CN109333783B

CN109333783B - Manipulator integrated carrying and glazing system and method

Info

Publication number: CN109333783B
Application number: CN201811393088.2A
Authority: CN
Inventors: 孔科斯琴
Original assignee: Duravit China Sanitary Ware Co ltd
Current assignee: Duravit China Sanitary Ware Co ltd
Priority date: 2018-11-21
Filing date: 2018-11-21
Publication date: 2020-05-29
Anticipated expiration: 2038-11-21
Also published as: CN109333783A

Abstract

The invention discloses a manipulator integrated carrying and glazing system in the field of sanitary ware production and processing, which comprises two feeding conveyor belts arranged in parallel, wherein supporting screen plates are respectively arranged on the feeding conveyor belts, a supporting seat is arranged on the outer side of each feeding conveyor belt, a glaze collecting mechanism is arranged on each supporting seat, a rotatable center seat is arranged between the two feeding conveyor belts, a glazing mechanical arm and a carrying mechanical arm which can vertically rotate are fixed at the upper end of each center seat, the glazing mechanical arm and the carrying mechanical arm are symmetrically arranged along the axis of the center seat, a glaze spraying mechanism is arranged on each glazing mechanical arm, and a carrying mechanism is arranged on each carrying mechanical arm; the outside of center seat still is equipped with two unloading conveyer belts that parallel with the material loading conveyer belt, and two material loading conveyer belts and two unloading conveyer belts are the cross and distribute, and the direction of transfer of two unloading conveyer belts deviates from center seat. The invention can solve the problem of low glazing and carrying efficiency in the prior art.

Description

Manipulator integrated carrying and glazing system and method

Technical Field

The invention relates to the field of sanitary ware production and processing, in particular to a manipulator integrated carrying and glazing system and method.

Background

At present, more than 200 sanitary ware production enterprises exist in China, glazing operation of the sanitary ware production enterprises is generally carried out in a manual mode, labor intensity of workers is high, work efficiency is low, and product quality is unstable. And the robot glazing is a mature technology and is widely used. In China, enterprises introduce the robot glazing system from abroad, but the cost is high and the operation mode is not suitable for the national conditions. The conventional robot glazing system needs to carry the products to be glazed and glazed independently so as to realize the entry and exit of the products, the operation is troublesome, the artificial influence factor is large, and the condition that the products are damaged due to improper carrying operation is easy to occur.

Chinese patent CN106827203A discloses a ceramic rotary full-automatic six-station glaze spraying machine, compared with the prior art, the ceramic rotary type full-automatic six-station glaze spraying machine is characterized in that six-station rotary tables are arranged, six station frames are arranged on the six-station rotary tables, namely, six rotary stations are adopted for alternate glaze spraying treatment, an upper glaze spraying mechanism and a sliding glaze spraying mechanism are arranged, the upper glaze spraying mechanism and the sliding glaze spraying mechanism can carry out omnibearing glaze spraying on the workpiece on the station frame, because the workpiece on the station frame can rotate 360 degrees under the driving of the station tray, the workpiece is matched with the upper glaze spraying mechanism and the sliding glaze spraying mechanism through the rotation of the workpiece, can realize the complete glaze spraying of whole work piece and handle, but such mode actual operation also can only operate a station at every turn, and material loading, unloading all need artifical transport, and work efficiency is lower.

Disclosure of Invention

The invention aims to provide a manipulator integrated conveying and glazing system and a manipulator integrated conveying and glazing method, which aim to solve the problem that in the prior art, glazing and conveying efficiency is low.

In order to achieve the purpose, the invention provides a manipulator integrated carrying and glazing system, which comprises two feeding conveyor belts arranged in parallel, wherein the feeding conveyor belts are provided with support screen plates, the outer side of each feeding conveyor belt is provided with a support seat, the support seats are provided with glaze collecting mechanisms, a rotatable center seat is arranged between the two feeding conveyor belts, the upper end of the center seat is fixedly provided with a glazing mechanical arm and a carrying mechanical arm which can vertically rotate, the glazing mechanical arm and the carrying mechanical arm are symmetrically arranged along the axis of the center seat, the glazing mechanical arm is provided with a glaze spraying mechanism, and the carrying mechanical arm is provided with a carrying mechanism; the outside of center seat still is equipped with two unloading conveyer belts that parallel with the material loading conveyer belt, and two material loading conveyer belts and two unloading conveyer belts are the cross and distribute, and the direction of transfer of two unloading conveyer belts deviates from center seat.

