A robot precision umbrella face glazing device

Abstract

The utility model discloses a robot precision umbrella face glazing device. The device comprises: dust cleaning spray centering conveying module, robot, double station flexible fixture, closed loop glaze groove module, top rod airing conveying line and PLC servo general control system, the robot end flange installs double station flexible fixture, and double station flexible fixture has vacuum chuck, and dust cleaning spray centering conveying module will blank head center and vacuum chuck center concentric positioning, and double station flexible fixture passes through vacuum chuck and absorbs the blank of having pre-applied compression glaze, and the umbrella face of blank is glazed through closed loop glaze groove module, and the device passes through the speed / angle time sequence control of three stages of immersion, full immersion, lifting, makes umbrella face glaze and head compression glaze junction overlapping height <=3mm, and closed loop glaze groove module has liquid level closed loop control and self -circulation function, and top rod airing conveying line undertakes blank after glazing and surface dry, and PLC servo control system controls each module action according to setting procedure, realizes the whole process unmanned.

Description

Technical Field

[0001] This utility model relates to the field of electrical porcelain manufacturing technology, and in particular to a robot precision glazing device for umbrella surfaces. Background Technology

[0002] Traditional rotary glazing machines can only perform overall glazing on porcelain blanks. The rotary mechanism has 16 or 24 suction rods, evenly distributed along the diameter of the rotary table. One end points towards the center of the table and connects to a vacuum pump; the other end connects to a suction head via a swinging attachment. The head of the blank is vacuum-adhered to the suction head, and under gravity, the suction rod presses against the guide rail. Driven by the rotary table, the suction rod rotates around its center. Simultaneously, a rotary motor is installed above the suction head, causing the suction head to rotate along with the blank. After being immersed in the glaze tank, the blank exits the tank and continues to rotate, both to dissipate excess glaze and to increase the uniformity of the glaze application.

[0003] The loading and unloading of the rotary glazing machine are done manually. During loading, a worker lifts the blank from the worktable, pressing the head of the blank against the suction head. During unloading, the vacuum is released through the suction head, allowing the blank to fall onto the worktable, where another worker places it onto a transfer cart. The glazing process involves the suction rod moving along a guide rail on the circumference of the rotary table. The guide rail descends and ascends in an arc as the blank approaches and leaves the glaze tank, guiding it into the tank. As the blank enters, the suction head gradually immerses itself in the glaze slurry from high to low. When the blank exits the glaze tank, the guide rail gradually rises until it leaves the tank, allowing it to begin drying. One rotation of the rotary table completes the application of glaze to the surface of the blank.

[0004] Rotary glazing machines, due to their simple mechanical structure and singular operation, generally do not allow for separate adjustment of the motor controlling the rotation of the workpiece. The glazing angle of the workpiece is also relatively fixed, and the glazing angle of the umbrella surface can only move up and down according to the fixed shape of the guide rail. This makes it impossible to control the boundary area where the umbrella surface glaze and the compressed glaze overlap when the workpiece is immersed in the glaze tank. Furthermore, when the workpiece is immersed in the glaze tank, air can easily accumulate inside the head cavity of the workpiece, causing the glaze height at the junction of the workpiece head's inner hole (the blind hole in the center of the workpiece head) and the umbrella surface to fall below the specified value. Because the workpiece moves within the glaze tank, it is impossible to install a U-shaped vent pipe. Even if the workpiece's rotation can improve this somewhat, the speed and angle of the workpiece during glazing cannot be precisely or individually controlled, resulting in uneven glaze thickness and glaze dripping on the umbrella surface.

[0005] The performance requirements of ultra-high voltage lines for electrical porcelain products are currently addressed by the industry's common practice of applying umbrella-shaped glaze and head-compression glaze separately to the glazing process of electrical porcelain blanks. This is done to improve the mechanical and electrical properties of the blank head. Specifically, the head of the blank is first coated with compression glaze, and then the umbrella-shaped glaze is applied. However, traditional rotary glazing machines cannot control the junction height between the umbrella-shaped glaze and the head-compression glaze. This is usually solved by covering the head with paper tape before glazing.

