Figure printing cooperation system

Abstract

The utility model belongs to the technical field of intelligent cooperation, and discloses a printing cooperation system which comprises a cooperation unit and an execution unit, the cooperation unit comprises a transfer trolley, a temporary storage bookshelf, a multi-shaft mechanical arm, a mechanical clamping jaw and an image recognizer, the mechanical clamping jaw is connected to the multi-shaft mechanical arm, and the image recognizer is arranged on the mechanical clamping jaw. The temporary storage bookshelf is used for storing book blocks, the multi-axis mechanical arm and the temporary storage bookshelf are both connected to the transfer trolley, the execution unit comprises a material taking frame, adhesive binding equipment, cutting equipment, a temporary storage table and a collecting table, and the material taking frame, the adhesive binding equipment, the cutting equipment, the temporary storage table and the collecting table are annularly arranged on the periphery of the cooperation unit and used for forming a cooperation area where the transfer trolley moves. Therefore, on one hand, manual operation does not need to be carried out in environments with formaldehyde, noise and the like, harm of adverse factors to operators is avoided, and on the other hand, a large amount of repeated labor is executed by replacing the operators, so that waste of human resources is reduced, and labor cost is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent collaboration, and particularly relates to a document printing collaboration system. Background Art

[0002] Currently, when binding and cutting the book cores, first, the operator puts the sorted book cores into the binding equipment for binding operation, then the operator takes them out and puts them into the cutting equipment for cutting operation, and finally stores and collects the finished products after cutting.

[0003] However, manual operation has the following defects:

[0004] 1. First, when the binding equipment and the cutting equipment are operating, on the one hand, they will generate harmful gases containing formaldehyde and dust, and on the other hand, the equipment will generate relatively large noise during operation, thus causing certain harm to the human body;

[0005] 2. When performing related operations on binding and cutting the book cores, there is a large amount of repetitive labor, such as taking the book cores at a fixed position and putting the book cores at a fixed position, etc., which wastes a large amount of human resources and increases the labor cost. Summary of the Utility Model

[0006] The purpose of the utility model is to provide a document printing collaboration system, which avoids the infringement of adverse factors on the operator, reduces the waste of human resources, and reduces the labor cost.

[0007] To achieve the above object, the utility model adopts the following technical solutions:

[0008] A document printing collaboration system is provided, and the document printing collaboration system includes:

[0009] A collaboration unit, the collaboration unit includes a transfer cart, a temporary storage bookshelf, a multi-axis robotic arm, a mechanical gripper, and an image recognition device. The mechanical gripper is connected to the multi-axis robotic arm. The image recognition device is arranged on the mechanical gripper and is used to assist the mechanical gripper in grasping the book cores. The temporary storage bookshelf is used to store the book cores grasped by the mechanical gripper. Both the multi-axis robotic arm and the temporary storage bookshelf are connected to the transfer cart, and the transfer cart is movably arranged in the collaboration area;

[0010] An execution unit, the execution unit includes a material taking rack, a binding device, a cutting device, a temporary storage table, and a collection table. The material taking rack, the binding device, the cutting device, the temporary storage table, and the collection table are arranged around the collaboration unit to form the collaboration area for the transfer cart to move.

[0011] Optionally, the mechanical gripper includes a gripper head, a connecting plate, and a mounting plate. The connecting plate is connected to the multi-axis robotic arm. The gripper head is connected to one side of the connecting plate, and the mounting plate is connected to the other side of the connecting plate. The image recognizer is connected to the mounting plate.

[0012] Optionally, the gripper head includes a driving member, a gripper housing, and gripper blocks. The gripper housing is connected to the connecting plate and is provided with two linearly parallel chutes. Each of the linearly parallel chutes is provided with a slidable gripper block. The driving member is disposed within the gripper housing and is configured to drive the gripper blocks within the two linearly parallel chutes to approach or move away from each other.

[0013] Optionally, the gripper head further includes a slider that is slidably disposed within the linearly parallel chute, and the gripper block is connected to the slider.

