A visual positioning-based printing machine feeding manipulator and a working method thereof

Abstract

The application relates to a vision positioning-based printing machine feeding manipulator and a working method thereof, which comprises a six-axis machine arm and a feeding mechanism, the execution end of the six-axis machine arm is provided with the feeding mechanism, the feeding mechanism comprises a base assembly, a speed-multiplier translation mechanism installed on the base assembly, a sliding base assembly installed on the execution end of the speed-multiplier translation mechanism, an equidistance distance adjustment mechanism installed on the sliding base assembly, and a plurality of clamping units installed on the execution end of the equidistance distance adjustment mechanism; the multiple technologies such as vision positioning guidance, speed-multiplier translation, equidistance distance adjustment, flexible clamping, bottom support and air separation are cooperated to realize accurate, rapid and non-damage feeding of a paperboard stack, and the technical problems of paperboard adhesion, clamping damage and low efficiency are effectively solved.

Description

Technical Field

[0001] This invention relates to the field of loading robot technology, and in particular to a vision-based positioning loading robot for printing machines and its working method. Background Technology

[0002] In the printing production process, cardboard raw materials are usually stored in stacks. During loading, each sheet of cardboard needs to be removed from the stack and precisely placed onto the printing press table. Existing loading methods have the following main technical drawbacks: Cardboard adhesion problem: Stacked cardboard can easily stick together due to static electricity, ink residue or humid environment. Traditional suction cup feeding robots often pick up the lower cardboard when picking up the upper cardboard, resulting in double or multiple sheets being fed, causing paper jams or waste in the printing press. Clamping damage problem: Traditional mechanical grippers use a rigid clamping method, and the clamping force is difficult to control precisely. This can easily leave indentations on the side wall of the cardboard or cause damage to the edge of the cardboard, affecting the printing quality. Width adaptation issue: Different specifications of cardboard have large width differences. The traditional feeding robot has a limited adjustment range of the gripper spacing or is cumbersome to adjust, making it unable to quickly adapt to multiple cardboard specifications and resulting in low production changeover efficiency. Feeding efficiency issues: Traditional feeding mechanisms have long strokes and slow speeds, making it difficult to meet the cycle time requirements of high-speed printing production lines. Summary of the Invention

[0003] The present invention addresses the problem of providing a vision-based positioning-based loading robot for printing presses and its working method, thereby achieving precise, rapid, and damage-free loading of cardboard stacks and effectively solving the technical problems of cardboard adhesion, clamping damage, and low efficiency.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A vision-based printing press loading robot includes a six-axis robotic arm and a loading mechanism. The loading mechanism is mounted on the execution end of the six-axis robotic arm. The loading mechanism includes a base assembly, a speed-multiplying translation mechanism mounted on the base assembly, a slide assembly mounted on the execution end of the speed-multiplying translation mechanism, an equidistant adjustment mechanism mounted on the slide assembly, and several clamping units mounted on the execution end of the equidistant adjustment mechanism. The speed-multiplying translation mechanism drives the slide assembly to move relative to the base assembly at a speed multiple; the equidistant adjustment mechanism drives each clamping unit to expand or retract at equal intervals in the horizontal direction; the clamping unit includes a flexible clamping element disposed on the inner side and a retractable support element disposed on the bottom; the clamping unit is also provided with an air-blowing separation element for spraying gas onto the bottom of the cardboard to separate the adhered cardboard.

[0005] Preferably, the base assembly includes a connecting seat, and the connecting seat has first slide rails symmetrically arranged at both ends of its bottom side. The speed-multiplying translation mechanism includes a slide plate slidably mounted on the first slide rails, and the slide assembly includes a slide plate slidably mounted on second slide rails on both sides of the bottom of the slide plate. The connecting seat has sliding grooves at both ends, and pneumatic cylinders are installed at both ends of the top of the connecting seat. The telescopic ends of the pneumatic cylinders are fixedly connected to the sliding plate through the sliding grooves.

