to-one correspondence; the mounting frame 34 is arranged at the bottom of the mounting plate 31; the second grasping cylinder 35 is arranged at the bottom of the mounting frame 34, and two second cylinder jaws are provided on the second grasping cylinder 35; the two second jaw connectors 36 are respectively detachably connected to the two second cylinder jaws in a one-to-one correspondence, and the two second jaw connectors 36 and the two first jaw connectors 33 are arranged in four different directions respectively. Among them, by setting the two second jaw connectors 36 and the two first jaw connectors 33 in a detachable mounting form, different second jaw connectors 36 and first jaw connectors 33 can be adapted according to the models of different toilets 900 to meet the grasping of multiple types of toilets 900.

[0062] Furthermore, as Figures 1 to 2As shown, the two second clamping claw connectors 36 and the two first clamping claw connectors 33 are provided with a protective layer 37 at the contact positions with the external toilet 900. The protective layer 37 can be made of polyurethane grippers to prevent damage to the outer surface of the toilet 900 during grasping.

[0063] Specifically, if Figure 1 , 3 As shown, the second gripping module is connected to the clamp body 1 and is used to grasp an external plastic pallet 700. The second gripping module includes two rotating shafts 41 and a drive mechanism. The two rotating shafts 41 are rotatably connected to the bottom of the clamp body 1 on both sides. A pallet gripper 411 is installed at each end of each rotating shaft 41. The drive mechanism drives the two rotating shafts 41 to rotate and control the opening and closing of the pallet gripper 411. The pallet gripper 411 has a contoured hook at the end. During the opening and closing process, the pallet gripper 411 can grasp the plastic pallet 700. In this embodiment, the pallet is a "川"-shaped plastic pallet 700.

[0064] Further, if Figure 1 , 3 As shown, the drive mechanism includes: two drive units, the two drive units are connected to the clamp body 1, and are respectively connected to the two rotating shafts 41 in a one-to-one correspondence, respectively driving the two rotating shafts 41 to rotate. Any drive unit includes: a gear 421, a linear cylinder 422, a guide rail 423, a slider 424 and a rack 425. The gear 421 is sleeved on any rotating shaft 41; the linear cylinder 422 is set on the clamp body 1; the guide rail 423 is set on the clamp body 1; the slider 424 is slidably connected to the guide rail 423; the rack 425 is connected to the output end of the linear cylinder 422 and the slider 424, and the rack 425 is meshed with the gear 421. By controlling the operation of the linear cylinder 422, the rack 425 can be driven to move, and then the gear 421 can be driven to rotate, so that the rotating shaft 41 rotates, allowing the tray clamp 411 to open and close.

[0065] Specifically, if Figure 1 , 3 As shown, the third gripping module is connected to the fixture body 1 and is used to grasp the external wooden pad 800. The third gripping module includes four lifting mechanisms and four suction cup mechanisms 52. The four lifting mechanisms are located at the four corners of the fixture body 1, providing the driving force for lifting. The four suction cup mechanisms 52 are connected to the output terminals of the four lifting mechanisms, each of which includes two vacuum cups.

[0066] Further, if Figure 1 , 3As shown in the figure, one of the lifting mechanisms includes: a lifting cylinder 511, a floating joint 512, a suction cup fixing bracket 513, two guide sleeves 514, and two guide rods 515. The lifting cylinder 511 is arranged on the fixture body 1; the top end of the floating joint 512 is connected to the output end of the lifting cylinder 511; the suction cup fixing bracket 513 is connected to the bottom end of the floating joint 512 and one of the suction cup mechanisms 52; the two guide sleeves 514 are connected to the fixture body 1; the bottom ends of the two guide rods 515 respectively penetrate through the two guide sleeves 514 in a one-to-one correspondence and are connected to the suction cup fixing bracket 513. By controlling the operation of the lifting cylinder 511, the suction cup fixing bracket 513 can be driven to lift, and then the suction cup mechanism 52 can be driven to lift.

[0067] Working principle:

[0068] Dock the fixture body 1 with an external manipulator;

[0069] When it is necessary to grasp the plastic tray 700, the two driving units operate to drive the two rotating shafts 41 to rotate, the four tray grippers 411 open, move to the position of the plastic tray 700, and then control the four tray grippers 411 to close to realize the clamping and grasping of the plastic tray 700.

[0070] When it is necessary to grasp the toilet 900, insert the two second jaw connecting pieces 36 and the two first jaw connecting pieces 33 into the toilet 900, control the operation of the first grasping cylinder 32 and the second grasping cylinder 35, and the two second jaw connecting pieces 36 and the two first jaw connecting pieces 33 extend simultaneously to support the inside of the toilet 900 to realize the grasping of the toilet 900.

