Glazing processing production line and glazing method

Abstract

The invention discloses a glazing processing production line and a glazing method, and relates to the technical field of vessel glazing, the glazing processing production line comprises a conveying area, a glazing area, a product conversion area and a drying area which are connected in sequence; a conveying belt, a feeding truss and a feeding grabbing frame are arranged in the conveying area, the feeding truss is provided with a feeding mechanical arm, a glazing robot, a glaze cylinder and a product containing frame are arranged in the glazing area, a conversion sliding table is arranged in the product conversion area, and a cooking range and a movable hanging basket type conveying line are arranged in the drying area. According to the production line, the conveying area, the glazing area, the product conversion area and the drying area are organically integrated on one production line, the product state of each key station is monitored in real time through multiple sets of infrared sensors and photoelectric sensors, linkage control over all the modules is combined with the control system, and the production efficiency is improved. The full-flow rhythm synchronization and automatic connection from feeding, glazing to drying are realized, and the production efficiency is remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of glazing technology for vessels, and in particular to a glazing production line and glazing method. Background Technology

[0002] With the widespread application of ceramics, enamelware, and other products in architectural decoration, household goods, and industrial manufacturing, higher requirements are being placed on the surface quality of these products, demanding greater decorative appeal, functionality, and durability. Glazing, as a key process determining surface smoothness, color uniformity, and protective properties, has become an indispensable and crucial step in the manufacturing of ceramics, enamelware, and other similar products.

[0003] Currently, many ceramic manufacturing enterprises have introduced robotic glazing, automated conveying, and drying systems to replace the traditional, inefficient manual operation methods, thus initially achieving automation of the glazing process. However, although existing glazing production lines have achieved a certain degree of automation, the processes of feeding, glazing, conveying, and drying are mostly controlled by independent equipment. The lack of unified scheduling between processes leads to asynchronous production line cycles, bottleneck accumulation at workstations, or idle downstream workstations, affecting overall production efficiency and system stability.

[0004] Therefore, there is an urgent need to propose a glazing production line with high structural integration, unified control system, tight process connection, and multi-process coordination capability, so as to achieve efficient linkage and cycle synchronization between various processes, improve overall production efficiency, system stability and automation level, and meet the actual needs of high-quality, flexible and intelligent production of modern ceramics and other products. Summary of the Invention

[0005] This invention addresses the current problems by providing a glazing production line and a glazing method.

[0006] In a first aspect, the present invention provides a glazing processing production line, which includes a conveying area, a glazing area, a product conversion area and a drying area connected in sequence.

[0007] The transfer area is used to transfer products from the conveyor belt to the loading gripper by a loading robot.

[0008] The glazing area is equipped with a glazing robot, a glazing tank, and a product placement rack. The glazing robot includes a first glazing robot arm and a second glazing robot arm. The output end of the glazing robot is used to grab the product on the feeding grab rack, immerse it in the glazing tank, and then place the product on the product placement rack.

[0009] The product transfer area is equipped with a transfer slide, which includes a support component, a telescopic slide, an upper and lower slide, a base slide, and a rotating indexing turntable. The drying area is equipped with a stove for drying products and a mobile hanging basket conveyor line. Several double-layer hanging baskets are installed on the mobile hanging basket conveyor line. The transfer slide moves back and forth between the product placement rack and the double-layer hanging baskets. The double-layer hanging baskets are used to receive the products transferred by the transfer slide and transport them to the stove via the mobile hanging basket conveyor line.

[0010] The glazing production line also includes a control system, which includes a feeding module, a glazing module, a conversion module, and a drying module.

[0011] The feeding module is electrically connected to the conveyor belt and the feeding robot; the glazing module is electrically connected to the glazing robot; the conversion module is electrically connected to the conversion slide; and the drying module is electrically connected to the mobile hanging basket conveyor line and the stove.

[0012] Optionally, the conveying area is provided with a conveyor belt for conveying products, a feeding gripper and a feeding gantry arranged on the conveyor belt. The feeding gantry is equipped with a feeding robot. The output end of the feeding robot is used to grab the products on the conveyor belt and reciprocate between the conveyor belt and the feeding gripper to grab the products on the conveyor belt and place them on the feeding gripper.

[0013] Optionally, a V-shaped baffle is provided at one end of the conveyor belt near the feeding gripper, and a first infrared sensor is installed on the V-shaped baffle;

[0014] The first infrared sensor is electrically connected to the feeding module.

[0015] Optionally, the feeding gripper is equipped with a second infrared sensor, the product placement rack is equipped with a first product placement position and a second product placement position, the first product placement position is equipped with a third infrared sensor, the second product placement position is equipped with a fourth infrared sensor, and the mobile hanging basket conveyor line is equipped with a fifth infrared sensor; the double-layer hanging basket is equipped with four conversion positions, each conversion position contains a set of product positions, and each product position is equipped with a photoelectric sensor;

[0016] The second infrared sensor is electrically connected to the glazing module and is used to detect whether a product is placed at the V-shaped baffle.

[0017] The third infrared sensor is electrically connected to the glazing module and the conversion module respectively, and is used to detect whether there is a product placed in the first product placement position.

[0018] The fourth infrared sensor is electrically connected to the glazing module and the conversion module respectively, and is used to detect whether there is a product placed in the second product placement position.