[0006] Traditional rotary glazing machines have several drawbacks: They require manual wrapping of masking tape to cover the head, resulting in low efficiency and material waste; they require six people per shift to complete the glazing process on the umbrella surface, and manual handling easily damages the blanks; dust and moisture on the umbrella surface are manually removed by wiping with a sponge after absorbing water. The blank's rotation speed is constant, both during glazing and after removal from the glaze tank; the glazing height cannot be controlled, leading to an overlap of more than 10 mm (without masking tape) at the glaze junction between the blank head and the umbrella surface, resulting in irregular boundaries and poor appearance quality. Relying on masking tape depends on the skill level and placement of the manual application. The rotary mechanism operates in a circular motion with a fixed glazing angle, easily causing air pockets and uneven glaze layers.

[0007] Existing technological bottlenecks: The rotary mechanism can only make the blank swing up and down in the vertical direction by relying on a fixed guide rail, and cannot adjust the glazing angle of the blank according to its umbrella shape and diameter. The overlap height at the junction of the umbrella surface glaze and the compressed glaze cannot be controlled, and the head of the compressed glaze is blocked by paper tape; the rotation speed of the blank on the suction head and the number of rotations per unit time are fixed, whether in the glaze tank, after glazing, or in the drying process, and cannot be adjusted individually according to different products; the glaze tank liquid level has poor stability, and glaze slurry sedimentation affects the uniformity of glazing. Utility Model Content

[0008] The purpose of this invention is to provide a robot precision glazing device for umbrellas, which solves the problem that the traditional whole-body glazing method relies on wrapping paper tape around the head to control the glazing height of the blank.

[0009] This utility model provides a robot precision umbrella surface glazing device, including: a dust removal spray centering conveyor module, a robot, a dual-station flexible clamp, a closed-loop glazing tank module, a top rod drying conveyor line, and a PLC servo control system; the robot's end flange is equipped with a dual-station flexible clamp, which has a vacuum suction cup. The dust removal spray centering and conveying module is used to clean and spray the blank and convey it, positioning the center of the blank head concentrically with the center of the vacuum suction cup. The robot is used to move the end flange to above the gripping position, drop the vacuum suction cup to pick up the blank with pre-applied compressed glaze, apply glaze to the umbrella surface of the blank through the closed-loop glaze tank module, and then move it to the top rod drying conveyor line; among them, through the three-stage speed / angle timing control of immersion, full immersion and lifting, the overlap height between the umbrella surface glaze and the head compressed glaze is ≤3 mm. A dual-station flexible fixture is used to hold a workpiece by means of a vacuum suction cup; The closed-loop glaze tank module is used for glazing blanks and has closed-loop liquid level control and self-circulation functions. The top rod drying conveyor line is used to receive glazed blanks and surface dry them; The PLC servo control system is used to control the actions of each module according to the set program.

[0010] Furthermore, the dust removal device, spraying device, clamping positioning mechanism, lifting device, and conveyor belt; A dust removal device is used for surface cleaning of blanks before glazing. Spraying device is used for surface wetting treatment of blanks before glazing; The clamping positioning mechanism is used to position the center of the blank head concentrically with the center of the vacuum chuck; A lifting device is used to feed the head of the blank into the clamping positioning mechanism; Conveyor belts are used to transport blanks from the dust removal device and spraying device to the bottom of the clamping positioning mechanism.

[0011] Furthermore, the dual-station flexible fixture includes a vacuum suction cup, a spring guide rail floating mechanism, a lifting cylinder, and a servo rotary motor; Vacuum suction cups are used to hold blanks that have been pre-applied with compressed glaze. A spring-guided floating mechanism is used to vertically float a vacuum suction cup. The lifting cylinder is used to limit the fixed distance between the head of the workpiece and the end flange of the robot; Servo rotary motors are used to control the rotation of blanks in the glaze bath and after glazing.

[0012] Furthermore, the closed-loop glaze tank module includes a small glaze tank, an overflow gate, an external glaze storage tank, a working tank, and an overflow tank; An overflow trough is located inside the lower part of a small glaze tank, a working trough is located above the overflow trough, and an overflow gate is located between the working trough and the overflow trough. An external glaze storage tank is connected to the working trough through a circulation loop, and the overflow trough is connected to the working trough through an overflow-glaze replenishment loop.

[0013] Furthermore, the top rod drying conveyor line includes vertical top rods, cushioning sponges, and a chain conveyor mechanism; The vertical top rod is set on the chain plate conveyor mechanism, and the buffer sponge is set at the top of the vertical top rod; the chain plate conveyor mechanism is used to buffer the blank, and there is a heating device below the chain plate conveyor mechanism to increase the surface drying speed of the glaze layer of the blank when the ambient temperature is low.

