An automatic processing system for enamel edges

Abstract

The application discloses an enamel edge automatic processing system, which comprises a feeding table, a rack, a multi-axis mechanical arm, a control device, a dry wiping execution mechanism, a wet wiping execution mechanism, a edge rolling and glazing execution mechanism and a discharging conveyor. The feeding table is provided with an identification and positioning device for identifying and positioning an enamel ware. The multi-axis mechanical arm, the dry wiping execution mechanism, the wet wiping execution mechanism and the edge rolling and glazing execution mechanism are arranged on the rack. A magnetic chuck for adsorbing the enamel ware is arranged on the end effector of the multi-axis mechanical arm. The control device is electrically connected with the multi-axis mechanical arm, the identification and positioning device, the dry wiping execution mechanism, the wet wiping execution mechanism and the edge rolling and glazing execution mechanism. The application can replace manual work, realize automatic processing of the enamel edge, improve production quality and efficiency and improve the working environment.

Description

Technical Field

[0001] This application relates to the field of enamel production automation technology, and in particular to an automated enamel edge processing system. Background Technology

[0002] In the production of everyday enamel products (such as storage jars, bowls, and plates), after wet enamel coating and drying, a uniform layer of dry enamel powder adheres to the product surface. For subsequent edge glazing, this dry enamel powder needs to be wiped away from the edges to expose the base enamel; this process is called "edge wiping." Currently, edge wiping and subsequent rolling glazing processes are mostly done manually.

[0003] However, manual operation has many drawbacks: First, it is difficult to uniformize the force and technique of manual edge wiping, which can easily lead to damage to the enamel or inconsistent edge width, resulting in a high product scrap rate; second, when manually rolling and glazing the edges, it is difficult to control the glaze thickness and edge shape, which can easily lead to quality problems such as uneven color, bulging, translucency, and low straightness of the glaze; finally, the large amount of dust falling during the edge wiping process seriously endangers the health of workers and pollutes the production environment. Therefore, this invention proposes an automated enamel edge processing system. Summary of the Invention

[0004] This application provides an automated enamel edge processing system that can replace manual labor to automate enamel edge processing, thereby improving production quality and efficiency and improving the working environment.

[0005] In view of this, this application provides an automated enamel edge processing system, including: a loading table, a frame, a multi-axis robotic arm, a control device, a dry rubbing actuator, a wet rubbing actuator, a rolling enamel glazing actuator, and a material unloading conveyor;

[0006] The loading platform is equipped with an identification and positioning device for identifying and positioning enamelware.

[0007] The multi-axis robotic arm, the dry rubbing actuator, and the wet rubbing actuator are all mounted on the frame;

[0008] The end effector of the multi-axis robotic arm is equipped with a magnetic chuck for adsorbing the enamelware-shaped object.

[0009] The control device is electrically connected to the multi-axis robotic arm, the identification and positioning device, the dry rubbing actuator, the wet rubbing actuator, and the edge rolling and glazing actuator, respectively.

[0010] The control device is configured to perform any of the following operations:

[0011] First operating mode: Based on the positioning information of the identification and positioning device, control the multi-axis robotic arm to adsorb and transport the enamel mold to the dry wiping actuator, so that the edge of the enamel mold contacts the dry wiping actuator to complete the dry wiping, and then transport it to the unloading conveyor;

[0012] Second operating mode: Based on the positioning information of the identification and positioning device, the multi-axis robotic arm is controlled to adsorb and transport the enamel mold through the wet rubbing actuator and the edging and glazing actuator in sequence, so that the edge of the enamel mold contacts the wet rubbing actuator and the edging and glazing actuator respectively to complete the wet rubbing and glazing process, and then it is transported to the unloading conveyor.

[0013] Optionally, the dry-rubbing actuator includes a dry-rubbing conveyor;

[0014] The dry rubbing conveyor includes a first drive motor and a dry rubbing conveyor belt driven by the first drive motor;

[0015] The surface of the dry wiping conveyor belt is adhered with a first flexible wiping element for wiping away the dry powder from the enamel-shaped edge.

[0016] Optionally, the dry-wiping actuator further includes a support leg assembly;

[0017] The support leg assembly is fixedly installed at the bottom of the dry rubbing conveyor to support the dry rubbing conveyor.