The principle of the scheme is as follows: in practical application, the two feeding conveyor belts are used for conveying workpieces to be glazed from two sides, the supporting screen plate is used for bearing the workpieces, the supporting seat is used as a glazing station for supporting the workpieces to be glazed, the glaze collecting mechanism is used for collecting the glaze and water splashed in the glazing process, the center seat is used for supporting the glazing mechanical arm and the carrying mechanical arm and can drive the glazing mechanical arm and the carrying mechanical arm to rotate to respectively operate the workpieces on the two feeding conveyor belts, the glazing mechanical arm is used for loading the glazing mechanism to carry out surface glazing treatment on the workpieces, and the carrying mechanical arm is used for loading the carrying mechanism to carry the glazed workpieces and the supporting screen plate together to separate from the supporting seat, the glazing mechanical arm and the carrying mechanical arm are symmetrically arranged, so that the glazing mechanical arm can grab the workpiece on the other side while glazing is carried out, and the discharging conveyor belt is used for conveying the glazed workpiece to the next processing link. In the using process, two feeding conveyor belts intermittently feed materials from two sides of a center seat, a conveying mechanical arm picks the glazed workpiece on the other side support seat in the process of glazing the workpiece on the support seat on one side by a glazing mechanical arm, the center seat rotates 90 degrees after the glazing mechanical arm finishes glazing, the glazing mechanical arm and the conveying mechanical arm which picks the workpiece synchronously rotate, the conveying mechanical arm puts the picked workpiece on a blanking conveyor belt by adopting the feeding conveyor belts and the blanking conveyor belts which are distributed in a cross shape, the feeding conveyor belt on one side of the support seat which finishes workpiece conveying in the process feeds materials to the vacant support seat, then the center seat rotates 90 degrees again, the glazing mechanical arm rotates to the position of the support seat which is newly fed materials to carry out glazing on the new workpiece, and the conveying mechanical arm rotates to the position of the glazed workpiece to pick up the support screen plate, the process can be circulated to continuously glaze the workpiece, the feeding and the discharging are automatically carried out, and the glazing processing efficiency of the workpiece can be greatly improved.

The scheme has the advantages that: 1. the glazing and conveying of the workpieces can be continuously carried out by adopting the glazing mechanical arm, the conveying mechanical arm, the two feeding conveyor belts and the supporting seat which rotate synchronously, each glazed workpiece can be automatically conveyed in time, and the processing efficiency is higher; 2. the supporting seat is adopted to support and glaze a single workpiece, and the glaze collecting mechanism is arranged to collect the splashed glaze and water in the glazing process, so that the waste of the glaze and water and the pollution to the environment of a processing workshop can be effectively reduced, and the environment is more environment-friendly; 3. the integrated glazing and carrying structure is adopted, and the mechanical arm is adopted to perform programming modeling glazing and grabbing and carrying, so that the numerical control operation is more convenient and the automation is more realized.

Further, support the otter board and be circular otter board, support the otter board and include many support bars that set up side by side, integrated into one piece has the connecting strip between the middle part of adjacent support bar, support the otter board still include two at least axostylus axostyles parallel with the connecting strip, two axostylus axostyles are located the both sides of connecting strip respectively, every axostylus axostyle is all worn to establish on the support bar, all the cover is equipped with the torsional spring of a plurality of connecting axostylus axostyles and support bar on every axostylus axostyle, the maximum allowable torsion angle of torsional spring is 90, homogeneous integrated into one piece has a plurality of foot bars on every ax. The screen plate structure formed by the optimized support bars, the connecting bars and the shaft rods is more convenient for collecting redundant glaze materials, the shaft rods penetrate through the support bars to enable the end parts of the support bars to be more stable, the shaft rods can rotate relative to the support bars, the foot rods are used for jacking the support screen plates on the feeding conveying belt and the discharging conveying belt, the foot rods can rotate along with the shaft rods and can be folded in gaps between adjacent support bars, the torsional springs enable the foot rods to keep a vertical unfolding state to stably support the support screen plates and workpieces in a normal state, the foot rods can be folded only after being extruded, the foot rods are extruded by the bearing seats to overcome the force of the torsional springs in the feeding process of the feeding conveying belt and are folded, and then the materials are automatically fed to the bearing seats under the friction; the contact plate is used as a part connected with the output end of the first motor, and the anti-slip layer can reduce the sliding between the foot bar and the feeding and discharging conveyor belts and the sliding between the contact plate and the output end of the first motor.

