Automatic glaze spraying device for ceramic closestool

Abstract

The invention relates to the technical field of glaze spraying of closestools, in particular to an automatic glaze spraying device for ceramic closestools, which comprises a circular track assembly, ring winding assemblies, a radial movement assembly, a lifting rotation assembly and a swing assembly, the ring winding assemblies are fixed at two ends of the radial movement assembly, and the lifting rotation assembly is fixed at two ends of the radial movement assembly; the ring winding assembly drives the radial moving assembly to rotate around the circle center of the circular track assembly, the axis, in the driving direction of the radial moving assembly, of the radial moving assembly coincides with the diameter of the circular track assembly, the lifting rotating assembly is connected to the radial moving assembly, a lifting and vertically-arranged lifting rod is arranged on the lifting rotating assembly, and the lifting rod is connected to the radial moving assembly. The swing assembly is fixedly connected to the end, away from the radial moving assembly, of the hanging rod, a glaze spraying gun is connected to the swing assembly, and the swing assembly is used for controlling the glaze spraying gun to swing and changing the angle of the glaze spraying gun; compared with a glaze spraying structure of a traditional mechanical arm, the energy consumption during glaze spraying is greatly reduced.

Description

Technical Field

[0001] The invention relates to the technical field of toilet glazing spraying, in particular to an automatic glazing spraying device for a ceramic toilet. Background Art

[0002] Currently, automatic glazing of toilets is performed by a robotic arm. During glazing, a spray gun fixed to the end of the arm sprays a mist of glaze. The robot that performs the glazing operation is a three-axis robot. During glazing, the three-axis robot controls the movement of the spray gun around the toilet, thereby controlling the glaze spraying on the toilet.

[0003] However, the high cost of the manipulator leads to high procurement costs. At the same time, since most of the manipulator's structure is suspended in the air, its mechanical arm needs to be strong, resulting in a large weight of the manipulator. When the manipulator is in operation, it will generate high energy consumption, which also increases the factory's operating costs and does not meet the requirements of energy conservation and emission reduction. Therefore, this application proposes an automatic glaze spraying device for ceramic toilets. Summary of the Invention

[0004] The purpose of the present invention is to provide an automatic glaze spraying device for a ceramic toilet, so as to solve the problems of high cost and energy consumption of the current automatic glaze spraying device.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An automatic glaze spraying device for a ceramic toilet, the glaze spraying device comprising:

[0007] Ring rail assembly;

[0008] Ring assembly;

[0009] A radial moving assembly, wherein the ring assembly is fixed to both ends of the radial moving assembly, and the ring assembly drives the radial moving assembly to rotate around the center of the ring track assembly, and the axis of the radial moving assembly along its driving direction coincides with the diameter of the ring track assembly;

[0010] A lifting and rotating assembly, the lifting and rotating assembly being connected to the radial moving assembly, the lifting and rotating assembly being provided with a lifting and vertically arranged boom;

[0011] A swing assembly is fixedly connected to one end of the suspension rod away from the radial movement assembly. A glaze spray gun is connected to the swing assembly. The swing assembly is used to control the swing of the glaze spray gun and change the angle of the glaze spray gun.

[0012] Furthermore, the lifting and rotating assembly includes:

[0013] A power casing, wherein a casing bottom plate is provided on the power casing;

[0014] A drive tube, the drive tube is rotatably connected to the power housing and can only rotate around its own axis, and the suspension rod is fixed to the drive tube via a threaded connection;

[0015] A lifting power assembly, the lifting power assembly is fixedly connected to the power housing and is used to drive the driving tube to rotate;

[0016] The clutch mechanism includes an upper friction assembly, a lower friction assembly and a movable friction assembly, wherein the upper friction assembly is fixedly connected to the end of the drive tube, the lower friction assembly is fixedly connected to the bottom plate of the casing, the movable friction assembly is slidably connected to the boom, and the movable friction assembly can only move on the boom along the axis of the boom, the movable friction assembly switches between the upper friction assembly and the lower friction assembly, and is fixed to one of them during the switching process.

[0017] Furthermore, the cross section of the suspension rod is waist-shaped, the arc portion on the suspension rod is provided with an external thread, a waist-shaped hole with the same shape as the cross section of the suspension rod is provided at the center of the movable friction component, and the movable friction component is sleeved on the suspension rod.

[0018] Furthermore, a plurality of adsorption electromagnets are provided on the movable friction, an upper magnetic ring is provided on the upper friction component, and a lower magnetic ring is provided on the lower friction component. The magnetic poles of the upper magnetic ring and the lower magnetic ring on the side close to the adsorption electromagnet are the same. When the adsorption electromagnet is energized, the adsorption electromagnet adsorbs the upper magnetic ring or the lower magnetic ring.

[0019] Furthermore, the upper friction assembly is also provided with an upper outer friction ring and an upper inner friction ring, and the lower friction assembly is also provided with a lower outer friction ring and a lower inner friction ring, the upper outer friction ring, the upper inner friction ring and the upper magnetic ring are coaxially arranged, the upper outer friction ring and the upper inner friction ring are located on the inner and outer sides of the upper magnetic ring, the lower outer friction ring, the lower inner friction ring and the lower magnetic ring are coaxially arranged, and the lower outer friction ring and the lower inner friction ring are located on the inner and outer sides of the lower magnetic ring.

[0020] Furthermore, the clutch mechanism further includes:

[0021] A coupling mechanism, the coupling mechanism is connected to the casing bottom plate and the movable friction assembly, the coupling mechanism includes an upper connecting seat, an electrode ring and a fixed electrode, the upper connecting seat is an annular insulating structure, a plurality of electrode rings are provided, and the plurality of upper connecting seats are coaxially arranged, the fixed electrode is fixedly connected to the power casing, a plurality of fixed electrodes are provided, the electrode ring is in electrical contact with the fixed electrode, the electrode ring is a cylindrical structure, and when the electrode ring moves and rotates following the movable friction assembly, the fixed electrode and the electrode ring are always in contact.

