Closestool ring grabbing and connecting device

Abstract

The utility model provides a toilet seat grabbing and connecting device. The toilet seat grabbing and connecting device comprises a robot base; the robot body is mounted on the robot base; the robot body is provided with a T-axis flange; the servo adjusting assembly is mounted on the T-shaft flange of the robot body; the floating suction cup assembly is installed on the servo adjusting assembly and used for grabbing the toilet seat; the vacuum generator assembly is installed on the robot body and connected with the floating suction cup assembly. The toilet seat carrying and bonding device is matched with a robot to be applied in the toilet seat carrying and bonding process, manual bonding is simulated through the stability of the robot, and toilet seat carrying and bonding automation is achieved, so that the manual labor intensity is reduced, and the product quality is improved.

Description

Technical Field

[0001] This application relates to the field of sanitary ware manufacturing technology, and in particular to a toilet seat gripping and attaching device. Background Technology

[0002] With the continuous development of technology, robotics is gradually penetrating various industries. As an important part of people's daily lives, the application of robots in the bathroom industry will greatly reduce the labor intensity of operators, increase work efficiency, and reduce production costs.

[0003] Currently, the industry mainly relies on manual handling and bonding, which is done by two people. This results in problems such as high labor intensity, poor stability, inability to adjust the bonding force, and the need for manual pressing after bonding. Utility Model Content

[0004] To address the shortcomings of existing technologies, the purpose of this application is to provide a toilet seat gripping and attaching device that utilizes the stability of a robot to mimic the manual attachment technique, thereby automating the handling and attachment of toilet seats.

[0005] To achieve the above objectives, the toilet seat gripping and attaching device provided in this application includes:

[0006] Robot base;

[0007] The robot body is mounted on the robot base; the robot body has a T-axis flange.

[0008] A servo adjustment assembly is mounted on the T-axis flange of the robot body;

[0009] A floating suction cup assembly, mounted on the servo adjustment assembly, is used to grip the toilet seat;

[0010] A vacuum generator assembly is mounted on the robot body and connected to the floating suction cup assembly.

[0011] Furthermore, it also includes: a pipeline package, a proportional valve, a solenoid valve assembly, and an electrical box assembly, which are respectively fixed on the robot body.

[0012] Furthermore, the floating suction cup assembly is mounted on the servo adjustment assembly via a cross-axis floating device.

[0013] Furthermore, the servo adjustment assembly includes: a mounting frame and a laser rangefinder, a visual calibration needle, a cross-axis floating device, a camera, a servo adjustment system, and a pneumatic buffer device fixed on the mounting frame;

[0014] The servo adjustment system includes multiple sets of servo electric cylinders, which are respectively arranged around the mounting frame.

[0015] The pneumatic buffer device includes multiple sets of cylinders, which are respectively installed on the outside of the multiple sets of servo electric cylinders.

[0016] The visual calibration needle is used to calibrate the positional accuracy of the camera and the robot body.

[0017] Furthermore, the floating suction cup assembly includes: a mounting plate, multiple digital vacuum pressure gauges, and multiple vacuum sponge suction cups;

[0018] The plurality of digital vacuum pressure gauges are respectively mounted on the mounting plate;

[0019] The plurality of vacuum sponge suction cups are respectively disposed on the lower surface around the mounting plate to hold the toilet seat.

[0020] Furthermore, the vacuum generator assembly includes a mounting plate, multiple filters, and multiple vacuum generators;

[0021] The mounting plate is used to connect the robot body; both sides of the mounting plate are downwardly bent areas.

[0022] The plurality of filters are respectively fixed at the top edge of the mounting plate;

[0023] The plurality of vacuum generators are respectively fixed on the bent area of ​​the mounting plate and located below each of the filters.

[0024] The toilet seat gripping and attaching device of this application has the following advantages compared with the prior art:

[0025] By using robots in the process of handling and connecting toilet seats, the stability of the robots is utilized to mimic manual handling, thus automating the handling and connecting of toilet seats, reducing the intensity of manual labor and improving product quality.

