阅读说明：本技术 一种多工位印仓抓取系统及方法 (Multi-station printing cabin grabbing system and method ) 是由 刘冠华 夏栩 白洋 王希凝 张幸柳 何仲达 于 2020-12-29 设计创作，主要内容包括：本发明提供了一种多工位印仓抓取系统及方法。该系统包括：仓位位置传感器、抓取位置传感器和控制器；其中,仓位位置传感器用以对多工位旋转印仓进行检测；抓取位置传感器用以对抓取机构进行检测；控制器与仓位位置传感器相连接,用以接收仓位位置传感器检测的当前待压印印章的位置信息,控制多工位旋转印仓旋转至印章待抓取位置；控制器还与抓取位置传感器相连接,用以接收抓取位置传感器检测的抓取机构的位置信息控制抓取机构移动至预抓取印章位置,并向下移动至待抓取印章位置。本发明依据需要选择和输送印章到特定工位,并以抓取装置协助完成盖章动作,提高了多工位旋转印仓上多个印章之间使用灵活性。(The invention provides a multi-station printing cabin grabbing system and method. The system comprises: the device comprises a bin position sensor, a grabbing position sensor and a controller; the multi-station rotary transfer printing cabin is used for carrying out multi-station rotary transfer printing on the workpiece; the grabbing position sensor is used for detecting the grabbing mechanism; the controller is connected with the bin position sensor and used for receiving the position information of the current seal to be imprinted, which is detected by the bin position sensor, and controlling the multi-station rotary transfer printing bin to rotate to a position where the seal is to be captured; the controller is also connected with the grabbing position sensor and used for receiving the position information of the grabbing mechanism detected by the grabbing position sensor to control the grabbing mechanism to move to a pre-grabbing seal position and move downwards to a seal position to be grabbed. The multi-station rotary transfer printing device selects and conveys the seal to a specific station according to the requirement, and the gripping device assists in finishing the seal action, so that the use flexibility of a plurality of seals on the multi-station rotary transfer printing bin is improved.)

1. The utility model provides a multistation seal storehouse grasping system which characterized in that includes: the device comprises a bin position sensor, a grabbing position sensor and a controller; wherein the content of the first and second substances,

the position sensor is used for detecting the multi-station rotary transfer printing cabin to acquire the position information of the current stamp to be stamped on the multi-station rotary transfer printing cabin;

the grabbing position sensor is used for detecting a grabbing mechanism so as to obtain position information of the grabbing mechanism;

the controller is connected with the bin position sensor and used for receiving the position information of the current stamp to be stamped, which is detected by the bin position sensor, determining whether the current stamp to be stamped is located at a stamp to be grabbed position according to the position information of the current stamp to be stamped, and acquiring a stamp result; when the seal result shows that the current seal to be imprinted is not located at the position where the seal is to be captured, the multi-station rotary transfer printing cabin is controlled to rotate, so that the multi-station rotary transfer printing cabin drives the current seal to be imprinted to rotate to the position where the seal is to be captured;

the controller is also connected with the grabbing position sensor and used for receiving position information of the grabbing mechanism detected by the grabbing position sensor, determining whether the grabbing mechanism is at a position for grabbing the seal in advance according to the position information of the grabbing mechanism, and acquiring a grabbing result; and when the grabbing result shows that the grabbing mechanism is not located at the position of the pre-grabbed seal, controlling the grabbing mechanism to move so that the grabbing mechanism moves to the position of the pre-grabbed seal, and controlling the grabbing mechanism to move downwards to the position of the to-be-grabbed seal after the grabbing mechanism moves to the position of the pre-grabbed seal so as to grab and move the current to-be-imprinted seal, so that imprinting of the current to-be-imprinted seal is realized.

2. The multi-station magazine gripper system of claim 1,

the controller is further used for determining the rotating direction and the rotating angle of the multi-station rotary transfer printing cabin when the result shows that the current stamp to be stamped is not located at the position where the stamp is to be captured, so that the multi-station rotary transfer printing cabin rotates to the position where the stamp is to be captured according to the rotating direction and the rotating angle.

