CN115447295A - Multifunctional flexible robot - Google Patents

Abstract

The application relates to the technical field of printing, and discloses a multifunctional flexible robot, include: a frame; the printing head is arranged on the rack in a sliding manner and is used for printing a product; the printing base is positioned below the sliding track of the printing head and is provided with a printing position for placing a product; the transplanting platform is positioned on one side of the printing base and is used for placing a material tray bearing products; the transfer manipulator is arranged on the rack in a sliding manner and is used for transferring the product between the material tray and the printing base; the turnover part is arranged on the printing base in a sliding manner and can be lifted and used for turning over a product on the printing base; the turnover part comprises two turntables which are arranged oppositely, the two turntables are respectively positioned at two opposite sides of the printing position, and the two turntables are used for clamping and turning over products. This application can realize the multiaspect printing to the product on single station through the setting of upset piece on the printing base, and printing efficiency is high.

Description

Multifunctional flexible robot

Technical Field

The application relates to the technical field of printing, in particular to a multifunctional flexible robot.

Background

Printing is a technique for rapidly copying a large number of images or text documents. During the production process of the product, the product model or manufacturer identification and some images for improving the aesthetic appearance are generally required to be printed.

At present, because different product printing demands are different, some products need to print a plurality of terminal surfaces, are transporting the product to a plurality of printing stations in proper order usually, and every printing station prints an terminal surface of product alone to carry out the turn-over through tilting mechanism to the product, thereby realize the multiaspect printing to the product.

In the traditional scheme, printing is carried out through a plurality of station circulations and through the mode of tilting mechanism turn-over, and the whole printing flow is complicated to lead to printing inefficiency.

Disclosure of Invention

In order to solve the problem of low efficiency of multi-surface printing of products in the prior art,

the application provides a multi-functional flexible robot adopts following scheme:

a multi-functional flexible robot, comprising:

a frame;

the printing head is slidably mounted on the rack and is used for printing a product;

the printing base is positioned below the sliding track of the printing head and is provided with a printing position for placing a product;

the transplanting platform is positioned on one side of the printing base and is used for placing a material tray bearing products;

the transfer manipulator is arranged on the rack in a sliding manner and is used for transferring the product between the material tray and the printing base;

the turnover piece is arranged on one side of the printing base in a sliding manner and can be lifted and used for turning over a product on the printing base;

the turnover part comprises two turntables which are arranged oppositely, the two turntables are respectively positioned at two opposite sides of the printing position, and the two turntables are used for clamping and turning over products.

Through adopting above-mentioned scheme, transport the product that the manipulator will wait to print and transport to the printing base on, the printing head prints the up terminal surface of product afterwards. The turnover part works to place the product on the printing base again after turning over, and the subsequent printing head works again to print the other end face of the product, so that multi-face printing of the product on one station is realized. In the traditional technical scheme, a product is generally circulated among a plurality of stations, after one end face of the product is positioned and printed on a front station, the product is turned over through a next station, and then the other end face of the product is positioned and printed on a rear station; the whole operation process is complex and the efficiency is low. Among this application technical scheme, on the one hand, can realize on same station having reduced circulation stroke to a plurality of terminal surface printing of product, improved printing efficiency. On the other hand, a plurality of stations do not need to be arranged, and the overall structural compactness of the printing equipment is improved.

Optionally, the printing machine further comprises a static electricity eliminating device, wherein the static electricity eliminating device is provided with an air outlet, the air outlet faces the printing position, and the static electricity eliminating device is used for sweeping and dedusting a product on the printing base.

Through adopting above-mentioned scheme, be provided with electrostatic elimination device, electrostatic elimination device has the air outlet towards the printing base to through the mode that sweeps to the product on the printing base, realize the dust removal to the product. In actual working conditions, dust may adhere to the surface of a product in a static electricity manner in the printing process, and therefore the printing effect is poor. In the technical scheme, the electrostatic elimination device sweeps the air current that carries a large amount of positive and negative ions through the product on the printing base to sweep the dust on the product and get rid of, thereby guaranteed the printing quality of product effectively.

Optionally, still including being used for adsorbing the absorption piece of location to the product on the printing base, adsorb a fixed mounting and be in on the printing base, have a plurality of absorption mouths that are linked together with the absorption piece on the printing base.

