Universal grabbing mechanism for flexible self-adhesive labels

Abstract

The invention discloses a universal grabbing mechanism for flexible self-adhesive labels. The universal grabbing mechanism comprises an anti-sticking plate assembly, a lifting air cylinder assembly and an ejector rod roller assembly. The anti-sticking plate assembly comprises an anti-sticking plate, and a penetrating groove is formed in the anti-sticking plate in the plate thickness direction. The lifting air cylinder assembly comprises a jacking air cylinder, the fixed end of the jacking air cylinder is connected with the anti-sticking plate assembly, and the output end of the jacking air cylinder is connected with the ejector rod roller assembly. The ejector rod roller assembly comprises a fixed ejector rod assembly and a translation ejector rod roller assembly, the fixed ejector rod assembly comprises an anti-sticking ejector rod, the translation ejector rod roller assembly comprises a plurality of translation ejector rods, and the translation ejector rods are symmetrically distributed on the two sides of the anti-sticking ejector rod. The anti-sticking ejector rod and the translational ejector rods are driven by the jacking air cylinder to slide in the penetrating groove in a lifting mode in the direction perpendicular to the anti-sticking plate. The flexible self-adhesive label grabbing device solves the problems of general grabbing of flexible self-adhesive labels and accurate positioning of the flexible self-adhesive labels on the suction tools by various types of suction tools.

Description

Technical Field

[0001] The invention relates to the technical field of automated equipment, and in particular to a universal gripping mechanism for flexible self-adhesive labels suitable for multiple types of grippers. Background Art

[0002] In recent years, self-adhesive labels have been widely used in many fields of life and production, such as food, medicine, daily chemicals, logistics, etc. With the development of labeling technology, the mechanization and automation of the labeling process in my country's packaging industry has made great progress, but there is still a certain gap with the world's advanced level.

[0003] In automated labeling, the usual practice is to use a gripper to pick up the self-adhesive label and stick it on the surface of the product. However, since some special self-adhesive labels are very flexible, breathable, and sticky, and the product where the label is to be applied may be flat or curved, the outer surface of the gripper that matches the product may also be flat or curved, so it is difficult to reliably pick up such flexible self-adhesive labels and ensure their accurate position relative to the gripper. Summary of the invention

[0004] The purpose of the present invention is to provide a universal gripping mechanism for flexible self-adhesive labels in order to solve the problem of reliable gripping of flexible self-adhesive labels by various types of grippers and accurate positioning of the labels on the grippers, which can solve the problem of reliable gripping of flexible self-adhesive labels by various types of grippers and accurate positioning of the labels on the grippers, and provide accuracy guarantee for the subsequent automatic high-precision labeling process for objects of various shapes.

[0005] The present invention is achieved through the following technical solutions:

[0006] The present invention provides a universal gripping mechanism for flexible self-adhesive labels, comprising an anti-sticking plate assembly, a lifting cylinder assembly and a push rod roller assembly; the anti-sticking plate assembly comprises an anti-sticking plate, and the anti-sticking plate has a through groove in the plate thickness direction; the lifting cylinder assembly comprises a lifting cylinder, the fixed end of the lifting cylinder is connected to the anti-sticking plate assembly, and the output end of the lifting cylinder is connected to the push rod roller assembly;

[0007] The push rod roller assembly includes a fixed push rod assembly and a translation push rod roller assembly, the fixed push rod assembly includes an anti-sticking push rod, the translation push rod roller assembly includes multiple translation push rods, the multiple translation push rods are symmetrically distributed on both sides of the anti-sticking push rod, and the anti-sticking push rod and multiple translation push rods are driven by the lifting cylinder to rise and fall and slide in the through groove in a direction perpendicular to the anti-sticking plate.

[0008] As a preferred solution of the present invention, the ejector rod roller assembly further comprises a two-finger air claw, and the translational ejector rods located on both sides of the anti-sticking ejector rod are respectively connected to two relatively moving fingers on the two-finger air claw.

[0009] As a preferred embodiment of the present invention, the push rod roller assembly also includes a first guide block and a second guide block, the first guide block is connected to the fixed end of the two-finger air claw, and the two second guide blocks are respectively connected to the two relatively moving fingers of the two-finger air claw; the anti-sticking push rod is floatingly arranged on the first guide block, and the translational push rods located on both sides of the anti-sticking push rod are respectively floatingly arranged on the two second guide blocks, and the floating directions of the anti-sticking push rod and multiple translational push rods are perpendicular to the anti-sticking plate.

