Unattended stamping device and method based on 3D vision

Abstract

The invention provides an unattended stamping device and method based on 3D vision. A control assembly is electrically connected with an image collecting assembly, a stamping mechanical arm and a file transferring mechanism. During stamping, the control assembly acquires image information of a to-be-stamped file in the first file bearing mechanism through the image acquisition assembly to determine a stamping position; the control assembly drives the stamping mechanical arm to obtain a to-be-stamped stamp from the stamp bearing mechanism; the control assembly drives the stamping mechanical arm to the stamping position to stamp the file to be stamped; the file transfer mechanism moves the stamped file from the first file bearing mechanism to the second file bearing mechanism. The technical problem that the prior art is only suitable for single stamping of a single file and is not suitable for scenes needing continuous approval and stamping is solved, and the technical effect of continuously stamping multiple files in batches is achieved.

Description

Technical Field

[0001] The present application relates to the field of automated stamping, and in particular to an unattended stamping device and method based on 3D vision. Background Art

[0002] With the development of industrial Internet technology, the approval of various matters has become more convenient. People can convert the documents to be approved into electronic documents, upload them to the network cloud, and then the staff will conduct online remote approval. For documents that need to be stamped with official seals to take effect, even if the corresponding electronic documents have been approved, they still need to be approved and stamped by personnel who specialize in managing official seals, which brings inconvenience to the process.

[0003] The patent document with publication number CN114537001A is cited here, which discloses an intelligent remote seal security control device, including a document placement device, a scanning device, an auxiliary stamping device, a synchronous belt device, a seal device, and a stamping device, a total of six parts; the entire stamping process can be achieved with one key. However, CN114537001A is only applicable to a single stamping of a single document, and is not applicable to scenarios that require continuous approval stamping. Summary of the invention

[0004] In view of the above problems, the present application is proposed to provide an unattended stamping device and method based on 3D vision that overcomes the above problems or at least partially solves the above problems, including: An unattended stamping device based on 3D vision, the device comprising: an image acquisition component, a control component, a first file carrying mechanism, a second file carrying mechanism, a file transfer mechanism, a stamping mechanical arm and a seal carrying mechanism; The control component is electrically connected to the image acquisition component, the stamping mechanical arm and the document transfer mechanism respectively; When stamping, the control component collects image information of the document to be stamped in the first document carrying mechanism through the image acquisition component to determine the stamping position; the control component drives the stamping robot arm to obtain the stamp to be stamped from the stamp carrying mechanism; the control component drives the stamping robot arm to the stamping position to stamp the document to be stamped; the document transfer mechanism moves the document that has been stamped from the first document carrying mechanism to the second document carrying mechanism.

[0005] Specifically, the device comprises: a body frame; the first document carrying mechanism and the second document carrying mechanism are both arranged on the inner side of the body frame; The fuselage is provided with a first opening corresponding to the first document carrying mechanism, and the fuselage is provided with a second opening corresponding to the second document carrying mechanism; the control component is electrically connected to the first document carrying mechanism and the second document carrying mechanism respectively; When a document to be stamped is loaded, the control assembly drives the first document carrying mechanism to extend from the first opening; When the document with the stamp completed is taken out, the control component drives the second document carrying mechanism to extend out from the second opening.

[0006] Specifically, the document transfer mechanism includes: a translation assembly, a lifting assembly, a suction cup assembly, a first support arm and a second support arm; The control assembly is electrically connected to the translation assembly, the lifting assembly and the suction cup assembly; the two ends of the lifting assembly are respectively connected to the translation assembly and the suction cup assembly; the first support arm and the second support arm are arranged in parallel, a guide rail is arranged between the first support arm and the second support arm, and the translation assembly can be movably arranged on the guide rail along the length direction of the guide rail; When stamping, the control component drives the translation component and the lifting component to move the suction cup component to the surface of the document that has been stamped; the control component drives the suction cup component to absorb the document that has been stamped; the control component drives the translation component and the lifting component to move the document that has been stamped to the second document carrying mechanism; the control component drives the suction cup assembly to release the document that has been stamped.

