Seal library seal position identification and positioning device for physical seal control equipment and seal control machine

Abstract

The present invention relates to the field of intelligent stamping technology, and in particular to a seal library and seal position identification and positioning device for physical seal management and control equipment and a seal control machine. The device includes a seal position positioning mechanism, a plurality of seal identity components and a seal recognition mechanism. The seal control machine includes a seal library, a mobile seal retrieval mechanism, a stamping mechanism, a seal library and seal position identification and positioning device and a control unit. The present invention provides a seal library and seal position identification and positioning device for physical seal management and control equipment and uses the seal library and seal position identification and positioning device for physical seal management and control equipment in the seal control machine to accurately identify and locate the seal library and seal position of the seal, thereby improving the positioning accuracy in the process of taking and collecting seals, and can accurately take and collect the corresponding seal by accurately locating the seal position.

Description

Technical Field

[0001] The present invention relates to the field of intelligent stamping technology, and in particular to a seal library seal position identification and positioning device and a seal control machine for physical seal management and control equipment. Background Art

[0002] Seals, as a non-tamperable mark, are widely used in important documents, contracts, calligraphy and painting and other fields as proof of authentication and effectiveness of individuals or enterprises and institutions. In daily work, the use of seals is everywhere. At the same time, seals, as proof of identity or validity, also have the possibility of private use and theft. This abuse of seals infringes on the owner of the seal and may seriously lead to huge property losses. Therefore, a device that can manage the stamping behavior is needed to control the use of seals, which can greatly avoid the occurrence of private use of seals.

[0003] The existing closed automatic stamping machine can automatically stamp documents, which to a certain extent solves the problem of uncontrollable stamping behavior when manual stamping is required when documents need to be stamped. However, since the stamp is taken out in a closed stamping environment, the equipment needs to automatically complete the collection and use of the seal. If different types of seals are stored in the stamping machine at the same time, there may be a problem of taking the wrong seal due to inaccurate positioning of the seal in the seal library during the collection process.

[0004] Chinese Patent Publication No. CN113173018A discloses a fully automatic stamping machine with an inductive recognition function, comprising a mounting frame, with Z-axis moving assemblies fixedly mounted on both sides of the mounting frame, a Y-axis moving assembly fixedly mounted between the movable ends of the two Z-axis moving assemblies, a stamping assembly fixedly mounted on the movable end of the Y-axis moving assembly, and a paper displacement assembly fixedly mounted at the bottom of the mounting frame's inner cavity, with a paper placement assembly fixedly mounted on the movable end of the paper displacement assembly. This fully automatic stamping machine with an inductive recognition function facilitates the coordinated action of the stamping machine's color sensor and infrared sensor, ensuring accurate positioning of the stamping point and preventing the situation of continuing to stamp when there is no ink, effectively ensuring the quality of the stamping. It can be seen that the above technical solution is used to accurately locate the stamping position, but it does not disclose how to accurately locate and remove different seals when retrieving them, nor does it disclose how to identify the required seal from the seal library. Summary of the Invention

[0005] To this end, the present invention provides a seal library seal position identification and positioning device and a seal control machine for physical seal management and control equipment, which are used to overcome the problems in the prior art of inaccurate positioning of the positions of seals in the seal library, such as misuse of seals or inability to accurately retrieve and return seals.

[0006] To achieve the above-mentioned purpose, the present invention provides, on the one hand, a seal library seal position identification and positioning device for a physical seal control device, comprising:

[0007] Seal position positioning mechanism, which corresponds to the position of each seal in the seal library one by one, and is used to mark the position of each seal in the seal library;

[0008] A plurality of seal identity components are provided with identity information corresponding to the seal information of each seal, so as to correspond to each seal information;

[0009] The seal recognition mechanism identifies the seal position by identifying the position information of the seal position positioning mechanism, and identifies the seal information by identifying the identity information of the seal identity component.

[0010] Furthermore, the seal position positioning mechanism includes:

[0011] Positioning substrate;

[0012] A plurality of position sensing components are arranged on the positioning substrate and are used to calibrate the position of each seal in the seal library and to calibrate the scanning and recognition range of the seal recognition mechanism.

[0013] Furthermore, the seal recognition mechanism includes:

[0014] A detection substrate is provided on the movable seal-taking mechanism;

[0015] A seal position sensing and identification component is provided on the movable seal taking mechanism and is used to identify the position sensing component to determine the position of the seal library and the position of each seal;

[0016] The seal recognition component is connected to the detection substrate and is used to recognize the information of the identity recognition component corresponding to each seal to determine the seal information of each seal.

[0017] Furthermore, the seal identity component corresponds one-to-one to each seal, including:

[0018] A seal identity card, which is connected to the corresponding seal and is used to carry the identity information of the corresponding seal;

[0019] An in-stock identification sensor sheet is provided on the seal identity card to indicate whether the seal is in stock;

[0020] The identity recognition sensor sheet is arranged on the seal identity card and is used to carry the identity information of the corresponding seal.

[0021] Furthermore, it is characterized in that the seal recognition component includes:

[0022] An in-stock identification sensor is provided on the seal library to identify the in-stock identification sensor sheet to determine whether the seal is in the library;

[0023] The identity recognition sensor is arranged on the detection substrate and is used to determine the seal information by recognizing the information of the identity recognition sensor sheet.

[0024] Furthermore, the position sensing component includes a plurality of seal position sensing pieces arranged at preset positions on the positioning substrate for calibrating the positions of each seal in the seal library, and a first seal library sensing piece and a second seal library sensing piece respectively arranged at the first preset position and the second preset position of the positioning substrate and used to calibrate the scanning and recognition range of the seal recognition mechanism.

[0025] Furthermore, it is characterized in that the seal position sensing and recognition component includes:

[0026] A seal position sensor is provided on the movable seal taking mechanism and is used to identify the seal position sensor to determine that the movable seal taking mechanism has reached the corresponding seal position;

[0027] A first chapter library sensor is provided on the mobile chapter taking mechanism, and is used to identify the first chapter library sensor sheet to determine that the mobile chapter taking mechanism has reached a preset position of the first chapter library;

[0028] The second chapter library sensor is arranged on the mobile chapter taking mechanism and is used to identify the second chapter library sensor piece to determine that the mobile chapter taking mechanism has reached a preset position of the second chapter library.

