A multi-degree-of-freedom industrial robot for packaging printing

Abstract

This invention relates to the field of packaging printing, and more particularly to a multi-degree-of-freedom industrial robot for packaging printing. A multi-degree-of-freedom industrial robot for packaging printing, capable of real-time adjustment and precise control of the squeegee's pressing pressure, includes a conveyor belt extending laterally. A three-axis module is mounted above the conveyor belt, and the Z-axis module of the three-axis module is capable of lifting and lowering. A screen printing structure is mounted below the Z-axis module in a lifting manner, and the lifting and lowering of the screen printing structure is controlled by the Z-axis module. A squeegee structure is slidably connected laterally within the screen printing structure, and the squeegee force of the squeegee structure is adjustable. This invention, through a Cartesian coordinate three-axis motion system composed of the X-axis module, Y-axis module, and Z-axis module, combined with high-precision transmission via guide sleeves and threaded seats, can achieve precise position control of the squeegee structure and screen printing structure in three degrees of freedom: left-right, front-back, and up-down. This allows it to adapt to packaging materials of different sizes and shapes.

Description

Technical Field

[0001] This invention relates to the field of packaging printing, and more particularly to a multi-degree-of-freedom industrial robot for packaging printing. Background Technology

[0002] Screen printing (Screen printing for short) is an important printing process widely used in the packaging printing industry due to its advantages such as thick ink layer, strong opacity, bright colors, and applicability to various substrates. In the screen printing process, a squeegee moves back and forth on the screen, forcing ink through the mesh of the screen's image area onto the surface of the packaging material under certain pressure, thus achieving precise transfer of the pattern. The pressure exerted by the squeegee on the screen is one of the key process parameters affecting printing quality. Excessive pressure can lead to excessive ink penetration, blurred image edges, or even screen deformation and damage. Insufficient pressure, on the other hand, can result in insufficient ink transfer, image defects, or uneven ink layers, thereby affecting the appearance quality and yield of the packaging products.

[0003] Currently, the screen printing equipment used in the packaging and printing industry mainly includes manual screen printing machines, semi-automatic screen printing machines, and some fully automatic screen printing machines. Existing equipment still has the following shortcomings in terms of squeegee pressing pressure adjustment: Some equipment adopts a manual adjustment method, in which operators change the initial pressing position of the squeegee by rotating the adjusting screw or adjusting handle, thereby indirectly adjusting the pressing pressure. This adjustment method relies on the operator's experience and judgment, resulting in low adjustment accuracy and slow response speed, making it difficult to meet the real-time optimization needs of pressure parameters in continuous production processes.

[0004] Therefore, there is an urgent need to develop a multi-degree-of-freedom industrial robot for packaging and printing that can adjust and precisely control the pressure of the scraper in real time. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the present invention provides a multi-degree-of-freedom industrial robot for packaging and printing that can adjust and precisely control the pressure of the scraper in real time.

[0006] The technical solution is as follows: A multi-degree-of-freedom industrial robot for packaging and printing includes a conveyor belt extending to the left and right. A three-axis module is arranged above the conveyor belt, and the Z-axis module of the three-axis module is capable of lifting and lowering. A screen printing structure is lifted and lowered below the Z-axis module, and the screen printing structure is driven to lift and lower through the Z-axis module and a docking structure. A scraping structure is slidably connected to the left and right inside the screen printing structure, and the scraping force of the scraping structure can be adjusted. The scraping structure includes sliders that are slidably disposed on the front and rear sides of the top of the screen printing structure. A rotating shaft is rotatably mounted between the sliders. A scraper is inclinedly disposed at the bottom of the rotating shaft. The screen printing pressure is adjusted by rotating the scraper. The scraper is connected to the Z-axis module through a docking structure.

[0007] Optionally, the three-axis module includes an X-axis module installed on both the front and rear sides of the conveyor belt. Each sliding block of the X-axis module has a support plate vertically fixed to it. A Y-axis module is fixedly connected to the upper part of the support plates. A sliding seat is provided on the Y-axis module. A threaded seat is vertically fixed to the middle of the left side of the sliding seat. Guide sleeves are vertically fixed to both the front and rear sliding seats of the threaded seat. The screw of the Z-axis module is threadedly connected to the threaded seat. The Z-axis module is slidably connected to the guide sleeve.

[0008] Optionally, the screen printing structure includes first guide posts installed on the front and rear sides of the top of the conveyor belt, a sliding plate vertically slidably connected between the first guide posts on the same side, a first spring connected between the sliding plate and the first guide posts, and a screen printing frame fixedly connected between the inner sides of the sliding plate.

