CN115890725A - Manipulator device for printing machine - Google Patents

Abstract

The invention relates to the technical field of printing machinery, in particular to a manipulator device for a printing machine, which comprises a manipulator base, wherein a manipulator height adjusting cylinder is arranged on the manipulator base, six manipulators are arranged on the manipulator height adjusting cylinder, and a manipulator main body is arranged at the working ends of the six manipulators; the manipulator main part is including adjusting pivot and main disk body, and the main disk body includes minor face disk body and long limit disk body, and minor face disk body and long limit disk body mutually perpendicular arrange and form the integrated design, all are equipped with a set of centre gripping subassembly on minor face disk body and the long limit disk body, and main disk body middle part is equipped with the sucking disc subassembly. The invention adopts two grabbing modes of clamping and absorbing to grab the printed matters, thereby meeting the carrying requirements of the printed matters with different shapes and solving the technical problems that the existing mechanical hand of the printing machine has single grabbing mode, can only clamp or absorb and can not meet the use requirements of the existing printing machine.

Description

Manipulator device for printing machine

Technical Field

The invention relates to the technical field of printing machinery, in particular to a manipulator device for a printing machine.

Background

A printer is a machine that prints text and images. The working principle of the printing machine is as follows: firstly, making characters and images to be printed into a printing plate, installing the printing plate on a printing machine, then coating ink on the position, where the characters and the images are arranged, of the printing plate by a person or the printing machine, and then directly or indirectly transferring the ink onto paper or other printing stocks (such as textiles, metal plates, plastics, leather, wood plates, glass and ceramics) so as to copy printed matters identical to the printing plate, wherein the printed matters after printing need to be carried to a product output conveying belt by a mechanical arm of the printing machine;

present printing machine manipulator snatchs the mode single, if can only press from both sides and get or can only absorb, along with the product that a printing machine of the progress of science and technology can carry out the printing increases gradually, only has the manipulator of single mode of snatching and can not satisfy the user demand of current printing machine far away.

Disclosure of Invention

The present invention provides a manipulator device for a printing machine, which is used for solving the technical problems in the background technology.

In order to solve the technical problem, the invention discloses a manipulator device for a printing machine, which comprises a manipulator base, wherein a manipulator height adjusting cylinder is arranged on the manipulator base, six manipulators are arranged on the manipulator height adjusting cylinder, and a manipulator main body is arranged at the working ends of the six manipulators;

the manipulator main part is including adjusting pivot and main disk body, and the main disk body includes minor face disk body and long limit disk body, and minor face disk body and long limit disk body mutually perpendicular arrange and form the integrated design, all are equipped with a set of centre gripping subassembly on minor face disk body and the long limit disk body, and main disk body middle part is equipped with the sucking disc subassembly.

Preferably, the clamping assembly comprises:

the first motors are symmetrically arranged and fixedly connected in the long-side disc body;

the rough adjusting screw rod is fixedly connected to the output end of the first motor, is rotatably connected in a rough adjusting nut chute of the long-side disc body, and is internally and fixedly connected with two rough adjusting nut guide rods which are symmetrically arranged;

the rough adjustment screw nut is in threaded connection with the rough adjustment screw rod and is in sliding connection with a rough adjustment nut guide rod;

the second motor is arranged in the coarse adjustment screw nut, and the output end of the second motor is fixedly connected with a fine adjustment screw;

the fine adjustment screw nut is in threaded connection with the fine adjustment screw;

and the clamping head is connected to one end, far away from the second motor, of the fine adjustment screw rod in a sliding manner, the fine adjustment screw nut is hinged with two fine adjustment connecting rods which are symmetrically arranged, and one end, far away from the fine adjustment screw nut, of each fine adjustment connecting rod is hinged with the clamping head.

Preferably, the clamping head comprises a top connecting block, a special-shaped clamping body and two symmetrically arranged plane clamping bodies;

top connecting block fixed connection is on special-shaped holding body, the one end hinged joint that fine tuning screw nut was kept away from to the fine tuning connecting rod is on the top connecting block, the short section of thick bamboo of fixedly connected with direction on the connecting block of top, the short section of thick bamboo cover of direction is established on the fine tuning lead screw, and the pot head that the fine tuning lead screw is located the short section of thick bamboo of direction is equipped with centre gripping buffering elastic component, plane holding body hinged joint is on special-shaped holding body, hinged joint has the plate body recovery cylinder of bisymmetry arrangement on the special-shaped holding body, the one end hinged joint that special-shaped holding body was kept away from to the plate body recovery cylinder is on the plane holding body.

Preferably, the special-shaped clamping body comprises a support body and a deformation body, the deformation body is fixedly connected to the support body, a plurality of pressure sensors are arranged on the deformation body, the pressure sensors are used for detecting actual pressure applied to the deformation body, an air bag mounting cavity is formed between the support body and the deformation body, a plurality of inflatable air bags are arranged in the air bag mounting cavity, and the positions of the inflatable air bags correspond to the positions of the pressure sensors one by one;

the support body side fixedly connected with subassembly of inflating, the subassembly of inflating is used for realizing inflating and deflating of inflating the gasbag, is equipped with the controller in the support body, and the subassembly of inflating and pressure sensor all are connected with the controller electricity, and the controller is used for inflating the subassembly work according to pressure sensor's detected value control.

