Code spraying equipment for toothpaste production and code spraying robot

Abstract

The invention belongs to the technical field of code spraying equipment, and provides code spraying equipment for toothpaste production and a code spraying robot. The code spraying equipment comprises a base plate, a mounting frame is fixedly mounted on the base plate, two sets of symmetrically-distributed clamping plates are slidably mounted on the mounting frame, and limiting frames are fixedly mounted at the ends, away from the base plate, of the clamping plates; a first servo module for driving the two groups of clamping plates to synchronously and reversely move is arranged on the mounting frame, a rotating frame driven by a first rotating power part is rotatably mounted on the base plate, a moving plate is slidably mounted in the rotating frame, and a second servo module for driving the moving plate to move is arranged in the rotating frame. Compared with the prior art, the code spraying device has the following beneficial effects that the upper surface of the tail of the code spraying position is in an approximately horizontal state through the upper fixing plate and the lower fixing plate, the height difference of the code spraying surface on the toothpaste tube is reduced, and the code spraying quality on the toothpaste tube is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of coding equipment, and in particular relates to coding equipment and a coding robot for toothpaste production. Background Art

[0002] Toothpaste is a common cleaning product in daily life. It is a dentifrice that is generally in gel form and is usually applied to a toothbrush to clean teeth and keep them beautiful and white. Toothpaste has a long history. With the continuous development of science and technology, the continuous improvement and perfection of production technology and equipment, various types of toothpaste have been launched one after another, and the quality and grade of the products are also constantly improving.

[0003] After the toothpaste is initially packaged in a toothpaste tube, it needs to be coded at the tail of the tube. However, in the existing toothpaste production, the toothpaste is prone to coding misalignment during the coding transmission process. To address the above technical issues, a Chinese patent with patent announcement number CN117754992A uses two sets of shaping plates to fix the two ends of the toothpaste tube during use, and then performs coding. However, in general, the head of the toothpaste tube is thick and the tail is flat, resulting in inconsistent surface height of the toothpaste coding position and a large height difference, which in turn leads to poor coding quality and affects subsequent recognition. Summary of the Invention

[0004] The purpose of the present invention is to provide a coding device and a coding robot for toothpaste production, aiming to solve the technical problem in the prior art that the surface height inconsistency of the toothpaste coding position leads to poor coding quality.

[0005] The present invention is achieved as follows: a coding device for toothpaste production includes a base plate, wherein a mounting frame is fixedly mounted on the base plate, two groups of symmetrically distributed clamps are slidably mounted on the mounting frame, and a limit frame is fixedly mounted on one end of the clamp away from the base plate, and a first servo module is provided on the mounting frame to drive the two groups of clamps to move synchronously in opposite directions, a rotating frame driven by a first rotating power member is rotatably mounted on the base plate, a movable plate is slidably mounted in the rotating frame, and a second servo module is provided in the rotating frame to drive the movable plate to move, and a first telescopic member and a second telescopic member are fixedly mounted on the surface of the movable plate away from the base plate, a lower fixed plate is fixedly mounted on the output end of the first telescopic member, and an upper fixed plate is fixedly mounted on the output end of the second telescopic member, and the upper fixed plate cooperates with the lower fixed plate to clamp the end of the toothpaste tube, a third telescopic member is fixedly mounted on the end of the base plate away from the rotating frame, and the output end of the third telescopic member is fixedly mounted on the coding device body.

[0006] Further technical solution: the rotation axis of the rotating frame is perpendicular to the plane where the clamping plate is located, and a guide rod for guiding the movable plate is fixedly installed in the rotating frame.

[0007] Further technical solution: the lower fixing plate and the upper fixing plate are V-shaped structures with openings facing each other, and the symmetry planes of the lower fixing plate and the upper fixing plate themselves coincide with the symmetry planes of the splint.

[0008] Further technical solution: two sets of cross bars are slidably installed on the lower fixed plate, and the cross bars are distributed along the length direction of the lower fixed plate. A mounting ring is fixedly installed on one end of the cross bar close to the splint. The two sets of mounting rings are rotated together to install a limit rod. The limit rod is perpendicular to the symmetry plane of the splint, and a support plate is fixedly installed on the end of the cross bar away from the splint.