[0018] Optionally, a dust collection box is provided below the dry wiping conveyor;

[0019] The dust collection box and the first flexible wiping element on the dry wiping conveyor belt form a dynamic sealing fit;

[0020] The dust collection box is equipped with an air knife for blowing off the dry powder on the first flexible wiping component;

[0021] An exhaust port is provided on one side of the dust collection box;

[0022] A filter screen is installed at the exhaust port.

[0023] Optionally, the wet wiping actuator includes a wet wiping conveyor, a water-dipped roller, a water-squeezing roller, and a water tank;

[0024] The wet wiping conveyor includes a second drive motor and a wet wiping conveyor belt driven by the second drive motor;

[0025] The surface of the wet wiping conveyor belt is adhered with a second flexible wiping element for wiping away the dry powder on the edge of the enamel-shaped object with wet water;

[0026] The dipping roller and the squeezing roller are arranged opposite to each other;

[0027] The wet wiping conveyor belt passes through the gap between the water-dipping roller and the water-squeezing roller;

[0028] The water tank is located below the water-dipping roller and the water-squeezing roller, and the water-dipping roller is partially located inside the water tank, for wetting the second flexible wiping component that has passed through the water-dipping roller;

[0029] The water-squeezing wheel is used to squeeze the second flexible wiping element to control the moisture content.

[0030] Optionally, the wet wiping actuator further includes a support base for mounting the wet wiping conveyor;

[0031] The support base includes a fixed support plate and a quick-release support plate symmetrically installed on both sides of the wet wiping conveyor;

[0032] One side of the wet wiping conveyor is fixedly connected to the fixed support plate, and the other side is fixedly connected to a fixed plate.

[0033] The quick-release support plate is detachably connected to the fixing plate;

[0034] The fixed support plate and the quick-release support plate are symmetrically provided with bearing seats for mounting the dipping roller and the squeezing roller.

[0035] Optionally, the glazing roller mechanism includes a glazing roller, a third drive motor for driving the glazing roller to rotate, and a slurry tank for containing colored glaze slurry.

[0036] The glazing roller is rotatably positioned above the slurry tank, and the rim of the glazing roller is immersed in the colored glaze slurry in the slurry tank.

[0037] Optionally, the glazing roller mechanism is further provided with an angle adjustment mechanism to adjust the axial angle of the glazing roller to adapt to the edge inclination angle of different enamelware types.

[0038] Optionally, the identification and positioning device is an industrial camera;

[0039] The industrial camera is mounted above the loading platform;

[0040] The surface of the loading platform is provided with a cushioning pad for placing enamelware.

[0041] Optionally, the multi-axis robotic arm is a collaborative robotic arm, and a six-dimensional force sensor is connected between its end and the magnetic chuck to provide real-time feedback of the force information when the collaborative robotic arm contacts the enamel-shaped edge, so as to achieve constant force control.

[0042] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: This automated enamel edge processing system, by setting up an identification and positioning device and a multi-axis robotic arm, realizes the automatic identification, grasping, and handling of enamelware shapes. Combined with a control device configured to execute either the first or second operating mode, it can automatically complete the dry wiping process or a combination of wet wiping and edge glazing according to process requirements, thereby completely replacing manual operation and eliminating problems such as glaze damage and inconsistent edge width caused by differences in manual techniques, significantly reducing the product scrap rate. Furthermore, in the second operating mode, the multi-axis robotic arm sequentially transfers the enamelware shape to the wet wiping mechanism and the edge glazing mechanism, ensuring… The system ensures the continuity of the glazing process immediately after wet wiping. Furthermore, the precise trajectory control and constant force contact of the multi-axis robotic arm guarantee uniform glazing thickness and neat edges, effectively avoiding quality defects such as uneven color, blistering, and whitening that easily occur during manual edge rolling glazing. Moreover, the entire process is carried out in an automated, enclosed environment, preventing direct contact between wiping dust and operators, significantly improving the production environment and protecting worker health. Finally, the system integrates multiple functions including dry wiping, wet wiping, and edge rolling glazing, allowing for flexible switching of operating modes according to production needs. This achieves high production flexibility, improving product quality and production efficiency while reducing the company's overall manufacturing costs. Attached Figure Description