[0019] The fifth infrared sensor is electrically connected to the conversion module and the drying module respectively, and is used to detect whether there is a double-layer hanging basket;

[0020] The photoelectric sensors are all electrically connected to the conversion module and the drying module.

[0021] In a second aspect, the present invention provides a glazing method using the glazing production line described in the first aspect, the glazing method comprising the following steps in sequence:

[0022] S1. Place the product to be glazed on the conveyor belt. When the product to be glazed is conveyed to the V-shaped baffle, the first infrared sensor detects the signal and transmits the detected signal to the feeding module. After receiving the signal transmitted by the first infrared sensor, the feeding module controls the conveyor belt to stop and controls the feeding robot on the feeding gantry to grab the product at the V-shaped baffle and place it on the feeding grabbing frame.

[0023] S2. The second infrared sensor detects the signal and transmits the detected signal to the glazing module. After receiving the signal transmitted by the second infrared sensor, the glazing module controls the glazing robot to grab the product on the feeding gripper and immerse it in the glaze tank, and then place it on the product placement rack. When the feeding robot grabs the product at the V-shaped baffle and places it on the feeding gripper, the feeding module receives the signal transmitted by the first infrared sensor and controls the conveyor belt to start.

[0024] S3, the third infrared sensor or the fourth infrared sensor detects the signal and transmits the detected signal to the conversion module. When the conversion module receives the signals transmitted by the third infrared sensor and the fourth infrared sensor, it controls the transfer slide to transfer the product on the product placement rack to the transfer slide.

[0025] S4. The fifth infrared sensor detects the signal and transmits the detected signal to the conversion module and the drying module respectively. The drying module controls the mobile hanging basket conveyor to stop, and the conversion module controls the transfer slide to place the product on the transfer slide onto the double-layer hanging basket.

[0026] S5. The photoelectric sensor detects the signal and transmits the detected signal to the drying module. When the drying module receives the signals transmitted by all the photoelectric sensors, it controls the mobile hanging basket conveyor line to start and transport the product placed on the double-layer hanging basket to the stove.

[0027] Optionally, in step S2, after the glazing robot immerses the product on the feeding rack into the glaze tank and places it on the product placement rack, the specific steps include:

[0028] The number and shape data of the gripping points of the glazing robot and the three-dimensional parameters of the product are obtained, and the optimization algorithm is used to optimize and select the best combination of gripping points.

[0029] The glazing module controls the glazing robot to grab the product on the feeding rack according to the position of the optimal gripping point and immerse it in the glaze tank, and then perform the glazing operation.

[0030] After the glazing module controls the glazing robot to complete the glazing operation, it determines whether there are any products not placed on the product placement rack based on the signals transmitted by the third and fourth infrared sensors. If so, it controls the glazing robot to place the product on the product placement rack; otherwise, it controls the glazing robot to stop its operation.

[0031] Optionally, the glazing process specifically includes the following steps:

[0032] The physical parameters of the glaze liquid in the glaze vat and the three-dimensional parameters of the product are collected as model data;

[0033] Based on the collected model data, a gravity flow model and a centrifugal flow model are constructed to calculate the flow displacement of the glaze on the product.

[0034] Based on the flow displacement of the glaze on the product and the preset glazing time, an optimization algorithm is used to obtain the optimal rotation speed and optimal rotation angle of the glazing robot, and the optimal rotation speed and optimal rotation angle of the glazing robot are used as the glazing action of the glazing robot.

[0035] The glazing module controls the glazing robot to complete the glazing action within a preset glazing time.

[0036] Optionally, after the glazing module controls the glazing robot to complete the glazing action within a preset glazing time, it also includes:

[0037] Based on the product's three-dimensional parameters, the product's outer surface is divided into several equal grids. The glaze coverage thickness of each grid is obtained, and the glaze coverage thickness of each grid is compared pairwise to determine if there are any grids whose glaze thickness difference exceeds a preset thickness threshold.

[0038] If so, obtain the coordinates of the grid pair, and based on the coordinates of the grid pair and the difference in glaze thickness between the grid pairs, control the position of the grid with larger glaze thickness to be higher than the position of the grid with smaller glaze thickness, until the difference in glaze thickness between the grid pairs is greater than the preset thickness threshold.

[0039] If not, no action will be taken.

[0040] Optionally, in step S4, the conversion module controls the transfer slide to place the product on the transfer slide onto the double-layer hanging basket, specifically including the following steps:

[0041] The conversion module determines whether a product is placed at each product position in each conversion location based on the signals transmitted by the photoelectric sensors corresponding to the product positions on the double-layer hanging basket.

[0042] If the conversion module determines that none of the product positions in the conversion position are occupied, it marks the conversion position as a place where a product can be placed, and the conversion module controls the transfer slide to place the product on the transfer slide into the conversion position marked as a place where a product can be placed.

[0043] If the conversion module determines that all product positions in a set of conversion positions are occupied by products, it will mark that the conversion position cannot be occupied by products.

[0044] If the conversion module determines that only one product position in a set of product positions in the conversion bit contains a product, it will mark that there is an error in that conversion bit.

[0045] Optionally, if the conversion module determines that there are at least two conversion positions marked as suitable for placing products, then based on the position of each conversion position in the double-layer hanging basket, the conversion position with the shortest product movement distance on the current transfer slide is selected as the product placement position in the double-layer hanging basket.

