Multi-sided Labeling and Coding Mechanism for Intelligent Robots

Abstract

The present invention relates to a multi-sided labeling and coding mechanism for intelligent robots, belonging to the technical field of packaging box labeling and coding. It includes two roller conveyors and a robotic arm. An operating head is provided at the front end of the robotic arm, and a labeling and coding station is left between the two roller conveyors. It also includes a horizontal transfer mechanism and a synchronous picking mechanism arranged at the front end of the horizontal transfer mechanism. The packaging box to be labeled and coded is conveyed to the labeling and coding station by one roller conveyor. The synchronous picking mechanism picks up the packaging box. During the process that the horizontal transfer mechanism pushes the synchronous picking mechanism to convey the packaging box to the other roller conveyor, the bottom surface of the packaging box gradually becomes suspended, and the robotic arm drives the operating head to complete the labeling and coding operations on the bottom surface and other surfaces of the packaging box. The present invention can well complete the labeling and coding operations on multiple surfaces of the packaging box, especially the lower end surface, while ensuring the horizontal transportation of the packaging box, with high flexibility in use and good application prospects.

Description

Technical Field

[0001] The present invention belongs to the technical field of labeling and coding for packaging boxes, and particularly relates to a multi-sided labeling and coding mechanism for intelligent robots. Background Art

[0002] In the packaging production lines of products such as medicines and cosmetics, after the packing and sealing processes are completed, it is necessary to perform labeling and coding operations on the surface of the packaging boxes. For the labeling and coding of packaging boxes, currently, mainly automatic labeling technology is used, and through the drive of the robotic arm, labels are accurately pasted and coded on the packaging boxes.

[0003] In the prior art, for example, an automated multi-directional on-line labeling and coding device proposed in CN114348390A can perform labeling and coding on four sides of a packaging box, and can simultaneously adjust the placement direction of the carton and realize the parallel production of labeling and coding. The conveying equipment used completely blocks the lower end surface of the packaging box. In actual applications, there are operations such as labeling and coding on the lower end surface of the packaging box. If the packaged and sealed goods are simply flipped by a flipping mechanism and then labeled and coded, it will not only increase the process but also increase the risk of product damage. How to ensure the horizontal conveying of the packaging box while completing the labeling and coding operations on multiple sides of the packaging box, especially the lower end surface, is a technical problem to be solved. For this reason, we have proposed a multi-sided labeling and coding mechanism for intelligent robots. Summary of the Invention

[0004] The purpose of the present invention is to provide a multi-sided labeling and coding mechanism for intelligent robots to solve the above problems.

[0005] The present invention realizes the above purpose through the following technical solutions:

[0006] A multi-sided labeling and coding mechanism for intelligent robots includes two roller conveyors arranged horizontally for conveying packaging boxes and a robotic arm arranged on one side of the roller conveyors. An operating head is provided at the front end of the robotic arm, and a labeling and coding station is left between the two roller conveyors.

[0007] It also includes a horizontal transfer mechanism arranged below one of the roller conveyors; and a synchronous picking mechanism arranged at the front end of the horizontal transfer mechanism, and the picking end of the synchronous picking mechanism extends to the horizontal central axis of the two roller conveyors.

[0008] The packaging box to be labeled and coded is conveyed to the labeling and coding station by one roller conveyor. The synchronous picking mechanism picks up the packaging box. During the process that the horizontal transfer mechanism pushes the synchronous picking mechanism to convey the packaging box to the other roller conveyor, the bottom surface of the packaging box gradually becomes suspended, and the robotic arm drives the operating head to complete the labeling and coding operations on the bottom surface and other surfaces of the packaging box.

[0009] As a further optimized solution of the present invention, the operating head includes a horizontal plate, a coding stamp disposed in the middle of the horizontal plate, and a vacuum chuck disposed on the horizontal plate along the outer circle of the coding stamp. A connection head axially connected to the front end of the robotic arm is provided on the upper end surface of the coding stamp.

[0010] As a further optimized solution of the present invention, the horizontal transfer mechanism includes a base and a transfer rack slidably fitted with the base. A vertical rack connected to the synchronous picking mechanism is provided at the front end of the transfer rack. A rack is provided on the inner side wall of the base. A driving motor is provided on the transfer rack, and a gear member meshing with the rack is provided at the driving end of the driving motor. A guide rail movably fitted with the base is provided on the outer side of the transfer rack.