[0043] Figure 1 This is a schematic diagram of the structure of the automated enamel edge processing system in the embodiments of this application;

[0044] Figure 2 This is a schematic diagram of the enamel edge automated processing system from another angle in the embodiments of this application;

[0045] Figure 3 This is a schematic diagram of the dry-rubbing actuator in the embodiments of this application;

[0046] Figure 4 This is a schematic diagram showing the disassembled dry-rubbing actuator in the embodiments of this application;

[0047] Figure 5 This is a schematic diagram of the wet wiping actuator in the embodiments of this application;

[0048] Figure 6 This is a schematic diagram of the wet wiping actuator from another angle in an embodiment of this application;

[0049] Figure 7 This is a schematic diagram of the structure of the wet wiping actuator during quick-release replacement in the embodiments of this application;

[0050] Figure 8 This is a schematic diagram of the edging and glazing actuator in the embodiments of this application.

[0051] The attached figures are labeled as follows:

[0052] 1-Central control cabinet, 2-Processing table, 3-Loading platform, 4-Unloading conveyor, 5-Multi-axis robotic arm, 6-Dry wiping actuator, 7-Wet wiping actuator, 8-Rolling and glazing actuator, 9-Industrial camera, 10-Touch screen, 11-Enamel type, 12-Dust collection box, 13-Dry wiping conveyor belt, 14-First drive motor, 15-Outrigger assembly, 16-Louvre, 17-Handle, 18-First elevation plate, 19 - Air knife, 20 - Bracket, 21 - Air inlet, 22 - Sealing mounting screw, 23 - Positioning groove, 24 - Wet wiping conveyor belt, 25 - Second drive motor, 26 - Water tank, 27 - Fixed support plate, 28 - Quick release support plate, 29 - Fixed plate, 30 - Bearing seat, 31 - Handle, 32 - Faucet, 33 - Third drive motor, 34 - Glazing roller, 35 - Slurry tank, 36 - Dipping roller, 37 - Squeezing roller. Detailed Implementation

[0053] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0054] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0055] Unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0056] This application provides an embodiment of an automated enamel edge processing system; please refer to the following for details. Figure 1 and Figure 2 .

[0057] The automated enamel edge processing system in this embodiment includes: a loading platform 3, a frame, a multi-axis robotic arm 5, a control device, a dry wiping actuator 6, a wet wiping actuator 7, a rolling edge glazing actuator 8, and a discharge conveyor 4. The loading platform 3 is equipped with an identification and positioning device for identifying and positioning the enamelware type 11. The multi-axis robotic arm 5, the dry wiping actuator 6, the wet wiping actuator 7, and the rolling edge glazing actuator 8 are all mounted on the frame. The end effector of the multi-axis robotic arm 5 is equipped with a magnetic chuck for adsorbing the enamelware type 11. The control device is electrically connected to the multi-axis robotic arm 5, the identification and positioning device, the dry wiping actuator 6, the wet wiping actuator 7, and the rolling edge glazing actuator 8, respectively.

[0058] The control device is configured to perform any of the following operations:

[0059] First operating mode: According to the positioning information of the identification and positioning device, control the multi-axis robotic arm 5 to adsorb and transport the enamel type 11 to the dry wiping actuator 6, so that the edge of the enamel type 11 contacts the dry wiping actuator 6 to complete the dry wiping, and then transport it to the unloading conveyor 4.

[0060] Second operating mode: According to the positioning information of the identification and positioning device, the multi-axis robotic arm 5 is controlled to adsorb and transport the enamel mold 11 through the wet rubbing actuator 7 and the edging and glazing actuator 8 in sequence, so that the edge of the enamel mold 11 contacts the wet rubbing actuator 7 and the edging and glazing actuator 8 respectively to complete the wet rubbing and glazing process, and then transports it to the unloading conveyor 4.

