Automatic equipment for curved surface decoration of utensils

Abstract

This utility model discloses an automated decal application device for curved surfaces of vessels, comprising a decal feeding and picking subsystem, a curved surface application execution subsystem, and a decal smoothing and finishing subsystem. During operation, the feeding and picking subsystem accurately transports, positions, and moves the decal through module movement; the curved surface application execution subsystem achieves 360° tight adhesion of the decal to the curved surface of the vessel through coordinated rotation and pressing actions; and the smoothing and finishing subsystem refines the decal surface through reciprocating smoothing actions, completely eliminating application wrinkles. This device achieves full-process automation through the linkage of multiple subsystems, optimizing the entire process path from decal picking to final finishing. It not only significantly improves the positioning accuracy and application uniformity of the decal, reducing quality problems such as bubbles and slippage, but also reduces manual intervention costs, increases processing efficiency, and its modular structure design facilitates daily inspection and maintenance. It is suitable for decal processing of various curved vessels such as ceramics and glass.

Description

Technical Field

[0001] This utility model relates to the technical field of automated equipment for utensil processing, specifically an automated equipment for applying decals to curved surfaces of utensils. Background Technology

[0002] In the field of utensil processing, especially in the decoration of curved utensils made of ceramics, glass, and metal, the precision and integrity of the application of decals directly determine the product's appearance quality and market competitiveness. While current decal equipment has gradually moved away from entirely manual operation, significant shortcomings remain in high-precision automated application and flexible production adaptation, making it difficult to meet the high standards of modern utensil manufacturing demanding refined and efficient decorative processes.

[0003] Traditional decal equipment often employs a semi-automated operation mode, with manual assistance for positioning and transfer during the material loading and picking process. This is not only greatly affected by differences in operator experience—the positioning error difference between skilled workers and novices can reach more than 2mm—but also prone to insufficient initial alignment accuracy due to hand tremors and visual fatigue. In actual production, decal offset often exceeds 1.5mm, directly causing defects such as edge misalignment and pattern distortion. The decal pass rate for irregularly shaped curved vessels is as low as 60%-70%. The coordination of the bonding mechanism is also significantly lacking: the rotation drive of the main clamping component and the vessel is often a separate transmission, which is prone to speed differences due to transmission gaps. The secondary clamping component often lags behind the movement rhythm of the main clamping component, resulting in frequent air bubbles and wrinkles during decal wrapping and bonding. In the curved transition area of ​​glass vessels, the wrinkle occurrence rate is as high as 15%-20%, which not only affects the decorative effect but also requires manual secondary smoothing and repair. The secondary processing cost accounts for more than 10% of each batch of products, significantly increasing the process cost.

[0004] The design limitations of the leveling and finishing structure are also prominent: the leveling components of traditional equipment are mostly rigid structures with a fixed trajectory movement in one direction, which can only apply force along a single plane or a fixed arc, resulting in poor adaptability to the complex curvature changes of curved vessels. For example, when processing drum-shaped curved ceramic vessels, the leveling components are prone to localized incomplete scraping and pressing, resulting in tiny gaps between the decal and the vessel surface. The overall flatness rate of the decal on complex curved surfaces is less than 75%, and uneven leveling force may also cause damage to the decal. The convenience of equipment operation and maintenance also urgently needs improvement: most traditional equipment lacks independent maintenance channels for the feeding module and bonding execution module. Maintenance operations such as jamming of the feeding guide rail of the feeding mechanism and replacement of worn bonding jigs require disassembling multiple components such as the outer protective cover and transmission linkage. A single maintenance and adjustment often takes 1.5-2 hours, and the downtime for some older equipment is even longer, resulting in an effective operating rate of less than 65% for a long time.

[0005] Furthermore, when switching between decals for vessels with different curvatures or different sizes, traditional equipment requires replacing multiple mechanical components such as appropriate clamping fixtures and adjusting the spacing of the feeding guides. After replacement, the positioning reference must be recalibrated, resulting in an overall switching cycle exceeding 3 hours. This makes it difficult to meet the needs of small-batch, multi-variety vessel production, especially in customized production of cultural and creative vessels. Frequent equipment adjustments can easily disrupt production plans, hindering the company's flexible manufacturing capabilities. Simultaneously, the functional modules of traditional equipment are scattered, with feeding, bonding, and smoothing modules often independently mounted. Decal application requires multiple transfers to complete the entire process. During transfer, cumulative errors can easily occur due to positioning reference misalignment, with the maximum deviation in decal position for the same batch of products reaching 3mm, making it difficult to guarantee the consistency of appearance across batches.