Further, the supporting seat includes the base, rotates on the base to be connected with and bears the weight of the seat, and glaze material collection mechanism is located and bears the weight of the seat on, bears and installs first motor on the seat, the vertical setting up of output shaft of first motor. Set up the base like this as the preferred and support as the base, bear the seat and be used for loading the work piece and can rotate and be used for automatic feeding and unloading, first motor is used for driving to support the otter board and takes the work piece to rotate on bearing the seat so that carry out comprehensive glazing to the work piece, bears the integrated glaze collection mechanism of seat and makes the structure compacter.

Furthermore, the upper end of the bearing seat is provided with three vertical side plates which are connected in sequence, the first motor is enclosed by the three side plates at the middle part, the lower part of the bearing seat is cylindrical, and the bottom of the bearing seat is integrally formed with an external gear. The side plate is preferably arranged in such a way that the side plate can block glaze sputtered nearby a workpiece driven by the first motor in the glazing process to prevent the glaze from being sputtered all around, the cylindrical lower part of the bearing seat is used as a positioning part, and the external gear is used as a driving structure for the rotation of the bearing seat.

Further, glaze material collection mechanism is including seting up the collecting vat on bearing the weight of the seat top, and first motor is located the middle part of collecting vat, and three curb plate encloses to close in the outside of collecting vat, and the inside of three curb plate is equipped with the collection chamber of intercommunication, and a plurality of collection holes have all been seted up towards on the lateral wall of collecting vat to three curb plate, is located the bearing seat of middle part curb plate below and is equipped with the pump drainage way that communicates the collecting vat and collect the chamber, is equipped with the connector that communicates with the pump drainage way on bearing the weight of the seat. Set up the collecting vat like this as the preferred and be used for collecting the surplus frit that the back deposit got off of glazing porcelain in-process by three curb plate blockking, collect chamber and collection hole and be used for collecting tiny frit granule and water smoke from the side direction, the pump drainage way is used for compiling the collecting vat and collects frit and the water of intracavity, connects suction apparatus through the connector and can concentrate the frit and the water of taking out in the pump drainage way and take out from being convenient for retrieve.

Further, the upper end of base is equipped with circular shape recess, and the degree of depth of recess is greater than the height that bears the weight of seat lower part, and the material loading conveyer belt is worn to establish in the recess, installs the second motor in the base in the recess outside, and the drive gear with external gear meshing is installed to the output of second motor. Preferably, the groove is used for installing and positioning the lower part of the bearing seat, the depth of the groove is limited to enable the feeding conveyor belt to smoothly pass through the groove, the second motor serves as a power source to enable the driving gear to rotate, and then the bearing platform is driven to rotate through meshing with the outer gear, so that feeding of workpieces is facilitated.

Further, the mechanism of glazing porcelain is connected with the shower nozzle of glazing porcelain including fixing the pipeline of glazing porcelain on the arm of glazing porcelain on the pipeline, and the shower nozzle of glazing porcelain is located the tip of the arm of glazing porcelain, and transport mechanism is connected with a plurality of vertical connecting rods including connecting at the suspension of transport arm tip on the suspension, and the electro-magnet is installed to the bottom of connecting rod, and the upper end of supporting the otter board is fixed with the connection platform of a plurality of magnetic conductivities that correspond with the connecting rod. The glazing machine has the advantages that the glazing machine is preferably used for glazing the workpiece more flexibly along with the glazing mechanical arm, the suspension frame is covered above the supporting screen plate through the action of the carrying mechanical arm, the connecting rod is aligned with the connecting table and then the electromagnet is electrified, so that the connecting rod and the connecting table can be connected in a magnetic attraction manner, and the carrying mechanical arm is convenient to carry the supporting screen plate and the workpiece.