[0022] Furthermore, the swing assembly includes:

[0023] A ball and pin mechanism, wherein the ball and pin mechanism is provided with a swing rod penetrating the center of the ball of the ball and pin mechanism, and one end of the swing rod is fixedly connected to the spray gun seat;

[0024] a ball seat assembly, the ball seat assembly being fixedly connected to the end of the boom, and the ball and pin mechanism being rotatably connected in the ball seat assembly;

[0025] At least three electromagnetic telescopic rods are connected to the end of the boom via a mounting plate. The multiple electromagnetic telescopic rods are distributed in a circle, and the central axis of the circle formed by the multiple electromagnetic telescopic rods coincides with the center of the ball of the ball-pin mechanism. The output end of the electromagnetic telescopic rod is connected to the end of the rocker arm away from the spray gun seat via a telescopic spring. The telescopic amount of each electromagnetic telescopic rod is independently controlled.

[0026] Furthermore, three electromagnetic telescopic rods are provided.

[0027] Furthermore, the glaze spraying device further comprises:

[0028] The toilet positioning component is used to identify the position of the toilet blank placed on the spraying station.

[0029] Furthermore, the automatic glaze spraying device for the toilet includes the following steps when automatically spraying glaze:

[0030] Obtain the location information of the toilet at the workstation through the toilet positioning component;

[0031] Generate the activity trajectory of the glaze spray gun based on the toilet model and toilet position information.

[0032] In summary, the present invention has the following beneficial effects compared with the prior art:

[0033] The automatic glaze spraying device for ceramic toilets disclosed in an embodiment of the present invention supports or hoists the ring assembly 200, the radial moving assembly 300, and the lifting and rotating assembly 400 by setting a ring rail assembly. In the device, only the gravity of the suspension rod, the swing assembly and the glaze spraying gun directly consume energy, and other structures consume energy in the form of friction. Compared with the traditional glaze spraying structure of a robotic arm, this device greatly reduces the energy consumption during glaze spraying. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic structural diagram of an automatic glaze spraying device for a ceramic toilet disclosed in an embodiment of the present invention.

[0035] Figure 2 for Figure 1 A local enlarged view of point I in the middle.

[0036] Figure 3 This is a front view of the automatic glaze spraying device for a ceramic toilet disclosed in an embodiment of the present invention.

[0037] Figure 4 for Figure 3 Cross-sectional view of AA in the figure.

[0038] Figure 5 for Figure 4 A partial enlarged view of point II in the middle.

[0039] Figure 6 for Figure 4 A partial enlarged view of point III in the middle.

[0040] Figure 7 for Figure 4 A local enlarged view of point IV in the middle.

[0041] Figure 8 for Figure 4 A partial enlarged view of the V in the middle.

[0042] Figure 9 This is a schematic structural diagram of the ring assembly in the automatic glaze spraying device for a ceramic toilet disclosed in an embodiment of the present invention.

[0043] Figure 10 This is a schematic structural diagram of the clutch mechanism of the lifting and rotating assembly in the automatic glaze spraying device for ceramic toilets disclosed in an embodiment of the present invention.

[0044] Figure 11 This is a structural schematic diagram of the suspension rod, upper dust cover, and axial limit assembly in the automatic glaze spraying device for a ceramic toilet disclosed in an embodiment of the present invention.

[0045] Figure 12 This is a schematic structural diagram of the swing assembly in the automatic glaze spraying device for a ceramic toilet disclosed in an embodiment of the present invention.

[0046] Figure 13This is an exploded view of the lifting and rotating assembly (excluding the suspension rod) in the automatic glaze spraying device for ceramic toilets disclosed in an embodiment of the present invention.

[0047] Figure 14 This is a front view of the lifting and rotating assembly (excluding the suspension rod) in the automatic glaze spraying device for ceramic toilets disclosed in an embodiment of the present invention.

[0048] Figure 15 for Figure 14 Cross-sectional view of the BB.

[0049] Figure 16 This is a schematic structural diagram of a suspension rod in an automatic glaze spraying device for a ceramic toilet disclosed in an embodiment of the present invention.

[0050] Figure 17 This is a structural schematic diagram of the end view of the suspension rod in the automatic glaze spraying device for ceramic toilets disclosed in an embodiment of the present invention.

[0051] Reference numerals:

[0052] 100, ring rail assembly; 110, bottom rail; 120, upper rail; 130, roller;

[0053] 200, ring winding assembly; 210, moving bracket; 220, tapered roller; 230, driving gear; 240, ring winding motor; 300, radial moving assembly; 310, end bracket; 320, radial moving motor; 330, radial screw; 340, radial solenoid; 350, guide plate; 360, guide rod;

[0054] 400, lifting and rotating assembly; 410, power housing; 411, housing base; 420, suspension rod; 421, end plate; 430, drive pipe; 431, upper friction base; 440, lifting power assembly; 441, lifting and rotating motor; 442, drive wheel; 443, driven wheel; 444, synchronous belt; 445, motor bracket; 450, sliding sleeve mechanism; 460, upper dust cover; 461, end cover; 462, end sleeve; 470, lower dust cover; 480, axial limit assembly; 481, track ring; 482, support ring; 483, upper pressure ring; 484, connecting sleeve; 485, connecting column; 486, support sleeve;

[0055] 500, swing assembly; 510, ball and pin mechanism; 511, swing arm; 512, spring hole; 520, ball seat assembly; 521, fixed ball seat; 522, clamping ball seat; 530, mounting plate; 540, electromagnetic telescopic rod; 550, telescopic spring; 560, spray gun seat;

[0056] 600, clutch mechanism; 610, upper friction assembly; 611, upper outer friction ring; 612, upper inner friction ring; 613, upper magnetic ring; 620, lower friction assembly; 621, lower friction base plate; 622, lower outer friction ring; 623, lower inner friction ring; 624, lower magnetic ring; 630, movable friction assembly; 631, lower magnetic shell; 632, upper magnetic shell; 633, adsorption electromagnet; 640, coupling mechanism; 641, upper connecting seat; 642, electrode ring; 643, fixed electrode; 644, coupling seat; 645, electrode slot. DETAILED DESCRIPTION

[0057] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, the general skilled in the art will

[0058] All other embodiments obtained by skilled technicians without making any creative work shall fall within the scope of protection of the present invention.