3. The multi-station magazine gripper system of claim 2,

the controller is further used for confirming the rotation direction and the rotation number of turns of the driving motor according to the rotation direction and the rotation angle of the multi-station rotary transfer printing cabin, confirming a driving instruction according to the rotation direction and the rotation number of turns and sending the driving instruction to the driving motor so that the driving motor rotates according to the driving instruction and drives the multi-station rotary transfer printing cabin to rotate to a position to be grabbed by a seal.

4. The multi-station magazine handling system of any one of claims 1 to 3,

the controller is further used for determining horizontal displacement and vertical displacement between the current position of the grabbing mechanism and the position of the pre-grabbed seal when the result shows that the grabbing mechanism is not located at the position of the pre-grabbed seal, determining the horizontal moving direction, the horizontal moving distance, the vertical moving direction and the vertical moving distance of the grabbing mechanism, and sending a moving instruction to the grabbing mechanism according to the horizontal displacement and the vertical displacement so that the grabbing mechanism can move horizontally and vertically to the position of the pre-grabbed seal according to the moving instruction.

5. The multi-station magazine gripper system of claim 4,

the controller is further used for determining the azimuth relationship between the current position of the grabbing mechanism and the position of the pre-grabbed seal when the result shows that the grabbing mechanism is not located at the position of the pre-grabbed seal, so as to determine the sequence relationship between the horizontal movement and the vertical movement of the grabbing mechanism.

6. A multi-station, printing bay gripping system as claimed in any one of claims 1 to 3, further comprising: a limit switch; wherein the content of the first and second substances,

the limit switch is used for limiting the position of the grabbing mechanism, so that when the grabbing mechanism moves to the position of the limit switch, the limit switch sends a limit instruction to the controller;

the controller is also electrically connected with the limit switch and used for receiving the limit instruction and controlling the grabbing mechanism to stop moving or move reversely according to the limit instruction.

7. The multi-station magazine gripper system of claim 6,

the controller is further used for controlling the grabbing position sensor according to the limiting instruction, so that the position information of the grabbing mechanism detected by the grabbing position sensor is corrected to the position of the limiting switch.

8. The multi-station magazine gripper system of claim 6,

the limit switch includes: the horizontal limit switch and the vertical limit switch are used for limiting the horizontal direction and the vertical direction of the grabbing mechanism respectively.

9. The multi-station magazine handling system of any one of claims 1 to 3,

the grip position sensor includes: a horizontal direction sensor and a vertical direction sensor to detect a current horizontal position and a current vertical position of the grasping mechanism, respectively, in real time.

10. A multi-station, printing bay gripping system as claimed in any one of claims 1 to 3, further comprising: installing a monitor; wherein the content of the first and second substances,

the mounting monitor is used for detecting whether a seal is inserted in a station of the multi-station rotary transfer printing cabin.

11. A multi-station printing cabin grabbing method is characterized by comprising the following steps:

a seal position step, namely detecting a multi-station rotary transfer printing cabin to obtain position information of a current seal to be stamped on the multi-station rotary transfer printing cabin;

a step of grabbing positions, which is to detect a grabbing mechanism so as to obtain position information of the grabbing mechanism;

a rotation step, namely determining whether the current stamp to be stamped is positioned at a stamp to be captured position according to the position information of the capture mechanism, and acquiring a stamp result; when the seal result shows that the current seal to be imprinted is not located at the position where the seal is to be captured, the multi-station rotary transfer printing cabin is controlled to rotate, so that the multi-station rotary transfer printing cabin drives the current seal to be imprinted to rotate to the position where the seal is to be captured;

a grabbing moving step, namely determining whether the grabbing mechanism is at a position for pre-grabbing the seal according to the position information of the grabbing mechanism, and acquiring a grabbing result; and when the grabbing result shows that the grabbing mechanism is not located at the position of the pre-grabbed seal, controlling the grabbing mechanism to move so as to enable the grabbing mechanism to move to the position of the pre-grabbed seal, and controlling the grabbing mechanism to move downwards to the position of the to-be-grabbed seal after the grabbing mechanism moves to the position of the pre-grabbed seal so as to grab and move the current to-be-imprinted seal, so that imprinting of the to-be-imprinted seal is realized.