[0009] Optionally, the scraping structure further includes a worm gear concentrically mounted at the end of the rotating shaft, a motor fixedly connected to a slider at the worm gear, and a worm meshing with the worm gear connected to the output shaft of the motor.

[0010] Optionally, the docking structure includes a plug plate installed between the sliders, the plug plate having a row of docking holes, and the bottom end of the Z-axis module having a row of pins above the docking holes.

[0011] Optionally, it also includes a feeding structure installed on the side of the scraper. The feeding structure includes a spray pipe installed on the side of the scraper. A spherical shell is installed at the feeding end of the spray pipe. A ball is horizontally rotatably installed inside the spherical shell. A cross-shaped feeding hole is horizontally opened in the middle of the ball. A drive shaft is concentrically fixed to the bottom of the ball. A gear is concentrically arranged on the drive shaft. A first rack is installed on a sliding plate near the gear. A waist-shaped hole extending to the left and right is opened on the left side of the sliding plate. A second rack is slidably connected in the waist-shaped hole. The second rack is fixed in position by fasteners. The gear can mesh with the first rack and the second rack during movement.

[0012] Optionally, the drive shaft and gear are concentrically arranged via an overrunning clutch, so that the ball can only rotate in one direction.

[0013] Optionally, it also includes a suction tube installed on the left side inside the screen printing frame.

[0014] Optionally, it also includes a limiting structure installed below the sliding plate, the limiting structure including front and rear limiting mechanisms and left and right limiting mechanisms; The front and rear limiting mechanism includes a side baffle that is slidably mounted on the conveyor belt. The side baffle is located below the sliding plate. A second spring is connected between the side baffle and the conveyor belt. A second guide post is vertically arranged on the conveyor belt at the side baffle. A sliding sleeve is slidably connected to the second guide post. A hinge rod is rotatably mounted between the adjacent sliding sleeve and the side baffle. A hollow threaded block is threadedly connected to the sliding plate above the sliding sleeve. The left and right limiting mechanism includes a T-shaped groove formed in the inner wall of the side baffle, and a stop block is slidably connected in the T-shaped groove, which can be fixed on the side baffle.

[0015] Optionally, the side of the stop block near the material conveying end of the conveyor belt is an inclined surface that opens outward.

[0016] The beneficial effects are: the present invention uses a three-axis motion system composed of X-axis module, Y-axis module and Z-axis module to form a rectangular coordinate system. With the high-precision transmission of guide sleeve and threaded seat, it can realize precise position control of the scraping structure and screen printing structure in three degrees of freedom: left and right, front and back, and up and down. It can not only adapt to packaging materials of different sizes and shapes, but also provide a motion basis for complex trajectory printing. The squeegee is tilted between the sliders via a rotating shaft and driven by a worm gear motor, allowing it to rotate clockwise or counterclockwise at any angle. This changes the contact angle and downward pressure between the squeegee and the screen in real time. Compared to traditional pneumatic or manual adjustment methods, this structure offers higher precision and faster response. It can accurately control the printing pressure for packaging materials of different materials and thicknesses, as well as for different printing processes. This effectively avoids excessive ink penetration or screen deformation due to excessive pressure, as well as insufficient ink transfer due to insufficient pressure. It ensures uniform ink transfer, clear image edges, and significantly improves packaging printing quality. The left side of the squeegee is equipped with a feeding structure consisting of a spray tube, a spherical shell, a sphere, gears, a first rack, a second rack, and an overrunning clutch. When the squeegee moves to the left, the gears mesh with the first and second racks in sequence, driving the sphere to rotate counterclockwise by 45° to open the spray tube and spray ink. It then rotates another 45° to automatically close. When the squeegee returns to its original position to the right, the gears idle while the spray tube remains closed. This intermittent ink supply avoids continuous ink overflow or excessive accumulation, saving ink while ensuring uniform ink distribution on the screen. The timing of ink injection and shutdown can also be flexibly controlled by adjusting the position of the second rack to adapt to different printing sizes. The limiting structure below the sliding plate includes front and rear limiting mechanisms and left and right limiting mechanisms. When the screen printing structure is pressed down, the hollow threaded block pushes the sliding sleeve down, driving the front and rear side baffles to close in the middle through the hinge rod, automatically pushing the packaging material on the conveyor belt to the center position. At the same time, the stop block on the inner wall of the side baffle limits the left end of the material. The inclined surface on the inner side of the stop block can guide the material to adjust smoothly when there is an error in the material position, avoiding damage from hard squeezing. By adjusting the height of the hollow threaded block and the fixed position of the stop block, it can adapt to packaging materials of different widths and lengths, ensuring the positioning consistency of each printing and effectively improving the printing yield. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0018] Figure 2 This is a three-dimensional structural diagram of the present invention after the conveyor belt has been removed.