[0006] Against this backdrop, the industry urgently needs an automated curved surface decal application device with high-precision positioning and transfer, master-slave collaborative bonding, multi-dimensional efficient finishing, and convenient operation and maintenance mechanisms. This device would solve problems such as large positioning errors, poor bonding coordination, insufficient flattening adaptability, and cumbersome operation and maintenance associated with traditional equipment. It would improve decal positioning accuracy, optimize bonding flatness, shorten adjustment and maintenance time, and enhance adaptability to multiple scenarios. This would enable high-precision, high-efficiency, and high-consistency decal application on curved surfaces, meeting the needs of refined decoration processing for various curved surfaces. Utility Model Content

[0007] The purpose of this utility model is to provide an automated device for applying decals to curved surfaces of vessels, in order to solve the problems of large positioning errors, poor bonding coordination, insufficient flattening adaptability, cumbersome operation and maintenance, and low changeover efficiency of existing decal equipment, and to achieve high precision, high efficiency and high consistency in applying decals to curved surfaces of vessels.

[0008] To achieve the above objectives, this utility model provides the following technical solution: An automated decal application device for curved surfaces of vessels includes a decal feeding and picking subsystem, a curved surface application execution subsystem, a decal smoothing and finishing subsystem, and a device base. The decal feeding and picking subsystem includes an XY-axis feeding linear module, an X-axis picking linear module, a sponge suction cup assembly, and a decal material tray; the curved surface application execution subsystem includes a main clamping fixture, a main clamping cylinder, a secondary clamping fixture, a secondary clamping cylinder, a set of main rotary motors, and a secondary rotary motor; the decal smoothing and finishing subsystem includes a YZ-axis smoothing linear module, a dual-motor smoothing fixture, a smoothing drive motor 1, and a smoothing drive motor 2. The main rotary motor, secondary rotary motor, smoothing drive motor 1, and smoothing drive motor 2 all adopt a structure combining a reducer and an encoder to ensure motion accuracy and transmission stability. The device base provides installation support for each of the above subsystems, and each subsystem achieves coordinated operation through an electrical control module. In the decal feeding and picking subsystem, both the XY-axis feeding linear module and the X-axis picking linear module use ball screw drives. The module slide rails have a lubricating coating and are positioned by servo motors with a positioning accuracy of no more than 0.1mm. The sponge suction cup assembly of the decal feeding and picking subsystem includes a vacuum generator and a flexible sponge suction head. The suction head surface has micro-ventilation holes, allowing for vacuum negative pressure adsorption of the decals. The adsorption pressure can be adjusted by a pressure regulating valve. In the curved surface bonding execution subsystem, the working surfaces of both the main and auxiliary clamping fixtures are arc-shaped structures adapted to the container to be bonded, and an elastic buffer layer is adhered to the fixture surface. The curved surface bonding execution subsystem uses a set of main and auxiliary rotary motors, which are geared motors with encoders. One set of main rotary motors drives the main clamping fixture to press the decal and the container together, rotating synchronously by 180 degrees. Then, the auxiliary rotary motor drives the auxiliary clamping fixture to press the decal. The two are linked in opposite directions at the same speed through a controller, with a rotation angle error of no more than 0.5° to prevent the decal from falling off and enhance the bonding tightness. Both the main and auxiliary clamping cylinders of the curved surface fitting execution subsystem are adjustable-stroke cylinders, with cylinder diameters adapted to the clamping force requirements of the fixture. Their extension and retraction are controlled by solenoid valves. In the decal smoothing and finishing subsystem, the Y-axis and Z-axis movements of the YZ-axis smoothing linear module are independent. Limit sensors are installed at the end of the module, and the movement range of the dual-motor smoothing fixture can be preset via a program. The smoothing drive motor 1 and smoothing drive motor 2 of the decal smoothing and finishing subsystem are symmetrically arranged servo motors. They each drive the dual-motor smoothing fixture to achieve movement in two independent directions, giving the fixture two degrees of freedom. The two motors work together via synchronous belt transmission to drive the dual-motor smoothing fixture to complete multi-directional reciprocating smoothing actions. The smoothing frequency is adjustable to improve smoothing quality and work efficiency.The decal material tray of the decal feeding and picking subsystem has a cuboid structure with three independent receiving slots along its length, each slot accommodating one decal. Material-stopping protrusions are located on both sides of the tray's length, and positioning pins are spaced apart at corresponding positions in each receiving slot. These positioning pins are compatible with the carrier of the long decal. The decal material tray is detachably connected to the XY-axis feeding linear module via clips. A set of main rotary motor outputs a drive pulley, and driven pulleys are located at corresponding positions on the vessel and main clamping fixture. The drive and driven pulleys mesh with a transmission belt, with the pulley grooves matching the belt. The driven pulleys are also keyed to the vessel and main clamping fixture, forming a synchronous rotary transmission structure. The output shaft of the auxiliary rotary motor is directly fixed to the auxiliary clamping fixture, enabling independent drive of the auxiliary clamping fixture. This dual-motor split-drive structure ensures coordinated action during application.

