Threading and labeling manipulator and labeling method thereof

Abstract

The invention discloses a threading and labeling manipulator and a labeling method thereof.The threading and labeling manipulator comprises a manipulator body, the manipulator body is provided with a labeling assembly and a rotating mechanism, the labeling assembly comprises a suction cup and folding air cylinders, the suction cup sucks a label card, and the folding air cylinders are oppositely arranged on the two sides of the suction cup and drive the suction cup to rotate so as to fold the label card; the rotating mechanism drives the labeling assembly to rotate to a corresponding position; and the manipulator is connected with a double-acting cylinder which drives the manipulator to move back and forth along the labeling direction. The method comprises the steps that a suction cup sucks a label card, and a rotating mechanism vertically rotates a labeling assembly and then horizontally rotates to the labeling direction; the folding air cylinder drives the suction cup to swing towards the middle, the label card is folded, and through holes coincide. The double-acting air cylinder drives the labeling assembly to move forwards, so that a label card enters a strapping tape path; after the strapping tape penetrates through the through hole, the suction cup returns to unfold and release the label card, the label card is attached to the surface of the object along with the strapping tape, and the labeling assembly is reset to the initial position.

Description

Technical Field

[0001] The invention relates to the technical field of automatic labeling, in particular to a belt threading and labeling robot and a labeling method thereof. Background Art

[0002] In the packaging process of industrial products such as metal materials and steel coils, strapping is often used to tighten and secure the objects, and labels are set to identify product information. With the standardization of industry management and the improvement of quality supervision requirements, more and more industrial products are being included in the traceability system, and labels have also taken on an anti-counterfeiting role. Especially in application scenarios such as large-scale engineering projects and key material supervision, if labels are easily replaced or forged, it will not only affect the safety and controllability of material management, but may also cause non-compliant products to be mixed into the circulation process, damaging the brand reputation of merchants and causing economic losses. Therefore, labels need to not only have an identification function, but also have a certain structural anti-counterfeiting ability to ensure that they cannot be arbitrarily removed or counterfeited during transportation and use.

[0003] In the prior art, labels are mostly manually attached to the surface of the packaged object or the outside of the strapping. Even when automatic labeling equipment is used, as shown in Chinese patent publications CN 113895747A and CN 113335690A, labels are often affixed to the outside of the object. This attachment method is structurally simple, and the labels are easily removed or replaced, making it difficult to form a stable binding relationship. The anti-counterfeiting effect is limited, and the authenticity of the labels is difficult to determine. They are easily imitated and misappropriated, and cannot effectively meet the requirements for product safety and unique identification. Furthermore, the labeling process is independent of the strapping process, and the label fixing action occurs after the strapping is wrapped. This results in unstable labeling position and insufficient attachment accuracy, making it difficult to meet the requirements of industrial sites for the simultaneous execution of labeling and packaging actions. Summary of the Invention

[0004] The present invention aims to overcome the shortcomings of the prior art by providing a strapping and labeling robot and method thereof. This allows the label to be structurally integrated during the binding process with the strapping tape, preventing it from returning to its original state once removed, thereby achieving effective structural anti-counterfeiting. Furthermore, by synchronously attaching the label and strapping tape, the label's attachment position is stabilized, improving labeling accuracy and meeting the industrial demand for integrated labeling and packaging operations.

[0005] The technical solution for achieving the purpose of the present invention is: a belt threading labeling robot includes a labeling component, a rotating mechanism and a double-acting cylinder. The labeling component includes a suction cup and a folding cylinder. The folding cylinder is relatively arranged on both sides of the suction cup to drive the suction cup to rotate. The rotating mechanism drives the labeling component to rotate to a corresponding position; the robot is connected to a double-acting cylinder, and the double-acting cylinder drives the robot to move back and forth in the labeling direction.

[0006] Furthermore, the folding cylinder includes a first folding cylinder and a second folding cylinder, and the first folding cylinder and the second folding cylinder are respectively hinged with symmetrically arranged left and right rotating parts, and the rotating parts are fixed on the first connecting part, and the first connecting part is connected to the second connecting part, and the tail of the suction cup is passed through the second connecting part and fixed by a fastener.