Technical Field

The invention relates to the technical field of seals, in particular to a multi-station seal cabin grabbing system and method.

Background

The office informatization level is continuously improved, and the stamp machine is a new device for stamp control in the office process. A single seal uses an equipment, and the flexibility of using is influenced to many equipment of many seals, and a plurality of seals need to purchase a plurality of equipment simultaneously and lead to a plurality of equipment purchasing expenses height to occupy bulky to it is poor to coordinate the usability.

Disclosure of Invention

In view of this, the invention provides a multi-station seal cabin grabbing system and method, and aims to solve the problem that the use flexibility of a plurality of seals is poor due to the fact that the existing single seal corresponds to a single device.

In one aspect, the present invention provides a multi-station printing cabin grabbing system, which comprises: the device comprises a bin position sensor, a grabbing position sensor and a controller; the position sensor is used for detecting a multi-station rotary transfer printing cabin to acquire the position information of the current stamp to be stamped on the multi-station rotary transfer printing cabin; the grabbing position sensor is used for detecting a grabbing mechanism so as to obtain position information of the grabbing mechanism; the controller is connected with the bin position sensor and used for receiving the position information of the current stamp to be stamped, which is detected by the bin position sensor, determining whether the current stamp to be stamped is located at a stamp to be grabbed position according to the position information of the current stamp to be stamped, and acquiring a stamp result; when the seal result shows that the current seal to be imprinted is not located at the position where the seal is to be captured, the multi-station rotary transfer printing cabin is controlled to rotate, so that the multi-station rotary transfer printing cabin drives the current seal to be imprinted to rotate to the position where the seal is to be captured; the controller is also connected with the grabbing position sensor and used for receiving position information of the grabbing mechanism detected by the grabbing position sensor, determining whether the grabbing mechanism is at a position for grabbing the seal in advance according to the position information of the grabbing mechanism, and acquiring a grabbing result; and when the grabbing result shows that the grabbing mechanism is not located at the position of the pre-grabbed seal, controlling the grabbing mechanism to move so that the grabbing mechanism moves to the position of the pre-grabbed seal, and controlling the grabbing mechanism to move downwards to the position of the to-be-grabbed seal after the grabbing mechanism moves to the position of the pre-grabbed seal so as to grab and move the current to-be-imprinted seal, so that imprinting of the current to-be-imprinted seal is realized.

Further, according to the multi-station seal cabin grabbing system, the controller is further used for determining the rotating direction and the rotating angle of the multi-station rotary transfer cabin when the result shows that the current seal to be imprinted is not located at the position where the seal is to be grabbed, so that the multi-station rotary transfer cabin rotates to the position where the seal is to be grabbed according to the rotating direction and the rotating angle.

Further, above-mentioned multistation seal storehouse grasping system, the controller still is used for according to the direction of rotation and the rotation angle in multistation rotary transfer seal storehouse determine driving motor's rotation direction and rotation number of turns, according to direction of rotation and rotation number of turns determine drive instruction and send to driving motor, so that driving motor follows drive instruction rotates, drives the rotatory position of waiting to snatch of multistation rotary transfer seal storehouse to the seal.

Further, in the multi-station stamp cabin grabbing system, the controller is further configured to determine a horizontal displacement and a vertical displacement between the current position of the grabbing mechanism and the position of the pre-grabbed stamp when the result shows that the grabbing mechanism is not located at the position of the pre-grabbed stamp, determine a horizontal moving direction, a horizontal moving distance, a vertical moving direction and a vertical moving distance of the grabbing mechanism, and send a moving instruction to the grabbing mechanism according to the horizontal displacement and the vertical displacement, so that the grabbing mechanism performs horizontal movement and vertical movement according to the moving instruction.

