CN112497938A

CN112497938A - Stamping device

Info

Publication number: CN112497938A
Application number: CN202011199831.8A
Authority: CN
Inventors: 王冯依欣; 薛竹筠; 吴小平
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2020-11-02
Filing date: 2020-11-02
Publication date: 2021-03-16

Abstract

The application relates to the technical field of office supplies, in particular to a stamping device, which comprises a mechanical arm, an adsorption component and a horizontal moving component, wherein the mechanical arm is used for grabbing a fixed stamp and driving the stamp to move up and down; the adsorption component is used for adsorbing paper and releasing the paper; the horizontal moving component is connected with the adsorption component and used for driving the adsorption component to horizontally move. This application structure is exquisite, and pertinence, practicality are strong, and the worker that extremely is fit for a large amount of stamps uses.

Description

Stamping device

Technical Field

The application relates to the technical field of office supplies, in particular to a stamping device.

Background

The seal is used as an administrative office supply with strong practicability, and is widely and importantly used in daily life and work. At present, the domestic intelligent stamping machine is still in the initial research stage.

The seal is extremely useful for accountants who need to process many reports, various reports and various bills a day, and it is necessary to seal many documents. The stamping of a large number of files often occurs in error due to the chaotic nature of many files. Meanwhile, the accountants usually consume large physical power when using common seals, and the workload is increased invisibly.

Disclosure of Invention

The technical problem that this application will be solved provides a device of stamping, can improve and stamp work efficiency, makes its degree of automation strengthen.

The technical scheme provided by the application is as follows: a stamping device comprises a mechanical arm, an adsorption component and a horizontal moving component, wherein the mechanical arm is used for grabbing a fixed stamp and driving the stamp to move up and down; the adsorption component is used for adsorbing paper and releasing the paper; the horizontal moving component is connected with the adsorption component and used for driving the adsorption component to horizontally move.

The mechanical arm comprises a clamping piece, a first lifting assembly and a rotating assembly, wherein the clamping piece is used for fixing a seal; the clamping piece is fixed on the first lifting component and drives the clamping piece and the seal to move up and down; the first lifting assembly is arranged on the rotating assembly, and the rotating assembly drives the first lifting assembly to rotate.

The adsorption component comprises an adsorption piece and a support frame, and the adsorption piece adsorbs paper through vacuum adsorption or air suction; the support frame is used for supporting the adsorption piece, and the support frame is arranged on the horizontal moving assembly.

Wherein, the adsorption component comprises a vent pipe, the vent pipe is arranged in the support frame, one end of the vent pipe is connected with the adsorption piece, and the other end of the vent pipe is connected with an air extractor.

Wherein, the support frame includes the crane, and the crane rises or descends for the horizontal migration subassembly.

Wherein, horizontal migration subassembly includes: the device comprises a screw rod, a sliding block arranged on the screw rod, limiting parts arranged at two ends of the screw rod and a buffer part; the buffer piece is at least arranged on one side, close to the slide rail, of the limiting piece, and the adsorption component is arranged on the slide block.

The stamping device further comprises a platform, wherein the platform comprises a first area, a second area and a third area, the first area is used for placing paper to be stamped, and the second area is used for placing stamped paper; the third area is provided with a groove for placing stamp ink.

The stamping device further comprises a driving mechanism, the driving mechanism comprises a first driving mechanism, a second driving mechanism and a third driving mechanism, the first driving mechanism is used for the first lifting assembly to ascend or descend, and the second driving mechanism is used for driving the rotating assembly to rotate; the third driving mechanism is used for driving the horizontal component to drive the adsorption component to horizontally move.

The stamping device further comprises a control system, wherein the control system is used for controlling the mechanical arm to move to the position above the paper to be stamped, driving the stamp to descend and stamping the stamp; controlling the mechanical arm to ascend to separate from the paper; the adsorption component is controlled to adsorb the paper after the seal is stamped, and the horizontal moving component is driven to move so as to drive the adsorption component to move and control the adsorption component to desorb the paper.

The stamping device further comprises an identification system, the identification system is connected with the control system, the identification system is used for identifying a position mark of a stamped seal on paper to be stamped and transmitting a position signal to the control system, and the control system is used for controlling the mechanical arm to drive the seal to move to the position mark of the stamped seal and stamp the seal.

