Printing tube rapid taking manipulator, curved surface printing machine and intelligent taking method

Abstract

The invention discloses a rapid printed pipe taking manipulator, a curved surface printing machine and an intelligent taking method.The rapid printed pipe taking manipulator comprises a mounting base and a sliding seat slidably connected to the mounting base, and a driving mechanism is arranged on the mounting base; the driving mechanism comprises a sliding driving part for driving the sliding seat to move in the direction close to or away from the mounting base, and a rotating driving part for driving the mounting base to rotate; the sliding base is provided with at least two sets of grabbing pieces and an included angle adjusting part, the two sets of grabbing pieces are symmetrically arranged, and the included angle adjusting part is in transmission connection with the two sets of grabbing pieces and used for adjusting the included angle between the two sets of grabbing pieces. In a high-speed printing scene, the purpose of being matched with a large printing disc which continuously runs at a high speed is achieved without increasing the transfer speed, and efficient material taking can be achieved while it is ensured that printing pipes are transferred stably; meanwhile, the two sets of grabbing pieces are arranged on the sliding base, the structural layout is reasonable, and large space of printing equipment cannot be occupied.

Description

Technical Field

[0001] The present invention relates to the field of printing technology, and in particular to a printing tube fast-retrieving robot, a curved printing machine, and an intelligent retrieving method. Background Art

[0002] In the field of curved surface printing technology, particularly for high-definition cylindrical containers like tubes and cans, the efficiency of the connection between the printing plate and the subsequent conveying system directly impacts overall production capacity. In traditional printing equipment, after the curved surface of the printed tube is printed, a reclaimer robot precisely removes it from the printing plate and transfers it to the conveying system. However, as market demands for printed product quality and production efficiency continue to rise, the structural limitations of traditional reclaimers are becoming increasingly apparent.

[0003] At present, the material-retrieving robots commonly used in the industry are mostly single-jaw structures, which control the opening and closing of the jaws through a drive mechanism and complete the material-retrieving and placing operations through linear motion or rotation; another solution also adopts a dual-manipulator alternating operation method.

[0004] However, in high-speed printing scenarios, a single-claw robot must quickly and sequentially complete the steps of gripping, translating, and releasing. This rapid material handling can easily reduce material stability during transfer, leading to material shifting or even falling. Therefore, the movements of a single-claw robot are difficult to match with the continuous, high-speed operation of the printing plate. A dual-claw solution, on the other hand, results in a compact equipment layout and places higher demands on the control algorithm. As the number of printed tubes in the printing plate increases, the risk of mutual interference between the two robots increases, and stability remains insufficient. Consequently, existing retrieving robots struggle to meet the demands of high-speed printing and cannot achieve both efficient and stable retrieving operations. Summary of the Invention

[0005] The purpose of the present invention is to provide a printing tube fast material taking robot, a curved printing machine and an intelligent material taking method to solve the problem that the existing material taking robot is difficult to meet the needs of high-speed printing and cannot take into account both efficient and stable material taking and placing operations.

[0006] To achieve this object, the present invention adopts the following technical solutions: An embodiment of the present invention provides a printing tube fast-retrieving robot, comprising a mounting base and a sliding seat slidably connected to the mounting base, wherein a driving mechanism is disposed on the mounting base, and the driving mechanism comprises: a sliding drive portion for driving the sliding seat to move in a direction close to or away from the mounting base, and a rotation driving portion for driving the mounting base to rotate; The sliding seat is provided with: Grabbing members, wherein at least two groups of grabbing members are provided, and the two groups of grabbing members are symmetrically arranged; The angle adjustment portion is in transmission connection with the two groups of grabbing members and is used for adjusting the angle between the two groups of grabbing members.

[0007] Optionally, the grabbing member includes: a connecting arm, rotatably connected to the sliding seat; The manipulator gripper is connected to the end of the connecting arm.