[0010] As a preferred solution of the present invention, a first guide hole is provided on the first guide block, the anti-sticking push rod is slidably provided in the first guide hole, a first spring is provided in the first guide hole, and the first spring is used to drive the anti-sticking push rod to slide toward the anti-sticking plate;

[0011] A plurality of second guide holes are arranged on the second guide block, and the translational ejector rods are respectively slidably arranged in the plurality of second guide holes, and a second spring is respectively arranged in the plurality of second guide holes, and the second spring is used for driving the translational ejector rod to slide toward the anti-sticking plate.

[0012] As a preferred solution of the present invention, a limiting structure is provided on both the first guide block and the second guide block, and the limiting structure is used to limit the maximum amount of sliding of the anti-sticking ejector rod and a plurality of translation ejector rods toward the anti-sticking plate.

[0013] As a preferred embodiment of the present invention, the anti-sticking plate assembly also includes a fixed mounting plate and a cylinder connecting plate, the anti-sticking plate is arranged on the upper side of the fixed mounting plate, the cylinder connecting plate is vertically arranged on the lower side of the fixed mounting plate, and the lifting cylinder is installed on the cylinder connecting plate.

[0014] As a preferred embodiment of the present invention, the lifting cylinder assembly also includes an adapter plate and an air claw mounting plate, the adapter plate is connected to the piston rod of the lifting cylinder, the air claw mounting plate is connected to the adapter plate, and the jacking rod roller assembly is arranged on the air claw mounting plate.

[0015] As a preferred solution of the present invention, the lengths of the multiple translational push rods on both sides of the anti-sticking push rod are gradually shortened, and the anti-sticking push rod and the multiple translational push rods together form a structure with a high middle and low sides in an initial state.

[0016] As a preferred solution of the present invention, an anti-sticking roller is provided on one end of the translational push rod close to the anti-sticking plate.

[0017] As a preferred solution of the present invention, a rolling shaft is provided at the end of the translational push rod, a bearing is provided on the rolling shaft, and the anti-sticking roller is installed on the bearing.

[0018] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0019] The present invention can be used for various types of suction devices to reliably grasp flexible self-adhesive labels, and the anti-sticking top rod and the anti-sticking roller are always in contact with the self-adhesive label before the grasping is completed, so that the self-adhesive label has no displacement in the horizontal plane, thereby ensuring the position accuracy of the self-adhesive label relative to the suction device after grasping, and providing accuracy guarantee for the subsequent automatic high-precision labeling process for objects of various shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0021] Figure 1 It is a schematic diagram of the universal grabbing mechanism for flexible self-adhesive labels in the present invention;

[0022] Figure 2 It is a schematic diagram of the anti-sticking plate assembly in the present invention;

[0023] Figure 3 It is a schematic diagram of the lifting cylinder assembly in the present invention;

[0024] Figure 4 It is a schematic diagram of the push rod roller assembly in the present invention;

[0025] Figure 5 It is a schematic diagram of a fixed push rod assembly in the present invention;

[0026] Figure 6 It is a schematic diagram of the translational ejector roller assembly in the present invention;

[0027] Figure 7 It is a schematic diagram of the inner arc surface gripper in the present invention grabbing a short adhesive label;

[0028] Figure 8 This is a schematic diagram of the inner arc surface gripper in the present invention grabbing a long adhesive label;

[0029] Fig. 9 This is a schematic diagram of the flat gripper grabbing the adhesive label in the present invention;

[0030] Fig.10 It is a schematic diagram of the outer curved surface gripper in the present invention grabbing a short adhesive label;

[0031] Fig.11 It is a schematic diagram of the outer curved surface suction device in the present invention grabbing a long adhesive label.

[0032] Marks and corresponding parts names in the attached drawings:

[0033] 1-anti-stick plate assembly, 2-lifting cylinder assembly, 3-top rod roller assembly, 4-anti-stick plate, 5-fixed mounting plate, 6-cylinder connecting plate, 7-lifting cylinder, 8-adapter plate, 9-claw mounting plate, 10-two-finger claw, 11-fixed top rod assembly, 12-translational top rod roller assembly, 13-first guide block, 14-anti-stick top rod, 15-first spring, 16-gasket, 17-screw, 18-left translation top rod roller assembly, 19-right translation top rod roller assembly, 20-second guide block, 21-translational top rod, 22-second spring, 23-anti-stick roller, 24-bearing, 25-rolling shaft. DETAILED DESCRIPTION

[0034] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0036] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0037] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0038] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0039] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0040] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces), unless otherwise clearly and specifically defined.