[0029] Furthermore, the positioning substrate is arranged on a first preset moving path of the mobile seal retrieval mechanism and is arranged to move along with the mobile seal retrieval mechanism on a second preset moving path, and when the positioning substrate is located at a preset seal library position of the second preset moving path, the seal position sensing piece is located directly above the corresponding seal.

[0030] Furthermore, the chapter position sensing piece and the chapter position sensor are arranged at a preset first horizontal height, and the spacing between adjacent chapter position sensing pieces is the same;

[0031] The first chapter library sensor plate and the first chapter position sensor are arranged at a preset second horizontal height;

[0032] The second chapter library sensing plate and the second chapter position sensor are arranged at a preset third horizontal height, and the chapter position sensing plate is arranged at the first chapter library sensing plate and the first chapter position sensor are arranged at a preset second horizontal height;

[0033] The chapter position sensing plate is arranged between the first chapter library sensing plate and the second chapter library sensing plate, and the chapter position sensor is arranged between the first chapter position sensor and the second chapter position sensor.

[0034] On the other hand, the present invention provides a seal control machine using the seal library seal position identification and positioning device for physical seal control equipment, comprising:

[0035] The seal library is used to store a number of seals;

[0036] A movable seal-taking mechanism is used to take the corresponding seal from the seal library and move it to a preset seal position, and to place the stamped seal into the corresponding seal position in the seal library;

[0037] A stamping mechanism, connected to the movable stamp taking mechanism, for controlling the stamp to perform a stamping action;

[0038] A seal library seal position identification and positioning device, which is connected to the mobile seal taking mechanism and the seal affixing mechanism respectively, and is used to move the mobile seal taking mechanism to the seal library seal position corresponding to the seal;

[0039] A control unit is respectively connected to the mobile seal-taking mechanism, the seal-stamping mechanism and the seal library seal position identification and positioning device, and is used to control the mobile seal-taking mechanism to complete the seal-taking and seal-returning actions according to the seal information and seal library information fed back by the seal library seal position identification and positioning device, and control the mobile seal-stamping mechanism to move the corresponding seal to the preset seal position according to the preset seal position information, and complete the seal-stamping action by controlling the seal-stamping mechanism, and determine the moving speed of the mobile seal-taking mechanism and the seal moving speed of the seal-stamping mechanism during the seal-taking and seal-returning process according to the analysis of the preset seal position and the preset seal library position and the set seal position and the position of the corresponding seal in the seal library to improve the seal-stamping efficiency.

[0040] Furthermore, the positioning substrate of the seal position identification and positioning device of the seal library is arranged on the movable seal taking mechanism to mark whether the movement of the movable seal taking mechanism is in place;

[0041] The control unit is provided with a preset stamp coordinate system, wherein the horizontal coordinate of the preset stamp coordinate system is set to the length direction of the positioning substrate of the mobile stamp-taking mechanism along the stamp position identification and positioning device of the stamp library, the vertical coordinate of the preset stamp coordinate system is set to the direction perpendicular to the horizontal coordinate, and the coordinate origin of the preset stamp coordinate system is set on the positioning substrate of the stamp position identification and positioning device of the stamp library.

[0042] Furthermore, the control unit is provided with a preset seal-taking speed adjustment distance standard S0, wherein 0<S0<0.7S, and S is the maximum moving distance of the mobile seal-taking mechanism in a single direction. The preset seal-taking speed adjustment distance standard S0 is used to determine whether the displacement of the horizontal coordinate or vertical coordinate of the mobile seal-taking mechanism when it moves from the corresponding seal to the preset seal-stamping position exceeds the moving speed adjustment standard. When the control unit receives a seal-stamping instruction, the control unit determines the identity information of the corresponding seal according to the seal information in the seal-stamping instruction and controls the mobile seal-taking mechanism to move to the corresponding seal position in the seal library. The control unit determines its displacement in the preset seal-stamping coordinate system according to the relative position of the seal position and the preset seal-stamping position, records its displacement distance in the horizontal coordinate as x, records its displacement distance in the vertical coordinate as y, records the smaller value of x and y as s0, sets s0=min(x, y), and the control unit compares s0 with S0 to determine whether it is necessary to adjust the moving speed of the mobile seal-taking mechanism.

[0043] When s0≤S0, the control unit determines that s0 meets the preset chapter taking speed adjustment distance standard and there is no need to adjust the moving speed of the mobile chapter taking mechanism in the displacement direction of s0, and the control unit adjusts the displacement speed of the mobile chapter taking mechanism in another moving direction according to x and y;

[0044] When s0>S0, the control unit determines that s0 exceeds the preset chapter-taking speed adjustment distance standard, and the control unit adjusts the moving speed of the mobile chapter-taking mechanism in the displacement direction of s0 to va and adjusts the displacement speed of the mobile chapter-taking mechanism in the other moving direction according to x and y, setting va=v0×θ1, where v0 is the initially set moving speed of the mobile chapter-taking mechanism in the displacement direction of s0, θ1 is the first speed-up coefficient, and 1<θ1<2.

[0045] Furthermore, the preset seal-taking differential standard A is used to determine whether there is a large displacement difference between the horizontal and vertical coordinates of the mobile seal-taking mechanism when it moves from the corresponding seal position to the preset seal-stamping position. When the control unit completes the determination of the moving speed in the displacement direction of s0, the control unit determines the seal-taking differential parameter a based on x and y and determines whether the horizontal and vertical displacement distances of the mobile seal-taking mechanism when it moves to the preset seal-stamping position exceed the differential standard based on a, and sets a=(xy) / s0.

[0046] When a<A, the control unit determines that the displacement distance meets the differential standard, and the control unit adjusts the displacement speed in the other moving direction to vb, setting vb=va×θ2, θ2 is the second speed-up coefficient, 1<θ2<θ1;

[0047] When a≥A, the control unit determines that the displacement distance exceeds the differential standard, and the control unit determines a calculation method for the displacement speed vb in the other moving direction according to a.

