Labeling mechanisms, intelligent labeling equipment and labeling methods

Abstract

This invention discloses a labeling mechanism, an intelligent labeling device, and a labeling method. The labeling mechanism includes suction cups for adsorbing labels; multiple suction cups are arranged adjacent to each other, with a gap between adjacent suction cups; multiple miniature cylinders are connected to the suction cups; each miniature cylinder is equipped with a connecting plate; each miniature cylinder is connected to a suction cup via the connecting plate, and each miniature cylinder can independently drive the suction cup connected to it to complete the labeling action; the width of each miniature cylinder is greater than the gap between adjacent suction cups; and a fixing plate is used to fix the miniature cylinders. The labeling mechanism of this invention can pick up multiple labels at once and has a compact structure and small size.

Description

Technical Field

[0001] This invention relates to the field of intelligent labeling equipment, and particularly to a labeling mechanism, intelligent labeling equipment, and labeling method. Background Technology

[0002] With the development of technology, the variety of electronic components is increasing. To distinguish different types of electronic components, different labels need to be made for different types of electronic components. Therefore, labeling equipment is needed to label electronic components during manufacturing.

[0003] When labeling electronic components, there are situations where multiple labels need to be affixed to the same component. Existing labeling equipment often only has one labeling head, which repeatedly travels between the label storage area and the electronic component to perform labeling operations, resulting in low efficiency. Furthermore, existing equipment using multiple labeling heads requires a large gap between adjacent heads to prevent interference, increasing the size and space occupied by the labeling equipment. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a labeling mechanism with multiple suction cups, small gaps between adjacent suction cups, and a small overall size; it can pick up multiple labels at once and has a compact structure and small size.

[0005] Meanwhile, a labeling method for the above-mentioned labeling mechanism is provided; and an intelligent labeling device is provided, which can enable the labeling mechanism to perform multiple labelings in one round trip, and is compact in size.

[0006] This invention is achieved through the following technical solution:

[0007] A labeling mechanism, characterized in that it comprises:

[0008] A suction cup is used to attach a label; multiple suction cups are provided, and the multiple suction cups are arranged adjacent to each other, with a gap between two adjacent suction cups.

[0009] A miniature cylinder is provided, wherein multiple miniature cylinders are connected to suction cups and are correspondingly provided; each miniature cylinder is provided with a connecting plate; each miniature cylinder is connected to a suction cup through the connecting plate, and each miniature cylinder can independently drive the suction cup connected to it to complete the labeling action; the width of the miniature cylinder is greater than the gap formed between two adjacent suction cups.

[0010] A fixing plate is used to fix the miniature cylinder.

[0011] Furthermore, the miniature cylinder is provided with a drive unit that drives the connecting plate to move. The connecting plate is connected to a suction cup, which is correspondingly connected to the drive unit of the miniature cylinder. The connecting plate connects one side of another suction cup adjacent to the suction cup to the corresponding drive unit.

[0012] Furthermore, the connecting plate includes a straight connecting plate and a folded connecting plate.

[0013] Furthermore, the folded connecting plate includes a first plate and a second plate that are connected to each other; one end of the first plate is connected to the driving part of the micro cylinder, and the other end is fixedly connected to the second plate; the second plate is fixedly connected to the suction cup.

[0014] Furthermore, the straight connecting plate is a vertical plate, with one end of the straight connecting plate fixedly connected to the driving part of the micro cylinder and the other end fixedly connected to the suction cup.

[0015] Furthermore, multiple of the aforementioned micro cylinders are distributed on both sides of the fixed plate.

[0016] Furthermore, the miniature cylinders on the adjacent sides of the miniature cylinder connected to the straight connecting plate are connected to the folded connecting plate; the miniature cylinders connected to the folded connecting plate and whose adjacent sides are both connected to the straight connecting plate are mounted on the fixed plate and located on the opposite side of the miniature cylinders connected to the straight connecting plate.

[0017] A smart labeling device, characterized in that it includes the aforementioned labeling mechanism; the labeling mechanism is connected to a three-way servo transfer platform, and the three-way servo transfer platform drives the labeling mechanism to move.

[0018] A labeling method applied to the above-mentioned labeling mechanism, characterized by comprising the following steps:

[0019] Label suction: Multiple suction cups simultaneously suction the label, with each suction cup holding one label.