Through adopting above-mentioned scheme, set up a plurality of absorption mouths that are linked together with the absorption piece on the printing base, when the product was placed on the printing base, the work of absorption piece was in order to install the product stability on the printing base to the stability of product printing in-process has been promoted. In actual conditions, the product may generate micro-motion due to poor installation stability in the printing process, resulting in poor printing accuracy. This application technical scheme plays the adsorption efficiency of preferred to the product through adsorbing the piece to promote the installation stability of product on the printing base and in order to guarantee the printing effect.

Optionally, a positioning element for clamping and positioning a product is arranged on the printing base, the positioning element includes a driving motor, a lead screw in transmission connection with the driving motor, a first nut seat and a second nut seat, and the first nut seat and the second nut seat are respectively symmetrically arranged on two sides of the adsorption element; the first nut seat and the second nut seat are installed on a lead screw in a threaded mode, and the driving motor works to drive the first nut seat and the second nut seat to be close to or far away from each other relatively.

Through adopting above-mentioned scheme, be provided with the setting element on the printing base, driving motor work can drive first nut seat and second nut seat and be close to each other or keep away from relatively to the size of adaptation in different products. Because in the actual production course of working, the product size that needs the printing is diversified, need fix a position so that print to the product after placing the product on the printing base. Among this application technical scheme, first nut seat and second nut seat symmetrical arrangement are in adsorbing a both sides, and first nut seat and second nut seat are close to relatively and can be spacing in adsorbing a top with the product centre gripping to the realization is to the product location, and has the adaptation performance of preferred.

Optionally, the transplanting platform further comprises a discharging platform, the discharging platform is located on one side of the transplanting platform, a pushing part is arranged on the transplanting platform and used for pushing a tray on the transplanting platform into the discharging platform.

Through adopting above-mentioned scheme, be provided with on transplanting the platform and push away the material piece, push away the material piece and can push down the material platform with placing finished product charging tray on transplanting the platform to the realization is to the automatic unloading of product, has promoted this lithography apparatus's whole degree of automation, has practiced thrift the manual work.

Optionally, the automatic feeding device further comprises a lifting assembly, the lifting assembly is connected with the discharging table, and the lifting assembly is used for driving the discharging table to descend layer by layer to receive the charging tray.

By adopting the above scheme, be provided with the lifting unit who is used for driving the unloading platform and goes up and down in unloading platform bottom, lifting unit work can drive the unloading platform successive layer and descend, pushes away the material piece and every with a charging tray push into the unloading platform after, the unloading platform descends the one deck so that follow-up charging tray pushes in, realizes from this that a plurality of finished product charging trays pile up on the unloading platform with automaticly.

Optionally, the transplanting platform is provided with a guide rail for guiding movement of the material tray, one end of the guide rail, which is close to the material pushing part, is provided with a guide part, and the guide part gradually narrows towards the direction of the discharging platform.

By adopting the scheme, the transplanting platform is provided with the guide rail for guiding the movement of the material tray. The guide part narrows towards the blanking table, so that the guide rail has a larger space at one end close to the material tray, the material tray can enter conveniently, and the effect of facilitating the entering and guiding of the material tray is achieved.

Optionally, the transfer manipulator includes material loading manipulator and unloading manipulator, material loading manipulator with unloading manipulator arranges side by side, material loading manipulator is used for with treating the product of printing transport extremely the printing base, unloading manipulator is used for transporting the finished product to the charging tray in.

Through adopting above-mentioned scheme, including the feeding manipulator and the unloading manipulator that set up side by side on the transport manipulator. In the traditional technical scheme, the single reciprocating movement of a transfer manipulator between a material tray and a printing position is usually used for realizing the feeding, and the reciprocating movement is carried out between the material tray and the printing position again in sequence to realize the discharging, so that the feeding and the discharging of products are realized; or, through setting up two transport manipulators to the corresponding two slide rails that set up, thereby realize the last unloading function to the product respectively. In this application technical scheme, including material loading manipulator and unloading manipulator on single transport manipulator, carry out the unloading back to the product on the printing base and then treat the printing product on the material loading manipulator and put on the printing base, only need one make a round trip to realize going up the unloading function, simplified whole flow. And, compare in the mode of two slide rails of two transport manipulators cooperations in traditional scheme, this application has promoted overall structure's compactedness.

Optionally, the printing base is made of an antistatic polyvinyl chloride plate.