[0008] Optionally, the angle adjustment portion includes: A driving gear, rotatably connected to the sliding seat; a first driven gear fixedly connected to a rotating shaft of the connecting arm of one group of the grabbing members, the first driven gear meshing with the driving gear; a second driven gear fixedly connected to the rotating shaft of the connecting arm of the other group of the grabbing members, the first driven gear meshing with the second driven gear; The servo motor is fixedly connected to the sliding seat, and the output shaft of the servo motor is connected to the driving gear.

[0009] Optionally, the sliding drive unit includes: a pull rod, an end of which is connected to the sliding seat; A sliding drive member is connected to the mounting base, and a driving end of the sliding drive member is connected to the pull rod. When the sliding drive member is started, it is used to drive the sliding seat to move toward or away from the mounting base through the pull rod.

[0010] Optionally, the rotation drive unit includes: A reversing synchronous wheel, fixedly connected to the mounting base; The rotary driving member is in driving connection with the reversing synchronous wheel and is used for driving the reversing synchronous wheel to rotate.

[0011] An embodiment of the present invention further provides a curved printing machine, comprising a printing plate, a conveying system, and the aforementioned quick printing tube retrieval robot, wherein the quick printing tube retrieval robot is arranged between the printing plate and the conveying system.

[0012] Optionally, the printing tube quick material retrieval robot further includes a chain needle positioning disk, which is rotatably sleeved on the mounting base and is transmission-connected to the conveying system.

[0013] Optionally, the curved surface printing machine further includes: A position sensor is provided at each location on the printing plate where a printing tube is mounted; The visual positioning module is used to scan the position, posture and edge contour of the printing tube on the printing plate in real time.

[0014] An embodiment of the present invention further provides an intelligent material retrieving method, wherein the aforementioned rapid printing tube retrieving robot is installed on a curved printing press, a space coordinate system is defined with the center of the printing plate as the origin of the world coordinate system, two robot grippers are respectively a first robot gripper and a second robot gripper, two pre-retrieved printing tubes are respectively a first printing tube and a second printing tube, the coordinate point of the initial position of the first robot gripper is R1, the center coordinate point of the first printing tube is Y1, and when performing grasping, the coordinate point of the first robot gripper is T1. The intelligent material retrieving method comprises the following steps: S1. Obtaining the center coordinates of the first printing tube and the second printing tube by the visual positioning module; S2. Based on the center coordinates of the first and second printing tubes, the connecting arms of the two groups of grippers are controlled by the angle adjustment unit to rotate so that the straight-line distance between the first and second manipulator grippers is equal to the straight-line distance between the first and second printing tubes, and the first manipulator reaches an initial position. S3. Calculate the rotation angle of the first manipulator gripper when it rotates from R1 to be in a straight line with Y1 on the Z axis. This angle is the target rotation angle of the mounting base. Calculate the projection distance of the straight line distance when the first manipulator gripper moves from R1 to T1 on the Z axis. This distance is the target displacement distance of the sliding base. S4, controlling the rotation drive unit to drive the mounting seat to rotate the target rotation angle, and controlling the sliding drive unit to drive the sliding seat to move the target displacement distance, so that the first manipulator gripper reaches a grasping position; S5, controlling the two manipulator grippers to move simultaneously to balance the gripping force to grasp the printed tube; S6. The first manipulator gripper and the second manipulator gripper are moved to above the conveying system through the cooperation of the rotary drive unit and the sliding drive unit, the printing tube is fixed in the conveying system, and the two manipulator grippers are released synchronously to complete one material picking.

[0015] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a rapid printing tube picking robot, a curved printing machine, and an intelligent picking method. The angle adjustment part adjusts the two groups of gripping members to an appropriate angle according to the spacing between two adjacent pre-clamped printing tubes. The sliding drive part and the rotating drive part cooperate to drive the sliding seat to move the two groups of gripping members to positions facing the two printing tubes respectively. After the gripping members grab the corresponding printing tubes respectively, they are driven by the sliding drive part and the rotating drive part to transfer the printing tubes to the conveying system. In high-speed printing scenarios, there is no need to increase the transfer speed to achieve the purpose of matching the continuously high-speed printing plate. While ensuring the stable transfer of the printing tubes, efficient material picking can also be achieved. At the same time, two groups of gripping members are arranged on the sliding seat and transferred synchronously. The structural layout is reasonable and does not occupy a large space in the printing equipment. Not only can efficient printing tube transfer be achieved, but also a significant increase in cost can be avoided. Through the intelligent picking method, the two groups of gripping members are precisely controlled to synchronously grab the printing tubes, further improving the stability of the printing tube transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] The structures, proportions, sizes, etc. depicted in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology. They are not intended to limit the conditions under which the present invention can be implemented and therefore have no substantive technical significance. Any structural modifications, changes in proportional relationships, or adjustments in size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and objectives that can be achieved by the present invention.