[0011] As a further optimized solution of the present invention, auxiliary support members are symmetrically provided on both sides of the base. The auxiliary support member includes a U-shaped steel strip, magnets evenly distributed on the outer side of the U-shaped steel strip, and an end seat provided at the front end of the U-shaped steel strip and connected to the outside of the roller conveyor.

[0012] As a further optimized solution of the present invention, the synchronous picking mechanism includes a vacuum generator provided at the rear end of the horizontal transfer mechanism, a delivery pipe connected to the air outlet of the vacuum generator, and a valve member provided at the front end of the horizontal transfer mechanism. A plurality of suction nozzles are evenly distributed at the top of the valve member.

[0013] As a further optimized solution of the present invention, the valve member includes a housing. Curved surfaces cooperating with the roller conveyor are symmetrically provided on the outer side walls on both sides of the housing. A cavity is provided inside the housing, and a valve seat is provided on one side of the cavity. A blocking flap is fixed on the side corresponding to the valve seat inside the cavity. A linkage block is movably inserted at the front end of the housing, and one end of the linkage block extending into the cavity is connected to the blocking flap. A spring member is sleeved on one end of the linkage block extending into the cavity, and a bushing is provided at the insertion position of the linkage block and the housing.

[0014] As a further optimized solution of the present invention, the roller conveyor includes a frame and roller members evenly provided on the frame. Meshing gears are provided at the ends of each roller member, and a servo motor sleeved on one of the roller members is provided outside the frame.

[0015] As a further optimized solution of the present invention, a machine cover is provided on the frame. Two limiting frames are symmetrically provided on the inner side of the machine cover, and a cylinder is provided outside the machine cover and the piston rod end of the cylinder is connected to one of the limiting frames.

[0016] As a further optimized solution of the present invention, a label printer corresponding to the robotic arm is provided outside the roller conveyor, and a printing color table and a dispensing roller rotatably fitted for dispensing labels are provided on the label printer.

[0017] The beneficial effects of the present invention are as follows:

[0018] In the present invention, by means of the horizontal transfer mechanism combined with the synchronous picking mechanism to drive the packaging box to translate on the labeling and coding station, the lower end surface of the packaging box is in a suspended state, which facilitates the manipulator to drive the operating head to extend from below the packaging box to perform the labeling and coding operation on the lower end surface of the packaging box. At the same time, it can also ensure that the packaging box is smoothly transferred from one roller conveyor to another roller conveyor, with high flexibility in use and good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the overall structure provided by the present invention;

[0020] Figure 2 is a partial side view provided by the present invention;

[0021] Figure 3 provided by the present invention Figure 2 is an enlarged structural view of part A-A in;

[0022] Figure 4 is a schematic diagram of the internal structure of the valve member provided by the present invention;

[0023] Figure 5 is a three-dimensional structural view of the auxiliary support member provided by the present invention;

[0024] Figure 6 is a schematic diagram of the structure of the operating head provided by the present invention;

[0025] In the figure: 1. Roller conveyor; 11. Frame; 12. Roller member; 13. Hood; 14. Limit frame; 15. Cylinder; 16. Servo motor; 17. Meshing gear; 2. Manipulator; 3. Operating head; 31. Horizontal plate; 32. Vacuum chuck; 33. Coding stamp; 34. Connector; 4. Label printer; 5. Horizontal transfer mechanism; 51. Base; 52. Transfer frame; 53. Vertical frame; 54. Driving motor; 55. Gear member; 56. Rack; 57. Guide rail; 58. Auxiliary support member; 581. U-shaped steel belt; 582. End seat; 583. Magnet; 6. Synchronous picking mechanism; 61. Vacuum generator; 62. Delivery pipe; 63. Suction nozzle; 64. Valve member; 641. Outer shell; 642. Linking block; 643. Bush; 644. Spring member; 645. Plugging flap; 646. Valve seat; 7. Diverting roller; 8. Ink printing table. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0026] The following further describes the present application in detail with reference to the drawings. It is necessary to point out here that the following specific embodiments are only used to further illustrate the present application and cannot be understood as limiting the protection scope of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application according to the above application content.