[0071] When it is necessary to grasp the wooden pallet 800, move the four suction cup mechanisms 52 to the top of the wooden pallet 80, and then control the four lifting mechanisms to drive the four suction cup mechanisms 52 to move towards the wooden pallet 800, contact the wooden pallet 800 and then adsorb the wooden pallet 800 to realize the grasping of the wooden pallet 800.

[0072] As described above, in a multifunctional tooling fixture according to an embodiment of the present invention, which integrates the grasping of the plastic tray 700, the grasping of the wooden pallet 800, and the grasping of the intelligent toilet 900, the overall integration degree is high and the overall volume is small. It can significantly improve the production efficiency of sanitary products, greatly reduce the labor cost, and ensure the safety and reliability of the operation process.

[0073] The above combines the attached Figures 1 to 3 Described is a multifunctional tooling fixture according to an embodiment of the present invention. Further, the present invention can also be applied to a grasping robot.

[0074] Second aspect, as Figure 4As shown, according to an embodiment of the present utility model, a grasping robot is provided, which includes the multi-functional tooling fixture 10 of the first aspect embodiment. Thus, it also meets the requirements for grasping plastic pallets 700, wooden pallets 800, and intelligent toilets 900.

[0075] The above is combined with the attached Figure 4 A grasping robot according to an embodiment of the present utility model is described. Further, the present utility model can also be applied to a palletizing system for toilets.

[0076] In the third aspect, as Figure 5 shown, according to an embodiment of the present utility model, a palletizing system for toilets is provided, which includes: a fence 100, a plastic pallet stacking area 200, a wooden pallet stacking area 300, the grasping robot 400 of the second aspect embodiment, a first palletizing area 500, and a second palletizing area 600. The plastic pallet stacking area 200 is located inside the fence 100 and is used for stacking external plastic pallets 700 in layers; the wooden pallet stacking area 300 is located inside the fence 100 and is used for stacking external wooden pallets 800 in layers; the grasping robot 400 is arranged inside the fence 100; the first palletizing area 500 is located inside the fence 100 and is used to provide a palletizing space for external toilets 900; the second palletizing area 600 is located inside the fence 100 and is used to provide a palletizing space for external toilets 900. By setting the first palletizing area 500 and the second palletizing area 600, after palletizing is completed in one palletizing area, palletizing can be carried out in the other palletizing area without interruption, improving production efficiency.

[0077] Further, as Figure 5 shown, the plastic pallet stacking area 200, the wooden pallet stacking area 300, the first palletizing area 500, and the second palletizing area 600 are respectively located at the four corners of the fence 100. The first palletizing area 500 and the second palletizing area 600 are not diagonally arranged, and the grasping robot 400 is located between the plastic pallet stacking area 200, the wooden pallet stacking area 300, the first palletizing area 500, and the second palletizing area 600. The rational layout improves efficiency.

[0078] Working principle:

[0079] 1. First, the grasping robot 400 sequentially grabs plastic pallets 700 through the tooling fixture and places them in the first palletizing area 500 and the second palletizing area 600.

[0080] 2. The conveyor or AGV cart successively transports the toilets 900 to the designated area according to the beat requirements. The grasping robot 400 grabs the toilets 900 and sequentially places them on the plastic pallets 700.

[0081] 3. After the first layer of the plastic pallet 700 is fully loaded with toilets 900, the grasping robot 400 grabs the wooden pallet 800 and places it on the upper surface of the placed toilets 900.

[0082] 4. The grasping robot 400 stacks the toilets 900 on the wooden pallet 800 again. After the toilets 900 are fully placed according to the requirements.

[0083] 5. The operator transports the pallet full of toilets 900 to the designated area by forklift, and repeats the steps.

[0084] Above, with reference to Figure 5 A palletizing system for toilets according to an embodiment of the present invention is described, having the following beneficial effects:

[0085] (1) This mechanism realizes the grasping of multiple products and multiple materials, and not only realizes the grasping and palletizing of toilets 900, but also realizes the grasping of plastic pallets 700 and wooden pallets 800.

[0086] (2) By using a 3D camera for detection, the shape, position and internal comprehensive structure of the toilets 900 can be detected in real time.

[0087] (3) The present invention can cooperate with the conveying production line and AGV forklift to achieve automatic unmanned operation and cooperate with the digital process of the intelligent factory.

[0088] (4) The present invention replaces manual operation, greatly improves work efficiency and reduces the damage rate of products.