[0019] Figure 3 This is a three-dimensional structural diagram of the three-axis module of the present invention.

[0020] Figure 4 This is a three-dimensional structural diagram of the component on the screen-printed structure of the present invention.

[0021] Figure 5 This is a three-dimensional structural diagram of the screen printing structure of the present invention.

[0022] Figure 6 This is a three-dimensional structural diagram of the scraping structure and feeding structure of the present invention.

[0023] Figure 7 For the present invention Figure 6 A magnified view of A in the middle.

[0024] Figure 8 This is a diagram showing the installation position of the second rack of the present invention.

[0025] Figure 9 This is a three-dimensional structural diagram of the limiting structure of the present invention.

[0026] Figure 10 For the present invention Figure 9 A magnified view of B in the middle.

[0027] The components in the attached diagram are labeled as follows: 1_Conveyor belt, 2_Three-axis module, 21_X-axis module, 22_Support plate, 23_Y-axis module, 24_Sliding seat, 25_Threaded seat, 26_Guide sleeve, 27_Z-axis module, 28_Pin, 3_Silk screen printing structure, 31_First guide post, 32_Sliding plate, 33_First spring, 34_Silk screen printing frame, 4_Scraper structure, 41_Slider, 42_Rotating shaft, 43_Plug-in plate, 44_Mating hole, 45_Scraper, 46_Scraper plate, 46_Scraper plate, 47_Scraper plate, 48_Scraper plate, 49_Scraper plate, 40_Scraper plate, 41_Slider, 42_Rotating shaft, 43_Plug-in plate, 44_Matching hole, 45_Scraper plate, 46_Scraper plate, 47_Scraper plate, 48_Scraper plate, 49_Scraper plate, 40_Scraper plate, 41_Scraper plate, 42_Scraper plate, 43_Scraper plate, 44_Scraper plate ... 47. Worm gear, 48. Motor, 5. Worm, 5. Feeding structure, 51. Spray tube, 52. Spherical shell, 53. Sphere, 54. Feed hole, 55. Drive shaft, 56. Gear, 57. First rack, 58. Second rack, 59. Waist-shaped hole, 510. Fastener, 6. Suction tube, 77. Limiting structure, 71. Side baffle, 72. Second spring, 73. T-slot, 74. Stop block, 75. Second guide post, 76. Sliding sleeve, 77. Hinge rod, 78. Hollow threaded block. Detailed Implementation

[0028] References to embodiments herein mean that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0029] Example: A multi-degree-of-freedom industrial robot for packaging printing, such as Figures 1-7 As shown, the system includes a conveyor belt 1 extending horizontally, with the right end of the conveyor belt 1 serving as the inlet and the left end as the outlet. A three-axis module 2 is positioned above the conveyor belt 1, and the Z-axis module 27 within the three-axis module 2 is capable of lifting and lowering. A screen printing structure 3 is vertically mounted below the Z-axis module 27. When the Z-axis module 27 moves downwards, it drives the screen printing structure 3 downwards via a docking structure. After the screen printing structure 3 moves downwards and contacts the material, screen printing begins. A scraper structure 4 is slidably connected horizontally within the screen printing structure 3. When the Z-axis module 27 moves downwards, it docks with the scraper structure 4, and then the three-axis module 2 drives the scraper... Structure 4 moves to perform screen printing. The scraping force of the scraping structure 4 can be adjusted to better meet the screen printing requirements and improve the quality of screen printing. The scraping structure 4 includes sliders 41 that slide left and right on the front and rear sides of the top of the screen printing structure 3. A rotating shaft 42 is rotatably mounted between the sliders 41 through bearings. A scraper 45 is inclined at the bottom of the rotating shaft 42. The lower part of the scraper 45 is inclined to the right. The screen printing pressure is adjusted by rotating the scraper 45. The pressure decreases when the scraper 45 rotates counterclockwise and increases when the scraper 45 rotates clockwise. The scraper 45 is connected to the Z-axis module 27 through a docking structure.