[0007] Specifically, the translation assembly includes: a translation base, a first lead screw, a first motor and a motor support; The control component is electrically connected to the first motor; The first motor is disposed between the first support arm and the second support arm through the motor support; Both sides of the translation base are movably arranged on the guide rail along the length direction of the guide rail; the middle part of the translation assembly is connected to the lifting assembly; A threaded hole is provided in the middle of the translation base along the translation direction of the translation base, and the first lead screw is passed through the threaded hole of the translation base; the output shaft of the first motor is connected to the first lead screw.

[0008] Specifically, the first support arm and the second support arm are provided with a stepped structure, the axial direction of the first screw is arranged parallel to the first step surface of the stepped structure, and the motor support is arranged on the second step surface of the stepped structure so that the output shaft of the first motor is coaxially connected to the first screw.

[0009] Specifically, the seal bearing mechanism includes: a seal bearing plate, a seal store motor and a seal motor coupling; The control component is electrically connected to the seal library motor; The seal storehouse motor drives the seal carrying plate to rotate via the seal motor coupling; The edge of the seal carrying plate is provided with a plurality of grooves for loading the seals, and positioning pins for limiting the position of the seals are respectively provided on both sides of the grooves.

[0010] Specifically, one end of the stamping robot arm is provided with a pneumatic grasping device; When obtaining a seal, the control component drives the seal library motor to rotate the seal carrier plate to a first position, and the control component drives the pneumatic grabbing device to grab the seal to be stamped from the seal carrier plate; When replacing the seal, the control component drives the seal library motor to rotate the seal carrying plate to the second position, the control component drives the pneumatic grasping device to place the grasped seal on the seal carrying plate, the control component drives the seal library motor to rotate the seal carrying plate to the third position, and the control component drives the pneumatic grasping device to re-grasp the seal to be replaced.

[0011] Specifically, the first document carrying mechanism includes: a second motor, a second lead screw and a first document carrying box; The control component is electrically connected to the second motor; the second motor is arranged on the body frame; one end of the second lead screw is connected to the base of the first file carrying box, and the other end of the second lead screw is connected to the output shaft of the second motor.

[0012] Specifically, the control assembly includes: a control screen; the control screen, the first opening and the second opening are arranged on the same side of the fuselage frame; The first document carrying mechanism and the second document carrying mechanism are arranged in parallel; the stamping robot arm and the seal carrying mechanism are arranged on a side of the body frame close to the first document carrying mechanism, and the document transfer mechanism is arranged on a side of the body frame close to the second document carrying mechanism; the image acquisition component is arranged on a side of the document transfer mechanism close to the first document carrying mechanism.

[0013] An unattended stamping method based on 3D vision, the method is implemented by a device as described in any embodiment of the present application; the image information includes document content information and stamping depth; The method comprises: The control component determines the stamping horizontal area and the stamping information corresponding to the document to be stamped according to the document content information; The control component determines the seal acquisition instruction according to the seal affixing information; The control component determines the stamping position according to the stamping horizontal area and the stamping depth; The control component drives the stamping mechanical arm to obtain the stamp to be stamped from the stamp carrying mechanism according to the stamp acquisition instruction; The control component drives the stamping mechanical arm to stamp the document to be stamped using the seal to be stamped according to the stamping position.