[0007] Furthermore, the rotating mechanism includes a first rotating cylinder and a second rotating cylinder, the first rotating cylinder is arranged parallel to the labeling assembly, and the second rotating cylinder is arranged perpendicular to the labeling assembly; the labeling assembly is connected to the first rotating cylinder through a disc-shaped adapter base.

[0008] Furthermore, there are four suction cups arranged in a rectangular shape, and their relative positions correspond to the four corners of the label card.

[0009] Furthermore, the tape threading and labeling robot also includes a printer and a card holder. The card holder accommodates the label card printed by the printer, and the card holder is arranged below the labeling component.

[0010] Furthermore, the length of the suction cup along its adsorption direction is greater than the accommodating depth of the card holder for stacking label cards.

[0011] Furthermore, opposite ends of the label card are respectively provided with through holes for passing the strapping tape.

[0012] Furthermore, the strapping and labeling robot is used in conjunction with a strapping and packing device.

[0013] A labeling method for a tape-threading labeling robot comprises the following steps:

[0014] S1. Place the label card printed by the printer on the card holder, and use the suction cup to suck the top label card from the card holder.

[0015] S2, the rotating mechanism drives the labeling assembly to rotate, driving the label card to rotate to correspond to the labeling surface of the object to be packaged;

[0016] S3: The first folding cylinder and the second folding cylinder operate simultaneously, driving the upper and lower hinged rotating parts to rotate 90 degrees toward the middle direction respectively, and driving the suction cup to rotate 90 degrees around its top rotating end point synchronously through the first connecting part and the second connecting part, so that the label card is folded along the center line and the through holes at both ends overlap;

[0017] S4, the double-acting cylinder drives the manipulator to move forward in the labeling direction, so that the folded label card enters the strapping path;

[0018] S5, the strapping tape passes through the overlapping through-holes of the label card and wraps around the object to be packaged. Then, the folding cylinder reverses and drives the corresponding rotating parts to rotate 90 degrees to both sides, driving the suction cup to rotate back to the unfolded position, so that the label card is restored to its original unfolded state; the suction cup releases the adsorption and releases the label card, and the strapping tape is tightened so that the label card is fixed to the outer surface of the object along with the strapping tape;

[0019] S6. The manipulator retreats under the drive of the double-acting cylinder, and the rotating mechanism drives the labeling assembly to rotate, so that the suction cup returns to the adsorption position corresponding to the card holder to prepare for the next round of label card absorption action.

[0020] Furthermore, in step S2, the labeling assembly completes posture adjustment under the drive of the first rotary cylinder and the second rotary cylinder in sequence. The second rotary cylinder rotates the labeling assembly upward by 90 degrees to a vertical state, and the first rotary cylinder then rotates the labeling assembly 180 degrees in the horizontal direction.

[0021] After adopting the above technical solution, the present invention has the following positive effects:

[0022] (1) The label card of the present invention is provided with through holes at opposite ends, which are used to pass through the strapping tape to form a structural binding. Once the label is removed, it cannot be restored, thus achieving the anti-counterfeiting effect of the label.

[0023] (2) The present invention uses a double-acting cylinder to drive the manipulator to move forward and backward, thereby realizing the linkage between the label attachment process and the strapping process, which helps to form a synchronous packaging and labeling mechanism and improve work efficiency.

[0024] (3) The length of the suction cup in the present invention is greater than the accommodating depth of the card holder, which can ensure that the suction cup covers the entire discharge area when sucking the label card, avoids interference, and improves the stability and success rate of adsorption. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the initial structure of the suction label card of the present invention;

[0026] Figure 2 It is an enlarged view of the local structure of the present invention;

[0027] Figure 3 This is a schematic diagram of the present invention in an upward rotating motion state;

[0028] Figure 4 This is a schematic diagram of the state in which the present invention completes upward rotation;

[0029] Figure 5 This is a schematic diagram of the present invention when it is rotated to the labeling direction;

[0030] Figure 6 This invention Figure 5 A partial enlarged view of part B in the middle;

[0031] Figure 7 This is a schematic diagram of the state in which the label card of the present invention is folded;

[0032] Figure 8 This invention Figure 7 A partial enlarged view of the middle C area;

[0033] Figure 9 This is a structural diagram of the strapping and labeling robot of the present invention applied to a strapping and packing device;