Preferably, the pump assembly includes:

the piston inflator is fixedly connected to the bracket body, two symmetrically arranged short air inlet pipes are arranged on the piston inflator, a first one-way valve is arranged in each short air inlet pipe, and an inflating hose is arranged on the piston inflator;

the two electromagnetic inflating pistons are the same in magnetism and are connected through an intermediate connecting elastic piece, and the middle part of the intermediate connecting elastic piece is fixedly connected into the piston inflator;

the support comprises an arc-shaped pipeline, a plurality of vent pipelines and two symmetrically arranged exhaust pipelines, wherein the arc-shaped pipeline, the vent pipelines and the two symmetrically arranged exhaust pipelines are all arranged in the support body;

the electromagnetic power supply assembly is arranged in the piston inflator and used for supplying power to the electromagnetic inflating piston;

the electromagnetic power supply assembly, the first valve and the second valve are electrically connected with the controller, and the controller is used for controlling the electromagnetic power supply assembly, the first valve and the second valve to act according to the detection value of the pressure sensor.

Preferably, the chuck assembly comprises:

the fan blade comprises two symmetrically arranged fan blade bins, wherein fan blade rollers are rotationally connected in the fan blade bins, first driving pieces are arranged on the fan blade rollers and used for driving the fan blade rollers to rotate, a plurality of fan blade sliding grooves are annularly arranged in the fan blade rollers, fan blades are slidably connected in the fan blade sliding grooves, first attracting electromagnets are arranged on the fan blades, second attracting electromagnets are arranged at the bottoms of the fan blade sliding grooves and used for attracting the first attracting electromagnets mutually;

the main disc body is provided with a plurality of sucking discs, the sucking discs are arranged in the sucking disc accommodating grooves, the sucking discs are connected with the sucking disc accommodating grooves through sucking disc electric telescopic pieces, and the sucking discs are communicated with the fan blade bin through air exhaust hoses;

the air pump is fixedly connected to the main disc body, and an air inlet pipe of the air pump is communicated with the fan blade bin.

Preferably, the short-side tray body is provided with two groups of printing table cleaning components which are symmetrically arranged, the printing table cleaning components are used for cleaning the printing table, and the printing table cleaning components comprise a wiping component and an air drying component.

Preferably, clean the subassembly and include that the small-size electronic flexible of two symmetries were arranged cleans a section of thick bamboo and the large-scale electronic flexible section of thick bamboo of cleaning that two symmetries were arranged, small-size electronic flexible cleans a section of thick bamboo and all rotates the first inslot of accomodating of connecting at the minor face disk body with large-scale electronic flexible section of thick bamboo, hinged joint has two linkage connecting rods on the small-size electronic flexible section of thick bamboo of cleaning, one end hinged joint that small-size electronic flexible section of thick bamboo was cleaned away from to two linkage connecting rods is on large-scale electronic flexible section of thick bamboo of cleaning, small-size electronic flexible section of thick bamboo of cleaning is equipped with the second driving piece, the second driving piece is used for driving small-size electronic flexible section of thick bamboo rotation of cleaning.

Preferably, the air drying assembly comprises a driving disc and two symmetrically arranged drawing air supply assemblies, the driving disc is rotatably connected in the second accommodating groove of the short-side disc body, a plurality of pushing wedge blocks which are uniformly arranged are arranged on the driving disc, and a third driving piece is arranged on the driving disc and used for driving the driving disc to rotate;

the drawing air supply assembly comprises a drawing barrel, a drawing piston rod is connected in the drawing barrel in a sliding mode, a reset elastic piece is sleeved on the part, located in the drawing barrel, of the drawing piston rod, one end, located outside the drawing barrel, of the drawing piston rod is used for being matched with the pushing wedge block, the drawing barrel is communicated with the external environment through an air exhaust channel, a second one-way valve is arranged in the air exhaust channel, an air supply pipe is arranged on the drawing barrel, one end, far away from the drawing barrel, of the air supply pipe is communicated with an air supply fan cavity, and the air supply fan cavity is connected with an air supply fan in a rotating mode.

Preferably, a plurality of machine vision detection assemblies are arranged on the main disc body and used for identifying and judging the actual printing quality of the printed matter, the machine vision detection assemblies are electrically connected with an external controller, and the external controller is used for controlling the six-axis mechanical arm to move according to the actual printing quality of the printed matter.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

fig. 1 is a schematic view of the overall structure of the present invention.

FIG. 2 is a first cross-sectional view of the main tray body of the present invention.

FIG. 3 is a second cross-sectional view of the main tray body of the present invention.

FIG. 4 is a schematic view of a clamping assembly according to the present invention.

FIG. 5 is a schematic view of a clamping head according to the present invention.

FIG. 6 is a schematic view of a printing table cleaning assembly according to the present invention.

FIG. 7 is a schematic view of a chuck assembly according to the present invention.

