CN215825036U - Robot polishing system for toilet blank - Google Patents
Robot polishing system for toilet blank Download PDFInfo
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- CN215825036U CN215825036U CN202120888927.9U CN202120888927U CN215825036U CN 215825036 U CN215825036 U CN 215825036U CN 202120888927 U CN202120888927 U CN 202120888927U CN 215825036 U CN215825036 U CN 215825036U
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Abstract
The utility model discloses a robot polishing system for a toilet blank, which comprises a conveying line, a tooling plate, a vision assembly, a polishing assembly and a central processing unit, wherein the vision assembly, the polishing assembly and the central processing unit are arranged on the conveying line; the visual assembly comprises a photographing room, an industrial camera arranged in the photographing room, a stopper arranged on the conveying line and a first centering assembly arranged on the conveying line; the polishing assembly comprises a polishing room, a polishing robot arranged in the polishing room and a second centering assembly arranged on the conveying line; the industrial camera and the polishing robot are both connected with the central processing unit, and the central processing unit comprises a data processing module and a control module; the data processing module can acquire the position offset information of the toilet blank 2 through the industrial camera, so that the control module can adjust the initial pose of the grinding robot. By implementing the utility model, the polishing precision and efficiency of the toilet bowl blank can be improved.
Description
Technical Field
The utility model relates to the technical field of closestool production equipment, in particular to a robot polishing system for a closestool blank.
Background
The outer surface of a toilet blank is required to be polished in the production process of the ceramic toilet, and the aim is to smooth the outer surface of the toilet blank so as to improve the appearance quality of a product. At present, all manufacturers manually hold polishing cloth to polish toilets, and the following problems exist: 1. a lot of dust can be generated in the polishing process, so that the worker is greatly injured, and occupational diseases are caused. 2. The quality of the ground product is unstable under the influence of personal emotion, proficiency, responsibility and other factors.
In the prior art, a robot is used for grinding instead of a human. The specific method comprises the following steps: and building a conveying line, manufacturing tool plates with uniform sizes, placing the tool plates on the conveying line, holding the toilet blank by workers and placing the toilet blank on the tool plates, and conveying the toilet into a robot polishing room by the conveying line. The technician manipulates the robot so that the sanding head is in a proper position, referred to as the origin of the robot. The distance between the sanding head and the toilet bowl at this time is referred to as the "origin distance". And writing a polishing program and storing the program. The program is released and the robot begins to grind. The grinding operation should be established on the basis of unchanged 'origin distance'. However, the toilet is manually put on the toilet, the accuracy is determined by visual inspection, and the toilet is influenced by personal emotion, proficiency, responsibility and other factors, the position of the toilet blank placed on the tooling plate always has deviation and can not be unified, and compared with the standard position, the toilet blank may deviate from the left, right, front and back, and also has angular deviation, namely, the original point distance is always changed. Although the grinding head has a certain amount of extension and retraction, the deviation of the distance between the original points is allowed, but the deviation amount cannot be too large and exceeds the allowed value, the operation of grinding the closestool by the robot cannot be well finished, and the closestool cannot be ground or is ground too much or is broken.
Disclosure of Invention
The utility model aims to provide a robot polishing system for a toilet blank, which can improve the polishing precision and efficiency of the toilet blank.
In order to solve the technical problem, the utility model provides a robot polishing system for a toilet blank, which comprises a transportation line, a tooling plate for transporting the toilet blank, a vision assembly, a polishing assembly and a central processing unit, wherein the vision assembly, the polishing assembly and the central processing unit are arranged on the transportation line;
the visual assembly comprises a photographing room, an industrial camera arranged in the photographing room, a stopper arranged on the conveying line and a first centering assembly arranged on the conveying line;
the polishing assembly comprises a polishing room, a polishing robot arranged in the polishing room and a second centering assembly arranged on the conveying line;
the industrial camera and the polishing robot are both connected with the central processing unit, and the central processing unit comprises a data processing module and a control module; the data processing module can acquire the position offset information of the toilet blank 2 through the industrial camera, so that the control module can adjust the initial pose of the grinding robot.