Has the advantages that: the mechanical arm comprises a clamping piece, a first lifting assembly and a rotating assembly, and the clamping piece is used for fixing a seal; the clamping piece is fixed on the first lifting component and drives the clamping piece and the seal to move up and down; the first lifting assembly is arranged on the rotating assembly, and the rotating assembly drives the first lifting assembly to rotate. The solid piece of card is used for the cylinder of fixed seal in this application embodiment, can drive the solid piece of card and rise or descend through setting up first lifting unit to in the position of adjusting the solid piece of card, and the drive cylinder moves down, in order to drive the chapter body and stamp to the paper. Through setting up rotating assembly, can drive first lifting unit rotatory in order to adjust first lifting unit and rotate to suitable position to rotate the seal to the paper top.

Drawings

Fig. 1 is a schematic structural view of a sealing device according to an embodiment of the present application.

Fig. 2 is a schematic structural diagram of a horizontal movement assembly according to an embodiment of the present application.

Fig. 3 is a control flow structure diagram according to an embodiment of the present application.

Specifically, the method comprises the following steps: 1. a platform; 11. a first region; 12. a second region; 13. a third region; 2. a mechanical arm; 3. stamping; 4. an adsorption component; 5. a horizontal movement assembly; 6. a control system; 7. an identification system; 21. a clamping and fixing piece; 22. a first lifting assembly; 23. a rotating assembly; 221. a manipulator base; 222. a manipulator boom; 223. a manipulator forearm; 224. a manipulator wrist; 41. an adsorbing member; 42. a support frame; 421. a lifting frame; 51. a screw rod; 52. a slider; 53. a limiting member; 54. a buffer member; 55. a guide member; 56. a motor frame; 8. a third drive mechanism; 9. a system is identified.

Detailed Description

The present application is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present application more clearly, and the protection scope of the present application is not limited thereby.

The embodiment of the application comprises a stamping device, as shown in fig. 1, which comprises a mechanical arm 2, an adsorption component 4 and a horizontal moving component 5, wherein the mechanical arm 2 is used for grabbing a fixed stamp 3 and driving the stamp 3 to move up and down; the adsorption component 4 is used for adsorbing paper and releasing paper; the horizontal moving component 5 is connected with the adsorption component 4 and used for driving the adsorption component 4 to horizontally move.

According to the stamping device provided by the embodiment of the application, the mechanical arm 2 is arranged to drive the stamp 3 to move up and down so as to print the stamp 3 on paper conveniently; by arranging the horizontal moving component 5 and the adsorption component 4, paper can be adsorbed and moved, so that the paper with the stamp 3 can be moved away, and the mechanical arm 2 drives the stamp 3 to continuously stamp the next paper.

In the embodiment of the application, the stamp 3 comprises a cylinder and a stamp body which is arranged below the cylinder in a telescopic mode. In the embodiment of the application, set up flexible slender rod between cylinder and the chapter body, flexible slender rod is interior or flexible slender rod sets up elastic component such as spring outward to make chapter body reciprocating motion.

In an embodiment of the application, the mechanical arm 2 includes a fastening member 21, a first lifting assembly 22 and a rotating assembly 23, where the fastening member 21 is used to fix the seal 3; the fixing member 21 is fixed on the first lifting component 22, and drives the fixing member 21 and the seal 3 to move up and down; the first lifting assembly 22 is disposed on the rotating assembly 23, and the rotating assembly 23 drives the first lifting assembly 22 to rotate. In the embodiment of the present application, the fastening member 21 is used to fix the cylinder of the stamp 3, and in the embodiment of the present application, the first lifting assembly 22 is arranged to drive the fastening member 21 to ascend or descend, so as to adjust the position of the fastening member 21, and drive the cylinder to move downward, so as to drive the stamp body to stamp the paper. Through setting up rotating assembly 23, can drive first lifting assembly 22 rotatory in order to adjust first lifting assembly 22 and rotate to suitable position to rotate seal 3 to the paper top.

In the embodiment of the present application, the robot arm 2 further includes a translation assembly (not shown) disposed between the first lifting assembly 22 and the rotating assembly 23 to horizontally adjust the horizontal positions of the lifting assembly and the clamp member 21, so as to enable the positions of the clamp member 21 and the stamp 3 to be adjusted.

In the embodiment of the present application, the first lifting assembly 22 may be a sliding assembly, or may be a screw 51 assembly; the rotating assembly 23 may be a motor-driven rotating table, which can realize 360-degree rotation. The rotation may be reciprocating rotation within an angular range of 120 degrees, 180 degrees, or the like. The translation assembly in the embodiment of the present application may be a slide block 52 and a slide rail assembly, or may be a screw rod 51 assembly or other horizontally moving assembly.