[0018] Figure 1 This is a structural diagram of a printing tube fast material removal robot.

[0019] Figure 2 The figure is a structural diagram of a curved printing machine.

[0020] Figure 3 The figure is a flow chart of an intelligent material taking method.

[0021] Illustrations: 1. Mounting base; 2. Sliding drive unit; 21. Pull rod; 22. Guide shaft; 3. Rotation drive unit; 31. Reversing synchronous wheel; 4. Sliding seat; 5. Grabbing member; 51. Connecting arm; 52. Robot gripper; 6. Angle adjustment unit; 61. Driving gear; 62. First driven gear; 63. Second driven gear; 64. Servo motor; 7. Chain needle positioning plate; 8. Printing plate; 9. Conveying system. DETAILED DESCRIPTION

[0022] In order to make the purpose, features, and advantages of the present invention more obvious and easy to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described below are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] In the description of the present invention, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or elements referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. It should be noted that when a component is considered to be "connected" to another component, it may be directly connected to the other component or there may be a centrally located component.

[0024] An embodiment of the present invention provides a printing tube rapid material retrieval robot, comprising a mounting base and a sliding base slidably connected to the mounting base, the mounting base being provided with a driving mechanism, the driving mechanism comprising a sliding driving portion that drives the sliding base to move in a direction approaching or away from the mounting base, and a rotating driving portion that drives the mounting base to rotate; a gripping member and an angle adjustment portion are provided on the sliding seat, at least two groups of gripping members are provided, and the two groups of gripping members are symmetrically arranged, the angle adjustment portion is transmission-connected to the two groups of gripping members, and is used to adjust the angle between the two groups of gripping members.

[0025] The present invention provides a rapid printing tube material retrieval robot. The angle adjustment part adjusts the two groups of gripping members to an adaptive angle according to the spacing between two adjacent pre-clamped printing tubes. The sliding drive part and the rotary drive part cooperate to drive the sliding seat to move the two groups of gripping members to positions facing the two printing tubes respectively. After the gripping members grab the corresponding printing tubes respectively, they are driven by the sliding drive part and the rotary drive part to transfer the printing tubes to the conveying system. In high-speed printing scenarios, there is no need to increase the transfer speed to achieve the purpose of matching the continuously high-speed printing plate. While ensuring the stable transfer of the printing tubes, efficient material retrieval can also be achieved. At the same time, two groups of gripping members are arranged on the sliding seat and transferred synchronously. The structural layout is reasonable and does not occupy a large space of the printing equipment. Not only can efficient printing tube transfer be achieved, but also a significant increase in cost can be avoided.

[0026] The technical solution of the present invention will be further described below with reference to the accompanying drawings and through specific implementation methods.

[0027] An embodiment of the present invention provides a rapid printing tube retrieval robot, which is suitable for use in curved printing equipment to transfer printed printing tubes from a printing plate 8 to a conveying system 9. It has the advantage of meeting high-speed printing requirements while ensuring stable transfer of printing tubes.