[0048] Furthermore, the control unit is provided with a first differential adjustment standard A1, a second differential adjustment standard A2, a first preset speed control coefficient α1, a second preset speed control coefficient α2, and a third preset speed control coefficient α3, wherein A<A1<1<A2, 1<α1<α2<α3, and when the control unit determines that the displacement distance exceeds the differential standard, the control unit compares a with the first differential adjustment standard A1 and the second differential adjustment standard A2 to determine a calculation method for the displacement speed vb for the other moving direction;

[0049] When a≤A1, the control unit determines to adopt α1 to calculate vb;

[0050] When A1<a≤A2, the control unit determines to adopt α2 to calculate vb;

[0051] When a>A2, the control unit determines to adopt α3 to calculate vb;

[0052] The following formula is used to calculate vb: vb = va × αi, where i = 1, 2, 3.

[0053] Furthermore, the control unit is provided with a speed limit standard Vmax, wherein v0<Vmax<2v0, and the speed limit standard Vmax is used to limit the maximum moving speed of the mobile seal-taking mechanism in a single moving direction so that the seal recognition mechanism of the seal library seal position recognition and positioning device can effectively recognize the seal. After the control unit completes the calculation of vb, the control unit compares vb with Vmax to determine the moving speed of the mobile seal-taking mechanism.

[0054] When vb≤Vmax, the control unit determines that the speed adjustment is effective, and uses va and vb to control the mobile stamping mechanism to move to the preset stamping position;

[0055] When vb>Vmax, the control unit determines that the speed adjustment is invalid and the stamping speed vc of the stamping mechanism needs to be adjusted. The control unit adjusts the displacement speed in the other moving direction to Vmax. The control unit uses va and Vmax to control the mobile stamping mechanism to move to the preset stamping position and uses the stamping speed vc to control the stamping mechanism to stamp, setting vc=vc0×β, where β is the stamping speed-up coefficient, 1<β<1.5.

[0056] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention provides a seal library position identification and positioning device for physical seal management and control equipment and uses the seal library position identification and positioning device for physical seal management and control equipment in the seal control machine to accurately identify and locate the seal library position of the seal, thereby improving the positioning accuracy in the process of taking and collecting seals, and can achieve accurate retrieval and collection of the corresponding seal by accurately locating the seal position.

[0057] Furthermore, the seal library and seal position identification and positioning device for physical seal management and control equipment of the present invention calibrates and identifies the seal position information and seal information by setting a seal position positioning mechanism, a seal position identification mechanism and a plurality of seal identity components, effectively dividing the positioning and identification functions of the seal, calibrating the position of the seal in the seal library by the positioning mechanism and identifying the seal position of the seal library by the seal identification mechanism, and storing the identity information of the seal by the seal identity component to correspond to the seal information, thereby ensuring that the device described in the present invention can effectively locate and identify the seal position of the seal library.

[0058] Furthermore, the seal library and seal position identification and positioning device for physical seal management and control equipment of the present invention determines the range of the seal library by setting a positioning substrate, and determines the relative position of each seal through a number of position sensing components. By making the position of each seal in the seal library correspond to the sensing position of the seal position positioning mechanism, the stability of the seal positioning is effectively guaranteed by adopting the positioning substrate, and by setting a number of position sensing components to calibrate the position of a single seal and the range of the seal library, it is guaranteed that the seal position positioning mechanism of the device described in the present invention can effectively calibrate any seal position in the seal library.

[0059] Furthermore, the seal library and seal position identification and positioning device for the physical seal management and control equipment of the present invention is equipped with a detection substrate, a seal position sensing and identification component and a seal identification component in the seal identification mechanism. It can identify the position sensing component to determine the seal library position and the position of each seal during the movement of the mobile seal retrieval mechanism, and identify the seal identity information of the seal position when arriving at the corresponding position to determine whether to take the corresponding seal, ensuring that the device described in the present invention can accurately determine the seal position by identifying the information of the seal position positioning mechanism, and can identify the seal information of the seal position.

[0060] Furthermore, the seal identity component of the seal library and seal position identification and positioning device for the physical seal management and control equipment of the present invention corresponds one-to-one to each seal in the seal library and integrates the seal's library status, seal identity information and position information in the form of a seal identity card. By identifying the in-library identification sensing piece, it can be determined whether a seal is placed in the corresponding seal position, and by identifying the identity identification sensing piece, it can be determined the identity information of the corresponding seal to determine whether to take the corresponding seal. This effectively ensures that the device of the present invention can take the corresponding required seal for stamping after accurately locating the seal position in the seal library and ensures that the seal is in the preset taking position when it is taken, further ensuring that the device of the present invention can accurately identify the seal position in the seal library for stamping.

[0061] Furthermore, the seal library position identification and positioning device for the physical seal management and control equipment of the present invention identifies various types of set sensing pieces by being provided with a seal recognition component. The in-warehouse identification sensor can identify the in-warehouse identification sensing piece to determine whether the seal is in the warehouse. The identity recognition sensor can determine the seal information by identifying the information of the identity recognition sensing piece. By setting the seal recognition component on the detection substrate of the mobile seal retrieval mechanism, synchronous seal position identification and seal identification are realized during the mobile seal retrieval process, thereby ensuring the effectiveness of the seal library positioning and seal identification of the present invention.

[0062] Furthermore, the printing control machine of the present invention improves the positioning accuracy of the mobile seal retrieval mechanism in taking and playing back the seals in the seal library by being provided with a seal library seal position identification and positioning device for physical seal control equipment, thereby ensuring that the mobile seal retrieval mechanism can correctly retrieve the corresponding seal, and can identify the information of the seal in the seal library by scanning the seal in the seal library, thereby ensuring that the present invention can accurately identify and locate the seal information and the seal library seal position.

[0063] Furthermore, the positioning substrate of the seal library seal position identification and positioning device of the printing control machine described in the present invention is arranged on the mobile seal retrieval mechanism. By being fixed in a displacement direction of the mobile seal retrieval mechanism, the positioning complexity of the three-dimensional positioning is simplified. A preset stamping coordinate system is provided to decompose the moving direction of the mobile stamping mechanism into the length direction along the positioning substrate and the length direction perpendicular to the positioning substrate, which effectively simplifies the positioning steps. After determining the position of a seal position, only one direction of movement is required to realize the positioning and identification of other seal positions. The seal library seal position can be positioned by precisely controlling the displacement in one direction, which effectively ensures that the printing control machine described in the present invention can accurately position the seal library seal position.

