CN114161433B - Automatic marking robot and marking method after package security inspection - Google Patents

Abstract

An automated marking robot for parcels after security inspection is equipped with cameras and a right-angle motion platform in sequence along the direction of the conveyor belt; the camera reads the information on the top profile of the package after inspection; the follow-up stamping component on the right-angle motion platform can be placed on the right-angle motion platform Perform horizontal movement, lifting and other actions; when the follow-up sealing component descends and the seal at the lower end of the seal guide shaft is stamped at the top center of the package after inspection, the spring mechanism B provides sufficient sealing pressure for the seal to make the seal mark obvious ; The linkage mechanism causes the seal to deflect as the package moves backward, thus preventing the mark from bunching up; the deflection of the seal is also transferred to the spring mechanism A and converted into potential energy; when the follow-up stamping assembly rises, the spring mechanism A releases this potential energy, and the follow-up stamping component returns to its original state; the overall structure is simple, effective and reliable; using the marking method of the above structure can save the labor required for marking and inspecting packages in the logistics industry and improve work efficiency.

Description

Automatic marking robot and marking method after package security inspection

Technical field

The invention relates to the technical field of logistics equipment, and in particular to an automated marking robot and a marking method after package security inspection.

Background technique

Logistics is a process in which the physical flow of items from the supply place to the receiving place organically combines transportation, storage, loading and unloading, packaging, circulation processing, distribution, information processing and other functions according to actual needs to achieve user requirements. The logistics industry is a composite service industry that integrates transportation, warehousing, processing and distribution, market transactions and even informatization. In order to ensure the convenience and safety of people's production and life, the logistics industry needs to quickly and effectively conduct security inspections on a large number of packages every day. In the past, these security inspections used equipment such as X-ray security inspection machines to inspect the inner packages of the packages. For packages on the conveyor belt after inspection, Use a seal to mark the package for identification, and single out suspicious packages that may contain dangerous goods; marking requires a lot of labor and takes up a lot of manpower; in addition, it is very difficult to mark the package in transit: seal The contact time with the package is too long, the package moves relative to the seal, and the mark is easily lumped into a ball and cannot be identified; the contact time between the seal and the package is too short, the printing pressure is not strong enough, and the mark is not obvious, it is also difficult to identify. Even if skilled logistics personnel can clearly mark a small number of packages in transit, it still takes a lot of effort to deal with a large number of packages.

Contents of the invention

The purpose of the present invention is to solve the above problems and provide an automatic marking robot and a marking method after package security inspection.

The technical solution of the present invention is: an automatic marking robot after security inspection of packages, which is provided with a security inspection device in front of the conveyor belt's conveying direction; the security inspection device is sequentially arranged with an X-ray security inspection machine and a push manipulator along the conveyor belt's conveying direction; after the package security inspection The automated marking robot consists of a camera frame and a right-angle motion platform in sequence along the conveyor belt; the camera frame and the right-angle motion platform span the conveyor belt;

There is a downward-facing camera in the middle of the crossbar on the top of the camera stand;

There are synchronous wheels at the top four corners of the right-angle motion platform; there is a synchronous wheel motor on the front side of the right-angle motion platform; the output end of the synchronous wheel motor is connected to the synchronous wheel on the front side; the other side of the synchronous wheel on the front side is connected to the synchronous shaft; the synchronous shaft Across the conveyor belt, it is connected to the synchronous wheel on the opposite side; the synchronous wheels on one side of the conveyor belt are in groups of two, equipped with synchronous belts; the synchronous wheels in the same group are connected through cross braces; the top surface of the cross braces is equipped with a synchronous It has slide rail armor in the same direction; the synchronous belt above the synchronous wheel is connected to a connecting plate; the bottom surface of the connecting plate is equipped with a slider armor that matches the slide rail armor;