[0028] like Figure 1 、 Figure 2 As shown, in an embodiment of the present invention, the printing tube rapid material retrieval robot includes a mounting base 1 and a sliding base 4 slidably connected to the mounting base 1, and a driving mechanism is provided on the mounting base 1, and the driving mechanism includes a sliding driving part 2 and a rotating driving part 3, the sliding driving part 2 is used to drive the sliding base 4 to move in a direction close to or away from the mounting base 1, and the rotating driving part 3 is used to drive the mounting base 1 to rotate; a grabbing member 5 and an angle adjusting part 6 are provided on the sliding base 4, and at least two groups of grabbing members 5 are provided, and the two groups of grabbing members 5 are symmetrically arranged, and the angle adjusting part 6 is transmission-connected to the two groups of grabbing members 5 for adjusting the angle between the two groups of grabbing members 5.

[0029] Specifically, the rapid printing tube retrieval robot is mounted on the curved printing equipment via a mounting base 1, and the rapid printing tube retrieval robot is located between the printing plate 8 and the conveying system 9. The printing plate 8 prints the printing tubes, and after printing is completed, the rapid printing tube retrieval robot transfers the printed printing tubes to the conveying system 9. The mounting base 1 can be a cylindrical structure, with a flange seat rotatably connected to the bottom of the cylinder for mounting on the curved printing equipment. The top of the cylinder is provided with an annular truncated cone, on which two guide shafts 22 can be symmetrically fixed. The sliding seat 4 is mounted on the two guide shafts 22. The sliding drive unit 2 is provided on the mounting base 1, driving the sliding seat 4 to slide along the guide shafts 22. The two guide shafts 22 can limit the sliding movement of the sliding seat 4 along the length of the guide shafts 22. The rotation drive unit 3 can be mounted on the curved printing equipment, and the mounting base 1 is rotationally connected to the rotation drive unit 3, so that when the mounting base 1 rotates, the sliding seat 4 and the two sets of grippers 5 rotate simultaneously.

[0030] During actual implementation, the angles of the two groups of grabbing members 5 are adjusted by the angle adjusting portion 6 according to the spacing between two adjacent printing tubes on the printing plate 8, so that the two groups of grabbing members 5 can correspond one-to-one to the two printing tubes to be pre-picked; then the sliding drive portion 2 and the rotating drive portion 3 cooperate to drive the sliding seat 4 to move, so that the two grabbing members 5 are aligned with the two printing tubes respectively. After the grabbing members 5 clamp the printing tube, the sliding drive portion 2 and the rotating drive portion 3 drive the sliding movement again to move the grabbing members 5 clamping the printing tube to the transmission system. After the printing tube is fixed on the conveying system 9, the grabbing members 5 release the printing tube, thereby completing one printing tube picking.

[0031] By arranging two groups of symmetrical grabbing members 5 on the sliding seat 4, the two groups of grabbing members 5 can simultaneously pick up the printing tubes. In the high-speed printing scenario, there is no need to increase the transfer speed to achieve the purpose of matching the continuously high-speed printing plate 8, ensuring the stability of the printing tube transfer while achieving efficient material picking; at the same time, the two groups of grabbing members 5 are installed on the same mounting base 1, and the structural layout is reasonable, which will not take up a large space in the printing equipment, and can not only achieve efficient printing tube transfer, but also avoid a significant increase in cost.

[0032] Furthermore, the gripping member 5 includes a connecting arm 51 and a manipulator gripper 52. The connecting arm 51 is rotatably connected to the sliding seat 4; the manipulator gripper 52 is connected to the end of the connecting arm 51.

[0033] For example, the manipulator gripper 52 can be slidably connected to the connecting arm 51, and an electric push rod can be provided on the connecting arm 51. The telescopic end of the electric push rod is connected to the manipulator gripper 52, which is conducive to improving the gripping range of the manipulator gripper 52. According to different models of curved printing machines, the position of the manipulator gripper can be adjusted by the electric push rod to meet the material picking requirements of curved printing machines with different signals. In the embodiment of the present invention, the gripping members 5 are symmetrically arranged in two groups. In actual use, if the space of the curved printing machine allows, multiple groups can be set according to demand. For example, four groups of gripping members 5 are provided on the sliding seat 4, and the length of the connecting arm 51 of the two groups of gripping members 5 on the outside is greater than the length of the connecting arm 51 of the two groups of gripping members 5 on the inside, which can further improve the material picking efficiency.