[0014] This utility model has the following beneficial effects: The robot-based precision umbrella surface glazing device of this utility model uses a dust removal spraying and centering conveying module to concentrically position the center of the blank head with the center of the vacuum suction cup; a dual-station flexible clamp uses the vacuum suction cup to hold the blank pre-applied with compressed glaze, and a closed-loop glaze tank module glazes the umbrella surface of the blank; the device uses three-stage speed / angle timing control (immersion, full immersion, and lifting) to ensure that the overlap height between the umbrella surface glaze and the head compressed glaze is ≤3 mm; the closed-loop glaze tank module has liquid level closed-loop control and self-circulation functions; a top rod drying conveyor line receives the glazed blank and surface dries it; a PLC servo control system controls the actions of each module according to a set program, achieving fully unmanned operation. Attached Figure Description

[0015] To more clearly illustrate the technical solution of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 Layout diagram of the glazing device for precise umbrella surface application by a robot; Figure 2 This is a structural diagram of the dust removal spray centering conveyor module; Figure 3 Structural diagram of the clamping positioning mechanism and lifting device; Figure 4 Cross-sectional view of the clamping positioning mechanism and lifting device; Figure 5 This is a sectional view of a dual-station flexible fixture. Figure 6 Schematic diagram of the closed-loop glaze tank module circulation system; Figure 7 Diagram showing the relative positions of the U-shaped vent pipe and the overflow gate; Figure 8 Structural diagram of the top rod drying conveyor line; Figure 9 This is a schematic diagram of the glaze height control algorithm; Figure 10 To control the timing diagram.

[0017] Diagram Description: A - Dust cleaning spray centering conveyor module; A1 - Dust cleaning device; A2 - Spraying device; A3 - Clamping positioning mechanism; A4 - Lifting device; A5 - Conveyor belt; A6 - Servo motor; A7 - Arc-shaped centering clamp; A8 - Polyurethane foam; A9 - Sliding tray; A10 - Tray reset cylinder; A11 - Tray reset clamp block; A12 - Lifting cylinder; B - Robot; B1 - End flange; C - Dual-station flexible fixture; C1 - Vacuum suction cup; C2 - Spring guide rail floating mechanism; C21 - Guide column; C22 - Spring; C23 - Floating plate. C24-Sleeve, C25-Limit Block, C3-Lifting Cylinder, C4-Servo Rotary Motor, C5-Base, D-Closed-Loop Glaze Tank Module, D1-Small Glaze Tank, D2-Overflow Gate, D3-External Glaze Storage Tank, D4-Glaze Slurry Temperature Control, D5-U-Shaped Vent Pipe, D6-Glaze Slurry Conveying Pump, D7-Glaze Slurry Return Pump, D8-Working Tank, D9-Overflow Tank, D10-Overflow Pump, D11-Stirring Device, E-Top Rod Drying Conveying Line, E1-Vertical Top Rod, E2-Buffer Sponge, E3-Chain Plate Conveying Mechanism, F-PLC Servo Control System, P-Blank. Detailed Implementation

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments. It should be pointed out that the following detailed description is illustrative and intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains.

[0019] Please see Figures 1 to 10 This utility model provides a robot precision umbrella surface glazing device, including: a dust removal spray centering conveying module A, a robot B, a dual-station flexible clamp C, a closed-loop glaze tank module D, a top rod drying conveying line E, and a PLC servo control system F; the robot B's end flange B1 is equipped with the dual-station flexible clamp C, and the dual-station flexible clamp C has a vacuum suction cup C1.

[0020] The dust removal spraying and centering conveying module A is used to perform dust removal spraying and conveying on the blank P, positioning the center of the blank P's head concentrically with the center of the vacuum suction cup C1. Robot B moves the end flange B1 above the gripping position, lowers the vacuum suction cup C1 to hold the pre-applied compressed glaze blank P, and applies glaze to the umbrella surface of the blank P through the closed-loop glaze tank module D, before moving it to the top rod drying conveyor line E. The speed / angle timing is controlled through three stages: immersion, full immersion, and lifting, ensuring the overlap height between the umbrella surface glaze and the head compressed glaze is ≤3 mm. Robot B has a load capacity ≥160 kg and a repeatability accuracy of ±0.1 mm. The dual-station flexible clamp C holds the blank P using the vacuum suction cup C1. The closed-loop glaze tank module D is used for glazing the blank P, featuring closed-loop liquid level control and self-circulation. The top rod drying conveyor line E receives the glazed blank P and allows it to surface dry. The PLC servo control system F controls the actions of each module according to a set program.