[0030] During operation, the packaging material to be printed is intermittently conveyed from the feed end (right end) to the discharge end (left end) of the conveyor belt 1. When the material is conveyed to the area below the screen printing station, the three-axis module 2 drives the Z-axis module 27 to move downward. During the downward movement, the Z-axis module 27 first completes the docking with the scraper structure 4 through the docking structure, so that the scraper structure 4 and the Z-axis module 27 are linked. After the docking is completed, the Z-axis module 27 continues to move downward. At this time, the Z-axis module 27 drives the docked scraper structure 4 and the screen printing structure 3 to descend together until the screen printing structure 3 contacts and presses against the surface of the packaging material. Subsequently, the three-axis module 2 drives the scraper structure 4 to slide in the left and right direction in the screen printing structure 3. The scraper 45, which is inclined at the bottom of the scraper structure 4, scrapes the ink on the screen of the screen printing structure 3 evenly, so that the ink is transferred through the screen image area to the material surface, thus completing the screen printing.

[0031] During the screen printing process, the pressure applied by the squeegee 45 to the screen can be adjusted in real time via the rotating shaft 42. The squeegee 45 is installed at the bottom of the rotating shaft 42 and tilted to the right. When the pressure needs to be reduced, the rotating shaft 42 is driven to rotate the squeegee 45 counterclockwise, changing the contact angle between the squeegee 45 and the screen, thus reducing the downward pressure. When the pressure needs to be increased, the rotating shaft 42 is driven to rotate the squeegee 45 clockwise, increasing the downward pressure. Through this adjustment method, the squeegee pressure of the squeegee 45 can be precisely controlled for packaging materials of different materials and thicknesses, as well as different printing process requirements, thereby ensuring uniform ink transfer, clear and complete images, and significantly improving the quality of packaging printing. After one screen printing cycle is completed, the three-axis module 2 first drives the squeegee structure 4 to move to the right and reset within the screen printing structure 3. The Z-axis module 27 then drives the screen printing structure 3 to rise. After the screen printing structure 3 reaches its position, the conveyor belt 1 continues to transport the printed material to the left, while the next piece of material to be printed enters the workstation, thus continuously cycling through the process.

[0032] like Figure 3 As shown, the three-axis module 2 includes an X-axis module 21, a support plate 22, a Y-axis module 23, a sliding seat 24, a threaded seat 25, a guide sleeve 26, and a Z-axis module 27. X-axis modules 21 extending left and right are installed on both the front and rear sides of the conveyor belt 1. Support plates 22 are vertically fixed to the sliding blocks of each X-axis module 21. Y-axis modules 23 are fixedly connected to the upper parts of the support plates 22. The X-axis modules 21 drive the Y-axis modules 23 to move left and right. The Y-axis modules 23... A sliding seat 24 is provided, which is driven to move back and forth by the Y-axis module 23. A threaded seat 25 is vertically fixed in the middle of the left side of the sliding seat 24. Guide sleeves 26 are vertically fixed on both sides of the sliding seat 24. The screw of the Z-axis module 27 is threadedly connected to the threaded seat 25. The rotation of the screw drives the Z-axis module 27 to move vertically. The Z-axis module 27 is slidably connected to the guide sleeves 26, which provide guidance for the movement of the Z-axis module 27.

[0033] like Figure 5 As shown, the screen printing structure 3 includes a first guide post 31, a sliding plate 32, a first spring 33, and a screen printing frame 34. Two first guide posts 31 are vertically installed on the front and rear sides of the top of the fixed frame of the conveyor belt 1. The sliding plate 32 is vertically slidably connected between the first guide posts 31 on the same side. The first spring 33 is connected between the sliding plate 32 and the first guide post 31. The first spring 33 provides power for the reset of the screen printing frame 34. The screen printing frame 34 is fixedly connected to the inner side of the sliding plate 32. The screen printing frame 34 can be disassembled, and different screen printing frames 34 can be replaced for printing as needed.

[0034] like Figure 6 and Figure 7 As shown, the scraping structure 4 also includes a worm gear 46, a motor 47, and a worm 48. The worm gear 46 is concentrically mounted at the front end of the rotating shaft 42. The motor 47 is fixedly connected to the front slider 41. The output shaft of the motor 47 is connected to the worm 48, which meshes with the worm gear 46. The motor 47 drives the worm 48 to rotate, causing the worm gear 46 to rotate, which in turn drives the scraper 45 to rotate clockwise or counterclockwise, changing the pressure applied by the scraper 45 to the screen printing frame 34.