[0014] Optionally, the linearly parallel chute is a T-shaped groove, and the slider is a T-shaped block adapted to the linearly parallel chute.

[0015] Optionally, the gripper block includes a fixing portion and a clamping portion. The fixing portion is connected to the slider, one end of the clamping portion is connected to the fixing portion, and the other end of the clamping portion extends in a direction approaching another gripper block.

[0016] Optionally, the gripper head further includes an elastic pad disposed on a side of the gripper block in contact with the book core.

[0017] Optionally, the cooperation unit further includes a navigation magnetic track laid within the cooperation area, and the transfer trolley slides along the navigation magnetic track.

[0018] Optionally, the temporary storage bookshelf includes a bookshelf body and a plurality of partitions. The bookshelf body is provided with a storage space, and the plurality of partitions are connected to the bookshelf body at intervals to divide the storage space into a plurality of storage compartments for storing the book cores.

[0019] Optionally, the bookshelf body includes side plates, a back plate, a bottom plate, and a bearing plate. The bottom plate is connected to the transfer trolley, and the side plates and the back plate are both connected to the bottom plate to construct the storage space. The bearing plate is connected within the storage space and is disposed at an angle to the bottom plate. The bearing plate is used to bear the plurality of partitions.

[0020] Advantages of the present utility model:

[0021] The utility model provides a document printing and collaboration system. A collaboration area for the transfer cart of the collaboration unit to move is enclosed by a material taking rack, a binding device, a cutting device, a temporary storage table and a collection table, so that the transfer cart can drive a multi-axis robotic arm within the collaboration area and use a mechanical gripper guided by an image recognizer to realize the transfer of the book core among the material taking rack, the binding device, the cutting device, the temporary storage table and the collection table, thereby automatically completing the operations of material taking, binding, cutting and collection. On the one hand, there is no need for operators to perform manual operations in an environment with formaldehyde and noise, thus avoiding the harm of adverse factors to operators. On the other hand, by replacing operators to perform a large number of repetitive tasks, the waste of human resources is reduced and the employment cost is lowered. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is the layout diagram of the document printing and collaboration system provided by the utility model;

[0023] Figure 2 is the three-dimensional schematic diagram of the collaboration unit in the document printing and collaboration system provided by the utility model;

[0024] Figure 3 is the front view of the collaboration unit in the document printing and collaboration system provided by the utility model;

[0025] Figure 4 is the side view of the collaboration unit in the document printing and collaboration system provided by the utility model;

[0026] Figure 5 is the structural schematic diagram of the temporary storage bookshelf in the document printing and collaboration system provided by the utility model;

[0027] Figure 6 is the connection structural schematic diagram of the mechanical gripper and the image recognizer in the document printing and collaboration system provided by the utility model.

[0028] In the figure:

[0029] 100, book core;

[0030] 1, collaboration unit; 11, transfer cart; 12, temporary storage bookshelf; 121, bookshelf body; 1211, side plate; 1212, back plate; 1213, bottom plate; 1214, bearing plate; 122, partition board; 13, multi-axis robotic arm; 14, mechanical gripper; 141, gripper head; 1411, gripper housing; 1412, clamping block; 1413, slider; 1414, elastic pad; 142, connecting plate; 143, mounting plate; 15, image recognizer;

[0031] 2, execution unit; 21, material taking rack; 22, binding device; 23, cutting device; 24, temporary storage table; 25, collection table. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the specific embodiments described herein are only for explaining the present utility model, rather than limiting the present utility model. Additionally, it should be noted that for the convenience of description, only the parts related to the present utility model rather than all the structures are shown in the drawings.

[0033] In the description of the present utility model, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0034] In the present utility model, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature can include the direct contact between the first and second features, or can also include the situation where the first and second features are not in direct contact but in contact through other features between them. Moreover, the first feature being "above", "over", and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath", and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0035] In the description of this embodiment, the orientation or positional relationships such as "above", "below", "right", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present utility model. In addition, the terms "first" and "second" are only used for distinction in description and do not have special meanings.