[0034] like Figure 1 As shown, in this embodiment of the present invention, the angle adjustment unit 6 includes a driving gear 61, a first driven gear 62, a second driven gear 63, and a servo motor 64. The driving gear 61 is rotatably connected to the sliding base 4; the first driven gear 62 is fixedly connected to the rotating shaft of the connecting arm 51 of one set of the grabbing members 5, and the first driven gear 62 meshes with the driving gear 61; the second driven gear 63 is fixedly connected to the rotating shaft of the connecting arm 51 of the other set of the grabbing members 5, and the first driven gear 62 meshes with the second driven gear 63; the servo motor 64 is fixedly connected to the sliding base 4, and the output shaft of the servo motor 64 is connected to the driving gear 61.

[0035] Specifically, the connecting arm 51 is rotatably connected to the sliding base 4 via a rotating shaft. A first driven gear 62 and a second driven gear 63 are fixedly mounted on the rotating shafts of the connecting arms 51 of the two sets of grippers 5, respectively, and the first driven gear 62 and the second driven gear 63 mesh with each other. The driving gear 61 is actively connected to the sliding base 4 and meshes with the first driven gear 62. When the servo motor 64 drives the driving gear 61 to rotate, it also drives the first driven gear 62 and the second driven gear 63 to rotate simultaneously. The first driven gear 62 and the second driven gear 63 rotate in opposite directions, thereby driving the two connecting arms 51 to move closer or farther away simultaneously. The servo motor 64 precisely controls the position of the two sets of manipulator grippers 52.

[0036] like Figure 1 As shown, in this embodiment of the present invention, the sliding drive unit 2 includes a pull rod 21 and a sliding drive member. The end of the pull rod 21 is connected to the sliding seat 4. The sliding drive member is connected to the mounting base 1, and the driving end of the sliding drive member is connected to the pull rod 21. When the sliding drive member is activated, the pull rod 21 drives the sliding seat 4 to move toward or away from the mounting base 1.

[0037] For example, the sliding drive member is a cylinder fixed within the mounting base 1, and the pull rod 21 is fixed to the telescopic end of the cylinder. When the cylinder is extended or retracted, it can drive the sliding seat 4 to slide. In another embodiment of the present invention, the sliding drive member can also be a motor, and the pull rod 21 can be a threaded rod connected to the motor output shaft. When the motor is activated, it drives the threaded rod to rotate, thereby driving the sliding seat 4 to move. Of course, the sliding drive member can also be implemented using other drive methods, and the present invention is not particularly limited in this regard.

[0038] In one embodiment of the present invention, the rotation driving unit 3 includes a reversing synchronous wheel 31 and a rotation driving member. The reversing synchronous wheel 31 is fixedly connected to the mounting base 1; the rotation driving member is in transmission connection with the reversing synchronous wheel 31 for driving the reversing synchronous wheel 31 to rotate.

[0039] For example, the mounting base 1 is rotatably connected to the curved printing equipment through a flange seat, the reversing synchronous wheel 31 can be fixedly connected to the mounting base 1, and the rotating drive member can drive the reversing synchronous wheel 31 to rotate through a motor and gear drive, thereby driving the mounting base 1 to rotate.

[0040] like Figure 2 As shown, an embodiment of the present invention further provides a curved printing machine, which includes a printing plate 8 and a conveying system 9. The above-mentioned print tube quick material retrieval robot is arranged between the printing plate 8 and the conveying system 9. After the print tube is printed in the printing plate 8, it is transferred to the conveying system 9 by the print tube quick material retrieval robot.

[0041] In an embodiment of the present invention, the printing tube rapid retrieval robot further includes a chain needle positioning disk 7, which is rotatably sleeved on the mounting base 1 and is transmission-connected to the conveying system 9. Specifically, a sprocket is sleeved on the outer side of the mounting base 1, and the sprocket is either not connected to the mounting base 1 or is rotationally connected to the mounting base 1. The sprocket is fixedly connected to the chain needle positioning disk 7, and a chain in the conveying system 9 is connected to the sprocket. A fixing part for fixing the printing tube is provided on the chain. When the grabbing part 5 clamps the printing tube and moves to the top of the conveying system 9, the chain needle positioning disk 7 can position the fixing part, thereby facilitating the accurate transfer of the printing tube to the conveying system 9.