[0006] Preferably, the speed-multiplying translation mechanism further includes synchronous wheels disposed on both sides of the slide plate and a synchronous belt installed between the two synchronous wheels on the same side. The top side of the synchronous belt is fixedly connected to the connecting seat, and the bottom side of the synchronous belt is fixedly connected to the slide block. When the slide plate moves a distance L relative to the connecting seat, the slide block moves a distance L in the same direction relative to the slide plate, so that the absolute movement distance of the slide block relative to the connecting seat is 2L.

[0007] Preferably, the equidistant adjusting mechanism includes several bidirectional threaded rods horizontally installed in the slide, the two ends of the bidirectional threaded rods having opposite thread directions, and the pitch of the several bidirectional threaded rods increasing exponentially. The clamping unit includes a clamping plate installed in the slide, the clamping plate including a fixed clamping plate fixedly installed in the middle of the slide and a movable clamping plate slidably connected to a third slide rail in the slide. The movable clamping plate is threadedly connected to both ends of the bidirectional threaded rods. A gear transmission box and a first motor are installed at the end of the slide, the output end of the gear transmission box is connected to the end of the bidirectional threaded rod, and its input end is connected to the first motor.

[0008] Preferably, the flexible clamping element is a flexible airbag disposed on the inner side of the clamping plate. The flexible airbag is connected to a flexible air tube. After the flexible airbag is inflated, it expands and applies a uniform clamping force to the side wall of the cardboard. After deflating, it contracts and releases the clamping state.

[0009] Preferably, the retractable support element includes an L-shaped base plate rotatably mounted on the outer side of the bottom end of the clamping plate. The L-shaped base plate has a first working state and a second working state. In the first working state, the L-shaped base plate is rotated to a horizontal position and located at the bottom of the clamped cardboard. In the second working state, the L-shaped base plate is rotated to a vertical position and retracted into the outer side of the clamping plate.

[0010] Preferably, a mounting base is installed on the outer side of the bottom end of the clamping plate, and a rotating shaft is installed in the rotating groove of the mounting base. One end of the rotating shaft is equipped with a polygonal shaft, and the other end of the rotating shaft is provided with a polygonal groove. The polygonal shafts and polygonal grooves of adjacent mounting bases are connected to each other to form a transmission structure that slides axially and locks circumferentially. A second motor is installed on the outer side of the mounting base at the outermost end, and the output end of the second motor is connected to the rotating shaft.

[0011] Preferably, the air-blowing separation element includes an air-blowing groove formed at the bottom end of the clamping plate and a nozzle installed on the L-shaped bottom support plate. The nozzle is connected to a flexible air tube. When the L-shaped bottom support plate is in the second working state, the nozzle is retracted into the air-blowing groove. When the L-shaped bottom support plate is in the first working state, the nozzle protrudes from the air-blowing groove and sprays gas towards the bottom of the cardboard.

[0012] A method for operating a visual positioning-based loading robot for printing machines, the specific operation steps of which are as follows: Step 1: The six-axis robotic arm drives the feeding mechanism to move above the cardboard stack. The vision positioning system collects the three-dimensional point cloud data of the cardboard stack, identifies the width and pose information of the top cardboard, and the control system calculates the target clamping distance based on the identification results. Step 2: The first motor starts and drives several bidirectional threaded rods to rotate synchronously through the gear transmission box. Since the threads at both ends of the bidirectional threaded rods are opposite and the pitch of different bidirectional threaded rods increases by multiples, each movable clamping plate moves synchronously relative to the central fixed clamping plate under the drive of the bidirectional threaded rods. During the movement, the distance between adjacent clamping plates remains equal, realizing the equidistant distribution adjustment of the clamping plate array to adapt to cardboard of different widths. Step 3: The pneumatic cylinder is activated, driving the slide plate to slide along the first slide rail via the connecting plate. When the slide plate moves, the top side of the synchronous belt is fixedly connected to the connecting seat, and the bottom side of the synchronous belt is fixedly connected to the slide block, forming a differential transmission. When the slide plate moves a distance L relative to the connecting seat, the slide block moves a distance L in the same direction relative to the slide plate, making the absolute movement distance of the slide block relative to the connecting seat 2L, realizing the double speed movement of the slide block and clamping plate. The clamping plate is used to clamp the cardboard. During the clamping process, the flexible airbag inside the clamping plate remains in a deflated state, in a compliant mode. The flexible airbag is in a soft state to fit against the side wall of the cardboard to avoid impact damage. After clamping, the flexible airbag is inflated, and the flexible airbag expands to apply a uniform clamping force to the side wall of the cardboard. Step 4: As the six-axis robotic arm drives the feeding mechanism upward, high-pressure gas is sprayed through nozzles onto the bottom of the clamped cardboard, causing the cardboard adhering to the bottom of the clamped cardboard to separate. The second motor starts, and through the axial sliding and circumferential locking transmission structure composed of the rotating shaft, polygonal shaft and polygonal groove, it drives the L-shaped bottom support plates in all mounting seats to rotate synchronously. The L-shaped bottom support plates rotate 270 degrees from the vertical storage position to the horizontal position, extending into the bottom of the cardboard to provide bottom support for the bottommost cardboard. After the feeding mechanism moves to the printing machine station, the second motor drives in the opposite direction, and the L-shaped bottom support plates rotate 270 degrees from the horizontal position back to the vertical storage position. The nozzles are synchronously stored in the air blowing groove, the flexible airbags deflate and contract, releasing the clamping on the side wall of the cardboard. At the same time, the clamping plates move to loosen the clamping on the cardboard, and the cardboard is released onto the printing machine worktable.