In the figure: 1. a manipulator base; 2. a mechanical arm height adjusting cylinder; 3. a six-axis mechanical arm; 4. a manipulator main body; 400. adjusting the rotating shaft; 401. a main tray body; 402. a short-side disk body; 403. a long-side tray body; 404. a suction cup assembly; 4040. a fan blade bin; 4041. a fan blade roller; 4042. a fan blade; 4043. an air extraction hose; 4044. an air pump; 4045. a suction cup; 4046. a suction cup receiving groove; 4047. an air inlet pipe of an air pump; 4048. a sucker electric telescopic piece; 5. a clamping assembly; 500. a first motor; 5000. roughly adjusting a lead screw; 5001. roughly adjusting a nut chute; 5002. roughly adjusting a screw nut; 5003. a second motor; 5004. fine adjustment of the lead screw; 5005. fine adjustment of the lead screw nut; 5006. fine adjustment of the connecting rod; 5007. coarse adjustment of a nut guide rod; 501. a clamping head; 5010. a top connecting block; 5011. a special-shaped clamping body; 5012. a planar clamping body; 5013. a plate body recovery cylinder; 5014. a short guide cylinder; 5015. clamping the buffer elastic piece; 5016. a stent body; 5017. a deformable body; 5018. an airbag mounting cavity; 5019. an inflatable air bag; 502. an inflation assembly; 5020. a piston inflator; 5021. a short gas inlet pipe; 5022. a first check valve; 5023. an inflation hose; 5024. an electromagnetic pumping piston; 5025. the middle part is connected with an elastic part; 5026. an arc-shaped pipeline; 5027. an air duct; 5028. a first valve; 5029. an exhaust duct; 503. a second valve; 6. a printing table cleaning assembly; 600. a small electric telescopic wiping cylinder; 6000. a large electric telescopic wiping cylinder; 6001. a first receiving groove; 6002. a linkage connecting rod; 601. a drive disc; 6010. a second receiving groove; 6011. pushing the wedge block; 6012. drawing the cylinder body; 6013. drawing the piston rod; 6014. an air extraction channel; 6015. a second check valve; 6016. a wind supply pipe; 6017. a fan cavity; 6018. a wind supply fan; 6019. a restoring elastic member; 7. cleaning the printing table; 8. a machine vision inspection assembly.

Detailed Description

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.

In addition, the descriptions related to the first, the second, etc. in the present invention are only used for description purposes, do not particularly refer to an order or sequence, and do not limit the present invention, but only distinguish components or operations described in the same technical terms, and are not understood to indicate or imply relative importance or implicitly indicate the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions and technical features between the various embodiments may be combined with each other, but must be based on the realization of the capability of a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The present invention provides the following examples:

example 1

The embodiment of the invention provides a manipulator device for a printing machine, which comprises a manipulator base 1, wherein a manipulator height adjusting cylinder 2 is arranged on the manipulator base 1, six manipulators 3 are arranged on the manipulator height adjusting cylinder 2, and manipulator main bodies 4 are arranged at the working ends of the six manipulators 3;

the manipulator main body 4 comprises an adjusting rotating shaft 400 and a main disc body 401, the main disc body 401 comprises a short-side disc body 402 and a long-side disc body 403, the short-side disc body 402 and the long-side disc body 403 are perpendicular to each other and form an integrated design, a group of clamping assemblies 5 are arranged on the short-side disc body 402 and the long-side disc body 403, and a sucker assembly 404 is arranged in the middle of the main disc body 401.

The working principle and the beneficial effects of the technical scheme are as follows: during use, the mechanical arm is pushed to the position near the clean printing table 7, the mechanical arm height adjusting cylinder 2 is adjusted to a proper height, the rear six-shaft mechanical arm 3 drives the mechanical arm main body 4 to adjust the space position, the main disc body 401 is close to a printed matter, the printed matter is carried in different grabbing modes according to the shape of the printed matter, and if the flaky printed matter is sucked by the suction disc assembly 404, the printed matter is carried to a product output conveying belt. Clamping the blocky printed matter by using the clamping component 5, and then carrying the blocky printed matter to a product output conveyor belt, wherein when the volume of the blocky printed matter is larger, the blocky printed matter is clamped by using the corresponding clamping component 5 on the long-side plate body 403, and when the volume of the blocky printed matter is smaller, the blocky printed matter is clamped by using the corresponding clamping component 5 on the short-side plate body 402;

the invention adopts two grabbing modes of clamping and absorbing to grab the printed matters, thereby meeting the carrying requirements of the printed matters with different shapes and solving the technical problems that the existing mechanical hand of the printing machine has single grabbing mode, can only clamp or absorb and can not meet the use requirements of the existing printing machine.

Example 2

On the basis of the above embodiment 1, as shown in fig. 2 and 3, the clamp assembly 5 includes:

the first motors 500 are symmetrically arranged, and the first motors 500 are fixedly connected in the long-side disc body 403;

the rough adjustment screw 5000 is fixedly connected to the output end of the first motor 500, the rough adjustment screw 5000 is rotatably connected into a rough adjustment nut chute 5001 of the long-side disc body 403, and two rough adjustment nut guide rods 5007 which are symmetrically arranged are fixedly connected into the rough adjustment nut chute 5001;

a coarse adjustment screw nut 5002, a coarse adjustment screw nut 5002 is in threaded connection with the coarse adjustment screw 5000, and the coarse adjustment screw nut 5002 is in sliding connection with a coarse adjustment nut guide rod 5007;

the second motor 5003 is arranged in the coarse adjustment screw nut 5002, and the output end of the second motor 5003 is fixedly connected with a fine adjustment screw 5004;

the fine adjustment screw nut 5005 is in threaded connection with the fine adjustment screw 5004;

the clamping head 501, the clamping head 501 is slidably connected to one end of the fine adjustment screw 5004 away from the second motor 5003, the fine adjustment screw nut 5005 is hinged to two fine adjustment connecting rods 5006 symmetrically arranged, and one end of the fine adjustment connecting rod 5006 away from the fine adjustment screw nut 5005 is hinged to the clamping head 501.

