Printing robot and printing method thereof

Abstract

The invention discloses a printing robot and a printing method thereof, and relates to the technical field of pet film printing. The printing robot comprises a rack and further comprises a pressing roller, the pressing roller is rotationally installed on the inner side of the rack, a transfer roller is arranged at the lower end of the transfer roller, and the pet film is arranged between the pressing roller and the transfer roller; the cleaning box is arranged on one side of the transfer roller, a wedge-shaped strip is fixed to the position, close to the top end, in the cleaning box, a negative pressure suction hole is formed in the wedge-shaped strip, an air flow channel is formed in a gap between the wedge-shaped strip and the upper end of the cleaning box, and the air flow channel is used for sucking ink on the surface of the transfer roller after printing. Residual printing ink on the surface of the transfer roller is cleaned through negative pressure suction and water spraying, the printing ink on the surface forms irreversible dry consolidation blocks in ink cells, the printing quality is improved, the service life of the transfer roller is prolonged, a layer of water film is formed at the bottoms of the ink cells on the transfer roller through the arrangement of the water distribution roller, and expansion and transfer of the printing ink in the later period are facilitated.

Description

Technical Field

[0001] The present invention relates to the technical field of PET film printing, and specifically to a printing robot and a printing method thereof. Background Art

[0002] In recent years, the flexible packaging industry has developed rapidly in the Chinese packaging field. The industry scale has been continuously expanding. There are about 5,000 existing enterprises, with an annual production capacity exceeding 1.8 million tons and maintaining an annual growth rate of over 5%. In this field, intaglio printing, as one of the four major printing processes, is the main technology for printing flexible packaging materials such as PET. Its core principle is to use the pits precisely etched on the printing plate corresponding to the original manuscript graphics and texts to carry the ink - the depth of the pits directly determines the amount of ink (more ink in deep pits results in a thicker ink layer after printing, and less ink in shallow pits results in a thinner ink layer). During printing, the ink is filled into the pits, and the excess ink on the surface of the printing plate is scraped off by a doctor blade. Subsequently, under the pressure of the printing plate and the printing material (such as printing paper or plastic film), the ink in the pits is directly transferred to complete the printing. It is precisely due to the significant advantages of this process, such as a thick and full ink layer, high color saturation, strong printing plate durability, stable and reliable printing quality, and fast printing speed, that intaglio printing occupies a crucial core position in flexible packaging production and even the entire printing and packaging and graphic publishing industries.

[0003] For example, in the Chinese patent with the publication number CN105291554A, a printing knife rest system based on intaglio printing and its working method are disclosed. In this device, the printing knife rest system quickly dries the ink remaining in the non-graphic positions on the printing plate through the discharged air flow, avoiding the formation of unnecessary stains on the printing paper, thereby achieving the purpose of improving the surface printing effect.

[0004] Although intaglio printing has significant advantages in ink layer expressiveness, its ink transfer efficiency is restricted by hydrodynamics: Intaglio ink, as a high-viscosity colloidal fluid, is dominated by surface tension and capillary effect in the cells. Especially in the corner regions of micron-level cells or in fine cells with an aspect ratio > 3:1, the intermolecular forces of the ink will resist the shear force of the doctor blade, resulting in residual ink remaining at the bottom of the cells. This part of the untransferred ink, due to its large specific surface area and exposure to high-speed air flow, will quickly complete the vitrification transformation and form irreversible dry solid lumps. As printing continues, the accumulation of dry solids will gradually change the volume and shape of the cells, ultimately leading to defects such as printing color density fluctuations and gradient faults, seriously restricting the stability of high-precision image reproduction. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a printing robot and a printing method thereof, which solve the problems raised in the background art.

[0006] To achieve the above object, the present invention is realized through the following technical solutions: A printing robot includes a frame, and further includes a pressure roller rotatably installed inside the frame, and a transfer roller is provided at the lower end of the transfer roller. The PET film is disposed between the pressure roller and the transfer roller; a cleaning box is disposed on one side of the transfer roller, and a wedge-shaped strip is fixed near the top inside the cleaning box. The wedge-shaped strip is provided with negative pressure suction holes, and the gap between the wedge-shaped strip and the upper end of the cleaning box forms an air flow channel for sucking the ink on the surface of the transfer roller after printing; a fixing frame is fixed inside the cleaning box, and a cleaning spray head is provided on the side of the fixing frame facing the transfer roller; a water distribution roller is rotatably installed at the lower end inside the cleaning box, and a pressing roller that abuts against the water distribution roller is rotatably installed at the lower end of the fixing frame.