The invention also provides a manipulator integrated carrying and glazing method, which comprises the following steps:

A. feeding, namely placing a plurality of supporting screen plates on the same feeding conveyor belt at equal intervals, rotating foot rods of the supporting screen plates to a vertical state, placing a workpiece on the supporting screen plates, and driving the two feeding conveyor belts by using a stepping motor;

B. loading, starting a second motor to drive the bearing seat to rotate 90 degrees in the forward direction, enabling one side without the side plate above the bearing seat to face the loading conveyor belt, continuously loading the loading conveyor belt to convey the supporting screen plate with the workpiece into the bearing seat, and then starting the second motor in the reverse direction to drive the bearing seat to rotate 90 degrees in the reverse direction, and enabling one side without the side plate above the bearing seat to face the central seat;

C. glazing, namely, driving a center seat to rotate by using a stepping motor to enable a glazing mechanical arm to be adjusted to face a workpiece, simultaneously starting a first motor to enable a support screen plate on a bearing seat to drive the workpiece to rotate, injecting glaze into a glazing pipeline, pressurizing the glaze by a glazing nozzle and then spraying the glaze onto the surface of the workpiece, adjusting the position of glazing the workpiece by the glazing nozzle by controlling the action of the glazing mechanical arm, and continuously glazing until the surface of the workpiece is covered with the glaze with uniform thickness;

D. carrying, namely controlling the glazing mechanical arm to be folded, rotating the center seat again to enable the carrying mechanical arm to rotate to the outer side of the glazed workpiece, controlling the carrying mechanical arm to extend to enable the suspension frame to cover the outer side of the workpiece from top to bottom, butting the connecting rod with the connecting table and adsorbing and grabbing the connecting rod through the electromagnet, after the glazing mechanical arm glazes the workpiece on the supporting seat on the other side of the center seat, rotating the center seat again to enable the carrying mechanical arm to hoist and convey the grabbed supporting screen plate and the workpiece to the upper side of the blanking conveying belt, controlling the carrying mechanical arm and the electromagnet to enable the supporting screen plate provided with the workpiece to fall on the blanking conveying belt, and then folding;

E. and (5) blanking, namely operating a blanking conveyor belt to convey the support screen plate on which the workpiece with the glazed surface is placed to the next procedure.

And C, connecting the connector of the bearing seat with an air pump by using a hose before the step A, and starting the air pump to pump air to the collecting groove and the collecting cavity through the hose to form continuous negative pressure.

Drawings

FIG. 1 is a top view of an embodiment of the present invention;

FIG. 2 is a cross-sectional view A-A of FIG. 1;

FIG. 3 is a front view of a support screen in an embodiment of the present invention.

Detailed Description

The following is further detailed by way of specific embodiments:

reference numerals in the drawings of the specification include: the glazing machine comprises a center seat 1, a glazing mechanical arm 2, a carrying mechanical arm 3, a suspension frame 31, a feeding conveyor belt 4, a discharging conveyor belt 5, a supporting screen plate 6, a supporting strip 61, a connecting strip 62, a contact plate 63, a shaft rod 64, a connecting table 65, a foot rod 66, an anti-skid layer 67, a base 7, a second motor 71, a driving gear 72, a groove 73, a bearing seat 8, a side plate 81, a collecting cavity 82, a collecting hole 83, a collecting groove 84, a first motor 85, an outer gear 86, a pumping and exhausting channel 87 and a connecting head 88.