[0059] Example 1

[0060] Figures 1 to 2 As shown, an embodiment of the present invention provides an automatic glaze spraying device for a ceramic toilet, the glaze spraying device includes a ring track assembly 100, a ring assembly 200, a radial moving assembly 300, a lifting and rotating assembly 400 and a swing assembly 500, the ring assembly 200 is fixed to both ends of the radial moving assembly 300, the ring assembly 200 drives the radial moving assembly 300 to rotate around the center of the ring track assembly 100, and the radial moving assembly 300 moves along its driving direction. The axis coincides with the diameter of the ring track assembly 100, the lifting and rotating assembly 400 is connected to the radial moving assembly 300, and the lifting and rotating assembly 400 is provided with a liftable and vertically arranged suspension rod 420, the swing assembly 500 is fixedly connected to the end of the suspension rod 420 away from the radial moving assembly 300, and the swing assembly 500 is connected to a glaze spraying gun, and the swing assembly 500 is used to control the swing of the glaze spraying gun and change the angle of the glaze spraying gun.

[0061] In this embodiment, the glaze spraying device is installed above the workstation, the ring track assembly 100 is fixedly connected to the bracket structure above the glaze spraying workstation by screws, the ring assembly 200, the radial moving assembly 300, the lifting and rotating assembly 400 and the swing assembly 500 are connected to a control structure, such as an industrial computer, the ring assembly 200 rotates on the ring track assembly 100, driving the radial moving assembly 300 to rotate around the center of the ring track assembly 100, since the axis of the radial moving assembly 300 along its driving direction coincides with the diameter of the ring track assembly 100, the ring assembly 200 is located at both ends of the radial moving assembly 300, and the radial moving assembly 300 is inside the ring track assembly 100. The glaze spray gun rotates sideways, and the end of the radial moving assembly 300 rotates along the ring track assembly 100. When the radial moving assembly 300 rotates, the glaze spray gun rotates around the inside or outside of the toilet and always points to the inside or outside of the toilet. For example, when the glaze spray gun points to the inside of the toilet, the glaze spray gun is located on the outside of the toilet, so that glaze is sprayed on the outside of the toilet. When glazing the inside of the toilet, the glaze spray gun circles on the inside of the toilet and always points to the outside of the toilet. When it is necessary to spray glaze on the top of the toilet, the height of the glaze spray gun is adjusted by the suspension rod 420 and the angle of the glaze spray gun is adjusted by the swing assembly 500 so that it points to the upper end face of the toilet. When spraying glaze at positions at different heights on the toilet, the height of the glaze spray gun is adjusted by raising and lowering the suspension rod 420.

[0062] In this embodiment, when the device is moving, the motor structure needs to overcome only the gravity of the boom 420, the swing assembly 500 and the glaze spray gun, as well as the friction between the structures. In the traditional robotic arm structure, the motor needs to overcome the gravity of the robotic arm. At the same time, since the robotic arm is a cantilever structure, according to the lever principle, the robotic arm motor structure needs to overcome a gravity several times that of the robotic arm when rotating. For example, the motor structure far away from the execution end needs to overcome the gravity of the entire cantilever. When the robotic arm is working, it consumes a lot of electrical energy. In this application, most of the automatic glaze spraying devices The partial gravity is concentrated on the ring track assembly 100, the ring assembly 200, the radial moving assembly 300 and the lifting and rotating assembly 400. The gravity of these structures is supported by the ring track assembly 100, and among these structures, only the suspension rod 420 is suspended in the air. When spraying glaze, only the gravity of the suspension rod 420, the swing assembly 500 and the glaze spray gun directly participates in energy consumption, and other structures participate in energy consumption in the form of friction, and their energy consumption is far less than the direct participation of gravity, thereby reducing the energy consumption of the automatic glaze spraying process and achieving energy saving.

[0063] Specifically, in this embodiment, the ring rail assembly 100 is a suspension rail, such as Figures 1 to 4 as well as Figure 7 、 Figure 9As shown, the ring rail assembly 100 is a circular guide rail, and the ring rail assembly 100 includes a bottom rail 110, an upper rail 120 and a roller 130. The cross section of the bottom rail 110 is trapezoidal, and the ring assembly 200 is provided with a plurality of tapered rollers 220 on both sides of the bottom rail 110. The tapered rollers 220 cooperate with the inclined surface of the bottom rail 110 so that the ring assembly 200 is suspended on the bottom rail 110. There are a plurality of rollers 130, and the rollers 130 are evenly distributed around the axis of the bottom rail 110 in the circumferential direction. The cross section of the upper rail 120 is L-shaped. The upper rail 120 fixes the rollers 130 to the bottom rail 110. The rollers 130 The upper rail 120 is rotatably connected to the bottom rail 110 and the upper rail 120, and the upper rail 120 is fixedly connected to the bottom rail 110 by bolts. The roller 130 is a cylindrical structure with small diameters at both ends and a large diameter in the middle. The upper rail 120 and the bottom rail 110 are arranged on opposite sides thereof. A rotating hole structure with the same radius as the small end of the roller 130 is provided. The roller 130 is located in the rotating hole. A driving gear 230 is provided on the ring assembly 200. When the driving gear 230 rotates around the ring track assembly 100, the structure formed by the driving gear 230 and the roller 130 rolls, so that the ring assembly 200 can rotate around the ring track assembly 100.

