Automatic enameling device and method

Abstract

The invention provides an automatic enameling device and method, and relates to the technical field of enameling. The enameling process of the automatic enameling device comprises the steps that a to-be-enamelled product is conveyed to a feeding mechanical arm through a feeding conveying belt; the feeding manipulator clamps a to-be-enamelled product from the feeding conveyor belt and conveys the to-be-enamelled product to the operation table; the enameling mechanical arm is used for clamping a to-be-enamelled product from the operation table and conveying the to-be-enamelled product into a slurry tank in which enamel slurry is stored; the enameling mechanical arm immerses the to-be-enamelled product in the enamel glaze slip, then takes out the to-be-enamelled product and executes a preset enameling action, so that the enamelled product is obtained after the enameling action is executed; the enameling mechanical arm conveys the enamel products to the discharging conveying belt so that the enamel products can be conveyed through the discharging conveying belt. Therefore, automatic enameling is achieved, that is, manual participation is not needed in feeding, enameling and discharging in the enameling process, so that the enameling process is simplified, the production efficiency and quality of the enamel products are improved, and large-scale and high-quality production of the enamel products is facilitated.

Description

Technical Field

[0001] The present application relates to the field of enamel technology, and in particular to an automatic enameling device and method. Background Art

[0002] As a functional coating material, enamel glaze can give products excellent corrosion resistance, wear resistance, heat resistance, insulation and many other properties. At the same time, by adding various colorants, enamel glaze can also make the surface of the product show a rich variety of colors and luster, achieving an ideal decorative effect, and also broadening its application scenarios and market acceptance. In practical applications, enamel glaze generally exists in the form of powder or paste. The process of producing enameled products using enamel glaze usually involves an enameling process, that is, the enamel glaze is evenly coated on the surface of the metal substrate, and then undergoes fine processes such as drying and firing to promote the close combination of the enamel glaze and the metal substrate, and finally obtains an enamel product with excellent performance.

[0003] In the related technologies, the enameling process of enamel products mostly relies on manual operation, and this traditional manual enameling mode has many shortcomings: on the one hand, due to individual differences in the technical level of manual operation, the quality of enamel products in the production process is difficult to guarantee, which is specifically manifested in the uneven thickness of the enameled surface and the error range is easy to exceed the reasonable range, which leads to a large number of products becoming waste due to failure to meet the quality standards, seriously reducing the qualified rate of enamel products; on the other hand, the manual enameling process is relatively complicated, and it consumes a lot of physical and mental energy of the production personnel. With the increase of working hours, the production personnel are very likely to become physically exhausted or distracted, which will not only greatly reduce the production efficiency of enamel products, but also directly lead to a decline in the quality of enameling. The qualified rate of enamel products will also decrease accordingly, which greatly restricts the large-scale and high-quality production of enamel products. Summary of the invention

[0004] The present application provides an automated enameling device and method, aiming to solve the problems in the related art that the production efficiency of enameled products is low and the quality of enameling is difficult to ensure.

[0005] In order to solve the above-mentioned drawbacks existing in the relevant technology, the first aspect of the present application provides an automated enameling device, including an operating table, a slurry tank, a loading conveyor belt, a unloading conveyor belt, a loading robot and an enameling robot, the loading conveyor belt and the unloading conveyor belt are opposite to each other and spaced from each other, the operating table and the slurry tank are both located between the loading conveyor belt and the unloading conveyor belt, the slurry tank is adjacent to the operating table, the loading robot and the enameling robot are both arranged on the operating table, the loading robot is adjacent to the loading conveyor belt, and the enameling robot is adjacent to the unloading conveyor belt and the slurry tank. Specifically, the slurry tank is used to store enamel glaze slurry; the loading conveyor belt is used to transport the products to be enameled; the loading robot is used to clamp the products to be enameled from the loading conveyor belt and transport them to the operating table; the enameling robot is used to clamp the products to be enameled from the operating table and transport them to the slurry tank, and immerse the products to be enameled in the enamel glaze slurry, then take them out and perform a preset enameling action, so that enameled products can be obtained after the enameling action is completed, and then the enameled products are transported to the unloading conveyor belt; the unloading conveyor belt is used to transport the enameled products.

[0006] In some implementations, the loading robot has the same structure as the enameling robot, both of which include a robot arm and a fixture, the robot arm is arranged on the operating table, and the fixture is connected to the robot arm. Specifically, the robot arm is used to drive the fixture to move in space; the fixture is used to clamp the enameled product or the enameled product.

[0007] In some implementations, the fixture includes a housing, a cylinder, an adapter plate, a transmission assembly, three clamps and a plurality of connecting rods, one end of each of the connecting rods is disposed on the bottom wall of the housing, and the other end is disposed on the adapter plate, the adapter plate is connected to the mechanical arm, and the plurality of connecting rods are spaced apart around the central axis of the housing; the transmission assembly is disposed in the housing, the cylinder is disposed on the bottom wall of the housing and is located on the central axis of the housing, the piston rod of the cylinder penetrates the housing and is connected to the transmission assembly, one end of each of the three clamps penetrates the housing through the side wall of the housing and is connected to the transmission assembly, and the three clamps are spaced apart around the central axis of the housing. Specifically, the cylinder is used to drive the three clamps to move toward each other through the transmission assembly to clamp the enameled product to be coated, or to drive the three clamps to move away from each other through the transmission assembly to release the enameled product.

[0008] In some implementations, the clamp includes a clamp arm and a clamping piece, one end of the clamp arm penetrates into the housing through the side wall of the housing and is connected to the transmission assembly, the other end of the clamp arm is bent and extends to the upper part of the housing, and the clamping piece is arranged on the end of the clamp arm located above the housing. Specifically, the clamp arm includes a base arm, a connecting arm and an extension arm, one end of the base arm penetrates into the housing through the side wall of the housing and is connected to the transmission assembly, the connecting arm extends in a direction away from the adapter plate and one end is arranged on the other end of the base arm, one end of the extension arm is arranged on the other end of the connecting arm, the other end of the extension arm extends to the upper part of the housing, and the clamping piece is arranged on one side of the extension arm.

[0009] In some implementations, the extension arm is provided with a plurality of mounting holes spaced apart along its length, the clip is provided with a plurality of positioning holes spaced apart along its length, and the hole distance between any two adjacent mounting holes is equal to the hole distance between any two adjacent positioning holes; the clamping jaw further comprises a plurality of fasteners. Specifically, the plurality of fasteners are used to: respectively insert into the plurality of positioning holes and the plurality of mounting holes aligned one by one to fix the clip on the extension arm; and, by respectively inserting into different plurality of mounting holes, adjust the position of the clip on the extension arm.