[0009] During operation, the three receiving slots of the decal material tray hold the decals respectively. The XY-axis feeding linear module moves the decals to the picking position; the X-axis picking linear module drives the sponge suction cup assembly to move, adsorbing the decals through vacuum negative pressure and moving them to the bonding station. During the bonding stage, the main clamping cylinder drives the main clamping fixture to press the decals against the surface of the vessel. The main rotary motor drives the vessel and the main clamping fixture to rotate 180 degrees synchronously through the pulley drive, completing half-circumference bonding; then, the auxiliary clamping cylinder drives the auxiliary clamping fixture to press the remaining area of ​​the decals. The auxiliary rotary motor drives the auxiliary clamping fixture to move in the opposite direction and at the same speed as the main rotary motor to achieve full-circumference bonding. After bonding is completed, the YZ-axis leveling linear module drives the dual-motor leveling fixture to move to the decal area. The leveling drive motors 1 and 2 drive the fixture to reciprocate in two independent directions to eliminate air bubbles and wrinkles. Throughout the process, the electrical control module coordinates the action rhythm of each subsystem in real time to ensure the accuracy of the decals. When maintenance or replacement is required, the decal material tray can be quickly disassembled using clips, and the corresponding module inspection port can be opened to complete the component adjustment.

[0010] Preferably, the XY axis feeding linear module and the X axis picking linear module adopt ball screw drive and are equipped with servo motor, which has high positioning accuracy and can accurately control the decal transfer and picking position, reducing the initial alignment error.

[0011] Preferably, the dual-motor leveling fixture achieves two degrees of freedom of motion through two drive motors, and in conjunction with the independent movement of the YZ axis leveling linear module, it can adapt to the leveling requirements of surfaces with different curvatures and improve the flatness of complex curved surface decals.

[0012] Preferably, the main rotary motor and the auxiliary rotary motor are geared motors with encoders, and the controller realizes reverse constant speed linkage, with small rotation angle error, ensuring coordinated action of the main and auxiliary clamping fixtures, and avoiding decal peeling or wrinkling.

[0013] Preferably, the decal material tray has three independent receiving slots and is connected to the XY axis feeding linear module through buckles. This not only allows it to carry multiple decals at the same time to improve feeding efficiency, but also allows for quick disassembly and replacement to meet the needs of changing decals of various specifications.

[0014] Preferably, the output end of the main rotary motor is provided with a drive pulley, and the corresponding positions of the vessel and the main clamping fixture are provided with driven pulleys. The drive pulley and the driven pulley are engaged by a transmission belt, and the driven pulley is fixedly connected to the vessel and the main clamping fixture by a key. The output shaft of the auxiliary rotary motor is directly fixed to the auxiliary clamping fixture, forming a dual-motor separate drive structure to ensure the coordination of actions during bonding.