[0007] Further, a scraper assembly is provided on one side of the transfer roller relative to the cleaning box. The scraper assembly includes: an adjusting frame rotatably installed inside the frame, and a tool rest is provided inside the adjusting frame, and a scraper is fixed on the tool rest; air holes, a baffle is fixed at the lower end of the tool rest, and air holes are provided on the side of the baffle facing the transfer roller; wherein, one end of the adjusting frame is fixed with a driven gear, an internal gear ring is rotatably installed inside the frame, and a transmission gear is also rotatably installed inside the frame. The transmission gear meshes with the driven gear and the internal gear ring. An external gear ring is provided on the outside of the internal gear ring, and a drive shaft is rotatably installed outside the frame, and a drive gear meshing with the external gear ring is fixed on the drive shaft.

[0008] Further, it further includes: a second guide roller rotatably installed inside the frame; a first guide roller rotatably installed above the second guide roller, and the gap between the second guide roller and the first guide roller is for the input of the PET film.

[0009] Further, a water pump is fixed inside the frame, the water pump is connected to the cleaning spray head through a pipeline, a circulating air pump is installed on the frame, the intake end of the circulating air pump is connected to the negative pressure suction hole through a pipeline, and the outlet end of the circulating air pump is connected to the air holes through a pipeline.

[0010] Further, it further includes a third guide roller rotatably installed on one side of the ink cartridge for guiding the input during PET film printing; a fourth guide roller rotatably installed on the other side of the ink cartridge for guiding the output after PET film printing, so that the printed surface of the PET film faces away from the fourth guide roller.

[0011] Further, a motor for driving the transfer roller to rotate is provided inside the frame. A driving gear is provided at one end of the transfer roller, a second driven gear meshing with the driving gear is provided at one end of the pressure roller, and a first driven gear meshing with the driving gear is installed at one end of the ink pickup roller extending into the frame.

[0012] Further, the inner bottom of the ink cartridge is of an arc surface structure, and a reflux groove is provided on one side of the upper end of the ink cartridge facing the doctor blade, and the bottom of the reflux groove is of an inclined surface structure.

[0013] Further, an inspection table is fixed on the frame, and a gantry is installed on the frame. A servo motor is fixed at one end inside the gantry, and a lead screw fixed to the output end of the servo motor is provided inside the gantry; a moving table is slidably installed inside the gantry. A device box is fixed on one side of the moving table, and a connecting seat is installed at the bottom of the moving table. The connecting seat is slidably connected to the bottom of the gantry and is threadedly connected to the lead screw. A laser marking machine is installed on the other side of the moving table, and the laser marking machine is used for marking the printed surface of the pet film.

[0014] Further, a heater is fixed inside the frame, and the heater is arranged between the fourth guide roller and the pressing roller for heating the unprinted surface of the pet film.

[0015] In addition, the present invention also provides a printing method of a printing robot, including the following steps: Step 1: Inject ink into the ink cartridge, and pass one end of the pet film through the second guide roller, the third guide roller, the pressing roller, the fourth guide roller, and the first guide roller in sequence; Step 2: Transfer the ink inside the ink cartridge to the transfer roller through the ink pickup roller. Under the setting of the air holes, the expansion of the ink is accelerated. The excess ink is scraped off by the doctor blade, and then the pet film surface is printed through the cooperation of the transfer roller and the pressing roller; Step 3: The printed transfer roller adsorbs the residual ink inside the mesh cells through the negative pressure suction holes, further cleans the transfer roller through the cleaning nozzle, and cleans the water stains on the surface of the transfer roller through the water distribution roller for continuous printing; Step 4: Heat the unprinted surface of the pet film through the heater to accelerate the drying of the ink. Take pictures and inspect the printed surface of the pet film through the inspection table, and send the captured information to the controller in the form of an electrical signal. Control the position and working state of the laser marking machine through the controller to realize marking on the surface of the printed pet film.