As an improvement of the technical scheme, the stopper comprises an air cylinder and a baffle plate connected with the air cylinder.
As an improvement of the above technical solution, the first centering assembly and the second centering assembly include a motor, a gear connected to the motor, a first rack and a second rack engaged with the gear, a first centering push plate detachably connected to the first rack, and a second centering push plate detachably connected to the second rack.
As an improvement of the technical scheme, the industrial camera is connected with a lifting fine adjustment mechanism for adjusting the vertical position of the industrial camera.
As an improvement of the above technical solution, the fine adjustment mechanism includes an adjustment motor, a gear connected to the adjustment motor, and a rack disposed in cooperation with the gear, the rack is connected to an installation block, and the installation block is connected to the industrial camera.
As the improvement of the technical scheme, the grinding robot comprises a six-axis industrial robot and a grinding head.
As an improvement of the technical scheme, the polishing robot further comprises an elastic buffer mechanism, and the elastic buffer mechanism is arranged between the six-axis industrial robot and the polishing head.
As the improvement of the technical scheme, the elastic buffer mechanism comprises a mounting seat connected with the six-axis industrial robot, a spring arranged in the mounting seat and an elastic seat connected with the spring, wherein the elastic seat can move relative to the mounting seat, and the polishing head is fixed on the elastic seat.
The implementation of the utility model has the following beneficial effects:
according to the utility model, the toilet body is photographed through the vision assembly, and the model of the toilet, the offset of the toilet body on the tooling plate in the X-axis and Y-axis directions and the rotation angle on the XOY surface are compared, so that the pose of the robot is adjusted, the polishing robot can polish the toilet body accurately, and the polishing efficiency and the polishing precision are improved.
Furthermore, an elastic buffer mechanism is further arranged between the six-axis industrial robot and the polishing head, and the elastic buffer mechanism can realize soft contact between the polishing head and the toilet blank, so that the polishing safety and reliability are improved.
Drawings
FIG. 1 is an overall schematic view of a sanding system to which the present invention relates;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is a schematic structural diagram of a fine lift adjustment mechanism according to the present invention;
fig. 4 is a schematic structural view of the elastic buffer mechanism according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings. It is only noted that the utility model is intended to be limited to the specific forms set forth herein, including any reference to the drawings, as well as any other specific forms of embodiments of the utility model.
Referring to fig. 1, the utility model provides a robot polishing system for toilet blanks, which comprises a transportation line 1, a tooling plate 3 for transporting toilet blanks 2, a vision component 4 arranged on the transportation line 1, a polishing component 5 and a central processing unit 6;
the vision component 4 comprises a photographing room 41, an industrial camera 42 arranged in the photographing room 41, a stopper 43 arranged on the transportation line 1 and a first centering component 44 arranged on the transportation line 1;
the grinding assembly 5 comprises a grinding room 51, a grinding robot 52 arranged in the grinding room 51 and a second centering assembly 53 arranged on the conveying line 1;
the industrial camera 42 and the polishing robot 52 are both connected with the central processor 6, and the central processor 6 comprises a data processing module 61 and a control module 62; the data processing module 61 may acquire the positional deviation information of the toilet blank 2 through the industrial camera 42 to cause the control module 62 to adjust the initial pose of the grinding robot 52.