[0041] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0042] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of 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 embodiments of the present application can be understood according to the specific circumstances.

[0043] Please refer to Figures 1 to 11 , a universal gripping mechanism for flexible self-adhesive labels applicable to multiple types of grippers provided in an embodiment of the present application comprises an anti-sticking plate assembly 1, a lifting cylinder assembly 2 and a push rod roller assembly 3; the anti-sticking plate assembly 1 comprises an anti-sticking plate 4, and the anti-sticking plate 4 has a through groove along the plate thickness direction; the lifting cylinder assembly 2 comprises a lifting cylinder 7, the fixed end of the lifting cylinder 7 is connected to the anti-sticking plate assembly 1, and the output end of the lifting cylinder 7 is connected to the push rod roller assembly 3;

[0044] The push rod roller assembly 3 includes a fixed push rod assembly 11 and a translation push rod roller assembly 12, the fixed push rod assembly 11 includes an anti-sticking push rod 14, the translation push rod roller assembly 12 includes a plurality of translation push rods 21, the plurality of translation push rods 21 are symmetrically distributed on both sides of the anti-sticking push rod 14, and the anti-sticking push rod 14 and the plurality of translation push rods 21 are lifted and slid in the through groove along a direction perpendicular to the anti-sticking plate 4 under the drive of the lifting cylinder 7.

[0045] In this embodiment, the anti-sticking plate 4 is arranged horizontally, and the self-adhesive label of the label is placed downward on the anti-sticking plate 4 when grabbing. There is an area for placing the self-adhesive label on the upper surface of the anti-sticking plate 4, and the through groove is located in the area. The area has an array of grooves, which can ensure the support of the self-adhesive label and reduce the contact area with the self-adhesive label on the label, thereby facilitating the suction device to absorb the self-adhesive label.

[0046] In this embodiment, the piston rod of the lifting cylinder 7 is extended and retracted in a direction perpendicular to the anti-sticking plate 4, so as to drive the push rod roller assembly 3 to move as a whole along the thickness direction of the anti-sticking plate 4. The anti-sticking push rod 14 and the plurality of translation push rods 21 are arranged in the vertical direction and arranged at intervals in the same plane along the length direction of the through groove. The anti-sticking push rod 14 and the plurality of translation push rods 21 are in the shape of a strip, and the thickness is slightly smaller than the width of the through groove.

[0047] According to some embodiments of the present application, the anti-sticking plate assembly 1 also includes a fixed mounting plate 5 and a cylinder connecting plate 6, the anti-sticking plate 4 is arranged on the upper side of the fixed mounting plate 5, the cylinder connecting plate 6 is vertically arranged on the lower side of the fixed mounting plate 5, and the lifting cylinder 7 is installed on the cylinder connecting plate 6.

[0048] In this embodiment, the fixed mounting plate 5 is used to install and fix the entire anti-sticking plate assembly 1, the anti-sticking plate 4 is fixedly connected to the upper side of the fixed mounting plate 5 by bolting, the cylinder connecting plate 6 is fixedly connected to the lower side of the fixed mounting plate 5 by bolting, and the cylinder connecting plate 6 is perpendicular to the fixed mounting plate 5. The cylinder connecting plate 6 is mainly used to install the entire lifting cylinder assembly 2. The fixed mounting plate 5 is correspondingly provided with a through groove.

[0049] According to some embodiments of the present application, the lifting cylinder assembly 2 also includes an adapter plate 8 and an air claw mounting plate 9, the adapter plate 8 is connected to the piston rod of the lifting cylinder 7, the air claw mounting plate 9 is connected to the adapter plate 8, and the jacking rod roller assembly 3 is arranged on the air claw mounting plate 9.

[0050] In this embodiment, one side of the cylinder body of the lifting cylinder 7 is closely connected to the cylinder connecting plate 6, and the adapter plate 8 is parallel to the other side of the cylinder body of the lifting cylinder 7, that is, the adapter plate 8 is parallel to the cylinder connecting plate 6, and the upper end of the adapter plate 8 is connected to the connecting block at the end of the piston rod of the lifting cylinder 7 by bolting. The air claw mounting plate 9 is connected to the side of the adapter plate 8 by bolting, and the air claw mounting plate 9 is perpendicular to the adapter plate 8. The air claw mounting plate 9 is mainly used to install the entire jacking rod roller assembly 3.