[0026] Other features and advantages of this application will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing this application. Attached Figure Description

[0027] The accompanying drawings are provided to further illustrate the present application and form part of the specification. Together with the embodiments of the present application, they serve to explain the present application but do not constitute a limitation thereof. In the drawings:

[0028] Figure 1 This is a three-dimensional structural diagram of the toilet seat gripping and attaching device according to an embodiment of this application;

[0029] Figure 2This is a front view of the toilet seat gripping and attaching device according to an embodiment of this application;

[0030] Figure 3 This is a schematic diagram of the servo adjustment component structure according to an embodiment of this application;

[0031] Figure 4 This is a schematic diagram of the floating suction cup assembly structure according to an embodiment of this application;

[0032] Figure 5 This is a schematic diagram of the vacuum generator assembly structure according to an embodiment of this application;

[0033] Figure 6 This is a schematic diagram illustrating the position and angle correction according to an embodiment of this application. Detailed Implementation

[0034] The preferred embodiments of this application are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit this application.

[0035] Embodiments of this application will now be described in more detail with reference to the accompanying drawings. While some embodiments of this application are shown in the drawings, it should be understood that this application can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of this application. It should be understood that the drawings and embodiments of this application are for illustrative purposes only and are not intended to limit the scope of protection of this application.

[0036] The term "comprising" and its variations as used herein are open-ended inclusions, meaning "including but not limited to". The term "based on" means "at least partially based 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". Definitions of other terms will be given in the description below.

[0037] In the accompanying drawings, certain structural or methodological 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 necessary. In some embodiments, these features may be arranged in a manner and / or order different from that shown in the illustrative drawings. Furthermore, the inclusion of structural or methodological features in a particular figure does not imply that such features are required in all embodiments, and in some embodiments, these features may be omitted or may be combined with other features.

[0038] It should be understood that although terms such as "first," "second," etc., may be used herein to describe various units or data, these units or data should not be limited by these terms. These terms are used merely to distinguish one feature from another. For example, without departing from the scope of the exemplary embodiments, a first feature may be referred to as a second feature, and similarly, a second feature may be referred to as a first feature.

[0039] It should be noted that the terms "one" and "multiple" used in this application are illustrative rather than restrictive, and those skilled in the art should understand that, unless explicitly stated otherwise in the context, they should be understood as "one or more". "Multiple" should be understood as two or more.

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0041] In the description of this application, it should be understood that the terms "upper", "lower", "side", "top", "inner", "front", "both ends", etc., that may be mentioned indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0042] In an embodiment of this application, a toilet seat gripping and attaching device is provided, comprising:

[0043] Robot base;

[0044] The robot body is mounted on the robot base; the robot body has a T-axis flange.

[0045] A servo adjustment assembly is mounted on the T-axis flange of the robot body;

[0046] A floating suction cup assembly, mounted on the servo adjustment assembly, is used to grip the toilet seat;

[0047] A vacuum generator assembly is mounted on the robot body and connected to the floating suction cup assembly.

[0048] In the embodiments of this application, the toilet seat refers to the upper toilet seat during the wet toilet molding process. The mud toilet is formed by bonding the upper toilet seat and the toilet body together. This application utilizes a robot to pick up the upper toilet seat from the previous workstation and match it with the toilet body, bonding them together. This process is called joining.

[0049] Figure 1This is a three-dimensional structural diagram of the toilet seat gripping and attaching device according to an embodiment of this application. Figure 2 This is a front view of the toilet seat gripping and attaching device according to an embodiment of this application. Reference will be made below. Figure 1 and Figure 2 The specific embodiments of this application will be described in further detail below.

[0050] The toilet seat gripping and attaching device of this application includes a robot base 1, a robot body 2, a servo adjustment assembly 3, a floating suction cup assembly 4, a vacuum generator assembly 5, a proportional valve 6, a pipeline package 7, a solenoid valve assembly 8, and an electrical box assembly 9. The robot body 2 is mounted on the robot base 1. The vacuum generator assembly 5, proportional valve 6, pipeline package 7, solenoid valve assembly 8, and electrical box assembly 9 are all mounted on the robot body 2. The servo adjustment assembly 3 is screwed onto the T-axis flange of the robot body 2. The floating suction cup assembly 4 is floated via a cross-axis floating device 34 (e.g., ...). Figure 3 (As shown) is connected to the servo adjustment assembly 3 and connected to the vacuum generator assembly 5.