[0064] Furthermore, the control unit of the printing control machine described in the present invention is provided with a preset seal-taking speed regulation distance standard S0 for determining whether the displacement of the horizontal coordinate or vertical coordinate of the mobile seal-taking mechanism when it moves from the corresponding seal to the preset stamping position exceeds the mobile speed regulation standard. The displacement distance between the position of the seal in the seal library and the relative position of the preset stamping position in the coordinate system is used to determine whether it exceeds the speed regulation distance standard to adjust the moving speed of the mobile seal-taking mechanism, thereby avoiding the different stamping times caused by the different positions of the seals in the seal library and the preset stamping positions when different seals are used for stamping. Therefore, the printing control machine described in the present invention can complete the stamping operation within a certain time when stamping, thereby ensuring the stamping efficiency of the printing control machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a structural schematic diagram of a seal position positioning mechanism and a seal recognition mechanism of a seal library seal position recognition and positioning device for a physical seal control device of the present invention;

[0066] Figure 2 This is a structural diagram of a seal identity component of a seal library seal position recognition and positioning device for a physical seal management and control device of the present invention;

[0067] Figure 3 Schematic diagram of a seal positioning mechanism according to an embodiment of the present invention;

[0068] Figure 4 A schematic diagram of a seal recognition mechanism and a movable seal retrieval mechanism according to an embodiment of the present invention;

[0069] Figure 5 This is a front view of a seal identity component according to an embodiment of the present invention;

[0070] Figure 6 This is a schematic diagram of the back side of the seal identity component according to an embodiment of the present invention;

[0071] Figure 7 is a schematic diagram of an identity recognition sensor according to an embodiment of the present invention;

[0072] Figure 8 A schematic diagram of an in-stock identification sensor according to an embodiment of the present invention;

[0073] Figure 9 A diagram showing the position of a positioning substrate according to an embodiment of the present invention;

[0074] Figure 10 Schematic diagram of the interior of the printing control machine according to an embodiment of the present invention. DETAILED DESCRIPTION

[0075] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0076] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0077] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0078] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0079] See also Figure 1 and Figure 2 As shown, Figure 1 This is a structural diagram of a seal position identification and positioning device for a physical seal management and control device of the present invention, and a seal position positioning mechanism and a seal identification mechanism. Figure 2 This is a structural diagram of a seal identity component of a seal library seal position identification and positioning device for a physical seal management and control device of the present invention. The present invention provides a seal library seal position identification and positioning device for a physical seal management and control device, comprising:

[0080] Seal position positioning mechanism 1, which corresponds to the position of each seal in the seal library one by one, and is used to mark the position of each seal in the seal library;

[0081] Several seal identity components 2, which are provided with identity information corresponding to the seal information of each seal, for corresponding to each seal information;

[0082] The seal recognition mechanism 3 recognizes the seal position by recognizing the position information of the seal position positioning mechanism, and recognizes the seal information by recognizing the identity information of the seal identity component.

[0083] See also Figure 3 As shown, it is a schematic diagram of a seal position positioning mechanism according to an embodiment of the present invention. The seal position positioning mechanism 1 includes:

[0084] Positioning substrate 11;

[0085] A plurality of position sensing components 12 are provided on the positioning substrate 11 for calibrating the position of each seal in the seal library and for calibrating the scanning and recognition range of the seal recognition mechanism.

[0086] See also Figure 4 As shown in FIG, it is a schematic diagram of a seal recognition mechanism and a mobile seal taking mechanism according to an embodiment of the present invention. The seal recognition mechanism 3 includes:

[0087] A detection substrate 31 is provided on the movable chapter taking mechanism 4;

[0088] A seal position sensing and identification component 32 is provided on the movable seal-taking mechanism 4 and is used to identify the position sensing component to determine the position of the seal library and the position of each seal;

[0089] The seal recognition component 33 is connected to the detection substrate 31 and is used to recognize the information of the identity recognition component corresponding to each seal to determine the seal information of each seal.

[0090] See also Figure 5 and Figure 6 As shown, Figure 5 This is a front view of the seal identity component according to an embodiment of the present invention. Figure 6 This is a schematic diagram of the back of a seal identification component according to an embodiment of the present invention. The seal identification component corresponds to each seal one by one, and includes:

[0091] A seal identity card 41, which is connected to the corresponding seal 6 and is used to carry the identity information of the corresponding seal 6;

[0092] An identity recognition sensor sheet 43 , which is provided on the seal identity card 41 and is used to carry the identity information of the corresponding seal 6 ;

[0093] The in-stock identification sensor sheet 42 is provided on the seal identification card 41 to indicate whether the seal 6 is in the stock.

[0094] See also Figure 7 and Figure 8 As shown, Figure 7 is a schematic diagram of an identity recognition sensor according to an embodiment of the present invention. Figure 8 This is a schematic diagram of an in-stock recognition sensor according to an embodiment of the present invention. The seal recognition component 33 includes:

[0095] The in-stock identification sensor 331 is provided on the seal library and is used to identify the in-stock identification sensor sheet to determine whether the seal is in the library;

[0096] The identity recognition sensor 332 is disposed on the detection substrate 31 and is used to determine the seal information by recognizing the information of the identity recognition sensor sheet.

[0097] Please continue reading Figure 3 As shown, the position sensing component 12 includes a plurality of seal position sensing pieces 121 arranged at preset positions on the positioning substrate 11 for calibrating the positions of each seal in the seal library, a first seal library sensing piece 122 and a second seal library sensing piece 123 respectively arranged at the first preset position and the second preset position of the positioning substrate 11 and used to calibrate the scanning and recognition range of the seal recognition mechanism.

[0098] See also Figure 4 As shown, the stamp position sensing and recognition component 32 includes:

[0099] The seal position sensor 322 is provided on the movable seal removal mechanism 4 and is used to identify the seal position sensor to determine that the movable seal removal mechanism 4 has reached the corresponding seal position;

[0100] The first chapter library sensor 321 is provided on the mobile chapter taking mechanism 4 and is used to identify the first chapter library sensor to determine that the mobile chapter taking mechanism 4 has reached a preset position in the first chapter library;

[0101] The second chapter bank sensor 323 is provided on the mobile chapter taking mechanism 4 and is used for identifying the second chapter bank sensor piece to determine whether the mobile chapter taking mechanism 4 has reached the second chapter bank preset position.

[0102] See also Figure 9 As shown, it is a position diagram of the positioning substrate in an embodiment of the present invention. The positioning substrate 11 is arranged on the first preset moving path of the mobile seal-taking mechanism 4 and is arranged to move along with the mobile seal-taking mechanism on the second preset moving path. Moreover, when the positioning substrate is located at the preset seal library position of the second preset moving path, the seal position sensing piece is located directly above the corresponding seal.