[0036] Currently, when performing the gluing and cutting operations on the book block, first, the operator puts the sorted book block into the gluing equipment for gluing operations, then the operator takes it out and puts it into the cutting equipment for cutting operations, and finally stores and collects the finished products after cutting.

[0037] However, manual operation has the following defects:

[0038] 1. First, when the binding equipment and cutting equipment are operating, on the one hand, they will generate harmful gases and dust containing formaldehyde, and on the other hand, the equipment will generate relatively large noise during operation, which is harmful to the human body;

[0039] 2. When performing related operations on binding and cutting the book block, there is a lot of repetitive labor. For example, taking the book block at a fixed position and putting the book block into a fixed position, etc., which wastes a large amount of human resources and increases the labor cost.

[0040] Therefore, in order to avoid the infringement of bad factors on the operators, reduce the waste of human resources, and lower the labor cost, this embodiment provides a document printing collaboration system.

[0041] As Figures 1 to 6 shown, the document printing collaboration system includes a collaboration unit 1 and an execution unit 2. The collaboration unit 1 includes a transfer cart 11, a temporary storage bookshelf 12, a multi-axis robotic arm 13, a mechanical gripper 14, and an image recognizer 15. The mechanical gripper 14 is connected to the multi-axis robotic arm 13, and the image recognizer 15 is arranged on the mechanical gripper 14 and is used to assist the mechanical gripper 14 in grasping the book block 100. The temporary storage bookshelf 12 is used to store the book block 100 grasped by the mechanical gripper 14. Both the multi-axis robotic arm 13 and the temporary storage bookshelf 12 are connected to the transfer cart 11, and the transfer cart 11 is movably arranged in the collaboration area. The execution unit 2 includes a material taking rack 21, a binding equipment 22, a cutting equipment 23, a temporary storage table 24, and a collection table 25. The material taking rack 21, the binding equipment 22, the cutting equipment 23, the temporary storage table 24, and the collection table 25 are arranged around the collaboration unit 1 to form a collaboration area for the transfer cart 11 to move.

[0042] Using the material taking rack 21, the binding equipment 22, the cutting equipment 23, the temporary storage table 24, and the collection table 25 to enclose a collaboration area for the transfer cart 11 of the collaboration unit 1 to move, so that the transfer cart 11 can drive the multi-axis robotic arm 13 in the collaboration area, and the mechanical gripper 14 guided by the image recognizer 15 can realize the transfer of the book block 100 between the material taking rack 21, the binding equipment 22, the cutting equipment 23, the temporary storage table 24, and the collection table 25, thereby automatically completing the operations of material taking, binding, cutting, and collection. On the one hand, there is no need for operators to perform manual operations in an environment with formaldehyde and noise, etc., thus avoiding the infringement of bad factors on the operators. On the other hand, by replacing the operators to perform a large amount of repetitive labor, the waste of human resources is reduced, and the labor cost is lowered.

[0043] In this embodiment, the material rack 21 is used to store a plurality of book cores 100, the perfect binding device 22 is used to perform perfect binding operations on the book cores 100, the temporary storage table 24 is used to store the semi-finished products after the perfect binding operations, the cutting device 23 is used to cut the semi-finished products after the perfect binding operations, and the collection table 25 is used to store the finished products after the cutting operations. In this embodiment, the perfect binding device 22 and the cutting device 23 are placed in the same row, the material rack 21 is placed opposite to the perfect binding device 22, the temporary storage table 24 is placed between the material rack 21 and the perfect binding device 22, the collection table 25 and the cutting device 23 are arranged on the same side and are placed opposite to the temporary storage table 24.