[0010] In some implementation schemes, the clamp further includes two corner blocks, and the corner blocks are provided with a plurality of connection holes spaced apart along the length direction thereof, and the hole distance between any two adjacent connection holes is equal to the hole distance between any two adjacent positioning holes. In any two clamping jaws, the two corner blocks are respectively arranged on one side of the two extension arms, and the two clips are respectively arranged on the side of the two corner blocks away from the corresponding extension arms. In the clamping jaws provided with the corner blocks, a plurality of fasteners are used to: respectively insert into a plurality of positioning holes, a plurality of connection holes and a plurality of mounting holes that are aligned one by one, so that the clips, the corner blocks and the extension arms are relatively fixed; and, by respectively inserting into different plurality of mounting holes, the positions of the clips and the corner blocks on the extension arms are adjusted.

[0011] In some implementations, the clip includes a clip body, the clip body is disposed on the end of the clip arm located above the housing, a first extension piece extending obliquely toward the central axis of the housing is formed on the side of the clip body away from the adapter plate, a first abutment portion extending toward the housing is formed on the end of the first extension piece close to the housing and located on the side of the first extension piece away from the clip body, and the first abutment portion, the first extension piece, and the clip body together form a first clamping space. Further, a second extension piece extending obliquely toward the central axis of the housing is formed on the side of the first extension piece away from the adapter plate, a second abutment portion extending toward the housing is formed on the end of the second extension piece close to the housing and located on the side of the second extension piece away from the first extension piece, and the second abutment portion, the second extension piece, and the first extension piece together form a second clamping space.

[0012] In some implementation schemes, the shell includes a chassis and a protective cover, the cylinder and one end of multiple connecting rods are arranged on the bottom wall of the chassis, the protective cover is arranged on the chassis, the protective cover and the chassis are enclosed to form an accommodating cavity, and the transmission assembly is arranged in the accommodating cavity.

[0013] In some implementations, the fixture further includes a slurry baffle, which is disposed around the side wall of the housing and adjacent to the bottom wall of the housing.

[0014] In some implementation schemes, the automated enameling device also includes a control module that is communicatively connected to the loading conveyor belt, the unloading conveyor belt, the loading robot, and the enameling robot, and the control module is used to control the operation of the loading conveyor belt, the unloading conveyor belt, the loading robot, and the enameling robot.

[0015] In some implementations, the automated enameling device further includes a position detector that is communicatively connected to the control module, and the position detector is disposed on the feeding conveyor and corresponds to the feeding robot. Specifically, the position detector is used to detect in real time whether there is a product to be enameled at a position on the feeding conveyor corresponding to the feeding robot, and to send a feeding signal to the control module when there is a product to be enameled, or to send a conveying signal to the control module when there is no product to be enameled; the control module is used to respond to the feeding signal to control the feeding conveyor to stop, or respond to the conveying signal to control the feeding conveyor to start.

[0016] In some implementation schemes, a transfer area is provided on the operating table, and both the loading robot and the enameling robot are adjacent to the transfer area. The transfer area is used to temporarily store the products to be enameled from the loading conveyor belt.

[0017] In some implementation schemes, an inwardly recessed placement groove is provided on the transfer area, and the placement groove is used to temporarily store the enameled products to be clamped by the loading robot from the loading conveyor belt.

[0018] The second aspect of the present application provides an automated enameling method, which is applied to the automated enameling device provided in the first aspect of the present application, and the automated enameling method includes: using a loading conveyor belt to transport the product to be enameled; using a loading robot to clamp the product to be enameled from the loading conveyor belt and transport the product to be enameled to an operating table; using an enameling robot to clamp the product to be enameled from the operating table and transport the product to be enameled to a slurry tank storing enamel glaze slurry; using an enameling robot to immerse the product to be enameled in the enamel glaze slurry and then take it out, and perform a preset enameling action so that an enameled product is obtained after the enameling action is completed; using an enameling robot to transport the enameled product to a unloading conveyor belt; and using the unloading conveyor belt to transport the enameled product.

[0019] The automated enameling device provided in the first aspect of the present application is composed of a loading conveyor belt, a unloading conveyor belt, a loading robot, an enameling robot, an operating table and a slurry tank. The loading conveyor belt and the unloading conveyor belt are opposite to each other and spaced apart from each other. The operating table and the slurry tank are both located between the loading conveyor belt and the unloading conveyor belt. The slurry tank is adjacent to the operating table. The loading robot and the enameling robot are both arranged on the operating table. The loading robot is adjacent to the loading conveyor belt, and the enameling robot is adjacent to the unloading conveyor belt and the slurry tank. In the actual enameling process, the enameled product to be coated is transported to the loading manipulator through the loading conveyor belt, and the loading manipulator will clamp the enameled product to be coated from the loading conveyor belt and transport it to the operating table, and the enameling manipulator arranged on the operating table will not only clamp the enameled product to be coated from the operating table and transport it to the slurry tank storing the enamel glaze slurry, but also immerse the enameled product to be coated in the enamel glaze slurry and then quickly take it out and perform the preset enameling action, so that the enameled product can be obtained after the enameling action is completed, and after the enameled product is obtained, the enameling manipulator will transport the enameled product to the unloading conveyor belt, so as to transport the enameled product through the unloading conveyor belt. It can be seen that compared with the manual enameling in the traditional scheme, the present application realizes the automation of enameling, that is, the loading of the enameled product to be coated, the enameling of the enameled product to be coated, and the unloading of the enameled product do not require manual participation, thereby simplifying the enameling process, improving the production efficiency and quality of enameled products, and facilitating the large-scale and high-quality production of enameled products.

[0020] Regarding the automated enameling method provided in the second aspect of the present application, since the automated enameling method is implemented based on the automated enameling device provided in the first aspect of the present application, the automated enameling method has all the advantages of the automated enameling device provided in the first aspect of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the related technologies or the embodiments of the present application, the drawings required for use in the description of the related technologies or the embodiments of the present application will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, not all embodiments. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of the structure of an automated enameling device provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the structure of the clamp provided in the embodiment of the present application;

[0024] Figure 3 A schematic diagram of the structure of the clip provided in the embodiment of the present application;

[0025] Figure 4 A state diagram of a fixture provided in an embodiment of the present application clamping a circular product to be enameled;

[0026] Figure 5 Two state diagrams of the clamp provided in the embodiment of the present application clamping a square product to be enameled;

[0027] Figure 6 A schematic diagram of the function expansion of the automated enameling device provided in an embodiment of the present application;

[0028] Figure 7 A schematic flow chart of the automated enameling method provided in an embodiment of the present application.