In another embodiment of the present application, as shown in fig. 3, the first lifting assembly 22 includes: the manipulator base 221, the manipulator arm 222, the manipulator arm 223 and the manipulator wrist 224, and the clamp 21 uses a mechanical finger. In the embodiment of the present application, the robot base 221 is fixed on the rotating assembly 23, the robot arm 222 is hinged to the robot base 221, and the rotation angle range between the robot base 221 and the robot arm 222 is-120 degrees to 120 degrees. The other end of the manipulator big arm 222 is directly hinged with one end of the manipulator small arm 223, and the allowable rotation range is 0-120 degrees; the other end of the manipulator arm 223 is hinged with a manipulator wrist 224, wherein the manipulator wrist 224 is perpendicular to the manipulator arm 223, the manipulator wrist 224 can rotate around a line perpendicular to the manipulator arm 223 by 0 to 90 degrees, and a manipulator finger is fixed at the other end of the manipulator wrist 224. The front end of the manipulator wrist 224 is a cylinder for clamping a hand and fixing the stamp 3. According to the embodiment of the application, the mechanical finger can move in the direction vertical to the horizontal plane and in the direction parallel to the horizontal plane directly through the mechanical arm 2, so that the position of the seal 3 in the three-dimensional space can be adjusted conveniently.

In the embodiment of the present application, the adsorption assembly 4 includes an adsorption member 41 and a support frame 42, and the adsorption member 41 adsorbs paper by vacuum; the supporting frame 42 is used for supporting the suction member 41, and the supporting frame 42 is disposed on the horizontal moving assembly 5. In an embodiment of the present application, the suction member 41 may also be a planar plate with suction holes, so that the suction and detachment of the paper can be controlled by the air flow. In the embodiment of the present application, the supporting frame 42 is provided for supporting the suction member 41 on the horizontal moving assembly 5. The support frame 42 in the embodiment of the present application may be a support rod, a support plate, or the like. In other embodiments, the suction member 41 may be a suction cup.

In the embodiment of the present application, the absorption assembly 4 includes a ventilation pipe (not shown) disposed in the supporting frame 42, one end of the ventilation pipe is connected to the absorption member 41, and the other end is used for connecting an air extractor (not shown). In the embodiment of the present application, the air duct is a flexible tube, and the air duct is arranged in the supporting frame 42 to communicate with the adsorption hole of the adsorption member 41, and the air is extracted through the air extractor to make the paper adsorbed on the flat plate body. In the embodiment of the present application, the air-extracting device may be disposed inside the supporting frame 42 or outside the supporting frame 42, and when disposed outside the supporting frame 42, the air-vent pipe passes through the supporting frame 42 to the outside of the supporting frame 42 to communicate with the air-extracting device. In the embodiment of the present application, the support frame 42 may be a pipe structure. In the embodiment of the present application, the suction device is deactivated to release the sheet from the suction assembly 4.

In the embodiment of the present application, the supporting frame 42 includes a lifting frame 421, and the lifting frame 421 is lifted or lowered relative to the horizontal moving assembly 5. In this application embodiment, the length of air pipe is greater than or equal to the longest length that crane 421 extend, and in this application embodiment, can make adsorption element 41 rise or descend through setting up crane 421 to accurate absorption or place paper. The crane 421 in this application embodiment can be the pipeline of establishing each other overlaps, and the pipeline can set up the elastic component, can control the shrink and the extension of the pipeline of establishing each other of crane 421.

In the embodiment of the present application, as shown in fig. 2, the horizontal moving assembly 5 includes: the device comprises a screw rod 51, a slide block 52 arranged on the screw rod 51, limiting pieces 53 arranged at two ends of the screw rod 51 and a buffer piece 54; the buffer 54 is at least disposed on one side of the limiting member 53 close to the slide rail, and the absorption assembly 4 is disposed on the slider 52. In the embodiment of the present application, the horizontal movement component 5 is a sliding component, so that the paper after the stamp 3 is stamped can be moved to other areas, and the stamping of the paper without the stamp 3 can be facilitated. The position of the slider 52 can be limited by the limiting piece 53, and the buffer piece 54 can be used for buffering the collision between the slider 52 and the limiting piece 53, so that the stability of the adsorption piece 41 for adsorbing paper can be improved, and the paper placing position can be accurately controlled.