[0046] The technical solution of this invention can achieve the following beneficial effects:

[0047] This invention organically integrates the conveying area, glazing area, product conversion area, and drying area onto a single production line. Multiple sets of infrared and photoelectric sensors monitor the product status at each key workstation in real time. Combined with a control system that provides coordinated control of each module (feeding, glazing, conversion, and drying), it achieves synchronized and automatic connection of the entire process from feeding and glazing to drying, significantly improving production efficiency. Furthermore, the conversion slide, through the cooperation of support components, telescopic slides, upper and lower slides, base slides, and a rotating indexing plate, achieves precise transfer within three-dimensional space. The shortest placement path is intelligently planned based on the empty space in the hanging basket, improving material handling efficiency and avoiding unnecessary movement time and energy consumption.

[0048] This invention acquires product shape data and the gripping point information of the glazing robot, and uses an optimization algorithm to select the optimal gripping point. This enables stable gripping and precise positioning of the product during the glazing process, thereby avoiding the impact of gripping slippage or positional deviation on subsequent glazing operations and improving the accuracy of glazing actions and the consistency of glazing quality.

[0049] This invention constructs a gravity flow model and a centrifugal flow model, combines the physical properties of the glaze liquid with the three-dimensional parameters of the product, calculates the glaze liquid flow distribution during the glazing process, and further optimizes the rotation speed and angle of the glazing robot based on the flow simulation results. This achieves intelligent control and adaptive adjustment of the glazing action, significantly improves the uniformity of the glaze liquid distribution, and meets the requirements of high-quality ceramic products for consistent glaze thickness. Attached Figure Description

[0050] Figure 1 This is a schematic diagram of the structure of a glazing processing production line according to the present invention;

[0051] Figure 2 This is another structural schematic diagram of a glazing processing production line according to the present invention;

[0052] Figure 3 This is an enlarged view of part A of another structural schematic diagram of a glazing processing production line according to the present invention;

[0053] Figure 4 This is an enlarged view of part B of another structural schematic diagram of a glazing processing production line according to the present invention;

[0054] Figure 5 This is an enlarged view of part C of another structural schematic diagram of a glazing processing production line according to the present invention;

[0055] Figure 6 This is an enlarged view of part D of another structural schematic diagram of a glazing production line according to the present invention;

[0056] Figure 7 This is an electrical principle block diagram of the control system in a glazing production line according to the present invention;

[0057] Figure 8 This is a flowchart of a glazing method according to the present invention.

[0058] In the diagram, 1. Conveyor belt; 2. Loading gantry; 3. Loading gripper; 4. Loading robot; 5. Product placement rack; 6. First glazing robot; 7. Second glazing robot; 8. Mobile hanging basket conveyor line; 9. First infrared sensor; 10. Second infrared sensor; 11. Third infrared sensor; 12. Fourth infrared sensor; 13. Fifth infrared sensor; 14. Support assembly; 15. Telescopic slide; 16. Upper and lower slides; 17. Base slide; 18. Rotary indexing turntable; 19. Glaze cylinder. Detailed Implementation

[0059] The technical solutions of the embodiments of the present invention will now be described in detail and completely with reference to the accompanying drawings. It should be noted that the described embodiments are merely some examples of the present invention and do not represent all possible implementations of the present invention. Any other implementations obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the protection scope of the present invention.

[0060] Example 1

[0061] like Figure 1 and Figure 2 As shown, the present invention provides a glazing processing production line. The glazing processing production line described in the embodiments of this specification includes a conveying area, a glazing area, a product conversion area and a drying area connected in sequence.

[0062] The conveyor zone is used to transfer products from the conveyor belt 1 to the loading gripper 3 via a loading robot 4. Specifically, the conveyor zone includes a conveyor belt 1 for conveying products, a loading gripper 3, and a loading gantry 2 arranged on the conveyor belt 1. The loading gantry 2 is equipped with a loading robot 4, the output end of which grips the products on the conveyor belt 1 and reciprocates between the conveyor belt 1 and the loading gripper 3. The position of the products on the conveyor belt is as follows: Figure 3 and Figure 4 As shown, the product is positioned in the feeding gripper 3 as follows: Figure 5 As shown.

[0063] The glazing area is equipped with a glazing robot, a glaze tank 19, and a product placement rack 5. The glazing robot includes a first glazing robot arm 6 and a second glazing robot arm 7. The output end of the glazing robot is used to grab the product from the feeding gripper 3, immerse it in the glaze tank 19, and then place it on the product placement rack 5. The placement position of the product on the product placement rack 5 is as follows: Figure 6 As shown.

[0064] In this embodiment, two glazing tanks can be set in the glazing area, with the first glazing robot 6 corresponding to one glazing tank and the second glazing robot 7 corresponding to the other glazing tank, in order to avoid mutual interference.

[0065] The product transfer area is equipped with a transfer slide, which includes a support assembly 14, a telescopic slide 15, an upper and lower slide 16, a base slide 17, and a rotating indexing turntable 18. The drying area is equipped with a stove for drying products and a mobile hanging basket conveyor line 8. The mobile hanging basket conveyor line 8 is equipped with several double-layer hanging baskets. The transfer slide reciprocates between the product placement rack 5 and the double-layer hanging baskets. The double-layer hanging baskets are used to receive products transferred by the transfer slide and transport them to the stove via the mobile hanging basket conveyor line 8.