[0103] Specifically, the chapter position sensing piece and the chapter position sensor are arranged at a preset first horizontal height, and the distances between adjacent chapter position sensing pieces are the same;

[0104] The first chapter library sensor plate and the first chapter position sensor are arranged at a preset second horizontal height;

[0105] The second chapter library sensing plate and the second chapter position sensor are arranged at a preset third horizontal height, and the chapter position sensing plate is arranged at the first chapter library sensing plate and the first chapter position sensor are arranged at a preset second horizontal height;

[0106] The chapter position sensing plate is arranged between the first chapter library sensing plate and the second chapter library sensing plate, and the chapter position sensor is arranged between the first chapter position sensor and the second chapter position sensor.

[0107] See also Figure 10As shown, it is an internal schematic diagram of a printing control machine according to an embodiment of the present invention. The present invention provides a printing control machine 5 using the above-mentioned seal library seal position identification and positioning device for physical seal control equipment, comprising:

[0108] a seal library 51 for storing a number of seals;

[0109] A movable seal-taking mechanism 52 is used to take the corresponding seal from the seal library 51 and move it to a preset seal position, and to place the stamped seal into the corresponding seal position in the seal library 51;

[0110] A stamping mechanism 53, which is connected to the movable stamp taking mechanism 52, and is used to control the stamp to perform a stamping action;

[0111] A seal library seal position identification and positioning device 54 is connected to the mobile seal taking mechanism 52 and the seal affixing mechanism 53 respectively, and is used to move the mobile seal taking mechanism 52 to the seal library seal position corresponding to the seal;

[0112] A control unit (not shown in the figure) is respectively connected to the mobile seal-taking mechanism 52, the seal-stamping mechanism 53 and the seal library seal position identification and positioning device 54, and is used to control the mobile seal-taking mechanism 52 to complete the seal-taking and seal-returning actions according to the seal information and seal library information fed back by the seal library seal position identification and positioning device 54, and control the mobile seal-stamping mechanism 53 to move the corresponding seal to the preset seal position according to the preset seal position information, and complete the seal action by controlling the seal-stamping mechanism 53, and determine the moving speed of the mobile seal-taking mechanism 52 and the seal moving speed of the seal-stamping mechanism 53 during the seal-taking and seal-returning process according to the analysis of the preset seal position and the preset seal library position and according to the set seal position and the position of the corresponding seal in the seal library to improve the seal efficiency.

[0113] Please continue reading Figure 9 As shown, the positioning substrate 541 of the seal position identification and positioning device of the seal library is arranged on the movable seal taking mechanism 52 to mark whether the movement of the movable seal taking mechanism 52 is in place;

[0114] The control unit is provided with a preset stamp coordinate system, wherein the horizontal coordinate of the preset stamp coordinate system is set to the length direction of the positioning substrate of the mobile stamp-taking mechanism along the stamp position identification and positioning device of the stamp library, the vertical coordinate of the preset stamp coordinate system is set to the direction perpendicular to the horizontal coordinate, and the coordinate origin of the preset stamp coordinate system is set on the positioning substrate of the stamp position identification and positioning device of the stamp library.

[0115] Specifically, the control unit is provided with a preset seal-taking speed regulation distance standard S0, wherein 0<S0<0.7S, S is the maximum moving distance of the mobile seal-taking mechanism in a single direction, and the preset seal-taking speed regulation distance standard S0 is used to determine whether the displacement of the horizontal coordinate or vertical coordinate of the mobile seal-taking mechanism when it moves from the corresponding seal to the preset seal-stamping position exceeds the moving speed regulation standard. When the control unit receives a seal-stamping instruction, the control unit determines the identity information of the corresponding seal according to the seal information in the seal-stamping instruction and controls the mobile seal-taking mechanism to move to the corresponding seal position in the seal library. The control unit determines its displacement in the preset seal-stamping coordinate system according to the relative position of the seal position and the preset seal-stamping position, records its displacement distance in the horizontal coordinate as x, records its displacement distance in the vertical coordinate as y, records the smaller value of x and y as s0, sets s0=min(x, y), and the control unit compares s0 with S0 to determine whether it is necessary to adjust the moving speed of the mobile seal-taking mechanism;

[0116] When s0≤S0, the control unit determines that s0 meets the preset chapter taking speed adjustment distance standard and there is no need to adjust the moving speed of the mobile chapter taking mechanism in the displacement direction of s0, and the control unit adjusts the displacement speed of the mobile chapter taking mechanism in another moving direction according to x and y;

[0117] When s0>S0, the control unit determines that s0 exceeds the preset chapter-taking speed adjustment distance standard, and the control unit adjusts the moving speed of the mobile chapter-taking mechanism in the displacement direction of s0 to va and adjusts the displacement speed of the mobile chapter-taking mechanism in the other moving direction according to x and y, setting va=v0×θ1, where v0 is the initially set moving speed of the mobile chapter-taking mechanism in the displacement direction of s0, θ1 is the first speed-up coefficient, and 1<θ1<2.

[0118] Specifically, the preset seal-taking differential standard A is used to determine whether there is a large displacement difference between the horizontal and vertical coordinates of the mobile seal-taking mechanism when it moves from the corresponding seal position to the preset seal-stamping position. When the control unit completes the determination of the moving speed in the displacement direction of s0, the control unit determines the seal-taking differential parameter a based on x and y and determines whether the horizontal and vertical displacement distances of the mobile seal-taking mechanism when it moves to the preset seal-stamping position exceed the differential standard based on a, and sets a=(xy) / s0.

[0119] When a<A, the control unit determines that the displacement distance meets the differential standard, and the control unit adjusts the displacement speed in the other moving direction to vb, setting vb=va×θ2, θ2 is the second speed-up coefficient, 1<θ2<θ1;

[0120] When a≥A, the control unit determines that the displacement distance exceeds the differential standard, and the control unit determines a calculation method for the displacement speed vb in the other moving direction according to a.

