A stamping method for physical seal control equipment

Abstract

The present invention relates to the field of motion trajectory simulation technology, and in particular to a stamping method for physical seal management and control equipment, comprising: a central control module controlling a stamping device to identify a seal from the side of a seal library, pressing down the seal tube corresponding to the seal, dipping it in ink and removing it, and moving it to a preset stamping position via a moving motor; the stamping device pressing down the seal tube until it makes initial contact with the document to be stamped; continuing to press down until the seal tube is in full contact with the document to be stamped; determining the horizontality of the document to be stamped and rubbing the seal head to simulate a human hand movement; detecting the clarity of the seal to be stamped, and controlling the stamping device to adjust the connection stiffness of the seal according to the clarity of the seal to be stamped. By utilizing the methods of identifying the seal, adjusting the seal angle, rubbing the seal, and adjusting the seal tube, the stamping clarity of the seal is effectively enhanced while improving the compatibility of the seal management and control equipment, thereby improving the quality of the stamp.

Description

Technical Field

[0001] The present invention relates to the technical field of motion trajectory simulation, and in particular to a stamping method for physical seal management and control equipment. Background Art

[0002] With the continuous development of the market, more and more occasions require seals to limit authority and identify identities. Manual stamping is cumbersome and has poor confidentiality. Therefore, there is an urgent need for a device that can replace manual stamping and has a faster stamping speed to replace manual stamping. Chinese Patent Publication No.: CN107521245A discloses a stamping method for an all-purpose three-head stamping machine, which uses facial recognition to identify the seal operator, thereby improving the security of using the seal; Chinese Patent Publication No.: CN107225876A discloses an automatic stamping machine and a method for controlling it to perform automatic stamping operations, which determines whether the predetermined stamping area of ​​the paper has moved to the stamping position of the stamping mechanism based on the number of holes sensed by the hole recognition sensor, so as to accurately stamp the paper; Chinese Patent Publication No.: CN104108254A discloses an automatic page turning and stamping device and a method for stamping multiple sheets of booked documents, which uses a page turning component to roll up one end of the document to be stamped and separate the papers one by one to achieve page turning and stamping.

[0003] It can be seen that the above technical solution has the following problems: it is impossible to adjust the seal pressing strength according to the requirements of the document to be stamped, and it is difficult to control the clarity of the stamp, which leads to the problem of being unable to control the quality of the stamp. Summary of the Invention

[0004] To this end, the present invention provides a stamping method for a physical stamp control device, which is used to overcome the problem in the prior art that the stamp pressing strength cannot be adjusted according to the requirements of the document to be stamped, the clarity of the stamp is difficult to control, and thus the quality of the stamp cannot be controlled.

[0005] To achieve the above-mentioned object, the present invention provides a stamping method for a physical seal control device, comprising:

[0006] Step S1: The central control module controls the stamping device to identify the seal from the side of the seal library, press the seal tube corresponding to the seal down to dip it in ink and take it out, and move it to the preset stamping position through the moving motor;

[0007] Step S2: the stamping device rotates the seal tube to a preset angle, and at the same time presses the seal tube downward at a first preset pressing speed until the bottom of the seal tube contacts the document to be stamped;

[0008] Step S3, when the stamping device senses that the seal tube is in contact with the document to be stamped, the stamping device presses the seal tube downward at a second preset speed until the bottom of the seal tube is in complete contact with the document to be stamped;

[0009] Step S4: the central control module determines the horizontality of the document to be stamped through the feedback of the stamp cylinder to the stamping device, and controls the moving motor to perform reciprocating motion at a preset speed to simulate the action of kneading the stamp by hand;

[0010] In step S5, the stamping device lifts the seal tube and moves it from the side to the corresponding position of the seal library. At the same time, the central control module controls the detection camera to detect the clarity of the seal, and controls the stamping device to adjust the connection stiffness of the seal according to the clarity of the seal.