[0016] The present invention has the following beneficial effects: (1) For the printing robot and its printing method, the residual ink on the surface of the transfer roller is sucked and cleaned by negative pressure and sprayed with water. The surface ink forms an irreversible dry solid block in the mesh cells, improving the printing quality and the service life of the transfer roller. Through the setting of the water distribution roller, a water film is formed at the bottom of the mesh cells on the transfer roller to facilitate the expansion and transfer of the ink in the later stage.

[0017] (2) The printing robot and its printing method, through the precise cooperation of the second guiding roller and the first guiding roller and the reverse tension effect, eliminate the wrinkles and curling stress of the PET film, provide a flat and stable film substrate for printing, ensure the printing accuracy from the source, and flexibly adapt to different ink characteristics and working conditions by adjusting the position and angle of the squeegee, reducing trailing and ink overflow defects and ensuring a uniform and clean ink layer.

[0018] (3) The printing robot and its printing method, through the non-contact heating strategy of the heater on the back of the film material, not only effectively avoid the possible damage (such as bleeding and discoloration) to the wet ink layer that has just completed embossing caused by high temperature, but also achieve rapid and uniform drying of the ink through optimizing the heat conduction path, significantly shortening the production beat and improving the overall printing efficiency and quality stability.

[0019] Of course, it is not necessary for any product implementing the present invention to simultaneously achieve all the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic structural diagram of the present invention; Figure 2 in the present invention Figure 1 is a top view; Figure 3 is a schematic internal structure diagram of the present invention; Figure 4 in the present invention Figure 3 is an enlarged view of part A; Figure 5 is a schematic installation structure diagram of the PET film in the present invention; Figure 6 in the present invention Figure 5 is a side view; Figure 7 is a schematic installation structure diagram of the transfer roller in the present invention; Figure 8 in the present invention Figure 7 is another perspective view; Figure 9 is a schematic internal structure diagram of the ink cartridge in the present invention; Figure 10 in the present invention Figure 9 is a front view; Figure 11 in the present invention Figure 10 is an enlarged view of part B; Figure 12 is a schematic installation structure diagram of the mobile platform in the present invention.

[0021] In the figure, 1 is the frame; 2 is the gantry; 3 is the mobile platform; 4 is the equipment box; 5 is the inspection table; 6 is the controller; 7 is the pet film; 8 is the lead screw; 9 is the connecting seat; 10 is the first guiding roller; 11 is the second guiding roller; 12 is the third guiding roller; 13 is the fourth guiding roller; 14 is the heater; 15 is the pressure roller; 16 is the transfer roller; 17 is the ink cartridge; 18 is the laser marking machine; 19 is the first driven gear; 20 is the driving gear; 21 is the second driven gear; 22 is the ink pickup roller; 23 is the return groove; 24 is the tool rest; 25 is the adjusting frame; 26 is the scraper; 27 is the cleaning box; 28 is the wedge-shaped strip; 29 is the fixing frame; 30 is the cleaning spray head; 31 is the water distribution roller; 32 is the diversion plate; 33 is the baffle; 34 is the air hole; 35 is the air flow channel; 36 is the negative pressure suction hole; 37 is the extrusion roller; 38 is the internal gear ring; 39 is the external gear ring; 40 is the driving gear; 41 is the transmission gear; 42 is the driven gear; 43 is the circulating air pump; 44 is the water pump. Detailed implementation manners

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0023] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "periphery", etc. indicating the orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention.

[0024] The following is based on Figures 1-12 Describe the printing robot and its printing method provided by the embodiments of the present invention.

[0025] Please refer to Figures 1-12 , the embodiments of the present invention provide a technical solution: a printing robot, including a frame 1, and further including a pressure roller 15. The pressure roller 15 is rotatably installed inside the frame 1, and a transfer roller 16 is provided at the lower end of the transfer roller 16. The pet film 7 is arranged between the pressure roller 15 and the transfer roller 16. Through the cooperation of the pressure roller 15 and the transfer roller 16, the pattern on the transfer roller 16 is printed on the pet film 7.