[0035] like Figure 3 and Figure 5 As shown, the docking structure includes a plug plate 43 and pins 28. The plug plate 43 is installed between the sliders 41 on the front and rear sides. The plug plate 43 is located to the right of the scraper 45. A row of docking holes 44 is provided on the plug plate 43 extending from front to back. A row of pins 28 is provided at the bottom end of the Z-axis module 27 extending from front to back. The pins 28 are above the docking holes 44. When the Z-axis module 27 moves downward, the pins 28 can be inserted into the docking holes 44.

[0036] During operation, the packaging material to be printed is conveyed by the feed end of conveyor belt 1 to the area below the screen printing station and positioned. In the three-axis module 2, the X-axis module 21 drives the support plate 22 and the Y-axis module 23 to move left and right, and the Y-axis module 23 drives the sliding seat 24 to move back and forth, so that the Z-axis module 27 moves precisely above the screen printing station. Then, the screw of the Z-axis module 27 rotates in the threaded seat 25, driving the Z-axis module 27 to descend vertically along the guide sleeve 26. During the descent of the Z-axis module 27, a row of pins 28 extending back and forth at its bottom end first inserts downward into the docking holes 44 on the insertion plate 43 of the scraper structure 4, achieving rigid docking with the scraper structure 4. After docking, the Z-axis module 27 continues to descend, driving the scraper structure 4 and the screen printing structure 3 to move downward together. The sliding plate 32 on the side slides down along the first guide post 31, overcoming the elastic force of the first spring 33, until the screen printing frame 34 is pressed smoothly onto the surface of the packaging material. After the screen printing frame 34 is pressed, the X-axis module 21 drives the Z-axis module 27 to move horizontally. Through the connection between the pin 28 and the plug plate 43, the scraping structure 4 slides left and right on the top of the screen printing frame 34. The lower part of the scraper 45 of the scraping structure 4 tilts to the right. During the sliding process, the ink is evenly scraped across the screen to transfer the ink to the surface of the material. During the scraping process, the motor 47 drives the worm gear 48 to rotate. The worm gear 48 drives the worm wheel 46 and the rotating shaft 42 to rotate, so that the scraper 45 rotates clockwise or counterclockwise, changing the contact angle between the scraper 45 and the screen, thereby precisely controlling the scraping pressure and ensuring that the ink transfer is uniform and the image is clear and complete. After one screen printing cycle is completed, the motor 47 drives the worm gear 48 to rotate, causing the bottom of the squeegee 45 to rotate and disengage from the screen printing frame 34, preventing the squeegee 45 from damaging the screen printing frame 34 when it resets. The X-axis module 21 drives the Z-axis module 27 to move horizontally to the right, causing the squeegee structure 4 to slide and reset to the right at the top of the screen printing frame 34, thus removing the squeegee 45 from the printing area. Subsequently, the screw of the Z-axis module 27 reverses, driving the Z-axis module 27 to rise vertically along the guide sleeve 26. Under the reset action of the first spring 33, the screen printing structure 3 slides upward along the first guide post 31, causing the screen printing frame 34 to detach from the material surface. The pin 28 remains aligned with the docking hole 44. The Z-axis module 27 continues to rise to the initial height, and the conveyor belt 1 moves the printed material to the left discharge end and feeds in the next piece of material to be printed, thus continuously operating in this cycle.