[0014] This application has the following advantages: In the embodiments of the present application, in view of the fact that the prior art is only applicable to single stamping of a single document and is not applicable to scenarios that require continuous approval stamping, the present application provides a solution of "setting up a document transfer mechanism and two document carrying mechanisms, and moving the stamped document from the first document carrying mechanism to the second document carrying mechanism through the document transfer mechanism", specifically: an unattended stamping device based on 3D vision, the device comprising: an image acquisition component, a control component, a first document carrying mechanism, a second document carrying mechanism, a document transfer mechanism, a stamping robot arm and a stamp carrying mechanism ; The control component is electrically connected to the image acquisition component, the stamping mechanical arm and the document transfer mechanism respectively; when stamping, the control component collects the image information of the document to be stamped in the first document carrying mechanism through the image acquisition component to determine the stamping position; the control component drives the stamping mechanical arm to obtain the stamp to be stamped from the stamp carrying mechanism; the control component drives the stamping mechanical arm to the stamping position to stamp the document to be stamped; the document transfer mechanism moves the stamped document from the first document carrying mechanism to the second document carrying mechanism. This application solves the technical problem that the prior art is only applicable to the single stamping of a single document, and is not applicable to the scenario where continuous approval stamping is required, and achieves the technical effect of continuous batch stamping of multiple documents. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the description of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0016] Figure 1 This is a first structural schematic diagram of an unattended stamping device based on 3D vision provided by an embodiment of the present application; Figure 2This is a second structural schematic diagram of an unattended stamping device based on 3D vision provided by an embodiment of the present application; Figure 3 This is a third structural schematic diagram of an unattended stamping device based on 3D vision provided by an embodiment of the present application; Figure 4 is a first structural schematic diagram of the file transfer mechanism described in one embodiment of the present application; Figure 5 is a second structural schematic diagram of the file transfer mechanism described in one embodiment of the present application; Figure 6 It is a structural schematic diagram of the seal carrying mechanism described in one embodiment of the present application; Figure 7 It is a structural schematic diagram of the stamping robot arm described in one embodiment of the present application; Figure 8 It is a structural schematic diagram of the first file carrying mechanism in one embodiment of the present application.

[0017] The reference numerals are as follows: 10. Image acquisition assembly; 20. First document carrying mechanism; 21. Second motor; 22. Second lead screw; 23. First document carrying box; 24. Guide rod; 30. Second document carrying mechanism; 40. Document transfer mechanism; 41. Translation assembly; 411. First motor; 412. First lead screw; 413. Translation base; 414. Motor support; 415. First support arm; 416. Second support arm; 417. Guide rail; 42. Lifting assembly; 43. Suction cup assembly; 44. Step structure; 441. First step surface; 442. Second step surface; 50. Stamping robot arm; 51. Pneumatic gripping device; 60. Stamp bearing mechanism; 61. Stamp bearing plate; 611. Groove; 612. Positioning pin; 62. Stamp magazine motor; 63. Stamp motor coupling; 70. Body frame; 71. First opening; 72. Second opening; 73. Control screen; 74. Interactive camera; 80. Stamp to be stamped. DETAILED DESCRIPTION

[0018] In order to make the objects, features and advantages of the present application more obvious and understandable, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0019] The inventors analyzed the prior art and found that: after the stamping is completed, the stamped document is placed on the document placement table. If the document placement table does not eject the stamped document, continuous approval and stamping cannot be achieved; even if the document placement table ejects the stamped document, if there is no trusted person to take out the stamped document first, the next document cannot be stamped. Therefore, the prior art is only suitable for single-time stamping of a single document, and is not suitable for scenarios where continuous approval and stamping are required.

[0020] Based on the above systematic analysis of the prior art by the inventors, one of the core technical concepts of the present application is to set up a document transfer mechanism and two document carrying mechanisms, and to move the stamped documents from the first document carrying mechanism to the second document carrying mechanism through the document transfer mechanism, so as to realize continuous batch stamping of multiple documents.

[0021] Reference Figure 1-8 , shows an unattended stamping device based on 3D vision provided by an embodiment of the present application, the device comprising: an image acquisition component 10, a control component, a first file carrying mechanism 20, a second file carrying mechanism 30, a file transfer mechanism 40, a stamping robot arm 50 and a stamp carrying mechanism 60; The control component is electrically connected to the image acquisition component 10, the stamping mechanical arm 50 and the document transfer mechanism 40 respectively; When stamping, the control component collects image information of the document to be stamped in the first document carrying mechanism 20 through the image acquisition component 10 to determine the stamping position; the control component drives the stamping robot 50 to obtain the seal 80 to be stamped from the seal carrying mechanism 60; the control component drives the stamping robot 50 to the stamping position to stamp the document to be stamped; the document transfer mechanism 40 moves the document that has been stamped from the first document carrying mechanism 20 to the second document carrying mechanism 30.