[0027] Example 1

[0028] As Figure 1-2 shown, the multi-sided labeling and coding mechanism of the intelligent robot provided in this embodiment includes two roller conveyors 1 arranged horizontally for conveying packing boxes and a robotic arm 2 arranged on one side of the roller conveyor 1. An operating head 3 is provided at the front end of the robotic arm 2. A labeling and coding station is left between the two roller conveyors 1;

[0029] It further includes a horizontal transfer mechanism 5 arranged below one of the roller conveyors 1; and a synchronous picking mechanism 6 arranged at the front end of the horizontal transfer mechanism 5. The picking end of the synchronous picking mechanism 6 extends to the horizontal central axis of the two roller conveyors 1;

[0030] The packing box to be labeled and coded is conveyed to the labeling and coding station by one roller conveyor 1. The synchronous picking mechanism 6 picks up the packing box. During the process that the horizontal transfer mechanism 5 pushes the synchronous picking mechanism 6 to convey the packing box to the other roller conveyor 1, the bottom surface of the packing box gradually becomes suspended, and the robotic arm 2 drives the operating head 3 to complete the labeling and coding operations on the bottom surface and other surfaces of the packing box.

[0031] Furthermore, as Figure 6 shown, the operating head 3 includes a cross plate 31, a coding stamp 33 arranged in the middle of the cross plate 31, and vacuum suction cups 32 arranged on the cross plate 31 along the outer circle of the coding stamp 33. A connecting head 34 is provided on the upper end surface of the coding stamp 33 and is axially connected to the front end of the robotic arm 2. The connecting head 34 is used to connect the entire operating head 3 to the robotic arm 2. The robotic arm 2 can drive the operating head 3 to move in multiple axial directions. A label printer 4 corresponding to the robotic arm 2 is arranged outside the roller conveyor 1. An ink printing table 8 is provided on the label printer 4, and a dispensing roller 7 for dispensing labels is rotatably fitted. The label printer 4 prints labels and conveys the labels through the dispensing roller 7. The vacuum suction cups 32 of the operating head 3 pick off the labels under the action of vacuum suction, and approach the packing box under the drive of the robotic arm 2 to complete the labeling operation. In addition, after the coding stamp 33 on the operating head 3 contacts the ink printing table 8 under the drive of the robotic arm 2, it is then driven by the robotic arm 2 to approach the packing box 2 to complete the coding operation.

[0032] Further, the roller conveyor 1 includes a frame 11 and roller members 12 evenly arranged on the frame 11. Meshing gears 17 are provided at the ends of each of the roller members 12. A servo motor 16 sleeved on one of the roller members 12 is provided outside the frame 11. After the servo motor 16 drives one of the roller members 12 to rotate, through the meshing transmission between the meshing gears 17, a plurality of roller members 12 on the frame 11 achieve synchronous rotation. A hood 13 is provided on the frame 11. Two limiting frames 14 are symmetrically provided inside the hood 13. A cylinder 15 is provided outside the hood 13, and the piston rod end of the cylinder 15 is connected to one of the limiting frames 14. The cylinder 15 drives one of the limiting frames 14 to approach the other limiting frame 14, changing the distance between the two to adapt to packaging boxes of different widths.

[0033] Embodiment 2

[0034] Based on Embodiment 1, as Figure 2-3 shown, the horizontal transfer mechanism 5 includes a base 51 and a transfer frame 52 slidably engaged with the base 51. A vertical frame 53 connected to the synchronous picking mechanism 6 is provided at the front end of the transfer frame 52. A rack 56 is provided on the inner side wall of the base 51. A drive motor 54 is provided on the transfer frame 52, and a gear member 55 meshing with the rack 56 is provided at the drive end of the drive motor 54. A guide rail 57 movably embedded with the base 51 is provided outside the transfer frame 52. The guide rail 57 ensures the structural stability between the transfer frame 52 and the base 51 during horizontal movement.

[0035] Furthermore, as Figure 5 shown, auxiliary support members 58 are symmetrically provided on both sides of the base 51. The auxiliary support members 58 establish a structural connection between the roller conveyor 1 and the horizontal transfer mechanism 5. The auxiliary support members 58 include a U-shaped steel strip 581, magnets 583 evenly distributed outside the U-shaped steel strip 581, and an end seat 582 provided at the front end of the U-shaped steel strip 581 and connected to the outside of the roller conveyor 1. During use, while the transfer frame 52 generates a horizontal displacement, the U-shaped steel strip 581 is pulled to generate a displacement, so that the magnets 583 outside the U-shaped steel strip 581 are gradually peeled off from the roller conveyor 1. When the transfer frame 52 is reset, the magnets 583 outside the U-shaped steel strip 581 gradually return to the state of magnetic attraction with the roller conveyor 1 again.