[0051] According to some embodiments of the present application, the push rod roller assembly 3 further includes a two-finger air gripper 10, and the translation push rods 21 located on both sides of the anti-stick push rod 14 are respectively connected to the two relatively moving fingers on the two-finger air gripper 10. In this way, the translation push rods 21 on both sides of the anti-stick push rod 14 can be driven by the fingers of the two-finger air gripper 10 to achieve relative movement, thereby adjusting the spacing distance between the translation push rods 21 on both sides and the anti-stick push rod 14, thereby adapting to self-adhesive labels of different lengths.

[0052] Specifically, the two-finger air gripper 10 is fixedly installed on the air gripper mounting plate 9 by bolting. The two-finger air gripper 10 is horizontally arranged, and the anti-sticking push rod 14 and multiple translation push rods 21 are vertically arranged. The anti-sticking push rod 14 is located in the middle of the two-finger air gripper 10, and the two fingers of the two-finger air gripper 10 are respectively located on both sides of the anti-sticking push rod 14, and the anti-sticking push rod 14 does not move with the air gripper fingers.

[0053] According to some embodiments of the present application, the push rod roller assembly 3 also includes a first guide block 13 and a second guide block 20, the first guide block 13 is connected to the fixed end of the two-finger air claw 10, and the two second guide blocks 20 are respectively connected to the two relatively moving fingers of the two-finger air claw 10; the anti-sticking push rod 14 is floatingly set on the first guide block 13, and the translation push rods 21 located on both sides of the anti-sticking push rod 14 are respectively floatingly set on the two second guide blocks 20, and the floating directions of the anti-sticking push rod 14 and multiple translation push rods 21 are perpendicular to the anti-sticking plate 4.

[0054] Specifically, the first guide block 13 is fixedly connected to the middle of the two-finger air gripper 10, and is used to install the anti-sticking ejector pin 14; the second guide block 20 is fixedly connected to the fingers of the two-finger air gripper 10, and is used to install the translation ejector pin 21. The fingers of the two-finger air gripper 10 drive the second guide block 20 to slide, thereby driving the translation ejector pin 21 to move, so that the distance between the translation ejector pin 21 and the anti-sticking ejector pin 14 changes.

[0055] Since the anti-sticking push rod 14 and the multiple translation push rods 21 are all installed in a floating manner, specifically, the anti-sticking push rod 14 and the multiple translation push rods 21 can float up and down in the vertical direction relative to the first guide block 13 and the second guide block 20, so that they can automatically adapt to the external surfaces of various suction devices when sucking up the self-adhesive labels, and at the same time, they play a certain buffering role when the anti-sticking push rod 14 and the multiple translation push rods 21 contact the external surfaces of the suction device.

[0056] According to some embodiments of the present application, a first guide hole is provided on the first guide block 13, the anti-sticking push rod 14 is slidably provided in the first guide hole, a first spring 15 is provided in the first guide hole, and the first spring 15 is used to drive the anti-sticking push rod 14 to slide toward the anti-sticking plate 4;

[0057] A plurality of second guide holes are provided on the second guide block 20 , and the translational ejector rods 21 are respectively slidably provided in the plurality of second guide holes. Second springs 22 are respectively provided in the plurality of second guide holes, and the second springs 22 are used to drive the translational ejector rods 21 to slide toward the anti-sticking plate 4 .

[0058] In this embodiment, the first guide block 13, the anti-sticking ejector rod 14, the first spring 15 and other parts constitute the fixed ejector rod assembly 11; the translation ejector rod roller assembly 12 is divided into a symmetrically arranged left translation ejector rod roller assembly 18 and a right translation ejector rod roller assembly 19 based on the positions on the left and right sides of the fixed ejector rod assembly 11, wherein the left translation ejector rod roller assembly 18 and the right translation ejector rod roller assembly 19 are both composed of the second guide block 20, multiple translation ejectors 21 and multiple second springs 22 and other parts.