[0013] The beneficial effects of this invention are: The system acquires 3D point cloud data of the cardboard stack using a vision positioning system, identifies the width and orientation of the top layer of cardboard, and calculates the target clamp spacing based on the identification results. It then automatically drives the equidistant adjustment mechanism to adjust the spacing. The design features bidirectional threaded rods with opposite thread directions at both ends and a multiple increase in pitch between different bidirectional threaded rods. This ensures that each movable clamp moves synchronously relative to the central fixed clamp, maintaining equal spacing between adjacent clamps and achieving equidistant distribution adjustment of the clamp array. This design allows the loading robot to automatically adapt to cardboard of different widths, reducing changeover time from 15 minutes in the traditional method to less than 30 seconds, significantly improving production line flexibility. A pneumatic cylinder drives the slide plate to slide along the first slide rail. The top side of the synchronous belt is fixed to the connecting seat, and the bottom side is fixed to the slide block, forming a differential transmission. When the slide plate moves a distance L relative to the connecting seat, the slide block moves a distance L in the same direction relative to the slide plate, and the absolute movement distance of the slide block relative to the connecting seat is 2L. This double-speed translation mechanism doubles the translation speed of the clamping unit, achieving faster clamping action under the same pneumatic cylinder stroke, shortening the single loading time, and meeting the cycle time requirements of high-speed printing production lines. The inner side of the clamping plate is equipped with a flexible airbag. During clamping, the airbag remains in a deflated state in a compliant mode, allowing it to softly conform to the sidewall of the cardboard, avoiding edge damage caused by rigid impact. After clamping, the airbag is inflated, and the expansion of the airbag applies a uniform clamping force to the sidewall of the cardboard. Compared with the point contact or line contact clamping of traditional rigid grippers, the surface contact clamping of the flexible airbag ensures a uniform distribution of clamping force, reducing the pressure on the sidewall of the cardboard by more than 80%, and completely eliminating clamping indentations and edge damage problems. The L-shaped bottom support plate achieves linkage drive through an axial sliding and circumferential locking transmission structure composed of a polygonal shaft and a polygonal groove. The second motor drives the rotating shaft to rotate, causing all L-shaped bottom support plates to rotate synchronously by 270 degrees, switching from a vertical storage position to a horizontal position and extending into the bottom of the cardboard to provide bottom support. This design forms a bottom support for the cardboard during the feeding process, preventing the cardboard from sagging or falling off due to gravity during movement. It is especially suitable for feeding large-size and thin cardboard. When not in use, the L-shaped bottom support plate is stored outside the clamping plate and does not interfere with the normal opening and closing of the clamping plate. When the L-shaped base plate is rotated to the horizontal position, the nozzle installed on it is exposed from the air blowing groove and sprays high-pressure gas into the bottom of the cardboard. The high-pressure gas forms an air cushion layer between the bottom surface of the cardboard and the lower cardboard. The shearing force of the airflow separates the stuck cardboard, completely solving the problem of cardboard sticking caused by static electricity, ink residue or moisture. When not in use, the nozzle is stored in the air blowing groove to avoid scratching or interfering with the cardboard during the clamping process. The polygonal shafts and polygonal slots of adjacent mounting bases are connected to form a transmission structure that slides axially and locks circumferentially. This design allows the power of the second motor to be transmitted to all L-shaped base plates simultaneously, achieving synchronous drive. At the same time, it allows the clamping plates to slide freely along the axis during the equidistant adjustment process, without causing transmission interruption or jamming due to changes in the clamping plate spacing. This structure is simple and reliable, with high transmission accuracy and low maintenance cost. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the first structure of the feeding mechanism of the present invention; Figure 3 This is a schematic diagram of the second structure of the feeding mechanism of the present invention; Figure 4 This is a schematic diagram of the third structure of the feeding mechanism of the present invention; Figure 5 This is a schematic diagram of the retractable support element structure of the present invention; Figure 6 This is a schematic diagram of the rotating shaft structure of the present invention; Figure 7 This is a schematic diagram of the structure of the retractable support element of the present invention in its retracted state.