[0066] Specifically, the support assembly 14 is used to transfer products to the transfer slide; the telescopic slide 15 is used to perform horizontal linear telescopic movement to realize the delivery and retraction of the support assembly 14. The upper and lower slides 16 are used to perform vertical lifting and lowering movements to realize the raising and lowering movements of the support assembly 14. The rotary indexing turntable 18 is used to perform a 180-degree rotation to realize the transfer of the support assembly 14 from the glazing area to the drying area. The base slide 17 is used to move the support assembly 14 in a direction parallel to the moving basket conveyor line 8.

[0067] It should be noted that, in Figure 1 For ease of visual demonstration, the glazing robot and glaze tank are not shown. Figure 2 For ease of demonstration, the first glazing robot 6 and the second glazing robot 7 are not directly drawn; they are simply represented by the base.

[0068] like Figure 1 and Figure 7 As shown, the glazing production line also includes a control system, which includes a feeding module, a glazing module, a conversion module, and a drying module.

[0069] The feeding module is electrically connected to the conveyor belt 1 and the feeding robot 4, the glazing module is electrically connected to the glazing robot, the conversion module is electrically connected to the conversion slide, and the drying module is electrically connected to the mobile hanging basket conveyor line 8 and the stove.

[0070] A V-shaped baffle is provided at one end of the conveyor belt 1 near the feeding gripper 3. The V-shaped baffle is equipped with a first infrared sensor 9, which is electrically connected to the feeding module.

[0071] The feeding gripper 3 is equipped with a second infrared sensor 10, which is electrically connected to the feeding module and the glazing module respectively, and is used to detect whether there is a product placed at the V-shaped baffle.

[0072] The product placement rack 5 has a first product placement position and a second product placement position. A third infrared sensor 11 is installed at the first product placement position, and a fourth infrared sensor 12 is installed at the second product placement position. The third infrared sensor 11 is electrically connected to both the glazing module and the conversion module, and is used to detect whether a product is placed at the first product placement position. The fourth infrared sensor 12 is also electrically connected to both the glazing module and the conversion module, and is used to detect whether a product is placed at the second product placement position.

[0073] The mobile hanging basket conveyor line 8 is equipped with a fifth infrared sensor 13, which is electrically connected to the conversion module and the drying module respectively, and is used to detect whether there is a double-layer hanging basket.

[0074] The double-layer hanging basket is equipped with four conversion positions, each containing a set of product positions. Each product position is equipped with a photoelectric sensor, which is electrically connected to the conversion module and the drying module.

[0075] Example 2

[0076] like Figure 8 As shown, the present invention also provides a glazing method, using the glazing production line described in Example 1. The glazing method includes the following steps in sequence:

[0077] S1. Place the product to be glazed on the conveyor belt 1. When the product to be glazed is conveyed to the V-shaped baffle, the first infrared sensor 9 detects the signal and transmits the detected signal to the feeding module. The feeding module determines that there is a product at the V-shaped baffle based on the signal transmitted by the first infrared sensor 9. Then the feeding module controls the conveyor belt 1 to stop and controls the feeding robot 4 on the feeding gantry 2 to grab the product at the V-shaped baffle and place it on the feeding gripper 3.

[0078] S2. After the loading robot 4 picks up the product from the V-shaped baffle and places it on the loading gripper 3, the second infrared sensor 10 detects a signal and transmits it to the glazing module. Upon receiving the signal from the second infrared sensor 10, the glazing module determines that a product is placed on the loading gripper 3, and controls the glazing robot to pick up the product from the loading gripper 3, immerse it in the glaze tank 19, and place it on the product placement rack 5. When the loading robot 4 picks up the product from the V-shaped baffle and places it on the loading gripper 3, the first infrared sensor 9 promptly transmits the detection signal at the current V-shaped baffle to the loading module. Based on the signal transmitted by the first infrared sensor 9, the loading module determines that no product is currently placed at the V-shaped baffle and then controls the conveyor belt 1 to start.

[0079] When the glazing module determines that there is a product on the feeding gripper 3, it checks whether the first glazing robot 6 and the second glazing robot 7 are in a product-grabbing state. If the first glazing robot 6 or the second glazing robot 7 is not in a product-grabbing state, it is determined that the glazing robot is in an idle state; otherwise, it is determined that the glazing robot is in a busy state. The glazing module will prioritize controlling the glazing robot in an idle state to grab the product on the feeding gripper 3. If both the first glazing robot 6 and the second glazing robot 7 are in an idle state, the glazing module will prioritize controlling the first glazing robot 6 to grab the product on the feeding gripper 3.

[0080] After the glazing module controls the first glazing robot 6 or the second glazing robot 7 to grab the product and immerse it in the glaze tank 19, it determines whether there is a product on the product placement rack 5 according to the third infrared sensor 11 or the fourth infrared sensor 12, and controls the glazing robot to place the product in the placement position where there is no product. If there is no product in both the first and second product placement positions, the glazing module will prioritize controlling the glazing robot to place the product in the first product placement position.

[0081] S3, the third infrared sensor 11 or the fourth infrared sensor 12 detects a signal and transmits the detected signal to the conversion module. When the conversion module receives the signals transmitted by the third infrared sensor 11 and the fourth infrared sensor 12, it controls the transfer slide to transfer the product on the product placement rack 5 to the transfer slide.