[0026] The printing robot provided in this embodiment further includes a cleaning box 27. The cleaning box 27 is arranged on one side of the transfer roller 16. A wedge-shaped strip 28 is fixed near the top inside the cleaning box 27. Negative pressure suction holes 36 are provided on the wedge-shaped strip 28. The gap between the wedge-shaped strip 28 and the upper end of the cleaning box 27 forms an air flow channel 35. The air flow channel 35 is used for sucking the ink on the surface of the transfer roller 16 after printing. Preferably, the air flow channel 35 is of an obtuse angle structure, and a baffle plate can be arranged inside it to reduce the ink being sucked by the negative pressure suction holes 36. A fixing frame 29 is fixed inside the cleaning box 27. A cleaning spray head 30 is arranged on the side of the fixing frame 29 facing the transfer roller 16. The cleaning spray head 30 flushes and cleans the surface of the transfer roller 16, so as to effectively clean the residual ink accumulated at the corners inside the cells of the transfer roller 16, thereby preventing the accuracy of the cells of the transfer roller 16 from decreasing due to ink drying.

[0027] In addition, to prevent the residual water stains on the transfer roller 16 from affecting the ink picking effect, the printing robot provided in this embodiment further includes a water distribution roller 31. The water distribution roller 31 is rotatably installed at the lower end inside the cleaning box 27. A pressing roller 37 that abuts against the water distribution roller 31 is rotatably installed at the lower end of the fixing frame 29. Preferably, the water distribution roller 31 and the pressing roller 37 are driven by gears to achieve relative rotation. The surface of the water distribution roller 31 is made of a water-absorbing material. By pressing the surface of the water distribution roller 31 with the pressing roller 37, the water inside the water distribution roller 31 is squeezed out, so that the water distribution roller 31 can adsorb the residual water stains on the transfer roller 16. Since there are cells on the transfer roller 16, the water stains remaining at the bottom of the cells cannot directly contact the water distribution roller 31, so that a water film is formed at the bottom of the cells, which is convenient for the expansion and transfer of the ink in the later stage.

[0028] It should be noted that ink is a viscous colloidal fluid with a relatively large consistency and a fast drying speed. During traditional intaglio printing, especially at the corners of the cells or in the cells with a small inner diameter, due to the tension of the ink, the ink inside the cells often cannot be completely transferred to the pet film 7, which is likely to cause the ink to dry inside the cells, thereby affecting the accuracy of the transfer roller 16. In addition, it should be further noted that when the ink contacts water, due to the tension effect, the ink floats on the surface of the water film, which accelerates the expansion and transfer of the ink, improves the printing effect and the service life of the transfer roller 16.

[0029] Such as Figure 3 、 Figure 10 and Figure 11As shown in the figure, to facilitate the uniformity of the ink on the surface of the transfer roller 16, a scraper assembly is provided on one side of the transfer roller 16 relative to the cleaning box 27. The scraper assembly includes an adjustment frame 25. The adjustment frame 25 is rotatably installed inside the frame 1, and a tool rest 24 is provided inside the adjustment frame 25. A scraper 26 is fixed on the tool rest 24. Preferably, the scraper 26 is a carbon steel scraper, which has high hardness and wear resistance, and is suitable for high-speed and high-quality application scenarios, especially performing excellently in the printing process that requires long-term use and maintaining high precision. A slide rail is provided inside the adjustment frame 25, and the two ends of the tool rest 24 are slidably connected to the slide rail. An adjustment bolt is also provided on the adjustment frame 25, and the other end of the adjustment bolt is rotatably connected to the tool rest 24. By controlling the adjustment bolt, the tool rest 24 slides inside the slide rail, thereby adjusting the distance between the tool rest 24 and the transfer roller 16, and thus adjusting the pressure of the scraper 26 on the transfer roller 16. In addition, the connection between the scraper 26 and the tool rest 24 is a plug-in connection and is fixed by bolts, so as to facilitate the disassembly and maintenance of the scraper 26 in the later stage. In addition, a baffle 33 is fixed at the lower end of the tool rest 24. Air holes 34 are provided on the side of the baffle 33 facing the transfer roller 16. The air holes 34 are evenly arranged, so as to ensure the stability of the air flow output. Through the setting of the baffle 33, the stability of the air flow is further improved, and ink splashing caused by the air flow is avoided. Through the action of the air flow on the surface of the transfer roller 16, the expansion of the ink on the surface of the transfer roller 16 is accelerated, thereby improving the uniformity of the ink on the transfer roller 16.