[0015] Legend: 1. Six-axis robotic arm; 2. Feeding mechanism; 3. Connecting seat; 4. First slide rail; 5. Slide plate; 6. Second slide rail; 7. Slide base; 8. Third slide rail; 9. Clamping plate; 10. Slide groove; 11. Pneumatic cylinder; 12. Connecting plate; 13. Synchronous pulley; 14. Synchronous belt; 15. Bidirectional threaded rod; 16. Gear transmission box; 17. First motor; 18. Flexible airbag; 19. Air blowing groove; 20. Mounting seat; 21. Rotating groove; 22. L-shaped base plate; 23. Nozzle; 24. Rotating shaft; 25. Polygonal groove; 26. Polygonal shaft; 27. Second motor. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Specific implementation examples are given below.

[0018] See Figures 1-7A vision-based printing press loading robot includes a six-axis robotic arm 1 and a loading mechanism 2. The loading mechanism 2 is mounted on the execution end of the six-axis robotic arm 1. The loading mechanism 2 includes a base assembly, a speed-multiplying translation mechanism mounted on the base assembly, a slide assembly mounted on the execution end of the speed-multiplying translation mechanism, an equidistant adjustment mechanism mounted on the slide assembly, and several clamping units mounted on the execution end of the equidistant adjustment mechanism. The six-axis robotic arm 1 provides flexible movement with six degrees of freedom, which can drive the loading mechanism 2 to be precisely positioned in three-dimensional space to adapt to the loading needs of different workstations and different angles.

[0019] The base assembly includes a connecting seat 3, with first slide rails 4 symmetrically arranged at both ends of the bottom side of the connecting seat 3. The connecting seat 3 serves as the mounting base for the entire feeding mechanism 2, providing rigid support for each moving part. The symmetrically arranged first slide rails 4 provide precise linear motion guidance for the slide plate 5.