Both sides of the top surface of the connecting plate are connected to the connecting plate on the other side through the guide rail A; there is a movement plate sliding on the guide rail A; the bottom of the movement board is equipped with a guide rail block A that cooperates with the guide rail A; the bottom of the movement board is equipped with a screw motion mechanism; The screw movement mechanism includes a screw mother installed in the center of the movement bottom, a screw that penetrates the screw mother, screw brackets at both ends of the screw and a screw motor with one end of the screw fixed on the connecting plate;

The top of the motion plate is provided with a vertically downward cylinder A and a cylinder guide rod A parallel to the piston rod of the cylinder A; the lower end surface of the piston rod of the cylinder A is connected to the circular table; the cylinder guide rod A passes through the circular table;

There is a follow-up sealing component and a microswitch below the round table; the bottom of the follow-up sealing component is lower than the paddle of the microswitch;

The follow-up sealing component includes sliding mechanism B, spring mechanism A, link mechanism, and spring mechanism B;

The sliding mechanism B includes a slide rail B and a slide block B that cooperates with the slide rail B; the spring mechanism A includes a compression spring A, a sliding tube and a sliding shaft that pass through the axis of the compression spring A and are inserted into each other; the sliding rail B is along with the compression spring A It is arranged up and down parallel to the conveying direction of the conveyor belt; the end of the sliding tube is connected to one end of the slide rail B; the end of the sliding shaft is connected to the slide block B;

The link mechanism includes connecting rod A, connecting rod B and a mounting plate extending out from the middle of connecting rod B;

One end of connecting rod A is hinged to slider B, and the other end is hinged to connecting rod B; the other end of connecting rod B is hinged to the upper part of the round table;

The spring mechanism B includes a compression spring B and a seal guide shaft passing through the axis of the compression spring B;

The seal is installed on the lower end of the seal guide shaft, and the upper end passes through the through hole on the mounting plate and is screwed with a nut.

Preferably, the push manipulator includes cylinder B, cylinder guide rod B, and an end piece; the end piece is an L-shaped plate piece; the rear side of the end piece is perpendicular to the conveyor belt conveying direction, and the front side of the end piece is in contact with the cylinder piston rod. B. Cylinder guide rod B is connected; cylinder B and cylinder guide rod B are located on the push workbench; cylinder guide rod B is connected to the push workbench through cylinder guide rod support B.

Preferably, the right-angle motion platform is assembled from aluminum profiles; the timing belts under each set of synchronization wheels pass through the hollow cross braces made of aluminum profiles.

Preferably, the cylinder guide rod A is connected to the circular cone through the cylinder guide rod support A.

Preferably, a photoelectric switch is also provided below the round platform.

Preferably, the camera frame is connected to the conveyor belt bracket.

Preferably, the two ends of the slide rail A are provided with travel switches that cooperate with the slide block A.

Preferably, the mounting plate is provided with a linear bearing that matches the seal guide shaft, and the nut is on the linear bearing.

A marking method using the above-mentioned automated marking robot after package security inspection, including the following steps:

①The security inspection device handles the packages to be inspected on the conveyor belt,

A On the conveyor belt; the suspicious package enters the end piece, and the end piece continues to extend until the suspicious package leaves the conveyor belt;

②The camera reads the top contour of the package after inspection.

After the package has been inspected by the security inspection device, it passes through the camera frame; the camera on the camera frame reads and analyzes the top contour of the inspected package on the surface of the conveyor belt below the camera frame; based on the four points on the top contour of the inspected package, it can be obtained The center of the top of the package after inspection; since the distance between the camera stand and the right-angle motion platform is fixed, the camera on the camera stand and the right-angle motion platform can jointly establish unified coordinates; the center of the top of the package after inspection obtained by the camera is at this coordinate can be marked within;

③The follow-up stamping component arrives at the expected location and is ready to stamp.