The working principle and the beneficial effects of the technical scheme are as follows: when the clamping device works, a clamping mode is selected according to the shape and size of an actual printed matter, if the volume of the printed matter is large, the clamping component 5 corresponding to the long-side plate body 403 is selected for clamping and carrying, if the volume of the printed matter is small, the clamping component 5 corresponding to the short-side plate body 402 is selected for clamping and carrying, and if the shape of the printed matter is approximate to a cuboid, the clamping components 5 corresponding to the long-side plate body 403 and the short-side plate body 402 are simultaneously used for clamping and carrying;

when the clamping assembly 5 works, the six-axis mechanical arm 3 moves the main disc body 401 to a printed product, then the first motor 500 drives the rough adjusting screw 5000 to rotate, the rough adjusting screw 5000 rotates to drive the rough adjusting screw nut 5002 to slide along the rough adjusting screw groove 5001 under the action of threads, so that the position between the two clamping heads 501 is roughly adjusted, the printed product is located in the two clamping heads 501, then the second motor 5003 drives the fine adjusting screw 5004 to rotate, so that the fine adjusting screw nut 5005 moves along the fine adjusting screw 5004 under the action of threads, the fine adjusting screw nut 5005 moves to drive the fine adjusting connecting rod 5006 to push the clamping heads 501 to slide along the fine adjusting screw 5004, so that the position of the clamping heads 501 is finely adjusted, the situation that the printed product is damaged due to improper force in the clamping process due to the adoption of rough adjusting is avoided, the rough adjusting and fine adjusting settings are matched, the damage rate in the conveying process is reduced, and the product quality is improved.

Example 3

On the basis of embodiment 2, as shown in fig. 4 and 5, the gripping head 501 includes a top connection block 5010, a specially shaped gripping body 5011, and two symmetrically arranged planar gripping bodies 5012;

the top connecting block 5010 is fixedly connected to the special-shaped clamping body 5011, one end, far away from the fine adjustment screw nut 5005, of the fine adjustment connecting rod 5006 is hinged to the top connecting block 5010, the top connecting block 5010 is fixedly connected with the guide short barrel 5014, the guide short barrel 5014 is sleeved on the fine adjustment screw 5004, one end, located in the guide short barrel 5014, of the fine adjustment screw 5004 is sleeved with the clamping buffering elastic piece 5015, the plane clamping body 5012 is hinged to the special-shaped clamping body 5011, the special-shaped clamping body 5011 is hinged to two symmetrically-arranged plate recovery air cylinders 5013, and one end, far away from the special-shaped clamping body 5011, of the plate recovery air cylinder 5013 is hinged to the plane clamping body 5012.

The working principle and the beneficial effects of the technical scheme are as follows: when the printed matter is in a plane regular shape, the plate recovery cylinder 5013 extends, so that the relative positions of the plane clamping body 5012 and the special-shaped clamping body 5011 are as shown in fig. 2, when the printed matter is in an irregular shape, the plate recovery cylinder 5013 is shortened, the plane clamping body 5012 is driven by the plate recovery cylinder 5013 to recover, then the special-shaped clamping body 5011 is adopted to clamp the printed matter, and in the clamping process, the clamping buffering elastic piece 5015 plays a role in buffering, so that the defective rate of the printed matter in the conveying process is better reduced, and meanwhile, the service life of the clamping head 501 is greatly prolonged.

Example 4

On the basis of the embodiment 3, as shown in fig. 5, the special-shaped clamping body 5011 comprises a support body 5016 and a deformation body 5017, wherein the deformation body 5017 is fixedly connected to the support body 5016, a plurality of pressure sensors are arranged on the deformation body 5017 and used for detecting actual pressure applied to the deformation body 5017, an air bag mounting cavity 5018 is formed between the support body 5016 and the deformation body 5017, a plurality of inflatable air bags 5019 are arranged in the air bag mounting cavity 5018, and the positions of the inflatable air bags 5019 correspond to the positions of the pressure sensors one by one;

the side face of the support body 5016 is fixedly connected with an inflating assembly 502, the inflating assembly 502 is used for achieving inflation and deflation of the inflatable air bag 5019, a controller is arranged in the support body 5016, the inflating assembly 502 and the pressure sensor are both electrically connected with the controller, and the controller is used for controlling the inflating assembly 502 to work according to detection values of the pressure sensor.