[0037] like Figures 6-8As shown, it also includes a feeding structure 5 installed on the left side of the scraper 45 and a suction pipe 6 installed on the left side of the screen printing frame 34. The feeding structure 5 includes a spray pipe 51, a spherical shell 52, a sphere 53, a drive shaft 55, a gear 56, a first rack 57, a second rack 58, and a fastener 510. The spray pipe 51 extends forward and backward on the left side of the scraper 45. The spherical shell 52 is concentrically installed at the feeding end of the spray pipe 51 and is connected to the spray pipe 51. The sphere 53 is concentrically and horizontally rotatably installed inside the spherical shell 52. The sphere 53 can only rotate counterclockwise. A cross-shaped feeding hole 54 is horizontally opened in the middle of the sphere 53. When the feeding hole 54 coincides with the flow path of the spray pipe 51 during the horizontal rotation of the sphere 53, When the spray nozzle 51 is opened, ink can enter the spray nozzle 51 through the feed hole 54 and be sprayed out into the screen printing frame 34. A drive shaft 55 is concentrically fixed to the bottom of the ball 53. A gear 56 is concentrically arranged on the drive shaft 55. The drive shaft 55 and the gear 56 are connected by an overrunning clutch. When the gear 56 rotates counterclockwise, it can drive the drive shaft 55 to rotate synchronously, causing the ball 53 to rotate together. When the gear 56 rotates clockwise, the gear 56 idles and the drive shaft 55 does not rotate together. A first rack 57 is installed on the sliding plate 32 near the gear 56. The left side of the sliding plate 32 has a left-right extending waist-shaped hole 59. A second rack 58 is slidably connected in the waist-shaped hole 59. The second rack 58 is connected by a tight... Firmware 510 fixes the position. During movement, gear 56 can mesh with the first rack 57 and the second rack 58. When gear 56 moves to the left and meshes with the first rack 57 and the second rack 58, gear 56 will rotate 45°. Initially, the feed hole 54 and the nozzle 51 are misaligned, and the nozzle 51 is in an open state. After gear 56 moves to the left and meshes with the first rack 57, as gear 56 continues to move, ball 53 rotates counterclockwise by 45 degrees, so that the feed hole 54 and the nozzle 51 coincide, and the nozzle 51 is opened. When gear 56 continues to move to the left, ball 53 rotates 45 degrees again, and the feed hole 54 and the nozzle 51 are misaligned, stopping the ink injection. When gear 56 moves to the right to reset, gear 56 will not rotate freely and will not drive ball 53 to rotate. The spray tube 51 is in the disconnected state. Fastener 510 consists of T-bolt and nut. The second rack 58 has a through hole in the middle for the T-bolt to pass through. The crossbar of the T-bolt abuts against the bottom of the sliding plate 32 (not shown in the figure). The vertical screw of the T-bolt passes through the through hole on the second rack 58 and is threaded to the nut. By loosening the nut on the T-bolt, the crossbar of the T-bolt moves down and separates from the sliding plate 32, thereby releasing the lock on the second rack 58 and allowing the second rack 58 to move left and right to change its position, thereby changing the closed position of the spray tube 51 and better meeting the needs of ink injection.

[0038] During the screen printing process, when the squeegee 45 slides to the left to perform the printing, the feeding structure 5 installed on the left side of the squeegee 45 moves to the left simultaneously. The gear 56 of the feeding structure 5 moves to the left with the squeegee 45 and first meshes with the first rack 57 fixed on the sliding plate 32. The gear 56 rotates 45° counterclockwise, which drives the transmission shaft 55 and the ball 53 to rotate 45° counterclockwise together through the overrunning clutch. This causes the cross-shaped feed hole 54 in the middle of the ball 53 to coincide with the flow path of the spray tube 51, opening the spray tube 51. The ink enters the spray tube through the ball 53. The ink is ejected from the squeegee 45 and lands on the left side of the screen printing frame 34, providing ink for subsequent squeegee printing. The squeegee 45 continues to move to the left, and the gear 56 immediately engages with the second rack 58 (there is a transition gap between the first rack 57 and the second rack 58, and the starting end of the second rack 58 is provided with a guide slope to allow the gear 56 to smoothly enter the engagement of the second rack 58). The gear 56 rotates counterclockwise by 45° again, and the ball 53 rotates counterclockwise by 45°. At this time, the cross-shaped feed hole 54 and the nozzle 51 are misaligned, the nozzle 51 is closed, and ink injection stops. After the squeegee 45 completes one leftward squeegee printing, during the rightward reset process, the gear 56 engages with the first rack 57 and the second rack 58 in the opposite direction and rotates clockwise. However, due to the action of the overrunning clutch, the gear 56 idles without driving the drive shaft 55 and the ball 53 to rotate. The ball 53 remains in its original position, and the nozzle 51 remains closed, thus avoiding repeated ink injection during reset. By adjusting the left and right position of the second rack 58 within the oblong hole 59 and locking it with the fastener 510, the timing of the engagement between the gear 56 and the second rack 58 can be changed, thereby adjusting the closing position of the spray nozzle 51 to meet the injection requirements of different printing widths or different ink volumes. Furthermore, the suction pipe 6 installed on the left side of the screen printing frame 34 is connected to an external vacuum pump, which can remove residual or excess ink from the screen printing frame 34 when needed, keeping the screen clean.