[0011] Furthermore, when the central control module controls the stamping device to take a stamp from the stamp library, the stamping device identifies the identification label on the side of the stamp tube, grabs the corresponding stamp tube, takes it out from the side of the stamp library, and moves it to the first preset position;

[0012] When the central control module determines that the stamping device is located at the first preset position, the central control module determines that the stamp tube is located above the ink pad.

[0013] Furthermore, when the central control module determines that the stamping device is located above the ink pad, the central control module controls the stamping device to press the removed stamp tube down to the ink pad at a first preset pressing speed so that the stamp is in full contact with the ink pad;

[0014] When the seal tube is in full contact with the ink pad, the seal tube feeds back a reaction force to the stamping device to a preset feedback strength, and the stamping device rebounds, and transmits a rebound signal to the central control module;

[0015] When the central control module senses that the stamping device receives a rebound signal, the central control module controls the stamping device to carry the stamp tube away from the ink pad and moves the stamping device to the preset stamping position at a first preset moving speed.

[0016] Furthermore, the central control module controls the stamping device to rotate the seal cylinder at a uniform speed at a first preset speed until the feedback seal cylinder angle of the stamping device returns to zero;

[0017] When the central control module determines that the seal tube angle has returned to zero, the central control module controls the stamping device to rotate the seal tube to the preset stamping angle at a second preset rotation speed, and at the same time controls the stamping device to press the seal tube toward the preset stamping position at a first preset pressing speed so that the seal at the bottom of the seal tube contacts the document to be stamped.

[0018] Furthermore, when the bottom of the seal tube is in full contact with the document to be stamped, the seal tube feeds back a reaction force to the stamping device, and the central control module determines whether the stamping type of the document to be stamped is a common stamp or a saddle stamp based on the reaction force received by the stamping device, and controls the stamping device to adjust the posture of the seal tube according to the stamping type of the document to be stamped, so that the seal tube can stamp in a vertical direction of the portion to be stamped of the document to be stamped;

[0019] When the central control module controls the stamping device to stamp, the stamping device presses the stamp tube toward the document to be stamped at a second preset downward pressing speed to the preset feedback strength, and the stamping device rebounds. At the same time, the central control module determines to perform the stamp kneading.

[0020] Furthermore, when the central control module determines to perform the stamping, the central control module makes a judgment based on the level of the document to be stamped.

[0021] If the document to be stamped is at a high level, the central control module controls the moving motor to rotate back and forth at a first kneading amplitude with a preset period;

[0022] If the level of the document to be stamped is low, the central control module controls the moving motor to rotate back and forth at the second kneading amplitude in the preset period.

[0023] Furthermore, when the seal is kneaded, the seal tube is flexibly connected to the connecting part of the stamping device, the seal tube head and the seal tube body, wherein the flexible material of the seal tube head and the seal tube body can adjust the length to adjust the connection stiffness according to the number of seal imprints corresponding to the seal tube.

[0024] Furthermore, when the stamp kneading is completed, the central control module determines that the stamping action is completed, and controls the stamping device to lift the stamp tube from the paper surface and rotate the stamp tube to return the angle to zero, and move it to the first preset position. At the same time, it determines whether to perform the next stamping or send the seal back to the stamp library according to the preset number of stamps.

[0025] Furthermore, when the central control module completes a stamping operation, the central control module controls the detection camera to photograph the stamping position and compare the stamping with the printed text.

[0026] If the filling degree is less than the preset qualified filling degree, the central control module determines that the seal kneading is insufficient, and adjusts the length of the seal tube head and the flexible material of the seal tube body to improve the quality of the seal kneading;

[0027] If the filling degree is greater than the preset qualified filling degree, the central control module determines that the seal is sufficiently kneaded and does not adjust the seal tube.

[0028] Furthermore, when the central control module controls the mobile motor to perform the kneading of the seal, the mobile motor drives the belt to make the stamping device perform reciprocating motion. At the same time, the track parallel to the belt is synchronously moved axially by the image of the moving stamping device; the track is flexibly connected to the shell of the physical seal control device to make the physical seal control device stable as a whole.