[0082] Specifically, when the transfer slide is at the preset origin position, after the conversion module receives the signals transmitted by the third infrared sensor 11 and the fourth infrared sensor 12, the conversion module controls the telescopic slide 15 to extend outward to support the component 14 to the product placement rack 5, and then controls the upper and lower slides 16 to rise until the products are transferred to the support component 14. Then, the telescopic slide 15 is controlled to retract inward to the initial position, and then the rotary indexing table 18 is controlled to perform a 180-degree rotation to transfer the support component 14 from the glazing area direction to the drying area direction.

[0083] S4, the fifth infrared sensor 13 detects the signal and transmits the detected signal to the conversion module and the drying module respectively. The drying module controls the mobile hanging basket conveyor line 8 to stop, and the conversion module controls the transfer slide to place the product on the transfer slide onto the double-layer hanging basket.

[0084] Specifically, after the conversion module receives the signal transmitted by the fifth infrared sensor 13, it determines whether a product is placed at each product position in each conversion station based on the signal transmitted by the photoelectric sensor corresponding to the product position on the double-layer hanging basket. If the conversion module determines that none of the product positions in a conversion station are occupied, it marks that the conversion station is suitable for product placement. If the conversion module determines that all of the product positions in a conversion station are occupied, it marks that the conversion station is unsuitable for product placement. If the conversion module determines that only one product position in a conversion station is occupied, it marks that the conversion station is incorrect. If the conversion module determines that at least two conversion stations are suitable for product placement, it prioritizes the conversion station with the shortest product movement distance on the current transfer slide as the product placement position in the double-layer hanging basket, and records it as the conversion station where the product needs to be placed.

[0085] Based on the placement position of the product, the conversion module controls the base slide 17 to move the supporting component 14 horizontally to the vertical projection of the conversion position, then controls the upper and lower slides 16 to move to the same height as the conversion position, then controls the telescopic slide 15 to extend outward to support the supporting component 14 to the conversion position, then controls the telescopic slide 15 to retract to the initial position, and then controls the rotary indexing table 18 to perform a 180-degree rotation movement to reset.

[0086] S5. The photoelectric sensor detects the signal and transmits the detected signal to the drying module. When the drying module receives the signals transmitted by all the photoelectric sensors, it determines that there are products placed in the placement positions of the double-layer hanging basket. Then, it controls the mobile hanging basket conveyor line 8 to start and transport the products placed on the double-layer hanging basket to the oven for drying.

[0087] This invention organically integrates the conveying area, glazing area, product conversion area, and drying area onto a single production line. Multiple sets of infrared and photoelectric sensors monitor the product status at each key workstation in real time. Combined with a control system that provides coordinated control of each module (feeding, glazing, conversion, and drying), it achieves synchronized and automatic connection of the entire process from feeding and glazing to drying, significantly improving production efficiency. Furthermore, the conversion slide, through the cooperation of support components, telescopic slides, upper and lower slides, base slides, and a rotating indexing plate, achieves precise transfer within three-dimensional space. The shortest placement path is intelligently planned based on the empty space in the hanging basket, improving material handling efficiency and avoiding unnecessary movement time and energy consumption.

[0088] Example 3

[0089] The present invention also provides a glazing method, using the glazing production line described in Embodiment 1, which differs from Embodiment 2 in that: after the glazing robot picks up the product from the feeding and gripping frame 3 and immerses it in the glaze tank 19, it places it on the product placement rack 5, specifically including the following steps:

[0090] S21. Obtain the number and shape data of the clamping points of the glazing robot and the three-dimensional parameters of the product, and use the optimization algorithm to optimize and select the best combination of clamping points.

[0091] Specifically, the number and shape data of the gripping points of the glazing robot are obtained, including the gripping area of ​​the gripping points. A 3D scanner (such as a laser scanner) is used to scan the product and the gripping points of the glazing robot to obtain the spatial coordinates of each unit point on the product surface, the distance from each unit point on the product surface to the rotation axis of the glazing robot, the normal direction of each unit point on the product surface, and the angle between the normal direction of each unit point on the product surface and the direction of gravity. The obtained data are used as the 3D parameters of the product.

[0092] Construct an optimization objective function, wherein the optimization objective function J = α1Q1 + α2Q2 + α3Q3.

[0093] Where Q1 represents the clamping stability of the clamping point, Q2 represents the anti-rotation property of the clamping point, Q3 represents the relative position of the clamping point and the center of gravity of the product, and α1, α2 and α3 are weighting coefficients. In this embodiment, α1 = 0.3, α2 = 0.3 and α3 = 0.4.

[0094] The constraints for optimizing the objective function J are whether the area around the gripping point can be contacted by the glazing robot, and whether the gripping point can achieve force-closed gripping under a given friction coefficient.

[0095] In this embodiment, a genetic algorithm is used to optimize the objective function. The detailed steps are as follows: Based on the collected unit points on the surface of the product, n unit points are selected as candidate clamping points. Several sets of clamping point combinations are randomly selected from the candidate clamping points. The objective function J is calculated for each set of combinations. High-scoring individuals in the calculation results are retained. Some clamping points are swapped between the parents. Then, some clamping points are randomly replaced. Solutions that do not meet the requirements of force closure and collision are forcibly eliminated until the maximum number of generations or the convergence condition is reached. The optimal clamping point combination is then output.