The working principle and the beneficial effects of the technical scheme are as follows: when the two corresponding special-shaped clamping bodies 5011 clamp the printed product, each pressure sensor has an actual detection value at this time, the controller compares the actual detection value of each pressure sensor, if the actual detection value of a certain pressure sensor is larger than the preset detection value range, the controller controls the inflating assembly 502 to deflate the inflatable airbag 5019 corresponding to the pressure sensor, if the actual detection value of a certain pressure sensor is smaller than the preset detection value range, the controller controls the inflating assembly 502 to inflate the inflatable airbag 5019 corresponding to the pressure sensor, the inflation of the inflatable airbag 5019 with the smaller actual pressure detection value is performed to avoid that the printed product falls off due to the fact that a certain part is clamped loosely in the clamping process, the inflation airbag 5019 with the larger actual pressure detection value is deflated to ensure that the printed product cannot be damaged due to the fact that the clamping force is larger in the carrying process.

Example 5

In addition to embodiment 4, as shown in fig. 5, the pump assembly 502 includes:

a piston inflator 5020 and a piston inflator 5020 are fixedly connected to a bracket body 5016, the piston inflator 5020 is provided with two symmetrically arranged air inlet short pipes 5021, a first one-way valve 5022 is arranged in the air inlet short pipe 5021, and an air inflation hose 5023 is arranged on the piston inflator 5020;

the two electromagnetic inflating pistons 5024 are the same in magnetism, the two electromagnetic inflating pistons 5024 are connected through an intermediate connecting elastic piece 5025, and the middle of the intermediate connecting elastic piece 5025 is fixedly connected into the piston inflator 5020;

the bracket comprises an arc-shaped pipeline 5026, a plurality of ventilation pipelines 5027 and two symmetrically arranged exhaust pipelines 5029, wherein the arc-shaped pipeline 5026, a plurality of ventilation pipelines 5027 and the two symmetrically arranged exhaust pipelines 5029 are all arranged in a bracket body 5016, the ventilation pipelines 5027 are uniformly arranged on the arc-shaped pipeline 5026, the ventilation pipelines 5027 are respectively communicated with a plurality of inflatable airbags 5019 in a one-to-one correspondence manner, first valves 5028 are arranged in the ventilation pipelines 5027, the exhaust pipelines 5029 are communicated with the arc-shaped pipeline 5026, and second valves 503 are arranged in the exhaust pipelines 5029;

the electromagnetic power supply assembly is arranged in the piston inflator 5020 and is used for supplying power to the electromagnetic inflating piston 5024;

the electromagnetic power supply assembly, the first valve 5028 and the second valve 503 are all electrically connected with a controller, and the controller is used for controlling the electromagnetic power supply assembly, the first valve 5028 and the second valve 503 to act according to the detection value of the pressure sensor.

The working principle and the beneficial effects of the technical scheme are as follows: when the actual detection value of a certain pressure sensor is greater than the preset detection value range, the inflating assembly 502 deflates the inflatable airbag 5019 corresponding to the pressure sensor, and when the inflatable airbag 5019 is deflated, the controller opens the first valve 5028 corresponding to the inflatable airbag 5019 and the second valve 503 of the exhaust pipeline 5029, at this time, under the action of air pressure, the gas in the inflatable airbag 5019 is exhausted to the outside air, and until the actual detection value of the pressure sensor is within the preset detection value range, the controller controls the first valve 5028 and the second valve 503 to be closed;

when the actual detection value of the pressure sensor is smaller than the preset detection value range, the inflating assembly 502 inflates the inflatable airbag 5019 corresponding to the pressure sensor, and during inflation, the electromagnetic power supply assembly supplies power to the electromagnetic inflating piston 5024, so that the two electromagnetic inflating pistons 5024 are away from each other, air in the piston inflator 5020 enters the arc-shaped pipeline 5026 through the inflating hose 5023 and then enters the ventilation pipeline 5027 corresponding to the inflatable airbag 5019 through the arc-shaped pipeline 5026, so that the inflatable airbag 5019 is inflated, when the actual detection value of the pressure sensor corresponding to the inflatable airbag 5019 is within the preset detection value range, the controller closes the first valve 5028 corresponding to the inflatable airbag 5019, and the special-shaped clamping body 5011 is designed to enable the special-shaped clamping body 5011 to be more attached to a printed product in use, so that the product adaptability of the manipulator is improved.

Example 6

On the basis of embodiment 1, as shown in fig. 6 and 7, the chuck assembly 404 includes:

the fan comprises two symmetrically arranged fan blade bins 4040, a fan blade roller 4041 is rotationally connected in the fan blade bins 4040, a first driving piece is arranged on the fan blade roller 4041 and used for driving the fan blade roller 4041 to rotate, a plurality of fan blade sliding grooves are annularly arranged in the fan blade roller 4041 and are connected with fan blades 4042 in a sliding mode, a first attraction electromagnet is arranged on each fan blade 4042, a second attraction electromagnet is arranged at the bottom of each fan blade sliding groove and used for attracting the first attraction electromagnet;

the fan blade storage structure comprises a plurality of suckers 4045, a sucker storage groove 4046 is formed in the main tray body 401, the suckers 4045 are arranged in the sucker storage groove 4046, the suckers 4045 are connected with the sucker storage groove 4046 through a sucker electric telescopic part 4048, and the suckers 4045 are communicated with a fan blade bin 4040 through an air suction hose 4043;

an air suction pump 4044 and an air suction pump 4044 are fixedly connected to the main disc body 401, and an air suction pump inlet pipe 4047 is communicated with the fan blade bin 4040.