[0061] It should be noted that this automated enamel edge processing system, through the installation of an identification and positioning device and a multi-axis robotic arm 5, achieves automatic identification, gripping, and handling of the enamelware 11. Combined with a control device configured to execute either the first or second operating mode, it can automatically complete either dry wiping or a combination of wet wiping and edge glazing according to process requirements. This completely replaces manual operation, eliminating problems such as glaze damage and inconsistent edge width caused by variations in manual techniques, significantly reducing product scrap rates. Furthermore, in the second operating mode, the multi-axis robotic arm 5 sequentially transfers the enamelware 11 to the wet wiping actuator 7 and the edge glazing actuator 8, ensuring that the enamelware is properly cleaned after wet wiping. The system ensures continuous glazing, and the precise trajectory control and constant force contact of the multi-axis robotic arm 5 guarantee uniform glaze thickness and neat edges, effectively avoiding quality defects such as uneven color, bulging, and translucency that are prone to occur during manual edge rolling glazing. Furthermore, the entire process is carried out in an automated, enclosed environment, preventing direct contact between edge-wiping dust and operators, significantly improving the production working environment and protecting worker health. Finally, the system integrates multiple functions such as dry wiping, wet wiping, and edge rolling glazing, and can flexibly switch operating modes according to production needs, achieving a high degree of production flexibility. While improving product quality and production efficiency, it also reduces the company's overall manufacturing costs.

[0062] The above is Embodiment 1 of an automated enamel edge processing system provided in this application. The following is Embodiment 2 of the same system. Please refer to the following for details. Figures 1 to 8 .

[0063] The automated enamel edge processing system in this embodiment includes: a loading platform 3, a frame, a multi-axis robotic arm 5, a control device, a dry wiping actuator 6, a wet wiping actuator 7, a rolling edge glazing actuator 8, and a discharge conveyor 4. The loading platform 3 is equipped with an identification and positioning device for identifying and positioning the enamelware type 11. The multi-axis robotic arm 5, the dry wiping actuator 6, the wet wiping actuator 7, and the rolling edge glazing actuator 8 are all mounted on the frame. The end effector of the multi-axis robotic arm 5 is equipped with a magnetic chuck for adsorbing the enamelware type 11. The control device is electrically connected to the multi-axis robotic arm 5, the identification and positioning device, the dry wiping actuator 6, the wet wiping actuator 7, and the rolling edge glazing actuator 8, respectively.

[0064] The control device is configured to perform any of the following operations:

[0065] First operating mode: According to the positioning information of the identification and positioning device, control the multi-axis robotic arm 5 to adsorb and transport the enamel type 11 to the dry wiping actuator 6, so that the edge of the enamel type 11 contacts the dry wiping actuator 6 to complete the dry wiping, and then transport it to the unloading conveyor 4.

[0066] Second operating mode: According to the positioning information of the identification and positioning device, the multi-axis robotic arm 5 is controlled to adsorb and transport the enamel mold 11 through the wet rubbing actuator 7 and the edging and glazing actuator 8 in sequence, so that the edge of the enamel mold 11 contacts the wet rubbing actuator 7 and the edging and glazing actuator 8 respectively to complete the wet rubbing and glazing process, and then transports it to the unloading conveyor 4.

[0067] In this embodiment, the frame includes a central control cabinet 1 and a processing table 2. The control device is located inside the central control cabinet 1, the multi-axis robotic arm 5 is located on the central control cabinet 1, and the dry wiping actuator 6, the wet wiping actuator 7, and the edging and glazing actuator 8 are all located on the processing table 2.

[0068] Understandably, given the high dust levels and temperatures in enamel production workshops, and the complexity of controlling the entire equipment, it is advisable to house the control devices, network switches, and solenoid valve relays within the central control cabinet 1, which has a door. This design helps to block a large amount of dust and protect the core electrical components. The central control cabinet 1 can also be equipped with a touch screen 10, which is electrically connected to the control devices, facilitating the operation of process programs and parameter settings by staff. Furthermore, an observation window can be installed on the cabinet door, allowing operators to monitor the internal operating status at any time while protecting the core components.

[0069] Specifically, the dry wiping actuator 6 includes a dry wiping conveyor, which includes a first drive motor 14 and a dry wiping conveyor belt 13 driven by the first drive motor 14. A first flexible wiping element for wiping off dry powder from the edge of the enamel type 11 is adhered to the surface of the dry wiping conveyor belt 13.