[0021] Specifically, the dust removal spray centering conveyor module A includes: a dust removal device A1, a spray device A2, a clamping positioning mechanism A3, a lifting device A4, and a conveyor belt A5; the dust removal device A1 is used for dust removal treatment of the surface of the blank P before glazing; the spray device A2 is used for wetting treatment of the surface of the blank P before glazing. The dust removal device A1 and the spray device A2 use high-pressure air to blow away the dust on the umbrella surface of the blank P, and a dust removal device collects the blown-off dust; water vapor is sprayed onto the umbrella surface of the blank P through atomizing water nozzles, and a water receiving tray collects the splashed water droplets; thus achieving the function of cleaning and wetting the umbrella surface of the blank P. The clamping positioning mechanism A3 is used to concentrically position the center of the blank P head with the center of the vacuum suction cup C1; the lifting device A4 is used to feed the blank P head into the clamping positioning mechanism A3; the conveyor belt A5 is used to transport the blank P from the dust removal device A1, the spraying device A2, and then to the area below the clamping positioning mechanism A3. The clamping positioning mechanism A3 includes a servo motor A6 and an arc-shaped centering clamp A7. At least one pair of arc-shaped centering clamps A7 are arranged opposite each other and driven by the servo motor A6 to clamp the outer circle of the blank P head. The servo motor A6 can provide precise driving force to ensure that the clamping action of the arc-shaped centering clamp A7 is stable and accurate. The arc design of the arc-shaped centering clamp A7 is adapted to the outer circle of the blank P head, which can increase the contact area with the blank P head and improve the clamping stability. The lifting device A4 includes a sliding tray A9 and a lifting cylinder A12. The sliding tray A9 is connected to the end of the piston rod of the lifting cylinder A12 via a linear guide rail. The sliding tray A9 can move horizontally in the clamping direction of the arc-shaped centering clamp A7. The linear guide rail makes the horizontal movement of the sliding tray A9 smoother and reduces frictional resistance. The lifting cylinder A12 provides stable power for the lifting of the sliding tray A9, realizing the position adjustment of the blank P in the height direction. A 3mm polyurethane foam A8 is provided on the inner side of the arc-shaped centering clamp A7. The polyurethane foam A8 has good elasticity and cushioning performance. When clamping the head of the blank P, it can not only avoid damage to the surface of the blank P, but also increase the friction and prevent the blank P from sliding during the clamping process. Above the lifting cylinder A12, there are two horizontally arranged tray reset cylinders A10. The piston rod of the tray reset cylinder A10 has a tray reset clamping block A11 at its end. The tray reset cylinder A10 and the tray reset clamping block A11 cooperate to accurately reset the sliding tray A9 after centering, preparing it for the next centering operation. In this embodiment, the arc-shaped centering clamping rod A7 forms a Φ125mm positioning circle after clamping. This size design can accommodate the outer circle of the head of the 550kN electric porcelain blank, ensuring the accuracy of centering and positioning. The lifting stroke of the lifting cylinder A12 is 60mm, which can meet the position requirements of the blank P during the lifting process, allowing the head of the blank P to accurately enter the clamping positioning mechanism A3 for centering operation.