According to the position of the top center of the inspected package taken out by the camera in step ② within the coordinates and the inherent speed of the conveyor belt, the coordinates of the expected location that the follow-up stamping component needs to arrive are obtained; the synchronous wheel motor uses the synchronous shaft to make the two sides The synchronous wheels travel and rotate at the same time, driving the synchronous belts on the synchronous wheels on both sides to also move synchronously; the connecting plate connected to the synchronous belt relies on the cooperation of the slide rail A and the slide block A to move longitudinally along the conveyor belt; it successively passes through the round table, cylinder, The moving plate, the guide rail armor and the connecting plate-connected follow-up stamping assembly also move longitudinally along the conveyor belt; the screw motor starts, and the screw rotates rapidly; the nut at the bottom of the moving plate moves along the conveyor belt as the screw rotates Lateral movement; the movement plate and the follow-up stamping assembly connected to the movement plate through the round table, cylinder and movement plate move laterally;

④Stamped with the automatic stamping component,

Through the photoelectric switch detection at the bottom of the round table, when the inspected package reaches the bottom of the expected location, the cylinder A starts; the piston rod of the cylinder A drives the round table, and the following sealing component under the round table moves downward; the following sealing component and the post-inspection The top of the package touches each other, the piston rod of cylinder A continues to move downward, the compression spring B of spring mechanism B is compressed, and the seal is pressed by compression spring B, leaving a complete and clear mark on the top of the package after inspection; at the same time, after inspection, The package is still moving backward in the conveying direction of the conveyor belt, driving the seal, seal guide shaft and connecting rod B to tilt backward, and the bottom of the seal leaves the top of the package after inspection; connecting rod A drives slider B along with the movement of connecting rod B Slide backward on slide rail B, and compression spring A is compressed;

⑤The follow-up stamping component returns,

After the photoelectric switch at the bottom of the round table detects that it reaches the designated level for the descent of cylinder A, cylinder A contracts the piston rod of cylinder A, and the follow-up seal component rises; during the rise of the follow-up seal component, the compression spring A releases the accumulated energy due to being compressed. The elastic potential energy; slider B slides forward, driving connecting rod A to deflect forward against connecting rod B until the seal guide shaft and the seal at the end of the seal guide shaft return to the vertical state; the follow-up stamping assembly returns to its original state;

⑥Repeat the process of steps ②-⑤ above to realize the cycle.

The beneficial effects of the present invention are: the automatic marking robot after the package security inspection of the present invention is sequentially arranged with cameras and right-angle motion platforms along the conveyor belt conveying direction; the camera reads information on the top contour of the package after inspection; the follow-up cover on the right-angle motion platform The seal assembly can move horizontally and lift on the right-angle motion platform; when the follow-up seal assembly descends and the seal at the lower end of the seal guide shaft is stamped at the center of the top of the inspected package, the spring mechanism B provides adequate support for the seal. The printing pressure makes the seal mark obvious; the linkage mechanism causes the seal to deflect as the package moves backward, thus preventing the mark from bunching up; the deflection of the seal is also transferred to the spring mechanism and converted into potential energy; when the follower moves When the sealing component rises, the spring mechanism releases the potential energy, and the sealing component returns to its original state; the overall structure is simple, effective and reliable;

Using the marking method with the above structure can save the labor required in the logistics industry in launching suspicious packages and marking post-inspection packages, and improve work efficiency.

Description of the drawings

Figure 1 is a schematic structural diagram of the automatic marking robot after package security inspection according to the present invention;

Figure 2 is an enlarged view of I of Figure 1;

Figure 3 is a schematic structural diagram of the automatic post-security inspection package marking robot of the present invention;

Figure 4 is an enlarged view II of Figure 3;

Figure 5 is an enlarged view of III of Figure 3;

Figure 6 is a top view of Figure 3;

Figure 7 is a partial cross-sectional view along the line A-A of Figure 6;

Figure 8 is an enlarged view of the IV of Figure 7;

Figure 9 is a B-B cross-sectional view of Figure 7;

Figure 10 is an enlarged view of V in Figure 9;

Figure 11 is an enlarged view of the VI of Figure 9;

Figure 12 is a schematic structural diagram of the sliding mechanism B and spring mechanism A of the automatic marking robot after package security inspection according to the present invention;