[0022] In the embodiments of the present application, in view of the fact that the prior art is only applicable to single stamping of a single document and is not applicable to the scenario where continuous approval stamping is required, the present application provides a solution of "setting a document transfer mechanism 40 and two document carrying mechanisms, and moving the stamped document from the first document carrying mechanism 20 to the second document carrying mechanism 30 through the document transfer mechanism 40", specifically: an unattended stamping device based on 3D vision, the device comprising: an image acquisition component 10, a control component, a first document carrying mechanism 20, a second document carrying mechanism 30, a document transfer mechanism 40, a stamping robot arm 50 and a stamp carrying mechanism 60; The control component is electrically connected to the image acquisition component 10, the stamping mechanical arm 50 and the document transfer mechanism 40 respectively; when stamping, the control component collects the image information of the document to be stamped in the first document carrier 20 through the image acquisition component 10 to determine the stamping position; the control component drives the stamping mechanical arm 50 to obtain the stamp 80 to be stamped from the stamp carrier 60; the control component drives the stamping mechanical arm 50 to the stamping position to stamp the document to be stamped; the document transfer mechanism 40 moves the stamped document from the first document carrier 20 to the second document carrier 30. The present application solves the technical problem that the prior art is only applicable to the single stamping of a single document and is not applicable to the scenario where continuous approval stamping is required, and achieves the technical effect of batch stamping of multiple documents continuously.

[0023] Next, an unattended stamping device based on 3D vision in this exemplary embodiment will be further described.

[0024] It should be noted that the first document carrying mechanism 20 can be used to carry documents that have not been stamped, and the second document carrying mechanism 30 can be used to carry documents that have been stamped.

[0025] As an example, when the documents to be stamped include at least two copies, the first document to be stamped can be stamped, and the first document with completed stamping can be moved from the first document carrying mechanism 20 to the second document carrying mechanism 30. At this time, the second document to be stamped is exposed to the first document carrying mechanism 20. After the second document to be stamped is stamped, the second document with completed stamping can be moved from the first document carrying mechanism 20 to the second document carrying mechanism 30, thereby achieving batch stamping.

[0026] The image acquisition component 10 may be a 3D vision camera, and the image information may be 3D image information. The 3D image information may include positioning data of the document to be stamped in the horizontal and vertical directions to determine the stamping position.

[0027] The control component can be communicated with by a terminal device such as a mobile phone to control the stamping process. The control component can have an Internet communication function, can retrieve the data review status of the document to be stamped through the network, and decide whether to control the device to stamp according to the review status.

[0028] As an example, the operator converts the document to be stamped that needs to be reviewed into an electronic file through the terminal device and uploads it to the cloud; the reviewer reviews the electronic file of the document to be stamped online through the cloud, and after the review is passed, the device enters the stamping stage.

[0029] The stamping robot arm 50 may be a multi-joint robot arm with a high degree of freedom, and can quickly and accurately obtain the stamp 80 to be stamped from the stamp carrying mechanism 60 , stamp the document to be stamped, and return the stamp to the stamp carrying mechanism 60 .

[0030] In a scenario where not all documents are approved, the document transfer mechanism 40 may also move unstamped documents from the first document carrying mechanism 20 to the second document carrying mechanism 30 .

[0031] In one embodiment of the present application, the device comprises: a body frame 70; the first document carrying mechanism 20 and the second document carrying mechanism 30 are both arranged on the inner side of the body frame 70; The body frame 70 is provided with a first opening 71 corresponding to the first document carrying mechanism 20, and the body frame 70 is provided with a second opening 72 corresponding to the second document carrying mechanism 30; the control assembly is electrically connected to the first document carrying mechanism 20 and the second document carrying mechanism 30 respectively; When loading a document to be stamped, the control assembly drives the first document carrying mechanism 20 to extend from the first opening 71; When the document with the stamp is taken out, the control component drives the second document carrying mechanism 30 to extend out from the second opening 72 .

[0032] It should be noted that the exterior of the body frame 70 may be made of sheet metal, and the body frame 70 may serve as an outer shell structure of the device, or may serve as a structure for installing, supporting, and fixing components in the device.