[0009] Further technical solution: A bracket is fixedly installed on the end of the lower fixed plate away from the splint, a pressure sensor is fixedly installed on the bracket, an elastic part is fixedly installed on the surface of the support plate close to the pressure sensor, the end of the elastic part away from the support plate is fixedly connected to the pressure sensor, and the support plate is in contact with the lower fixed plate when the elastic part is in its original length state.

[0010] Further technical solution: an inner plate is rotatably installed in the limit frame, the rotation axis of the inner plate is located in the limit frame at one end close to the lower fixed plate, a second rotating power component that drives the inner plate to rotate is fixedly installed on the limit frame, and multiple groups of sliding grooves are provided on the inner plate, and a slider is slidably installed in each group of sliding grooves, and a support rod is provided on the slider.

[0011] Further technical solution: A limit plate is fixedly installed on the side of the support rod away from the lower fixed plate. The support rod and the limit plate are both slidably connected to the slider and pass through the slider. Two groups of limit blocks are fixedly installed on the limit plate, one group of which is located at the end of the limit plate and the slider is located between the two groups of limit blocks.

[0012] Further technical solution: A mounting plate is fixedly installed on the sides of the limit frame that are away from each other. The mounting plate is located at one end of the limit frame away from the lower fixed plate. A first electromagnet and a second electromagnet are fixedly installed on the mounting plate. The first electromagnet and the second electromagnet are used in conjunction with a permanent magnet fixedly installed at the end of the support rod.

[0013] The present invention also provides a coding robot, which includes the above-mentioned coding equipment for toothpaste production, and also includes a base and a robotic arm, the robotic arm is fixedly mounted on the base and the output end of the robotic arm is fixedly connected to the base plate.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The upper fixing plate and the lower fixing plate are in contact with the toothpaste tube cap and fix the toothpaste tube. After the fixation is completed, the first rotating power member drives the rotating frame to rotate, so that the toothpaste tube rotates until the upper surface of the tail of the coding position is in a nearly horizontal state, thereby reducing the height difference of the coding surface on the toothpaste tube and improving the coding quality on the toothpaste tube.

[0015] 2. The limit rod and the pressure sensor are used in conjunction to detect that the lower fixing plate moves to the set position, thereby preventing the position of the lower fixing plate from deviating. At the same time, the limit rod is stuck in the position of the cap protrusion so that the toothpaste tube will not be separated from the lower fixing plate when it is subsequently fixed, ensuring that the upper and lower fixing plates can fix the toothpaste tube, thereby improving the speed and efficiency of fixing the toothpaste tube.

[0016] 3. The second rotating power member drives the inner plate to rotate so that the inner plate rotates upward away from the end of the lower fixed plate. Under the action of gravity, the slider will slide in the slide groove. When the support rod contacts the lower surface of the toothpaste tube, the slider stops moving. Since multiple groups of support rods are distributed at different heights, the slider moves different distances, and the support rods can contact and support the lower surface of the toothpaste tube at different positions. Under the action of gravity, the support rods can always keep in contact with the lower surface of the toothpaste tube, thereby achieving support for the tail of the toothpaste tube, ensuring that the toothpaste tube is in a stable state during coding, avoiding deformation of the rear end of the tube body caused by the toothpaste tube's own gravity and coding during coding, and further improving the quality of coding. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 It is the front view of the present invention.

[0019] Figure 3 It is a structural schematic diagram of the splint in the present invention.

[0020] Figure 4 It is a structural schematic diagram of the rotating frame in the present invention.

[0021] Figure 5 It is a structural schematic diagram of the lower fixed plate in the present invention.

[0022] Figure 6 It is a structural schematic diagram of the limit frame in the present invention.

[0023] Figure 7 It is a structural schematic diagram of the support rod in the present invention.