[0022] Specifically, the dual-station flexible fixture C includes: a base C5, a first-station clamping mechanism, a second-station clamping mechanism, and a lifting cylinder C3. The base C5 is connected to the robot's end flange B1, providing a rigid connection between the fixture and the robot and stable support for the overall structure. The first-station and second-station clamping mechanisms are arranged side-by-side on the base C5. This dual-station design allows for simultaneous gripping and glazing of two workpieces, doubling production efficiency compared to a single-station fixture. The first-station and second-station clamping mechanisms have identical structures, both including a vacuum suction cup C1 and a spring-guided floating mechanism C2. The top of the vacuum suction cup C1 is connected to the base via the spring-guided floating mechanism C2. The vacuum suction cup C1 contacts the bottom surface of the workpiece P's head through vacuum adsorption, ensuring stable gripping of the workpiece and preventing damage to its surface. The spring-guided floating mechanism C2 allows the vacuum suction cup C1 to float along its axial direction. The spring guide rail floating mechanism C2 includes guide posts C21, springs C22, floating plates C23, sleeves C24, and limiting blocks C25. The four guide posts C21 are arranged in a rectangular shape and their tops are fixed to the base C5. The limiting blocks C25 are located at the bottom of the guide posts C21 to limit the downward movement of the sleeves C24 and prevent excessive compression of the springs C22. The sleeves C24 are slidably connected to the guide posts C21 to ensure smooth sliding without jamming. The floating plate C23 is installed below the base C5 via the sleeves C24 to support the vacuum suction cup C1 and transmit floating motion. Springs C21, C22, C23, C24, C25, C24, C25, C26, C27, C28, C29, C20, C21, C22, C22, C23, C24, C25 ...2, C23, 2. The guide posts C21 are set at the top and bottom of the sleeve C24. The two ends of the spring C22 at the top are located between the base C5 and the top of the sleeve C24, and the two ends of the spring C22 at the bottom are located between the bottom of the sleeve C24 and the limiting block C25. This allows the vacuum chuck C1 to float flexibly within ±5mm along the Z direction. When there is a deviation of ±5mm in the height of the workpiece, the vacuum chuck C1 can adaptively adjust its height through the compression and stretching of the spring C22, ensuring reliable contact with the bottom surface of the workpiece head. The contact force can be controlled to <5N, avoiding rigid impact that could cause the workpiece to break. The lifting cylinder C3 is mounted on the base C5 and connected to the spring guide rail floating mechanism C2. The bottom of the lifting cylinder C3 is fixedly connected to the center of the floating plate C23. After the vacuum suction cup C1 picks up the blank, the lifting cylinder C3 extends, pushing the floating plate C23 to move the vacuum suction cup C1 upward along the guide post C21 to the upper limit of the mechanism. This locks the distance L0 from the top surface of the blank head to the end flange B1 of the robot, keeping this distance constant and providing a reference for the precise control of the subsequent glazing height of the blank. In addition, the fixture also includes a servo rotary motor C4 that drives the vacuum suction cup C1 to rotate. The rated speed is 3000 rpm. It can drive the vacuum suction cup C1 and the blank to rotate through the transmission mechanism. During the glazing process, the rotation speed can be adjusted according to the process requirements to improve the uniformity of the glaze layer and reduce the flow of glaze slurry.When the vacuum suction cup C1 is pushed to the upper limit of the machine, the distance L0 from the top surface of the blank head to the end flange B1 of the robot is locked to a fixed value, so the glaze immersion height of the blank P, that is, the height of the end flange B1 on it driven by the robot from the ground, is H. 法兰高度 =H 浸釉深度 + H 釉面高度 Among them, the height H of the glaze slurry level in the glaze tank. 釉面高度 Starting from the ground, the glaze immersion depth H of the blank P is... 浸釉深度 The calculation involves two cases: First, the bottom surface of the skirt on the blank P is horizontal, meaning the glazing angle of blank P is β = 90°. Then H... 浸釉深度 = H 头高 + L0. In the second case, the bottom surface of the skirt of the blank P forms an "immersion angle β" with the glaze slurry surface, then H 浸釉深度 Related to the glazing angle β: H 浸釉深度 = ( H 头高 + L0) ╳sin (β) ; After that, the robot moves the fixture and blank to the top of the glaze tank. The servo rotary motor C4 drives the blank to rotate at the set speed to perform the glazing operation. After the glazing is completed, the lifting cylinder C3 retracts, the vacuum suction cup C1 returns to the floating state, the robot transfers the blank to the drying station, the vacuum suction cup C1 releases the vacuum, and one work cycle is completed.