[0033] In a specific embodiment of the present application, after loading the document to be stamped, the control component drives the first document carrying mechanism 20 to be retracted from the first opening 71; when taking out the document that has been stamped, the control component drives the second document carrying mechanism 30 to be retracted from the second opening 72.

[0034] In one embodiment of the present application, the document transfer mechanism 40 includes: a translation assembly 41, a lifting assembly 42, a suction cup assembly 43, a first support arm 415 and a second support arm 416; The control assembly is electrically connected to the translation assembly 41, the lifting assembly 42 and the suction cup assembly 43; both ends of the lifting assembly 42 are respectively connected to the translation assembly 41 and the suction cup assembly 43; the first support arm 415 and the second support arm 416 are arranged in parallel, a guide rail 417 is arranged between the first support arm 415 and the second support arm 416, and the translation assembly 41 can be movably arranged on the guide rail 417 along the length direction of the guide rail 417; When stamping, the control component drives the translation component 41 and the lifting component 42 to move the suction cup component 43 to the surface of the document that has been stamped; the control component drives the suction cup component 43 to absorb the document that has been stamped; the control component drives the translation component 41 and the lifting component 42 to move the document that has been stamped to the second document carrying mechanism 30; the control component drives the suction cup component 43 to release the document that has been stamped.

[0035] It should be noted that the lifting assembly 42 may include but is not limited to a dual-axis cylinder, which is used to move the suction cup assembly 43 in the vertical direction. The translation assembly 41 is used to move the suction cup assembly 43 in the horizontal direction. The suction cup assembly 43 may include a vacuum suction cup; when the bottom surface of the vacuum suction cup approaches the document to be translated, the vacuum suction cup works to suck up or put down the document. The first support arm 415 and the second support arm 416 can be arranged on the fuselage frame 70, and the image acquisition assembly 10 can be arranged at the end of the first support arm 415.

[0036] In one embodiment of the present application, the translation assembly 41 includes: a translation base 413, a first lead screw 412, a first motor 411 and a motor support 414; The control component is electrically connected to the first motor 411; The first motor 411 is disposed between the first support arm 415 and the second support arm 416 via the motor support 414; Both sides of the translation base 413 are movably disposed on the guide rail 417 along the length direction of the guide rail 417; the middle part of the translation assembly 41 is connected to the lifting assembly 42; A threaded hole is opened in the middle of the translation base 413 along the translation direction of the translation base 413 , and the first lead screw 412 is passed through the threaded hole of the translation base 413 ; the output shaft of the first motor 411 is connected to the first lead screw 412 .

[0037] It should be noted that the first motor 411 is used to provide power for the translation base 413. The control component drives the first motor 411, and the output shaft of the first motor 411 drives the first lead screw 412 to rotate, thereby driving the translation base 413 to translate. The translation base 413 can be movably connected to the guide rail 417 through a linear bearing slider. The first lead screw 412 can be a ball screw, and the ball screw can be connected to the first motor 411 through a coupling.

[0038] In one embodiment of the present application, the first support arm 415 and the second support arm 416 are provided with a step structure 44, the axial direction of the first screw 412 is arranged parallel to the first step surface 441 of the step structure 44, and the motor support 414 is arranged on the second step surface 442 of the step structure 44 so that the output shaft of the first motor 411 is coaxially connected to the first screw 412.

[0039] It should be noted that the stepped structure 44 of the first arm 415 and the second arm 416 can serve as a housing structure for the first motor 411 , so that the output shaft of the first motor 411 can be located in the same plane as the guide rail 417 , thereby enabling the translation base 413 to move stably along the guide rail 417 .

[0040] In one embodiment of the present application, the seal carrying mechanism 60 includes: a seal carrying plate 61, a seal storage motor 62 and a seal motor coupling 63; The control component is electrically connected to the seal library motor 62; The stamp store motor 62 drives the stamp carrier plate 61 to rotate via the stamp motor coupling 63; The edge of the stamp carrier plate 61 is provided with a plurality of grooves 611 for loading stamps, and positioning pins 612 for limiting the position of the stamps are respectively provided on both sides of the grooves 611.