The embodiment is basically as shown in the attached figures 1 and 2: manipulator integration transport, glazing system, material loading conveyer belt 4 including two mutual parallel arrangement, support otter board 6 has all been placed on material loading conveyer belt 4, every material loading conveyer belt 4's the outside all is equipped with the supporting seat, be equipped with frit collection mechanism on the supporting seat, be equipped with rotatable center seat 1 between two material loading conveyer belts 4, center seat 1's upper end is fixed with can be at vertical pivoted glazing machine arm 2 and transport arm 3, glazing machine arm 2 sets up along center seat 1's axis symmetry with transport arm 3, glazing machine installs the mechanism of spouting glaze on the arm 2, install transport mechanism on the transport arm 3. The outside of center seat 1 still is equipped with two unloading conveyer belts 5 that are parallel with material loading conveyer belt 4, and two material loading conveyer belts 4 and two unloading conveyer belts 5 are the cross and distribute, and the direction of transfer of two unloading conveyer belts 5 deviates from center seat 1.

Combine as shown in fig. 3, support otter board 6 is circular otter board, support otter board 6 includes many support bars 61 that set up side by side, integrated into one piece has connecting strip 62 between the middle part of adjacent support bar 61, support otter board 6 still includes at least two axostylus axostyle 64 parallel with connecting strip 62, two axostylus axostyle 64 are located the both sides of connecting strip 62 respectively, every axostylus axostyle 64 all wears to establish on support bar 61 and support bar 61 rotates relatively, all the cover is equipped with the torsional spring of a plurality of connecting axostylus axostyle 64 and support bar 61 on every axostylus axostyle 64, the biggest permission torsion angle of torsional spring is 90, the integrated into one piece has a plurality of foot poles 66 on every axostylus axostyle 64, foot pole 66 is located between two adjacent support bars 61, the middle part of.

Combine fig. 2 to show, the supporting seat includes base 7, and the last rotation connection of base 7 has the bearing seat 8, and glaze collection mechanism is located the bearing seat 8, bears and installs first motor 85 on the bearing seat 8, and the output shaft of first motor 85 sets up vertically upwards. Bear the upper end of seat 8 and be equipped with three vertical curb plate 81 that connect gradually, first motor 85 is enclosed by three curb plate 81 and closes at the middle part, and the lower part that bears seat 8 is cylindricly, and the bottom integrated into one piece that bears seat 8 has outer gear 86. The upper end of base 7 is equipped with circular shape recess 73, and the degree of depth of recess 73 is greater than the height that bears the weight of seat 8 lower part, and material loading conveyer belt 4 wears to establish in recess 73, installs second motor 71 in the base 7 outside recess 73, and the output of second motor 71 is installed the drive gear 72 with external gear 86 meshing. A support is arranged between the bottom end of the bearing seat 8 and the feeding conveyor belt 4, the support is formed by welding pipes, and a power line of the first motor 85 penetrates through the support. The first motor 85 may also be mounted on the bracket, a through hole is formed in the middle of the bearing seat 8, and the output shaft of the first motor 85 passes through the through hole.

Glaze material collection mechanism is including seting up at the collecting vat 84 that bears the weight of the seat 8 top, first motor 85 is located the middle part of collecting vat 84, three curb plate 81 encloses the outside of closing at collecting vat 84, the inside of three curb plate 81 is equipped with the collection chamber 82 of intercommunication, a plurality of collection holes 83 have all been seted up towards on the lateral wall of collecting vat 84 to three curb plate 81, be located the bearing seat 8 of middle part curb plate 81 below and be equipped with the pump drainage way 87 that communicates collecting vat 84 and collection chamber 82, be equipped with on the lateral wall that bears seat 8 and take out the connector 88 that pump drainage way 87 communicates.

The mechanism of glazing porcelain is including fixing the pipeline of glazing porcelain on the arm 2 of glazing porcelain, be connected with the shower nozzle of glazing porcelain on the pipeline of glazing porcelain, the shower nozzle of glazing porcelain is located the tip of the arm 2 of glazing porcelain, transport mechanism is including connecting the suspension 31 at 3 tip of transport arm, be connected with a plurality of vertical connecting rods on the suspension 31, the bottom of connecting rod is equipped with the blind hole, install the electro-magnet in the blind hole, the upper end of supporting otter board 6 is fixed with the connection platform 65 of a plurality of magnetic conductivities that correspond with the connecting rod, it can insert in the blind hole to.

The feeding conveyor belt 4, the discharging conveyor belt 5, the rotation of the center seat 1, the first motor 85, the second motor 71, the glazing mechanical arm 2, the glazing sprayer, the carrying mechanical arm 3 and the electromagnet are all electrically connected or in signal connection with the numerical control operation center.