Specifically, in the embodiment of the present application, as shown in fig. 2, a third driving mechanism 8 is installed on the left side of the horizontal moving assembly 5, the third driving mechanism 8 is a motor, the third driving mechanism 8 is fixedly installed on a motor frame 56, and the motor frame 56 is fixed on the left baffle. The output shaft of the third driving mechanism 8 is connected with the screw-shaped lead screw 51 through a buffer joint arranged between the left baffle and the motor frame 56. Two sides of the screw rod 51 are respectively provided with a guide piece 55, and the two guide pieces 55 are respectively fixed on the left baffle and the right baffle. The left and right side fences simultaneously serve as the stopper 53. The two guide parts 55 are used for installing the sliding block 52, a sliding block 52 nut support is fixed under the sliding block 52 through a screw nut, a spring is installed behind the sliding block 52 nut support, and the spring is connected with a tooth gap preventing nut. The slide bar passes through the nut bracket of the slide block 52 and the anti-backlash nut and is fixed on the baffle plate. The upper part of the sliding block 52 is fixedly provided with a support frame 42, the upper part of the support frame 42 is right-angled, and the other end of the support frame 42 is fixed with an adsorption piece 41.

In the embodiment of the application, the stamping device further comprises a platform 1, the platform 1 comprises a first area 11, a second area 12 and a third area 13, the first area 11 is used for placing paper to be stamped, and the second area 12 is used for placing stamped paper; the third area 13 is provided with a groove for placing stamp ink. Through setting up platform 1, can be integrated in an organic whole with arm 2, horizontal migration subassembly 5 to the regulation and the cooperation of device of stamping are convenient for.

In the embodiment of the present application, the first area 11 and the second area 12 are adjacent to each other, and the horizontal moving component 5 is disposed on the same side of the first area 11 and the second area 12. In other embodiments, the horizontal moving assembly 5 may be replaced with a rotating assembly 23, and the rotating assembly 23 is disposed between the first area 11 and the second area 12, so that the adsorption assembly 4 rotates between the first area 11 and the second area 12.

In this application embodiment, third region 13 is adjacent with first region 11 for arm 2 drives seal 3 and adds seal china ink and the distance of stamping seal 3 less, so that stamp 3 is stamped.

In the embodiment of the application, the stamping device comprises a driving mechanism, the driving mechanism comprises a first driving mechanism, a second driving mechanism and a third driving mechanism 8, the first driving mechanism is used for ascending or descending the first lifting assembly 22, and the second driving mechanism is used for driving the rotating assembly 23 to rotate; the third driving mechanism 8 is used for driving the horizontal component to drive the adsorption component 4 to move horizontally. The embodiments of the present application may also include other numbers of multiple drive mechanisms to facilitate driving of the components such as the robotic arm 2.

In the embodiment of the application, as shown in fig. 3, the stamping device further includes a control system 6, where the control system 6 is configured to control the mechanical arm 2 to move to above the paper to be stamped, and drive the stamp 3 to descend and stamp the stamp 3; controlling the mechanical arm 2 to ascend to separate from the paper; the adsorption component 4 is controlled to adsorb the paper after the stamp 3 is stamped, and the horizontal moving component 5 is driven to move so as to drive the adsorption component 4 to move, and the adsorption component 4 is controlled to desorb the paper.

Through the arrangement of the control system 6, the control system 6 can be used for controlling the movement of the mechanical arm 2, for example, the mechanical arm 2 can be a six-degree-of-freedom mechanical arm 2, the automatic operation is realized by using the mechanical arm, a kinematic equation of the mechanical arm 2 is established according to a D-H parameter method, the track planning is carried out on the seal 3 at the tail end, and a joint variable polynomial is calculated, so that the automatic sealing is realized.

In the embodiment of the present application, as shown in fig. 3, the stamping device further includes an identification system 9, the identification system 9 is connected to the control system 6, the identification system 9 is configured to identify a position mark of the stamped seal 3 on the paper to be stamped with the seal 3, and transmit a position signal to the control system 6, and the control system 6 is configured to control the mechanical arm 2 to drive the seal 3 to move to the position mark of the stamped seal 3, and stamp the seal 3. By providing an identification system 9 to identify the position of the stamp 3, the position of the stamp 3 is marked as "stamp public seal", and in other embodiments, the position of the stamp 3 may be marked with other characters or symbols. The typeface on recognition device can discern the paper, when discerning "stamp public seal" typeface, then this position is for the position that needs stamp 3, with position signal transmission to control system 6, control system 6 passes through the removal of arm 2 to make and remove the position mark department of stamping seal 3, can make the device of stamping in this application embodiment can stamp public seal to the different positions of paper, improve the flexibility of the device of stamping, make its application better extensively and various.