[0044] In actual work, first, after the operator fills the material rack 21 with the completed book cores 100, the automatic operation starts. The transfer cart 11 moves to a position between the perfect binding device 22 and the material rack 21. The multi-axis robotic arm 13 drives the mechanical gripper 14 to grab the book core 100 on the material rack 21 under the guidance of the image recognizer 15, and transfers the book core 100 to the perfect binding device 22 for perfect binding operations. After the perfect binding operations are completed, the mechanical gripper 14 takes the semi-finished product after the perfect binding operations out of the perfect binding device 22 and places it on the temporary storage table 24. After a specified number of semi-finished products are stored on the temporary storage table 24, the mechanical gripper 14 transfers the semi-finished products in the temporary storage table 24 to the temporary storage bookshelf 12 on the transfer cart 11. Until the temporary storage bookshelf 12 is full of semi-finished products, the transfer cart 11 moves to the cutting device 23, and takes out one of the semi-finished products in the temporary storage bookshelf 12 and places it in the cutting device 23 to perform cutting operations. After the cutting operations are completed, the mechanical gripper 14 takes out the finished product and moves to the collection table 25, and places the finished product after the cutting operations on the collection table 25. Then the transfer cart 11 moves to the cutting device 23 again to detect whether the cutting device 23 shows normal. If normal, continue to take out one of the semi-finished products in the temporary storage bookshelf 12 and place it in the cutting device 23 to perform cutting operations. After the cutting operations are completed, the mechanical gripper 14 takes out the finished product and moves to the collection table 25, and places the finished product after the cutting operations on the collection table 25. This process repeats until the semi-finished products in the temporary storage bookshelf 12 are emptied, thus completing one round. Then the transfer cart 11 moves to a position between the perfect binding device 22 and the material rack 21 again to start a new round of operations until all the book cores 100 in the material rack 21 are emptied, and then the operation stops.

[0045] The transfer trolley 11 is provided with a control and electrical system, so as to realize the movement of the transfer trolley 11 and the intelligent functions of the multi-axis robotic arm 13 and the mechanical gripper 14. However, there are many flammable substances such as paper in the printing workplace. To reduce the risk of spontaneous combustion, the transfer trolley 11 does not adopt the energy supply method of lithium-ion battery power supply and charging, but directly supplies power through a cable, thus reducing the risk of spontaneous combustion during charging and discharging during work. At the same time, it is not limited by the battery capacity and can work continuously for a long time. Since the working position of the transfer trolley 11 is not fixed and it needs to move back and forth, in the design of power supply access, a wire winding and unwinding device with automatic tensioning and winding and unwinding functions is adopted. The wire winding and unwinding device can be fixedly installed at the power supply access point of the room, a customized special voltage-resistant and tensile ultra-soft wire is used, and the wire component is replaced regularly. When the equipment moves back and forth, the line always maintains a fixed tension to provide a stable power supply.

[0046] Optionally, as Figure 2 , Figure 6 shown, the mechanical gripper 14 includes a gripper head 141, a connecting plate 142 and a mounting plate 143. The connecting plate 142 is connected to the multi-axis robotic arm 13. The gripper head 141 is connected to one side of the connecting plate 142, and the mounting plate 143 is connected to the other side of the connecting plate 142. The image recognizer 15 is connected to the mounting plate 143. By connecting the gripper head 141 and the mounting plate 143 for connecting the image recognizer 15 to both sides of the connecting plate 142 respectively, interference between the gripper head 141 and the image recognizer 15 is avoided.

[0047] Optionally, as Figure 6 shown, the gripper head 141 includes a driving member, a gripper housing 1411 and gripper blocks 1412. The gripper housing 1411 is connected to the connecting plate 142 and is provided with two linearly parallel chutes. Each linear chute is provided with a slidable gripper block 1412. The driving member is arranged in the gripper housing 1411 and is used to drive the gripper blocks 1412 in the two linear chutes to approach or move away from each other. By providing two linearly parallel chutes, when the driving member drives the gripper blocks 1412 to approach or move away from each other, they move linearly along the linear chutes, so as to facilitate the clamping of the flat book core 100.

[0048] Among them, the driving member (not shown in the figure) can adopt a cylinder module as the driving member or a gearbox as the driving member to realize the movement of the gripper blocks 1412. The specific implementation method belongs to the prior art, so it will not be elaborated here.