[0023] Specifically, the closed-loop glaze tank module D includes: a small glaze tank D1, an overflow gate D2, an external glaze storage tank D3, a glaze slurry temperature control D4, a U-shaped vent pipe D5, a glaze slurry conveying pump D6, a glaze slurry return pump D7, a working tank D8, an overflow tank D9, an overflow pump D10, and a stirring device D11. The working tank D8 is located inside the small glaze tank D1 and serves as the area for direct glazing of the workpiece, ensuring that the glaze slurry evenly covers the target area after immersion. The overflow tank D9 is located inside the small glaze tank D1 and outside the working tank D8. It collects excess glaze slurry overflowing from the working tank D8, preventing glaze slurry from contaminating the equipment. Simultaneously, the overflow pump D10 pumps the glaze slurry in the overflow tank D9 back to the upper side of the small glaze tank D1, achieving glaze slurry recycling and reducing waste. An overflow gate D2 and a diaphragm pump are installed between the working tank D8 and the overflow tank D9. The overflow gate D2 can be mechanically adjusted to precisely control the glaze slurry level in the working tank D8, ensuring that the level fluctuation is less than ±1.5mm and guaranteeing the consistency of the glaze immersion height for different blanks. The diaphragm pump assists in adjusting the overflow speed, further improving the stability of the glaze level. A U-shaped vent pipe D5 is installed inside the working tank D8 and extends to the outside of the small glaze tank D1. One end of the vent pipe extends into the vicinity of the blind hole in the center of the blank, while the other end is open to the atmosphere. This effectively removes the trapped air formed in the inner cavity when the blank is immersed in the glaze slurry, avoiding defects such as unglazed "inner eye" areas caused by air blockage and ensuring complete glaze coverage. The glaze slurry temperature control D4 is located inside the external glaze storage tank D3. It uses electric heating to stably control the glaze slurry temperature at 30±5℃. The temperature is adjustable to avoid temperature fluctuations affecting the glaze slurry viscosity, thereby ensuring uniform glaze layer thickness. The external glaze storage tank D3 is also equipped with a stirring device D11, which continuously stirs to prevent glaze slurry sedimentation and ensure uniform glaze slurry composition. The external glaze storage tank D3 is connected to the small glaze tank D1 via a glaze slurry pump D6. A glaze slurry delivery port is located on the side plate of the small glaze tank D1, connected to the glaze slurry pump D6. The pump D6 quantitatively delivers the temperature-controlled and stirred glaze slurry from the external glaze storage tank D3 to the working tank D8, continuously replenishing the working tank D8 with fresh glaze slurry. The small glaze tank D1 is connected to the external glaze storage tank D3 via a return glaze slurry pump D7. A funnel-shaped glaze slurry return port is located at the bottom center of the small glaze tank D1, connected to the return glaze slurry pump D7. The return glaze slurry pump D7 draws the glaze slurry from the bottom of the small glaze tank D1 back to the external glaze storage tank D3, forming a closed-loop cycle of "glaze storage-transportation-return," ensuring the glaze slurry remains in a flowing state, further preventing sedimentation and maintaining temperature uniformity. The small glaze tank D1 can accommodate two 550kN electrical porcelain blanks for glazing. The dual-station design allows for simultaneous processing of two blanks, significantly improving production efficiency.

[0024] Specifically, the top-bar drying conveyor line E includes: vertical top bars E1, buffer sponge E2, and chain conveyor mechanism E3; the vertical top bars E1 are mounted on the chain conveyor mechanism E3, and the buffer sponge E2 is mounted on the top of the vertical top bars E1; the chain conveyor mechanism E3 is used to buffer the blank P, and a heating device is located below the chain conveyor mechanism E3 to increase the surface drying speed of the glaze layer on the blank P when the ambient temperature is low. The vertical top bars E1 are made of Φ30 mm stainless steel rods, with Φ70 mm buffer sponge E2 attached to the top, suitable for 550kN electric porcelain blanks, and can be inserted into the inner hole of the head of the blank P, that is, into the central blind hole of the blank P. The top-bar drying conveyor line E uses the chain conveyor mechanism E3, with a vertical top bar E1 spacing of 450 mm, a chain speed of 0.05 m / s, a buffer time of >3 min, and surface drying of the glaze layer; the top-bar drying conveyor line E is equipped with a heating device, and hot air is blown onto the surface of the blank P. When the ambient temperature is <18℃, hot air can be turned on as needed to increase the surface drying speed of the glaze layer on the blank P; the vertical top rod E1 can be quickly inserted and removed, compatible with blanks P of different heights.