Further, in the multi-station stamp cabin grabbing system, the controller is further configured to determine an orientation relationship between the current position of the grabbing mechanism and the position of the pre-grabbed stamp when the result shows that the grabbing mechanism is not located at the position of the pre-grabbed stamp, so as to determine a sequential relationship between horizontal movement and vertical movement of the grabbing mechanism.

Further, above-mentioned multistation seal storehouse grasping system, this grasping system still includes: a limit switch; the limiting switch is used for limiting the position of the grabbing mechanism, so that when the grabbing mechanism moves to the position of the limiting switch, the limiting switch sends a limiting instruction to the controller; the controller is also electrically connected with the limit switch and used for receiving the limit instruction and controlling the grabbing mechanism to stop moving or move reversely according to the limit instruction.

Further, in the multi-station printing cabin grabbing system, the controller is further configured to control the grabbing position sensor according to the limiting instruction, so that the position information of the grabbing mechanism detected by the grabbing position sensor is corrected to the position of the limiting switch.

Further, above-mentioned multistation seal storehouse grasping system, limit switch includes: the horizontal limit switch and the vertical limit switch are used for limiting the horizontal direction and the vertical direction of the grabbing mechanism respectively.

Further, above-mentioned multistation seal storehouse system of snatching, snatch position sensor includes: a horizontal direction sensor and a vertical direction sensor to detect a current horizontal position and a current vertical position of the grasping mechanism, respectively, in real time.

Further, above-mentioned multistation seal storehouse grasping system, this grasping system still includes: installing a monitor; the mounting monitor is used for detecting whether a seal is inserted into a station of the multi-station rotary transfer printing cabin.

According to the multi-station seal cabin grabbing system, the multi-station rotary transfer cabin is subjected to real-time position detection through the cabin position sensor, so that the position information of the current seal to be stamped is obtained according to the position of the current seal to be stamped and the position information of the position, and the current seal to be stamped is controlled to rotate in place; the position of the grabbing mechanism is detected in real time through the grabbing position sensor, the real-time position of the grabbing mechanism 2 is obtained, so that the grabbing mechanism is controlled to move to a pre-grabbing seal position and then to a to-be-grabbed seal position, and then grabbing and subsequent movement of the current to-be-imprinted seal are carried out; determining whether the current stamp to be stamped is positioned at a stamp to be captured position or not according to the position information of the current stamp to be stamped by the controller and acquiring a stamp result; when the seal result shows that the current seal to be imprinted is not located at the position where the seal is to be captured, the multi-station rotary transfer printing cabin is controlled to rotate, so that the multi-station rotary transfer printing cabin drives the current seal to be imprinted to rotate to the position where the seal is to be captured; the controller also determines whether the grabbing mechanism is at a position for grabbing the seal in advance according to the position information of the grabbing mechanism, and obtains a grabbing result; when the grabbing result shows that the grabbing mechanism is not located at the pre-grabbing seal position, analyzing and determining the moving route of the grabbing mechanism, controlling the grabbing mechanism to move so that the grabbing mechanism moves to the pre-grabbing seal position, and after the grabbing mechanism moves to the pre-grabbing seal position, controlling the grabbing mechanism to move downwards to the to-be-grabbed seal position so as to grab and move the current to-be-imprinted seal, so that imprinting of the current to-be-imprinted seal is realized, namely, the selected current to-be-imprinted seal is stamped according to the requirement. This multistation seal storehouse grasping system accessible multistation rotary-transfer seal storehouse realizes depositing of a plurality of seals to select and carry the seal to specific station according to needs, and assist the action of accomplishing the seal with grabbing device, improved and used the flexibility between a plurality of seals on the multistation rotary-transfer seal storehouse.