[0029] The symbols in the above drawings represent:

[0030] 1-operating table, 2-slurry tank, 3-loading conveyor belt, 4-unloading conveyor belt, 5-loading manipulator, 6-enameling manipulator, 7-mechanical arm, 8-clamp, 9-control module, 10-packing box, 11-transfer area, 81-housing, 82-cylinder, 83-adapter plate, 84-claw, 85-connecting rod, 86-slurry baffle, 811-chassis, 812-protective cover, 841-clamp arm, 842 -clip, 843-mounting hole, 844-positioning hole, 845-fastener, 846-corner block, 8411-base arm, 8412-connecting arm, 8413-extension arm, 8421-clip body, 8422-first extension piece, 8423-first abutment portion, 8424-first clamping space, 8425-second extension piece, 8426-second abutment portion, 8427-second clamping space. DETAILED DESCRIPTION

[0031] In the related art, the enameling process of enamel products mostly relies on manual operation, which has many shortcomings: on the one hand, due to individual differences in the technical level of manual operation, the quality of enamel products in the production process is difficult to guarantee, which is specifically manifested in the uneven thickness of the enameled surface and the error range is also easy to exceed the reasonable range, which leads to a large number of products becoming waste due to failure to meet the quality standards, seriously reducing the qualified rate of enamel products; on the other hand, the manual enameling process is relatively complicated, and the physical and mental consumption of production personnel is relatively large. With the increase in working hours, production personnel are very likely to be physically exhausted or distracted, which will not only greatly reduce production efficiency, but also directly lead to a decline in the quality of enameling, and the qualified rate of finished products will also decrease, which greatly restricts the large-scale and high-quality production of enamel products. In view of this, the present application proposes an automated enameling device and method in the following embodiments to solve the above-mentioned drawbacks in the related art.

[0032] In order to make the purpose, technical solutions and advantages of the present application more obvious and easy to understand, the present application will be clearly and completely described below in conjunction with the embodiments of the present application and the corresponding drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. It should be understood that the embodiments of the present application described below are only used to explain the present application and are not used to limit the present application, that is, based on the embodiments of the present application, all other embodiments obtained by ordinary technicians in this field without making creative work belong to the scope of protection of the present application. In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0033] See also Figure 1 , Figure 1 The structure diagram of the automatic enameling device is shown. The present embodiment provides an automatic enameling device, which includes an operating table 1, a slurry tank 2, a loading conveyor belt 3, a unloading conveyor belt 4, a loading robot 5 and an enameling robot 6. The loading conveyor belt 3 is opposite to the unloading conveyor belt 4 and is spaced from each other. The loading conveyor belt 3 and the unloading conveyor belt 4 are preferably arranged side by side. The operating table 1 and the slurry tank 2 are both located between the loading conveyor belt 3 and the unloading conveyor belt 4. The slurry tank 2 is adjacent to the operating table 1. The loading robot 5 and the enameling robot 6 are both arranged on the operating table 1. The loading robot 5 is adjacent to the loading conveyor belt 3, and the enameling robot 6 is adjacent to the unloading conveyor belt 4 and the slurry tank 2. It should be noted that the enameled products in this embodiment can be tableware, kitchen utensils, decorations, etc. Taking tableware as an example, the enameled products are pots, bowls, ladles, basins, plates, etc. As for the shape of the enameled products, it can be any common shape in the art, such as round, oval, rectangular (i.e. square), etc. The specific shape can be selected according to actual needs, and this embodiment does not make the sole limitation to this.

[0034] In this embodiment, the slurry tank 2 is used to store enamel slurry; the feeding conveyor belt 3 is used to transport the enameled products; the feeding robot 5 is used to clamp the enameled products from the feeding conveyor belt 3 and transport them to the operating table 1; the enameling robot 6 is used to clamp the enameled products from the operating table 1 and transport them to the slurry tank 2, and to immerse the enameled products in the enamel slurry, take them out and perform a preset enameling action, so that the enameled products are obtained after the enameling action is completed, and then the enameled products are transported to the unloading conveyor belt 4; the unloading conveyor belt 4 is used to transport enameled products. Specifically, the enameling actions performed by the enameling robot 6 include two types, namely, driving the enameled products to be coated to rotate and pitch, the rotation can evenly spread the enamel slurry on the surface of the enameled products, and the pitching can pour the excess enamel slurry on the surface of the enameled products into the slurry tank 2 for subsequent use.

[0035] That is to say, in the actual enameling process, the enameled product to be coated is transported to the loading robot 5 through the loading conveyor belt 3, and the loading robot 5 will clamp the enameled product to be coated from the loading conveyor belt 3 and transport it to the operating table 1. The enameling robot 6 arranged on the operating table 1 will not only clamp the enameled product to be coated from the operating table 1 and transport it to the slurry tank 2 storing the enamel glaze slurry, but will also immerse the enameled product to be coated in the enamel glaze slurry, then quickly take it out and perform the preset enameling action, so that the enameled product can be obtained after the enameling action is completed. After obtaining the enameled product, the enameling robot 6 will transport the enameled product to the unloading conveyor belt 4, thereby transporting the enameled product through the unloading conveyor belt 4. In addition, it should be noted that if the enameled product to be coated is a container such as a pot, bowl, ladle, basin, plate, etc., then the container mouth of the enameled product to be coated on the loading conveyor belt 3 should face upward so that the loading robot 5 can clamp the edge of the container mouth; accordingly, when the loading robot 5 places the enameled product to be coated on the operating table 1, the container mouth of the enameled product to be coated should also face upward, and when the enameling robot 6 places the enameled product on the unloading conveyor belt 4, the container mouth of the enameled product should also face upward.

[0036] In this embodiment, the automated enameling device is equipped with a machine vision system (not shown), such as the feeding robot 5 clamps the enameled product from the feeding conveyor belt 3, the feeding robot 5 transports the enameled product to the operating table 1, the enameling robot 6 clamps the enameled product from the operating table 1, the enameling robot 6 transports the enameled product to the slurry tank 2, the enameling robot 6 immerses the enameled product in the enamel slurry and then takes it out and performs the preset enameling action, the enameling robot 6 transports the enameled product to the unloading conveyor belt 4, etc., all of which require the assistance of the machine vision system to improve the accuracy of each link such as feeding, enameling, and unloading, and ensure the high-quality completion of each link such as feeding, enameling, and unloading. Since the use of machine vision systems to assist robots in production work is a relatively mature technology in this field, this embodiment will not explain the machine vision system in detail.

[0037] As can be seen from the above, compared with the manual enameling in the traditional scheme, this embodiment realizes the automation of enameling, that is, the loading of the enameled products, the enameling of the enameled products and the unloading of the enameled products do not require manual participation, thereby simplifying the enameling process, which can effectively improve the quality and production efficiency of the enameled products, and is more conducive to the large-scale and high-quality production of enameled products.