[0041] It should be noted that the seal carrier plate 61 can be set as a disc structure. The disc structure can accommodate more seals and, only by rotating, the seal on the edge of the disc can reach a specific position for direct acquisition by the stamping robot 50, without the need to set an independent visual module on the stamping robot 50 to locate the position of the seal, thereby reducing costs.

[0042] In one embodiment of the present application, a pneumatic gripping device 51 is provided at one end of the stamping robot arm 50; When obtaining a seal, the control component drives the seal library motor 62 to rotate the seal carrier plate 61 to the first position, and the control component drives the pneumatic grasping device 51 to grasp the seal 80 to be stamped from the seal carrier plate 61; When replacing a seal, the control component drives the seal library motor 62 to rotate the seal carrying plate 61 to the second position, the control component drives the pneumatic grasping device 51 to place the grasped seal on the seal carrying plate 61, the control component drives the seal library motor 62 to rotate the seal carrying plate 61 to the third position, and the control component drives the pneumatic grasping device 51 to re-grasp the seal to be replaced.

[0043] It should be noted that the first position may correspond to the position of the stamp carrier plate 61 so that the stamp to be stamped 80 is closer to the stamping mechanical arm 50; the second position may correspond to the position of the stamp carrier plate 61 having a space for accommodating the stamp and the accommodating space is closer to the stamping mechanical arm 50; the third position may correspond to the position of the stamp carrier plate 61 so that the stamp to be replaced is closer to the stamping mechanical arm 50. The first position, the second position and the third position are set so that the stamping mechanical arm 50 can obtain or replace the stamp through the smallest possible stroke. The pneumatic grasping device 51 can be fixed to the flange of the end shaft of the stamping mechanical arm 50 by bolts, and can grasp or release the stamp under the action of compressed air.

[0044] In one embodiment of the present application, the first document carrying mechanism 20 includes: a second motor 21, a second lead screw 22 and a first document carrying box 23; The control component is electrically connected to the second motor 21 ; the second motor 21 is disposed on the body frame 70 ; one end of the second lead screw 22 is connected to the base of the first document carrier box 23 , and the other end of the second lead screw 22 is connected to the output shaft of the second motor 21 .

[0045] It should be noted that the second motor 21 is used to drive the first document carrying box 23 to extend or retract from the first opening 71. The first document carrying mechanism 20 may further include: a guide rod 24, the guide rod 24 is provided in the first document carrying box 23 along the moving direction of the first document carrying box 23 to guide the first document carrying box 23 to perform directional linear motion.

[0046] In a specific embodiment of the present application, the second document carrying mechanism 30 includes: a third motor, a third lead screw and a second document carrying box; The control component is electrically connected to the third motor; the third motor is arranged on the body frame 70; one end of the third lead screw is connected to the base of the second file carrying box, and the other end of the third lead screw is connected to the output shaft of the third motor.

[0047] It should be noted that the third motor is used to drive the second document carrying box to extend or retract from the second opening 72 , and the second document carrying mechanism 30 can use the same transmission structure as the first document carrying mechanism 20 to reduce costs.

[0048] In one embodiment of the present application, the control assembly includes: a control screen 73; the control screen 73, the first opening 71 and the second opening 72 are arranged on the same side of the fuselage frame 70; The first document carrying mechanism 20 and the second document carrying mechanism 30 are arranged in parallel; the stamping robot arm 50 and the seal carrying mechanism 60 are arranged on a side of the body frame 70 close to the first document carrying mechanism 20, and the document transfer mechanism 40 is arranged on a side of the body frame 70 close to the second document carrying mechanism 30; the image acquisition component 10 is arranged on a side of the document transfer mechanism 40 close to the first document carrying mechanism 20.

[0049] It should be noted that the control panel 73 serves as a human-computer interaction interface, and its functions include but are not limited to the operation functions of the touch screen. It can determine corresponding control instructions according to the operator's interactive actions to control the internal components of the device to perform corresponding actions.

[0050] In a specific embodiment of the present application, the device further includes an interactive camera 74 , and the interactive camera 74 and the control screen 73 are arranged on the same side of the fuselage frame 70 ; the control component is electrically connected to the interactive camera 74 .