On the other hand, the invention also provides a multi-station printing cabin grabbing method, which comprises the following steps: a seal position step, namely detecting a multi-station rotary transfer printing cabin to obtain position information of a current seal to be stamped on the multi-station rotary transfer printing cabin; a step of grabbing positions, which is to detect a grabbing mechanism so as to obtain position information of the grabbing mechanism; a rotation step, namely determining whether the current stamp to be stamped is positioned at a stamp to be captured position according to the position information of the capture mechanism, and acquiring a stamp result; when the seal result shows that the current seal to be imprinted is not located at the position where the seal is to be captured, the multi-station rotary transfer printing cabin is controlled to rotate, so that the multi-station rotary transfer printing cabin drives the current seal to be imprinted to rotate to the position where the seal is to be captured; a grabbing moving step, namely determining whether the grabbing mechanism is at a position for pre-grabbing the seal according to the position information of the grabbing mechanism, and acquiring a grabbing result; and when the grabbing result shows that the grabbing mechanism is not located at the position of the pre-grabbed seal, controlling the grabbing mechanism to move so as to enable the grabbing mechanism to move to the position of the pre-grabbed seal, and controlling the grabbing mechanism to move downwards to the position of the to-be-grabbed seal after the grabbing mechanism moves to the position of the pre-grabbed seal so as to grab and move the current to-be-imprinted seal, so that imprinting of the to-be-imprinted seal is realized.

Since the embodiment of the grabbing system has the above effects, the embodiment of the grabbing method also has corresponding technical effects.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a block diagram of a multi-station print cartridge gripping system according to an embodiment of the present invention;

FIG. 2 is a schematic structural view of a multi-station print cartridge gripping system according to an embodiment of the present invention;

fig. 3 is a flow chart of a multi-station print-cabin grabbing method according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1 to 2, a preferred structure of the multi-station printing cabin gripping system provided by the embodiment of the invention is shown. As shown in the figure, this multistation seal storehouse grasping system includes: the device comprises a multi-station rotary transfer printing bin 1, a grabbing mechanism 2, a bin position sensor 3, a grabbing position sensor 4, an installation monitor 5, a limit switch 6 and a controller 7; wherein the content of the first and second substances,

the multistation rotary transfer storehouse 1 is last to be equipped with a plurality of stations that are circumference evenly arranged along its circumference for a plurality of seals 8 of splendid attire, and rotatable, in order to realize the conversion of a plurality of seals 8 positions, so that treat at present that the impression seal is rotatable to the seal and treat the position of snatching. The grabbing mechanism 2 is used for grabbing and moving the seal 8 to grab the current seal to be stamped and drive the current seal to be stamped to move to a specific position to be stamped so as to be stamped, and grabbing and stamping of the current seal to be stamped are completed. Preferably, a driving motor (not shown) may be connected to the multi-station rotary transfer printing chamber 1 to drive the multi-station rotary transfer printing chamber 1 to rotate. In the present embodiment, the multi-station rotary transfer cabin 1 is described by taking four stations as an example, but other numbers are certainly possible, and the number is not limited in the present embodiment. Wherein, each station of the multi-station rotary transfer printing cabin 1 can be provided with an installation monitor 5 for detecting whether a seal exists in the station.

The position sensor 3 is used for detecting the multi-station rotary transfer printing cabin 1 so as to obtain the position information of the current stamp to be stamped on the multi-station rotary transfer printing cabin 1. Specifically, the position sensor 3 can detect the position of the multi-station rotary transfer printing chamber 1 in real time, so as to obtain the position information of the current stamp to be stamped according to the position of the current stamp to be stamped and the position information of the position, so as to control the current stamp to be stamped to rotate in place.