[0024] In the accompanying drawings: 1. base plate; 2. mounting frame; 3. clamping plate; 4. limit frame; 5. first servo module; 6. rotating frame; 7. first rotating power part; 8. movable plate; 9. second servo module; 10. guide rod; 11. first telescopic part; 12. lower fixed plate; 13. second telescopic part; 14. upper fixed plate; 15. cross bar; 16. mounting ring; 17. limit rod; 18. support plate; 19. bracket; 20. pressure sensor; 21. elastic part; 22. inner plate; 23. second rotating power part; 24. slide groove; 25. slider; 26. support rod; 27. limit plate; 28. limit block; 29. permanent magnet; 30. mounting plate; 31. first electromagnet; 32. second electromagnet; 33. third telescopic part; 34. inkjet coding equipment body. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0026] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0027] like Figure 1-Figure 7 As shown, a coding device for toothpaste production provided by the present invention includes a base plate 1, a mounting frame 2 is fixedly installed on the base plate 1, two groups of symmetrically distributed clamping plates 3 are slidably installed on the mounting frame 2, a limit frame 4 is fixedly installed on one end of the clamping plate 3 away from the base plate 1, a first servo module 5 is provided on the mounting frame 2 to drive the two groups of clamping plates 3 to move synchronously in the opposite direction, a rotating frame 6 driven by a first rotating power member 7 is rotatably installed on the base plate 1, a moving plate 8 is slidably installed in the rotating frame 6, and a second servo module 9 is provided in the rotating frame 6 to drive the moving plate 8 to move, the rotation axis of the rotating frame 6 is perpendicular to the plane where the clamping plates 3 are located, and a servo module 9 for driving the moving plate 8 to move is fixedly installed in the rotating frame 6. The guide rod 10 is guided in a row, and the surface of the movable plate 8 away from the base plate 1 is fixedly installed with a first telescopic member 11 and a second telescopic member 13. The output end of the first telescopic member 11 is fixedly installed with a lower fixed plate 12, and the output end of the second telescopic member 13 is fixedly installed with an upper fixed plate 14. The upper fixed plate 14 cooperates with the lower fixed plate 12 to clamp the end of the toothpaste tube. The lower fixed plate 12 and the upper fixed plate 14 are V-shaped structures with openings facing each other. The symmetry planes of the lower fixed plate 12 and the upper fixed plate 14 themselves coincide with the symmetry planes of the splint 3. A third telescopic member 33 is fixedly installed on the end of the base plate 1 away from the rotating frame 6, and the output end of the third telescopic member 33 is fixedly installed with a coding device body 34.

[0028] In actual application, the toothpaste tube is conveyed by a conveyor belt. When the toothpaste tube is conveyed to the bottom of the base plate 1, the end of the toothpaste tube is oriented in the direction of the lower fixed plate 12. The position of the toothpaste tube is detected by a visual recognition device. Then, the first servo module 5 drives the two groups of clamps 3 to move simultaneously in the direction close to the toothpaste tube until the two groups of limit frames 4 are in contact with the side of the toothpaste tube. At this time, the positioning of the toothpaste tube can be achieved, and there is no pressure between the limit frame 4 and the side of the toothpaste tube. After that, due to the thick open end of the toothpaste tube and the flat tail end The lower fixing plate 12 is moved downward by the first telescopic member 11, so that the lower fixing plate 12 and the upper fixing plate 14 are located on the upper and lower sides of the toothpaste tube cap. Then, the second servo module 9 drives the movable plate 8 to move in the direction close to the toothpaste tube, so that the lower fixing plate 12 moves to the bottom of the toothpaste tube cap and then stops. At this time, the lower fixing plate 12 moves upward and contacts the cap of the toothpaste tube and stops. Then, the second telescopic member 13 drives the upper fixing plate 14 to move downward and contact the cap of the toothpaste tube. After the toothpaste tube is fixed, the upper fixed plate 14 continues to move downward to push the toothpaste tube to rotate around the contact point between the cap and the lower fixed plate 12. At this time, the tail of the toothpaste tube will move upward until the upper fixed plate 14 and the lower fixed plate 12 are completely in contact with the toothpaste tube cap to fix the toothpaste tube. After the fixation is completed, the first rotating power member 7 drives the rotating frame 6 to rotate, so that the toothpaste tube continues to rotate until the upper surface of the tail of the coding position is in a nearly horizontal state, reducing the height difference of the coding surface on the toothpaste tube and improving the coding quality on the toothpaste tube. Then, the second servo module 9 drives the movable plate 8 to move so that the coding position of the toothpaste tube moves to the bottom of the coding device body 34. Then, the third telescopic member 33 drives the coding device body 34 to move downward to perform the coding operation on the toothpaste. After the coding is completed, the rotating frame 6 is reset, and then the upper fixed plate 14 moves upward to release the fixation of the toothpaste tube. After the toothpaste tube contacts the conveyor belt, the movable plate 8 is reset and the lower fixed plate 12 moves upward. After the next group of toothpaste tubes move to the set position, the coding operation can continue.