[0070] The dry rubbing actuator 6 also includes a support leg assembly 15, which is fixedly installed at the bottom of the dry rubbing conveyor to support the dry rubbing conveyor.

[0071] A dust collection box 12 is provided below the dry wiping conveyor. The dust collection box 12 forms a dynamic seal with the first flexible wiping component on the dry wiping conveyor belt 13. An air knife 19 is provided inside the dust collection box 12 to blow off the dry powder on the first flexible wiping component. An exhaust port is provided on one side of the dust collection box 12, and a filter screen is installed at the exhaust port to prevent dust from flying out. Specifically, the air knife 19 is installed inside the dust collection box 12 via a bracket 20. The bracket 20 has a circular waist hole to adjust the installation direction of the air knife 19 to optimize the blowing effect. The dust collection box 12 is provided with an air pipe inlet 21 for connecting external air supply equipment (such as an air compressor). The air supply equipment is connected to the air pipe inlet 21 via an air pipe, thereby connecting to the air knife 19 (the air pipe inlet 21 and the air knife 19 are connected by a pipe). The diameter of the air pipe inlet 21 is preferably 6mm to accommodate conventional air source interfaces. A louver 16 is installed at the exhaust port, and the filter screen is located inside the louver 16, which ensures both smooth exhaust and effective dust interception. A handle 17 is provided on the outside of the dust collection box 12 for easy access.

[0072] In this embodiment, the processing table 2 is provided with a positioning groove 23 for positioning the support leg assembly 15. The support leg assembly 15 can be installed in the positioning groove 23 to prevent positioning deviation of the dry wiping conveyor. The processing table 2 is provided with a first shim plate 18. The dust collection box 12 can be placed below the dry wiping conveyor through the first shim plate 18, and then fixed to the dry wiping conveyor by sealing mounting screws 22, so that its upper edge forms a dynamic sealing fit with the first flexible wiping component.

[0073] Understandably, during use, the multi-axis robotic arm 5 uses a magnetic chuck to attract the enamel-shaped part 11 and moves it to the dry wiping conveyor. It then performs a wiping process along the contour of the enamel-shaped part 11 on the first flexible wiping element. The wiped dry powder enters the dust collection box 12 along the dry wiping conveyor belt 13. At this time, the air knife 19 inside the dust collection box 12 uses strong air pressure to blow off the dry powder on the first flexible wiping element for collection. After production is completed, the dust collection box 12 needs to be cleaned. First, remove the sealing screws 22, then pull the handle 17 to remove the first raised plate 18 at the bottom of the dust collection box 12. Then, remove the entire dust collection box 12 for cleaning and recycling. After cleaning, reassemble it in reverse order.

[0074] The wet wiping actuator 7 includes a wet wiping conveyor, a water-dipping roller 36, a water-squeezing roller 37, and a water tank 26. The wet wiping conveyor includes a second drive motor 25 and a wet wiping conveyor belt 24 driven by the second drive motor 25. A second flexible wiping element for wet wiping the dry powder on the edge of the enamel-type 11 is adhered to the surface of the wet wiping conveyor belt 24. The water-dipping roller 36 and the water-squeezing roller 37 are arranged opposite each other. The wet wiping conveyor belt 24 passes through the gap between the water-dipping roller 36 and the water-squeezing roller 37 in sequence. The water tank 26 is located below the water-dipping roller 36 and the water-squeezing roller 37, and part of the water-dipping roller 36 is located inside the water tank 26. It is used to wet the second flexible wiping element that has passed through the water-dipping roller 36. The water-squeezing roller 37 is used to squeeze the second flexible wiping element to control the moisture content.

[0075] In this embodiment, the water tank 26 can be mounted on the processing table 2 via a second raised plate, and handles 31 are provided on both sides of the water tank 26. The water tank 26 can be pulled out directly through the handles 31. During the production process, the water tank 26 is filled with water. The operator lifts the water tank 26 to ensure that the second flexible wiping component, which passes through the water-dipped roller 36, is fully immersed in the water. Then, the second raised plate is placed between the water tank 26 and the processing table 2 to carry out production. When it is necessary to remove the water tank 26 for cleaning, the second raised plate under the water tank 26 can be pulled out, and then the water tank 26 can be gently placed on the surface of the processing table 2 and pulled out. The water tank 26 is also provided with a faucet 32 ​​for draining water. The first flexible wiping component and the second flexible wiping component are both scouring pads, which have good wear resistance and wiping effect.