The working principle and the beneficial effects of the technical scheme are as follows: when being the thin slice by the printed matter or can not adopt the mode of centre gripping, adopt sucking disc subassembly 404 to absorb it, thereby realize the transport to it, when absorbing, sucking disc electric telescopic part 4048 drives sucking disc 4045 downstream to by the printed matter surface, later aspiration pump 4044 opens, make under the effect of atmospheric pressure by the printed matter tightly be inhaled on sucking disc 4045, thereby make the transport to the printed matter, first attraction electro-magnet and second attraction electro-magnet are all in the state of being electrified in this in-process, under the effect of atmospheric pressure, drive flabellum roller 4041 is in the rotation state, sucking disc subassembly 404 is in the use, flabellum storehouse 4040 can pile up the dust gradually, when clearing up the dust in the flabellum storehouse 4040, pull down aspiration pump intake pipe 4047, later first attraction electro-magnet and second attraction electro-magnet, later a driving piece drive flabellum roller 4041 rotates, flabellum 4042 contacts with the inner wall of flabellum storehouse 4040 under the effect of centrifugal force, thereby strike off the inner wall of flabellum storehouse 4040, the dust 4047 can be installed through the suction pump, thereby the automatic cleaning of flabellum storehouse can be realized.

Example 7

On the basis of embodiment 1, as shown in fig. 6, two sets of symmetrically arranged printing table cleaning assemblies 6 are arranged on the short side disc body 402, the printing table cleaning assemblies 6 are used for cleaning the printing table 7, and the printing table cleaning assemblies 6 comprise wiping assemblies and air drying assemblies;

the wiping component comprises two symmetrically arranged small electric telescopic wiping cylinders 600 and two symmetrically arranged large electric telescopic wiping cylinders 6000, the small electric telescopic wiping cylinders 600 and the large electric telescopic wiping cylinders 6000 are rotatably connected in a first accommodating groove 6001 of the short-side disc body 402, two linkage connecting rods 6002 are hinged on the small electric telescopic wiping cylinders 600, one ends, far away from the small electric telescopic wiping cylinders 600, of the two linkage connecting rods 6002 are hinged on the large electric telescopic wiping cylinders 6000, and second driving pieces are arranged on the small electric telescopic wiping cylinders 600 and used for driving the small electric telescopic wiping cylinders 600 to rotate;

the air drying component comprises a driving disk 601 and two symmetrically arranged drawing air supply components, the driving disk 601 is rotatably connected in a second accommodating groove 6010 of the short-side disk body 402, a plurality of pushing wedge blocks 6011 which are uniformly arranged are arranged on the driving disk 601, and a third driving part is arranged on the driving disk 601 and used for driving the driving disk 601 to rotate;

the drawing air supply assembly comprises a drawing cylinder 6012, a drawing piston rod 6013 is slidably connected in the drawing cylinder 6012, a part, located in the drawing cylinder 6012, of the drawing piston rod 6013 is sleeved with a reset elastic piece 6019, one end, located outside the drawing cylinder 6012, of the drawing piston rod 6013 is used for being matched with the pushing wedge-shaped block 6011, the drawing cylinder 6012 is communicated with the external environment through an air exhaust channel 6014, a second one-way valve 6015 is arranged in the air exhaust channel 6014, an air supply pipe 6016 is arranged on the drawing cylinder 6012, one end, far away from the drawing cylinder 6012, of the air supply pipe 6016 is communicated with an air supply fan cavity 6017, and the air supply fan cavity 6017 is rotatably connected with an air supply fan 6018.

The working principle and the beneficial effects of the technical scheme are as follows: the cleaning degree of the printing table 7 determines the printing quality of a printed product to a certain degree, and therefore timely cleaning of the printing table 7 is important, when the printing table 7 is cleaned, professional cleaning liquid is poured onto the printing table 7, then the six-shaft mechanical arm 3 drives the main disc body 401 to move to the surface of the printed product, then the second driving piece drives the small electric telescopic wiping cylinder 600 to swing, the small electric telescopic wiping cylinder 600 rotates to drive the linkage connecting rod 6002 to move, the linkage connecting rod 6002 moves to drive the large electric telescopic wiping cylinder 6000 to swing so as to wipe the printing table 7, after the printing table 7 is wiped, the air drying component starts, the third driving piece drives the driving disc 601 to rotate, the driving disc 601 rotates to drive the pushing wedge 6011 to move, the pushing wedge 6011 to move to push the drawing piston rod 6013 to move, due to the mutual matching of the pushing wedge 6011 and the resetting elastic piece 6019, the drawing piston rod 6013 slides back and forth in the drawing cylinder 6012, so that outside air enters the drawing cylinder 6012 through the channel 6014, and is discharged into the air supply pipe 6012, and the air supply fan 6018, and the air is blown to the printing table 7 to be dried.

Example 8

In addition to the embodiment 1, as shown in fig. 2, the main tray 401 is provided with a plurality of machine vision inspection assemblies 8, the machine vision inspection assemblies 8 are used for identifying and judging the actual printing quality of the printed matter, the machine vision inspection assemblies 8 are electrically connected with an external controller, and the external controller is used for controlling the six-axis robot arm 3 to operate according to the actual printing quality of the printed matter.

Wherein, machine vision detection subassembly 8 is the detection subassembly based on the deep learning model of training is set up.