By adopting the scheme, the printing base is made of the anti-static polyvinyl chloride plate, so that the electrostatic sticking dust on the transplanting platform can be effectively reduced. In some traditional schemes, because the dust adheres to the printing base easily, the product is easy to stick with the dust after being installed on the printing base, and then subsequent printing effect is influenced. Among this application technical scheme, the printing base is for preventing that static polyvinyl chloride board makes, can reduce the adhesion of dust effectively to guarantee the printing effect.

Optionally, the printing device further comprises a CCD synchronous camera, wherein the CCD synchronous camera is fixedly mounted on the printing head and used for detecting the position of the product on the printing base.

Through adopting above-mentioned scheme, fixed mounting has the synchronous camera of CCD on the print head, and the synchronous camera of CCD can detect the position and the angle of product, detects through the position to the product, and the cooperation print head carries out the accurate printing of high counterpoint to the product, has further promoted the printing effect.

To sum up, the present application includes at least the following beneficial technical effects:

1. the product to be printed is transferred to the printing base by the transfer manipulator, and then the printing head prints the upward end face of the product. The turnover part works to place the product on the printing base again after turning over, and the subsequent printing head works again to print the other end face of the product, so that multi-face printing of the product on one station is realized. In the traditional technical scheme, a product is generally circulated among a plurality of stations, after one end face of the product is positioned and printed on a front station, the product is turned over through a next station, and then the other end face of the product is positioned and printed on a rear station; the mode has complex operation overall process and lower efficiency. Among this application technical scheme, on the one hand, can realize on same station having reduced circulation stroke to a plurality of terminal surface printing of product, improved printing efficiency. On the other hand, a plurality of stations are not required to be arranged, so that the overall structure compactness of the printing equipment is improved;

2. be provided with the setting element on the printing base, driving motor work can drive first nut seat and second nut seat and be close to each other or keep away from relatively to the size of adaptation in different products. Because in the actual production course of working, the product size that needs the printing is diversified, need fix a position so that print to the product after placing the product on the printing base. In the technical scheme of the application, the first nut seat and the second nut seat are symmetrically arranged on two sides of the adsorption part, and the first nut seat and the second nut seat are relatively close to each other and can clamp and limit a product above the adsorption part, so that the product is positioned, and the first nut seat and the second nut seat have better adaptive performance;

3. the transferring manipulator comprises a feeding manipulator and a discharging manipulator which are arranged in parallel. In the traditional technical scheme, a transfer manipulator usually makes a single round trip between a material tray and a printing position to realize feeding, and then makes a round trip between the material tray and the printing position again to realize discharging, so that the feeding and discharging of a product are realized; or, two transfer manipulators are arranged, and two sliding rails are correspondingly arranged, so that the feeding and discharging functions of the product are realized respectively. In this application technical scheme, including material loading manipulator and unloading manipulator on single transport manipulator, carry out the unloading back to the product on the printing base and then treat the printing product on the material loading manipulator and put on the printing base, only need one make a round trip to realize going up the unloading function, simplified whole flow. And, compare in the mode of two slide rails of two transport manipulator cooperations in traditional scheme, this application has promoted overall structure's compactedness.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present application;

fig. 2 is a schematic view illustrating a first slide rail hidden in the embodiment of the present application;

fig. 3 is a schematic diagram illustrating a printing base, a flip member, and a positioning member according to an embodiment of the disclosure.

Description of reference numerals:

1. a frame; 11. a first support frame; 111. a first cylinder; 12. a first slide rail; 121. a guide post; 13. a second support frame; 14. a second slide rail; 15. a third support frame; 151. a lifting cylinder; 152. a sliding seat; 16. a rotating electric machine;

2. a print head; 21. a CCD synchronous camera;

3. a printing base; 31. printing positions; 32. an adsorption port; 33. a static eliminating device; 331. an air outlet;

4. transplanting the platform; 41. pushing the material piece; 411. a material pushing cylinder; 412. a material pushing plate; 42. a guide rail; 421. a guide portion; 422. a blanking part;

5. a transfer robot; 51. a feeding manipulator; 52. a feeding manipulator;

6. a turning part; 61. a turntable; 62. a first support arm; 63. a second support arm; 7. a positioning member; 71. a drive motor; 72. a first nut seat; 73. a second nut seat;

8. a blanking table; 81. a lifting assembly.

Detailed Description

The present application will be described in further detail below with reference to the accompanying drawings.

The embodiment of the application discloses multi-functional flexible robot.