[0076] It should be noted that during use, the second drive motor 25 drives the wet wiping conveyor belt 24 to move. When the wet wiping conveyor belt 24 passes the water-dipping roller 36, the second flexible wiping part absorbs water and becomes wet. Subsequently, the wet wiping conveyor belt 24 moves upward from the lowest point of the water-dipping roller 36, passing through the gap between the water-dipping roller 36 and the water-squeezing roller 37. At this time, under the squeezing action of the water-squeezing roller 37, the excess water is squeezed out and falls into the water tank 26 below, so that the second flexible wiping part is in a semi-dry state. This is to prevent the multi-axis robotic arm 5 from affecting the dry powder on other surfaces of the enamel type 11 due to excessive moisture in the second flexible wiping part when it drives the enamel type 11 to perform the wet wiping process.

[0077] The wet wiping actuator 7 also includes a support base for mounting the wet wiping conveyor. The support base includes a fixed support plate 27 and a quick-release support plate 28 symmetrically mounted on both sides of the wet wiping conveyor. One side of the wet wiping conveyor is fixedly connected to the fixed support plate 27, and the other side is fixedly connected to a fixed plate 29. The quick-release support plate 28 is detachably connected to the fixed plate 29. Bearing seats 30 for mounting the water-dipping roller 36 and the water-squeezing roller 37 are symmetrically arranged on the fixed support plate 27 and the quick-release support plate 28. Specifically, the fixed support plate 27 and the quick-release support plate 28 can be fixed to the processing table 2 with bolts.

[0078] Understandably, in the wet wiping process, the second flexible wiping component may need to be replaced periodically if its operating time is too long. Therefore, one side of the wet wiping conveyor is configured with a quick-release structure (i.e., a detachable connection between the quick-release support plate 28 and the fixed plate 29), and the roller shafts of the dipping roller 36 and the squeezing roller 37 are inserted into the bearing seat 30. When quick-release replacement is required, first remove the bolts between the quick-release support plate 28 and the fixed plate 29, and remove the quick-release support plate 28 as a whole. At this time, one side of the dipping roller 36 and the squeezing roller 37 is suspended, and the wet wiping conveyor belt 24 is completely exposed. The wet wiping conveyor belt 24 can be removed from the quick-release side for replacement. After replacement, the quick-release support plate 28 is reinstalled and fixed to the fixed plate 29, and clamped with a positioning clamp. Finally, the bolts between the quick-release support plate 28 and the processing table 2 are tightened to complete the replacement.

[0079] The glazing roller 8 includes a glazing roller 34, a third drive motor 33 for driving the glazing roller 34 to rotate, and a slurry tank 35 for holding colored glaze slurry. The glazing roller 34 is rotatably positioned above the slurry tank 35, and the rim of the glazing roller 34 is immersed in the colored glaze slurry in the slurry tank 35.

[0080] Understandably, after the multi-axis robotic arm 5 completes the wet wiping process on the enamel mold 11, it will move directly to the edging and glazing execution mechanism 8 for the edging process. At this time, the third drive motor 33 drives the glazing roller 34 to rotate, causing the colored glaze slurry in the slurry tank 35 below to evenly adhere to the surface of the glazing roller 34. The multi-axis robotic arm 5 drives the enamel mold 11, so that its edge, which has been wiped clean of dry powder, is attached to the surface of the glazing roller 34, and moves along a preset trajectory to complete the even glazing.

[0081] In this embodiment, the glazing roller 34 is a nylon wheel, which has good wear resistance and glaze adsorption; the first drive motor 14, the second drive motor 25 and the third drive motor 33 are all stepper motors, which can achieve precise speed control.

[0082] Preferably, the glazing roller 8 is further provided with an angle adjustment mechanism to adjust the axial angle of the glazing roller 34 to adapt to the edge inclination angle of different enamelware types 11, so as to facilitate the complete fit between the enamelware type 11 and the glazing roller 34 and achieve a uniform glazing effect.