[0029] Compared with the existing technology, the beneficial effect of the present invention is that, by using the methods of identifying the seal, adjusting the seal angle, kneading the seal and adjusting the seal tube, the clarity of the seal is effectively enhanced while improving the compatibility of the seal control equipment, thereby improving the quality of the seal.

[0030] Furthermore, by removing the seal tube from the side of the seal library, the impact on the overall stability of the seal control equipment is effectively reduced, while further improving the quality of stamping;

[0031] Furthermore, by setting a rebound signal, the seal tube is dipped into the ink with a reasonable strength, which effectively reduces the poor stamping effect caused by excessive ink and further improves the quality of the stamp.

[0032] Furthermore, by setting the seal cylinder zero angle, the seal cylinder rotation angle is measured, which effectively improves the seal angle control and further improves the quality of the seal.

[0033] Furthermore, the completion degree of the stamping action is determined by setting stamping feedback, which effectively improves the controllability of the stamping process and further improves the quality of the stamping;

[0034] Furthermore, by distinguishing the stamp types of the stamped documents and selecting the appropriate stamp kneading method, the compatibility of the stamp control equipment is effectively improved while further improving the quality of the stamp;

[0035] Furthermore, by adjusting the flexible materials of the seal tube head and the seal tube body, the integrity of the seal tube is effectively improved while the compatibility of the seal tube is improved, thereby further improving the quality of stamping;

[0036] Furthermore, the method of judging whether stamping is completed by determining whether the stamping is completed after the stamping action is completed effectively reduces the damage to the stamped document caused by the stamping action and further improves the quality of the stamping.

[0037] Furthermore, the degree of stamp rubbing is determined by taking a picture of the stamp image to measure its fullness, which effectively improves the quality of the stamp and further enhances its quality.

[0038] Furthermore, by utilizing the flexible connection between the track and the device housing, the stamping quality is effectively improved while avoiding the image of the external environment caused by the movement inside the device, thereby further improving the stamping quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 This is a flow chart of the stamping method for physical seal management and control equipment of the present invention;

[0040] Figure 2 This is a structural diagram of the seal control device of the present invention;

[0041] Figure 3 This is a structural diagram of the chapter library of the present invention;

[0042] Figure 4 This is a structural diagram of the chapter tube of the present invention;

[0043] Figure 5 It is a structural diagram of the self-locking mechanism of the chapter barrel head of the present invention;

[0044] Wherein: 1: Stamping device; 11: Rebound sensing mechanism; 12: Horizontal position sensing mechanism; 13: Rotation sensing mechanism; 14: Seal tube recognition mechanism; 15: Stamping motor; 2: Seal tube; 21: Seal tube head; 211: Seal tube connecting groove; 212: Seal tube head self-locking mechanism; 213: Self-locking spring; 22: Seal tube connecting piece; 23: Seal tube body; 231: Seal lock; 232: Seal tube connecting piece lock; 3: Paper tray; 31: Document to be stamped; 4 : Seal library; 41: Seal tube slot; 42: Seal library sensor; 43: Seal tube sensor; 44: Seal tube rack stabilizing mechanism; 5: Ink pad table; 51: Ink pad table stand; 6: Moving module; 61: Longitudinal moving motor; 62: Longitudinal moving belt; 63: Longitudinal moving track; 64: Longitudinal track differential; 65: Horizontal moving motor; 66: Horizontal moving track: 67: Horizontal position sensor; 7: Housing; 71: Identification label; 72: Environmental camera. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] See also Figure 1 As shown, it is a flow chart of the stamping method for physical seal control equipment of the present invention, including:

[0050] Step S1: The central control module controls the stamping device to identify the seal from the side of the seal library, press the seal tube corresponding to the seal down to dip it in ink and take it out, and move it to the preset stamping position through the moving motor;

[0051] Step S2: The stamping device rotates the seal cylinder to a preset angle and simultaneously presses the seal cylinder downward at a first preset downward pressing speed until the bottom of the seal cylinder contacts the document to be stamped.