[0096] S22. The glazing module controls the glazing robot to grab the product on the feeding rack according to the optimal gripping point combination and immerse it in the glaze tank 19, and then perform the glazing operation.

[0097] Specifically, the glazing process includes the following steps:

[0098] S221. Collect the physical parameters of the glaze liquid in the glaze vat 19 and the three-dimensional parameters of the product as model data.

[0099] The density of the glaze liquid inside the glaze tank 19 is collected using a density sensor installed on the side wall of the glaze tank 19, and the viscosity of the glaze liquid inside the glaze tank 19 is collected using a viscometer installed on the side wall of the glaze tank 19. The surface tension of the glaze liquid inside the glaze tank 19 is collected using a surface tension meter employing either the insert plate method or the ring method. Based on the initial glaze thickness table, the initial film thickness of the glaze liquid is obtained according to the speed at which the glazing robot lifts the product from the glaze tank 19, according to the current glaze density. The collected glaze density, glaze viscosity, glaze surface tension, and initial film thickness are used as the physical parameters of the glaze liquid inside the glaze tank 19.

[0100] The initial glaze thickness table includes product type, glaze density, the speed at which the robotic arm removes the product from the glaze tank (19), and the initial film thickness. This initial glaze thickness table can be obtained through experimental methods. The detailed steps are as follows: Obtain a product, fully immerse it in the glaze, and remove it from the glaze at a certain speed. Obtain the weight of the product. Calculate the weight of the glaze based on the initial weight of the product. Calculate the volume of the glaze based on the ratio of its weight to its density. Then, calculate the initial film thickness of the product after removal from the glaze at a certain speed, based on the ratio of its surface area to the volume of the glaze. Based on the above experimental method, obtain the initial film thickness of different products after removal from the glaze at different densities and speeds, and statistically obtain the initial glaze thickness table.

[0101] S222. Construct a gravity flow model and a centrifugal flow model based on the collected model data, and calculate the flow displacement of the glaze on the product.

[0102] A gravity flow model is constructed, and the formula for the gravity flow model is as follows:

[0103]

[0104] Where v1 represents the velocity of the glaze as it slides down the product surface when the angle between the normal direction at a unit point on the product surface and the direction of gravity is θ. ρ represents the density of the glaze in the glaze tank, g represents the acceleration due to gravity, h represents the initial thickness of the glaze on the product surface, and μ represents the viscosity of the glaze in the glaze tank.

[0105] A centrifugal force flow model is constructed, and the formula for the centrifugal force flow model is as follows:

[0106]

[0107] Where v2 represents the flow velocity of the glaze liquid at a unit point on the product surface when it rotates at a distance r from the rotation axis of the glazing robot, and ω represents the rotation speed of the glazing robot.

[0108] Calculate the flow displacement of the glaze on the product using the following formula;

[0109] s = (v1 + v2) · t0.

[0110] Where t0 represents unit time, and s represents the flow displacement of the glaze on the product per unit time.

[0111] S223. Based on the flow displacement of the glaze on the product and the preset glazing time, an optimization algorithm is used to obtain the optimal rotation speed and optimal rotation angle of the glazing robot, and the optimal rotation speed and optimal rotation angle of the glazing robot are used as the glazing action of the glazing robot.

[0112] A glazing objective function K(θ,ω,t) is constructed, K=(β1θ+β2ω+β3t), with the constraints θ∈[0°,90°]; ω∈[0.5,8]; t∈[0.1,10]. Here, t represents the preset glazing time, and β1, β2, and β3 are weighting coefficients. In this embodiment, β1=0.3, β2=0.3, and β3=0.4. It should be noted that the time unit in this embodiment is seconds.

[0113] In this embodiment, the particle swarm optimization algorithm is used to optimize the glazing objective function. The detailed steps are as follows: randomly initialize the positions and set the number of particles to N, with each particle representing a candidate solution K. i =(θ i ,ω i ,t i Assign an initial velocity to each particle, randomly initialize the particle position, and set the K value for each particle... i The total flow velocity and flow displacement at each unit point are calculated by inputting the data into the gravity model and the centrifugal model, the film thickness distribution at each unit point is estimated, and K is calculated for each particle. iThe total film thickness loss function is used. The position of the unit point with the minimum total film thickness loss for each particle and the position of the unit point with the minimum total film thickness loss among all particles are retained. The total film thickness loss of the current particle is compared with that of historical particles, and the particle's velocity and position are updated. This iteration is repeated until the maximum number of iterations is reached or the particle film thickness loss function converges to a set threshold. The optimal solution is output, and θ from the optimal solution is used as the optimal rotation angle of the glazing manipulator, and ω from the optimal solution is used as the optimal rotation speed of the glazing manipulator.

[0114] S224. Take t in the obtained optimal solution as the preset glazing time of the glazing robot, and control the glazing robot to complete the glazing action within the preset glazing time.

[0115] S23. After the glazing module controls the glazing robot to complete the glazing operation, it determines whether there is a situation where no product is placed on the product placement rack 5 based on the signals transmitted by the third infrared sensor 11 and the fourth infrared sensor 12. If so, it controls the glazing robot to place the product on the product placement rack 5; if not, it controls the glazing robot to stop its operation.