[0039] like Figure 9 and Figure 10As shown, it also includes a limiting structure 7 installed below the sliding plate 32. The limiting structure 7 includes front and rear limiting mechanisms and left and right limiting mechanisms. The front and rear limiting mechanisms include side baffles 71, second springs 72, second guide posts 75, sliding sleeves 76, hinge rods 77, and hollow threaded blocks 78. Side baffles 71 are slidably arranged on both sides of the sliding plate 32. The side baffles 71 are slidably mounted on the conveyor belt 1. The second springs 72 are connected between the side baffles 71 and the conveyor belt 1. The second springs 72 provide power for the reset of the side baffles 71. The second guide posts 75 are vertically arranged on the conveyor belt 1 at the side baffles 71. Sliding sleeves 76 are slidably connected to the second guide posts 75. Hinges 77 are rotatably installed between adjacent sliding sleeves 76 and side baffles 71. When the sliding sleeves 76 move downward, the hinge rods 77 drive the side baffles 71 to close in the middle, so that the passing material can be evenly placed and the printing position of the material is consistent. The sliding plate 32 above the sliding sleeves 76 is connected by threads. A hollow threaded block 78 moves downwards along with the sliding plate 32. When the hollow threaded block 78 moves downwards and contacts the sliding sleeve 76, it pushes the side baffle 71 to close in the middle. The hollow threaded block 78 can rotate to adjust its height, thus controlling the downward movement distance of the sliding sleeve 76 and consequently the closing distance of the side baffle 71. The left and right limiting mechanism includes a T-shaped groove 73 formed on the inner wall of the side baffle 71. A stop block 74 is slidably connected within the T-shaped groove 73. The stop block 74 can... Fixed on the side baffle 71 (a T-shaped nut is slidably installed in the T-shaped groove 73, and a countersunk hole is opened on the stop block 74. The bolt is sunk into the stop block 74 and the T-shaped nut is screwed in to fix the stop block 74). The side of the stop block 74 near the material feeding end of the conveyor belt 1 is an inclined surface that opens from the inside to the outside. The stop block 74 moves together with the side baffle 71. The stop block 74 limits the left end of the material. The inclined surface at the inner end of the stop block 74 can prevent the material from being crushed when the stop block 74 closes when there is an error in the material position.

[0040] When the Z-axis module 27 moves the screen printing structure 3 downward, the sliding plate 32 moves downward accordingly, and the hollow threaded block 78 fixed on the sliding plate 32 descends synchronously. After the hollow threaded block 78 descends to contact the upper end of the sliding sleeve 76, it pushes the sliding sleeve 76 to slide downward along the second guide post 75. When the sliding sleeve 76 moves downward, it drives the side baffles 71 on both sides to overcome the elastic force of the second spring 72 and close towards the middle through the hinge rod 77, pushing the packaging material to be printed on the conveyor belt 1 to the center position, ensuring that the material positioning is consistent for each printing. By rotating the hollow threaded block 78 to adjust its height, the downward movement distance of the sliding sleeve 76 can be changed, thereby controlling the closing range of the side baffle 71 to accommodate packaging materials of different widths. Simultaneously with the closing of the side baffle 71, the stop blocks 74 in the left and right limiting mechanisms move inward synchronously with the side baffle 71. The inclined surface at the inner end of the stop block 74 first contacts the material. If there is a deviation in the original position of the material, the inclined surface can guide the material to adjust smoothly without being squeezed or damaged. When the left end of the material touches the stop block 74, it is limited, completing the precise positioning before printing. After printing, the sliding plate 32 rises and resets with the Z-axis module 27, the hollow threaded block 78 disengages from the sliding sleeve 76, and the side baffle 71 opens outward and resets under the action of the second spring 72. The stop block 74 then retracts, releasing the limitation on the material, and the printed material can be conveyed out by the conveyor belt 1.

[0041] The present application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present application. Therefore, the content of this specification should not be construed as a limitation of the present application.

Claims

1. A multi-degree-of-freedom industrial robot for package printing, characterized by, The system includes a conveyor belt (1) extending to the left and right, a three-axis module (2) above the conveyor belt (1), and a Z-axis module (27) in the three-axis module (2) capable of lifting and lowering; a screen printing structure (3) is installed below the Z-axis module (27) in a lifting manner, and the screen printing structure (3) is driven to lift and lower through the Z-axis module (27) via a docking structure; a scraping structure (4) is slidably connected to the screen printing structure (3) to the left and right, and the scraping force of the scraping structure (4) can be adjusted; The scraping structure (4) includes sliders (41) that are slidably disposed on the front and rear sides of the top of the screen printing structure (3). A rotating shaft (42) is rotatably installed between the sliders (41). A scraper (45) is inclinedly disposed at the bottom of the rotating shaft (42). The scraper (45) adjusts the screen printing pressure by rotating. The scraper (45) is connected to the Z-axis module (27) through a docking structure.