[0052] Step S3: When the stamping device senses that the seal cylinder is in contact with the document to be stamped, the stamping device presses the seal cylinder downward at a second preset speed until the bottom of the seal cylinder is in complete contact with the document to be stamped;

[0053] Step S4: The central control module determines the horizontality of the document to be stamped through the feedback of the stamp cylinder to the stamping device, and controls the moving motor to perform reciprocating motion at a preset speed to simulate the action of kneading the stamp by hand;

[0054] In step S5, the stamping device lifts the seal tube and moves it from the side to the corresponding position of the seal library. At the same time, the central control module controls the detection camera to detect the clarity of the seal, and controls the stamping device to adjust the connection stiffness of the seal according to the clarity of the seal.

[0055] Compared with the existing technology, the beneficial effect of the present invention is that, by using the methods of identifying the seal, adjusting the seal angle, kneading the seal and adjusting the seal tube, the clarity of the seal is effectively enhanced while improving the compatibility of the seal control equipment, thereby improving the quality of the seal.

[0056] See also Figure 2As shown, it is a structural diagram of the seal control device of the present invention.

[0057] Among them, the stamping device 1 is provided with a rebound sensing mechanism 11, a horizontal position sensing mechanism 12, a rotation sensing mechanism 13, a seal tube recognition mechanism 14 and a stamping motor 15, which are used to control and identify the movement of the stamping device 1; the seal library 4 is arranged above the ink pad 5 to store the seal tube 2; an ink pad stand 51 is provided under the ink pad 5 to stabilize the ink pad 5 and provide a buffer; the moving module 6 includes a longitudinal moving motor 61 arranged under the longitudinal moving track 63 to drive the longitudinal moving belt 62 to drive the stamping device 1 to move longitudinally, wherein the longitudinal moving belt 62 is connected to a longitudinal moving differential Device 64, when the central control module determines that the stamp kneading action is required, the longitudinal moving differential 64 provides a differential speed to make the longitudinal moving track 63 swing, and the transverse moving motor 65 is arranged under the transverse moving track 66 to control the stamping device 1 to move laterally, and the horizontal position sensor 67 is arranged above the moving module 6 to provide the horizontal coordinate to the stamping device 1; the outer shell 7 wraps the above device, and the identification label 71 is arranged above the outer shell 7 to provide identification; the environmental camera 72 is arranged in the hole of the identification label 71 to monitor the external environment of the seal control equipment.

[0058] Specifically, when the central control module controls the stamping device to take a stamp from the stamp library, the stamping device identifies the identification label on the side of the stamp tube, grabs the corresponding stamp tube, takes it out from the side of the stamp library, and moves it to the first preset position;

[0059] When the central control module determines that the stamping device is located at the first preset position, the central control module determines that the stamp tube is located above the ink pad.

[0060] By removing the seal tube from the side of the seal library, the impact on the overall stability of the seal control equipment is effectively reduced, while further improving the quality of stamping;

[0061] See also Figure 3 As shown, it is a structural diagram of the seal library of the present invention. The seal library 4 is provided with a seal tube slot 41 for fixing the seal tube 2 placed in the seal library 4 in the vertical direction. The seal library sensing piece 42 is used to provide the height of the seal tube 2 when the stamping device 1 takes the seal tube 2. The seal tube sensing piece 43 is arranged on one side of the seal tube slot 41 for sensing whether the corresponding seal tube 2 exists. The seal tube frame stabilizing mechanism 44 is arranged on one side of the seal tube slot 41 for stabilizing the seal tube slot 41.

[0062] Specifically, when the central control module determines that the stamping device is located above the ink pad, the central control module controls the stamping device to press the taken-out stamp tube down to the ink pad at a first preset pressing speed so that the stamp is in full contact with the ink pad;

[0063] When the seal tube is in full contact with the ink pad, the seal tube feeds back a reaction force to the stamping device to a preset feedback strength, and the stamping device rebounds and transmits the rebound signal to the central control module;

[0064] When the central control module senses that the stamping device receives a rebound signal, the central control module controls the stamping device to carry the stamp tube away from the ink pad and moves the stamping device to a preset stamping position at a first preset moving speed.