[0121] Specifically, the control unit is provided with a first differential adjustment standard A1, a second differential adjustment standard A2, a first preset speed control coefficient α1, a second preset speed control coefficient α2, and a third preset speed control coefficient α3, wherein A<A1<1<A2, 1<α1<α2<α3. When the control unit determines that the displacement distance exceeds the differential standard, the control unit compares a with the first differential adjustment standard A1 and the second differential adjustment standard A2 to determine a calculation method for the displacement speed vb for the other moving direction;

[0122] When a≤A1, the control unit determines to adopt α1 to calculate vb;

[0123] When A1<a≤A2, the control unit determines to adopt α2 to calculate vb;

[0124] When a>A2, the control unit determines to adopt α3 to calculate vb;

[0125] The following formula is used to calculate vb: vb = va × αi, where i = 1, 2, 3.

[0126] Specifically, the control unit sets a speed limit standard Vmax, wherein v0<Vmax<2v0, and the speed limit standard Vmax is used to limit the maximum moving speed of the mobile seal-taking mechanism in a single moving direction so that the seal recognition mechanism of the seal library seal position recognition and positioning device can effectively recognize the seal. After the control unit completes the calculation of vb, the control unit compares vb with Vmax to determine the moving speed of the mobile seal-taking mechanism.

[0127] When vb≤Vmax, the control unit determines that the speed adjustment is effective, and uses va and vb to control the mobile stamping mechanism to move to the preset stamping position;

[0128] When vb>Vmax, the control unit determines that the speed adjustment is invalid and the stamping speed vc of the stamping mechanism needs to be adjusted. The control unit adjusts the displacement speed in the other moving direction to Vmax. The control unit uses va and Vmax to control the mobile stamping mechanism to move to the preset stamping position and uses the stamping speed vc to control the stamping mechanism to stamp, setting vc=vc0×β, where β is the stamping speed-up coefficient, 1<β<1.5.

[0129] The working process of seal positioning and identification in the seal library:

[0130] See also Figures 1 to 3First, control the chapter taking mechanism to move to the positioning origin of the chapter position positioning mechanism 1 (i.e. Figure 3 122 position in the middle), complete the seal library positioning in a single direction, move the mobile seal taking mechanism along the positioning substrate direction to the first seal position sensing piece position, after completing the movement, if the in-library sensor senses the in-library identification sensing piece information, it is determined that a seal is placed in the seal position, control the mobile seal taking mechanism to move along another moving direction so that the identity sensor provided on the detection substrate senses the information on the identity identification sensing piece, record the seal identity information of the seal position and the position information of the seal in the coordinate system of the mobile seal taking mechanism to complete the positioning and identification of the seal position of the first seal library;

[0131] The mobile seal taking mechanism moves along the direction of the positioning substrate. When the seal position sensor senses the seal position sensing piece again, the seal position at the position is identified, and whether the seal position is placed in the seal position is determined based on whether the seal identity card information of the seal position is identified. If the seal is placed in the seal position, the seal identity information of the seal position and the position information of the seal in the coordinate system of the mobile seal taking mechanism are recorded to complete the positioning and identification of the seal position in the seal library. By moving along the direction of the positioning substrate, the position information of all the seal positions in the seal library, the placement status of the seal in the corresponding seal position and the seal identity information of the corresponding seal position can be scanned and recorded. By scanning and recording to store the above information in the control unit, the seal position in the seal library can be positioned and identified, which is convenient for identifying the position of the seal to be taken.

[0132] After obtaining the seal information corresponding to the seal position in the seal library, the position of the required seal in the seal library can be predicted in advance according to the seal identity information corresponding to the required seal, and the mobile seal-taking mechanism can be controlled to move to the corresponding seal library position and accurately positioned and identified through the seal library seal position identification and positioning device to take the required seal;

[0133] After picking up the corresponding seal, the mobile seal picking mechanism can also intelligently plan the running path according to the distance between the seal picking position and the preset seal affixing position to reach the preset seal affixing position. In this process, the seal position recognition and positioning device of the seal library can serve as a detection mechanism to accurately control the movement of the mobile seal picking mechanism;

[0134] After stamping is completed, the seal position identification and positioning device of the seal library can determine and accurately locate the seal receiving position of the mobile seal retrieval mechanism, so as to guide the mobile seal mechanism to accurately reset the seal and place it in the corresponding position of the seal library.

[0135] As a better implementation method, each time the seal in the seal library is replaced or moved, the seal in the seal library is repositioned and scanned, and the seal library seal information is updated to ensure the effectiveness of the positioning and identification of the seal library seal position identification and positioning device.

[0136] Example 1:

[0137] See also Figures 1 to 4As shown, this embodiment provides a seal library seal position identification and positioning device for physical seal management equipment, wherein the positioning substrate 1 is configured in a strip shape and is provided with a seal position sensing piece 121 corresponding to the seal position of the seal library and sensing pieces 122 and 123 marking the left and right limit positions of the seal library. Four seals are stored in the seal library, 2 is a seal identity component, which is arranged above the seal barrel and connected to the seal barrel, the seal recognition mechanism 3 is arranged on the mobile seal taking mechanism 4, wherein the seal position sensing and recognition component 32 is arranged on the mobile base of the mobile seal taking mechanism 4, and the seal recognition component 33 is connected to the side of the mobile seal taking mechanism 4 through the detection substrate 31;

[0138] See also Figure 9 As shown, the positioning substrate 541 is arranged along the length direction in a single displacement direction of the movable chapter taking mechanism 52, and each chapter position in the chapter library corresponds to the position of the chapter position sensor piece on the positioning substrate;

[0139] See also Figure 5 and Figure 6 As shown, the seal identity card 41 is integrated with an in-stock identification sensor 42 and an identity identification sensor sheet 43, wherein the identity identification sensor sheet 43 is a photoelectric sensor sheet. The in-stock identification sensor sheet 42 can use an RFID tag for in-stock identification, and a single identity identification sensor sheet 43 is composed of a group of photoelectric sensor sheets to represent a group of binary code information corresponding to a unique seal information;

[0140] See also Figure 7 and Figure 8 As shown, the in-stock identification sensor 331 in the seal identification component 33 adopts an RFID receiver, and the identity identification sensor 332 adopts a photoelectric sensor to accurately collect information corresponding to the photoelectric sensor sheet.