[0038] In some embodiments, see Figure 1The structures of the feeding robot 5 and the enameling robot 6 can be the same or different, but in order to facilitate the maintenance of the feeding robot 5 and the enameling robot 6, the structures of the two are preferably the same, both of which include a robot arm 7 and a fixture 8. The robot arm 7 is arranged on the operating table 1, and the fixture 8 is connected to the robot arm 7. Specifically, the robot arm 7 is used to drive the fixture 8 to move in space; the fixture 8 is used to clamp the product to be enameled or the enameled product. Preferably, the robot arm 7 adopts a six-axis robot arm commonly used in the art, which can make the automatic enameling device have a higher degree of freedom (six degrees of freedom), and the operation of the automatic enameling device is also more flexible, which is conducive to the smooth progress of the enameling work.

[0039] That is to say, in the actual enameling process, for the loading robot 5, its working process is: after the loading conveyor belt 3 transports the product to be enameled to the loading robot 5, the robot arm 7 moves in space with the clamp 8 so that the clamp 8 reaches the product to be enameled on the loading conveyor belt 3, so that the clamp 8 can clamp the product to be enameled; the robot arm 7 continues to move in space with the clamp 8 so that the clamp 8 reaches above the operating table 1, so that the clamp 8 releases the product to be enameled, thereby placing the product to be enameled on the operating table 1. For the enameling robot 6, its working process is: the robot arm 7 moves with the clamp 8 in the space so that the clamp 8 reaches the product to be enameled on the operating table 1, so that the clamp 8 can pick up the product to be enameled; the robot arm 7 continues to move with the clamp 8 in the space, so as to immerse the product to be enameled in the enamel slurry and then quickly take it out; the robot arm 7 carries the clamp 8 to perform a preset enameling action, so that the product to be enameled on the clamp 8 rotates and pitches, so as to obtain an enameled product after the enameling action is completed; the robot arm 7 continues to move with the clamp 8 in the space so that the clamp 8 reaches the top of the unloading conveyor belt 4, so that the clamp 8 loosens the enameled product, thereby placing the enameled product on the unloading conveyor belt 4.

[0040] As one example, see Figure 2 , Figure 28 is a schematic diagram of the structure of the clamp; the clamp 8 includes a housing 81, a cylinder 82, an adapter plate 83, a transmission assembly (not shown), three clamping claws 84 and a plurality of connecting rods 85, one end of each of the connecting rods 85 is arranged on the bottom wall of the housing 81, and the other end is arranged on the adapter plate 83, and the plurality of connecting rods 85 are spaced around the central axis of the housing 81, the adapter plate 83 is connected to the mechanical arm 7, the transmission assembly is arranged in the housing 81, the cylinder 82 is arranged on the bottom wall of the housing 81 and is located on the central axis of the housing 81, the piston rod of the cylinder 82 penetrates the housing 81 through the bottom wall of the housing 81 and is connected to the transmission assembly, one end of each of the three clamping claws 84 penetrates the housing 81 through the side wall of the housing 81 and is connected to the transmission assembly, and the three clamping claws 84 are spaced around the central axis of the housing 81. In addition, it should be noted that the clamp 8 of this embodiment is similar to the telescopic cylinder type three-jaw clamp commonly used in the art, so the clamp 8 of this embodiment can be understood by referring to the telescopic cylinder type three-jaw clamp commonly used in the art.

[0041] Specifically, the cylinder 82 is used to drive the three clamping jaws 84 to move toward each other through the transmission assembly to clamp the enameled product, or to drive the three clamping jaws 84 to move away from each other through the transmission assembly to release the enameled product. That is to say, in the actual enameling process, for the feeding robot 5, when the clamp 8 is used to clamp the enameled product on the feeding conveyor belt 3, the cylinder 82 will extend its piston rod, thereby driving the three clamping jaws 84 to move toward each other through the transmission assembly connected to the piston rod (that is, the three clamping jaws 84 move toward the central axis of the shell 81 at the same time), and then clamp the enameled product; for the enameling robot 6, when the clamp 8 is used to place the enameled product on the unloading conveyor belt 4, the cylinder 82 will retract its piston rod, thereby driving the three clamping jaws 84 to move away from each other through the transmission assembly connected to the piston rod (that is, the three clamping jaws 84 move toward the direction away from the central axis of the shell 81 at the same time), and then release the enameled product. It should be noted that the operation of the cylinder 82 in this embodiment is controlled by a solenoid valve, which can control the on / off and flow direction of the air, thereby controlling the extension / retraction of the piston rod of the cylinder 82, and further controlling the three clamping claws 84 to move toward / away from each other, thereby achieving the clamping / releasing of the clamp 8. It should also be noted that although the clamp 8 in this embodiment is pneumatic (i.e. driven by the cylinder 82), in other embodiments, the clamp 8 can also be driven by hydraulic pressure, in which case it is sufficient to replace the cylinder 82 with a hydraulic cylinder; the driving method of the clamp 8 can be selected according to actual needs, and this embodiment does not make a sole limitation on this.

[0042] In some implementations of the present embodiment, the clamping jaw 84 includes a clamping arm 841 and a clip 842, one end of the clamping arm 841 penetrates into the housing 81 through the side wall of the housing 81 and is connected to the transmission assembly, the other end of the clamping arm 841 is bent and extends to the upper part of the housing 81, and the clip 842 is arranged on the end of the clamping arm 841 located above the housing 81. That is, the clamping arm 841 includes a base arm 8411, a connecting arm 8412, and an extension arm 8413, one end of the base arm 8411 penetrates into the housing 81 through the side wall of the housing 81 and is connected to the transmission assembly, the connecting arm 8412 extends in a direction away from the adapter plate 83 and one end is arranged on the other end of the base arm 8411, one end of the extension arm 8413 is arranged on the other end of the connecting arm 8412, the other end of the extension arm 8413 extends to the upper part of the housing 81, and the clip 842 is arranged on one side of the extension arm 8413.

[0043] As one implementation, the extension arm 8413 is provided with a plurality of mounting holes 843 spaced apart along its length direction, and the clip 842 is provided with a plurality of positioning holes 844 spaced apart along its length direction, and the hole distance between any two adjacent mounting holes 843 is equal to the hole distance between any two adjacent positioning holes 844; in addition, in addition to the structure given above, the clamp 84 also includes a plurality of fasteners 845. Specifically, the plurality of fasteners 845 are used to respectively insert into the plurality of positioning holes 844 and the plurality of mounting holes 843 aligned one by one to fix the clip 842 on the extension arm 8413, and are also used to adjust the position of the clip 842 on the extension arm 8413 by respectively inserting into different plurality of mounting holes 843. Preferably, the fasteners 845 are bolts, that is, the clip 842 is connected to the extension arm 8413 by bolts, so that the position of the clip 842 on the extension arm 8413 can be fine-tuned by the bolts. In addition, it should be noted that in other implementations, the multiple mounting holes 843 can be replaced by one long hole. Although the relative fixation of the clip 842 and the extension arm 8413 and the position adjustment of the clip 842 on the extension arm 8413 can be achieved, after long-term use, the long hole is likely to cause the clip 842 and the extension arm 8413 to slide relative to each other, which will reduce the stability of the clamp 8 for clamping the product (the product to be enameled / enameled product), which is not conducive to the smooth progress of the enameling work. Therefore, it is preferred to open a plurality of mounting holes 843 on the extension arm 8413.