[0064] The bottom rail 110 or the upper rail 120 is provided with a threaded hole or a stud structure for connecting the bracket structure, which is used to fix the ring rail assembly 100 above the workstation. In this embodiment, the ring rail assembly 100 is a suspension guide rail, and the threaded hole or the stud structure for connecting the bracket structure is provided on the upper rail 120.

[0065] Preferably, in this embodiment, the ring assembly 200 further includes a movable bracket 210 and a ring motor 240, wherein the movable bracket 210 is a U-shaped groove and the movable bracket 210 is arranged in an arc shape, and the conical roller 220 is rotatably connected to the inner side of the movable bracket 210 through a bearing structure, and the conical rollers 220 located on the same side of the bottom rail 110 are distributed in an arc shape, so that when the ring assembly 200 rotates on the ring rail assembly 100, the conical rollers 220 always adhere to the inclined surface of the bottom rail 110, and the ring motor 240 is rotated. 0 is fixedly connected to the radial moving assembly 300. In this embodiment, an end bracket 310 is provided at the end of the radial moving assembly 300. The moving bracket 210 and the ring motor 240 are fixedly connected to the end bracket 310 by bolts. The output end of the ring motor 240 is connected to the driving gear 230 through a key shaft and is fixedly connected. When the ring motor 240 is energized, it drives the driving gear 230 to rotate. The driving gear 230 and the roller 130 cooperate to drive the end bracket 310 to rotate around the ring track assembly 100.

[0066] In this embodiment, when the driving gear 230 interferes with the side wall of the movable bracket 210 due to its large size, an avoidance groove needs to be opened on the side wall of the movable bracket 210, and a reinforcing rib structure is added to the edge of the avoidance groove to increase the strength of the movable bracket 210 and prevent the ring assembly 200 from falling off the ring track assembly 100.

[0067] In this embodiment, the bottom rail 110 and the upper rail 120 are formed into a circular ring shape by a plurality of segmented arc structures, and the arc structures constituting the bottom rail 110 and the upper rail 120 are staggered when connected, thereby improving the strength and installation convenience of the ring rail assembly 100. The arrangement of the bottom rail 110 and the upper rail 120 makes it easy to transport the bottom rail 110 and the upper rail 120, and at the same time, it is easy to form the ring assembly 200.

[0068] It should be noted that the ring motors 240 located at both ends of the radial moving assembly 300 use motors of the same brand and the same specifications, and when working, the ring motors 240 located at both ends of the radial moving assembly 300 are controlled by the same control signal, so that the ring motors 240 located at both ends of the radial moving assembly 300 work synchronously, thereby enabling the radial moving assembly 300 to rotate around the center of the ring track assembly 100.

[0069] like Figure 2 and Figure 4 、 Figure 7 and Figure 9 As shown, the end bracket 310 is L-shaped, and reinforcing rib structures are provided on both sides of the end bracket 310 to increase the strength of the end bracket 310.

[0070] In this embodiment, the radial movement assembly 300 is a push rod structure, and the radial movement assembly 300 includes a radial movement motor 320, a radial screw 330, a radial coil 340 and a guide rod 360. At least two guide rods 360 are provided, and the two ends of the guide rods 360 are respectively fixed to different end brackets 310. The guide rods 360 are arranged in parallel, and the lifting and rotating assembly 400 is slidably connected to the guide rods 360. The radial movement motor 320 is fixedly connected to one of the end brackets 310 by bolts. One end is fixedly connected to the lifting and rotating assembly 400 by a bolt, and the radial screw 330 is fixedly connected to the output shaft of the radial moving motor 320 through a coupling structure. The radial screw 330 and the radial solenoid 340 are connected by a threaded connection. When the radial moving motor 320 is powered on and rotated, the radial moving motor 320 drives the radial screw 330 to rotate. When the radial screw 330 rotates, it drives the radial solenoid 340 to move along the axis of the guide rod 360, thereby pushing the lifting and rotating assembly 400 to move on the guide rod 360.

[0071] Preferably, the radial movement assembly 300 also includes a plurality of guide plates 350, each of which is a flat plate structure. The guide plates 350 are fixedly connected to the guide rod 360 by locking screws. The plurality of guide plates 350 are distributed on the radial screw 330 and the radial screw tube 340, and the guide plates 350 and the radial screw 330 are rotationally connected, and the guide plates 350 and the radial screw tube 340 are slidingly connected. The guide plates 350 are used to support the radial screw tube 340 and the radial screw 330, reduce the force on the radial movement motor 320, and prevent the output shaft of the radial movement motor 320 from being eccentric.

[0072] In this embodiment, the radial moving motor 320 and the ring motor 240 are servo motors or stepper motors, and the positions of the ring assembly 200 and the lifting and rotating assembly 400 can be identified through control signals. When the radial moving motor 320 and the ring motor 240 use ordinary motors, position sensors, such as capacitive sensors, are provided on the ring assembly 200 and the radial moving assembly 300.

[0073] In this embodiment, the radial movement motor 320, the radial screw 330 and the radial solenoid 340 can also be replaced by a linear displacement mechanism with controllable displacement distance, such as a lead screw linear movement mechanism and a belt linear movement structure.