[0141] Example 2:

[0142] This embodiment provides a seal library seal position identification and positioning device for physical seal management and control equipment, wherein a positioning substrate is arranged in each moving direction of a mobile seal retrieval mechanism to position the operation of the mobile seal retrieval mechanism, and is provided with a seal position sensing piece corresponding to the seal position of the seal library and a sensing piece marking the operating limit position of the mobile seal retrieval mechanism. The seal library can store 6-36 seals, and each seal corresponds to a seal identification component one by one, which is arranged above each seal barrel and connected to the seal barrel. The seal identification mechanism is arranged on the mobile seal retrieval mechanism, wherein the seal position sensing and identification component is arranged on the mobile base of the mobile seal retrieval mechanism, and the seal identification component is connected to the top surface of the mobile seal retrieval mechanism through the detection substrate;

[0143] The chapter position positioning mechanism is provided with a first positioning substrate and a second positioning substrate. The first positioning substrate and the second positioning substrate are arranged along the length direction in each displacement direction of the movable chapter taking mechanism. The chapter positions in the chapter library are arranged in an array and the horizontal rows are parallel to the length direction of the first positioning substrate and the vertical rows are parallel to the length direction of the second positioning substrate. The positions of the chapter position sensing pieces on the first positioning substrate and the second positioning substrate correspond to the arrangement of the chapter position array in the chapter library.

[0144] The seal identity card is integrated with an in-stock identification sensor and an identity identification sensor. The identity identification sensor is a QR code graphic, and the in-stock identification sensor is a photoelectric sensor. A single identity identification sensor is represented by a unique QR code graphic to correspond to a unique seal information.

[0145] The in-stock recognition sensor in the seal recognition component adopts an RFID sensor / photoelectric sensor and the identity recognition sensor adopts an image acquisition detector to accurately collect information from the corresponding photoelectric sensor sheet.

[0146] Example 3:

[0147] See also Figure 10 As shown, this embodiment provides a printing control machine 5 using the device described in Example 1, wherein the seal library 51 can accommodate 4-6 seals (the number of seals in the seal library can be increased or decreased accordingly according to the actual size of the printing control machine), the mobile seal-taking mechanism 52 is connected to the upper part of the printing control machine through a mobile driving mechanism, and can move parallel to and perpendicular to the seal position arrangement of the seal library in the printing control machine, the seal position positioning mechanism of the seal library seal position identification and positioning device 54 is arranged on a moving path parallel to the seal position arrangement of the seal library, the stamping mechanism 53 is connected to the mobile seal-taking mechanism, and is used to drive the seal barrel to complete the stamping, and the control unit (not shown in the figure) can locate and scan the seal in the seal library according to the set requirements to obtain the position information and seal identity information of the seal in the seal library, which is used as the basic information for subsequent selection of seals and control of the mobile seal-taking device to locate and take the seal;

[0148] When the printing control machine receives the stamping command, the control unit determines the required seal from the seal identity information of the seal library identified by scanning, and determines the seal position of the required seal in the seal library, and then controls the mobile seal-taking mechanism to move to the corresponding position for precise positioning and identification. If the seal position information is identified to be accurate and the seal identity information in the seal position is consistent with the seal identity information of the required seal, the mobile seal-taking mechanism is controlled to take the required seal, and the seal-taking action is completed at this time;

[0149] The control unit can obtain the corresponding stamp position automatically, manually or by sending coordinates through the upper-level software. After obtaining the stamp position, the control unit plans the motion path and running speed according to the relative position and distance between the stamp position and the stamp taking position. If the control unit recognizes that the running distance is too long, it shortens the running time by adjusting the running speed. If there is displacement in two running directions at the same time, it determines whether the large displacement difference causes a large running difference. If the displacement difference in the two running directions is large, the running time difference between the two running directions is shortened by adjusting the running speed in the direction with larger displacement, thereby improving the running efficiency to leave enough time for accurate stamp positioning and improve the efficiency of a single stamp.

[0150] Example 4:

[0151] This embodiment provides a printing control machine using the device described in Example 2, wherein the seal library can carry 6-36 seals (the number of seals in the seal library can be increased or decreased accordingly according to the actual size of the printing control machine); the mobile seal-taking mechanism is connected to the upper part of the printing control machine through a mobile drive mechanism, and can move parallel to and perpendicular to the seal position arrangement of the seal library in the printing control machine; the seal position positioning mechanism of the seal library seal position identification and positioning device is arranged on two moving paths of the mobile seal-taking mechanism along the mobile seal-taking mechanism; the stamping mechanism is connected to the mobile seal-taking mechanism to drive the seal barrel to move back and forth relative to the mobile stamping mechanism and to anthropomorphically press and stamp; the control unit (not shown in the figure) can locate and scan the seals in the seal library according to set requirements to obtain the position information and seal identity information of the seals in the seal library, which serves as basic information for subsequent seal selection and control of the mobile seal-taking device to locate and take the seal;

[0152] When the printing control machine receives the stamping command, the control unit determines the required seal from the seal identity information of the seal library identified by scanning, and determines the seal position of the required seal in the seal library, and then controls the mobile seal-taking mechanism to move to the corresponding position for precise positioning and identification. If the seal position information is identified to be accurate and the seal identity information in the seal position is consistent with the seal identity information of the required seal, the mobile seal-taking mechanism is controlled to take the required seal, and the seal-taking action is completed at this time;

[0153] The control unit can obtain the corresponding stamp position automatically, manually or by sending coordinates through the upper-level software. After obtaining the stamp position, the control unit plans the motion path and running speed according to the relative position and distance between the stamp position and the stamp taking position. If the control unit recognizes that the running distance is too long, it shortens the running time by adjusting the running speed. If there is displacement in two running directions at the same time, it determines whether the large displacement difference causes a large running difference. If the displacement difference in the two running directions is large, the running time difference between the two running directions is shortened by adjusting the running speed in the direction with larger displacement, thereby improving the running efficiency to leave enough time for accurate stamp positioning and improve the efficiency of a single stamp.