[0051] In the embodiments of this application, the proportional valve 6, the tubing bundle 7, the solenoid valve assembly 8, and the electrical box assembly 9 are connected to the robot body 2 via a mounting plate. The proportional valve 6 controls the air source pressure to adjust the suction force of the vacuum sponge suction cups 431-434. The tubing bundle 7 houses the air pipes and cables to prevent wear during robot movement. The solenoid valve assembly 8 contains five solenoid valves, which control the four vacuum generators 531-534 to generate and break vacuums, and control the extension and retraction of the pneumatic buffer device (including four sets of cylinders 371-374). The electrical box assembly 9 is a box for housing electrical terminals, responsible for power supply and communication of the equipment.

[0052] Figure 3 This is a schematic diagram of the servo adjustment component structure according to an embodiment of this application, such as... Figure 3 As shown, the servo adjustment assembly 3 includes a mounting frame 31, a laser rangefinder 32, a vision calibration pin 33, a cross-axis floating device 34, a camera 35, a servo adjustment system (including four sets of servo cylinders 361-364, respectively arranged around the mounting frame 31), and a pneumatic buffer device (including four sets of air cylinders 371-374, respectively installed on the outside of the four sets of servo cylinders 361-364). The vision calibration pin 33 is used to calibrate the positional accuracy of the camera 35 and the robot body 2.

[0053] Figure 4 This is a schematic diagram of the floating suction cup assembly structure according to an embodiment of this application, as shown below. Figure 4As shown, the floating suction cup assembly 4 includes a first mounting plate 41, multiple digital vacuum pressure gauges 421-424 mounted on the first mounting plate 41, and vacuum sponge suction cups 431-434 respectively provided on the lower surface of the first mounting plate 41. The vacuum sponge suction cups 431-434 are used to suction the toilet seat 45.

[0054] Figure 5 This is a schematic diagram of the vacuum generator assembly structure according to an embodiment of this application, as shown below. Figure 5 As shown, the vacuum generator assembly 5 includes a second mounting plate 51, four filters 521-524, and four vacuum generators 531-534. The second mounting plate 51 is used to mount the filters and vacuum generators, and to connect the robot body 2. The filters 521-524 are used to filter impurities and dust that fall from the toilet seat 45 during suction. The two sides of the second mounting plate 51 are downwardly bent areas. The four filters 521-524 are respectively mounted on the top edge of the second mounting plate 51, and the four vacuum generators 531-534 are respectively located below the four filters 521-524 and fixed on the bent areas of the second mounting plate 51.

[0055] The toilet seat gripping and attaching device of this application embodiment is used in the process of toilet seat handling and attaching. It utilizes the stability of a robot and imitates the manual attaching method to realize the automation of toilet seat handling and attaching. It has the following characteristics: reducing the intensity of manual labor, improving product quality, and intelligent control.

[0056] The toilet seat gripping and attaching device of this application has the following working process:

[0057] Initial state: Robot body 2 is in servo powered-on state, cylinders 371-374 in the pneumatic buffer device are in the extended state, servo electric cylinders 361-364 in the servo adjustment system are in the retracted state, and vacuum generators 531-534 are in the off state.

[0058] 1) Toilet body camera image positioning: After receiving the instruction, the robot moves above the toilet body, and camera 35 takes an image, correcting the X, Y, and θ position angles of the toilet body. Based on the image results, the robot moves to the designated position, and laser rangefinder 32 measures the distance, correcting the Z-axis height of the toilet body.

[0059] 2) Camera-based toilet seat positioning: The robot moves above the toilet seat, and camera 35 takes a picture, correcting the X, Y, and θ position angles of the toilet seat. Based on the picture, the robot moves to the target position, and laser rangefinder 32 measures the distance, correcting the Z-axis height of the toilet seat. The robot moves to the gripping position, vacuum generators 531-534 are activated, vacuum sponge suction cups 431-434 pick up the toilet seat, and digital vacuum pressure gauges 421-424 reach the set pressure value, indicating successful gripping.