[0051] It should be noted that the functions of the interactive camera 74 include but are not limited to performing facial information recognition and identity verification on the operator, and being able to record the entire operation process of the operator.

[0052] The above is a description of the device embodiment of the present application. As for the method embodiment, since it is basically similar to the device embodiment, the description is relatively simple. For the relevant parts, please refer to the partial description of the device embodiment.

[0053] An embodiment of the present application discloses an unattended stamping method based on 3D vision, the method is implemented by a device as described in any embodiment of the present application; the image information includes document content information and stamping depth; The method comprises: S110, the control component determines the stamping horizontal area and the stamping information corresponding to the document to be stamped according to the document content information; S120, the control component determines the seal acquisition instruction according to the seal affixing information; S130, the control component determines the stamping position according to the stamping horizontal area and the stamping depth; S140, the control component drives the stamping robot 50 to obtain the stamp 80 to be stamped from the stamp carrying mechanism 60 according to the stamp acquisition instruction; S150, the control component drives the stamping robot arm 50 to stamp the document to be stamped through the seal 80 according to the stamping position.

[0054] It should be noted that the stamping horizontal area is the position range of the document to be stamped, which can be pre-set in the control component, or can be identified by the image acquisition component 10. Since different documents correspond to different seals, it is necessary to determine the stamping information corresponding to the document to be stamped. The image information can be 3D image information collected by a 3D vision camera, the stamping horizontal area includes the positioning data of the document to be stamped in the horizontal direction, and the stamping depth includes the positioning data of the document to be stamped in the vertical direction. The stamping position may include an instruction to drive the stamping robot 50 to stamp the document to be stamped.

[0055] In one embodiment of the present application, the seal acquisition instruction may include an instruction to drive the seal library motor 62 and an instruction to drive the pneumatic grasping device 51, which can be combined with the following description to further illustrate the specific process of step S140 "the control component drives the stamping robot arm 50 to obtain the seal 80 to be stamped from the seal carrying mechanism 60 according to the seal acquisition instruction".

[0056] As described in the following steps: The control component drives the stamp library motor 62 to rotate the stamp carrier plate 61 to the first position according to the stamp acquisition instruction; The control component drives the pneumatic grasping device 51 to grasp the stamp 80 to be stamped from the stamp carrying plate 61 according to the stamp acquisition instruction.

[0057] It should be noted that the first position may correspond to the position of the stamp carrier plate 61 so that the stamp 80 to be stamped is closer to the stamping robot arm 50, so that the stamping robot arm 50 can obtain the stamp through the smallest possible stroke.

[0058] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0059] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0060] The above is a detailed introduction to an unattended stamping device and method based on 3D vision provided by the present application. This article uses specific examples to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. An unattended stamping device based on 3D vision, characterized in that: The device comprises: an image acquisition component, a control component, a first document carrying mechanism, a second document carrying mechanism, a document transfer mechanism, a stamping mechanical arm and a stamp carrying mechanism; The control component is electrically connected to the image acquisition component, the stamping mechanical arm and the document transfer mechanism respectively; When stamping, the control component collects image information of the document to be stamped in the first document carrying mechanism through the image acquisition component to determine the stamping position; the control component drives the stamping robot arm to obtain the stamp to be stamped from the stamp carrying mechanism; the control component drives the stamping robot arm to the stamping position to stamp the document to be stamped; the document transfer mechanism moves the document that has been stamped from the first document carrying mechanism to the second document carrying mechanism.

2. The device according to claim 1, characterized in that The device comprises: a body frame; the first document carrying mechanism and the second document carrying mechanism are both arranged on the inner side of the body frame; The fuselage is provided with a first opening corresponding to the first document carrying mechanism, and the fuselage is provided with a second opening corresponding to the second document carrying mechanism; the control component is electrically connected to the first document carrying mechanism and the second document carrying mechanism respectively; When a document to be stamped is loaded, the control assembly drives the first document carrying mechanism to extend from the first opening; When the document with the stamp completed is taken out, the control component drives the second document carrying mechanism to extend out from the second opening.