[0020] The speed-multiplying translation mechanism drives the slide assembly to move at a speed multiple of the base assembly. The speed-multiplying translation mechanism includes a slide plate 5 slidably mounted on a first slide rail 4. The slide assembly includes slide seats 7 slidably mounted on second slide rails 6 on both sides of the bottom of the slide plate 5. A connecting seat 3 has grooves 10 at both ends, and pneumatic cylinders 11 are mounted on both ends of the top of the connecting seat 3. The telescopic ends of the pneumatic cylinders 11 are fixedly connected to the slide plate 5 via connecting plates 12 that pass through the grooves 10. The speed-multiplying translation mechanism also includes synchronous pulleys 13 located on both sides of the slide plate 5, and a synchronous belt 14 installed between two synchronous pulleys 13 on the same side. The top side of the synchronous belt 14... The slide 5 is fixedly connected to the connecting seat 3, and the bottom side of the timing belt 14 is fixedly connected to the slide 7. When the slide 5 moves a distance L relative to the connecting seat 3, the slide 7 moves a distance L in the same direction relative to the slide 5, so that the absolute movement distance of the slide 7 relative to the connecting seat 3 is 2L. The slide 5 and the slide 7 form a differential transmission through the timing belt 14. The absolute movement distance of the slide 7 relative to the connecting seat 3 is twice the movement distance of the slide 5, realizing the double speed movement of the clamping unit. Under the condition that the stroke of the pneumatic cylinder 11 remains unchanged, the effective working stroke of the clamping unit is doubled, and a larger clamping range can be obtained without increasing the size of the cylinder. The equidistant adjustment mechanism drives each clamping unit to expand or retract at equal intervals in the horizontal direction. The equidistant adjustment mechanism includes several bidirectional threaded rods 15 horizontally installed in the slide 7. The threads at both ends of the bidirectional threaded rods 15 are opposite in direction, and the pitch of the several bidirectional threaded rods 15 increases by a multiple. The clamping unit includes a clamping plate 9 installed in the slide 7. The clamping plate 9 includes a fixed clamping plate fixedly installed in the middle of the slide 7 and a movable clamping plate that is slidably connected to the third slide rail 8 in the slide 7. The movable clamping plate is threadedly connected to both ends of the bidirectional threaded rods 15. A gear transmission box 16 and a first motor 17 are installed at the end of the slide 7. The output end of the gear transmission box 16 is connected to the end of the bidirectional threaded rods 15, and its input end is connected to the first motor 17. The threads at both ends of the bidirectional threaded rods 15 are opposite in direction, so that the two movable clamping plates connected by threads move synchronously towards or away from each other. The design of increasing pitch of different bidirectional threaded rods 15 in multiples ensures that the spacing between adjacent clamping plates 9 remains equal when each movable clamping plate moves synchronously relative to the central fixed clamping plate. This achieves equidistant distribution adjustment of the clamping plate 9 array, adapting to cardboard of different widths. The first motor 17 drives all bidirectional threaded rods 15 to rotate synchronously through the gear transmission box 16, and the spacing between the clamping plates 9 is automatically adjusted to the target width, shortening the changeover time.The clamping unit includes a flexible clamping element located on the inner side and a retractable support element located at the bottom. The flexible clamping element is a flexible airbag 18 located on the inner side of the clamping plate 9. The flexible airbag 18 is connected to a flexible air tube. After the flexible airbag 18 is inflated, it expands and applies a uniform clamping force to the side wall of the cardboard. After deflating, it contracts and releases the clamping state. During clamping, the airbag remains in a deflated state in a compliant mode, conforming to the side wall of the cardboard in a soft state to avoid damage to the cardboard edge caused by rigid impact. After clamping, it inflates and expands, applying a uniform surface contact clamping force to the side wall of the cardboard. Compared with the point contact or line contact of traditional rigid grippers, the pressure on the side wall of the cardboard is reduced by more than 80%, completely eliminating clamping indentations and edge damage. The retractable support element includes an L-shaped bottom support plate 22 rotatably mounted on the outer side of the bottom end of the clamping plate 9. The L-shaped bottom support plate 22 has a first working state and a second working state. In the first working state, the L-shaped bottom support plate 22 is rotated to a horizontal position at the bottom of the clamped cardboard. In the second working state... In the first working state, the L-shaped bottom support plate 22 rotates to a vertical position and is stored on the outside of the clamping plate 9. A mounting seat 20 is installed on the outside of the bottom end of the clamping plate 9. A rotating shaft 24 is installed in the rotating groove 21 of the mounting seat 20. A polygonal shaft 26 is installed at one end of the rotating shaft 24, and a polygonal groove 25 is opened at the other end of the rotating shaft 24. The polygonal shaft 26 and the polygonal groove 25 of the adjacent mounting seats 20 are connected to each other to form a transmission structure with axial sliding and circumferential locking. A second motor 27 is installed on the outside of the outermost mounting seat 20. The output end of the second motor 27 is connected to the rotating shaft 24. In the first working state, the L-shaped bottom support plate 22 rotates to a horizontal position and extends into the bottom of the cardboard to support the cardboard and prevent the cardboard from sagging or shaking and falling off during the movement. It is especially suitable for the feeding operation of large-size and thin cardboard. In the second working state, the L-shaped bottom support plate 22 rotates to a vertical position and is stored on the outside of the clamping plate 9. It does not interfere with the normal opening and closing action of the clamping plate 9, nor does it affect the adjustable sliding of the clamping plate 9. The clamping unit is also equipped with an air-blowing separation element, which is used to spray gas onto the bottom of the cardboard to separate the adhered cardboard. The air-blowing separation element includes an air-blowing groove 19 opened at the bottom end of the clamping plate 9 and a nozzle 23 installed on the L-shaped bottom support plate 22. The nozzle 23 is connected to a flexible air tube. When the L-shaped bottom support plate 22 is in the second working state, the nozzle 23 is housed in the air-blowing groove 19. When the L-shaped bottom support plate 22 is in the first working state, the nozzle 23 is exposed from the air-blowing groove 19 and sprays gas onto the bottom of the cardboard. When the L-shaped bottom support plate 22 is rotated to a horizontal position, the nozzle 23 is exposed from the air-blowing groove 19 and sprays high-pressure gas onto the bottom of the cardboard. The high-pressure gas forms an air cushion layer between the bottom surface of the cardboard and the lower cardboard. The shearing force of the airflow is used to separate the adhered cardboard, which completely solves the problem of cardboard adhesion caused by static electricity, ink residue or moisture, and eliminates double or multiple sheet feeding.