[0020] Label transfer: Move the suction cup after the label is attached to it above the workpiece to be processed, and position one of the multiple suction cups directly above the position on the workpiece to be labeled.

[0021] Label application: Labels adsorbed by multiple suction cups are sequentially applied to the workpiece to be processed;

[0022] Suction cup reset: After the application is complete, reset the suction cup to its initial position.

[0023] Furthermore, the step of "sequentially affixing the labels adsorbed by multiple suction cups to the workpiece to be processed" includes the following steps:

[0024] A miniature cylinder connected to a suction cup located directly above the position where a label needs to be applied to the workpiece drives the suction cup to move down and apply the label to the workpiece. After that, the miniature cylinder drives the suction cup to reset. The next suction cup is moved to another position on the workpiece where a label needs to be applied, and the miniature cylinder drives the suction cup to apply the label to the workpiece. This process is repeated until all the labels on all the suction cups are applied to the workpiece.

[0025] Compared with the prior art, the advantages of this invention are:

[0026] 1. By connecting the smaller micro cylinders to the suction cups using a connecting plate, the position of the micro cylinders can be adjusted without being restricted to being directly above the suction cups, i.e., coinciding with the central axis of the suction cups. Furthermore, when a small gap is maintained between the suction cups, multiple micro cylinders will not interfere with each other, and an appropriate gap can be reserved between two adjacent micro cylinders. This reduces the size of the labeling mechanism and the intelligent labeling equipment, and allows the labeling mechanism to perform multiple labeling operations in one reversal.

[0027] 2. By connecting the micro cylinders on both sides adjacent to the micro cylinders connected to the straight connecting plate to the folded connecting plate, and setting the micro motors connected to the folded connecting plate and the micro motors on both sides adjacent to the straight connecting plate on the opposite side of the fixed plate and the micro motors connected to the straight connecting plate, a certain distance can be made between the micro cylinders connected to the folded connecting plate and the suction cups connected to them in the horizontal direction. This allows multiple micro cylinders to maintain a certain gap and avoid interference between them. At the same time, it can achieve a small gap arrangement between multiple suction cups, resulting in a compact design. It can also further improve the space utilization rate within the labeling mechanism and further reduce the volume of the labeling mechanism.

[0028] 3. By connecting each suction cup individually to a miniature cylinder and setting a separate first air nozzle connected to a separate second air nozzle of the vacuum generator, the suction cup can be individually controlled, enabling it to independently complete the labeling action. Attached Figure Description

[0029] Figure 1 This is a partial structural schematic diagram of an intelligent labeling device according to a preferred embodiment of the present invention;

[0030] Figure 2 for Figure 1 A magnified view of circle A in the middle;

[0031] Figure 3 for Figure 1 A schematic diagram of the connection between a miniature cylinder and a fixed plate;

[0032] Figure 4 for Figure 1 Front view of a miniature cylinder connected to a mounting plate;

[0033] Figure 5 for Figure 3 An exploded view of the middle section structure;

[0034] Figure 6 This is a planar sectional view of the connection between the miniature cylinder and the folded connecting plate.

[0035] Figure 7 This is another planar sectional view of the connection between the miniature cylinder and the folded connecting plate;

[0036] Figure 8 This is a planar sectional view of the connection between the miniature cylinder and the straight connecting plate.

[0037] Figure 9 This is another planar sectional view of the connection between the miniature cylinder and the straight connecting plate;

[0038] Figure 10 This is a flowchart of a labeling method applied to labeling organizations. Detailed Implementation

[0039] The following detailed, non-limiting description of the invention's technical solutions, in conjunction with preferred embodiments and accompanying drawings, is provided. In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the invention, and should not be construed as limiting the invention.

[0040] like Figure 1 As shown, a smart labeling device corresponding to a preferred embodiment of the present invention is provided with a three-way servo transfer platform 4, which is connected to the labeling mechanism 1 and can drive the labeling mechanism 1 to move in the horizontal and vertical directions.

[0041] Further reference Figure 2 The labeling mechanism 1 includes a suction cup 10 for adsorbing labels, a miniature cylinder 20 for driving the suction cup 10 to move, and a fixing plate 30 for fixing the miniature cylinder 20.