[0034] Figure 10 It is a schematic cross-sectional view of the folding cylinder and the rotating member of the present invention;

[0035] In the figure, 1-manipulator; 11-labeling assembly; 111-suction cup; 112-folding cylinder; 112a-first folding cylinder; 112b-second folding cylinder; 113-rotating member; 114-first connecting member; 115-second connecting member; 12-rotating mechanism; 121-first rotating cylinder; 122-second rotating cylinder; 2-double-acting cylinder; 3-label card; 4-printer; 5-card holder; 6-strap packaging device. DETAILED DESCRIPTION

[0036] The technical solution of the present invention is described in detail below with reference to the accompanying drawings and embodiments. The accompanying drawings are only used for schematic description and do not constitute a limitation on the protection scope of the present invention.

[0037] like Figure 1 Figure 2 shows the initial overall structure of the present invention's tape threading and labeling robot, comprising a robot 1, a double-acting cylinder 2, a label card 3, a printer 4, and a card holder 5. Robot 1 serves as the mounting and execution platform for the entire machine, supporting the functional components of the labeling assembly 11 and the rotating mechanism 12. Its bottom is connected to the external frame via brackets or guide rails for stable operation. The structural design of robot 1 facilitates overall movement and repeatable positioning.

[0038] Figure 1 Combine Figure 9 As shown, the double-acting cylinder 2 is used to drive the robot 1 in a reciprocating motion along the labeling direction (i.e., the horizontal direction shown in the figure), cooperating with the labeling assembly 11 to complete the process of picking up the label card from the card holder 5 and moving it to the object labeling position. Its bidirectional travel setting ensures accurate labeling position and facilitates subsequent reset for the next cycle.

[0039] The label card 3 is a foldable structural label used in the present invention, which is used to realize product identification and structural anti-counterfeiting functions. Figure 6 and Figure 8As can be seen, the label card 3 has perforations at opposite ends, allowing the strapping tape to pass through and achieve an integrated connection with the strapping tape structure. The label card 3 is generally rectangular in structure and folds in half, with symmetrical perforations at both ends. Driven by the suction cup, it folds along its centerline and returns to its original state after unfolding.

[0040] The printer 4 is an external structural module, which is used to print the contents of the label card 3 in real time according to the control system instruction, including product number, specification information, anti-counterfeiting code, etc. After printing, the label cards 3 are stacked in sequence and sent to the card tray 5 for retrieval.

[0041] The card holder 5 is the feeding mechanism for label cards, located below the labeling assembly. It is used to hold label cards 3 printed by the printer 4. Its discharge direction is consistent with the suction direction of the suction cup 111. To ensure smooth suction operation, the structural design of the card holder 5 must ensure a flat discharge surface and a depth that is less than the length of the suction cup, so that the suction cup can stably cover and accurately absorb the top card.

[0042] like Figure 2 Figure 1 shows the overall structure of the robot arm 1, which primarily comprises a labeling assembly 11 and a rotation mechanism 12. The labeling assembly 11, located at the top of the robot arm 1, is the execution module that performs operations such as label card attachment, folding, and release. The labeling assembly 11 features a compact layout and works in conjunction with the rotation mechanism 12 to achieve multi-axis posture adjustment.

[0043] The labeling assembly 11 is provided with four suction cups 111 arranged in a rectangular shape. The four suction cups 111 are respectively located at corresponding positions at the four corners of the label card 3. The suction cups 111 are used to absorb a single label card and act as a driving carrier to participate in the folding and unfolding of the label in the subsequent folding process. The folding cylinder 112 cooperates with the suction cups 111 to drive the suction cups to achieve the folding and unfolding movements. The rotating mechanism 12 is arranged below the labeling assembly 11 and is installed in the middle position of the manipulator 1. The rotating mechanism 12 includes a first rotating cylinder 121 and a second rotating cylinder 122, which are respectively used to control the two-axis rotation of the labeling assembly 11 in space. The output direction of the second rotating cylinder 122 is perpendicular to the main direction of the labeling assembly 11 and is used to drive the labeling assembly to achieve vertical positioning; the output direction of the first rotating cylinder 121 is parallel to the labeling assembly 11 and is used to further achieve horizontal flipping after the labeling assembly is in a vertical state, so that the labeling assembly faces the direction to be labeled and completes the angle conversion.