[0030] In addition, one end of the adjustment frame 25 is fixed with a driven gear 42. An internal gear ring 38 is rotatably installed inside the frame 1. A transmission gear 41 is also rotatably installed inside the frame 1. The transmission gear 41 meshes with the driven gear 42 and the internal gear ring 38. An external gear ring 39 is provided on the outside of the internal gear ring 38. A drive shaft is rotatably installed on the outside of the frame 1. A drive gear 40 meshing with the external gear ring 39 is fixed on the drive shaft. By rotating the drive gear 40, the external gear ring 39 rotates, further causing the internal gear ring 38 to rotate. Through the meshing between the internal gear ring 38 and the driven gear 42, the adjustment frame 25 rotates, and then the angle of the scraper 26 on the tool rest 24 is adjusted to prevent the plate from being smeared or trailing due to too small an angle, and too large an angle may cause the problem of knife wire.

[0031] Such as Figure 3 、 Figure 5 and Figure 6As shown in the figure, to prevent wrinkles after the input of the PET film 7, the printing robot provided in this embodiment further includes a second guiding roller 11. The second guiding roller 11 is rotatably installed in the frame 1. The PET film 7 is input into the interior of the frame 1 through the second guiding roller 11. It also includes a first guiding roller 10. The first guiding roller 10 is rotatably installed above the second guiding roller 11. The gap between the second guiding roller 11 and the first guiding roller 10 is for the input of the PET film 7. Through the precise cooperation and reverse tension effect of the second guiding roller 11 and the first guiding roller 10, the imported PET film 7 can be effectively unfolded and flattened, eliminating potential wrinkles or curling stress, and providing a flat and stable film substrate for the subsequent precision printing process. The upper end of the outer side of the first guiding roller 10 is for the output of the printed PET film 7.

[0032] As Figure 5 , Figure 6 , Figure 10 and Figure 11 shown, to realize the circulation of gas and liquid, a water pump 44 is fixed inside the frame 1 provided in this embodiment. The water pump 44 is connected to the cleaning nozzle 30 through a pipeline. The input end of the water pump 44 is connected to an external water source. A drain pipe is provided at the bottom of the cleaning box 27. The drain pipe discharges waste water and part of the residual ink. Since the ink is insoluble in water, the ink can be recycled. In addition, a circulating air pump 43 is installed on the frame 1. The intake end of the circulating air pump 43 is connected to the negative pressure suction hole 36 through a pipeline, and the outlet end of the circulating air pump 43 is connected to the air hole 34 through a pipeline. The intake end of the circulating air pump 43 will be doped with part of the ink and discharged through the outlet end of the circulating air pump 43. However, this will not affect the printing. The outlet end of the circulating air pump 43 is used to improve the fluidity of the printing ink, thereby ensuring the uniformity of the printing ink on the transfer roller 16. Therefore, a small amount of ink in the output air flow does not affect the printing effect.

[0033] As Figure 5 and Figure 9 shown, to facilitate the guiding of the PET film 7, the printing robot provided in this embodiment further includes a third guiding roller 12 and a fourth guiding roller 13. The third guiding roller 12 is rotatably installed on one side of the ink cartridge 17 and is used for the input guiding of the PET film 7 during printing. The fourth guiding roller 13 is rotatably installed on the other side of the ink cartridge 17 and is used for the output guiding of the printed PET film 7, so that the printing surface of the PET film 7 faces away from the fourth guiding roller 13, thereby avoiding the influence of the fourth guiding roller 13 on the ink on the printing surface of the PET film 7 and improving the printing quality. In this solution, it is preferably that the second guiding roller 11, the third guiding roller 12, the fourth guiding roller 13 and the first guiding roller 10 are all driven by a belt, so that the second guiding roller 11, the third guiding roller 12, the fourth guiding roller 13 and the first guiding roller 10 rotate at the same speed and in the same direction.

[0034] As Figure 10 and Figure 11As shown in the figure, for the convenience of driving the pressure roller 15 and the ink pickup roller 22, a motor for driving the transfer roller 16 to rotate is provided inside the frame 1 of this embodiment. One end of the transfer roller 16 is provided with a driving gear 20, one end of the pressure roller 15 is provided with a second driven gear 21 meshing with the driving gear 20, and one end of the ink pickup roller 22 extends into the frame 1 and is installed with a first driven gear 19 meshing with the driving gear 20.

[0035] In this solution, by meshing the driving gear 20 with the first driven gear 19, the ink pickup roller 22 and the transfer roller 16 rotate in opposite directions. By meshing the driving gear 20 with the second driven gear 21, the pressure roller 15 and the transfer roller 16 rotate in opposite directions, thereby realizing the transfer of the ink in the ink cartridge 17.