[0074] like Figure 4 、 Figure 5 、 Figure 10As shown, the lifting and rotating assembly 400 includes a power casing 410, a suspension rod 420, a drive tube 430, a lifting power assembly 440 and a clutch mechanism 600. The power casing 410 is a square box body. The power casing 410 is slidably connected to the guide rod 360. The bottom of the power casing 410 is fixedly connected with a sleeve mechanism 450 by bolts. The sleeve mechanism 450 is slidably connected to the guide rod 360. The radial solenoid 340 is fixedly connected to the power casing 410 by bolts. The suspension rod 420, the drive tube 430, the lifting power assembly 440 and the clutch mechanism 600 are all located on the inner side of the power casing 410. The power casing 410 is provided with a casing bottom plate 411, the sliding mechanism 450 is fixedly connected to the bottom of the casing bottom plate 411, the suspension rod 420 is a screw structure, the suspension rod 420 is connected to the inside of the drive tube 430 through a threaded structure, and the drive tube 430 is provided with an open threaded tube structure at both ends. The drive tube 430 is rotatably connected to the inside of the power casing 410, the lifting power assembly 440 is fixedly connected to the inside of the power casing 410, and the lifting power assembly 440 is used to drive the drive tube 430 to rotate. The clutch mechanism 600 includes an upper friction component 610, a lower friction component 620 and a movable friction component The movable friction assembly 630 is connected to the end of the driving tube 430, and the lower friction assembly 620 is fixedly connected to the bottom plate 411 of the casing. The movable friction assembly 630 is slidably connected to the suspension rod 420, and the movable friction assembly 630 can only move along the axis of the suspension rod 420 on the suspension rod 420. The movable friction assembly 630 switches between the upper friction assembly 610 and the lower friction assembly 620. When the movable friction assembly 630 is fixed to the upper friction assembly 610, the suspension rod 420 and the driving tube 430 cannot rotate relative to each other. The driving tube 430 is connected to the upper friction assembly 610. The friction assembly 610 and the movable friction assembly 630 drive the boom 420 to rotate. When the movable friction assembly 630 is fixed to the lower friction assembly 620, the movable friction assembly 630 limits the boom 420 so that it cannot rotate. The drive tube 430 drives the boom 420 to rise and fall. The setting of the movable friction assembly 630 supports the control structure through the power casing 410. An additional structure is required on the boom 420 to drive the swing assembly 500 to rotate. Therefore, when controlling the rise and fall of the boom 420, the gravity of the additional structure is reduced, thereby further reducing the energy consumption required for the rise and fall of the boom 420.

[0075] In this embodiment, the sliding sleeve mechanism 450 is a linear bearing.

[0076] In this embodiment, Figure 10As shown, the lifting power assembly 440 includes a lifting motor 441, a driving wheel 442, and a driven wheel 443. The lifting motor 441 is fixedly connected to the casing bottom plate 411. In this embodiment, the casing bottom plate 411 is fixedly connected to a motor bracket 445 by bolts. The lifting motor 441 is fixedly connected to the motor bracket 445 by bolts. The driving wheel 442 is fixed to the output shaft of the lifting motor 441 by a key shaft. The driven wheel 443 is fixedly connected to the upper friction bottom plate 431 by bolts. The bolts for tightening the driven wheel 443 pass through the driven wheel 443 and are tightened on the upper friction bottom plate 431.

[0077] In this embodiment, the driven wheel 443 and the driving wheel 442 are both synchronous wheels, and the two are connected by a synchronous belt 444.

[0078] As a preferred implementation in this embodiment, Figure 10 、 Figures 13 to 17As shown, the cross-section of the suspension rod 420 is waist-shaped, the arc portion on the suspension rod 420 is provided with an external thread, and a waist-shaped hole with the same cross-sectional shape as the suspension rod 420 is provided at the center of the movable friction component 630. The movable friction component 630 is sleeved on the suspension rod 420, and the movable friction component 630 includes a lower magnetic shell 631, an upper magnetic shell 632 and an adsorption electromagnet 633. There are multiple adsorption electromagnets 633, and the centers of the lower magnetic shell 631 and the upper magnetic shell 632 are both provided with waist-shaped holes. The lower magnetic shell 631 and the upper magnetic shell 632 are fixedly connected, so that the movable friction component 630 can only slide along its axis on the suspension rod 420, and a plurality of adsorption electromagnets 633 are provided, and the adsorption electromagnets 633 are located between the lower magnetic shell 631 and the upper magnetic shell 632, so that the adsorption electromagnets 633 move synchronously with the lower magnetic shell 631 and the upper magnetic shell 632, and the plurality of adsorption electromagnets 633 are evenly distributed around the axis of the lower magnetic shell 631 in the circumferential direction. An upper magnetic ring 613 is provided, and a lower magnetic ring 624 is provided on the lower friction assembly 620. The magnetic poles of the upper magnetic ring 613 and the lower magnetic ring 624 on the side close to the adsorption electromagnet 633 are the same. When the adsorption electromagnet 633 is energized, the adsorption electromagnet 633 adsorbs the upper magnetic ring 613 or the lower magnetic ring 624. For example, when the adsorption electromagnet 633 is energized with a forward current, the adsorption electromagnet 633 adsorbs the upper magnetic ring 613, and the adsorption electromagnet 633 and the lower magnetic ring 624 repel each other. When a reverse current is passed through the adsorption electromagnet 633, the adsorption electromagnet 633 adsorbs the upper magnetic ring 613. The adsorption electromagnet 633 and the lower magnetic ring 624 repel each other. When current flows, the adsorption electromagnet 633 and the upper magnetic ring 613 are caused to repel each other, and the adsorption electromagnet 633 and the lower magnetic ring 624 are attracted, so that the movable friction component 630 is attached to the upper friction component 610 or the lower friction component 620. Under the action of friction force, the movable friction component 630 rotates with the driving tube 430 or is fixed to the power casing 410, thereby controlling the movement of the suspension rod 420. Among them, the forward current and the reverse current are only relative to the current direction and are used to distinguish the direction of the current.