The grasping position sensor 4 is used to detect the grasping mechanism 2 to acquire position information of the grasping mechanism 2. Specifically, when the position sensor 3 detects that the multi-station rotary transfer printing bin 1 rotates to a position, the controller 7 can send a grabbing instruction to the grabbing position sensor 4, the grabbing position sensor 4 carries out real-time detection on the position of the grabbing mechanism 2 when receiving the grabbing instruction sent by the controller 7, and the real-time position of the grabbing mechanism 2 is obtained, so that the grabbing mechanism 2 is controlled to move to the position of a pre-grabbed seal and then move to the position of a to-be-grabbed seal, and then grabbing and subsequent moving of the to-be-stamped seal are carried out currently. Wherein, the grip position sensor 4 includes: a horizontal direction sensor and a vertical direction sensor to detect the current horizontal position and the current vertical position of the gripping mechanism 2, respectively, in real time.

The limit switch 6 is used for limiting the position of the grabbing mechanism 2, so that when the grabbing mechanism 2 moves to the position of the limit switch 6, the limit switch 6 sends a limit instruction to the controller 7. Specifically, when the grabbing mechanism 2 contacts or approaches the limit switch 6, the connecting rod of the limit switch 6 drives the contact of the switch to cause the closed contact to be broken or the open contact to be closed, and meanwhile, the limit instruction controller 7 can be sent to control the movement of the grabbing mechanism 2 through the control board 7, for example, the grabbing mechanism 2 can be controlled to change the moving direction or stop the movement.

The controller 7 is connected with the bin position sensor 3 and used for receiving the position information of the current stamp to be stamped, which is detected by the bin position sensor 3, determining whether the current stamp to be stamped is located at a stamp to be captured position according to the position information of the current stamp to be stamped, and acquiring a stamp result; when the seal result shows that the current seal to be imprinted is not located at the position where the seal is to be captured, the multi-station rotary transfer printing cabin 1 is controlled to rotate, so that the multi-station rotary transfer printing cabin 1 drives the current seal to be imprinted to rotate to the position where the seal is to be captured. Specifically, the controller 7 receives the position information of the current stamp to be stamped, which is detected by the bin position sensor 3, determines whether the current stamp to be stamped is located at a position to be captured of the stamp according to the position information of the current stamp to be stamped, and obtains a stamp result; when the seal result shows that the current stamp waiting seal is not at the seal waiting position for grabbing, the multi-station rotary transfer printing cabin 1 is controlled to rotate according to the seal waiting position for grabbing and the current position information of the stamp waiting seal, so that the multi-station rotary transfer printing cabin 1 drives the current stamp waiting seal to rotate to the seal waiting position for grabbing. Preferably, when the stamp result shows that the current stamp to be stamped is not located at the stamp to-be-captured position, the rotating direction and the rotating angle of the multi-station rotary transfer printing cabin 1 are determined according to the stamp to-be-captured position and the position information of the current stamp to be stamped, and the multi-station rotary transfer printing cabin 1 is controlled to rotate, so that the multi-station rotary transfer printing cabin 1 rotates according to the rotating direction and the rotating angle. Further preferably, the control device 7 can determine the rotation direction and the rotation number of the driving motor according to the rotation direction and the rotation angle of the multi-station rotary transfer printing cabin 1, and determine a driving instruction according to the rotation direction and the rotation number and send the driving instruction to the driving motor, so that the driving motor rotates according to the driving instruction to drive the multi-station rotary transfer printing cabin 1 to rotate to the position to be grabbed by the seal. The controller 7 can send a grabbing instruction to the grabbing position sensor 4 after controlling the multi-station rotary transfer printing cabin 1 to rotate to a position where a stamp is to be grabbed, so that the position of the grabbing mechanism 2 can be detected in real time.