[0015] Compared with existing technologies, this invention effectively reduces the initial positioning error of decals and significantly improves the pass rate of decals on irregularly shaped curved surfaces by using high-precision transmission of the XY-axis and X-axis linear modules. The coordinated linkage design of the main and auxiliary rotary motors greatly reduces the occurrence rate of decal wrinkles, eliminating the need for manual secondary adjustments. The multi-degree-of-freedom movement of the dual-motor leveling fixture effectively improves the flatness of decals on complex curved surfaces and reduces the decal breakage rate. At the same time, the snap-fit ​​structure and independent maintenance design of the decal material tray significantly shorten the equipment changeover and adjustment cycle and the time for single maintenance, improving the effective operating rate of the equipment. The synchronous feeding design of the three receiving slots, combined with the integrated modular layout, increases the hourly production capacity and can flexibly adapt to the needs of small-batch, multi-variety decal production of utensils. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the main structure of this utility model;

[0018] Figure 2 This is a schematic diagram of the decal feeding and picking subsystem of this utility model;

[0019] Figure 3 This is a schematic diagram of the curved surface bonding execution subsystem of this utility model;

[0020] Figure 4 This is a schematic diagram of the decal smoothing and finishing system of this utility model.

[0021] The reference numerals in the diagram are explained as follows: 1. Decal feeding and picking subsystem; 11. XY axis feeding linear module; 12. X axis picking linear module; 14. Sponge suction cup assembly; 114. Decal material tray; 2. Curved surface bonding execution subsystem; 25. Main clamping fixture; 26. Main clamping cylinder; 27. Secondary clamping fixture; 28. Secondary clamping cylinder; 29. ​​Main rotary motor; 210. Secondary rotary motor; 3. Decal smoothing and finishing subsystem; 33. YZ axis smoothing linear module; 311. Dual motor smoothing fixture; 312. Smoothing drive motor 1; 313. Smoothing drive motor 2; 15. Equipment base. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0023] Please see Figure 1-4 The present invention provides the following technical solution:

[0024] Example 1

[0025] To achieve efficient and precise application of decals on curved surfaces, this automated equipment for curved surface decal application demonstrates significant advantages in the production of ceramic and glassware decorations. Its various subsystems and components are deeply integrated with collaborative operation processes and technological highlights, as specifically applied below:

[0026] It should be noted that all motors in the equipment adopt a combination of reducer and encoder to ensure motion accuracy and transmission stability. After the equipment starts, the base provides a stable support for the overall structure. The decal feeding and picking subsystem 1, curved surface bonding execution subsystem 2, and decal smoothing and finishing subsystem 3, mounted on it, form an integrated operation system. This integrated layout design is the foundation for ensuring decal accuracy. Through the coordinated linkage of the electrical control modules of each subsystem, it can effectively avoid lag in each step, providing a stable foundation for uniform bonding. By simply linking the power components of each subsystem through the control system, the continuous operation of feeding, bonding, and smoothing can be achieved. The overall control logic is clear, providing stable support for mass production.

[0027] After the operator positions the decal container and loads the decal into the decal material tray 114, the decal feeding and picking subsystem 1 is activated first. The decal material tray 114 is a cuboid structure with three independent receiving slots along its length, each holding one of the three decals to be applied. The material blocking protrusions on both sides and the positioning pins on the tray surface prevent the decals from shifting. The XY axis feeding linear module 11 moves the decal material tray 114, and after the decal is moved to the picking position, the X axis picking linear module 12 moves the sponge suction cup assembly 14 above the decal. The sponge suction cup assembly 14 uses vacuum negative pressure to adsorb the decal. The flexible sponge material of the suction head and the adjustable suction pressure can prevent the decal from being damaged during adsorption. Then, the decal is accurately transferred to the bonding station of the curved surface bonding execution subsystem 2.

[0028] Meanwhile, the curved surface bonding execution subsystem 2 enters the working state: after the decal is moved to the corresponding position on the vessel, the main pressing cylinder 26 drives the main pressing fixture 25 to extend, pressing one edge of the decal onto the curved surface of the vessel; the main rotary motor 29 starts, and its output pulley engages with the driven pulley at the corresponding position of the vessel and the main pressing fixture 25 via a transmission belt. Since the driven pulley is fixed to the vessel and the main pressing fixture 25 by a key, the two rotate 180 degrees synchronously with the main rotary motor 29, completing half a circle of decal bonding. At this time, the auxiliary pressing cylinder 28 drives the auxiliary pressing fixture 27 to extend, pressing the remaining unbonded area of ​​the decal, and the auxiliary rotary motor 210 starts—the main rotary motor 29 and the auxiliary rotary motor 210 achieve reverse constant speed linkage through the controller, with a rotation angle error of no more than 0.5°, to prevent the decal from falling off or wrinkling during rotation bonding, and to ensure that the decal is tightly bonded to the curved surface of the vessel.