[0059] Specifically, the first guide hole and the second guide hole are both step hole structures that are set through, and the anti-sticking top rod 14 and the plurality of translation top rods 21 are both step rod structures, that is, the upper part of the anti-sticking top rod 14 and the plurality of translation top rods 21 is in the shape of a strip, and the lower part is in the shape of a round rod. When installed, the lower round rod section is inserted into the first guide hole and the second guide hole. The first spring 15 and the second spring 22 are respectively mounted on the round rod sections of the anti-sticking top rod 14 and the translation top rod 21. When the anti-sticking top rod 14 and the translation top rod 21 slide downward, the first spring 15 and the second spring 22 are respectively in a compressed and stored state.

[0060] According to some embodiments of the present application, a limiting structure is provided on each of the first guide block 13 and the second guide block 20, and the limiting structure is used to limit the maximum amount of sliding of the anti-sticking top rod 14 and the plurality of translation top rods 21 toward the anti-sticking plate 4, and the limiting structure includes a gasket 16 and a screw 17 arranged at the lower ends of the anti-sticking top rod 14 and the translation top rod 21.

[0061] Specifically, the screw 17 is coaxially connected to the tail of the anti-sticking top rod 14 and the translation top rod 21, and the gasket 16 is sleeved on the screw 17, and the outer diameter of the gasket 16 is larger than the hole diameter of the lower end of the first guide hole and the second guide hole. This arrangement does not hinder the anti-sticking top rod 14 and the translation top rod 21 from sliding downward, and when the anti-sticking top rod 14 and the translation top rod 21 slide upward under the action of the spring, the gasket 16 and the screw 17 can cooperate to play a limiting role.

[0062] According to some embodiments of the present application, the lengths of the multiple translational push rods 21 on both sides of the anti-sticking push rod 14 are gradually shortened, and the anti-sticking push rod 14 and the multiple translational push rods 21 together form a structure with a high middle and low sides in the initial state. In this way, when the curved surface suction device sucks the self-adhesive label, the middle anti-sticking push rod 14 can first contact the middle of the self-adhesive label and position it on the suction device, so that it has no displacement in the horizontal plane, further ensuring the position accuracy of the self-adhesive label relative to the suction device after grabbing.

[0063] According to some embodiments of the present application, an anti-sticking roller 23 is provided on one end of the translational push rod 21 close to the anti-sticking plate 4. By providing the anti-sticking roller 23 on the translational push rod 21, when the outer curved surface suction device sucks the self-adhesive label, if the position of the translational push rod 21 away from the anti-sticking push rod 14 is adjusted, the anti-sticking roller 23 can roll along the self-adhesive label to avoid damage to the self-adhesive label.

[0064] According to some embodiments of the present application, a rolling shaft 25 is provided at the end of the translational push rod 21, a bearing 24 is provided on the rolling shaft 25, and the anti-sticking roller 23 is installed on the bearing 24. By providing the rolling shaft 25 and the bearing 24 at the end of the translational push rod 21, the anti-sticking roller 23 is installed in this way, so that the anti-sticking roller 23 can be ensured to rotate flexibly.

[0065] The following is a description of the working methods of various types of grippers:

[0066] 1) Plane gripper grasping process: the lifting cylinder 7 and the two-finger air gripper 10 do not move, and the vacuum is turned on after the plane gripper contacts the surface of the self-adhesive label;

[0067] 2) The inner curved surface gripper grasping process: the lifting cylinder 7 rises slowly, the two-finger air gripper 10 does not move, and the inner curved surface gripper contacts the surface of the self-adhesive label to start the vacuum; if the self-adhesive label is long, the two-finger air gripper 10 opens first, the lifting cylinder 7 rises slowly again, and the inner curved surface gripper contacts the surface of the self-adhesive label to start the vacuum;

[0068] 3) External curved surface gripper grasping process: the lifting cylinder 7 rises slowly, and the external curved surface gripper contacts the surface of the self-adhesive label and starts vacuum; if the self-adhesive label is long, the two-finger air gripper 10 opens slowly, and the anti-sticking roller 23 rolls outward along the surface of the external curved surface gripper;

[0069] 4) After the grasping action is completed, the two-finger air gripper 10 is retracted and the lifting cylinder 7 is lowered.

[0070] The universal gripping mechanism for flexible self-adhesive labels in the embodiment of the present application can be used for reliable gripping of flexible self-adhesive labels by various types of suction devices, solving the problem of universal gripping of flexible self-adhesive labels by various types of suction devices. The anti-sticking top rod and the anti-sticking roller are always in contact with the self-adhesive label before the gripping is completed, so that the self-adhesive label has no displacement in the horizontal plane, thereby ensuring the position accuracy of the self-adhesive label relative to the suction device after gripping, and providing accuracy guarantee for the subsequent automatic high-precision labeling process for objects of various shapes.