The working principle and the beneficial effects of the technical scheme are as follows: when the recognition result of the machine vision detection assembly 8 is that the quality of the printed matter is good, the controller controls the six-shaft mechanical arm 3 to convey the printed matter to a normal product conveying belt, and when the recognition result of the machine vision detection assembly 8 is that the quality of the printed matter is poor, the controller controls the six-shaft mechanical arm 3 to convey the printed matter to a defective product conveying belt, so that the printing quality of the printed matter is easily monitored.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. The manipulator device for the printing machine is characterized by comprising a manipulator base (1), wherein a manipulator height adjusting cylinder (2) is arranged on the manipulator base (1), six manipulators (3) are arranged on the manipulator height adjusting cylinder (2), and manipulator main bodies (4) are arranged at the working ends of the six manipulators (3);

manipulator main part (4) are including adjusting pivot (400) and main disk body (401), and main disk body (401) are including minor face disk body (402) and long limit disk body (403), and minor face disk body (402) and long limit disk body (403) mutually perpendicular arrange and form the integrated design, all are equipped with a set of centre gripping subassembly (5) on minor face disk body (402) and the long limit disk body (403), and main disk body (401) middle part is equipped with sucking disc subassembly (404).

2. The robot apparatus for a printing press according to claim 1,

the clamping assembly (5) comprises:

the first motors (500) are symmetrically arranged, and the first motors (500) are fixedly connected in the long-side disc body (403);

the rough adjustment screw rod (5000), the rough adjustment screw rod (5000) is fixedly connected to the output end of the first motor (500), the rough adjustment screw rod (5000) is rotatably connected into a rough adjustment nut sliding groove (5001) of the long-side disc body (403), and two rough adjustment nut guide rods (5007) which are symmetrically arranged are fixedly connected into the rough adjustment nut sliding groove (5001);

a coarse adjustment screw nut (5002), wherein the coarse adjustment screw nut (5002) is in threaded connection with the coarse adjustment screw (5000), and the coarse adjustment screw nut (5002) is in sliding connection with a coarse adjustment nut guide rod (5007);

the second motor (5003), the second motor (5003) is arranged in the rough adjusting screw nut (5002), and the output end of the second motor (5003) is fixedly connected with a fine adjusting screw (5004);

the fine adjustment screw nut (5005) is in threaded connection with the fine adjustment screw rod (5004);

centre gripping head (501), centre gripping head (501) sliding connection are in the one end of finely tuning lead screw (5004) keeping away from second motor (5003), and fine tuning lead screw nut (5005) goes up hinged joint has fine tuning connecting rod (5006) of two symmetrical arrangement, and fine tuning connecting rod (5006) keeps away from the one end and the centre gripping head (501) hinged joint of fine tuning lead screw nut (5005).

3. The robot apparatus for a printing press according to claim 2,

the clamping head (501) comprises a top connecting block (5010), a special-shaped clamping body (5011) and two symmetrically arranged plane clamping bodies (5012);

top connecting block (5010) fixed connection is on dysmorphism supporting body (5011), the one end hinged joint that fine tuning screw nut (5005) was kept away from in fine tuning connecting rod (5006) is on top connecting block (5010), fixedly connected with direction stub bar (5014) is gone up in top connecting block (5010), direction stub bar (5014) cover is established on fine tuning lead screw (5004), and one end cover that fine tuning lead screw (5004) is located in direction stub bar (5014) is equipped with centre gripping buffering elastic component (5015), plane supporting body (5012) hinged joint is on dysmorphism supporting body (5011), hinged joint has board body recovery cylinder (5013) of two symmetrical arrangement on dysmorphism supporting body (5011), one end hinged joint that special-shaped supporting body (5011) was kept away from in board body recovery cylinder (5013) is on plane supporting body (5012).

4. The robot apparatus for a printing press according to claim 3,

the special-shaped clamping body (5011) comprises a support body (5016) and a deformation body (5017), the deformation body (5017) is fixedly connected to the support body (5016), a plurality of pressure sensors are arranged on the deformation body (5017), the pressure sensors are used for detecting actual pressure borne by the deformation body (5017), an air bag mounting cavity (5018) is formed between the support body (5016) and the deformation body (5017), a plurality of inflatable air bags (5019) are arranged in the air bag mounting cavity (5018), and the positions of the inflatable air bags (5019) correspond to the positions of the pressure sensors one by one;

the support body (5016) side fixedly connected with inflates subassembly (502), inflates subassembly (502) and is used for realizing inflating and deflating of inflatable air bag (5019), is equipped with the controller in the support body (5016), inflates subassembly (502) and pressure sensor all to be connected with the controller electricity, and the controller is used for inflating subassembly (502) work according to pressure sensor's detection value control.