[0042] Furthermore, the curved printing press also includes a position sensor and a visual positioning module. Each location on the printing plate 8 where a print tube is mounted is equipped with a position sensor. The visual positioning module receives positional information from the position sensor and scans and locates the position, posture, and edge profile of the print tube in real time. Specifically, the rapid print tube retrieval robot may also include an intelligent control system electrically connected to the visual positioning module, servo motor 64, sliding drive, and rotating drive. The visual positioning module scans and locates the position, posture, and edge profile of the pre-retrieved print tube and transmits this information to the intelligent control system. The intelligent control system then calculates the received data and precisely controls the rotation and sliding of the sliding seat 4, enabling the two sets of grippers 5 to accurately grasp the corresponding print tube.

[0043] like Figure 3 As shown, an embodiment of the present invention further provides an intelligent material retrieving method. In this embodiment of the present invention, the aforementioned rapid printing tube retrieving robot is installed on a curved printing press, and a spatial coordinate system is defined with the center of the printing plate 8 as the origin of the world coordinate system, wherein the Z-axis direction is perpendicular to the plane of the mounting base 1.

[0044] The two manipulator grippers 52 are respectively the first manipulator gripper and the second manipulator gripper, and the two pre-taken printing tubes are respectively the first printing tube and the second printing tube. The coordinate point of the initial position of the first manipulator gripper is R1, the coordinate point of the initial position of the second manipulator gripper is R2, the center coordinate point of the first printing tube is Y1, and the center coordinate point of the second printing tube is Y2. When performing the grabbing operation, the coordinate point of the first manipulator gripper is T1.

[0045] The intelligent reclaiming method includes the following steps: S1. Obtaining the center coordinates of the first printing tube and the second printing tube by the visual positioning module; For example, the visual positioning module includes two industrial-grade high-speed cameras arranged on the printing plate. By receiving the position sensor information corresponding to the printing tube and capturing the printing tube image, it uses edge detection or feature matching to accurately identify the coordinates of the first printing tube and the second printing tube in three-dimensional space.

[0046] S2. Based on the center coordinates of the first and second printing tubes, the connecting arms 51 of the two groups of grippers 5 are controlled by the angle adjustment unit 6 to rotate so that the straight-line distance between the first and second manipulator grippers is equal to the straight-line distance between the first and second printing tubes, and the first manipulator reaches its initial position. Specifically, the relative distance between the two manipulator grippers is adjusted to match the distance between the two printing tubes. The angle adjustment unit controls the rotation angle of the connecting arm to make the distance between the grippers equal to the distance between the printing tubes. After adjustment, the position of the first manipulator gripper is the initial position R1. For example, after the intelligent control system receives the center coordinate information of the two printing tubes, it calculates the straight-line distance L between the center coordinate point Y1 of the first printing tube and the center coordinate point Y2 of the second printing tube, and controls the angle adjustment part 6 to adjust the rotation of the connecting arm 51 of the two group grasping parts 5 so that the straight-line distance between the first manipulator gripper and the second manipulator gripper is equal to L. At this time, the position of the first manipulator gripper is the initial position.

[0047] S3. Calculate the rotation angle of the first manipulator gripper when it rotates from R1 to be in a straight line with Y1 on the Z axis. This angle is the target rotation angle of the mounting base. Calculate the projection distance of the straight line distance when the first manipulator gripper moves from R1 to T1 on the Z axis. This distance is the target displacement distance of the sliding base. When the first manipulator gripper and the second manipulator gripper are in the grasping position, the coordinate point T1 of the first manipulator gripper and the center coordinate point Y1 of the first printing tube have the same x-coordinate and y-coordinate, that is, T1 and Y1 are on the same straight line in the Z-axis direction; To reach T1 from R1, the first manipulator gripper 52 must rotate a certain angle around the axis of the mounting base 1 and then move a certain distance along the Z axis. The rotation angle is the target rotation angle, and the displacement distance is the target displacement distance. In actual operation, the manipulator gripper 52 can rotate and move simultaneously. Once it reaches the gripping position, it grabs the printed tube.