Figure 13 is a schematic structural diagram of the linkage mechanism of the present invention;

Figure 14 is a schematic structural diagram of spring mechanism B of the present invention;

In the picture: 1. Conveyor belt, 11. Conveyor belt bracket, 2. Security inspection device, 21. X-ray security inspection machine, 22. Push manipulator, 221. Cylinder B, 2211. Cylinder piston rod B, 222. Cylinder guide rod B, 2221. Cylinder guide rod support B, 223. End piece, 23. Push workbench, 3. Automatic marking robot after package security inspection, 31. Camera stand, 311. Cross bar, 312. Camera, 32. Right-angle motion platform, 321 .Synchronous wheel, 3211. Synchronous wheel motor, 3212. Synchronous shaft, 3213. Timing belt, 322. Cross brace, 3221. Slide rail armor, 3222. Travel switch, 323. Connecting plate, 3231. Slider armor, 3232. Guide rail A. 324. Movement plate, 3241. Guide rail block A, 3251. Wire nut, 3252. Lead screw, 3253. Lead screw bracket, 3254. Lead screw motor, 326. Cylinder A, 3261. Cylinder guide rod A, 32611. Cylinder Guide rod support A, 3262. Cylinder A piston rod, 327. Round table, 3271. Photoelectric switch, 32811. Slide rail B, 32812. Slider B, 32821. Compression spring A, 32822. Slide tube, 32823. Sliding shaft, 32831. Connecting rod A, 32832. Connecting rod B, 32833. Mounting plate, 328331. Linear bearing, 32841. Compression spring B, 32842. Seal guide shaft, 32843. Seal, 32844. Nut, 329. Micro switch, 3291. Micro switch paddle, 4. Package.

Implementation

Embodiment 1: Refer to Figure 1-14, an automated marking robot and marking method after package security inspection. A security inspection device is provided in front of the conveyor belt's conveying direction; the security inspection device is sequentially arranged with X-ray security inspection machines and Push manipulator; the X-ray security inspection machine detects the items in the package, and the push manipulator pushes suspicious packages that may contain dangerous goods away from the conveyor belt; after the package security inspection, the automated marking robot follows the direction of the conveyor belt in order of the camera frame and the right-angle motion platform; Camera mounts and right-angle motion platforms span the conveyor belt;

There is a downward-facing camera in the middle of the crossbar on the top of the camera stand; the camera can capture the situation on the conveyor belt under the camera stand and extract the captured top contour information of the package;

There are synchronous wheels on the top four corners of the right-angle motion platform; there is a synchronous wheel motor on the front side of the right-angle motion platform; the output end of the synchronous wheel motor is connected to the synchronous wheel on the front side; the synchronous wheel motor can drive the synchronous wheel on the front side to rotate; the front side The other side of the synchronization wheel is connected to the synchronization shaft; the synchronization shaft crosses the conveyor belt and is connected to the synchronization wheel on the opposite side. The two front synchronization wheels achieve synchronization; the synchronization wheels on one side of the conveyor belt are in groups of two, equipped with Synchronous belt; the synchronous wheel drives the synchronous belt to move; the same set of synchronous wheels are connected through cross braces; the top surface of the cross braces is equipped with a slide rail A in the same direction as the synchronous belt; the synchronous belt above the synchronous wheel is connected with a connecting plate; the connecting plate The plate moves with the timing belt; the bottom surface of the connecting plate is equipped with a slider A that matches the slide rail A; the slide rail A and the slider A match to limit the movement direction of the connecting plate;

Both sides of the top surface of the connecting plate are connected to the connecting plate on the other side through guide rail A; the guide rail A moves together with the connecting plates on both sides; there is a movement board sliding on the guide rail A; the bottom of the movement board is provided with a guide rail block that matches the guide rail A A; The guide rail block A cooperates with the guide rail A to limit the movement direction of the motion board; a screw motion mechanism is installed at the bottom of the motion plate; the screw motion mechanism includes a screw nut installed in the center of the bottom of the motion, a screw screw that penetrates the screw mother, and a screw A screw bracket with both ends set on the connecting plate and a screw motor with one end of the screw fixed on the connecting plate; the screw motor drives the screw to rotate, the screw drives the screw mother and the motion plate connected to the screw mother moves along the screw Displacement occurs in the direction;