This application is the theory of operation of the device of stamping of private standing still: placing a wad of paper to be stamped with a seal 3 in a first area 11, adhering seal ink to the seal 3 in advance, controlling the seal 3 to rotate above the wad of paper to be stamped with the seal 3 by the mechanical arm 2, and driving the seal 3 to move downwards by the mechanical arm 2 so as to stamp the seal 3; after the stamping is finished, the mechanical arm 2 drives the stamp 3 to move upwards, the adsorption component 4 adsorbs the stamped paper and moves to the second area 12 through the horizontal moving component 5, and the adsorption component 4 desorbs the paper and places the paper in the second area 12; arm 2, absorption subassembly 4 and horizontal migration subassembly 5 are repeated to do above-mentioned action to with paper stamp 3, along with the thickness of a wad of paper changes, can adjust the position of stamp 3 through the lift removal of arm 2, adjust the height of absorption subassembly 4 apart from platform 1 so that to the absorption and the placing of paper through crane 421.

The control system 6 comprises a battery, a switch, a single chip microcomputer stm32 and a voltage stabilizer. After the switch (not shown) is pressed, the main power supply (not shown) supplies power, and the device starts to work. Starting the device and controlling the system 6 to operate. The control system 6 drives each driving mechanism of the arm 2 to operate according to the calculation and control programming completed in advance, so as to control each part of the arm 2 to rotate by a corresponding angle and translate by a corresponding distance, and the stamp 3 is just above the first region 11.

According to the stamping device, the seal is arranged at the tail end of the mechanical arm 2, and the mechanical arm 2 is controlled to drive the seal 3 to dip ink and stamp through calculation and system control, so that a process of stamping a file is reduced for accountants, partial working time is saved, and the working efficiency is improved; meanwhile, the extension and contraction of the mechanical arm 2 and the related work of the adsorption piece 41 can move the stamped file, so that the stamping of the next file is prevented from being interfered. This application structure is exquisite, and pertinence, practicality are strong, and the worker that extremely is fit for a large amount of stamps uses.

The foregoing is only a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present application, and these modifications and variations should also be considered as the protection scope of the present application.

Claims

1. A stamping device, comprising:

the mechanical arm is used for grabbing a fixed seal and driving the seal to move up and down;

the adsorption component is used for adsorbing paper and releasing the paper;

and the horizontal moving component is connected with the adsorption component and is used for driving the adsorption component to horizontally move.

2. The stamping device of claim 1, wherein the robotic arm comprises:

the fixing piece is used for fixing a seal;

the clamping piece is fixed on the first lifting component and drives the clamping piece and the seal to move up and down;

the rotating assembly, first lifting unit set up in on the rotating assembly, the rotating assembly drives first lifting unit rotates.

3. The sealing device of claim 1, wherein the suction assembly comprises:

the adsorption piece adsorbs the paper by vacuum adsorption or air suction;

the support frame, the support frame is used for supporting the adsorption part, the support frame set up in on the horizontal migration subassembly.

4. The sealing device of claim 3, wherein the suction assembly comprises:

the air pipe is arranged in the support frame, one end of the air pipe is connected with the adsorption piece, and the other end of the air pipe is connected with an air extractor.

5. A stamping device according to claim 3, wherein the support frame comprises:

and the lifting frame ascends or descends relative to the horizontal moving assembly.

6. The stamping device of claim 1, wherein the horizontal movement assembly comprises: the device comprises a screw rod, a sliding block arranged on the screw rod, limiting parts arranged at two ends of the screw rod and a buffer part; the bolster set up in at least one the locating part is close to lead screw one side, adsorption component set up in on the slider.

7. The sealing device of claim 1, further comprising a platform,

the platform comprises a first area, a second area and a third area, wherein the first area is used for placing paper to be stamped, and the second area is used for placing stamped paper; the third area is provided with a groove, and the groove is used for placing stamp ink.

8. A stamping device according to claim 2, further comprising a drive mechanism,

the driving mechanism comprises a first driving mechanism, a second driving mechanism and a third driving mechanism, the first driving mechanism is used for ascending or descending the first lifting assembly, and the second driving mechanism is used for driving the rotating assembly to rotate; the third driving mechanism is used for driving the horizontal component to drive the adsorption component to horizontally move.

9. A stamping device according to claim 8, further comprising a control system,

the control system is used for controlling the mechanical arm to move to the position above the paper to be stamped, driving the seal to descend and stamping the seal; controlling the mechanical arm to ascend so as to separate the paper; and controlling the adsorption assembly to adsorb the paper with the seal, driving the horizontal moving assembly to move so as to drive the adsorption assembly to move, and controlling the adsorption assembly to desorb the paper.

10. The stamping device according to claim 8, further comprising an identification system connected to the control system, wherein the identification system is configured to identify a position mark of a stamp on a paper to be stamped and transmit a position signal to the control system, and the control system is configured to control the mechanical arm to drive the stamp to move to the position mark of the stamp and stamp the stamp.