[0044] That is, when the clip 842 is mounted on the extension arm 8413, the clip 842 is first placed on one side of the extension arm 8413, and the plurality of positioning holes 844 on the clip 842 are aligned one by one with some of the mounting holes 843 on the extension arm 8413, and then the plurality of fasteners 845 are respectively inserted into the plurality of positioning holes 844 and the plurality of mounting holes 843 aligned one by one, so that the clip 842 and the extension arm 8413 can be relatively fixed. In addition, in the actual enameling process, the plurality of mounting holes 843 aligned with the plurality of positioning holes 844 on the clip 842 can be adjusted, so that the plurality of fasteners 845 are respectively inserted into different plurality of mounting holes 843 on the extension arm 8413, and then the position of the clip 842 on the extension arm 8413 is adjusted, that is, the position of the clip 842 is adjusted in the length direction of the extension arm 8413, so as to adapt to the enameling products of different shapes and sizes, thereby improving the applicability of the automatic enameling device.

[0045] Furthermore, in addition to the structure given above, the clamp 8 also includes two corner blocks 846, each of which is provided with a plurality of connection holes (not shown) spaced along its length direction, and the hole distance between any two adjacent connection holes, the hole distance between any two adjacent positioning holes 844, and the hole distance between any two adjacent mounting holes 843 are equal. Specifically, in any two clamping jaws 84, the two corner blocks 846 are respectively arranged on one side of the two extension arms 8413, and the two clips 842 are respectively arranged on one side of the two corner blocks 846 away from the corresponding extension arms 8413, which means that only two of the three clamping jaws 84 are equipped with corner blocks 846, while the other clamping jaw 84 is not equipped with corner blocks 846. Based on this, in the clamp 84 equipped with the corner block 846, multiple fasteners 845 are used to be respectively inserted into the multiple positioning holes 844, multiple connecting holes and multiple mounting holes 843 that are aligned one by one to make the clamp 842, the corner block 846 and the extension arm 8413 relatively fixed, and are also used to adjust the positions of the clamp 842 and the corner block 846 on the extension arm 8413 by respectively inserting into different multiple mounting holes 843.

[0046] It can be understood that the difference between the clamping jaw 84 without the corner block 846 and the clamping jaw 84 with the corner block 846 is whether the clip 842 is directly fixed to one side of the extension arm 8413 through the fastener 845. For the clamping jaw 84 without the corner block 846, its clip 842 will be directly fixed to one side of the extension arm 8413 through the fastener 845, and the clamping jaw 84 can play a positioning role when clamping the product (i.e., the product to be enameled / enameled product); for the clamping jaw 84 with the corner block 846, its clip 842 will be indirectly set on one side of the extension arm 8413 through the corner block 846, and the corner block 846 can change the angle of the clip 842 to increase the radial normal stress when clamping the product, which makes the clamp 8 of the present application not only able to clamp round products (such as Figure 4 As shown), it can also hold square products (such as Figure 5 ) and enamel pot, thereby improving the compatibility of the clamp 8.

[0047] As one of the implementations, see Figure 3 , Figure 3 It is a schematic diagram of the structure of the clip; the clip 842 includes a clip body 8421, which is arranged on the end of the clamp arm 841 above the shell 81 (that is, arranged on one side of the extension arm 8413), and a first extension piece 8422 obliquely extending toward the central axis of the shell 81 is formed on the side of the clip body 8421 away from the adapter plate 83, and a first abutment portion 8423 extending toward the shell 81 is formed on the end of the first extension piece 8422 close to the shell 81 and is located on the side of the first extension piece 8422 away from the clip body 8421, and the first abutment portion 8423, the first extension piece 8422 and the clip body 8421 enclose a first clamping space 8424. In the actual enameling process, the first abutment 8423, the first extension piece 8422 and the clamping piece body 8421 can be used to clamp the product (i.e. the product to be enameled / enamel product). Taking a square plate as an example, the edge of the plate mouth can be clamped between the first abutment 8423 and the clamping piece body 8421, and the edge of the plate mouth can be abutted against the first extension piece 8422, that is, the edge of the plate mouth is clamped in the first clamping space 8424, and the combination of the first extension piece 8422 and the first abutment 8423 is equivalent to a "barb", which can bring better self-locking and anti-falling effect to the clamp 8, thereby preventing the product to be enameled / enamel product from loosening from the clamp 8 during the enameling process.

[0048] Furthermore, a second extension piece 8425 extending obliquely toward the central axis of the housing 81 is formed on the side of the first extension piece 8422 away from the adapter plate 83, and a second abutment portion 8426 extending toward the housing 81 is formed at the end of the second extension piece 8425 close to the housing 81 and located on the side of the second extension piece 8425 away from the first extension piece 8422. The second abutment portion 8426, the second extension piece 8425 and the first extension piece 8422 enclose a second clamping space 8427. In the actual enameling process, still taking a square plate as an example, Figure 5 As shown in (a) and (b), the edge of the plate mouth can be clamped not only in the first clamping space 8424, but also in the second clamping space 8427. Normally, by cooperating with the multiple mounting holes 843 on the extension arm 8413, and utilizing the first abutment portion 8423, the first extension piece 8422 and the clamping piece body 8421, most products (i.e., products to be enameled / enamel products) can be clamped. However, there are still some products with extreme sizes that cannot be clamped by the clamp 8 in the first clamping space 8424. In this case, it is necessary to cooperate with the multiple mounting holes 843 on the extension arm 8413 and clamp the product of extreme size through the second clamping space 8427 that is offset from the first clamping space 8424. This further improves the compatibility of the clamp 8 of the present application, and can easily achieve enameling of products of extreme sizes.