[0048] It should be noted that, depending on the gripping method of the manipulator gripper 52, such as external embracing gripping, intubation external support gripping, or lateral gripping gripping, the manipulator gripper 52 may directly grip after reaching the gripping position, or may extend itself or be driven by the sliding seat 4 to move the manipulator gripper 52 toward the printing tube before gripping. The present invention does not specifically limit the gripping method of the manipulator gripper 52. In actual operation, the manipulator gripper 52 can be flexibly replaced according to actual needs or the type of printing tube.

[0049] S4, controlling the rotation drive unit to drive the mounting base to rotate the target rotation angle, and controlling the sliding drive unit to drive the sliding seat to move the target displacement distance, so that the first manipulator gripper reaches a grasping position; Specifically, a position sensor can also be installed on the manipulator gripper 52. The intelligent control system receives the position sensor information and locates the position of the manipulator gripper 52 in real time. According to the center coordinate information of the printing tube, the angle adjustment part 6 is controlled to first make the manipulator gripper 52 reach the initial position, and then move from the initial position to the grasping position.

[0050] S5, controlling the two manipulator grippers to move simultaneously to balance the gripping force to grasp the printed tube; For example, the visual positioning module can also scan the outer contour of the print tube and perform 3D modeling to obtain data such as the shape and diameter of the print tube's edge. For example, based on the print tube's shape and edge contour, the coordinates of the gripping point are determined. Based on the gripping method of the robot gripper 52, the gripping force of the robot gripper 52 at the gripping point is simulated to ensure that the robot gripper 52 stably grips the print tube while protecting it from damage. This results in a balanced gripping force, which is then used to control the two robot grippers 52 to stably grasp the print tube.

[0051] S6. The first manipulator gripper and the second manipulator gripper are moved to above the conveying system 9 by the cooperation of the rotating driving part 3 and the sliding driving part 2. The printing tube is fixed in the conveying system 9. The two manipulator grippers 52 are released synchronously to complete one material picking.

[0052] Specifically, after the two manipulator grippers 52 grasp the printing tube, the sliding drive unit 2 and the rotating drive unit 3 cooperate to drive the sliding base 4 and the two gripping members 5 to move above the conveyor system 9, securing the printing tube to the fixed member on the chain. The two manipulator grippers 52 then release the printing tube, completing one material removal operation. The sliding base 4 and the two gripping members 5 then return to their original positions, and step S1 begins again for the next material removal operation. This intelligent material removal method precisely controls the two sets of gripping members 5 to synchronously grasp the printing tube and transfer it along the set route, further improving the stability of the printing tube transfer.

[0053] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some of the technical features thereof can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A printing tube fast material taking robot, characterized in that: The invention comprises a mounting base (1) and a sliding seat (4) slidably connected to the mounting base (1); the mounting base (1) is provided with a driving mechanism, and the driving mechanism comprises: a sliding drive portion (2) for driving the sliding seat (4) to move in a direction close to or away from the mounting base (1), and a rotation driving unit (3) for driving the mounting base (1) to rotate; The sliding seat (4) is provided with: Grabbing members (5), wherein at least two groups of the grabbing members (5) are provided, and the two groups of the grabbing members (5) are symmetrically arranged; The angle adjustment portion (6) is in transmission connection with the two groups of grabbing members (5) and is used to adjust the angle between the two groups of grabbing members (5).

2. The printing tube rapid material removal robot according to claim 1 is characterized in that: The grabbing member (5) comprises: A connecting arm (51) rotatably connected to the sliding seat (4); A manipulator gripper (52) is connected to the end of the connecting arm (51).