[0065] By setting a rebound signal, the seal tube is dipped into the ink with a reasonable strength, which effectively reduces the poor stamping effect caused by excessive ink and further improves the quality of the stamp.

[0066] Specifically, the central control module controls the stamping device to rotate the stamp cylinder at a uniform speed at a first preset speed until the feedback stamp cylinder angle of the stamping device returns to zero;

[0067] The stamping device is provided with a first spring and a second spring. When the stamping device performs the action of dipping the stamp into the ink pad, the feedback of the stamp tube causes the first spring and the second spring to rebound at the same time. At this time, the central control module determines that the action of dipping the stamp into the ink pad is completed.

[0068] When the central control module determines that the seal tube angle has returned to zero, the central control module controls the stamping device to rotate the seal tube to the preset stamping angle at a second preset rotation speed, and at the same time controls the stamping device to press the seal tube toward the preset stamping position at a first preset pressing speed so that the seal at the bottom of the seal tube contacts the document to be stamped.

[0069] By setting the seal cylinder zero angle, the seal cylinder rotation angle is calculated, which effectively improves the seal angle control and further enhances the quality of the seal.

[0070] When the stamping device is stamping, the central control module controls the vertical moving motor to press the stamp cylinder fixed on the stamping device to the to-be-stamped position of the document to be stamped at a first preset downward pressing speed. For the i-th stamping, the first feedback obtained after the downward pressing is Fi, Fi = (f1, f2), i = 1, 2, 3, ..., n, n is the maximum number of stamping times, f1 = 0, 1, f2 = 0, 1, f1 is the feedback obtained by the first spring, f2 is the feedback obtained by the second spring, when feedback is obtained, the value of f1 and / or f2 is 1, when no feedback is obtained, the value of f1 and / or f2 is 0, the central control module adjusts the operation of the stamping device by determining the value of Fi,

[0071] If Fi=(0, 1), the central control module determines that the stamping device is performing a saddle stamping operation and determines to continue pressing down until Fi=(1, 1). At the same time, the central control module determines that the stamping device is starting to rub the seal.

[0072] If Fi=(1, 1), the central control module determines that the modified device is performing ordinary stamping and determines that no further pressure is applied. At the same time, the central control module determines that the stamping is started;

[0073] If Fi=(1, 0), the central control module determines that the document to be stamped in the paper tray is sliding and issues an alarm.

[0074] Specifically, when the bottom of the seal cylinder is in full contact with the document to be stamped, the seal cylinder feeds back a reaction force to the stamping device. The central control module determines whether the stamping type of the document to be stamped is a common stamp or a saddle stamp based on the reaction force received by the stamping device, and controls the stamping device to adjust the posture of the seal cylinder according to the stamping type of the document to be stamped, so that the seal cylinder can stamp in a vertical direction of the part to be stamped of the document to be stamped.

[0075] When the central control module controls the stamping device to stamp, the stamping device presses the stamp cylinder toward the document to be stamped at a second preset downward pressing speed to a preset feedback strength, and the stamping device rebounds. At the same time, the central control module determines to perform stamp kneading.

[0076] The completion degree of the stamping action is determined by setting stamp feedback, which effectively improves the controllability of the stamping process and further improves the quality of the stamping.

[0077] When the central control module determines to start kneading the seal, it is judged according to the seal type of the document to be stamped. When the central control module determines that the document to be stamped is an ordinary seal, the central control module determines to knead the seal with a first kneading amplitude. When the central control module determines that the document to be stamped is a saddle seal, the central control module determines to knead the seal with a second kneading amplitude. At the same time, according to the time difference Ti from Fi=(0,1) to Fi=(1,1) of the i-th stamping of the saddle seal, the number of times the seal is kneaded in the preset cycle is judged. The central control module is provided with a first preset time difference t1 and a second preset time difference t2, wherein 0<t1<t2, the first preset time difference t1 is the shortest reaction time difference, and the second preset time difference t2 is the longest reaction time difference.