[0049] Optionally, as Figure 6As shown, the jaw head 141 further includes a slider 1413, which is slidably disposed in a linear chute, and the clamping block 1412 is connected to the slider 1413. By connecting the clamping block 1412 to the slider 1413 that can slide in the linear chute, the frictional resistance of the clamping block 1412 sliding in the linear chute is reduced, making the sliding of the clamping block 1412 smoother.

[0050] Optionally, as Figure 6 shown, the linear chute is a T-shaped groove, and the slider 1413 is a T-shaped block adapted to the linear chute. By setting the linear chute as a T-shaped groove and the slider 1413 as a T-shaped block, while achieving sliding, the T-shaped structure plays a role in limiting the slider 1413, preventing the slider 1413 from disengaging from the linear chute.

[0051] Optionally, the clamping block 1412 includes a fixing portion and a clamping portion. The fixing portion is connected to the slider 1413, one end of the clamping portion is connected to the fixing portion, and the other end of the clamping portion extends in the direction close to another clamping block 1412. By making the other end of the clamping portion extend in the direction close to another clamping block 1412, the contact area between the clamping portion and the book core 100 is increased. On the one hand, it ensures the firmness of the clamping of the book core 100 by the clamping portion, and on the other hand, it reduces the pressure on the book core 100 during clamping, avoiding damage to the book core 100 due to excessive clamping force.

[0052] Optionally, as Figure 6 shown, the jaw head 141 further includes an elastic pad 1414, which is disposed on the side where the clamping block 1412 abuts against the book core 100. By providing the elastic pad 1414 on the side where the clamping block 1412 abuts against the book core 100, when clamping the book core 100, the elastic pad 1414 plays a role of buffering and protecting during clamping, avoiding damage to the book core 100 by the relatively hard clamping block 1412 when clamping the book core 100. In this embodiment, the elastic pad 1414 is made of rubber material and is fixedly connected to the clamping block 1412 by bonding.

[0053] Optionally, the cooperation unit 1 further includes a navigation magnetic track, which is laid in the cooperation area, and the transfer trolley 11 slides along the navigation magnetic track. By using the navigation magnetic track to guide the movement of the transfer trolley 11, it has higher sensitivity, higher positioning accuracy and extremely low frictional resistance. In this embodiment, the laying of the navigation magnetic track is adapted to the movement trajectory of the transfer trolley 11.

[0054] Optionally, as Figure 5As shown in the figure, the temporary storage bookshelf 12 includes a bookshelf body 121 and a plurality of partition boards 122. A storage space is provided on the bookshelf body 121. The plurality of partition boards 122 are connected to the bookshelf body 121 at intervals and are used to divide the storage space into a plurality of storage compartments for storing book cores 100. By forming a plurality of storage compartments for storing book cores 100 on the temporary storage bookshelf 12, the book cores 100 are split, which facilitates the subsequent mechanical gripper 14 to individually grab the book cores 100 from the temporary storage bookshelf 12.

[0055] Optionally, as Figure 5 shown, the bookshelf body 121 includes side plates 1211, a back plate 1212, a bottom plate 1213 and a bearing plate 1214. The bottom plate 1213 is connected to the transfer trolley 11. The side plates 1211 and the back plate 1212 are both connected to the bottom plate 1213 to construct a storage space. The bearing plate 1214 is connected to the storage space and is arranged at an angle with the bottom plate 1213. The bearing plate 1214 is used to bear a plurality of partition boards 122. By arranging the bearing plate 1214 at an angle with the bottom plate 1213, the book cores 100 are placed obliquely in the storage compartments, and can be fixed under the action of gravity, avoiding the book cores 100 falling out of the temporary storage bookshelf 12 when the transfer trolley 11 moves.