[0044] like Figure 3 As shown, it is a schematic diagram of the present invention in the state of upward rotation. At this time, the labeling component 11 is driven by the second rotating cylinder 122. Figure 1The suction cup 111 in the label card 3 is swung upward, and the output shaft of the second rotary cylinder 122 provides driving torque along the axis parallel to the length direction of the labeling component 11. Since the labeling component 11 is installed above the second rotary cylinder 122, the second rotary cylinder 122 drives the labeling component 11 as a whole to rotate 90 degrees upward around the axis to Figure 4 Status. Figure 4 The labeling assembly 11 has been adjusted to a vertical position under the action of the second rotary cylinder 122, and the robot arm 1 is in an upright state. In this structural state, the suction cup 111 faces forward and keeps the label card 3 stably adsorbed.

[0045] like Figure 5 The figure shows the state of the present invention when it is rotated to the labeling direction. Figure 4 After the first rotary cylinder 121 drives the labeling assembly 11 to rotate vertically, it then actuates, driving the labeling assembly 11 to rotate 180 degrees horizontally. Specifically, the first rotary cylinder 121 and the labeling assembly 11 are connected via a disc-shaped adapter base. This disc-shaped adapter base has a through-hole for rotation, which connects to the second rotary cylinder 122 and forms the rotation center of the labeling assembly 11. Through this adapter base, the labeling assembly 11 can achieve 180-degree horizontal rotation around the first rotary cylinder 121.

[0046] like Figure 7 As shown in FIG, it is a schematic diagram of the state in which the label card is folded. Figure 5 After the labeling direction adjustment is completed, the label card 3 is kept in the state of being adsorbed, and the folding action is ready to be performed.

[0047] Combine Figure 6 and Figure 8 As can be seen from the labeling assembly 11 shown, a first folding cylinder 112a and a second folding cylinder 112b are respectively provided at the upper and lower parts of the labeling assembly 11. The two folding cylinders 112a and 112b drive their corresponding rotating parts 113 to rotate synchronously through the hinge structure. Figure 6 、 Figure 8 Combined with Figure 10 As shown, rotating member 113 has a semicircular profile and is fixedly connected to first connecting member 114 via its axis. First connecting member 114 is fixedly connected to second connecting member 115. Second connecting member 115 has a through hole for the tail of suction cup 111 to pass through and is secured by fasteners. With this configuration, suction cup 111 can rotate synchronously with the movement of rotating member 113.

[0048] Specifically, the rotating member 113 or the first connecting member 114 is not directly fixedly connected to the main body of the suction cup 111. Instead, it is connected to the rear end of the suction cup via the second connecting member 115. This ensures that the suction cup maintains a suitable rotational center during rotation. Furthermore, the rear end of the suction cup is fixed to the second connecting member through a threaded connection, preserving the downward travel of its suction surface, ensuring that in its initial state, it can penetrate deeply into the interior of the card holder 5 and accurately absorb the topmost label card. If the suction cup were directly connected to the rotating member 113 or the first connecting member 114, its downward travel would be restricted, preventing the successful card suction operation.

[0049] During the folding process, the first folding cylinder 112a drives the two upper rotating members 113 to rotate 90 degrees toward the center, while the second folding cylinder 112b drives the two lower rotating members 113 to rotate 90 degrees toward the center. That is, the left rotating member 113 rotates 90 degrees clockwise first, and the right rotating member 113 rotates 90 degrees counterclockwise first. The four suction cups 111 oscillate synchronously around their top rotation endpoints, thereby folding the label card 3 in half at the center line, aligning the through holes at both ends and forming a clamped state. In this structure, the label card 3 completes the initial anti-counterfeiting structure preset and waits to enter the strapping path for further fixation.

[0050] like Figure 9 Shown combination Figure 7 After completing the folding process, the robot 1, driven by the double-acting cylinder 2, moves the labeling assembly 11, along with the label card 3, forward in the labeling direction to the strapping path. The strapping device 6 passes the strapping through the overlapping holes in the label card 3 and wraps it around the object to be packaged. Subsequently, the folding cylinder 112 reverses, returning the suction cup 111 to the unfolded state, and the label card 3 unfolds accordingly. The suction cup 111 then releases the label card 3, and the strapping is tightened, securing the label card to the object, forming an integrated structure of label and strapping.