[0089] It should be noted that in this specification, the terms "including", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, the elements defined by the statement "comprising..." do not exclude the presence of additional identical elements in the process, method, article or device including the said elements.

[0090] Although the content of the present invention has been described in detail through the above preferred embodiments, it should be understood that the above description should not be construed as a limitation of the present invention. After those skilled in the art have read the above content, various modifications and substitutions to the present invention will be obvious. Therefore, the protection scope of the present invention should be defined by the appended claims.

Claims

1. A multi-functional tooling fixture, characterized in that, Comprising: A fixture body, which is docked with an external robot; A detection module, which is connected to the fixture body and used to detect the position of an external workpiece to be grasped; A first grasping module, which is connected to the fixture body and used to grasp an external toilet; A second grasping module, which is connected to the fixture body and used to grasp an external plastic tray; A third grasping module, which is connected to the fixture body and used to grasp an external wooden pallet.

2. The multifunctional tooling fixture according to claim 1, characterized in that, The first grasping module comprises: A mounting plate, which is connected to the bottom of the fixture body; A first grasping cylinder, which is fixed to the bottom of the mounting plate, and two first cylinder jaws are provided on the first grasping cylinder; Two first jaw connectors, which are respectively and detachably connected to the two first cylinder jaws in a one-to-one correspondence; A mounting frame, which is arranged at the bottom of the mounting plate; A second grasping cylinder, which is arranged at the bottom of the mounting frame, and two second cylinder jaws are provided on the second grasping cylinder; Two second jaw connectors, which are respectively and detachably connected to the two second cylinder jaws in a one-to-one correspondence, and the two second jaw connectors and the two first jaw connectors are arranged in four different directions respectively.

3. The multi-functional tooling fixture according to claim 2, wherein, Protective layers are provided at the contact positions of the two second jaw connectors and the two first jaw connectors with the external toilet.

4. The multifunctional tooling fixture according to claim 1, characterized in that, The second grasping module comprises: Two rotating shafts, which are respectively rotatably connected to the bottoms of both sides of the fixture body, and tray grippers are installed at both ends of any one of the rotating shafts; A driving mechanism, which drives the two rotating shafts to rotate and controls the opening and closing of the tray grippers.

5. The multifunctional tooling fixture according to claim 4, characterized in that The driving mechanism comprises: two driving units, which are connected to the fixture body and are respectively and connected to the two rotating shafts in a one-to-one correspondence, and respectively drive the two rotating shafts to rotate; Any one of the driving units comprises: A gear, which is sleeved on any one of the rotating shafts; A linear cylinder, which is arranged on the fixture body; A guide rail, which is arranged on the fixture body; A slider, which is slidably connected to the guide rail; A rack, which is connected to the output end of the linear cylinder and the slider, and the rack meshes with the gear.

6. The multi-functional tooling fixture according to claim 1, characterized in that, The third grasping module comprises: Four lifting mechanisms, which are respectively arranged at the four corners of the fixture body to provide the driving force for lifting; Four suction cup mechanisms, which are respectively connected to the output ends of the four lifting mechanisms.

7. The multifunctional tooling fixture according to claim 6, wherein One of the lifting mechanisms comprises: A lifting cylinder, which is arranged on the fixture body; A floating joint, the top end of which is connected to the output end of the lifting cylinder; A suction cup fixing bracket, which is connected to the bottom end of the floating joint and one of the suction cup mechanisms; Two guide sleeves, which are connected to the fixture body; Two guide rods, the bottom ends of the two guide rods respectively penetrate through the two guide sleeves in a one-to-one correspondence, and are connected to the suction cup fixing frame.

8. A grasping robot, characterized in that, Comprising the multifunctional tooling fixture according to any one of claims 1 to 7.

9. A palletizing system for a toilet, characterized in that, Comprising: Fence; Plastic pallet stacking area, which is located inside the fence and is used for stacking external plastic pallets in layers; Wood pallet stacking area, which is located inside the fence and is used for stacking external wood pallets in layers; The gripping robot according to claim 8, which is arranged inside the fence; First palletizing area, which is located inside the fence and is used to provide a palletizing space for external toilets; Second palletizing area, which is located inside the fence and is used to provide a palletizing space for external toilets.

10. The palletizing system of the toilet according to claim 9, characterized in that, The plastic pallet stacking area, the wood pallet stacking area, the first palletizing area and the second palletizing area are respectively located at the four corners of the fence. The first palletizing area and the second palletizing area are not diagonally arranged, and the gripping robot is located between the plastic pallet stacking area, the wood pallet stacking area, the first palletizing area and the second palletizing area.

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