The mechanical arm integrated carrying and glazing method comprises the following steps:

The specific implementation process is as follows: when in use, the connector 88 on the bearing seat 8 is connected with a suction pump and a filtering recovery device through a hose. The shaft lever 64 is rotated to enable the foot lever 66 of the supporting screen plate 6 to be in a vertical state, the supporting screen plate 6 is placed on the two feeding conveyor belts 4, a workpiece to be glazed is placed on the supporting screen plate 6, and the feeding conveyor belts 4 act to drive the supporting screen plate 6 to move towards the supporting seat. The second motor 71 is controlled to rotate to drive the bearing seat 8 to rotate through the driving gear 72 and the external gear 86, so that the side without the side plate 81 above the bearing seat 8 faces the feeding direction of the corresponding conveyor belt.

The feeding conveyor belt 4 conveys the supporting screen plate 6 until the foot rods 66 abut against the bearing seat 8, the feeding conveyor belt 4 penetrates through the grooves 73 in the continuous conveying process, the front end of the supporting screen plate 6 in the conveying belt pushing process is gradually erected at the upper end of the bearing seat 8, the foot rods 66 at the front end of the supporting screen plate 6 are gradually folded backwards, the foot rods 66 at the rear end of the supporting screen plate 6 are pushed by the conveying belt to continuously push the supporting screen plate 6 to the upper end of the bearing seat 8 until the foot rods 66 are all folded, the next supporting screen plate 6 partially erected on the bearing seat 8 is completely pushed to the bearing seat 8 in the continuous conveying process, and then the operation of the feeding conveyor belt 4 is stopped. The supporting screen 6 entering the upper end of the bearing table is erected above the collecting tank 84, and the contact plate 63 in the middle of the supporting screen 6 is in friction contact with the output end of the first motor 85. Control second motor 71 action makes the plummer rotate 90 and makes the one end that does not have curb plate 81 towards center seat 1, control center seat 1 rotates and makes glazing machine arm 2 rotate before the supporting seat, control glazing machine arm 2 carries out the glaze spraying to the work piece on supporting the otter board 6, start the aspiration pump simultaneously, filter recovery plant and first motor 85, make to the comprehensive glaze spraying of work piece simultaneously to splashing, the glaze and the water smoke of loss carry out the extraction and retrieve, partial glaze and moisture pass supporting otter board 6 and get into the row of taking out way 87 from collecting vat 84, partial glaze and water smoke pass collecting hole 83 from the side direction and get into collection chamber 82 and then get into row of taking out way 87.

After the glaze spraying of the workpieces is finished, the central seat 1 is rotated to enable the glazing mechanical arm 2 to rotate to the other opposite side, and at the moment, the action is repeated on the feeding conveyor belt 4 on the other opposite side to conduct glaze spraying operation on the other workpieces. And transport arm 3 rotates the work piece one side of having spouted glaze, and control transport arm 3 action makes suspension 31 cover establish in support otter board 6 top, and the connecting rod aligns and connects platform 65, and then control makes and connects platform 65 to insert in the blind hole on the connecting rod, starts the electro-magnet and makes the connecting rod and connect the firm magnetism of platform 65 and adsorb and be connected the realization to accomplishing the snatching work piece of spouting glaze, controls second motor 71 again and makes the carrier seat 8 rotate the one end that makes not have curb plate 81 to turn to unloading conveyer belt 5. After the workpieces on the other side are sprayed with glaze, the center seat 1 is controlled to rotate so that the glazing mechanical arm 2 rotates towards the blanking conveying belt 5, meanwhile, the conveying mechanical arm 3 enables the sprayed workpieces to be communicated with the supporting screen plate 6 to be lifted to the blanking conveying belt 5, and after the power supply of the electromagnet is cut off, the supporting screen plate 6 and the conveying mechanical arm 3 are separated from each other and follow the blanking conveying belt 5 to enter the next machining process. The center base 1 continues to rotate so that the carrying mechanical arm 3 turns to another workpiece which is finished with glaze spraying and carries the workpiece again. And circulating the processes to perform continuous glazing and conveying of the workpiece.