The top of the motion plate is provided with a vertically downward cylinder A and a cylinder guide rod A parallel to the piston rod of the cylinder A; the lower end surface of the piston rod of the cylinder A is connected to the circular table; the cylinder guide rod A passes through the circular table; the cylinder guide rod A drives the circular table to rise and fall , the cylinder guide rod A is the lifting guide of the round table; there is a follow-up sealing component and a micro switch under the round table; the bottom end of the follow-up seal component is lower than the paddle of the micro switch; the follow-up seal component precedes the micro switch The switch is packaged after touch inspection; the micro switch provides the limit limit for the lifting and lowering of the round table;

The follow-up sealing component includes sliding mechanism B, spring mechanism A, link mechanism, and spring mechanism B;

Sliding mechanism B includes slide rail B and slide block B that cooperates with slide rail B; spring mechanism A includes compression spring A, a sliding tube and a sliding shaft that are inserted into each other through the axis of the compression spring A; the sliding tube and the sliding shaft are limited to each other The changing direction of the compression spring; slide rail B and compression spring A are arranged parallel and up and down along the conveyor belt conveying direction; slide rail B and slide block B cooperate to limit the mutual displacement direction of the slide tube and the slide shaft; the end of the slide tube and the slide One end of rail B is connected; the end of the sliding shaft is connected with slider B; the sliding shaft moves with slider B;

The link mechanism includes connecting rod A, connecting rod B and a mounting plate extending out from the middle of connecting rod B;

One end of connecting rod A is hinged to slider B, and the other end is hinged to connecting rod B; the other end of connecting rod B is hinged to the upper part of the round table; the deflection of connecting rod B will affect the movement of slider B; the same movement of slider B will also affect Deflection of connecting rod B;

The spring mechanism B includes a compression spring B and a seal guide shaft passing through the axis of the compression spring B; the seal guide shaft limits the changing direction of the compression spring B;

A seal is installed at the lower end of the seal guide shaft, and the upper end passes through the through hole on the mounting plate, and a nut is screwed on; the nut provides vertical restraints for the seal guide shaft, so that the seal guide shaft can only move vertically upward and not downward; the seal The seal at the lower end of the guide shaft marks the top of the package; the seal follows the seal guide shaft and can deflect with connecting rod B.

The push manipulator includes cylinder B, cylinder guide rod B, and an end piece; the end piece is an L-shaped plate piece; the rear side of the end piece is perpendicular to the direction of the conveyor belt to intercept suspicious packages after security inspection, and the front side is perpendicular to the direction of the conveyor belt. The side is connected to the cylinder piston rod B and the cylinder guide rod B to move in the direction of the cylinder piston rod B; the cylinder B and the cylinder guide rod B are located on the pushing table; the cylinder guide rod B is connected to the cylinder guide rod support B through the cylinder guide rod support B. The push table is connected to limit the direction of movement of the end piece.

The right-angle motion platform is assembled from aluminum profiles. It has small mass and high strength. It has its own card slot and is easy to use. The timing belt under each set of synchronization wheels passes through the hollow cross brace made of aluminum profiles, making full use of the inside of the cross brace. space, reduce the size of the synchronization wheel and reduce the load.

The cylinder guide rod A is connected to the circular table through the cylinder guide rod support A, so that the cylinder guide rod A moves more smoothly.

There is also a photoelectric switch under the round table to measure the distance between the round table and the conveyor belt or the top of the package.

The camera frame is connected to the conveyor belt bracket.

The two ends of the slide rail A are provided with travel switches that cooperate with the slide block A to limit the movement of the connecting plate.

The mounting plate is provided with a linear bearing that matches the seal guide shaft, and the nut is on the linear bearing. The nut is retained to provide vertical restraint function while reducing friction when the seal guide shaft slides vertically.