[0036] The synchronous picking mechanism 6 includes a vacuum generator 61 provided at the rear end of the horizontal transfer mechanism 5, a delivery pipe 62 connected to the air outlet of the vacuum generator 61, and a valve member 64 provided at the front end of the horizontal transfer mechanism 5. A plurality of suction nozzles 63 are evenly distributed at the top of the valve member 64. The valve member 64 is in an open state in its original state. The vacuum suction generated by the vacuum generator 61 drives the suction nozzles 63 through the delivery pipe 62, so that the suction nozzles 63 have suction force to adsorb the packaging box. Under the drive of the horizontal transfer mechanism 5 and the action of the synchronous picking mechanism 6, the packaging box is ferried from one roller conveyor 1 to another roller conveyor 1.

[0037] The specific application process is as follows. When the packaging box to be labeled and coded is about to be conveyed to the labeling and coding station between the two roller conveyors 1 by a roller conveyor 1, the synchronous picking mechanism 6 is activated. The vacuum suction generated by the vacuum generator 61 drives the suction nozzles 63 through the delivery pipe 62, so that the suction nozzles 63 have suction force to adsorb the packaging box. At the same time, the horizontal transfer mechanism 5 is started, that is, after the drive motor 54 drives the gear member 55 to rotate and meshes with the rack 56 inside the base 51, it drives the transfer frame 52 and the base 51 to generate a horizontal displacement, and then drives the synchronous picking mechanism 6 at the upper end of the vertical frame 53 at the front end of the transfer frame 52 to synchronously displace horizontally, driving the packaging box adsorbed by the synchronous picking mechanism 6 to translate at the labeling and coding station. At the same time, the robotic arm 2 drives the operating head 3 to approach the surface of the packaging box where labeling and coding are required, and then completes multi-sided labeling and coding. Especially in this application, by the way that the horizontal transfer mechanism 5 combines with the synchronous picking mechanism 6 to drive the packaging box to translate at the labeling and coding station, the lower end surface of the packaging box is in a suspended state, which is convenient for the robotic arm 2 to drive the operating head 3 to extend from below the packaging box to realize the labeling and coding operation on the lower end surface of the packaging box, and at the same time, it can also ensure that the packaging box is smoothly transferred from one roller conveyor 1 to another roller conveyor 1.

[0038] Embodiment 3

[0039] On the basis of Embodiment 2, as Figure 4 shown, the valve member 64 includes a housing 641. The outer walls on both sides of the housing 641 are symmetrically provided with curved surfaces that cooperate with the roller conveyor 1. A cavity is provided inside the housing 641, and a valve seat 646 is provided on one side of the cavity. A blocking flap 645 is fixed on the side of the cavity corresponding to the valve seat 646. A linkage block 642 is movably inserted at the front end of the housing 641, and one end of the linkage block 642 extending into the cavity is connected to the blocking flap 645. A spring member 644 is sleeved on one end of the linkage block 642 extending into the cavity, and a bushing 643 is provided at the insertion part of the linkage block 642 and the housing 641;

[0040] Specifically, when the horizontal transfer mechanism 5 moves the package adsorbed by the synchronous picking mechanism 6 to another roller conveyor 1 after completing labeling and coding at the labeling and coding station, the outer side of the linkage block 642 with a curved surface design contacts the outside of the roller conveyor 1. As the horizontal transfer mechanism 5 continues to advance, relative sliding occurs between the linkage block 642 and the housing 641, causing the spring member 644 outside the linkage block 642 to be stretched. Then, the linkage block 642 pushes the plugging flap 645 to abut against the valve seat 646, and the cavity is divided into two spaces, closing the valve member 64 and causing the suction nozzle 63 to lose suction. When one end of the packaging box contacts the roller conveyor 1, since the synchronous picking mechanism 6 cannot adsorb the packaging box, the packaging box is conveyed to the next processing station along with the roller conveyor 1. Subsequently, the horizontal transfer mechanism 5 resets and the synchronous picking mechanism 6 also resets accordingly.

[0041] The above embodiments merely represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several variations and improvements can still be made.