[0079] As a preferred implementation manner in this embodiment, the upper friction assembly 610 is further provided with an upper outer friction ring 611 and an upper inner friction ring 612, and the lower friction assembly 620 is further provided with a lower outer friction ring 622 and a lower inner friction ring 623, the upper outer friction ring 611, the upper inner friction ring 612 and the upper magnetic ring 613 are coaxially arranged, the upper outer friction ring 611 and the upper inner friction ring 612 are located on the inner and outer sides of the upper magnetic ring 613, the upper outer friction ring 611, the upper inner friction ring 612 and the upper magnetic ring 613 are fixedly connected to the upper friction base plate 431 by bonding, the lower outer friction ring 622, the lower inner friction ring 623 and the lower magnetic ring 624 are coaxially arranged, and the lower outer friction ring 622 and the lower inner friction ring The friction ring 623 is located on the inner and outer sides of the lower magnetic ring 624. The lower outer friction ring 622, the lower inner friction ring 623 and the lower magnetic ring 624 are fixedly connected to the lower friction base plate 621 by bonding. The lower friction base plate 621 is a circular ring structure and is fixedly connected to the power casing 410 by bolts. The materials of the upper outer friction ring 611, the upper inner friction ring 612, the lower outer friction ring 622 and the lower inner friction ring 623 are the materials of friction plates in the prior art. The current direction of the movable friction assembly 630 is set by an electronic switch. When controlling the movement of the movable friction assembly 630, the current reversal in the adsorption electromagnet 633 is achieved by changing the voltage difference across the adsorption electromagnet 633.

[0080] It should be noted that the cross-sectional shape of the hanger 420 and the shape of the through hole at the center of the movable friction component 630 are not limited to waist-shaped holes, but can also be other non-circular shapes. When setting the shape of the hanger 420 and the shape of the movable friction component 630, it is necessary to follow the partial structure of the outer surface of the hanger 420 to set an external thread, so that the hanger 420 and the drive tube 430 can be connected by threads. The cross-sectional shape of the hanger 420 is the same as the shape of the center hole of the movable friction component 630. When the movable friction component 630 is mounted on the hanger 420, there is no relative rotation between the hanger 420 and the movable friction component 630, and the movable friction component 630 can slide along its axis on the hanger 420.

[0081] As a preferred implementation manner in this embodiment, the clutch mechanism 600 also includes a coupling mechanism 640, which is connected to the casing bottom plate 411 and the movable friction assembly 630. The coupling mechanism 640 acts as a collector slip ring for supplying power to the movable friction assembly 630. The coupling mechanism 640 includes an upper connecting seat 641, an electrode ring 642 and a fixed electrode 643. The upper connecting seat 641 is an annular insulating structure. There are multiple electrode rings 642, and multiple upper connecting seats 641 are coaxially arranged. The fixed electrode 643 is fixedly connected to the power casing 410. There are multiple fixed electrodes 643. The electrode ring 642 is electrically contacted with the fixed electrode 643. The electrode ring 642 is a cylindrical structure. When the electrode ring 642 moves and rotates following the movable friction assembly 630, the fixed electrode 643 is always in contact with the electrode ring 642, so that the adsorption electromagnet 633 is always connected to the power supply structure.

[0082] The upper connecting seat 641 is fixedly connected to the lower magnetic shell 631 by screws, and the electrode ring 642 is fixedly connected to the upper connecting seat 641 by bonding. The fixed electrode 643 is in the shape of an annular groove, and the electrode ring 642 is inserted into the fixed electrode 643. The coupling mechanism 640 also includes a coupling seat 644, which is an annular insulating structure. The coupling seat 644 is fixedly connected to the casing bottom plate 411 by bolts, and an electrode groove 645 is provided on the coupling seat 644. The electrode groove 645 is an annular groove, and the fixed electrode 643 is fixedly connected to the inner side of the electrode groove 645 by bonding.

[0083] As a preferred implementation in this embodiment, a dustproof structure is further provided between the suspension rod 420 and the driving pipe 430, such as Figure 5 、 Figure 6 and Figure 11As shown, an end cover 461 is fixed to the top of the suspension rod 420, and an end sleeve 462 is fixed to the end of the drive tube 430 near the end cover 461, and an upper dust cover 460 is fixed between the end cover 461 and the end sleeve 462 by bonding or clamping. The upper dust cover 460 is a corrugated rubber cover, and the upper dust cover 460 is retractable; the part of the suspension rod 420 located between the power casing 410 and the swing assembly 500 is also provided with a lower dust cover 470, and the lower dust cover 470 is a corrugated rubber cover, and the lower dust cover 470 is fixed to the casing bottom plate 411 and the end plate 421 by bonding, and the end plate 421 is fixedly connected to the suspension rod 420 by threading, welding or bolting, and the end plate 421 includes a flat plate structure and a sleeve structure, the axis of the sleeve structure is perpendicular to the flat plate structure, and the swing assembly 500 is mounted on the end plate 421.

[0084] As a preferred implementation in this embodiment, the drive tube 430 is provided with an axial limit assembly 480, which is fixedly connected to the inner side of the power housing 410. The axial limit assembly 480 is used to axially limit the drive tube 430 so that it can only rotate inside the power housing 410; Figure 5 and Figure 11 As shown, the axial limit assembly 480 includes a track ring 481, a support ring 482 and an upper pressure ring 483, the track ring 481 is fixedly connected to the drive tube 430, the track ring 481 is perpendicular to the axis of the drive tube 430, the upper and lower sides of the track ring 481 are provided with an annular first ball groove, the support ring 482 and the upper pressure ring 483 are located on the upper small sides of the track ring 481, and the side opposite to the support ring 482 and the upper pressure ring 483 is provided with a groove corresponding to the first ball groove. The ball groove corresponds to the second ball groove, and a plurality of steel balls are arranged in the first ball groove. The support ring 482 is fixedly connected to the inner side of the power housing 410 by bolts. The inner side of the power housing 410 is provided with a partition connected to the support ring 482. The support ring 482 is also provided with a connecting column 485. The upper pressure ring 483 is fixedly connected to the connecting column 485 by bolts, so that the support ring 482 and the upper pressure ring 483 clamp the track ring 481, thereby limiting the driving tube 430.