Referring to fig. 1 and 2, a multifunctional flexible robot includes: the automatic printing machine comprises a rack 1, a printing head 2, a printing base 3 for placing a product to be printed, a transplanting platform 4 for placing a material tray, a transferring manipulator 5 and a turnover part 6 for turning over the product on the printing base 3, wherein the printing head 2 is installed on the rack 1 in a sliding manner, and the printing base 3 is positioned below the sliding track of the printing head 2; transplanting platform 4 is located one side of printing base 3, transports manipulator 5 and is used for transporting the product between charging tray and printing base 3. The slip of upset 6 liftable is installed in printing base 3 one side, and printing base 3 has the printing position 31 that is used for placing the product, and upset 6 includes that two are relative arranges respectively in the carousel 61 of printing position 31 both sides, and two carousels 61 are used for the centre gripping product and overturn to the realization is printed the upset of a plurality of terminal surfaces of product on printing position 31.

Referring to fig. 1 and 2, the rack 1 includes a first support frame 11, a first slide rail 12 for mounting the transferring manipulator 5 is mounted on the first support frame 11, the transferring manipulator 5 is slidably mounted in the first slide rail 12, and for convenience of understanding, the direction of the first slide rail 12 is defined as a material conveying direction. The first support frame 11 is fixedly provided with a first cylinder 111, an output shaft of the first cylinder 111 is fixedly connected with the first slide rail 12, and the first cylinder 111 works to drive the first slide rail 12 to transversely move along the direction perpendicular to the feeding direction. Specifically, two guide posts 121 are fixedly mounted on the first slide rail 12 along a direction parallel to the output shaft of the first cylinder 111, correspondingly, two guide holes are formed in the first support frame 11, and the guide posts 121 are slidably mounted in the guide holes in a one-to-one correspondence manner so as to guide the first slide rail 12 in a transverse movement direction perpendicular to the material conveying direction.

Referring to fig. 2 and 3, the transferring manipulator 5 includes a feeding manipulator 51 and a discharging manipulator 52, the feeding manipulator 51 and the discharging manipulator 52 are arranged side by side along the direction of the output shaft of the first cylinder 111, in an actual working condition, when the transferring manipulator 5 is located above the printing base 3, the discharging manipulator 52 works to clamp the finished product, then the first cylinder 111 works to drive the feeding manipulator 51 to move transversely above the printing base 3, the feeding manipulator 51 is used for transferring the product to be printed to the printing base 3, and the subsequent transferring manipulator 5 moves along the first slide rail 12 so that the discharging manipulator 52 is used for transferring the finished product into the tray. The rack 1 further comprises a second support frame 13, a second slide rail 14 is fixedly mounted on the second support frame 13 along the material conveying direction, and the printing head 2 is slidably mounted in the second slide rail 14. The printing head 2 is fixedly provided with a CCD synchronous camera 21, and the CCD synchronous camera 21 is fixedly arranged at one end of the printing head 2 close to the transplanting platform 4 so as to detect the position of a product on the printing base 3. It should be mentioned that, in the embodiment of the present application, the first slide rail 12 and the second slide rail 14 are respectively provided with a screw motor, and the transferring robot 5 and the printing head 2 are both driven by the screw motors, so that the transferring robot 5 and the printing head 2 respectively slide in the first slide rail 12 and the second slide rail 14.

Referring to fig. 2 and 3, an adsorption member for adsorbing a product is disposed on the printing base 3, the adsorption member is fixedly mounted on the printing base 3, and a plurality of adsorption ports 32 communicated with the adsorption member are formed through the upper end surface of the printing base 3. In the embodiment of this application, the length direction of adsorbing the piece is along fortune material direction fixed mounting in the inside of printing base 3, and the quantity of adsorbing mouthful 32 is four, and four adsorb mouthful 32 and run through the upper surface of seting up in printing base 3. In the operating condition, still include the air extractor, adsorb piece and air extractor intercommunication, air extractor work is in order to adsorb the product on printing base 3 to the realization is spacing to the product. It is worth mentioning that the printing base 3 is made of an antistatic polyvinyl chloride plate.