[0049] In some implementations of this embodiment, the housing 81 includes a chassis 811 and a protective cover 812, the cylinder 82 and one end of each connecting rod 85 are arranged on the bottom wall of the chassis 811, and multiple connecting rods 85 are spaced around the central axis of the chassis 811 (i.e., the central axis of the housing 81, which is also the central axis of the protective cover 812), and the protective cover 812 is arranged on the chassis 811, and the protective cover 812 and the chassis 811 are enclosed to form a receiving cavity, and the transmission assembly is arranged in the receiving cavity. It should be noted that the protective cover 812 mainly plays the role of dust prevention and heat dissipation, and can be made of any material commonly used in the art with good heat dissipation, wear resistance, corrosion resistance, etc., such as polycarbonate (PC), polyphenylene sulfide (PPS), glass fiber reinforced plastic (FRP) and aluminum alloy, etc., which can be selected according to actual needs, and this application does not make a sole limitation on this. It should also be noted that the structural form of the protective cover 812 is not limited to a single cover. In other implementations, heat dissipation holes can be opened on the protective cover 812, or heat dissipation fins can be set on the inner wall / outer wall of the protective cover 812 to improve the heat dissipation performance of the protective cover 812. A sealing structure (such as a sealing ring, a sealing strip, etc.) can be set at the connection between the protective cover 812 and the chassis 811, or a layer of dust cover (such as a soft dust-proof cloth, a plastic film, etc.) can be added inside the protective cover 812 to improve the dustproof performance of the protective cover 812. The specific selection can be based on actual needs, and this application does not make a sole limitation on this.

[0050] In some implementations of this embodiment, in addition to the structure given above, the fixture 8 also includes a slurry baffle 86, which is arranged on the side wall of the shell 81; preferably, the slurry baffle 86 is adjacent to the bottom wall of the shell 81. Specifically, the slurry baffle 86 is used to block the enamel glaze slurry splashing from the surface of the product to be enameled during the enameling operation of the enameling robot 6. It can be understood that when the enameling robot 6 performs the enameling operation, the product to be enameled on the fixture 8 will rotate and pitch, which will cause the enamel glaze slurry on the surface of the product to be enameled to be thrown out. If the slurry baffle 86 is not provided, the thrown enamel glaze slurry will easily splash onto the cylinder 82, the adapter plate 83, the connecting rod 85 and the robot arm 7, which will not only increase the difficulty of subsequent cleaning work, but also easily cause damage to the cylinder 82, the robot arm 7, etc., affecting the enameling process and not conducive to the service life of the enameling robot 6.

[0051] In some embodiments, see Figure 1 In addition to the structure given above, the automatic enameling device also includes a control module 9, and the feeding conveyor belt 3, the unloading conveyor belt 4, the feeding manipulator 5 and the enameling manipulator 6 are respectively connected to the control module 9 for communication, and the control module 9 is used to control the work of the feeding conveyor belt 3, the unloading conveyor belt 4, the feeding manipulator 5 and the enameling manipulator 6. It should be noted that the control module 9 can adopt any device commonly used in the art with control and data processing and analysis functions, such as a small computer, a microcontroller such as a single-chip microcomputer, an industrial control computer (IPC), a programmable logic controller (PLC) and a distributed control system (DCS), etc., which can be selected according to actual needs, and this application does not make a sole limitation on this. It should also be noted that the control module 9 can be set at any position, such as on the operating table 1, inside the operating table 1, near the operating table 1, etc., or even at a position relatively far from the operating table 1, the loading conveyor belt 3 and the unloading conveyor belt 4, etc., as long as the loading conveyor belt 3, the unloading conveyor belt 4, the loading manipulator 5 and the enameling manipulator 6 are all connected to the control module 9 for communication, so that the control module 9 can control their work. The specific selection can be based on actual needs, and this application does not make a sole limitation on this. Preferably, the operating table 1 is hollow inside, that is, there is a storage space inside the operating table 1, and the control module 9 is arranged in the storage space.

[0052] In addition, different enameling programs can be developed in advance for different products to be enameled, and these enameling programs can be stored in the control module 9. Then, in the subsequent actual production, the automated enameling device can enamelled different products to be enameled based on different enameling programs; wherein the difference of the products to be enameled is mainly reflected in shape and size. It can be understood that the enameling action performed by the enameling robot 6 is actually part of the enameling program. Usually, when the enameling robot 6 performs the enameling action, the rotation and pitch of the product to be enameled need to be performed alternately, that is, the enameling action performed by the enameling robot 6 includes several sub-actions, each of which contains the rotation and pitch of the product to be enameled, and for different enameling programs, the posture, rotation speed and pitch speed of the product to be enameled in each sub-action are not the same. On this basis, the automated enameling device of the present application has two characteristics: online speed change and online speed regulation. Assuming that the rotation speed of the enameled product to be coated in the first sub-action is 5r / s and the pitch speed is 2r / s, and the rotation speed of the enameled product to be coated in the second sub-action is 7r / s and the pitch speed is 3r / s, it can be found that these speeds are all different, which is online speed change; in the actual production process of enameled products, if the staff finds that the rotation speed and / or pitch speed of the enameled product to be coated in a certain sub-action is not suitable, then the staff can modify the rotation speed and / or pitch speed of the enameled product to be coated in the sub-action in the software to adapt to the actual production rhythm, which is online speed regulation.

[0053] In some embodiments, in addition to the structure given above, the automated enameling device also includes a position detector (not shown) that is communicatively connected to the control module 9. The position detector is arranged on the feeding conveyor belt 3 and corresponds to the feeding robot 5. Specifically, the position detector is used to detect in real time whether there is a product to be enameled at the position corresponding to the feeding robot 5 on the feeding conveyor belt 3, and sends a feeding signal to the control module 9 when there is a product to be enameled, or sends a conveying signal to the control module 9 when there is no product to be enameled; the control module 9 is used to respond to the feeding signal to control the feeding conveyor belt 3 to stop, or respond to the conveying signal to control the feeding conveyor belt 3 to start. It should be noted that the position detector can be any device with a position detection function commonly used in the art, such as a proximity switch, a magnetic grating sensor, a grating sensor, etc., which can be selected according to actual needs, and this application does not make a sole limitation on this.

[0054] That is to say, in the actual enameling process, when the feeding conveyor belt 3 conveys the enameled product to the feeding manipulator 5, the position detector will send a feeding signal to the control module 9 due to the detection of the enameled product, and the control module 9 will control the feeding conveyor belt 3 to stop due to the receipt of the feeding signal, so that the feeding manipulator 5 can clamp the enameled product from the feeding conveyor belt 3; when the enameled product on the feeding conveyor belt 3 is clamped away by the feeding manipulator 5, the position detector will send a conveying signal to the control module 9 due to the failure to detect the enameled product, and the control module 9 will control the feeding conveyor belt 3 to start due to the receipt of the conveying signal, so that the feeding conveyor belt 3 can continue to convey the enameled product, thereby conveying the next enameled product to the feeding manipulator 5. In this way, it can effectively prevent the feeding manipulator 5 from missing or mis-clamping the enameled product, thereby improving the stability of the automatic enameling device.