[0021] Working principle: The six-axis robotic arm 1 drives the feeding mechanism 2 to move above the cardboard stack. The vision positioning system collects the three-dimensional point cloud data of the cardboard stack, identifies the width and pose information of the top layer of cardboard, and the control system calculates the spacing of the target clamping plates 9 based on the identification results. The first motor 17 starts and drives several bidirectional threaded rods 15 to rotate synchronously through the gear transmission box 16. Since the thread directions at both ends of the bidirectional threaded rods 15 are opposite and the pitch of different bidirectional threaded rods 15 increases exponentially, each movable clamping plate moves synchronously relative to the central fixed clamping plate under the drive of the bidirectional threaded rods 15. During the movement, adjacent clamping plates... The spacing between the plates 9 remains equal, achieving equidistant distribution adjustment of the plate 9 array to accommodate cardboard of different widths. The pneumatic cylinder 11 is activated, driving the slide plate 5 to slide along the first slide rail 4 via the connecting plate 12. As the slide plate 5 moves, the top side of the synchronous belt 14 is fixedly connected to the connecting seat 3, and the bottom side of the synchronous belt 14 is fixedly connected to the slide block 7, forming a differential transmission. When the slide plate 5 moves a distance L relative to the connecting seat 3, the slide block 7 moves a distance L in the same direction relative to the slide plate 5, making the absolute movement distance of the slide block 7 relative to the connecting seat 3 2L. This achieves double-speed movement of the slide block 7 and the plates 9, enabling the clamping plates 9 to achieve... During the clamping process, the flexible airbag 18 inside the clamping plate 9 remains deflated and in a compliant mode. The flexible airbag 18 fits the sidewall of the cardboard in a soft state to avoid impact damage. After clamping, the flexible airbag 18 is inflated, and the flexible airbag 18 expands, applying a uniform clamping force to the sidewall of the cardboard. When the six-axis robotic arm 1 drives the feeding mechanism 2 to move upward, high-pressure gas is sprayed onto the bottom side of the clamped cardboard through the nozzle 23, causing the cardboard adhering to the bottom side of the clamped cardboard to separate. The second motor 27 is started, and the axial sliding and circumferential sliding are achieved through the rotating shaft 24, the polygonal shaft 26 and the polygonal groove 25. The locking transmission structure drives all the L-shaped base plates 22 in the mounting seats 20 to rotate synchronously. The L-shaped base plates 22 rotate 270 degrees from the vertical storage position to the horizontal position, extending into the bottom of the cardboard to provide bottom support for the bottommost cardboard. After the feeding mechanism 2 moves to the printing machine station, the second motor 27 drives in the opposite direction, and the L-shaped base plates 22 rotate 270 degrees from the horizontal position back to the vertical storage position. The nozzles 23 are synchronously stored in the air blowing groove 19, and the flexible airbag 18 deflates and contracts, releasing the clamping on the side wall of the cardboard. At the same time, the clamping plate 9 moves to loosen the clamping on the cardboard, and the cardboard is released onto the printing machine worktable.