Referring to fig. 2 and 3, a positioning element 7 for clamping and positioning a product is disposed on the printing base 3, the positioning element 7 includes a driving motor 71, a lead screw in transmission connection with the driving motor 71, a first nut seat 72 and a second nut seat 73, and the first nut seat 72 and the second nut seat 73 are symmetrically disposed on two sides of the adsorbing member with the length direction of the adsorbing member as a symmetry axis. Specifically, the driving motor 71 is fixedly installed at the bottom of the printing base 3, the lead screw is arranged along the direction perpendicular to the length direction of the adsorption piece, the first nut seat 72 and the second nut seat 73 are both in threaded connection with the lead screw, and the threads of the first nut seat 72 and the second nut seat 73 are opposite, so that the driving motor 71 can drive the first nut seat 72 and the second nut seat 73 to be close to or far away from each other to adapt to the sizes of different products. It should be noted that the first nut seat 72 is provided with a first pushing portion, the second nut seat 73 is provided with a second pushing portion, and the first pushing portion and the second pushing portion both slide along with the operation of the driving motor 71 and adhere to the upper surface of the printing base 3, so as to realize the pushing and positioning of the product.

Referring to fig. 2 and 3, the rack 1 further includes a third support frame 15, a sliding seat 152 is vertically slidably mounted on the third support frame 15, a lifting cylinder 151 for driving the sliding seat to lift is fixedly mounted on the third support frame 15, and an output shaft of the lifting cylinder 151 is vertically arranged and connected with the sliding seat 152. The sliding seat is provided with a lead screw motor arranged along the conveying direction, the overturning part 6 comprises a first support arm 62 and a second support arm 63 which are arranged on a lead screw of the lead screw motor in a threaded manner, the thread turning directions of the first support arm 62 and the second support arm 63 are opposite, and the lead screw motor works to drive the first support arm 62 and the second support arm 63 to mutually approach to clamp a limiting product or relatively leave away from the limiting product so as to relieve the limitation of the product.

Referring to fig. 2 and 3, the two rotating discs 61 of the turning member 6 are rotatably mounted on the first supporting arm 62 and the second supporting arm 63 respectively, the first supporting arm 62 and the second supporting arm 63 are fixedly mounted with one rotating motor 16 respectively, the rotating motors 16 are in one-to-one transmission connection with the rotating discs 61, and the two rotating motors 16 synchronously work to drive the clamped product to rotate and turn over so as to realize multi-end printing of the product. In the embodiment of the application, the product is actually a cylindrical structure, and after one side wall of the product is printed, the rotary motor can work to realize the turnover of the product. In the printing process of products of other models, in order to prevent the products from colliding with the upper surface of the printing base 3 in the overturning process, the lifting cylinder 151 on the third support frame 15 works in advance to lift the products, so that an avoiding space for overturning the products is formed between the products and the printing base 3, and then the rotary motor 16 works to overturn the products. Two static elimination devices 33 are further arranged on two opposite sides of the printing base 3, the static elimination devices 33 are used for blowing out airflow carrying a large number of positive and negative ions to blow and sweep products, each static elimination device 33 is provided with an air outlet 331, the air outlet 331 faces the printing position 31, and the static elimination devices 33 work to blow and remove dust on the products on the printing base 3.

Referring to fig. 2 and 3, the transplanting platform 4 is provided with a blanking table 8 at one side, and the blanking table 8 is used for receiving trays carrying finished products. The transplanting platform 4 is provided with a pushing part 41 for pushing the tray into the blanking table 8. Specifically, the pushing element 41 includes a pushing cylinder 411 and a pushing plate 412 fixedly connected to an output shaft of the pushing cylinder 411, the transplanting platform 4 is provided with a guide rail 42 for guiding movement of the tray, and the guide rail 42 is located between the pushing element 41 and the discharging platform 8.

Referring to fig. 2 and 3, the guide rail 42 has a guide portion 421 at an end thereof adjacent to the pushing member 41, and the guide portion 421 gradually narrows toward the blanking table 8 along an axis of the pushing cylinder 411. Specifically, the guide rail 42 further includes a blanking portion 422 near one end of the blanking table 8, the blanking portion 422 is connected to the guide portion 421, and the rail width of the blanking portion 422 is adapted to the width of the material tray so as to guide and limit the material tray.

Referring to fig. 2 and 3, the bottom of the blanking table 8 is connected with a lifting assembly 81 in a transmission manner, and the lifting assembly 81 is used for driving the blanking table 8 to descend layer by layer to receive the material tray. Specifically, lifting unit 81 includes motor, lifter and hold-in range, and the quantity of lifter is a plurality of, and threaded connection has the drive wheel on every lifter, and the motor passes through the hold-in range to be connected with the drive wheel transmission, and motor work is rotated in order to drive a plurality of synchronizing wheels, and then makes the lifter with 8 jacking or descends of unloading platform.