[0071] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A universal gripping mechanism for flexible self-adhesive labels, characterized in that: It includes an anti-sticking plate assembly, a lifting cylinder assembly and a push rod roller assembly; the anti-sticking plate assembly includes an anti-sticking plate, and the anti-sticking plate has a through groove in the plate thickness direction; the lifting cylinder assembly includes a lifting cylinder, the fixed end of the lifting cylinder is connected to the anti-sticking plate assembly, and the output end of the lifting cylinder is connected to the push rod roller assembly; The push rod roller assembly includes a fixed push rod assembly and a translation push rod roller assembly, the fixed push rod assembly includes an anti-sticking push rod, the translation push rod roller assembly includes multiple translation push rods, the multiple translation push rods are symmetrically distributed on both sides of the anti-sticking push rod, and the anti-sticking push rod and multiple translation push rods are driven by the lifting cylinder to rise and fall and slide in the through groove in a direction perpendicular to the anti-sticking plate.

2. The universal gripping mechanism for flexible self-adhesive labels according to claim 1, characterized in that: The ejector rod roller assembly also includes a two-finger air claw, and the translation ejector rods located on both sides of the anti-sticking ejector rod are respectively connected to two relatively moving fingers on the two-finger air claw.

3. The universal gripping mechanism for flexible self-adhesive labels according to claim 2, characterized in that: The push rod roller assembly also includes a first guide block and a second guide block, the first guide block is connected to the fixed end of the two-finger air claw, and the two second guide blocks are respectively connected to the two relatively moving fingers of the two-finger air claw; the anti-sticking push rod is floatingly set on the first guide block, and the translation push rods located on both sides of the anti-sticking push rod are respectively floatingly set on the two second guide blocks, and the floating directions of the anti-sticking push rod and multiple translation push rods are perpendicular to the anti-sticking plate.

4. The universal gripping mechanism for flexible self-adhesive labels according to claim 3, characterized in that: The first guide block is provided with a first guide hole, the anti-sticking push rod is slidably arranged in the first guide hole, a first spring is arranged in the first guide hole, and the first spring is used to drive the anti-sticking push rod to slide toward the anti-sticking plate; A plurality of second guide holes are arranged on the second guide block, and the translational ejector rods are respectively slidably arranged in the plurality of second guide holes, and a second spring is respectively arranged in the plurality of second guide holes, and the second spring is used for driving the translational ejector rod to slide toward the anti-sticking plate.

5. The universal gripping mechanism for flexible self-adhesive labels according to claim 4, characterized in that: The first guide block and the second guide block are both provided with a limiting structure, and the limiting structure is used to limit the maximum amount of sliding of the anti-sticking ejector rod and a plurality of translation ejector rods toward the anti-sticking plate.

6. The universal gripping mechanism for flexible self-adhesive labels according to any one of claims 1 to 5, characterized in that: The anti-sticking plate assembly also includes a fixed mounting plate and a cylinder connecting plate, the anti-sticking plate is arranged on the upper side of the fixed mounting plate, the cylinder connecting plate is vertically arranged on the lower side of the fixed mounting plate, and the lifting cylinder is installed on the cylinder connecting plate.

7. The universal gripping mechanism for flexible self-adhesive labels according to any one of claims 1 to 5, characterized in that: The lifting cylinder assembly also includes an adapter plate and an air claw mounting plate, the adapter plate is connected to the piston rod of the lifting cylinder, the air claw mounting plate is connected to the adapter plate, and the jacking rod roller assembly is arranged on the air claw mounting plate.

8. The universal gripping mechanism for flexible self-adhesive labels according to any one of claims 1 to 5, characterized in that: The lengths of the multiple translational push rods on both sides of the anti-sticking push rod are gradually shortened, and the anti-sticking push rod and the multiple translational push rods together form a structure with a high middle and low sides in an initial state.

9. The universal gripping mechanism for flexible self-adhesive labels according to any one of claims 1 to 5, characterized in that: An anti-sticking roller is arranged on one end of the translational push rod close to the anti-sticking plate.

10. The universal gripping mechanism for flexible self-adhesive labels according to claim 9, characterized in that: A rolling shaft is arranged at the end of the translational ejector rod, a bearing is arranged on the rolling shaft, and the anti-sticking roller is installed on the bearing.

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