[0042] Further reference Figure 4 Multiple suction cups 10 are provided, and the multiple suction cups 10 are arranged adjacent to each other. The gap D2 between two adjacent suction cups 10 is smaller than the width D1 of the micro cylinder 20. Specifically, there are 5 suction cups 10, which are arranged side by side, and the gap D2 between two adjacent suction cups 10 is 2mm. The width D1 of the micro cylinder 20 is 14mm.

[0043] A suction cup 10 is connected to a vacuum generator 12. The interior of each suction cup 10 is hollow, forming a through hole 14. Each suction cup 10 is equipped with a first air nozzle 13, and the suction cup 10 is connected to the vacuum generator 12 via the first air nozzle 13. The vacuum generator 12 is equipped with multiple second air nozzles 121, the number of which is the same as the number of suction cups 10. Each second air nozzle 121 of the vacuum generator 12 is connected to the first air nozzle 13 of one suction cup 10. The vacuum generator 12 can provide negative pressure to the suction cup 10, causing the suction cup 10 to generate suction to adsorb tags. Each suction cup 10 has a unique first air nozzle 13 connected to a corresponding second air nozzle 121 of the vacuum generator 12, allowing the vacuum generator 12 to individually control whether each suction cup 10 is in an adsorption state. When a suction cup 10 applies a label it has attracted to a workpiece (not shown) that needs to be labeled, the vacuum generator 12 cuts off the negative pressure supply to that suction cup 10, while maintaining the negative pressure supply to other suction cups 10 that have not yet completed the labeling work, thus realizing the individual control of multiple suction cups 10.

[0044] Further reference Figure 3 Multiple miniature cylinders 20 are provided, and the number of miniature cylinders 20 corresponds to the number of suction cups 10, i.e., there are 5 miniature cylinders 20. To ensure that the multiple miniature cylinders 20 are in a reasonable distribution position, the miniature cylinders 20 are set on both sides of the fixing plate 30, and the central axis of the miniature cylinder 20 is parallel to but does not coincide with the central axis of the suction cup 10 to which it is connected. The miniature cylinders 20 are connected to the suction cups 10 through the connecting plate 21 to drive the suction cups 10 to move up and down. By connecting the miniature cylinders 20 to the suction cups 10 with the connecting plate 21, the position of the miniature cylinders 20 can be adjusted, without being restricted to being directly above the suction cups 10, i.e., coinciding with the central axis of the suction cups 10; and when a small gap D2 is maintained between the suction cups 10, the multiple miniature cylinders 20 will not interfere with each other, and an appropriate distance can be reserved between two adjacent miniature cylinders 20. Specifically, in this embodiment, the micro cylinder 20 has a width D1 of 14mm and a height H1 of 67mm, and the distance between two adjacent micro cylinders 20 is at least 6mm. Using smaller micro cylinders 20 can reduce the volume of the labeling mechanism 1.

[0045] Each miniature cylinder 20 is connected to a suction cup 10 via a connecting plate 21. Each miniature cylinder 20 can independently drive its connected suction cup 10 to complete the labeling action; thus, after multiple suction cups 10 simultaneously pick up labels, each suction cup 10 can be individually labeled. Specifically, the miniature cylinder 20 is equipped with a driving unit 22 that drives the connecting plate 21 to move. The driving unit 22 drives the connecting plate 21 to move, thereby driving the suction cup 10 to move.

[0046] Further reference Figures 6 to 9 A connecting plate 21 is connected to a suction cup 10, which is correspondingly connected to the drive unit 22 of the miniature cylinder 20. The connecting plate 21 connects one side of another suction cup 10 adjacent to the suction cup 10 to the corresponding drive unit 22. The connecting plate 21 includes a straight connecting plate 211 and a folded connecting plate 213. The straight connecting plate 211 is a vertical plate. The straight connecting plate 211 is located on one side of the miniature cylinder 20 to which it is connected. One end of the straight connecting plate 211 is fixedly connected to the drive unit 22 of the miniature cylinder 20, and the other end is fixedly connected to the suction cup 10. The straight connecting plate 211 and the suction cup 10 can be fixed by adhesive bonding, welding, or other methods; the straight connecting plate 211 and the drive unit 22 are fixedly connected by screws 40. The straight connecting plate 211 has a groove 218 for mounting the suction cup 10 at one end, and a first air nozzle 13 for the suction cup 10 is connected to the side wall of the straight connecting plate 211. The first air nozzle 13 penetrates one side wall of the straight connecting plate 211 and extends into the groove 218. The groove 218 communicates with the through hole 14 of the suction cup 10. The vacuum generator 12 generates negative pressure in the groove 218 through the first air nozzle 13, thereby generating negative pressure in the suction cup 10.