Referring to fig. 2 and 3, an implementation principle of a multifunctional flexible robot according to an embodiment of the present application is as follows: the product that transports manipulator 5 will treat the printing is transported to printing base 3 on, and setting element 7 work is in order to fix a position the product, and electrostatic elimination device 33 sweeps the dust removal to the product, and it prints to beat the ascending terminal surface of printer head 2 to the product afterwards. The reversing member 6 works to reverse the product and then to place it on the printing base 3 again, and the subsequent printing head 2 works again to print the other end face of the product, thereby realizing multi-sided printing of the product.

The embodiments of the present disclosure are all preferred embodiments of the present disclosure, and the protection scope of the present disclosure is not limited thereby, wherein like parts are designated by like reference numerals. Therefore: equivalent changes in structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (10)

1. A multi-functional flexible robot, comprising:

a frame (1);

the printing head (2) is slidably mounted on the rack (1) and is used for printing a product;

a printing base (3) located below the sliding track of the printing head (2), the printing base (3) having a printing position (31) for placing a product;

the transplanting platform (4) is positioned on one side of the printing base (3) and is used for placing a tray bearing products;

the transfer manipulator (5) is arranged on the rack (1) in a sliding manner and is used for transferring the product between the material tray and the printing base (3);

the turnover piece (6) is arranged on one side of the printing base (3) in a sliding manner and can lift and is used for turning over a product on the printing base (3);

the turnover part (6) comprises two rotary tables (61) which are oppositely arranged, the two rotary tables (61) are respectively positioned at two opposite sides of the printing position (31), and the two rotary tables (61) are used for clamping and turning over products.

2. The multi-functional flexible robot according to claim 1, characterized by further comprising a static elimination device (33), wherein the static elimination device (33) has an air outlet (331), the air outlet (331) faces the printing position (31), and the static elimination device (33) is used for purging and dedusting the products on the printing base (3).

3. The flexible multifunctional robot according to claim 1, further comprising an adsorbing member for adsorbing and positioning the product on the printing base (3), wherein the adsorbing member is fixedly mounted on the printing base (3), and the printing base (3) has a plurality of adsorbing ports (32) communicated with the adsorbing member.

4. The multifunctional flexible robot according to claim 3, wherein a positioning element (7) for clamping and positioning a product is arranged on the printing base (3), the positioning element (7) comprises a driving motor (71), a lead screw in transmission connection with the driving motor (71), a first nut seat (72) and a second nut seat (73), and the first nut seat (72) and the second nut seat (73) are respectively and symmetrically arranged at two sides of the adsorption element; the first nut seat (72) and the second nut seat (73) are installed on a lead screw in a threaded mode, and the driving motor (71) works to drive the first nut seat (72) and the second nut seat (73) to move close to or away from each other relatively.

5. The multifunctional flexible robot according to claim 1, characterized by further comprising a blanking table (8), wherein the blanking table (8) is located on one side of the transplanting platform (4), the transplanting platform (4) is provided with a pushing member (41), and the pushing member (41) is used for pushing a tray on the transplanting platform (4) into the blanking table (8).

6. The multifunctional flexible robot as claimed in claim 5, further comprising a lifting assembly (81), wherein the lifting assembly (81) is connected with the blanking table (8), and the lifting assembly (81) is used for driving the blanking table (8) to descend layer by layer to receive a material tray.

7. The multifunctional flexible robot according to claim 6, characterized in that the transplanting platform (4) is provided with a guide rail (42) for guiding the movement of the tray, one end of the guide rail (42) close to the pushing member (41) is provided with a guide part (421), and the guide part (421) is gradually narrowed towards the blanking table (8).

8. The multi-functional flexible robot according to claim 1, characterized in that the transfer robot (5) comprises a feeding robot (51) and a blanking robot (52), the feeding robot (51) being juxtaposed to the blanking robot (52), the feeding robot (51) being adapted to transfer the products to be printed to the printing base (3), the blanking robot (52) being adapted to transfer the finished products into a tray.

9. The multi-functional flexible robot according to claim 1, characterized in that the printing base (3) is made of antistatic polyvinyl chloride plate.

10. The multi-functional flexible robot according to claim 1, characterized by further comprising a CCD-synchronized camera (21), said CCD-synchronized camera (21) being fixedly mounted on the print head (2) for detecting the position of the product on the printing base (3).

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