3. The device according to claim 1, characterized in that The document transfer mechanism comprises: a translation assembly, a lifting assembly, a suction cup assembly, a first support arm and a second support arm; The control assembly is electrically connected to the translation assembly, the lifting assembly and the suction cup assembly; the two ends of the lifting assembly are respectively connected to the translation assembly and the suction cup assembly; the first support arm and the second support arm are arranged in parallel, a guide rail is arranged between the first support arm and the second support arm, and the translation assembly can be movably arranged on the guide rail along the length direction of the guide rail; When stamping, the control component drives the translation component and the lifting component to move the suction cup component to the surface of the document that has been stamped; the control component drives the suction cup component to absorb the document that has been stamped; the control component drives the translation component and the lifting component to move the document that has been stamped to the second document carrying mechanism; the control component drives the suction cup assembly to release the document that has been stamped.

4. The device according to claim 3, characterized in that The translation assembly comprises: a translation base, a first lead screw, a first motor and a motor support; The control component is electrically connected to the first motor; The first motor is disposed between the first support arm and the second support arm through the motor support; Both sides of the translation base are movably arranged on the guide rail along the length direction of the guide rail; the middle part of the translation assembly is connected to the lifting assembly; A threaded hole is provided in the middle of the translation base along the translation direction of the translation base, and the first lead screw is passed through the threaded hole of the translation base; the output shaft of the first motor is connected to the first lead screw.

5. The device according to claim 4, characterized in that The first support arm and the second support arm are provided with a step structure, the axial direction of the first screw is arranged parallel to the first step surface of the step structure, and the motor support is arranged on the second step surface of the step structure so that the output shaft of the first motor is coaxially connected to the first screw.

6. The device according to claim 1, characterized in that The seal bearing mechanism comprises: a seal bearing plate, a seal storage motor and a seal motor coupling; The control component is electrically connected to the seal library motor; The seal storehouse motor drives the seal carrying plate to rotate via the seal motor coupling; The edge of the seal carrying plate is provided with a plurality of grooves for loading the seals, and positioning pins for limiting the position of the seals are respectively provided on both sides of the grooves.

7. The device according to claim 6, characterized in that One end of the stamping mechanical arm is provided with a pneumatic grasping device; When obtaining a seal, the control component drives the seal library motor to rotate the seal carrier plate to a first position, and the control component drives the pneumatic grabbing device to grab the seal to be stamped from the seal carrier plate; When replacing the seal, the control component drives the seal library motor to rotate the seal carrying plate to the second position, the control component drives the pneumatic grasping device to place the grasped seal on the seal carrying plate, the control component drives the seal library motor to rotate the seal carrying plate to the third position, and the control component drives the pneumatic grasping device to re-grasp the seal to be replaced.

8. The device according to claim 2, characterized in that The first document carrying mechanism comprises: a second motor, a second lead screw and a first document carrying box; The control component is electrically connected to the second motor; the second motor is arranged on the body frame; one end of the second lead screw is connected to the base of the first file carrying box, and the other end of the second lead screw is connected to the output shaft of the second motor.

9. The device according to claim 2, characterized in that The control assembly comprises: a control screen; the control screen, the first opening and the second opening are arranged on the same side of the fuselage frame; The first document carrying mechanism and the second document carrying mechanism are arranged in parallel; the stamping robot arm and the seal carrying mechanism are arranged on a side of the body frame close to the first document carrying mechanism, and the document transfer mechanism is arranged on a side of the body frame close to the second document carrying mechanism; the image acquisition component is arranged on a side of the document transfer mechanism close to the first document carrying mechanism.

10. An unattended stamping method based on 3D vision, characterized in that: The method is implemented by the device according to any one of claims 1 to 9; the image information includes document content information and stamp depth; The method comprises: The control component determines the stamping horizontal area and the stamping information corresponding to the document to be stamped according to the document content information; The control component determines the seal acquisition instruction according to the seal affixing information; The control component determines the stamping position according to the stamping horizontal area and the stamping depth; The control component drives the stamping mechanical arm to obtain the stamp to be stamped from the stamp carrying mechanism according to the stamp acquisition instruction; The control component drives the stamping mechanical arm to stamp the document to be stamped using the seal to be stamped according to the stamping position.

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