[0029] After the decal is applied, the decal smoothing subsystem 3 intervenes: the YZ axis smoothing linear module 33 drives the dual-motor smoothing fixture 311 to move to the decal area. The smoothing drive motor 1 (312) and the smoothing drive motor 2 (313) drive the dual-motor smoothing fixture 311 to achieve movement in two independent directions. Because the dual-motor smoothing fixture 311 has two degrees of freedom of movement, it can adapt to surfaces with different curvatures by cooperating with the independent movement of the YZ axis smoothing linear module 33. The two motors cooperate through synchronous belt transmission to drive the dual-motor smoothing fixture 311 to scrape back and forth along the decal surface in multiple directions, eliminating air bubbles and wrinkles that may be generated during the application process. The smoothing frequency can be adjusted according to the decal material to ensure the smoothing quality.

[0030] The equipment's flexible adaptability plays a crucial role in meeting the needs of changing different sized vessels or decals. To change to a different size decal, simply remove the decal material tray 114 using the clips and replace it with a tray of the corresponding receiving slot size; no adjustment to the feeding module is required. To adapt to vessels with different curvatures, simply replace the main clamping fixture 25 and secondary clamping fixture 27 with fixtures that fit the vessel's surface, and preset the movement range of the dual-motor leveling fixture 311 through the program. Operators can then quickly complete fixture replacement and parameter adjustments by opening the corresponding module's inspection port, without disassembling numerous parts throughout the process.

[0031] In the mass production of ceramic water cup decals, this equipment can achieve efficient and stable operation. Because the XY-axis feeding linear module 11 and the X-axis picking linear module 12 use ball screw drives, the positioning accuracy is no greater than 0.1mm, significantly reducing the initial alignment error of the decals. The coordinated linkage of the main rotary motor 29 and the auxiliary rotary motor 210, combined with the arc-shaped working surface and elastic buffer layer of the main and auxiliary clamping fixtures, greatly reduces the occurrence rate of decal wrinkles. At the same time, the three-groove design and snap-fit ​​connection structure of the decal material tray 114 reduce the frequency of material loading and changeover time, significantly improving the effective operating rate of the equipment.

[0032] Thanks to the precise linkage of its subsystems and the adaptive design of its components, the equipment significantly improves the consistency of decal application on curved vessels, ensuring neat edges, no bubbles or wrinkles, and meeting industry standards for vessel decoration. This design, which integrates high efficiency, precision, and flexibility, makes the equipment suitable for decal application on curved vessels made of various materials such as ceramics, glass, and metal. It effectively reduces manual intervention costs, improves overall production efficiency, and provides reliable semi-finished product assurance for subsequent processes such as vessel firing and quality inspection, demonstrating its excellent practical value.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention 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; and these 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 the present invention.

Claims

1. An automated device for applying decals to curved surfaces of utensils, characterized in that: The system includes a decal feeding and picking subsystem (1), a curved surface bonding execution subsystem (2), a decal smoothing and finishing subsystem (3), and an equipment base (15). The decal feeding and picking subsystem (1) includes an XY axis feeding linear module (11), an X axis picking linear module (12), a sponge suction cup assembly (14), and a decal material tray (114). The curved surface bonding execution subsystem (2) includes a main clamping fixture (25), a main clamping cylinder (26), a secondary clamping fixture (27), a secondary clamping cylinder (28), a set of main rotary motors (29), and a set of secondary rotary motors (210). The decal smoothing and finishing subsystem (3) includes a YZ axis smoothing linear module (33), a dual-motor smoothing fixture (311), a smoothing drive motor 1 (312), and a smoothing drive motor 2 (313). The main rotary motor (29), the auxiliary rotary motor (210), the smoothing drive motor 1 (312), and the smoothing drive motor 2 (313) all adopt a structure combining a reducer and an encoder to ensure the accuracy of movement and the stability of transmission. The equipment base (15) provides installation support for the above subsystems, and each subsystem achieves coordinated movement through an electrical control module.