[0029] In an example of this embodiment, the first rotating power member 7 is a first motor, which can of course be other components that can output rotational power, such as a hydraulic motor. The rotating frame 6 is driven to rotate by the first motor, and the first telescopic member 11, the second telescopic member 13 and the third telescopic member 33 are the first, second and third electric telescopic rods respectively. Of course, they can also be other components that can actively change the length, such as a hydraulic cylinder. The lower fixed plate 12 is driven up and down by the first electric telescopic rod, the upper fixed plate 14 is driven up and down by the second electric telescopic rod, and the coding equipment body 34 is driven up and down by the third electric telescopic rod.

[0030] like Figure 2 、 Figure 4 、 Figure 5As shown, a coding device for toothpaste production provided by the present invention is provided. Two groups of cross bars 15 are slidably installed on the lower fixed plate 12. The cross bars 15 are distributed along the length direction of the lower fixed plate 12. A mounting ring 16 is fixedly installed at one end of the cross bar 15 close to the splint 3. The two groups of mounting rings 16 are rotated together to install a limit rod 17. The limit rod 17 is perpendicular to the symmetry plane of the splint 3. A support plate 18 is fixedly installed at the end of the cross bar 15 away from the splint 3.

[0031] Specifically, a bracket 19 is fixedly installed on the end of the lower fixed plate 12 away from the splint 3, and a pressure sensor 20 is fixedly installed on the bracket 19. An elastic member 21 is fixedly installed on the surface of the support plate 18 close to the pressure sensor 20. The end of the elastic member 21 away from the support plate 18 is fixedly connected to the pressure sensor 20. When the elastic member 21 is in its original length, the support plate 18 contacts the lower fixed plate 12.

[0032] When the lower fixing plate 12 is in actual use, the limiting rod 17 first contacts the end face of the toothpaste tube when the lower fixing plate 12 moves toward the direction close to the toothpaste tube. At this time, the limiting rod 17 pushes the support plate 18 to move and compresses the elastic member 21 through the cross bar 15. At this time, the pressure sensor 20 detects a reading, indicating that the limiting rod 17 is in contact with the toothpaste tube. At this time, the lower fixing plate 12 stops approaching the toothpaste tube. Then, the lower fixing plate 12 moves upward. At this time, the limiting rod 17 will drive the toothpaste tube to rotate around its end. As the lower fixing plate 12 moves upward, the limiting rod 17 moves on the end face of the toothpaste tube to a position close to the cap until the limiting rod 17 contacts the cap protrusion. After that, the lower fixing plate 12 stops moving. The limiting rod 17 is now stuck in the position of the cap protrusion. At the same time, the upper fixing plate 14 moves downward to contact the toothpaste tube cap and push the toothpaste tube to rotate. After the lower end of the toothpaste tube leaves the conveyor belt The toothpaste tube will move in the direction away from the lower fixing plate 12 under the action of gravity. Since the limit rod 17 is stuck in the position of the cap protrusion, the limit rod 17 will drive the limit rod 17 to move until the support plate 18 contacts the lower fixing plate 12 when the limit rod 17 is stuck in the position of the cap protrusion. At this time, the upper fixing plate 14 presses the toothpaste tube downward and rotates around the position of contact with the limit rod 17 until the upper fixing plate 14 and the lower fixing plate 12 are completely in contact with the cap to fix the toothpaste. The limit rod 17 is used in conjunction with the pressure sensor 20 to detect that the lower fixing plate 12 has moved to the set position, thereby preventing the position of the lower fixing plate 12 from deviating. At the same time, the limit rod 17 is stuck in the position of the cap protrusion so that the toothpaste tube will not separate from the lower fixing plate 12 when it is fixed subsequently, ensuring that the upper fixing plate 14 and the lower fixing plate 12 can fix the toothpaste tube, thereby improving the speed and efficiency of fixing the toothpaste tube.

[0033] In an embodiment of the present invention, the elastic member 21 is a spring, and may also be other elastic components such as an elastic ball, and pressure is applied to the pressure sensor 20 through compression of the spring.