[0051] In particular, Figure 9 As shown, the strapping device 6 is located at the end of the manipulator's forward direction. Its structure is compatible with common strapping mechanisms on the market. It is primarily used to drive the strapping tape through the through-holes of the label card 3 and around the packaged object to complete the binding action. The strapping device 6 operates in conjunction with the labeling mechanism of the present invention. After the label card enters the labeling position, the strapping tape is quickly threaded, tightened, and sealed, achieving synchronous label binding and packaging.

[0052] The present invention also relates to a labeling method for a tape-threading labeling robot, Figures 1 to 10 In the embodiment shown, the steps are as follows:

[0053] Step S1: Printer 4 prints label cards 3 according to the control system's preset settings and stacks the printed label cards sequentially in card holder 5. Card holder 5 is positioned below labeling assembly 11, with its discharge surface aligned with the suction direction of suction cup 111. Suction cup 111 descends to the discharge position of card holder 5 and, through its vacuum mechanism, picks up a label card 3 from the topmost layer. The label cards 3 are foldable, with through-holes at both ends for threading straps.

[0054] Step S2: After the suction cup 111 absorbs the label card 3, the second rotary cylinder 122 is started, driving the manipulator 1 to rotate upward 90 degrees around the second rotary cylinder 122, so that the labeling component 11 is adjusted from the initial horizontal state to the vertical state (such as Figure 3 、 Figure 4 Complete the vertical posture adjustment.

[0055] Step S3: The first rotating cylinder 121 is started, and the disc-shaped adapter base drives the labeling assembly 11 to rotate 180 degrees around its own axis in the horizontal direction, so that the label card 3 faces the object to be labeled, and the labeling direction is adjusted (such as Figure 5 The adapter base is provided with a rotating hole shaft, and the labeling component rotates only in this component without affecting the rotation of the robot 1 body.

[0056] Step S4: After the rotating mechanism 12 drives the labeling component 11 to complete the direction adjustment, the first folding cylinder 112a and the second folding cylinder 112b in the labeling component 11 act simultaneously, driving the hinged rotating parts 113 to rotate 90 degrees in the middle direction. Each rotating part 113 is axially connected to the first connecting part 114, and the first connecting part 114 is connected to the second connecting part 115. The tail of the suction cup 111 is passed through the second connecting part 115 and fixed by a fastener, thereby forming a movable connection structure centered on the axis of the rotating part. During the folding process, the upper and lower four suction cups 111 swing synchronously toward the center line around their top rotation end points, so that the adsorbed label card 3 is folded along the center line and the through holes at both ends of the label card overlap (such as Figure 7 、 Figure 8 、 Figure 10 The folding structure provides a channel for subsequent insertion and fixation of the strapping belt.

[0057] Step S5: The double-acting cylinder 2 is started, driving the manipulator 1 to drive the labeling assembly 11 to move forward to the front of the strapping device 6, so that the folded label card 3 is exactly located on the strapping path (such as Figure 9 The strapping device 6 is activated to pass the strapping tape through the overlapping through holes of the label card 3 and wrap around the object to be packaged.

[0058] Step S6: Folding cylinders 112a and 112b reverse the rotation of their respective rotating members 113 and suction cups 111 by 90 degrees, allowing the label card 3 to unfold from its folded state to its original flat state. During this process, the label card 3 remains threaded by the strapping tape, with the through-holes positioned unchanged, while the label card 3 unfolds. The suction cups 111 then close and release the label card. The strapping and packing device 6 further tightens the strapping tape and completes the sealing operation, allowing the label card 3 to be firmly attached to the outer surface of the packaged object along with the strapping tape, completing the labeling and anti-counterfeiting binding.

[0059] Step S7: After labeling is completed, the double-acting cylinder 2 drives the manipulator 1 back to the initial position, and the first rotary cylinder 121 and the second rotary cylinder 122 move in reverse in sequence to reset the labeling component 11 to the horizontal adsorption state, and the suction cup 111 is realigned with the discharge surface of the card holder 5, ready to perform the next round of labeling operation.