The controller 7 is also connected with the grabbing position sensor 4 and used for receiving position information of the grabbing mechanism detected by the grabbing position sensor 4, determining whether the grabbing mechanism 2 is at a position for grabbing the seal in advance according to the position information of the grabbing mechanism 2 and acquiring a grabbing result; when the grabbing result shows that the grabbing mechanism 2 is not located at the position of the pre-grabbing seal, the grabbing mechanism 2 is controlled to move so that the grabbing mechanism 2 moves to the position of the pre-grabbing seal, and after the grabbing mechanism 2 moves to the position of the pre-grabbing seal, the grabbing mechanism 2 is controlled to move downwards to the position of the pre-grabbing seal so as to grab and move the current seal to be stamped, and stamping of the current seal to be stamped is achieved. Specifically, the controller 7 receives position information of the grasping mechanism detected by the grasping position sensor 4, determines whether the grasping mechanism 2 is at a pre-grasping stamp position according to the position information of the grasping mechanism 2 and the pre-grasping stamp position of the grasping mechanism 2, and obtains a grasping result; when the grabbing result shows that the grabbing mechanism 2 is not located at the pre-grabbing seal position, determining and analyzing the moving route of the grabbing mechanism 2, controlling the grabbing mechanism 2 to move to the pre-grabbing seal position according to the moving route, controlling the grabbing mechanism 2 to move to the pre-grabbing seal position, controlling the grabbing mechanism 2 to move downwards to the to-be-grabbed seal position through the controller 7, further grabbing and moving the current to-be-imprinted seal, and accordingly completing the stamping action of the selected current to-be-imprinted seal according to the requirement. Preferably, the controller 7 is further configured to determine a horizontal displacement and a vertical displacement between the current position of the grasping mechanism 2 and the position of the pre-grasped stamp, determine a horizontal moving direction, a horizontal moving distance, a vertical moving direction and a vertical moving distance of the grasping mechanism 2, and accordingly send a moving instruction to the grasping mechanism 2 so that the grasping mechanism 2 performs horizontal movement and vertical movement according to the moving instruction when the result shows that the grasping mechanism 2 is not located at the position of the pre-grasped stamp; further preferably, the controller 7 is further configured to determine an orientation relationship between the current position of the grasping mechanism 2 and the pre-grasped stamp position when the result shows that the grasping mechanism 2 is not located at the pre-grasped stamp position, to determine a precedence relationship between the horizontal movement and the vertical movement of the grasping mechanism, so as to determine and analyze a movement route of the grasping mechanism 2 according to the precedence relationship between the horizontal movement and the vertical movement, and the horizontal movement direction, the horizontal movement distance, the vertical movement direction, and the vertical movement distance, and to control the grasping mechanism 2 to move to the pre-grasped stamp position accordingly. The movement from the current position of the grabbing mechanism 2 to the position of the pre-grabbed seal can be divided into horizontal movement and vertical movement, and the route, namely the sequence of the horizontal movement and the vertical movement, can be analyzed according to the position relationship between the current position and the position of the pre-grabbed seal, so that the grabbing mechanism 2 is controlled to move; the position of the to-be-grabbed seal is matched with the position of the to-be-grabbed seal, and the position of the pre-grabbed seal is positioned right above the position of the to-be-grabbed seal, so that the interference between the grabbing mechanism 2 and the current to-be-imprinted seal is avoided.

The controller 7 is also electrically connected with the limit switch 6 and used for receiving the limit instruction and controlling the grabbing mechanism 2 to stop moving or move reversely according to the limit instruction. Specifically, the controller 7 controls the grabbing mechanism 2 to stop moving according to the limit instruction, and can also directly control the grabbing mechanism 2 to move reversely. Preferably, the controller 7 is further configured to control the grasping position sensor 4 according to a limit instruction, so that the position information of the grasping mechanism detected by the grasping position sensor 4 is corrected to the position of the limit switch, and when the limit instruction is received, the grasping position sensor 4 is controlled to perform correction. Wherein, limit switch 6 can include horizontal limit switch, perpendicular limit switch to carry out spacingly to the horizontal motion and the vertical motion of snatching mechanism 2 respectively.