[0034] like Figure 2 、 Figure 3 、 Figure 6 、 Figure 7 As shown, a coding device for toothpaste production provided by the present invention is provided. An inner plate 22 is rotatably installed in the limit frame 4. The rotation axis of the inner plate 22 is located at one end of the limit frame 4 close to the lower fixed plate 12. A second rotating power component 23 that drives the inner plate 22 to rotate is fixedly installed on the limit frame 4. Multiple groups of slide grooves 24 are provided on the inner plate 22. A slider 25 is slidably installed in each group of slide grooves 24, and a support rod 26 is provided on the slider 25.

[0035] Specifically, a limit plate 27 is fixedly installed on the side of the support rod 26 away from the lower fixed plate 12. The support rod 26 and the limit plate 27 are both slidably connected to the slider 25 and pass through the slider 25. Two groups of limit blocks 28 are fixedly installed on the limit plate 27, one group of which is located at the end of the limit plate 27 and the slider 25 is located between the two groups of limit blocks 28.

[0036] Specifically, a mounting plate 30 is fixedly installed on the side of the limit frame 4 away from each other. The mounting plate 30 is located at one end of the limit frame 4 away from the lower fixed plate 12. A first electromagnet 31 and a second electromagnet 32 are fixedly installed on the mounting plate 30. The first electromagnet 31 and the second electromagnet 32 are used in conjunction with the permanent magnet 29 fixedly installed at the end of the support rod 26.

[0037] When the toothpaste tube is moved to the set position and the angle adjustment is completed, the first electromagnet 31 and the second electromagnet 32 are energized. After the first electromagnet 31 is energized, it repel each other with the permanent magnet 29, thereby pushing the support rod 26 to move to the area between the two sets of clamping plates 3. After the second electromagnet 32 is energized, it also repel each other with the permanent magnet 29, and the magnetic force of the second electromagnet 32 and the permanent magnet 29 is weak, so that the permanent magnet 29 can move to a position close to the second electromagnet 32, so that the support rod 26 can extend further. Then the second rotating power part 23 drives the inner plate 22 to rotate so that the inner plate 22 rotates upward away from the end of the lower fixed plate 12. Under the action of gravity, the slider 25 slides in the slide groove 24. When the support rod 26 is aligned with the toothpaste tube 26, the slider 25 slides in the slide groove 24. After the slider 25 contacts the lower surface of the toothpaste tube, it stops moving. Since the multiple groups of support rods 26 are distributed at different heights, the movement distances of the slider 25 are different, and the support rods 26 can contact and support the lower surface of the toothpaste tube at different positions, and under the action of gravity, the support rods 26 can always keep in contact with the lower surface of the toothpaste tube, thereby achieving support for the tail of the toothpaste tube, ensuring that the toothpaste tube is in a stable state during coding, avoiding the deformation of the rear end of the tube body caused by the toothpaste tube's own gravity and coding, and further improving the quality of coding. After coding is completed, the inner plate 22 rotates in the opposite direction to change the inclination direction of the inner plate 22. At this time, under the action of gravity, the slider 25 is reset, and then the first electromagnet 31 is powered off, and the magnetism of the second electromagnet 32 is enhanced. After the slider 25 is reset, the permanent magnet 29 is adsorbed and fixed to the first electromagnet 31 under the action of the repulsive magnetic force between the second electromagnet 32 and the permanent magnet 29.

[0038] In one embodiment of the present invention, the second rotating power component 23 is a second motor, and of course it can also be other components capable of outputting rotating power, such as a hydraulic motor, to drive the inner plate 22 to rotate through the second motor.

[0039] like Figures 1-6 As shown, the present invention provides a coding robot, which includes the above-mentioned coding equipment for toothpaste production, and also includes a base and a robotic arm, the robotic arm is fixedly mounted on the base and the output end of the robotic arm is fixedly connected to the substrate 1.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