[0083] The identification and positioning device is an industrial camera 9, which is mounted above the loading platform 3. Considering that the enamel surface is covered with dry powder enamel, rigid contact can easily damage the enamel surface. Therefore, the surface of the loading platform 3 can be provided with a buffer pad for placing the enamelware 11. Preferably, a light source can be provided on the industrial camera 9 to ensure the stability of image acquisition under different lighting conditions. The buffer pad is a black rubber pad, which can protect the enamel surface while improving the contrast with the surface of the enamelware 11, thereby improving the visual positioning accuracy.

[0084] In this embodiment, to ensure accurate positioning compatibility for multiple enamel-type 11 models, the field of view of the industrial camera 9 is designed to be 60cm × 60cm. To avoid interference and collision between the movement of the multi-axis robotic arm 5 and the structure of the industrial camera 9, the industrial camera 9 is designed to be installed at a height of 80cm from the table surface. Under conditions of wide field of view and long-distance operation, the use of a 0.07% low-distortion vision camera (such as the Hikvision MV-CH250-90GM industrial camera 9 paired with an MVL-KF1624M-25MP low-distortion lens) can ensure the quality of acquired images and accurate positioning.

[0085] The multi-axis robotic arm 5 is a collaborative robotic arm. A six-dimensional force sensor is connected between its end effector and a magnetic chuck to provide real-time feedback on the force information when the collaborative robotic arm contacts the edge of the enamel-shaped 11, thereby achieving constant force control. Preferably, the multi-axis robotic arm 5 can be mounted side-to-side and downwards to avoid singularities at the shoulder and elbow during the wiping motion, ensuring smooth movement and trajectory accuracy of the robotic arm.

[0086] It is understood that the collaborative robotic arm is existing technology, and in this application it is mainly used to cooperate with vision to accurately grasp the enamelware type 11, drive the enamelware type 11 to perform constant force grinding dry rubbing, wet rubbing and edge rolling processes, and complete the precise material unloading action.

[0087] In practice, the complete workflow of this automated enamel edge processing system is as follows:

[0088] S1. Loading and positioning: The worker places the enamelware model 11, which has been coated and dried, on the buffer pad of the loading platform 3. The industrial camera 9 captures images, and the control device identifies the type, center coordinates, and edge contour of the enamelware model 11.

[0089] S2. Grasping and transporting: The control device sends the positioning coordinates to the multi-axis robotic arm 5. The multi-axis robotic arm 5 drives the magnetic chuck to move above the center of the enamel type 11, descends vertically and smoothly adsorbs the enamel type 11.

[0090] S3. Process Selection and Implementation:

[0091] If the first operation mode (dry wiping) is executed, the multi-axis robotic arm 5 carries the enamelware type 11 to the dry wiping actuator 6, moves at a constant speed along the edge trajectory of the type on the first flexible wiping part, and after the dry wiping is completed, the enamelware type 11 is placed on the unloading conveyor 4.

[0092] If the second operation mode (wet rubbing + edge glazing) is executed, the multi-axis robotic arm 5 carries the enamel type 11 and moves it sequentially to the wet rubbing actuator 7 and the edge glazing actuator 8. After completing the wet rubbing and glazing processes in sequence, the enamel type 11 is placed on the unloading conveyor 4.

[0093] S4. Unloading: The unloading conveyor 4 delivers the processed enamelware type 11 to the next station, where workers take it away and send it to the sintering furnace for sintering.