2. The automated equipment for applying decals to curved surfaces of vessels according to claim 1, characterized in that: In the decal feeding and picking subsystem (1), both the XY axis feeding linear module (11) and the X axis picking linear module (12) are driven by ball screws. The module slide rail surface is provided with a lubricating coating. Positioning is achieved by servo motor drive, and the positioning accuracy is no more than 0.1mm.

3. The automated equipment for applying decals to curved surfaces of vessels according to claim 1, characterized in that: The decal feeding and picking subsystem (1) includes a sponge suction cup assembly (14) containing a vacuum generator and a flexible sponge suction head. The surface of the suction head is provided with micro-ventilation holes. The decal is adsorbed by vacuum negative pressure, and the adsorption pressure can be adjusted by a pressure regulating valve.

4. The automated equipment for applying decals to curved surfaces of vessels according to claim 1, characterized in that: In the curved surface bonding execution subsystem (2), the working surfaces of the main clamping fixture (25) and the auxiliary clamping fixture (27) are both arc-shaped structures adapted to the vessel to be bonded, and an elastic buffer layer is pasted on the surface of the fixture.

5. The automated applicator for decorative decals on curved surfaces of vessels according to claim 1, characterized in that: The curved surface bonding execution subsystem (2) consists of a set of main rotary motors (29) and auxiliary rotary motors (210), which are geared motors with encoders. The set of main rotary motors (29) drives the main clamping fixture (25) to press the decal and rotate synchronously with the vessel by 180 degrees. Then, the auxiliary rotary motor (210) drives the auxiliary clamping fixture (27) to press the decal. The two are linked in opposite directions at the same speed through the controller. The rotation angle error does not exceed 0.5°, so as to avoid the decal falling off and enhance the bonding tightness.

6. The automated equipment for applying decals to curved surfaces of vessels according to claim 1, characterized in that: The main clamping cylinder (26) and the auxiliary clamping cylinder (28) of the curved surface fitting execution subsystem (2) are both adjustable stroke cylinders with cylinder diameters adapted to the clamping force requirements of the fixture, and the extension and retraction actions are controlled by solenoid valves.

7. The automated equipment for applying decals to curved surfaces of vessels according to claim 1, characterized in that: In the decal smoothing subsystem (3), the Y-axis and Z-axis movements of the YZ axis smoothing linear module (33) are independent of each other. The module end is equipped with a limit sensor, and the movement range of the dual-motor smoothing fixture (311) can be preset by the program.

8. The automated equipment for applying decals to curved surfaces of vessels according to claim 1, characterized in that: The decal smoothing and finishing subsystem (3) has two symmetrically arranged servo motors: the smoothing drive motor 1 (312) and the smoothing drive motor 2 (313). The two motors drive the dual-motor smoothing fixture (311) to achieve movement in two independent directions, giving the smoothing fixture two degrees of freedom of movement. The two motors cooperate through synchronous belt transmission to drive the dual-motor smoothing fixture (311) to complete multi-directional reciprocating smoothing action. The smoothing frequency can be adjusted to improve the smoothing quality and work efficiency.

9. An automated applicator for decorative decals on curved surfaces of vessels according to claim 1, characterized in that: The decal material tray (114) of the decal feeding and picking subsystem (1) is a cuboid structure. The tray has three independent receiving slots along its length, and each receiving slot can accommodate one decal. The two sides of the tray along its length are provided with material-blocking protrusions. The tray is provided with positioning pins at intervals corresponding to each receiving slot. The positioning pins are adapted to the carrier of the long strip decal. The decal material tray (114) is detachably connected to the XY axis feeding linear module (11) by a buckle.

10. An automated applicator for decorative decals on curved surfaces of vessels according to claim 5, characterized in that: The output end of the set of main rotary motors (29) is provided with an active pulley, and the corresponding position of the vessel and the main clamping fixture (25) is provided with a driven pulley. The active pulley and the driven pulley are engaged by a transmission belt, the pulley groove is adapted to the transmission belt, and the driven pulley is fixedly connected to the vessel and the main clamping fixture (25) by a key to form a synchronous rotary transmission structure. The output shaft of the auxiliary rotary motor (210) is directly fixed to the auxiliary clamping fixture (27) to realize the independent drive of the auxiliary clamping fixture. The dual-motor separate drive structure ensures the coordination of the action during the fitting.

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