[0025] Please see Figure 10 Horizontal lines indicate the device's activation status and duration; vertical double lines indicate that an action has been established at that point, such as "move to gripping position" meaning the gripper has reached the double line. The time axis accuracy is 5 seconds per division, with a total duration of 130 seconds. This utility model embodiment provides a method for glazing umbrella surfaces using the above-mentioned robot precision umbrella glazing device. The PLC servo control system F executes the following sequence through robot I / O interaction: The blank P moves to the dust removal device A1 via conveyor belt A5 and is cleaned for 10 seconds. The blank P then moves to the spray device A2 and is sprayed for 5 seconds. The blank P moves below the clamping positioning mechanism A3, the lifting device A4 rises, and the arc-shaped centering clamp A7 of the clamping positioning mechanism A3 closes, enclosing the head of the blank P. This ensures that the outer circle of the blank P's head is concentric with the arc-shaped centering clamp A7 of the clamping positioning mechanism A3. The robot B moves above the gripping position, lowers the vacuum suction cup C1, and contacts the upper edge of the blank P's head. The dual-station flexible fixture C has a retraction spring, causing the vacuum suction cup C1 to float, providing a buffered contact with the blank P's head. A vacuum is established in the vacuum suction cup C1, which then grips the blank P. The arc-shaped centering clamp A7 of the clamping positioning mechanism A3 releases, and the lifting device A4 descends.

[0026] The lifting cylinder C3 on the dual-station flexible fixture C lifts the vacuum suction cup C1 to its mechanical upper limit, ensuring that the distance L0 from the top surface of the blank P to the end flange B1 is constant. The blank P moves above the small glaze tank D1, and the bottom surface of the blank P's umbrella skirt is horizontal. The robot B dips and immerses the blank P according to the set path. Immersion stage: The servo rotary motor C4 rotates at 15 rpm. The blank P is above the glaze tank. After the bottom surface of the umbrella skirt changes from horizontal to a 45° angle, it begins to immerse in the glaze. The blank P tilts at an angle of 5-15° depending on the blank height, umbrella shape, and required glaze depth, until the required glaze depth is reached. The time is t1=10 s. Full immersion stage: The servo rotary motor C4 rotates at 25 rpm. The blank P maintains the tilt angle during glaze immersion for t2=10 s. Lifting stage: The blank P is lifted from the angle during glazing and is completely removed from the glaze tank at an angle of 45-60°, taking t3=10 s.

[0027] The blank P leaves the glaze surface and is above the glaze tank. The servo rotary motor C4 rotates at 35 rpm to spin the glaze for t4=10 s, then spins dry at 18 rpm for t5=30 s. Robot B moves the blank P to the top rod drying conveyor line E, where it falls onto the vertical top rod E1. The vacuum suction cup C1 releases the vacuum, and robot B returns to zero, ready to grab the next set of blanks.

[0028] Taking the glazing process of a 550 kN electrical porcelain blank as an example, it includes the following stages: Positioning Stage: The conveyor belt passes through a dust removal and spraying device to clean and wet the blanks before glazing; the conveyor belt lifting platform lifts the blanks to the clamping mechanism, and the servo motor drives the clamping rods to close, with a concentricity error ≤ 0.5mm; L0 = 125 mm, H 头高 = 111 mm, the glaze tank level is maintained at 910 ± 1 mm.

[0029] Glazing stage: The robot uses a 10N flexible contact force to adsorb the blank, and the lifting mechanism extends to lock the height; it is immersed in the glaze tank, with the depth controlled at 120 ±5 mm. Rotation speed: 25 rpm for 30 s in the glaze tank; divided into three stages: blank immersion, blank full immersion, and blank lifting, each for 10 s. Glaze and drying stage: The blank exits the glaze tank, and the rotation speed changes from 35 rpm for 10 s to 18 rpm for 30 s. Drying stage: Drying line speed 0.05 m / s, buffer 8 pieces, >3 min, when the ambient temperature is <18℃, hot air can be turned on to accelerate the surface drying speed of the blanks.

[0030] Taking the glazing process of small-sized electric porcelain blanks as an example, the inner liner of the A3 clamping rod of the clamping positioning mechanism can be replaced, with a positioning circle of Φ60 mm; other parameters remain unchanged, and the cycle time is maintained. Those skilled in the art can linearly adjust L0, β angle, and cylinder stroke according to different umbrella diameters and heights. The method of glazing the umbrella surface using the robot precision umbrella surface glazing device of this utility model can achieve an umbrella surface glaze height error of ≤±1.5 mm; the robot precision umbrella surface glazing device of this utility model can achieve an overlap of ≤3 mm; zero paper tape, zero manual handling; automatic dust removal and automatic wetting of the umbrella surface, replacing the manual method of wiping with a sponge; double-workload 50 s / piece cycle time. This utility model adopts an integrated solution of a dust removal spray centering conveyor module, robot, dual-station flexible fixture, closed-loop glaze tank module, top rod drying conveyor line, and PLC servo control system, which solves the shortcomings of the traditional whole-body glazing method, which relies on wrapping paper tape around the head to control the glaze height of the blank head.