[0085] The track ring 481 is fixedly connected to the connecting sleeve 484 by welding. The connecting sleeve 484 is a cylindrical structure with openings at both ends. The connecting sleeve 484 is fixedly connected to the driving tube 430 by a locking screw. The locking screw is tightened on the connecting sleeve 484 through a threaded structure and passes through the outer wall of the connecting sleeve 484. When the locking screw is tightened, the locking screw is pressed against the outer wall of the driving tube 430.

[0086] Preferably, two axial limit assemblies 480 are provided, and the two axial limit assemblies 480 are connected by a support sleeve 486. The support sleeve 486 is a threaded tube. The support sleeve 486 serves to support the support ring 482 located above. The support sleeve 486 connects the two support rings 482.

[0087] like Figure 8 and Figure 12 As shown, the swing assembly 500 includes:

[0088] The ball and pin mechanism 510 is provided with a swing rod 511 penetrating the center of the ball and pin mechanism 510 , and one end of the swing rod 511 is fixedly connected to the spray gun seat 560 ;

[0089] A ball seat assembly 520 , wherein the ball seat assembly 520 is fixedly connected to the end plate 421 , and the ball and pin mechanism 510 is rotatably connected within the ball seat assembly 520 ;

[0090] At least three electromagnetic telescopic rods 540 are connected to the end plate 421 via a mounting plate 530. The multiple electromagnetic telescopic rods 540 are distributed in a circle, and the central axis of the circle formed by the multiple electromagnetic telescopic rods 540 coincides with the center of the ball of the ball-pin mechanism 510. The output end of the electromagnetic telescopic rod 540 is connected to the end of the rocker arm 511 away from the spray gun seat 560 via a telescopic spring 550. The extension and contraction of each electromagnetic telescopic rod 540 is independently controlled.

[0091] Specifically, in this embodiment, the ball and pin mechanism 510 and the swing rod 511 are an integrated structure, and the ball seat assembly 520 includes a fixed ball seat 521 and a clamping ball seat 522, and the fixed ball seat 521 is fixedly connected to the end plate 421 by screws, and the clamping ball seat 522 is fixedly connected to the fixed ball seat 521 by bolts, and the fixed ball seat 521 and the clamping ball seat 522 are provided with a mirror-image spherical surface and a through-hole structure. When the fixed ball seat 521 and the clamping ball seat 522 are connected, the fixed ball seat 521 and the clamping ball seat 522 are connected to clamp the ball and pin mechanism 510, and the mounting plate 530 is a flat plate structure, and the mounting plate 530 is fixedly connected to the end plate 421 by bolts, and the electromagnetic telescopic rod 540 is fixedly connected to the mounting plate 530 by screws. In this embodiment, the electromagnetic telescopic rod 540 is There are three of them, and a spring hole 512 is provided at one end of the pendulum rod 511 away from the spray gun seat 560. The telescopic spring 550 is hooked on the output end of the electromagnetic telescopic rod 540 and the spring hole 512. When different voltages are applied to different electromagnetic telescopic rods 540, the tension of the electromagnetic telescopic rod 540 is different, thereby causing different telescopic springs 550 to expand and contract by different amounts. When the tension of the telescopic spring 550 received by the spring hole 512 reaches equilibrium, the pendulum rod 511 deflects. Therefore, by changing the voltage at the input end of the electromagnetic telescopic rod 540, a quantitative deflection of the pendulum rod 511 can be achieved. When a periodic voltage is applied to each of the electromagnetic telescopic rods 540, the pendulum rod 511 can swing, thereby achieving the purpose of changing the spraying angle. When the pendulum rod 511 swings, it simulates manual spraying and achieves a uniform spraying effect.

[0092] The spray gun seat 560 is a prior art, and the spray gun seat 560 is fixed to the rocker arm 511 by interference fit.

[0093] Example 2

[0094] As a preferred implementation in this embodiment, the glaze spraying device further includes:

[0095] The toilet positioning component is used to identify the position of the toilet embryo placed on the spraying station, so as to facilitate the specification of the movement trajectory of the swing assembly 500 to achieve the purpose of uniform spraying.

[0096] The automatic glaze spraying device for toilet bowl includes the following steps when automatically spraying glaze:

[0097] Step A: Obtain the location information of the toilet at the workstation through the toilet positioning component;

[0098] Step B: Generate an activity trajectory of the glaze spray gun based on the model and location information of the toilet.

[0099] Specifically, when formulating the activity trajectory of the glaze spraying gun, the glaze spraying trajectory is pre-set for a preset model of toilet, and a preset point on the toilet is used as a reference point. According to the glaze spraying experience and the glaze spraying results in the laboratory, a relationship function between the position and time of the glaze spraying gun relative to the reference point is preset, that is, the control parameters of the glaze spraying gun. When generating the activity trajectory of the glaze spraying gun, the coordinate value of the toilet at the current position in the coordinate system of the reference glaze spraying device is obtained through the model of the toilet, and the coordinate value is written into the corresponding relationship function between position and time, that is, the control parameters of the glaze spraying gun, and the control parameters of the last glaze spraying are overwritten. In this embodiment, the parameters are changed according to the position of the toilet each time the glaze is sprayed, so as to achieve the purpose of uniform glaze spraying. At the same time, when placing the toilet, there is no need to accurately position the toilet. It only needs to be placed in a certain area on the work station. This can reduce the damage to the toilet caused by the positioning structure and prevent the robot from colliding with the toilet.

[0100] Preferably, the toilet positioning component is an outer contour scanning module, and the toilet positioning component is installed at the bottom of the power housing 410. The outer contour scanning module obtains the position information of the toilet at the work station. The outer contour scanning device is usually a point cloud scanner. When scanning the outer contour, the position of the points on the edge of the toilet relative to the toilet positioning component is obtained, thereby obtaining the position information of the toilet at the work station.

[0101] Preferably, the toilet positioning component is a linear laser-based contour scanner in the prior art.