[0056] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, rather than limiting the implementation manners of the present invention. For those of ordinary skill in the art, various obvious changes, re-adjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to enumerate all the implementation manners here. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. The document printing collaboration system is characterized by: The document printing collaboration system comprises: A collaboration unit (1), the collaboration unit (1) comprising a transfer trolley (11), a temporary bookshelf (12), a multi-axis robotic arm (13), a mechanical gripper (14) and an image recognizer (15), the mechanical gripper (14) being connected to the multi-axis robotic arm (13), the image recognizer (15) being arranged on the mechanical gripper (14) and being used to assist the mechanical gripper (14) in grasping a book block (100), the temporary bookshelf (12) being used to store the book block (100) grasped by the mechanical gripper (14), the multi-axis robotic arm (13) and the temporary bookshelf (12) being both connected to the transfer trolley (11), and the transfer trolley (11) being movably arranged in a collaboration area; An execution unit (2), the execution unit (2) comprising a material taking rack (21), a binding device (22), a cutting device (23), a temporary storage table (24) and a receiving table (25), the material taking rack (21), the binding device (22), the cutting device (23), the temporary storage table (24) and the receiving table (25) are arranged around the periphery of the cooperation unit (1) to form the cooperation area for the transfer vehicle (11) to move.

2. The document printing collaboration system according to claim 1, characterized in that: The mechanical gripper (14) comprises a gripper head (141), a connecting plate (142) and a mounting plate (143); the connecting plate (142) is connected to the multi-axis mechanical arm (13); the gripper head (141) is connected to one side of the connecting plate (142); the mounting plate (143) is connected to the other side of the connecting plate (142); and the image identifier (15) is connected to the mounting plate (143).

3. The document printing collaboration system according to claim 2, characterized in that: The clamp head (141) includes a driving member, a clamp housing (1411) and a clamp block (1412); the clamp housing (1411) is connected to the connecting plate (142) and has two parallel linear slide grooves, each of which is provided with a slidable clamp block (1412); the driving member is arranged in the clamp housing (1411) and is used to drive the clamp blocks (1412) in the two linear slide grooves to move closer to or away from each other.

4. The document printing collaboration system according to claim 3, characterized in that: The clamping jaw head (141) further comprises a sliding block (1413), wherein the sliding block (1413) is slidably disposed in the linear slide groove, and the clamping block (1412) is connected to the sliding block (1413).

5. The document printing collaboration system according to claim 4, characterized in that: The linear slide is a T-shaped slot, and the slider (1413) is a T-shaped block adapted to the linear slide.

6. The document printing collaboration system according to claim 4, characterized in that: The clamping block (1412) comprises a fixing portion and a clamping portion, wherein the fixing portion is connected to the slider (1413), one end of the clamping portion is connected to the fixing portion, and the other end of the clamping portion extends in a direction close to another clamping block (1412).

7. The document printing collaboration system according to claim 3, characterized in that: The clamping claw head (141) further comprises an elastic pad (1414), and the elastic pad (1414) is arranged on the side where the clamping block (1412) abuts against the book block (100).

8. The document printing collaboration system according to claim 1, characterized in that: The cooperation unit (1) further comprises a navigation magnetic track, which is laid in the cooperation area, and the transfer vehicle (11) slides along the navigation magnetic track.

9. The document printing collaboration system according to claim 1, characterized in that: The temporary bookshelf (12) comprises a bookshelf body (121) and a plurality of partitions (122), wherein a storage space is provided on the bookshelf body (121), and a plurality of partitions (122) are connected to the bookshelf body (121) at intervals to divide the storage space into a plurality of storage compartments for storing the book blocks (100).

10. The document printing collaboration system according to claim 9, characterized in that: The bookshelf body (121) includes side panels (1211), a back panel (1212), a bottom panel (1213) and a supporting panel (1214); the bottom panel (1213) is connected to the transfer trolley (11); the side panels (1211) and the back panel (1212) are both connected to the bottom panel (1213) to construct the storage space; the supporting panel (1214) is connected to the storage space and is arranged at an angle to the bottom panel (1213); the supporting panel (1214) is used to support a plurality of the partitions (122).

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