Embodiment 2: Referring to Figure 1-14, a marking method using the automatic post-security inspection marking robot of the package in Embodiment 1 includes the following steps:

①The security inspection device handles the packages to be inspected on the conveyor belt,

A On the conveyor belt; the suspicious package enters the end piece, and the end piece continues to extend until the suspicious package leaves the conveyor belt;

②The camera reads the top contour of the package after inspection.

After the package has been inspected by the security inspection device, it passes through the camera frame; the camera on the camera frame reads and analyzes the top contour of the inspected package on the surface of the conveyor belt below the camera frame; based on the four points on the top contour of the inspected package, it can be obtained The center of the top of the package after inspection; since the distance between the camera stand and the right-angle motion platform is fixed, the camera on the camera stand and the right-angle motion platform can jointly establish unified coordinates; the center of the top of the package after inspection obtained by the camera is at this coordinate can be marked within;

③The follow-up stamping component arrives at the expected location and is ready to stamp.

According to the position of the top center of the inspected package taken out by the camera in step ② within the coordinates and the inherent speed of the conveyor belt, the coordinates of the expected location that the follow-up stamping component needs to arrive are obtained; the synchronous wheel motor uses the synchronous shaft to make the two sides The synchronous wheels travel and rotate at the same time, driving the synchronous belts on the synchronous wheels on both sides to also move synchronously; the connecting plate connected to the synchronous belt relies on the cooperation of the slide rail A and the slide block A to move longitudinally along the conveyor belt; it successively passes through the round table, cylinder, The moving plate, the guide rail armor and the connecting plate-connected follow-up stamping assembly also move longitudinally along the conveyor belt; the screw motor starts, and the screw rotates rapidly; the nut at the bottom of the moving plate moves along the conveyor belt as the screw rotates Lateral movement; the movement plate and the follow-up stamping assembly connected to the movement plate through the round table, cylinder and movement plate move laterally;

④Stamped with the automatic stamping component,

Through the photoelectric switch detection at the bottom of the round table, when the inspected package reaches the bottom of the expected location, the cylinder A starts; the piston rod of the cylinder A drives the round table, and the following sealing component under the round table moves downward; the following sealing component and the post-inspection The top of the package touches each other, the piston rod of cylinder A continues to move downward, the compression spring B of spring mechanism B is compressed, and the seal is pressed by compression spring B, leaving a complete and clear mark on the top of the package after inspection; at the same time, after inspection, The package is still moving backward in the conveying direction of the conveyor belt, driving the seal, seal guide shaft and connecting rod B to tilt backward, and the bottom of the seal leaves the top of the package after inspection; connecting rod A drives slider B along with the movement of connecting rod B Slide backward on slide rail B, and compression spring A is compressed;

⑤The follow-up stamping component returns,

After the photoelectric switch at the bottom of the round table detects that it reaches the designated level for the descent of cylinder A, cylinder A contracts the piston rod of cylinder A, and the follow-up seal component rises; during the rise of the follow-up seal component, the compression spring A releases the accumulated energy due to being compressed. The elastic potential energy; slider B slides forward, driving connecting rod A to deflect forward against connecting rod B until the seal guide shaft and the seal at the end of the seal guide shaft return to the vertical state; the follow-up stamping assembly returns to its original state;

⑥Repeat the process of steps ②-⑤ above to realize the cycle.