[0102] The terms used in this invention are for the purpose of describing specific embodiments only and are not intended to limit the invention. The singular forms "a," "the," and "the" used in this invention and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0103] It should be understood that although the terms "first," "second," "third," etc. may be used in the present invention to describe various information, such information should not be limited to these terms. These terms are merely used to distinguish information of the same type from one another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present invention. Depending on the context, the term "if" as used herein may be interpreted as "when," "when," or "in response to determining."

[0104] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. An automatic glaze spraying device for ceramic toilets, characterized in that: The glaze spraying device comprises: Ring rail assembly; Ring assembly; A radial moving assembly, wherein the ring assembly is fixed to both ends of the radial moving assembly, and the ring assembly drives the radial moving assembly to rotate around the center of the ring track assembly, and the axis of the radial moving assembly along its driving direction coincides with the diameter of the ring track assembly; A lifting and rotating assembly, the lifting and rotating assembly being connected to the radial moving assembly, the lifting and rotating assembly being provided with a lifting and vertically arranged boom; A swing assembly is fixedly connected to one end of the suspension rod away from the radial movement assembly. A glaze spray gun is connected to the swing assembly. The swing assembly is used to control the swing of the glaze spray gun and change the angle of the glaze spray gun.

2. The automatic glaze spraying device for ceramic toilets according to claim 1, characterized in that: The lifting and rotating assembly includes: A power casing, wherein a casing bottom plate is provided on the power casing; A drive tube, the drive tube is rotatably connected to the power housing and can only rotate around its own axis, and the suspension rod is fixed to the drive tube via a threaded connection; A lifting power assembly, the lifting power assembly is fixedly connected to the power housing and is used to drive the driving tube to rotate; The clutch mechanism includes an upper friction assembly, a lower friction assembly and a movable friction assembly, wherein the upper friction assembly is fixedly connected to the end of the drive tube, the lower friction assembly is fixedly connected to the bottom plate of the casing, the movable friction assembly is slidably connected to the boom, and the movable friction assembly can only move on the boom along the axis of the boom, the movable friction assembly switches between the upper friction assembly and the lower friction assembly, and is fixed to one of them during the switching process.

3. The automatic glaze spraying device for ceramic toilets according to claim 2, characterized in that: The cross section of the suspension rod is waist-shaped, the arc portion of the suspension rod is provided with an external thread, the center of the movable friction component is provided with a waist-shaped hole with the same shape as the cross section of the suspension rod, and the movable friction component is sleeved on the suspension rod.

4. The automatic glaze spraying device for ceramic toilets according to claim 2, characterized in that: The movable friction is provided with a plurality of adsorption electromagnets, the upper friction component is provided with an upper magnetic ring, and the lower friction component is provided with a lower magnetic ring. The magnetic poles of the upper magnetic ring and the lower magnetic ring close to the adsorption electromagnet are the same. When the adsorption electromagnet is energized, the adsorption electromagnet adsorbs the upper magnetic ring or the lower magnetic ring.

5. The automatic glaze spraying device for ceramic toilets according to claim 4, characterized in that: The upper friction assembly is further provided with an upper outer friction ring and an upper inner friction ring, and the lower friction assembly is further provided with a lower outer friction ring and a lower inner friction ring. The upper outer friction ring, the upper inner friction ring and the upper magnetic ring are coaxially arranged, and the upper outer friction ring and the upper inner friction ring are located on the inner and outer sides of the upper magnetic ring. The lower outer friction ring, the lower inner friction ring and the lower magnetic ring are coaxially arranged, and the lower outer friction ring and the lower inner friction ring are located on the inner and outer sides of the lower magnetic ring.

6. The automatic glaze spraying device for ceramic toilets according to claim 4, characterized in that: The clutch mechanism further comprises: A coupling mechanism, the coupling mechanism is connected to the casing bottom plate and the movable friction assembly, the coupling mechanism includes an upper connecting seat, an electrode ring and a fixed electrode, the upper connecting seat is an annular insulating structure, a plurality of electrode rings are provided, and the plurality of upper connecting seats are coaxially arranged, the fixed electrode is fixedly connected to the power casing, a plurality of fixed electrodes are provided, the electrode ring is in electrical contact with the fixed electrode, the electrode ring is a cylindrical structure, and when the electrode ring moves and rotates following the movable friction assembly, the fixed electrode and the electrode ring are always in contact.

7. The automatic glaze spraying device for ceramic toilets according to any one of claims 1 to 6, characterized in that: The swing assembly includes: A ball and pin mechanism, wherein the ball and pin mechanism is provided with a swing rod penetrating the center of the ball of the ball and pin mechanism, and one end of the swing rod is fixedly connected to the spray gun seat; a ball seat assembly, the ball seat assembly being fixedly connected to the end of the boom, and the ball and pin mechanism being rotatably connected in the ball seat assembly; At least three electromagnetic telescopic rods are connected to the end of the boom via a mounting plate. The multiple electromagnetic telescopic rods are distributed in a circle, and the central axis of the circle formed by the multiple electromagnetic telescopic rods coincides with the center of the ball of the ball-pin mechanism. The output end of the electromagnetic telescopic rod is connected to the end of the rocker arm away from the spray gun seat via a telescopic spring. The telescopic amount of each electromagnetic telescopic rod is independently controlled.

8. The automatic glaze spraying device for ceramic toilets according to claim 7, characterized in that: There are three electromagnetic telescopic rods.

9. The automatic glaze spraying device for ceramic toilets according to any one of claims 1 to 6, characterized in that: The glaze spraying device also includes: The toilet positioning component is used to identify the position of the toilet blank placed on the spraying station.

10. The automatic glaze spraying device for ceramic toilets according to claim 9, characterized in that: The automatic glaze spraying device for toilet bowl includes the following steps when automatically spraying glaze: Obtain the location information of the toilet at the workstation through the toilet positioning component; Generate the activity trajectory of the glaze spray gun based on the toilet model and toilet position information.

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