[0022] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A vision-based positioning-based printing press loading robot, characterized in that, It includes a six-axis robotic arm (1) and a loading mechanism (2). The loading mechanism (2) is installed at the execution end of the six-axis robotic arm (1). The loading mechanism (2) includes a base assembly, a double-speed translation mechanism installed on the base assembly, a slide assembly installed on the execution end of the double-speed translation mechanism, an equidistant adjustment mechanism installed on the slide assembly, and several clamping units installed on the execution end of the equidistant adjustment mechanism. The speed-multiplying translation mechanism drives the slide assembly to move relative to the base assembly at a speed multiple; the equidistant adjustment mechanism drives each clamping unit to expand or retract at equal intervals in the horizontal direction; the clamping unit includes a flexible clamping element disposed on the inner side and a retractable support element disposed on the bottom; the clamping unit is also provided with an air-blowing separation element for spraying gas onto the bottom of the cardboard to separate the adhered cardboard.

2. The visual positioning-based printing press loading robot according to claim 1, characterized in that, The base assembly includes a connecting seat (3), and the connecting seat (3) has first slide rails (4) symmetrically arranged at both ends of its bottom side. The speed-multiplying translation mechanism includes a slide plate (5) slidably mounted on the first slide rail (4). The slide assembly includes a slide seat (7) slidably mounted on the second slide rails (6) on both sides of the bottom of the slide plate (5). The connecting seat (3) has sliding grooves (10) at both ends. The connecting seat (3) has pneumatic cylinders (11) installed at both ends of the top. The telescopic end of the pneumatic cylinder (11) is fixedly connected to the slide plate (5) through the connecting plate (12) that passes through the sliding groove (10).

3. The visual positioning-based printing press loading robot according to claim 2, characterized in that, The speed-multiplying translation mechanism also includes synchronous wheels (13) set on both sides of the slide plate (5) and a synchronous belt (14) installed between the two synchronous wheels (13) on the same side. The top side of the synchronous belt (14) is fixedly connected to the connecting seat (3), and the bottom side of the synchronous belt (14) is fixedly connected to the slide (7). When the slide plate (5) moves a distance L relative to the connecting seat (3), the slide (7) moves a distance L in the same direction relative to the slide plate (5), so that the absolute movement distance of the slide (7) relative to the connecting seat (3) is 2L.

4. The visual positioning-based printing press loading robot according to claim 3, characterized in that, The equidistant adjustment mechanism includes several bidirectional threaded rods (15) horizontally installed in the slide (7). The two ends of the bidirectional threaded rods (15) have opposite thread directions, and the pitch of the several bidirectional threaded rods (15) increases by a multiple. The clamping unit includes a clamping plate (9) installed in the slide (7). The clamping plate (9) includes a fixed clamping plate fixedly installed in the middle of the slide (7) and a movable clamping plate that is slidably connected to the third slide rail (8) in the slide (7). The movable clamping plate is threaded to both ends of the bidirectional threaded rods (15). A gear transmission box (16) and a first motor (17) are installed at the end of the slide (7). The output end of the gear transmission box (16) is connected to the end of the bidirectional threaded rods (15), and its input end is connected to the first motor (17).

5. A vision-based printing press loading robot according to claim 4, characterized in that, The flexible clamping element is a flexible airbag (18) set inside the clamping plate (9). The flexible airbag (18) is connected to a flexible air tube. After the flexible airbag (18) is inflated, it expands and applies a uniform clamping force to the side wall of the cardboard. After deflating, it contracts and releases the clamping state.

6. A visual positioning-based printing press loading robot according to claim 5, characterized in that, The retractable support element includes an L-shaped base plate (22) rotatably mounted on the outer side of the bottom end of the clamping plate (9). The L-shaped base plate (22) has a first working state and a second working state. In the first working state, the L-shaped base plate (22) is rotated to a horizontal position and located at the bottom of the clamped cardboard. In the second working state, the L-shaped base plate (22) is rotated to a vertical position and stored on the outer side of the clamping plate (9).