Claims (9)

1. An automatic marking robot after package security inspection is provided with a security inspection device in front of the conveying direction of a conveying belt; the security inspection device is sequentially provided with an X-ray security inspection machine and a pushing manipulator along the conveying direction of the conveying belt; the automatic marking robot is characterized in that the automatic marking robot after package security inspection sequentially comprises a camera frame and a right-angle motion platform along the conveying direction of a conveying belt; the camera frame and the right-angle motion platform cross the conveying belt;

the middle part of the cross rod at the top of the camera frame is provided with a downward camera;

synchronous wheels are arranged at four corners of the top of the right-angle motion platform; a synchronous wheel motor is arranged at the front side of the right-angle motion platform; the output end of the synchronous wheel motor is connected with the synchronous wheel at the front side; the other side of the synchronous wheel at the front side is connected with a synchronous shaft; the synchronizing shaft spans the conveying belt and is connected with the synchronizing wheel on the opposite side; the synchronous wheels on one side of the conveyor belt are arranged in a group, and the synchronous belt is arranged on the conveyor belt; the synchronous wheels in the same group are connected through a cross brace; the top surface of the transverse support is provided with a sliding rail A which is in the same direction with the synchronous belt; the synchronous belt above the synchronous wheel is connected with a connecting plate; a sliding block A matched with the sliding rail A is arranged at the bottom surface of the connecting plate;

two sides of the top surface of the connecting plate are connected with the connecting plate at the other side through a guide rail A; a moving plate slides on the guide rail A; the bottom of the moving plate is provided with a guide rail block A matched with the guide rail A; the bottom of the moving plate is provided with a screw rod moving mechanism; the screw rod movement mechanism comprises a screw nut arranged in the center of the bottom of the movement, a screw rod penetrating through the screw nut, a screw rod bracket with two ends of the screw rod arranged on the connecting plate and a screw rod motor with one end of the screw rod fixed on the connecting plate;

the top of the moving plate is provided with a vertical downward cylinder I and a cylinder guide rod I parallel to a cylinder I piston rod; the lower end face of the cylinder A piston rod is connected with the round table; the cylinder guide rod A passes through the round table;

a follow-up stamping assembly and a micro switch are arranged below the round table; the bottom end of the follow-up stamping component is lower than the poking piece of the micro switch;

the follow-up stamping assembly comprises a sliding mechanism B, a spring mechanism A, a connecting rod mechanism and a spring mechanism B;

the sliding mechanism B comprises a sliding rail B and a sliding block B matched with the sliding rail B; the spring mechanism A comprises a compression spring A, a sliding tube and a sliding shaft which are mutually sleeved through the axle center of the compression spring A; the sliding rail II and the compression spring I are arranged up and down in parallel along the conveying direction of the conveying belt; the end part of the sliding tube is connected with one end of the sliding rail B; the end part of the sliding shaft is connected with the sliding block B;

the connecting rod mechanism comprises a connecting rod A, a connecting rod B and a mounting plate which extends outwards from the middle part of the connecting rod B;

one end of the connecting rod A is hinged with the sliding block B, and the other end of the connecting rod A is hinged with the connecting rod B; the other end of the connecting rod II is hinged with the upper part of the round table;

the spring mechanism B comprises a compression spring B and a seal guide shaft penetrating through the axis of the compression spring B;

the lower end of the seal guide shaft is provided with a seal, the upper end of the seal guide shaft penetrates through a through hole on the mounting plate, and a nut is screwed.

2. The automated post package security marking robot of claim 1, wherein: the pushing manipulator comprises a cylinder B, a cylinder guide rod B and a tail end piece; the end piece is an L-shaped plate; the rear edge of the end piece is perpendicular to the conveying direction of the conveying belt, and the front edge of the end piece is connected with the cylinder piston rod B and the cylinder guide rod B; the cylinder B and the cylinder guide rod B are arranged on the pushing workbench; the cylinder guide rod II is connected with the pushing workbench through a cylinder guide rod support II.

3. The automated post package security marking robot of claim 1, wherein: the right-angle motion platform is formed by splicing aluminum profiles; the synchronous belt under each group of synchronous wheels passes through the hollow cross brace made of the aluminum profile.

4. The automated post package security marking robot of claim 1, wherein: the cylinder guide rod A is connected with the round table through the cylinder guide rod support A.

5. The automated post package security marking robot of claim 2, wherein: a photoelectric switch is arranged below the round table.

6. The automated post package security marking robot of claim 1, wherein: the camera frame is connected with the conveyer belt bracket.