[0078] If Ti<t1, the central control module determines that the number of times the stamp is stamped and rubbed is 1, and controls the stamping device to rub the stamp;

[0079] If t1≤Ti<t2, the central control module determines that the number of times the stamp is stamped and rubbed is 2, and controls the stamping device to rub the stamp;

[0080] If t2≤Ti, the central control module determines that the document to be stamped is slipping and issues an alarm.

[0081] Specifically, when the central control module determines to rub the seal, the central control module judges according to the level of the document to be stamped.

[0082] If the document to be stamped is at a high level, the central control module controls the moving motor to rotate back and forth at a preset period according to the first stamp kneading amplitude;

[0083] If the level of the document to be stamped is low, the central control module controls the moving motor to rotate back and forth according to the second stamp kneading amplitude at a preset period.

[0084] By distinguishing the stamp types of stamped documents and selecting the appropriate stamp kneading method, the compatibility of stamp control equipment is effectively improved while further improving the quality of stamping.

[0085] See also Figure 4 As shown, it is a structural diagram of the chapter tube of the present invention.

[0086] The seal tube 2 is divided into a seal tube head 21, a seal tube connector 22 and a seal tube body 23. The seal tube head 21 is provided with a seal tube connecting groove 211 for connecting with the stamping device 1. The seal tube head self-locking mechanism 212 is used to cooperate with the seal tube connector lock 232 to lock the seal tube connector 22 in the vertical direction. The seal lock 231 is used to lock the corresponding seal at the bottom of the seal tube body 23 so that the seal is relatively fixed in the axial and vertical directions.

[0087] Specifically, when the seal is kneaded, the seal tube is flexibly connected to the connecting part of the stamping device, the seal tube head and the seal tube body, wherein the flexible material of the seal tube head and the seal tube body can adjust the length to adjust the connection stiffness according to the number of seal imprints corresponding to the seal tube.

[0088] By adjusting the flexible materials of the seal tube head and the seal tube body, the integrity of the seal tube is effectively improved while the compatibility of the seal tube is improved, thereby further improving the quality of stamping;

[0089] Specifically, when the stamp is kneaded, the central control module determines that the stamping action is completed, and controls the stamping device to lift the stamp tube from the paper surface and rotate the stamp tube to return the angle to zero, and move it to the first preset position. At the same time, it determines whether to perform the next stamp or send the stamp back to the stamp library based on the preset number of stamps.

[0090] The method of judging whether stamping is completed by determining whether stamping is completed or not effectively reduces the damage to the stamped documents caused by the stamping action, while further improving the quality of stamping.

[0091] See also Figure 5 As shown, it is a structural schematic diagram of the self-locking mechanism of the chapter barrel head of the present invention.

[0092] When the central control module determines that the seal tube needs to be adjusted, the stamping device 1 puts the seal tube 2 back into the seal library 4 from the side. At this time, the seal tube slot 41 in the seal library 4 presses the seal tube head self-locking mechanism 212 in the seal tube head 21. At the same time, the self-locking spring 213 compresses and releases the seal tube connecting piece 22. At this time, the stamping device 1 presses the seal tube connecting piece 22 to adjust the free part of the seal tube connecting piece 22 between the seal tube body 23 and the seal tube head 21 to reduce the overall stiffness of the seal tube 2 and increase the seal kneading amplitude.

[0093] When a single seal tube is taken out for the first time, the central control module corrects and stamps the seal tube. For the jth correction stamping, j = 1, 2, 3, ..., m, where m is the maximum number of correction stampings. When the correction stamping is completed, the correction camera set above the inner part of the shell takes a picture of the stamped seal and calculates the seal filling degree Dj of the jth stamping. The central control module is provided with a qualified seal filling degree D0. Dj is compared with D0 to determine whether the seal tube stiffness corresponding to the jth correction stamping is reasonable.

[0094] If Dj is less than D0, the central control module determines that the stiffness of the chapter tube is too high and extends the chapter tube connector to reduce the stiffness of the chapter tube;

[0095] If Dj≥D0, the central control module determines that the stiffness of the chapter tube is reasonable and does not adjust the chapter tube.