[0036] As Figure 6 and Figure 7 shown, for the convenience of picking up the ink in the ink cartridge 17, the bottom inside the ink cartridge 17 of this embodiment has a curved surface structure. The curved surface structure cooperates with the ink pickup roller 22 to maximize the ink pickup. Moreover, a return flow groove 23 is provided on one side of the upper end of the ink cartridge 17 facing the squeegee 26. The bottom of the return flow groove 23 has an inclined surface structure. The squeegee 26 scrapes off the excess ink on the transfer roller 15 and makes the ink flow back into the return flow groove 23. Through the return flow groove 23, the excess ink flows back into the ink cartridge 17.

[0037] As Figure 1 and Figure 12 shown, an inspection table 5 is fixed on the frame 1. Preferably, a high-precision image sensor is used to perform real-time camera inspection on the printed surface of the pet film 7 passing by, quickly identifying missing or defective graphics and texts. Moreover, a gantry 2 is installed on the frame 1. One end inside the gantry 2 is fixed with a servo motor, and a lead screw 8 fixed to the output end of the servo motor is provided inside the gantry 2. In addition, a moving table 3 is slidably installed inside the gantry 2. One side of the moving table 3 is fixed with an equipment box 4, and a connecting seat 9 is installed at the bottom of the moving table 3. The connecting seat 9 is slidably connected to the bottom of the gantry 2 and is threadedly connected to the lead screw 8. A laser marking machine 18 is installed on the other side of the moving table 3. The laser marking machine 18 is used for marking the surface of the printed surface of the pet film 7.

[0038] By driving the lead screw 8 by the servo motor, through the rigid meshing of the lead screw 8 with the threaded connecting seat 9 at the bottom of the moving table 3, and at the same time, the connecting seat 9 forms a sliding constraint with the guide rail of the gantry 2, the connecting seat 9 drives the moving table 3 to move inside the gantry 2, and then the position adjustment of the laser marking machine 18 is realized. The surface of the printed surface of the pet film 7 is marked by the laser marking machine 18.

[0039] As Figure 4As shown in the figure, to significantly improve the curing efficiency of the ink after printing and ensure the smooth operation of the production line, in this embodiment, a heater 14 is fixedly installed inside the frame 1. It is arranged beside the film material transmission path between the fourth guide roller 13 and the pressure roller 15. The heater 14 acts on the unprinted surface (back surface) of the pet film 7. Through the efficient and uniform diaphragm radiation heating method (the heat energy does not directly contact the ink layer), the heat energy is quickly conducted into the film material, thereby greatly accelerating the penetration, volatilization, and curing process of the ink on the printed surface. This non-contact heating method for the back surface of the film material not only effectively avoids the possible damage (such as bleeding and discoloration) to the wet ink layer that has just completed embossing caused by high temperature, but also realizes the rapid and uniform drying of the ink by optimizing the heat conduction path, significantly shortening the production beat and improving the overall printing efficiency and quality stability.

[0040] During use (operation): Inject the ink into the ink cartridge 17, and pass one end of the pet film 7 through the second guide roller 11, the third guide roller 12, the pressure roller 15, the fourth guide roller 13, and the first guide roller 10 in sequence. Start the motor to make the transfer roller 16 rotate, and then make the driving gear 20 rotate. Through the meshing of the driving gear 20 and the first driven gear 19, the ink pickup roller 22 and the transfer roller 16 rotate in opposite directions. Through the meshing of the driving gear 20 and the second driven gear 21, the pressure roller 15 and the transfer roller 16 rotate in opposite directions, thereby realizing the transfer of the ink in the ink cartridge 17. Through the cooperation of the transfer roller 16 and the pressure roller 15, the surface of the pet film 7 is printed. The heater 14 heats the unprinted surface of the pet film 7. The heater 14 acts on the unprinted surface (back surface) of the pet film 7. Through the efficient and uniform diaphragm radiation heating method (the heat energy does not directly contact the ink layer), the heat energy is quickly conducted into the film material, thereby greatly accelerating the penetration, volatilization, and curing process of the ink on the printed surface. This non-contact heating strategy for the back surface of the film material not only effectively avoids the possible damage (such as bleeding and discoloration) to the wet ink layer that has just completed embossing caused by high temperature, but also realizes the rapid and uniform drying of the ink by optimizing the heat conduction path, significantly shortening the production beat and improving the overall printing efficiency and quality stability.