[0060] 3) The robot moves to the toilet seat's contact position, and the pneumatic buffer cylinders 371-374 retract, thus achieving a horizontal fixation. The vacuum generator 531-534 and vacuum sponge suction cups 431-434 release the toilet seat, which rests on the toilet seat under its own weight. The servo cylinders 361-364 of the servo adjustment system extend sequentially, applying servo pressure to the toilet seat according to the set pressure. After pressing, all servo cylinders 361-364 retract, and the pneumatic buffer cylinders 371-374 extend. The floating suction cup assembly 4 remains horizontal. The robot leaves the contact station.

[0061] 4) The robot then completes its task and returns to its initial position.

[0062] The toilet seat gripping and attaching device provided in this application has the following advantages:

[0063] Using four sets of sponge suction cups, the upper seat of the toilet is gripped, transported, and matched with the toilet body. The sponge suction cups have a large coverage area and can be used for the production of various products, making them highly versatile. An electric proportional valve is used to control the suction force of the sponge suction cups, so that different products can be used with different adsorption force requirements, protecting the products and preventing deformation.

[0064] Equipped with a camera and laser rangefinder, the toilet seat is positioned by taking pictures with the camera and measuring the laser range before grabbing, ensuring grabbing and attachment accuracy.

[0065] The floating suction cup assembly uses a cross-axis floating device and a servo system to perform sequential pressing, mimicking manual handling and improving the product qualification rate.

[0066] Equipped with four pneumatic buffer devices, which, together with the cross shaft, keep the sponge suction cup in a horizontal position, reducing the impact force on the servo system and improving its service life;

[0067] The sponge suction cup uses a split vacuum generator and is equipped with a filter, which effectively handles dust and impurities on toilet seats in their muddy state.

[0068] It will be understood by those skilled in the art that the above descriptions are merely preferred embodiments of this application and are not intended to limit this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A toilet seat gripping and attaching device, characterized in that, include: 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 of the robot body; A floating suction cup assembly, mounted on the servo adjustment assembly, is used to grip the toilet seat; A vacuum generator assembly is mounted on the robot body and connected to the floating suction cup assembly; The servo adjustment assembly includes: a mounting frame and a laser rangefinder, a visual calibration needle, a cross-axis floating device, a camera, a servo adjustment system, and a pneumatic buffer device fixed on the mounting frame; The servo adjustment system includes multiple sets of servo electric cylinders, which are respectively arranged around the mounting frame. The pneumatic buffer device includes multiple sets of cylinders, which are respectively installed on the outside of the multiple sets of servo electric cylinders. The visual calibration needle is used to calibrate the positional accuracy of the camera and the robot body.

2. The toilet seat gripping and attaching device according to claim 1, characterized in that, Also includes: The pipeline package, proportional valve, solenoid valve assembly, and electrical box assembly are respectively fixed on the robot body.

3. The toilet seat gripping and attaching device according to claim 1, characterized in that, The floating suction cup assembly is mounted on the servo adjustment assembly via a cross-axis floating device.

4. The toilet seat gripping and attaching device according to claim 1, characterized in that, The floating suction cup assembly includes: a mounting plate, multiple digital vacuum pressure gauges, and multiple vacuum sponge suction cups; The plurality of digital vacuum pressure gauges are respectively mounted on the mounting plate; The plurality of vacuum sponge suction cups are respectively disposed on the lower surface around the mounting plate to hold the toilet seat.

5. The toilet seat gripping and attaching device according to claim 1, characterized in that, The vacuum generator assembly includes a mounting plate, multiple filters, and multiple vacuum generators; The mounting plate is used to connect the robot body; both sides of the mounting plate are downwardly bent areas. The plurality of filters are respectively fixed at the top edge of the mounting plate; The plurality of vacuum generators are respectively fixed on the bent area of ​​the mounting plate and located below each of the filters.

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