[0047] Further reference Figure 5The folded connecting plate 213 includes a first plate 214 and a second plate 217 connected to each other, with the first plate 214 and the second plate 217 fixedly connected. One end of the first plate 214 is connected to the drive part 22 of the micro cylinder 20, and the other end is fixedly connected to the second plate 217; the second plate 217 is fixedly connected to the suction cup 10. Specifically, the first plate 214 and the drive part 22 of the micro cylinder 20 are fixedly connected by screws 40; the first plate 214 and the second plate 217 can also be fixedly connected by screws. The second plate 217 is a vertical plate. A groove 218 is provided at the end of the second plate 217 connected to the suction cup 10, and a first nozzle 13 of the suction cup 10 is provided on the side wall of the second plate 217; the first nozzle 13 penetrates one side wall of the second plate 217 and extends into the groove 218. The groove 218 communicates with the through hole 14 of the suction cup 10. The vacuum generator 12 creates negative pressure in the groove 218 through the first air nozzle 13, thereby creating negative pressure in the suction cup 10. One end of the first plate 214 is fixedly connected to the drive part 22 of the micro cylinder 20, and the other end is fixedly connected to the second plate 217; this transmits the driving force of the micro cylinder 20 to the second plate 217, thereby driving the suction cup 10 connected to the second plate 217 to move. The first plate 214 is preferably an "L"-shaped structure, and the first plate 214 includes a vertical part 215 and a horizontal part 216. The vertical part 215 and the horizontal part 216 are integrally formed and perpendicular to each other. The vertical part 215 is connected to the drive part 22 of the micro cylinder 20 and extends downward along the axial direction of the micro cylinder 20. The horizontal portion 216 is connected to the vertical portion 215 and extends in a direction perpendicular to the central axis of the second plate 217 to connect with the second plate 217; so that the connecting plate 21 connects the suction cup 10 connected thereto to the drive portion 22 of the micro cylinder 20 connected to the suction cup 10 from one side of another suction cup 10 adjacent to the suction cup 10.

[0048] To further optimize the installation position of the miniature cylinder 20, the miniature cylinders 20 adjacent to the miniature cylinder 20 connected to the straight connecting plate 211 are connected to the folded connecting plate 213. The miniature cylinders 20 connected to the folded connecting plate 213 and whose adjacent sides are both connected to the straight connecting plate 211 are mounted on the fixing plate 30 and located on the opposite side of the miniature cylinder 20 connected to the straight connecting plate 211. Specifically, the horizontal distance D3 between the miniature cylinder 20 connected to the folded connecting plate 213 and the suction cup 10 connected to it on the fixing plate 30 is 12.8 mm; the horizontal distance D3 between the miniature cylinder 20 connected to the folded connecting plate 213 and the suction cup 10 connected to it on the opposite side of the miniature cylinder 20 connected to the straight connecting plate 211 and it on the fixing plate 30 is 39 mm. This arrangement ensures that the miniature cylinders 20 connected to the folded connecting plate 213 and the suction cups 10 connected to them have a certain horizontal distance, thereby maintaining a certain gap D2 between the multiple miniature cylinders 20 and preventing interference between them. Simultaneously, it allows the multiple suction cups 10 to be arranged with a small gap D2, resulting in a compact design. By placing the miniature cylinders 20 on both sides of the fixed plate 30, the space utilization rate within the labeling mechanism 1 can be further improved, and the volume of the labeling mechanism 1 can be further reduced.