[0041] During this process, by rotating the driving gear 40, the outer tooth ring 39 rotates, further making the inner tooth ring 38 rotate. Through the meshing between the inner tooth ring 38 and the driven gear 42, the adjusting frame 25 rotates, and then the angle of the scraper 26 on the tool rest 24 is adjusted, and then the excess ink on the transfer roller 16 is scraped off. The scraped ink slides into the return groove 23 and returns to the ink cartridge 17 through the return groove 23, thereby realizing the recovery of the excess ink and improving the practicality of the equipment.

[0042] During the printing process, the air flow passage 35 sucks the residual ink on the surface of the transfer roller 16 through the negative pressure suction holes 36, and the transfer roller 16 is washed by the cleaning nozzle 30, thereby realizing the cleaning of the transfer roller 16. The water distribution roller 31 is pressurized on the surface by the squeezing roller 37, so as to squeeze out the water inside the water distribution roller 31, and further enable the water distribution roller 31 to adsorb the residual water stains on the transfer roller 16. Since there are ink cavities on the transfer roller 16, the water stains remaining at the bottom of the ink cavities cannot directly contact the water distribution roller 31, thus forming a water film at the bottom of the ink cavities to facilitate the expansion and transfer of the ink in the later stage.

[0043] On the other hand, this aspect provides a printing method for a printing robot, including the following steps: Step 1: Inject the ink into the ink cartridge 17, and pass one end of the pet film 7 successively through the second guide roller 11, the third guide roller 12, the pressure roller 15, the fourth guide roller 13, and the first guide roller 10. Step 2: Transfer the ink inside the ink cartridge 17 to the transfer roller 16 through the ink pickup roller 22. With the arrangement of the air holes 34, the expansion of the ink is accelerated. The excess ink is scraped off by the squeegee 26, and then the pet film 7 is printed on the surface through the cooperation of the transfer roller 16 and the pressure roller 15. Step 3: The printed transfer roller 16 adsorbs the residual ink inside the ink cavities through the negative pressure suction holes 36, and the transfer roller 16 is further cleaned by the cleaning nozzle 30. The water stains on the surface of the transfer roller 16 are cleaned by the water distribution roller 31 for continuous printing. Step 4: The unprinted surface of the pet film 7 is heated by the heater 14 to accelerate the drying of the ink. The printed surface of the pet film 7 is photographed and inspected by the inspection table 5, and the photographed information is sent to the controller 6 as an electrical signal. The position and working state of the laser marking machine 18 are controlled by the controller 6 to realize marking on the surface of the printed pet film 7.

[0044] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device.

[0045] The preferred embodiments of the present invention disclosed above are merely used to assist in the description of the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A printing robot, comprising a frame (1), characterized in that, It further includes: A pressure roller (15) is rotatably installed inside the frame (1), and a transfer roller (16) is provided at the lower end of the transfer roller (16). The PET film (7) is disposed between the pressure roller (15) and the transfer roller (16); A cleaning box (27) is disposed on one side of the transfer roller (16). A wedge-shaped strip (28) is fixed near the top inside the cleaning box (27). The wedge-shaped strip (28) is provided with negative pressure suction holes (36), and a gap between the wedge-shaped strip (28) and the upper end of the cleaning box (27) forms an air flow channel (35). The air flow channel (35) is used for sucking the ink on the surface of the transfer roller (16) after printing; A fixing frame (29) is fixed inside the cleaning box (27). A cleaning spray head (30) is provided on one side of the fixing frame (29) facing the transfer roller (16); A water distribution roller (31) is rotatably installed at the lower end inside the cleaning box (27). A pressing roller (37) that abuts against the water distribution roller (31) is rotatably installed at the lower end of the fixing frame (29).

2. A printing robot according to claim 1, characterized in that A scraper assembly is provided on one side of the transfer roller (16) relative to the cleaning box (27). The scraper assembly includes: An adjusting frame (25) is rotatably installed inside the frame (1), and a tool rest (24) is provided inside the adjusting frame (25). A scraper (26) is fixed on the tool rest (24); Air holes (34). A baffle (33) is fixed at the lower end of the tool rest (24). The air holes (34) are provided on one side of the baffle (33) facing the transfer roller (16); Wherein, one end of the adjusting frame (25) is fixed with a driven gear (42). An internal gear ring (38) is rotatably installed inside the frame (1). A transmission gear (41) is also rotatably installed inside the frame (1). The transmission gear (41) meshes with the driven gear (42) and the internal gear ring (38). An external gear ring (39) is provided on the outside of the internal gear ring (38). A drive shaft is rotatably installed outside the frame (1), and a drive gear (40) that meshes with the external gear ring (39) is fixed on the drive shaft.