[0096] Specifically, several light strips are set up in a centrally symmetrical manner inside the shell, and the light sources of the light strips are arranged axially symmetrically. While meeting the lighting requirements inside the seal control device, they can effectively reduce the interference of shadows on the images taken by the detection camera, thereby avoiding misjudgment by the central control module.

[0097] Specifically, when the central control module completes a stamp, it controls the detection camera to capture the stamp position and compare the stamp with the printed text.

[0098] If the filling degree is less than the preset qualified filling degree, the central control module determines that the seal is not kneaded sufficiently and adjusts the length of the seal tube head and the flexible material of the seal tube body to improve the quality of the kneading;

[0099] If the filling degree is greater than the preset qualified filling degree, the central control module determines that the seal is fully kneaded and does not adjust the seal cylinder.

[0100] By taking pictures of the stamp image to see how full it is, we can determine the degree of stamp rubbing, which not only effectively improves the stamp quality, but also further enhances the quality of the stamp.

[0101] Specifically, when the central control module controls the mobile motor to knead the seal, the mobile motor drives the belt to make the stamping device move back and forth. At the same time, the track parallel to the belt is moved synchronously in the axial direction by the image of the stamping device; the track is flexibly connected to the outer shell of the physical seal control equipment to make the physical seal control equipment stable as a whole.

[0102] By using a flexible connection between the track and the device casing, the stamping quality is effectively improved while avoiding the impact of the internal movement of the device on the external environment, thereby further improving the stamping quality.

[0103] 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.

[0104] 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 stamping method for a physical seal control device, characterized in that: include: Step S1: The central control module controls the stamping device to identify the seal from the side of the seal library, take out the seal tube corresponding to the seal from the seal library, dip it in ink, and move it to the preset stamping position through the moving motor; Step S2: the stamping device rotates the seal tube to a preset angle, and at the same time presses the seal tube downward at a first preset pressing speed until the bottom of the seal tube contacts the document to be stamped; Step S3, when the stamping device senses that the seal tube is in contact with the document to be stamped, the stamping device presses the seal tube downward at a second preset speed until the bottom of the seal tube is in complete contact with the document to be stamped; Step S4: the central control module determines the horizontality of the document to be stamped through the feedback of the stamp cylinder to the stamping device, and controls the moving motor to perform reciprocating motion at a preset speed to simulate the action of kneading the stamp by hand; Step S5: The stamping device lifts the seal tube and moves it from the side to the corresponding position of the seal library. At the same time, the central control module controls the detection camera to detect the clarity of the seal and controls the stamping device to adjust the connection stiffness of the seal according to the clarity of the seal. When the bottom of the seal tube is in full contact with the document to be stamped, the seal tube feeds back a reaction force to the stamping device. The central control module determines whether the stamping type of the document to be stamped is a common stamp or a saddle stamp based on the reaction force received by the stamping device, and controls the stamping device to adjust the posture of the seal tube according to the stamping type of the document to be stamped, so that the seal tube can stamp in a vertical direction of the portion to be stamped of the document to be stamped; When the central control module controls the stamping device to stamp, the stamping device presses the stamp cylinder toward the document to be stamped at a second preset downward pressing speed to a preset feedback strength, and the stamping device rebounds. At the same time, the central control module determines to perform the stamp kneading. When the central control module determines that the stamp is started, the central control module determines according to the stamp type of the document to be stamped. When the central control module determines that the document to be stamped is an ordinary stamp, the central control module determines to knead the stamp with a first kneading amplitude. When the central control module determines that the document to be stamped is a perforated stamp, the central control module determines to knead the stamp with a second kneading amplitude. The number of times the stamp is kneaded in a preset cycle is determined according to the time difference Ti from Fi=(0,1) to Fi=(1,1) of the i-th stamping with the perforated stamp. The central control module is provided with a first preset time difference t1 and a second preset time difference t2, wherein 0<t1<t2, the first preset time difference t1 is the shortest reaction time difference, and the second preset time difference t2 is the longest reaction time difference; When the correction stamping is completed, the correction camera takes a picture of the stamp after stamping and calculates the stamp filling degree Dj of the j-th stamping. The central control module is provided with a qualified stamp filling degree D0. Dj is compared with D0 to determine whether the stamp tube stiffness corresponding to the j-th correction stamping is reasonable.