[0055] In some embodiments, see Figure 1 The operating table 1 has a transfer area 11, and the loading robot 5 and the enameling robot 6 are both adjacent to the transfer area 11. The transfer area 11 is used to temporarily store the enameled products from the loading conveyor belt 3; that is, the transfer area 11 is an area on the operating table 1 specifically used for temporarily storing the enameled products. The loading robot 5 will clamp the enameled products on the loading conveyor belt 3 to this area, and the enameling robot 6 will also clamp the enameled products from this area. As one embodiment, an inwardly concave placement groove is provided on the transfer area 11, and the enameled products clamped from the loading conveyor belt 3 by the loading robot 5 can be temporarily stored in the placement groove. At the same time, the placement groove can also limit the enameled products inside to prevent them from going out of the transfer area 11, thereby affecting the subsequent clamping work of the enameling robot 6.

[0056] In some embodiments, see Figure 6 , Figure 6 The figure shows the functional expansion diagram of the automatic enameling device. The automatic enameling device of the present application has good expandability, which can not only realize the enameling of the products to be enameled, but also realize the functions of packing, boxing, handling and sorting of enameled products. Figure 6As shown, if it is necessary to expand the functions of packing, boxing, handling and sorting of the automated enameling device, then it is only necessary to replace the slurry tank 2 with a baler (not shown). In this case, the working process of the automated enameling device is as follows: the enameled products are transported to the loading robot 5 via the loading conveyor belt 3, the loading robot 5 will clamp the enameled products from the loading conveyor belt 3 and transport the enameled products to the operating table 1, and the enameling robot 6 arranged on the operating table 1 will not only clamp the enameled products from the operating table 1 and transport the enameled products to the baler for packaging, but will also transport the enameled products to the packaging box 10 on the unloading conveyor belt 4 after packaging is completed, and the unloading conveyor belt 4 will transport the packaging box 10 filled with enameled products downstream so that the packaging box 10 can be sealed downstream.

[0057] See also Figure 7 , Figure 7 This embodiment provides an automated enameling method, which is applied to the automated enameling device described above, that is, the automated enameling method is implemented based on the automated enameling device described above. Specifically, the automated enameling method includes steps 701 to 706 (abbreviated as S701 to S706), namely: S701, using a loading conveyor belt to transport the enameled product; S702, using a loading robot to clamp the enameled product from the loading conveyor belt and transport the enameled product to the operating table; S703, using an enameling robot to clamp the enameled product from the operating table and transport the enameled product to the slurry tank storing enamel glaze slurry; S704, using an enameling robot to immerse the enameled product in the enamel glaze slurry and then take it out, and perform a preset enameling action, so that the enameled product is obtained after the enameling action is completed; S705, using an enameling robot to transport the enameled product to a unloading conveyor belt; S706, using an unloading conveyor belt to transport the enameled product. In addition, it should be noted that for the unfinished parts in the description of the automated enameling method, please refer to the relevant description of the automated enameling device in the previous text, and this embodiment will not be elaborated here.

[0058] The above embodiments are only preferred implementations of the present application, and are not the only limitations on the automated enameling device and related methods; in this regard, those skilled in the art can flexibly set them according to the actual application scenarios based on the above embodiments. It can be understood that, through the implementation of the above embodiments of the present application, the operating table 1, the slurry tank 2, the loading conveyor belt 3, the unloading conveyor belt 4, the loading manipulator 5 and the enameling manipulator 6 together constitute the automated enameling device, the loading conveyor belt 3 and the unloading conveyor belt 4 are opposite and spaced from each other, the operating table 1 and the slurry tank 2 are both located between the loading conveyor belt 3 and the unloading conveyor belt 4, the slurry tank 2 is adjacent to the operating table 1, the loading manipulator 5 and the enameling manipulator 6 are both arranged on the operating table 1, the loading manipulator 5 is adjacent to the loading conveyor belt 3, and the enameling manipulator 6 is adjacent to the unloading conveyor belt 4 and the slurry tank 2. In the actual enameling process, the enameled product to be coated is transported to the loading robot 5 through the loading conveyor belt 3, and the loading robot 5 will clamp the enameled product to be coated from the loading conveyor belt 3 and transport it to the operating table 1, and the enameling robot 6 arranged on the operating table 1 will not only clamp the enameled product to be coated from the operating table 1 and transport it to the slurry tank 2 storing the enamel glaze slurry, but also quickly take out the enameled product to be coated after immersing it in the enamel glaze slurry and perform the preset enameling action, so that the enameled product can be obtained after the enameling action is completed, and after the enameled product is obtained, the enameling robot 6 will transport the enameled product to the unloading conveyor belt 4, so as to transport the enameled product through the unloading conveyor belt 4. It can be seen that compared with the manual enameling in the traditional scheme, the present application realizes the automation of enameling, that is, the loading of the enameled product to be coated, the enameling of the enameled product to be coated and the unloading of the enameled product do not require manual participation, thereby simplifying the enameling process and improving the quality and production efficiency of the enameled products.

[0059] It should be noted that the several embodiments shown in the present application above are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can refer to each other. It should also be noted that in the text description of the present application, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is such an actual relationship or order between these entities or operations. Further, the terms "include", "comprise" or any other corresponding variants are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only these elements, but also other elements that are not explicitly listed, or may also include elements inherent to such a process, method, article or device; and, in the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0060] In addition, by implementing the several embodiments shown above in the present application, professionals and technicians in this field can implement or use the present application. For the several embodiments shown above in the present application, various modifications will be obvious to professionals and technicians in this field, and the general principles defined in the present application can be implemented in other embodiments not shown without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the several embodiments shown above, but will conform to the widest range consistent with the principles and novel features disclosed in the present application.

Claims

1. An automated enameling device, characterized in that: The invention comprises an operating table, a slurry tank, a loading conveyor belt, a unloading conveyor belt, a loading manipulator and an enameling manipulator, wherein the loading conveyor belt is opposite to the unloading conveyor belt and is spaced from each other, the operating table and the slurry tank are both located between the loading conveyor belt and the unloading conveyor belt, the slurry tank is adjacent to the operating table, the loading manipulator and the enameling manipulator are both arranged on the operating table, the loading manipulator is adjacent to the loading conveyor belt, and the enameling manipulator is adjacent to the unloading conveyor belt and the slurry tank, wherein: The slurry tank is used to store enamel slurry; The feeding conveyor belt is used to convey the products to be enameled; The feeding robot is used to clamp the product to be enameled from the feeding conveyor belt and transport the product to be enameled to the operating table; The enameling robot is used to: clamp the enameled product from the operating table and transport the enameled product to the slurry tank; immerse the enameled product in the enamel slurry and then take it out, and perform a preset enameling action, so that the enameled product is obtained after the enameling action is completed; and transport the enameled product to the unloading conveyor belt; The unloading conveyor belt is used to transport the enamel products.