[0154] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

[0155] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A printing control machine, characterized in that: include: The seal library is used to store a number of seals; A movable seal-taking mechanism is used to take the corresponding seal from the seal library and move it to a preset seal position, and to place the stamped seal into the corresponding seal position in the seal library; A stamping mechanism, connected to the movable stamp taking mechanism, for controlling the stamp to perform a stamping action; a seal library seal position identification and positioning device, which is respectively connected to the mobile seal taking mechanism and the seal affixing mechanism, and is used to move the mobile seal taking mechanism to the seal library seal position corresponding to the seal, wherein a positioning substrate of the seal library seal position identification and positioning device is arranged on the mobile seal taking mechanism, and is used to mark whether the action of the mobile seal taking mechanism is in place; a control unit, which is respectively connected to the mobile seal-taking mechanism, the seal-stamping mechanism and the seal library seal position identification and positioning device, and is used to control the mobile seal-taking mechanism to complete the seal-taking and seal-returning actions according to the seal information and seal library information fed back by the seal library seal position identification and positioning device, and to control the mobile seal-taking mechanism to move the corresponding seal to the preset seal position according to the preset seal position information, and to complete the seal-stamping action by controlling the seal-stamping mechanism, and to determine the moving speed of the mobile seal-taking mechanism and the seal moving speed of the seal-stamping mechanism during the seal-taking and seal-returning processes according to the preset seal position and the preset seal library position and the set seal position and the position of the corresponding seal in the seal library, so as to improve the seal-stamping efficiency; The control unit is provided with a preset stamping coordinate system, wherein the horizontal coordinate of the preset stamping coordinate system is set to the length direction of the positioning substrate of the mobile stamp-taking mechanism along the stamp position identification and positioning device of the stamp library, the vertical coordinate of the preset stamping coordinate system is set to the direction perpendicular to the horizontal coordinate, and the coordinate origin of the preset stamping coordinate system is set on the positioning substrate of the stamp position identification and positioning device of the stamp library; The control unit is provided with a preset seal-taking speed adjustment distance standard S0, wherein 0<S0<0.7S, S is the maximum moving distance of the mobile seal-taking mechanism in a single direction, and the preset seal-taking speed adjustment distance standard S0 is used to determine whether the displacement of the horizontal coordinate or vertical coordinate of the mobile seal-taking mechanism when it moves from the corresponding seal to the preset seal-stamping position exceeds the movement speed adjustment standard. When the control unit receives a seal-stamping instruction, the control unit determines the identity information of the corresponding seal according to the seal information in the seal-stamping instruction and controls the mobile seal-taking mechanism to move to the corresponding seal position in the seal library. The control unit determines its displacement in the preset seal-stamping coordinate system according to the relative position of the seal position and the preset seal-stamping position, records its displacement distance in the horizontal coordinate as x, records its displacement distance in the vertical coordinate as y, records the smaller value of x and y as s0, sets s0=min(x, y), and the control unit compares s0 with S0 to determine whether it is necessary to adjust the moving speed of the mobile seal-taking mechanism; When s0≤S0, the control unit determines that s0 meets the preset chapter taking speed adjustment distance standard and there is no need to adjust the moving speed of the mobile chapter taking mechanism in the displacement direction of s0, and the control unit adjusts the displacement speed of the mobile chapter taking mechanism in the other movement direction according to x and y; When s0>S0, the control unit determines that s0 exceeds the preset chapter-taking speed adjustment distance standard, and the control unit adjusts the moving speed of the mobile chapter-taking mechanism in the displacement direction of s0 to va and adjusts the displacement speed of the mobile chapter-taking mechanism in the other moving direction according to x and y, setting va=v0×θ1, where v0 is the initially set moving speed of the mobile chapter-taking mechanism in the displacement direction of s0, θ1 is the first speed-up coefficient, and 1<θ1<2.

2. A seal library and seal position identification and positioning device for a physical seal control device applied to the seal control machine according to claim 1, characterized in that: include: Seal position positioning mechanism, which corresponds to the position of each seal in the seal library one by one, and is used to mark the position of each seal in the seal library; A plurality of seal identity components are provided with identity information corresponding to the seal information of each seal, so as to correspond to each seal information; A seal recognition mechanism, which recognizes the seal position by recognizing the position information of the seal position positioning mechanism, and recognizes the seal information by recognizing the identity information of the seal identity component; Wherein, the seal position positioning mechanism includes: Positioning substrate; A plurality of position sensing components are arranged on the positioning substrate for calibrating the position of each seal in the seal library, and for calibrating the scanning and recognition range of the seal recognition mechanism. The position sensing components include a plurality of seal position sensing pieces arranged at preset positions on the positioning substrate for calibrating the position of each seal in the seal library, a first seal library sensing piece and a second seal library sensing piece respectively arranged at a first preset position and a second preset position of the positioning substrate and used to calibrate the scanning and recognition range of the seal recognition mechanism.

3. The seal library seal position identification and positioning device for physical seal management and control equipment according to claim 2 is characterized in that: The seal recognition mechanism includes: A detection substrate is provided on the movable seal-taking mechanism; A seal position sensing and identification component is provided on the movable seal taking mechanism and is used to identify the position sensing component to determine the position of the seal library and the position of each seal; The seal recognition component is connected to the detection substrate and is used to recognize the information of the identity recognition component corresponding to each seal to determine the seal information of each seal.

4. The seal library seal position identification and positioning device for physical seal management and control equipment according to claim 3 is characterized in that: The seal identity components correspond to each seal one by one, including: A seal identity card, which is connected to the corresponding seal and is used to carry the identity information of the corresponding seal; An in-stock identification sensor sheet is provided on the seal identity card to indicate whether the seal is in stock; The identity recognition sensor sheet is arranged on the seal identity card and is used to carry the identity information of the corresponding seal.

5. The seal library seal position identification and positioning device for physical seal management and control equipment according to claim 4 is characterized in that: The seal recognition component includes: An in-stock identification sensor is provided on the seal library to identify the in-stock identification sensor sheet to determine whether the seal is in the library; The identity recognition sensor is arranged on the detection substrate and is used to determine the seal information by recognizing the information of the identity recognition sensor sheet.

6. The seal library seal position identification and positioning device for physical seal management and control equipment according to claim 5 is characterized in that: The chapter position sensing and recognition component comprises: A seal position sensor is provided on the movable seal taking mechanism and is used to identify the seal position sensor to determine that the movable seal taking mechanism has reached the corresponding seal position; A first chapter library sensor is provided on the mobile chapter taking mechanism, and is used to identify the first chapter library sensor sheet to determine that the mobile chapter taking mechanism has reached a preset position of the first chapter library; The second chapter library sensor is arranged on the mobile chapter taking mechanism and is used to identify the second chapter library sensor piece to determine that the mobile chapter taking mechanism has reached a preset position of the second chapter library.

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