[0041] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A coding device for toothpaste production, comprising a substrate (1), characterized in that: The base plate (1) is fixedly mounted with a mounting frame (2), two groups of symmetrically distributed clamping plates (3) are slidably mounted on the mounting frame (2), a limit frame (4) is fixedly mounted on one end of the clamping plate (3) away from the base plate (1), a first servo module (5) is provided on the mounting frame (2) for driving the two groups of clamping plates (3) to move synchronously in opposite directions, a rotating frame (6) driven by a first rotating power member (7) is rotatably mounted on the base plate (1), a moving plate (8) is slidably mounted in the rotating frame (6), and a second servo module is provided in the rotating frame (6) for driving the moving plate (8) to move (9), a first telescopic member (11) and a second telescopic member (13) are fixedly mounted on a surface of the movable plate (8) away from the base plate (1), a lower fixed plate (12) is fixedly mounted on the output end of the first telescopic member (11), an upper fixed plate (14) is fixedly mounted on the output end of the second telescopic member (13), the upper fixed plate (14) cooperates with the lower fixed plate (12) to clamp the end of the toothpaste tube, a third telescopic member (33) is fixedly mounted on an end of the base plate (1) away from the rotating frame (6), and a coding device body (34) is fixedly mounted on the output end of the third telescopic member (33).

2. A coding device for toothpaste production according to claim 1, characterized in that: The rotation axis of the rotating frame (6) is perpendicular to the plane where the clamping plate (3) is located, and a guide rod (10) for guiding the movable plate (8) is fixedly installed in the rotating frame (6).

3. A coding device for toothpaste production according to claim 1, characterized in that: The lower fixing plate (12) and the upper fixing plate (14) are V-shaped structures with openings facing each other, and the symmetry planes of the lower fixing plate (12) and the upper fixing plate (14) themselves coincide with the symmetry plane of the clamping plate (3).

4. A coding device for toothpaste production according to claim 1, characterized in that: Two groups of cross bars (15) are slidably mounted on the lower fixed plate (12). The cross bars (15) are distributed along the length direction of the lower fixed plate (12). One end of the cross bar (15) close to the splint (3) is fixedly mounted with a mounting ring (16). The two groups of mounting rings (16) are rotatably mounted on a limit rod (17) that is perpendicular to the symmetry plane of the splint (3). One end of the cross bar (15) away from the splint (3) is fixedly mounted with a support plate (18).

5. A coding device for toothpaste production according to claim 4, characterized in that: A bracket (19) is fixedly mounted on one end of the lower fixed plate (12) away from the clamping plate (3), a pressure sensor (20) is fixedly mounted on the bracket (19), an elastic member (21) is fixedly mounted on the surface of the support plate (18) close to the pressure sensor (20), an end of the elastic member (21) away from the support plate (18) is fixedly connected to the pressure sensor (20), and the elastic member (21) is in contact with the support plate (18) and the lower fixed plate (12) in the original length state.

6. The coding equipment for toothpaste production according to claim 1, characterized in that: An inner plate (22) is rotatably mounted in the limit frame (4), and a rotation axis of the inner plate (22) is located at one end of the limit frame (4) close to the lower fixed plate (12). A second rotating power member (23) for driving the inner plate (22) to rotate is fixedly mounted on the limit frame (4). A plurality of groups of slide grooves (24) are provided on the inner plate (22), and a slider (25) is slidably mounted in each group of slide grooves (24). A support rod (26) is provided on the slider (25).

7. A coding device for toothpaste production according to claim 6, characterized in that: A limiting plate (27) is fixedly mounted on one side of the support rod (26) away from the lower fixed plate (12). The support rod (26) and the limiting plate (27) are both slidably connected to the slider (25) and pass through the slider (25). Two groups of limiting blocks (28) are fixedly mounted on the limiting plate (27), one of which is located at the end of the limiting plate (27) and the slider (25) is located between the two groups of limiting blocks (28).

8. The coding equipment for toothpaste production according to claim 7, characterized in that: A mounting plate (30) is fixedly mounted on the side of the limit frame (4) that is away from each other. The mounting plate (30) is located at one end of the limit frame (4) away from the lower fixed plate (12). A first electromagnet (31) and a second electromagnet (32) are fixedly mounted on the mounting plate (30). The first electromagnet (31) and the second electromagnet (32) are used in conjunction with a permanent magnet (29) fixedly mounted on the end of the support rod (26).

9. A coding robot, characterized in that: The invention comprises a coding device for toothpaste production as described in any one of claims 1 to 8, and further comprises a base and a mechanical arm, wherein the mechanical arm is fixedly mounted on the base and an output end of the mechanical arm is fixedly connected to a base plate (1).

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