[0116] S24. Based on the product's three-dimensional parameters, the outer surface of the product is divided into several equal grids. The glaze coverage thickness of each grid is obtained in real time using a β-ray thickness gauge or an infrared spectral thickness sensor. The glaze coverage thickness of each grid is compared pairwise to determine whether there is a situation where the difference in glaze thickness between grids is greater than a preset thickness threshold.

[0117] If so, the coordinates of the grid pair are obtained. Based on the coordinates of the grid pair and the difference in glaze thickness between them, the position of the grid with the larger glaze thickness is controlled to be higher than the position of the grid with the smaller glaze thickness, until the difference in glaze thickness between the grid pairs is greater than a preset thickness threshold. For example, if the difference between the glaze coverage thickness of grid a and grid b is greater than the preset thickness threshold, and the glaze coverage thickness of grid a is greater than that of grid b, then, using grid b as a reference, the area where grid a is located is controlled to rise along the Z-axis (i.e., the product height direction), or the area where grid b is located is controlled to fall along the Z-axis (i.e., the product height direction).

[0118] If not, no action will be taken.

[0119] This invention acquires product shape data and the gripping point information of the glazing robot, and uses an optimization algorithm to select the optimal gripping point. This achieves stable gripping and precise positioning of the product during the glazing process, thus avoiding the impact of gripping slippage or positional deviation on subsequent glazing operations and improving the accuracy of the glazing action and the consistency of glazing quality. Simultaneously, this invention constructs gravity flow and centrifugal flow models, combining the physical properties of the glaze, the three-dimensional morphology of the product, and environmental parameters to calculate the glaze flow distribution during the glazing process. Furthermore, based on the flow simulation results, it optimizes the rotation speed and angle of the glazing robot, achieving intelligent control and adaptive adjustment of the glazing action. This significantly improves the uniformity of the glaze distribution, meeting the requirements of high-quality ceramic products for consistent glaze thickness.

[0120] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the embodiments of apparatus, devices, and non-volatile computer storage media are basically similar to the method embodiments, so the descriptions are relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0121] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0122] The above description is merely one or more embodiments of this specification and is not intended to limit this specification. Various modifications and variations can be made to the one or more embodiments of this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of one or more embodiments of this specification should be included within the scope of the claims of this specification.

Claims

1. A glazing processing production line, characterized in that, The glazing production line includes a conveying area, a glazing area, a product transfer area, and a drying area connected in sequence. The transfer area is used to transfer products from the conveyor belt (1) to the loading gripper (3) by the loading robot (4); The glazing area is equipped with a glazing robot, a glazing tank (19) and a product placement rack (5). The glazing robot includes a first glazing robot arm (6) and a second glazing robot arm (7). The output end of the glazing robot is used to grab the product on the feeding gripper rack (3), immerse it in the glazing tank (19), and then place the product on the product placement rack (5). The product transfer area is equipped with a transfer slide, which includes a support component (14), a telescopic slide (15), an upper and lower slide (16), a base slide (17), and a rotating indexing turntable (18). The drying area is equipped with a stove for drying products and a mobile hanging basket conveyor line (8). Several double-layer hanging baskets are installed on the mobile hanging basket conveyor line (8). The transfer slide moves back and forth between the product placement rack (5) and the double-layer hanging baskets. The double-layer hanging baskets are used to receive the products transferred by the transfer slide and transport them to the stove via the mobile hanging basket conveyor line (8). The glazing production line also includes a control system, which includes a feeding module, a glazing module, a conversion module, and a drying module. The feeding module is electrically connected to the conveyor belt (1) and the feeding robot (4); the glazing module is electrically connected to the glazing robot; the conversion module is electrically connected to the conversion slide; and the drying module is electrically connected to the mobile hanging basket conveyor line (8) and the stove.

2. The glazing production line according to claim 1, characterized in that, The conveying area is provided with a conveyor belt (1) for conveying products, a loading gripper (3) and a loading gantry (2) arranged on the conveyor belt (1). The loading gantry (2) is equipped with a loading robot (4). The output end of the loading robot (4) is used to grab the products on the conveyor belt (1) and reciprocate between the conveyor belt (1) and the loading gripper (3) to grab the products on the conveyor belt (1) and place them on the loading gripper (3).

3. The glazing production line according to claim 1, characterized in that, A V-shaped baffle is provided at one end of the conveyor belt (1) near the feeding gripper (3), and a first infrared sensor (9) is installed on the V-shaped baffle; The first infrared sensor (9) is electrically connected to the feeding module.

4. The glazing production line according to claim 1, characterized in that, The feeding gripper (3) is equipped with a second infrared sensor (10), the product placement rack (5) is equipped with a first product placement position and a second product placement position, the first product placement position is equipped with a third infrared sensor (11), the second product placement position is equipped with a fourth infrared sensor (12), and the mobile hanging basket conveyor line (8) is equipped with a fifth infrared sensor (13); the double-layer hanging basket is equipped with four conversion positions, each conversion position contains a set of product positions, and each product position is equipped with a photoelectric sensor; The second infrared sensor (10) is electrically connected to the glazing module and is used to detect whether a product is placed at the V-shaped baffle. The third infrared sensor (11) is electrically connected to the glazing module and the conversion module respectively, and is used to detect whether there is a product placed in the first product placement position; The fourth infrared sensor (12) is electrically connected to the glazing module and the conversion module respectively, and is used to detect whether there is a product in the second product placement position; The fifth infrared sensor (13) is electrically connected to the conversion module and the drying module respectively, and is used to detect whether there is a double-layer hanging basket; The photoelectric sensors are all electrically connected to the conversion module and the drying module.