Specifically, the toilet bowl blank 2 is placed on a tooling plate 3 and transported through the transport line 1. For the model of obtaining the concrete positional information of closestool body 2 on frock board 3 and closestool, closestool body 2 is transported earlier extremely in the room 41 of shooing, the industry camera 42 is shot the closestool body 2 after with data transmission for data processing module 61, the warp data processing module 61 compares with the closestool model data and the closestool coordinate of storing, reachs the model of closestool to and the ascending offset of closestool body 2 on frock board 3X axle and Y axle direction, and the corner volume on the XOY face. The data processing module 61 sends the data to the control module 62, and the control module drives the polishing robot 52 to change the initial pose according to the data, so that the polishing origin of the polishing robot 52 and the toilet blank 2 is unchanged, and the toilet blank 2 can be precisely polished according to a preset program. The first centering assembly 44 and the second centering assembly 53 can adjust the position of the tooling plate 3 during photographing and polishing so as to enable the tooling plate to be positioned on the central line of the transport line 1, thereby improving the reliability of photographing and acquiring data and the polishing precision.
To prevent the toilet from moving when taking a picture, the stopper 43 includes a cylinder 431 and a baffle 432 connected to the cylinder 431. After the free end of the cylinder 431 is ejected, the baffle 432 can block the tool plate 3. Preferably, a sensor is arranged on the blocking plate 432 to sense the position of the tooling plate 3, and a signal is sent to the controller to control the motor of the transport line 1 to stop, so that the automation level is improved.
The first centering assembly 44 and the second centering assembly 53 enable centering of the tooling plate 3 with the center line of the transport line 1, and the first centering assembly 44 and the second centering assembly 53 may be two oppositely arranged air cylinders. However, in order to improve the synchronization accuracy during adjustment, the first centering assembly 44 and the second centering assembly 53 in this embodiment include a motor 441, a gear 442 connected to the motor 441, a first rack 443 and a second rack 444 engaged with the gear 442, a first centering pusher 445 detachably connected to the first rack 443, and a second centering pusher (not shown in the drawings) detachably connected to the second rack 444. Specifically, when the gear 442 rotates, the first rack 443 and the second rack 444 can move relatively or oppositely to drive the first centering pushing plate 445 and the second centering pushing plate to move synchronously, so that the tooling plate 3 is centered quickly and the centering efficiency is high.
The industrial camera 42 needs to take a complete picture of the toilet, but the transportation line 1 often has toilets of different specifications. Therefore, the industrial camera 42 is connected with a lifting fine adjustment mechanism 7 for adjusting the vertical position of the industrial camera 42, and the adjustment precision of the lifting fine adjustment mechanism 7 is high.
In this embodiment, the fine lifting adjustment mechanism 7 includes an adjustment motor 71, a gear 72 connected to the adjustment motor 71, and a rack 73 disposed in cooperation with the gear 72, wherein the rack 73 is connected to an installation block 74, and the installation block 74 is connected to the industrial camera 42. The adjusting motor 71 is connected with the top surface of the photographing room 41, the gear 72 and the rack 73 can adjust the height of the mounting block 74, and the gear-rack mechanism has good adjusting precision, so that the industrial camera 42 is driven to ascend or descend by a preset height.
The polishing robot 52 includes a six-axis industrial robot 521 and a polishing head 522. Specifically, the six-axis industrial robot 521 is adopted to have a better working track, so that the curved surface polishing requirement of the toilet blank 2 can be met. The polishing head 522 is detachably connected with the six-axis industrial robot 521, so that the polishing head 522 can be replaced conveniently.
Further, the polishing robot 52 further includes an elastic buffer mechanism 8, and the elastic buffer mechanism 8 is disposed between the six-axis industrial robot 521 and the polishing head 522. The elastic buffer mechanism 8 enables the polishing head 522 to be in elastic contact with the toilet blank 2, and the polishing head 522 is prevented from damaging the toilet blank 2, so that the reliability of the polishing robot 52 is improved.
The elastic buffer mechanism 8 comprises a mounting seat 81 connected with the six-axis robot, a spring 82 arranged in the mounting seat 81 and an elastic seat 83 connected with the spring 82, the elastic seat 83 can move relative to the mounting seat 81, and the polishing head 522 is fixed on the elastic seat 83. Specifically, the mounting seat 81 is connected to a free end of the six-axis industrial robot 521, one end of the spring 82 is fixed to the mounting seat 81, the other end of the spring is fixed to the elastic seat 83, and the elastic seat 83 is capable of extending and contracting in the mounting seat 81. The polishing head 522 is connected with the elastic seat 83, and the soft contact between the polishing head 522 and the toilet blank 2 is realized through the spring 82, so that the polishing safety and reliability are improved.