7. The automated post package security marking robot of claim 1, wherein: and travel switches matched with the slide block A are arranged at two ends of the slide rail A.

8. The automated post package security marking robot of claim 1, wherein: the mounting plate is provided with a linear bearing matched with the seal guide shaft, and the nut is arranged on the linear bearing.

9. A marking method using the automated marking robot after package security inspection of claim 5, comprising the steps of:

(1) the security inspection device processes the packages to be inspected on the conveyer belt,

the X-ray security inspection machine emits X-rays to penetrate through the package to be inspected on the conveying belt, and the interior of the package is checked to judge whether dangerous goods are stored in the package; once the existence of dangerous articles is found, the pushing manipulator is started, and the end piece is driven by the cylinder B to extend outwards above the conveying belt; the suspicious package enters the end piece, and the end piece extends outwards until the suspicious package leaves the conveying belt;

(2) the camera reads the outline of the top surface of the checked package,

the package passes through the camera frame after being checked by the security check device; a camera on the camera frame can read and analyze the top outline of the package after the surface of the conveyer belt is inspected below the camera frame; according to the four points of the top outline of the checked parcel, the center of the top of the checked parcel can be obtained; the distance between the position of the camera frame and the rectangular moving platform is fixed, so that a camera on the camera frame and the rectangular moving platform can be jointly established into a unified coordinate; marking the center of the top of the inspected parcel obtained by the camera in the coordinates;

(3) the follow-up stamping component reaches the expected place, prepares for stamping,

according to the position of the center of the top of the inspected package taken out by the camera in the step (2) in the coordinates and the inherent speed of conveying of the conveying belt, obtaining the coordinates of the expected place to be reached by the follow-up stamping assembly; the synchronous wheel motor enables synchronous wheels at two sides to simultaneously advance and rotate through the synchronous shaft to drive synchronous belts on the synchronous wheels at two sides to synchronously displace; the connecting plate connected with the synchronous belt moves longitudinally along the conveying belt by means of the cooperation of the slide rail A and the slide block A; the follow-up stamping component which is connected with the connecting plate through the round table, the air cylinder, the moving plate and the guide rail A in sequence also moves longitudinally along the conveying belt; starting a screw motor, and rapidly rotating a screw; the screw nut at the bottom of the moving plate moves transversely along the conveying belt along with the rotation of the screw rod; the motion plate and the follow-up stamping assembly connected with the motion plate through the round table and the air cylinder move transversely;

(4) the follow-up stamping component is used for stamping,

detecting through a photoelectric switch at the bottom of the round table, and starting a cylinder A when the detected package reaches the bottom of the predicted location; the cylinder A piston rod drives the round table and the follow-up stamping assembly below the round table moves downwards; the follow-up stamping assembly is contacted with the top of the inspected package, the piston rod of the cylinder A continuously moves downwards, the compression spring B of the spring mechanism B is compressed, and the stamp is propped by the compression spring B to leave a complete and clear mark on the top of the inspected package; meanwhile, the inspected package is still in a backward movement state in the conveying direction of the conveying belt, so that the seal, the seal guide shaft and the connecting rod B are driven to incline backwards, and the bottom of the seal leaves the top of the inspected package; the first connecting rod drives the second sliding block to slide backwards along the second sliding rail along with the movement of the second connecting rod, and the first compression spring is compressed;

(5) the follow-up stamping component returns to the original position,

after the photoelectric switch at the bottom of the round table detects that the photoelectric switch reaches a specified level of descending of the cylinder A, the cylinder A contracts the cylinder A piston rod, and the follow-up stamping assembly ascends; in the process of rising of the follow-up stamping assembly, the compression spring armor releases elastic potential energy accumulated due to compression; the sliding block II slides forwards to drive the connecting rod I to prop against the connecting rod II to deflect forwards until the seal guide shaft and the seal at the end part of the seal guide shaft are restored to the vertical state; the follow-up stamping assembly is restored as originally;

(6) repeating the processes of the steps (2) - (5) to realize circulation.