[0060] It should be noted that, in this document, relational terms such as first and second, etc. are merely used to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any actual relationship or order between these entities or operations.

[0061] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit 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. The tape-threading labeling robot includes a labeling component, a rotating mechanism and a double-acting cylinder, and is characterized by: The labeling assembly includes a suction cup and a folding cylinder. The folding cylinder is relatively arranged on both sides of the suction cup to drive the suction cup to rotate, and the rotating mechanism drives the labeling assembly to rotate to the corresponding position; the manipulator is connected to a double-acting cylinder, and the double-acting cylinder drives the manipulator to move back and forth along the labeling direction.

2. The tape threading and labeling robot according to claim 1, characterized in that: The folding cylinder includes a first folding cylinder and a second folding cylinder, and the first folding cylinder and the second folding cylinder are respectively hinged with symmetrically arranged left and right rotating parts, and the rotating parts are fixed on the first connecting part. The first connecting part is connected to the second connecting part, and the tail of the suction cup is passed through the second connecting part and fixed by a fastener.

3. The tape threading and labeling robot according to claim 1, characterized in that: The rotating mechanism includes a first rotating cylinder and a second rotating cylinder. The first rotating cylinder is arranged parallel to the labeling assembly, and the second rotating cylinder is arranged perpendicular to the labeling assembly. The labeling assembly is connected to the first rotating cylinder through a disc-shaped adapter base.

4. The tape threading and labeling robot according to claim 1, characterized in that: There are four suction cups arranged in a rectangular shape, and their relative positions correspond to the four corners of the label card.

5. The tape threading and labeling robot according to claim 1, characterized in that: The tape threading and labeling robot further comprises a printer and a card bracket. The card bracket accommodates label cards printed by the printer, and the card bracket is arranged below the labeling component.

6. The tape threading and labeling robot according to claim 1 or 4, characterized in that: The length of the suction cup along its adsorption direction is greater than the accommodating depth of the card bracket for stacking label cards.

7. The tape threading and labeling robot according to claim 1 or 5, characterized in that: The opposite ends of the label card are respectively provided with through holes for the strapping tape to pass through.

8. The tape threading and labeling robot according to any one of claims 1 to 5, characterized in that: The strapping and labeling robot is used in conjunction with a strapping and packing device.

9. A labeling method for a tape threading and labeling robot according to any one of claims 1 to 5, characterized in that: The steps include: S1. Place the label card printed by the printer on the card holder, and use the suction cup to suck the top label card from the card holder. S2, the rotating mechanism drives the labeling assembly to rotate, driving the label card to rotate to correspond to the labeling surface of the object to be packaged; S3: The first folding cylinder and the second folding cylinder operate simultaneously, driving the upper and lower hinged rotating parts to rotate 90 degrees toward the middle direction respectively, and driving the suction cup to rotate 90 degrees around its top rotating end point synchronously through the first connecting part and the second connecting part, so that the label card is folded along the center line and the through holes at both ends overlap; S4, the double-acting cylinder drives the manipulator to move forward in the labeling direction, so that the folded label card enters the strapping path; S5, the strapping tape passes through the overlapping through-holes of the label card and wraps around the object to be packaged. Then, the folding cylinder reverses and drives the corresponding rotating parts to rotate 90 degrees to both sides, driving the suction cup to rotate back to the unfolded position, so that the label card is restored to its original unfolded state; the suction cup releases the adsorption and releases the label card, and the strapping tape is tightened so that the label card is fixed to the outer surface of the object along with the strapping tape; S6. The manipulator retreats under the drive of the double-acting cylinder, and the rotating mechanism drives the labeling assembly to rotate, so that the suction cup returns to the adsorption position corresponding to the card holder to prepare for the next round of label card absorption action.

10. The labeling method of the tape threading and labeling robot according to claim 9, characterized in that: In step S2, the labeling assembly completes posture adjustment under the drive of the first rotary cylinder and the second rotary cylinder in sequence. The second rotary cylinder rotates the labeling assembly upward by 90 degrees to a vertical state, and the first rotary cylinder then rotates the labeling assembly 180 degrees in the horizontal direction.

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