In conclusion, the utility model provides a robot polishing system for a toilet bowl blank 2, which photographs the toilet bowl blank 2 through a vision component 4, compares the model of the toilet bowl, the offset of the toilet bowl blank 2 on a tooling plate 3 in the X-axis and Y-axis directions and the turning angle on an XOY surface, and accordingly enables the robot to adjust the pose, so that a polishing robot 52 can polish the toilet bowl blank 2 accurately, and the polishing efficiency and the polishing precision are improved.
While there has been described what are believed to be the preferred embodiments of the present invention, it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the principles of the utility model, and it is intended to cover all such changes and modifications as fall within the true scope of the utility model.
Claims (8)
1. A robot polishing system for toilet bowl blanks is characterized by comprising a conveying line, a tooling plate for conveying the toilet bowl blanks, a vision assembly, a polishing assembly and a central processing unit, wherein the vision assembly, the polishing assembly and the central processing unit are arranged on the conveying line;
the visual assembly comprises a photographing room, an industrial camera arranged in the photographing room, a stopper arranged on the conveying line and a first centering assembly arranged on the conveying line;
the polishing assembly comprises a polishing room, a polishing robot arranged in the polishing room and a second centering assembly arranged on the conveying line;
the industrial camera and the polishing robot are both connected with the central processing unit, and the central processing unit comprises a data processing module and a control module; the data processing module can acquire the position offset information of the toilet blank 2 through the industrial camera, so that the control module can adjust the initial pose of the grinding robot.
2. A robotic sanding system for toilet blanks as defined in claim 1 wherein the stopper includes a cylinder and a baffle connected to the cylinder.
3. A robotic polishing system for a toilet blank as claimed in claim 2, wherein the first and second centering assemblies comprise a motor, a gear connected to the motor, first and second racks engaged with the gear, a first centering pusher removably connected to the first rack, and a second centering pusher removably connected to the second rack.
4. A robotic polishing system for toilet blanks as claimed in claim 1, wherein a fine lift adjustment mechanism is connected to the industrial camera for adjusting the vertical position of the industrial camera.
5. A robotic polishing system as claimed in claim 4 for a toilet blank, wherein the fine adjustment mechanism includes an adjustment motor, a gear connected to the adjustment motor, and a rack cooperating with the gear, the rack having a mounting block attached thereto, the mounting block being connected to the industrial camera.
6. A robotic polishing system for a toilet blank as claimed in claim 1, characterised in that the polishing robot comprises a six-axis industrial robot and a polishing head.
7. A robotic polishing system for a toilet blank as claimed in claim 6, characterized in that the polishing robot further comprises an elastic buffer mechanism provided between the six-axis industrial robot and the polishing head.
8. A robotic polishing system for a toilet bowl blank as claimed in claim 7, wherein the resilient cushioning mechanism comprises a mount to which the six-axis industrial robot is connected, a spring disposed within the mount, and a resilient mount connected to the spring, the resilient mount being movable relative to the mount, the resilient mount having the polishing head secured thereto.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120888927.9U CN215825036U (en) | 2021-04-27 | 2021-04-27 | Robot polishing system for toilet blank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120888927.9U CN215825036U (en) | 2021-04-27 | 2021-04-27 | Robot polishing system for toilet blank |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215825036U true CN215825036U (en) | 2022-02-15 |
Family
ID=80188328
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120888927.9U Active CN215825036U (en) | 2021-04-27 | 2021-04-27 | Robot polishing system for toilet blank |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215825036U (en) |
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2021
- 2021-04-27 CN CN202120888927.9U patent/CN215825036U/en active Active
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