[0031] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robotic precision glazing device for umbrella surfaces, characterized in that, include: The system includes a dust removal spray centering conveyor module (A), a robot (B), a dual-station flexible fixture (C), a closed-loop glaze tank module (D), a top rod drying conveyor line (E), and a PLC servo control system (F); the robot (B) has a dual-station flexible fixture (C) mounted on its end flange (B1), and the dual-station flexible fixture (C) has a vacuum suction cup (C1). The dust removal spray centering and conveying module (A) is used to perform dust removal spraying and conveying on the blank (P), and to position the center of the blank (P) head concentrically with the center of the vacuum suction cup (C1). Robot (B) is used to move the end flange (B1) above the gripping position, drop the vacuum suction cup (C1) to pick up the blank (P) that has been pre-applied with compressed glaze, apply glaze to the umbrella surface of the blank (P) through the closed-loop glaze tank module (D), and then move it to the top rod drying conveyor line (E); wherein, through the three-stage speed / angle timing control of immersion, full immersion and lifting, the overlap height between the umbrella surface glaze and the head compressed glaze is ≤3 mm; A dual-station flexible fixture (C) is used to hold the workpiece (P) by means of a vacuum chuck (C1); The closed-loop glaze tank module (D) is used for glazing the blank (P) and has closed-loop liquid level control and self-circulation function. The top rod drying conveyor line (E) is used to receive the glazed blanks (P) and surface dry them; The PLC servo control system (F) is used to control the actions of each module according to the set program.

2. The robotic precision umbrella surface glazing device as described in claim 1, characterized in that, The dust removal spray centering conveyor module (A) includes: a dust removal device (A1), a spray device (A2), a clamping positioning mechanism (A3), a lifting device (A4), and a conveyor belt (A5). The dust removal device (A1) is used for surface dust removal treatment of the blank (P) before glazing; Spraying device (A2) is used for surface wetting treatment of blanks (P) before glazing; The clamping positioning mechanism (A3) is used to position the center of the blank (P) head concentrically with the center of the vacuum chuck (C1); Lifting device (A4) is used to feed the head of the blank (P) into the clamping positioning mechanism (A3). The conveyor belt (A5) is used to transport the blank (P) from the dust removal device (A1), the spraying device (A2), and then to the bottom of the clamping positioning mechanism (A3).

3. The robotic precision umbrella surface glazing device as described in claim 1, characterized in that, The dual-station flexible fixture (C) includes: a vacuum suction cup (C1), a spring guide rail floating mechanism (C2), a lifting cylinder (C3), and a servo rotary motor (C4). Vacuum suction cup (C1) is used to hold the blank (P) that has been pre-applied with compressed glaze. A spring-guided floating mechanism (C2) is used to vertically float the vacuum suction cup (C1); The lifting cylinder (C3) is used to limit the fixed distance between the head of the blank (P) and the end flange (B1) of the robot (B); A servo rotary motor (C4) is used to control the rotation of the blank (P) in the glaze bath and after glazing.

4. The robotic precision umbrella surface glazing device as described in claim 1, characterized in that, The closed-loop glaze tank module (D) includes: a small glaze tank (D1), an overflow gate (D2), an external glaze storage tank (D3), a working tank (D8), and an overflow tank (D9). The overflow trough (D9) is located inside the lower part of the small glaze tank (D1), the working trough (D8) is located above the overflow trough (D9), and the overflow gate (D2) is located between the working trough (D8) and the overflow trough (D9); the external glaze storage tank (D3) is connected to the working trough (D8) through a circulation loop, and the overflow trough (D9) is connected to the working trough (D8) through an overflow-glaze replenishment loop.

5. The robotic precision umbrella surface glazing device as described in claim 1, characterized in that, The top rod drying conveyor line (E) includes: a vertical top rod (E1), a cushioning sponge (E2), and a chain plate conveyor mechanism (E3). The vertical top rod (E1) is mounted on the chain plate conveyor mechanism (E3), and the buffer sponge (E2) is mounted on the top of the vertical top rod (E1). The chain plate conveyor mechanism (E3) is used to buffer the blank (P), and there is a heating device below the chain plate conveyor mechanism (E3) to increase the surface drying speed of the glaze layer of the blank (P) when the ambient temperature is low.

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