3. A printing robot according to claim 2, wherein, It further includes: A second guide roller (11) is rotatably installed inside the frame (1); A first guide roller (10) is rotatably installed above the second guide roller (11). The gap between the second guide roller (11) and the first guide roller (10) is used for inputting the PET film (7).

4. A printing robot according to claim 3, characterized in that: A water pump (44) is fixed inside the frame (1). The water pump (44) is connected to the cleaning spray head (30) through a pipeline. A circulating air pump (43) is installed on the frame (1). The air inlet end of the circulating air pump (43) is connected to the negative pressure suction holes (36) through a pipeline, and the air outlet end of the circulating air pump (43) is connected to the air holes (34) through a pipeline.

5. A printing robot according to claim 4, characterized in that, It further includes: A third guide roller (12) is rotatably installed on one side of the ink cartridge (17) and is used for input guiding during the printing of the PET film (7). The fourth guiding roller (13) is rotatably installed on the other side of the ink cartridge (17) and is used for guiding the output of the printed pet film (7) so that the printed surface of the pet film (7) faces away from the fourth guiding roller (13).

6. The printing robot according to claim 5, wherein: A motor for driving the transfer roller (16) to rotate is provided inside the frame (1). A driving gear (20) is provided at one end of the transfer roller (16), a second driven gear (21) meshing with the driving gear (20) is provided at one end of the pressure roller (15), and a first driven gear (19) meshing with the driving gear (20) is installed at one end of the ink pickup roller (22) extending into the frame (1).

7. The printing robot according to claim 6, characterized in that: The bottom inside the ink cartridge (17) is of an arc-shaped structure, and a reflux groove (23) is provided on one side of the upper end of the ink cartridge (17) facing the squeegee (26). The bottom of the reflux groove (23) is of an inclined surface structure.

8. A printing robot according to any one of claims 2-7, characterized in that: An inspection table (5) is fixed on the frame (1), and a gantry (2) is installed on the frame (1). A servo motor is fixed at one end inside the gantry (2), and a lead screw (8) fixed to the output end of the servo motor is provided inside the gantry (2); A moving table (3) is slidably installed inside the gantry (2). An equipment box (4) is fixed on one side of the moving table (3), and a connecting seat (9) is installed at the bottom of the moving table (3). The connecting seat (9) is slidably connected to the bottom of the gantry (2) and is threadedly connected to the lead screw (8). A laser marking machine (18) is installed on the other side of the moving table (3), and the laser marking machine (18) is used for marking the surface of the printed surface of the pet film (7).

9. A printing robot according to claim 8, characterized in that: A heater (14) is fixed inside the frame (1). The heater (14) is arranged between the fourth guiding roller (13) and the pressure roller (15) and is used for heating the non-printed surface of the pet film (7).

10. A printing method of a printing robot, characterized in that, Including the following steps: Step 1: Inject ink into the ink cartridge, and pass one end of the pet film through the second guiding roller, the third guiding roller, the pressure roller, the fourth guiding roller, and the first guiding roller in sequence; Step 2: Transfer the ink inside the ink cartridge to the transfer roller through the ink pickup roller. With the setting of the air holes, the expansion of the ink is accelerated. The excess ink is scraped off by the squeegee, and then the surface of the pet film is printed through the cooperation of the transfer roller and the pressure roller; Step 3: The residual ink inside the mesh cavity is adsorbed by the negative pressure suction holes on the printed transfer roller. The transfer roller is further cleaned by the cleaning spray head, and the water stains on the surface of the transfer roller are cleaned by the water distribution roller for continuous printing; Step 4: The non-printed surface of the pet film is heated by the heater to accelerate the drying of the ink. The printed surface of the pet film is photographed and inspected by the inspection table, and the photographed information is sent to the controller as an electrical signal. The position and working state of the laser marking machine are controlled by the controller to achieve marking on the surface of the printed pet film.

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