[0094] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An automated enamel edge processing system, characterized in that, include: Loading platform, frame, multi-axis robotic arm, control device, dry rubbing actuator, wet rubbing actuator, edge rolling glazing actuator, and unloading conveyor; The loading platform is equipped with an identification and positioning device for identifying and positioning enamelware. The multi-axis robotic arm, the dry rubbing actuator, and the wet rubbing actuator are all mounted on the frame; The end effector of the multi-axis robotic arm is equipped with a magnetic chuck for adsorbing the enamelware-shaped object. The control device is electrically connected to the multi-axis robotic arm, the identification and positioning device, the dry rubbing actuator, the wet rubbing actuator, and the edge rolling and glazing actuator, respectively. The control device is configured to perform any of the following operations: First operating mode: Based on the positioning information of the identification and positioning device, control the multi-axis robotic arm to adsorb and transport the enamel mold to the dry wiping actuator, so that the edge of the enamel mold contacts the dry wiping actuator to complete the dry wiping, and then transport it to the unloading conveyor; Second operating mode: According to the positioning information of the identification and positioning device, the multi-axis robotic arm is controlled to adsorb and transport the enamel mold through the wet wiping execution mechanism and the rolling edge glazing execution mechanism in sequence, so that the edge of the enamel mold contacts the wet wiping execution mechanism and the rolling edge glazing execution mechanism respectively to complete the wet wiping and glazing process, and then transported to the unloading conveyor. The dry rubbing actuator includes a dry rubbing conveyor; The dry rubbing conveyor includes a first drive motor and a dry rubbing conveyor belt driven by the first drive motor; The surface of the dry wiping conveyor belt is adhered with a first flexible wiping element for wiping away the dry powder on the edge of the enamel-shaped object; A dust collection box is installed below the dry wiping conveyor; The dust collection box and the first flexible wiping element on the dry wiping conveyor belt form a dynamic sealing fit; The dust collection box is equipped with an air knife for blowing off the dry powder on the first flexible wiping component; An exhaust port is provided on one side of the dust collection box; A filter screen is installed at the exhaust port; The wet wiping actuator includes a wet wiping conveyor, a water-dipping roller, a water-squeezing roller, and a water tank; The wet wiping conveyor includes a second drive motor and a wet wiping conveyor belt driven by the second drive motor; The surface of the wet wiping conveyor belt is adhered with a second flexible wiping element for wiping away the dry powder on the edge of the enamel-shaped object with wet water; The dipping roller and the squeezing roller are arranged opposite to each other; The wet wiping conveyor belt passes through the gap between the water-dipping roller and the water-squeezing roller; The water tank is located below the water-dipping roller and the water-squeezing roller, and the water-dipping roller is partially located inside the water tank, for wetting the second flexible wiping component that has passed through the water-dipping roller; The water-squeezing wheel is used to squeeze the second flexible wiping element to control the moisture content.

2. The automated enamel edge processing system according to claim 1, characterized in that, The dry-wiping actuator also includes a support leg assembly; The support leg assembly is fixedly installed at the bottom of the dry rubbing conveyor to support the dry rubbing conveyor.

3. The automated enamel edge processing system according to claim 1, characterized in that, The wet wiping actuator also includes a support base for mounting the wet wiping conveyor; The support base includes a fixed support plate and a quick-release support plate symmetrically installed on both sides of the wet wiping conveyor; One side of the wet wiping conveyor is fixedly connected to the fixed support plate, and the other side is fixedly connected to a fixed plate. The quick-release support plate is detachably connected to the fixing plate; The fixed support plate and the quick-release support plate are symmetrically provided with bearing seats for mounting the dipping roller and the squeezing roller.

4. The automated enamel edge processing system according to claim 1, characterized in that, The glazing and rolling mechanism includes a glazing roller, a third drive motor for driving the glazing roller to rotate, and a slurry tank for containing colored glaze slurry. The glazing roller is rotatably positioned above the slurry tank, and the rim of the glazing roller is immersed in the colored glaze slurry in the slurry tank.

5. The automated enamel edge processing system according to claim 4, characterized in that, The glazing roller mechanism is also equipped with an angle adjustment mechanism to adjust the axial angle of the glazing roller to adapt to the edge inclination angle of different enamelware types.

6. The automated enamel edge processing system according to claim 1, characterized in that, The identification and positioning device is an industrial camera; The industrial camera is mounted above the loading platform; The surface of the loading platform is provided with a cushioning pad for placing enamelware.

7. The automated enamel edge processing system according to claim 1, characterized in that, The multi-axis robotic arm is a collaborative robotic arm, and its end is connected to the magnetic chuck with a six-dimensional force sensor, which is used to provide real-time feedback of the force information when the collaborative robotic arm contacts the edge of the enamel-shaped object, so as to achieve constant force control.

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