5. A glazing method, characterized in that, Using the glazing production line described in claim 4, the glazing method sequentially includes the following steps: S1. Place the product to be glazed on the conveyor belt. When the product to be glazed is conveyed to the V-shaped baffle, the first infrared sensor detects the signal and transmits the detected signal to the feeding module. After receiving the signal transmitted by the first infrared sensor, the feeding module controls the conveyor belt to stop and controls the feeding robot on the feeding gantry to grab the product at the V-shaped baffle and place it on the feeding grabbing frame. S2. The second infrared sensor detects the signal and transmits the detected signal to the glazing module. After receiving the signal transmitted by the second infrared sensor, the glazing module controls the glazing robot to grab the product on the feeding gripper and immerse it in the glaze tank, and then place it on the product placement rack. When the feeding robot grabs the product at the V-shaped baffle and places it on the feeding gripper, the feeding module receives the signal transmitted by the first infrared sensor and controls the conveyor belt to start. S3, the third infrared sensor or the fourth infrared sensor detects the signal and transmits the detected signal to the conversion module. When the conversion module receives the signals transmitted by the third infrared sensor and the fourth infrared sensor, it controls the transfer slide to transfer the product on the product placement rack to the transfer slide. S4. The fifth infrared sensor detects the signal and transmits the detected signal to the conversion module and the drying module respectively. The drying module controls the mobile hanging basket conveyor to stop, and the conversion module controls the transfer slide to place the product on the transfer slide onto the double-layer hanging basket. S5. The photoelectric sensor detects the signal and transmits the detected signal to the drying module. When the drying module receives the signals transmitted by all the photoelectric sensors, it controls the mobile hanging basket conveyor line to start and transport the product placed on the double-layer hanging basket to the stove.

6. The glazing method according to claim 5, characterized in that, In step S2, after the glazing robot picks up the product from the feeding rack and immerses it in the glaze tank, it places it on the product placement rack. This specifically includes the following steps: The number and shape data of the gripping points of the glazing robot and the three-dimensional parameters of the product are obtained, and the optimization algorithm is used to optimize and select the best combination of gripping points. The glazing module controls the glazing robot to grab the product on the feeding rack according to the position of the optimal gripping point and immerse it in the glaze tank, and then perform the glazing operation. After the glazing module controls the glazing robot to complete the glazing operation, it determines whether there are any products not placed on the product placement rack based on the signals transmitted by the third and fourth infrared sensors. If so, it controls the glazing robot to place the product on the product placement rack; otherwise, it controls the glazing robot to stop its operation.

7. The glazing method according to claim 6, characterized in that, The glazing process specifically includes the following steps: The physical parameters of the glaze liquid in the glaze vat and the three-dimensional parameters of the product are collected as model data; Based on the collected model data, a gravity flow model and a centrifugal flow model are constructed to calculate the flow displacement of the glaze on the product. Based on the flow displacement of the glaze on the product and the preset glazing time, an optimization algorithm is used to obtain the optimal rotation speed and optimal rotation angle of the glazing robot, and the optimal rotation speed and optimal rotation angle of the glazing robot are used as the glazing action of the glazing robot. The glazing module controls the glazing robot to complete the glazing action within a preset glazing time.

8. The glazing method according to claim 7, characterized in that, After the glazing module controls the glazing robot to complete the glazing action within a preset glazing time, it also includes: Based on the product's three-dimensional parameters, the product's outer surface is divided into several equal grids. The glaze coverage thickness of each grid is obtained, and the glaze coverage thickness of each grid is compared pairwise to determine if there are any grids whose glaze thickness difference exceeds a preset thickness threshold. If so, obtain the coordinates of the grid pair, and based on the coordinates of the grid pair and the difference in glaze thickness between the grid pairs, control the position of the grid with larger glaze thickness to be higher than the position of the grid with smaller glaze thickness, until the difference in glaze thickness between the grid pairs is greater than the preset thickness threshold. If not, no action will be taken.

9. The glazing method according to claim 5, characterized in that, In step S4, the conversion module controls the transfer slide to place the product on the transfer slide onto the double-layer hanging basket, specifically including the following steps: The conversion module determines whether a product is placed at each product position in each conversion location based on the signals transmitted by the photoelectric sensors corresponding to the product positions on the double-layer hanging basket. If the conversion module determines that none of the product positions in the conversion position are occupied, it marks the conversion position as a place where a product can be placed, and the conversion module controls the transfer slide to place the product on the transfer slide into the conversion position marked as a place where a product can be placed. If the conversion module determines that all product positions in a set of conversion positions are occupied by products, it will mark that the conversion position cannot be occupied by products. If the conversion module determines that only one product position in a set of product positions in the conversion bit contains a product, it will mark that there is an error in that conversion bit.

10. The glazing method according to claim 9, characterized in that, If the conversion module determines that there are at least two conversion positions marked as suitable for placing products, then based on the position of each conversion position in the double-layer hanging basket, the conversion position with the shortest product movement distance on the current transfer slide is selected as the product placement position in the double-layer hanging basket.

Images