7. A visual positioning-based printing press loading robot according to claim 6, characterized in that, A mounting base (20) is installed on the outer side of the bottom end of the clamping plate (9). A rotating shaft (24) is installed in the rotating groove (21) of the mounting base (20). A polygonal shaft (26) is installed at one end of the rotating shaft (24), and a polygonal groove (25) is opened at the other end of the rotating shaft (24). The polygonal shaft (26) and the polygonal groove (25) of the adjacent mounting base (20) are connected to each other to form a transmission structure with axial sliding and circumferential locking. A second motor (27) is installed on the outer side of the mounting base (20) at the outermost end. The output end of the second motor (27) is connected to the rotating shaft (24).

8. A printing machine loading robot based on vision positioning according to claim 7, wherein the air separation element includes an air groove (19) opened at the bottom end of the clamping plate (9) and a nozzle (23) installed on the L-shaped base plate (22), the nozzle (23) being connected to a flexible air tube, wherein when the L-shaped base plate (22) is in the second working state, the nozzle (23) is housed in the air groove (19), and when the L-shaped base plate (22) is in the first working state, the nozzle (23) is exposed from the air groove (19) and sprays gas toward the bottom of the cardboard.

9. The working method of a printing press loading robot based on vision positioning according to claim 8, characterized in that, The specific operational steps of this working method are as follows: Step 1: The six-axis robotic arm (1) drives the feeding mechanism (2) to move above the cardboard stack. The vision positioning system collects the three-dimensional point cloud data of the cardboard stack, identifies the width and pose information of the top cardboard, and the control system calculates the spacing of the target clamps (9) based on the identification results. Step 2: The first motor (17) starts and drives several bidirectional threaded rods (15) to rotate synchronously through the gear transmission box (16). Since the threads at both ends of the bidirectional threaded rods (15) are opposite and the pitch of different bidirectional threaded rods (15) increases by multiples, each movable clamping plate moves synchronously relative to the central fixed clamping plate under the drive of the bidirectional threaded rods (15). During the movement, the distance between adjacent clamping plates (9) remains equal, realizing the equidistant distribution adjustment of the clamping plate (9) array to adapt to cardboard of different widths. Step 3: The pneumatic cylinder (11) is activated, driving the slide plate (5) to slide along the first slide rail (4) via the connecting plate (12). When the slide plate (5) moves, the top side of the synchronous belt (14) is fixedly connected to the connecting seat (3), and the bottom side of the synchronous belt (14) is fixedly connected to the slide block (7), forming a differential transmission. When the slide plate (5) moves a distance L relative to the connecting seat (3), the slide block (7) moves a distance L in the same direction relative to the slide plate (5), so that the slide block (7) moves a distance L relative to the connecting seat (3). The absolute movement distance of the seat (3) is 2L, which realizes the double speed movement of the slide (7) and the clamp (9). The clamp (9) is used to clamp the cardboard. During the clamping process, the flexible airbag (18) inside the clamp (9) is kept in a deflated state and in a compliant mode. The flexible airbag (18) is in a soft state to fit the side wall of the cardboard to avoid impact damage. After clamping, the flexible airbag (18) is inflated and expands to apply a uniform clamping force to the side wall of the cardboard. Step 4: When the six-axis robotic arm (1) drives the feeding mechanism (2) to move upward, high-pressure gas is sprayed onto the bottom side of the clamped cardboard through the nozzle (23) to separate the cardboard adhering to the bottom side of the clamped cardboard. The second motor (27) starts and drives the L-shaped base plates (22) in all the mounting seats (20) to rotate synchronously through the axial sliding and circumferential locking transmission structure formed by the rotating shaft (24), the polygonal shaft (26) and the polygonal groove (25). The L-shaped base plates (22) rotate from the vertical storage position. 270 to the horizontal position, extending into the bottom of the cardboard to provide bottom support for the bottom cardboard. After the feeding mechanism (2) moves to the printing machine station, the second motor (27) drives in the opposite direction, and the L-shaped bottom plate (22) rotates 270 from the horizontal position back to the vertical storage position. The nozzle (23) is simultaneously stored in the air blowing groove (19), and the flexible airbag (18) deflates and contracts, releasing the clamping on the side wall of the cardboard. At the same time, the clamping plate (9) moves to loosen the clamping on the cardboard, and the cardboard is released onto the printing machine worktable.

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