Claims

1. Intelligent robot multi-sided labeling and coding mechanism, comprising two roller conveyors (1) arranged horizontally for conveying packing boxes and a robotic arm (2) arranged on one side of the roller conveyor (1), wherein an operating head (3) is provided at the front end of the robotic arm (2), and it is characterized in that: A labeling and coding station is provided between the two drum conveyors (1). It further includes a horizontal transfer mechanism (5) arranged below one of the drum conveyors (1) and a synchronous picking mechanism (6) arranged at the front end of the horizontal transfer mechanism (5). The picking end of the synchronous picking mechanism (6) extends to the horizontal central axis of the two drum conveyors (1). The horizontal transfer mechanism (5) includes a base (51) and a transfer frame (52) slidably matched with the base (51). A vertical frame (53) connected to the synchronous picking mechanism (6) is arranged at the front end of the transfer frame (52). A rack (56) is arranged on the inner side wall of the base (51). A driving motor (54) is arranged on the transfer frame (52), and a gear member (55) meshing with the rack (56) is arranged at the driving end of the driving motor (54). A guide rail (57) movably embedded with the base (51) is arranged on the outer side of the transfer frame (52). Auxiliary support members (58) are symmetrically arranged on both sides of the base (51). The auxiliary support member (58) includes a U-shaped steel belt (581), magnets (583) evenly distributed on the outer side of the U-shaped steel belt (581), and an end seat (582) arranged at the front end of the U-shaped steel belt (581) and connected to the outside of the drum conveyor (1). The synchronous picking mechanism (6) includes a vacuum generator (61) arranged at the rear end of the horizontal transfer mechanism (5), a delivery pipe (62) connected to the air outlet of the vacuum generator (61), and a valve member (64) arranged at the front end of the horizontal transfer mechanism (5). A plurality of suction nozzles (63) are evenly distributed at the top of the valve member (64). The valve member (64) includes a housing (641). Curved surfaces matched with the drum conveyor (1) are symmetrically arranged on the outer side walls on both sides of the housing (641). A cavity is arranged inside the housing (641), and a valve seat (646) is arranged on one side of the cavity. A blocking flap (645) is fixed on the side corresponding to the valve seat (646) inside the cavity. A linkage block (642) is movably inserted at the front end of the housing (641), and one end of the linkage block (642) extending into the cavity is connected to the blocking flap (645). A spring member (644) is sleeved on one end of the linkage block (642) extending into the cavity, and a bushing (643) is arranged at the insertion part of the linkage block (642) and the housing (641). The packaging box to be labeled and coded is conveyed by one drum conveyor (1) to the labeling and coding station. During the process that the synchronous picking mechanism (6) picks up the packaging box and the horizontal transfer mechanism (5) pushes the synchronous picking mechanism (6) to convey the packaging box to the other drum conveyor (1), the bottom surface of the packaging box gradually becomes suspended, and the manipulator (2) drives the operating head (3) to complete the labeling and coding operations on the bottom surface and other surfaces of the packaging box.

2. The multi-sided labeling and coding mechanism for intelligent robots according to claim 1, characterized in that: The operating head (3) includes a cross plate (31), a coding stamp (33) arranged in the middle of the cross plate (31), and vacuum suction cups (32) arranged on the cross plate (31) along the outer circle of the coding stamp (33). A connecting head (34) axially connected to the front end of the manipulator (2) is arranged on the upper end surface of the coding stamp (33).

3. The multi-sided labeling and coding mechanism of the intelligent robot according to claim 1, wherein: The drum conveyor (1) includes a frame (11) and drum members (12) evenly arranged on the frame (11), and meshing gears (17) engaging with each other are provided at the ends of each drum member (12). A servo motor (16) sleeved on one of the drum members (12) is provided outside the frame (11).

4. The multi-sided labeling and coding mechanism for an intelligent robot according to claim 3, characterized in that: A hood (13) is provided on the frame (11). Two limiting frames (14) are symmetrically provided inside the hood (13). A cylinder (15) is provided outside the hood (13), and the piston rod end of the cylinder (15) is connected to one of the limiting frames (14).

5. The multi-sided labeling and coding mechanism for intelligent robots according to claim 1, characterized in that: A label printer (4) corresponding to the robotic arm (2) is provided outside the drum conveyor (1), and a printing color table (8) and a dispensing roller (7) rotatably fitted for dispensing labels are provided on the label printer (4).

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