Claims

1. Manipulator integration transport, system of glazing porcelain, its characterized in that: the glazing machine comprises two feeding conveyor belts which are arranged in parallel, wherein supporting screen plates are arranged on the feeding conveyor belts, a supporting seat is arranged on the outer side of each feeding conveyor belt, a glaze material collecting mechanism is arranged on each supporting seat, a rotatable center seat is arranged between the two feeding conveyor belts, a glazing mechanical arm and a carrying mechanical arm which can rotate vertically are fixed at the upper end of each center seat, the glazing mechanical arm and the carrying mechanical arm are symmetrically arranged along the axis of the center seat, a glazing spraying mechanism is arranged on each glazing mechanical arm, and a carrying mechanism is arranged on each carrying mechanical arm; two blanking conveyor belts parallel to the feeding conveyor belts are further arranged on the outer side of the central seat, the two feeding conveyor belts and the two blanking conveyor belts are distributed in a cross manner, and the conveying directions of the two blanking conveyor belts deviate from the central seat; support otter board is circular otter board, and support otter board includes many support bars that set up side by side, and integrated into one piece has the connecting strip between the middle part of adjacent support bar, and support otter board still includes two at least axostylus axostyles parallel with the connecting strip, and two axostylus axostyles are located the both sides of connecting strip respectively, and every axostylus axostyle all wears to establish on the support bar, all overlaps on every axostylus axostyle to be equipped with the torsional spring of a plurality of connecting axostylus axostyles and support bar, and the maximum allowable torsion angle of torsional spring is 90, and the homogeneous shaping has a plurality of foot poles on every axostylus axostyle, the.

2. The robot-integrated handling and glazing system according to claim 1, wherein: the supporting seat comprises a base, a bearing seat is rotatably connected to the base, the glaze collecting mechanism is located on the bearing seat, a first motor is installed on the bearing seat, and an output shaft of the first motor is vertically arranged upwards.

3. The robot-integrated handling and glazing system according to claim 2, wherein: bear the upper end of seat and be equipped with the vertical curb plate of three connection gradually, first motor is enclosed by three curb plate and closes at the middle part, and the lower part that bears the seat is cylindricly, and the bottom integrated into one piece that bears the seat has the external gear.

4. The robot-integrated handling and glazing system according to claim 3, wherein: glaze material collection mechanism is including seting up the collecting vat on bearing the weight of the seat top, first motor is located the middle part of collecting vat, and three curb plate encloses and closes in the outside of collecting vat, and the inside of three curb plate is equipped with the collection chamber of intercommunication, and a plurality of collection holes have all been seted up towards on the lateral wall of collecting vat to three curb plate, are located the bearing seat of middle part curb plate below and are equipped with the pump drainage way that communicates the collecting vat and collect the chamber, bear and be equipped with the connector that communicates with the pump drainage way on the lateral wall of seat.

5. The robot-integrated handling and glazing system according to claim 4, wherein: the upper end of base is equipped with the circular shape recess, and the degree of depth of recess is greater than the height that bears the weight of seat lower part, installs the second motor in the base in the recess outside, the output of second motor install with gear engagement's drive gear.

6. The robot-integrated handling and glazing system according to claim 5, wherein: the glaze spraying mechanism comprises a glaze applying pipeline fixed on a glaze applying mechanical arm, a glaze applying nozzle is connected to the glaze applying pipeline and located at the end of the glaze applying mechanical arm, the carrying mechanism comprises a suspension connected to the end of the carrying mechanical arm, a plurality of vertical connecting rods are connected to the suspension, an electromagnet is installed at the bottom end of each connecting rod, and a plurality of connecting tables corresponding to the connecting rods are fixed to the upper end of the supporting screen plate.

7. The manipulator integrated conveying and glazing method adopting the manipulator integrated conveying and glazing system of claim 6 is characterized in that: comprises the following steps of (a) carrying out,

8. The manipulator integrated conveying and glazing method according to claim 7, characterized in that: and C, before the step A, a hose is used for connecting a connector of the bearing seat with an air pump, and the air pump is started to pump air to the collecting groove and the collecting cavity through the hose to form continuous negative pressure.