5. The robot apparatus for a printing press according to claim 4,

the pump assembly (502) includes:

the piston inflator (5020), the piston inflator (5020) is fixedly connected to the support body (5016), two symmetrically arranged air inlet short pipes (5021) are arranged on the piston inflator (5020), a first one-way valve (5022) is arranged in each air inlet short pipe (5021), and an air inflation hose (5023) is arranged on the piston inflator (5020);

the two electromagnetic inflating pistons (5024) are identical in magnetism, the two electromagnetic inflating pistons (5024) are connected through an intermediate connecting elastic piece (5025), and the middle part of the intermediate connecting elastic piece (5025) is fixedly connected into the piston inflator (5020);

the bracket comprises an arc-shaped pipeline (5026), a plurality of air ducts (5027) and two symmetrically arranged exhaust pipelines (5029), wherein the arc-shaped pipeline (5026), the air ducts (5027) and the two symmetrically arranged exhaust pipelines (5029) are all arranged in a bracket body (5016), the air ducts (5027) are uniformly arranged on the arc-shaped pipeline (5026), the air ducts (5027) are respectively communicated with a plurality of inflatable air bags (5019) in a one-to-one correspondence manner, a first valve (5028) is arranged in the air ducts (5027), the exhaust pipelines (5029) are communicated with the arc-shaped pipeline (5026), and a second valve (503) is arranged in the exhaust pipeline (5029);

the electromagnetic power supply assembly is arranged in the piston inflator (5020) and is used for supplying power to the electromagnetic inflating piston (5024);

the electromagnetic power supply assembly, the first valve (5028) and the second valve (503) are electrically connected with a controller, and the controller is used for controlling the electromagnetic power supply assembly, the first valve (5028) and the second valve (503) to act according to the detection value of the pressure sensor.

6. The robot apparatus for a printing press according to claim 1,

the chuck assembly (404) includes:

the fan blade comprises two symmetrically arranged fan blade bins (4040), fan blade rollers (4041) are rotationally connected in the fan blade bins (4040), first driving pieces are arranged on the fan blade rollers (4041) and used for driving the fan blade rollers (4041) to rotate, a plurality of fan blade sliding grooves are annularly arranged in the fan blade rollers (4041), fan blades (4042) are connected in the fan blade sliding grooves in a sliding mode, first attracting electromagnets are arranged on the fan blades (4042), second attracting electromagnets are arranged at the bottoms of the fan blade sliding grooves, and the second attracting electromagnets are used for attracting the first attracting electromagnets;

the fan blade storage device comprises a plurality of suckers (4045), a sucker storage groove (4046) is formed in a main disc body (401), the suckers (4045) are arranged in the sucker storage groove (4046), the suckers (4045) are connected with the sucker storage groove (4046) through sucker electric telescopic pieces (4048), and the suckers (4045) are communicated with a fan blade bin (4040) through air suction hoses (4043);

the air suction pump (4044), air suction pump (4044) fixed connection is on main tray body (401), and air suction pump intake pipe (4047) and flabellum storehouse (4040) intercommunication.

7. The robot apparatus for a printing press according to claim 1,

and two groups of symmetrically-arranged printing table cleaning components (6) are arranged on the short side disc body (402), the printing table cleaning components (6) are used for cleaning the printing table (7), and the printing table cleaning components (6) comprise a wiping component and an air drying component.

8. The robot apparatus for a printing press according to claim 7,

the cleaning component comprises two symmetrical small electric telescopic cleaning barrels (600) and two symmetrical large electric telescopic cleaning barrels (6000), the small electric telescopic cleaning barrels (600) and the large electric telescopic cleaning barrels (6000) are all connected in a first accommodating groove (6001) of a short-side disk body (402) in a rotating mode, the small electric telescopic cleaning barrels (600) are connected with two linkage connecting rods (6002) through hinges, one end of each linkage connecting rod (6002) far away from the small electric telescopic cleaning barrels (600) is connected to the large electric telescopic cleaning barrels (6000), a second driving piece is arranged on the small electric telescopic cleaning barrels (600), and the second driving piece is used for driving the small electric telescopic cleaning barrels (600) to rotate.

9. The robot apparatus for a printing press according to claim 7,

the air drying assembly comprises a driving disc (601) and two symmetrically arranged drawing air supply assemblies, the driving disc (601) is rotatably connected in a second accommodating groove (6010) of the short-side disc body (402), a plurality of pushing wedge blocks (6011) which are uniformly arranged are arranged on the driving disc (601), and a third driving piece is arranged on the driving disc (601) and used for driving the driving disc (601) to rotate;

the drawing air supply assembly comprises a drawing cylinder body (6012), a drawing piston rod (6013) is connected in the drawing cylinder body (6012) in a sliding mode, a part, located in the drawing cylinder body (6012), of the drawing piston rod (6013) is sleeved with a reset elastic piece (6019), one end, located outside the drawing cylinder body (6012), of the drawing piston rod (6013) is used for being matched with the pushing wedge-shaped block (6011) mutually, the drawing cylinder body (6012) is communicated with the external environment through an air exhaust channel (6014), a second one-way valve (6015) is arranged in the air exhaust channel (6014), an air supply pipe (6016) is arranged on the drawing cylinder body (6012), one end, far away from the drawing cylinder body (6012), of the air supply pipe (6016) is communicated with an air supply fan cavity (6017), and an air supply fan (6018) is connected in the air supply fan cavity (6017) in a rotating mode.

10. The robot apparatus for a printing press according to claim 1,

a plurality of machine vision detection assemblies (8) are arranged on the main disc body (401), the machine vision detection assemblies (8) are used for identifying and judging the actual printing quality of the printed matter, the machine vision detection assemblies (8) are electrically connected with an external controller, and the external controller is used for controlling the six-axis mechanical arm (3) to move according to the actual printing quality of the printed matter.

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