In summary, the multi-station print cabin grabbing system provided by this embodiment performs real-time position detection on the multi-station rotary transfer print cabin 1 through the cabin position sensor 3, so as to obtain the position information of the current stamp to be imprinted according to the station where the current stamp to be imprinted is located and the position information of the station, so as to control the current stamp to be imprinted to rotate in place; the position of the grabbing mechanism 2 is detected in real time through the grabbing position sensor 4, the real-time position of the grabbing mechanism 2 is obtained, so that the grabbing mechanism 2 is controlled to move to a pre-grabbing seal position and then to a to-be-grabbed seal position, and then grabbing and subsequent moving of the current to-be-stamped seal are carried out; determining whether the current stamp to be stamped is positioned at a stamp to be captured position or not according to the position information of the current stamp to be stamped by the controller 7 and obtaining a stamp result; when the seal result shows that the current seal to be imprinted is not located at the position where the seal is to be captured, the multi-station rotary transfer printing cabin 1 is controlled to rotate, so that the multi-station rotary transfer printing cabin 1 drives the current seal to be imprinted to rotate to the position where the seal is to be captured; the controller 7 also determines whether the grabbing mechanism 2 is at the position of pre-grabbing the seal according to the position information of the grabbing mechanism 2 and obtains the grabbing result; when the grabbing result shows that the grabbing mechanism 2 is not located at the pre-grabbing seal position, analyzing and determining the moving route of the grabbing mechanism 2, controlling the grabbing mechanism 2 to move so that the grabbing mechanism 2 moves to the pre-grabbing seal position, and after the grabbing mechanism 2 moves to the pre-grabbing seal position, controlling the grabbing mechanism 2 to move downwards to the to-be-grabbed seal position so as to grab and move the current to-be-imprinted seal, so that imprinting of the current to-be-imprinted seal is realized, namely, the selected current to-be-imprinted seal is stamped according to the requirement. The multi-station rotary transfer printing bin grabbing system can realize the storage of a plurality of seals through the multi-station rotary transfer printing bin, select and convey the seals to a specific station according to needs, and assist in completing stamping actions through the grabbing device, so that the use flexibility of the plurality of seals on the multi-station rotary transfer printing bin 1 is improved, the seals can be quickly selected and conveyed during use, and stamping is provided; meanwhile, the system has the advantages that repeated investment of the seals can be reduced, one device corresponds to a plurality of seals, and the like.

The method comprises the following steps:

referring to fig. 3, it is a block flow diagram of a multi-station print-cabin grabbing method according to an embodiment of the present invention. As shown in the figure, the grabbing method comprises the following steps:

and a seal position step S1, detecting the multi-station rotary transfer printing bin to obtain the position information of the current seal to be stamped on the multi-station rotary transfer printing bin.

A grasping position step S2, where the grasping mechanism is detected to obtain position information of the grasping mechanism.

A rotation step S3, determining whether the current stamp to be stamped is at the position to be grabbed of the stamp according to the position information of the grabbing mechanism, and obtaining a stamp result; when the seal result shows that the current seal to be stamped is not located at the position where the seal is to be captured, the multi-station rotary transfer printing cabin is controlled to rotate, so that the multi-station rotary transfer printing cabin drives the current seal to be stamped to rotate to the position where the seal is to be captured.

A grabbing and moving step S4, determining whether the grabbing mechanism is at a pre-grabbing seal position according to the position information of the grabbing mechanism, and acquiring a grabbing result; when the grabbing result shows that the grabbing mechanism is not located at the position where the stamp is to be grabbed in advance, the grabbing mechanism is controlled to move so that the grabbing mechanism moves to the position where the stamp is to be grabbed in advance, and after the grabbing mechanism moves to the position where the stamp is to be grabbed in advance, the grabbing mechanism is controlled to move downwards to the position where the stamp is to be grabbed so that the current stamp to be stamped can be grabbed and moved, and the stamp of the stamp to be stamped is achieved.

The capture method according to the embodiment of the present invention corresponds to the capture system according to another embodiment of the present invention, and is not described herein again.

Since the embodiment of the grabbing system has the above effects, the embodiment of the grabbing method also has corresponding technical effects.

The seal anti-theft method of the embodiment of the invention corresponds to the seal anti-theft system of another embodiment of the invention, and is not described herein again.

Since the above system embodiment has the above effects, the method embodiment also has corresponding technical effects.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.