3. The printing tube rapid material removal robot according to claim 2 is characterized in that: The angle adjustment portion (6) comprises: A driving gear (61) is rotatably connected to the sliding seat (4); a first driven gear (62) fixedly connected to the rotating shaft of the connecting arm (51) of one group of the grabbing members (5), the first driven gear (62) being meshed with the driving gear (61); A second driven gear (63) is fixedly connected to the rotating shaft of the connecting arm (51) of another group of the grabbing members (5), and the first driven gear (62) is meshed with the second driven gear (63); A servo motor (64) is fixedly connected to the sliding seat (4), and an output shaft of the servo motor (64) is connected to the driving gear (61).

4. The printing tube rapid material removal robot according to claim 1 is characterized in that: The sliding drive unit (2) comprises: A pull rod (21), an end of which is connected to the sliding seat (4); A sliding drive member is connected to the mounting base (1), and a driving end of the sliding drive member is connected to the pull rod (21). When the sliding drive member is started, it is used to drive the sliding seat (4) to move toward or away from the mounting base (1) through the pull rod (21).

5. The printing tube rapid material removal robot according to claim 1 is characterized in that: The rotation driving unit (3) comprises: A reversing synchronous wheel (31) is fixedly connected to the mounting base (1); The rotary drive member is in transmission connection with the reversing synchronous wheel (31) and is used for driving the reversing synchronous wheel (31) to rotate.

6. A curved printing machine, characterized in that: It comprises a printing plate (8), a conveying system (9) and a printing tube fast-retrieving robot as claimed in any one of claims 1 to 5, wherein the printing tube fast-retrieving robot is arranged between the printing plate (8) and the conveying system (9).

7. The curved surface printing machine according to claim 6, characterized in that: The printing tube quick material taking manipulator further comprises a chain needle positioning disk (7), which is rotatably sleeved on the mounting base (1) and is transmission-connected to the conveying system (9).

8. The curved surface printing machine according to claim 6, characterized in that: Also includes: A position sensor is provided at each position on the printing plate (8) where a printing tube is installed; The visual positioning module is used for real-time scanning of the position, posture and edge contour of the printing tube on the printing plate (8).

9. An intelligent material taking method, characterized in that: The printing tube fast picking robot according to any one of claims 1 to 5 is installed on the curved printing machine according to claim 6, a space coordinate system is defined with the center of the printing plate as the origin of the world coordinate system, the two robot grippers (52) are respectively the first robot gripper and the second robot gripper, the two pre-picked printing tubes are respectively the first printing tube and the second printing tube, the coordinate point of the initial position of the first robot gripper is R1, the center coordinate point of the first printing tube is Y1, and when performing grabbing, the coordinate point of the first robot gripper is T1, and the intelligent picking method includes the following steps: S1. Obtaining the center coordinates of the first printing tube and the second printing tube by the visual positioning module; S2, according to the center coordinates of the first printing tube and the second printing tube, the connecting arms (51) of the two groups of the gripping members (5) are controlled to rotate by the angle adjustment unit (6), so that the straight-line distance between the first manipulator gripper and the second manipulator gripper is equal to the straight-line distance between the first printing tube and the second printing tube, and the first manipulator reaches the initial position; S3, calculating the rotation angle of the first manipulator gripper when it rotates from R1 to the same straight line as Y1 on the Z axis, which is the target rotation angle of the mounting base (1), and calculating the projection distance of the straight line distance when the first manipulator gripper moves from R1 to T1 on the Z axis, which is the target displacement distance of the sliding seat (4); S4, controlling the rotation drive unit (3) to drive the mounting base (1) to rotate the target rotation angle, and controlling the sliding drive unit (2) to drive the sliding seat (4) to move the target displacement distance, so that the first manipulator gripper reaches a grasping position; S5, controlling the two manipulator grippers (52) to move simultaneously to grasp the printing tube with a balanced gripping force; S6. The first manipulator gripper and the second manipulator gripper are moved to the top of the conveying system by the cooperation of the rotating driving part (3) and the sliding driving part (2), the printing tube is fixed in the conveying system (9), and the two manipulator grippers (52) are released synchronously to complete one material picking.

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