2. The automated enameling device according to claim 1, characterized in that: The loading robot has the same structure as the enameling robot, both of which include a robot arm and a fixture. The robot arm is arranged on the operating table, and the fixture is connected to the robot arm, wherein: The mechanical arm is used to drive the fixture to move in space; The clamp is used to clamp the product to be enameled or the enameled product.

3. The automated enameling device according to claim 2, characterized in that: The clamp comprises a housing, a cylinder, an adapter plate, a transmission assembly, three clamping claws and a plurality of connecting rods, one end of each of the connecting rods is arranged on the bottom wall of the housing, and the other end of each of the connecting rods is arranged on the adapter plate, the adapter plate is connected to the mechanical arm, and the plurality of connecting rods are spaced and distributed around the central axis of the housing; The transmission assembly is arranged in the housing, the cylinder is arranged on the bottom wall of the housing and is located on the central axis of the housing, the piston rod of the cylinder penetrates the housing and is connected to the transmission assembly, one end of the three clamps penetrates the housing through the side wall of the housing and is connected to the transmission assembly, and the three clamps are spaced and distributed around the central axis of the housing; The cylinder is used to drive the three clamping jaws to move toward each other through the transmission assembly to clamp the enameled product, or to drive the three clamping jaws to move away from each other to release the enameled product.

4. The automated enameling device according to claim 3, characterized in that: The clamp includes a clamp arm and a clamping piece. One end of the clamp arm penetrates into the shell through the side wall of the shell and is connected to the transmission assembly. The other end of the clamp arm is bent and extends to the top of the shell. The clamping piece is arranged on the end of the clamp arm located above the shell.

5. The automated enameling device according to claim 4, characterized in that: The clamping arm includes a base arm, a connecting arm and an extension arm, one end of the base arm penetrates into the outer shell through the side wall of the outer shell and is connected to the transmission assembly, the connecting arm extends in a direction away from the adapter plate, one end of the connecting arm is arranged on the other end of the base arm, one end of the extension arm is arranged on the other end of the connecting arm, the other end of the extension arm extends upward from the outer shell, and the clamp is arranged on one side of the extension arm.

6. The automated enameling device according to claim 5, characterized in that: The extension arm is provided with a plurality of mounting holes spaced apart along its length direction, the clamping piece is provided with a plurality of positioning holes spaced apart along its length direction, and the hole distance between any two adjacent mounting holes is equal to the hole distance between any two adjacent positioning holes; the clamping jaw further comprises a plurality of fasteners; The plurality of fasteners are used to: respectively insert into the plurality of positioning holes and the plurality of mounting holes that are aligned one by one to fix the clip on the extension arm; and, by respectively inserting into different plurality of mounting holes, adjust the position of the clip on the extension arm.

7. The automated enameling device according to claim 6, characterized in that: The clamp further comprises two corner blocks, wherein the corner blocks are provided with a plurality of connection holes spaced apart along the length direction thereof, and the hole distance between any two adjacent connection holes is equal to the hole distance between any two adjacent positioning holes; in any two of the clamping jaws, the two corner blocks are respectively arranged on one side of the two extension arms, and the two clamping pieces are respectively arranged on one side of the two corner blocks away from the corresponding extension arms; In the clamping jaw provided with the corner block, the plurality of fasteners are used to: respectively insert into the plurality of positioning holes, the plurality of connecting holes and the plurality of mounting holes which are aligned one by one, so as to relatively fix the clamping piece, the corner block and the extension arm; and, by respectively inserting into different plurality of mounting holes, adjust the positions of the clamping piece and the corner block on the extension arm.

8. The automated enameling device according to claim 4, characterized in that: The clip includes a clip body, which is arranged on the end of the clamp arm located above the shell, and a first extension piece extending obliquely toward the central axis of the shell is formed on the side of the clip body away from the adapter plate, and a first abutment portion extending toward the shell is formed at the end of the first extension piece close to the shell and is located on the side of the first extension piece away from the clip body, and the first abutment portion, the first extension piece and the clip body enclose a first clamping space.

9. The automated enameling device according to claim 8, characterized in that: A second extension piece is formed on the side of the first extension piece away from the adapter plate and extends obliquely toward the central axis of the shell. A second abutment portion is formed at the end of the second extension piece close to the shell and extends toward the shell and is located on the side of the second extension piece away from the first extension piece. The second abutment portion, the second extension piece and the first extension piece together form a second clamping space.

10. The automated enameling device according to claim 3, characterized in that: The shell includes a chassis and a protective cover. The cylinder and one end of the plurality of connecting rods are arranged on the bottom wall of the chassis. The protective cover is arranged on the chassis. The protective cover and the chassis are combined to form a accommodating cavity. The transmission assembly is arranged in the accommodating cavity.

11. The automated enameling device according to claim 3, characterized in that: The fixture further includes a slurry baffle disposed around the side wall of the housing and adjacent to the bottom wall of the housing.

12. The automated enameling device according to claim 1, characterized in that: It also includes a control module that is communicatively connected to the loading conveyor belt, the unloading conveyor belt, the loading robot and the enameling robot, and is used to control the operation of the loading conveyor belt, the unloading conveyor belt, the loading robot and the enameling robot.

13. The automated enameling device according to claim 12, characterized in that: It also includes a position detector that is communicatively connected to the control module, the position detector is arranged on the feeding conveyor belt and corresponds to the feeding robot, wherein: The position detector is used to detect in real time whether there is the enameled product at the position corresponding to the loading robot on the loading conveyor belt, and send a loading signal to the control module when there is the enameled product, or send a conveying signal to the control module when there is no enameled product; The control module is used to respond to the feeding signal to control the feeding conveyor belt to stop, or respond to the conveying signal to control the feeding conveyor belt to start.

14. The automated enameling device according to claim 1, characterized in that: The operating table is provided with a transfer area, the feeding robot and the enameling robot are both adjacent to the transfer area, and the transfer area is used for temporarily storing the products to be enameled from the feeding conveyor belt.

15. The automated enameling device according to claim 14, characterized in that: The transfer area is provided with an inwardly recessed placement groove, and the placement groove is used to temporarily store the to-be-enameled product clamped by the loading robot from the loading conveyor belt.

16. An automated enameling method, characterized in that: The automatic enameling device according to any one of claims 1 to 15 comprises: Use the feeding conveyor belt to transport the enameled products; Using a loading robot to clamp the product to be enameled from the loading conveyor belt, and transport the product to be enameled to an operating table; Using an enameling robot to clamp the product to be enameled from the operating table, and transport the product to be enameled to a slurry tank storing enamel slurry; Using the enameling robot to immerse the enameled product in the enamel slurry and then take it out, and perform a preset enameling action, so that the enameled product is obtained after the enameling action is completed; Using the enameling robot to transport the enameled product to a feeding conveyor belt; The enamel product is transported by the unloading conveyor belt.

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