2. The multi-degree-of-freedom industrial robot for package printing according to claim 1, wherein The three-axis module (2) includes an X-axis module (21) installed on the front and rear sides of the conveyor belt (1). Each sliding block of the X-axis module (21) is vertically fixed with a support plate (22). The upper part of the support plate (22) is fixedly connected to the Y-axis module (23). A sliding seat (24) is provided on the Y-axis module (23). A threaded seat (25) is vertically fixed in the middle of the left side of the sliding seat (24). Guide sleeves (26) are vertically fixed on both the front and rear sides of the sliding seat (24) of the threaded seat (25). The screw of the Z-axis module (27) is threadedly connected to the threaded seat (25). The Z-axis module (27) is slidably connected to the guide sleeve (26).

3. The multi-degree-of-freedom industrial robot for package printing according to claim 1, wherein The screen printing structure (3) includes first guide posts (31) installed on the front and rear sides of the top of the conveyor belt (1), and sliding plates (32) vertically sliding between the first guide posts (31) on the same side. A first spring (33) is connected between the sliding plate (32) and the first guide post (31), and a screen printing frame (34) is fixed between the inner sides of the sliding plate (32).

4. The multi-degree-of-freedom industrial robot for package printing according to claim 1, wherein The scraping structure (4) also includes a worm wheel (46) concentrically mounted at the end of the rotating shaft (42), a motor (47) is fixedly connected to the slider (41) at the worm wheel (46), and a worm (48) meshing with the worm wheel (46) is connected to the output shaft of the motor (47).

5. The multi-degree-of-freedom industrial robot for package printing according to claim 4, characterized in that, The docking structure includes a plug plate (43) installed between the sliders (41), a row of docking holes (44) is provided on the plug plate (43), and a row of pins (28) is provided at the bottom of the Z-axis module (27), the pins (28) being above the docking holes (44).

6. The multi-degree-of-freedom industrial robot for package printing according to claim 3, wherein It also includes a feeding structure (5) installed on the side of the scraper (45), the feeding structure (5) including a spray pipe (51) installed on the side of the scraper (45), a spherical shell (52) installed at the feeding end of the spray pipe (51), a ball (53) horizontally rotatably installed inside the spherical shell (52), a cross-shaped feeding hole (54) horizontally opened in the middle of the ball (53), and a drive shaft (55) concentrically fixed to the bottom of the ball (53), the drive shaft (55) on A gear (56) is concentrically arranged, and a first rack (57) is installed on a sliding plate (32) near the gear (56). The left side of the sliding plate (32) has a waist-shaped hole (59) extending to the left and right. A second rack (58) is slidably connected in the waist-shaped hole (59). The second rack (58) is fixed in position by a fastener (510). The gear (56) can mesh with the first rack (57) and the second rack (58) during movement.

7. A multi-degree-of-freedom industrial robot for packaging and printing according to claim 6, characterized in that, The drive shaft (55) and the gear (56) are concentrically arranged by an overrunning clutch, so that the ball (53) can only rotate in one direction.

8. A multi-degree-of-freedom industrial robot for packaging and printing according to claim 6, characterized in that, It also includes a suction tube (6) installed on the left side inside the screen printing frame (34).

9. A multi-degree-of-freedom industrial robot for packaging and printing according to claim 6, characterized in that, It also includes a limiting structure (7) installed below the sliding plate (32), the limiting structure (7) including a front and rear limiting mechanism and a left and right limiting mechanism; the front and rear limiting mechanism includes a side baffle (71) slidably installed on the conveyor belt (1), the side baffle (71) is located below the sliding plate (32), a second spring (72) is connected between the side baffle (71) and the conveyor belt (1), a second guide post (75) is vertically arranged on the conveyor belt (1) at the side baffle (71), a sliding sleeve (76) is slidably connected on the second guide post (75), a hinge rod (77) is rotatably installed between the adjacent sliding sleeve (76) and the side baffle (71), and a hollow threaded block (78) is threadedly connected to the sliding plate (32) above the sliding sleeve (76); The left and right limiting mechanism includes a T-shaped groove (73) opened on the inner wall of the side baffle (71), and a stop block (74) is slidably connected in the T-shaped groove (73). The stop block (74) can be fixed on the side baffle (71).

10. A multi-degree-of-freedom industrial robot for packaging and printing according to claim 9, characterized in that, The side of the stop (74) near the material feeding end of the conveyor belt (1) is an inclined surface that opens from the inside out.

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