2. The stamping method for a physical seal control device according to claim 1, characterized in that: When the central control module controls the stamping device to take a stamp from the stamp library, the stamping device identifies the identification label on the side of the stamp tube, grabs the corresponding stamp tube, takes it out from the side of the stamp library, and moves it to a first preset position; When the central control module determines that the stamping device is located at the first preset position, the central control module determines that the stamp tube is located above the ink pad.

3. The stamping method for a physical seal control device according to claim 2, characterized in that: When the central control module determines that the stamping device is located above the ink pad, the central control module controls the stamping device to press the taken-out stamp tube down to the ink pad at a first preset pressing speed so that the stamp is in full contact with the ink pad; When the seal tube is in full contact with the ink pad, the seal tube feeds back a reaction force to the stamping device to a preset feedback strength, and the stamping device rebounds, and transmits a rebound signal to the central control module; When the central control module senses that the stamping device receives a rebound signal, the central control module controls the stamping device to carry the stamp tube away from the ink pad and moves the stamping device to the preset stamping position at a first preset moving speed.

4. The stamping method for a physical seal control device according to claim 1, characterized in that: The central control module controls the stamping device to rotate the seal cylinder at a uniform speed at a first preset speed until the feedback seal cylinder angle of the stamping device returns to zero; When the central control module determines that the seal tube angle has returned to zero, the central control module controls the stamping device to rotate the seal tube to the preset stamping angle at a second preset rotation speed, and at the same time controls the stamping device to press the seal tube toward the preset stamping position at a first preset pressing speed so that the seal at the bottom of the seal tube contacts the document to be stamped.

5. The stamping method for a physical seal control device according to claim 1, characterized in that: When the central control module determines to perform the stamping, the central control module makes a judgment based on the level of the document to be stamped. If the document to be stamped is at a high level, the central control module controls the moving motor to rotate back and forth at a first kneading amplitude with a preset period; If the level of the document to be stamped is low, the central control module controls the moving motor to rotate back and forth at the second kneading amplitude in the preset period.

6. The stamping method for a physical seal control device according to claim 5, characterized in that: When the seal is kneaded, the seal tube is flexibly connected to the connecting part of the stamping device, the seal tube head and the seal tube body, wherein the flexible material of the seal tube head and the seal tube body can be adjusted in length to adjust the connection stiffness according to the number of seal imprints corresponding to the seal tube.

7. The stamping method for a physical seal control device according to claim 1, characterized in that: When the stamp kneading is completed, the central control module determines that the stamping action is completed, and controls the stamping device to lift the stamp tube from the paper surface and rotate the stamp tube to return the angle to zero, and move it to the first preset position. At the same time, it determines to perform the next stamping or send the seal back to the stamp library according to the preset number of stamps.

8. The stamping method for a physical seal control device according to claim 7, characterized in that: When the central control module completes a stamping operation, the central control module controls the detection camera to capture the stamping position and compare the stamp with the printed text. If the filling degree is less than the preset qualified filling degree, the central control module determines that the seal kneading is insufficient, and adjusts the length of the seal tube head and the flexible material of the seal tube body to improve the quality of the seal kneading; If the filling degree is greater than the preset qualified filling degree, the central control module determines that the seal is sufficiently kneaded and does not adjust the seal tube.

9. The stamping method for a physical seal control device according to claim 1, characterized in that: When the central control module controls the mobile motor to perform the stamp kneading, the mobile motor drives the belt to make the stamping device perform reciprocating motion. At the same time, the track parallel to the belt is synchronously moved axially by the image of the stamping device; the track is flexibly connected to the shell of the physical seal control device to make the physical seal control device stable as a whole.

Images