[0049] In operation, the three-way servo transfer platform 4 drives the labeling mechanism 1 to move down to the label storage area (not shown), and multiple suction cups 10 simultaneously pick up labels. Then, the three-way servo transfer platform 4 drives the labeling mechanism 1 to move above the workpiece to be processed, positioning one suction cup 10 directly above the desired labeling position. A micro cylinder 20 individually controls the suction cup 10 positioned directly above the desired labeling position to move down, completing the labeling action before resetting. The three-way servo transfer platform 4 drives the labeling mechanism 1 to move to the next suction cup 10, moving it directly above the desired labeling position on the next workpiece. The micro cylinder 20 drives the suction cup 10 positioned directly above the desired labeling position to move down, completing the labeling action before resetting. This process continues until all suction cups 10 have completed the labeling action, at which point the three-way servo transfer platform 4 drives the labeling mechanism 1 to reset. This process is repeated multiple times to perform the labeling action.

[0050] like Figure 10 As shown, a labeling method of the present invention, applied to the labeling mechanism 1 described above, includes the following steps:

[0051] Tag suction: Multiple suction cups 10 simultaneously suction the tags, and each suction cup 10 suctions one tag;

[0052] Label transfer: Move the suction cup 10 after adsorbing the label to above the workpiece to be processed, and position one of the multiple suction cups 10 directly above the position where the label needs to be applied to the workpiece;

[0053] Label application: Labels adsorbed by multiple suction cups 10 are sequentially applied to the workpiece to be processed; specifically, a miniature cylinder 20 connected to the suction cup 10 located directly above the desired label application position on the workpiece drives the suction cup 10 to move down and apply the label to the workpiece, after which the miniature cylinder 20 drives the suction cup 10 to reset; the next suction cup 10 is moved to another desired label application position on the workpiece, and the miniature cylinder 20 drives the suction cup 10 to apply the label to the workpiece; this process is repeated until all labels on all suction cups 10 are applied to the workpiece.

[0054] Suction cup reset: After the application is complete, reset the suction cup 10 to its initial position.

[0055] Cyclic labeling: Labeling mechanism 1 repeats the above steps to achieve multiple labeling operations.

[0056] This invention connects the small micro cylinder 20 to the suction cup 10 via a connecting plate 21, enabling adjustment of the position of the micro cylinder 20 without being restricted to being directly above the suction cup 10, i.e., coinciding with the central axis of the suction cup 10. Furthermore, when a small gap D2 is maintained between the suction cups 10, the multiple micro cylinders 20 will not interfere with each other, and an appropriate gap D2 can be reserved between two adjacent micro cylinders 20. This reduces the size of the labeling mechanism 1 and the intelligent labeling device, and allows the labeling mechanism 1 to perform multiple labeling operations in one reversal. By connecting the micro cylinders 20 adjacent to the straight connecting plate 211 to the folded connecting plate 213, and setting the micro cylinders 20 connected to the folded connecting plate 213 and adjacent to the straight connecting plate 211 on the opposite side of the fixed plate 30 and the straight connecting plate 211, the micro cylinders 20 connected to the folded connecting plate 213 and the suction cups 10 connected to them can have a certain distance in the horizontal direction. This allows a certain gap D2 to be maintained between the multiple micro cylinders 20, so that there is no interference between them. At the same time, it can be achieved that the multiple suction cups 10 are arranged with a small gap D2, resulting in a compact structure. This can also further improve the space utilization rate within the labeling mechanism 1 and further reduce the volume of the labeling mechanism 1. By connecting each suction cup 10 individually to a miniature cylinder 20, and by setting a first air nozzle 13 to connect to a second air nozzle 121 of the vacuum generator 12, the suction cup 10 can be individually controlled to independently complete the labeling action; and it can simultaneously pick up and individually complete the labeling action of 5 labels of 5*5mm with a 1mm interval between them.

[0057] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A labelling mechanism characterised in that It comprises: Suction cups (10) for adsorbing labels; a plurality of suction cups (10) are provided, and the adjacent two suction cups (10) form a gap (D2) therebetween; Miniature air cylinders (20) connected with the suction cups (10) and correspondingly provided in plurality; the miniature air cylinders (20) are provided with connecting plates (21); each miniature air cylinder (20) is connected with one suction cup (10) through the connecting plate (21), and each miniature air cylinder (20) can individually drive the suction cup (10) connected therewith to complete the labeling action; the width (D1) of the miniature air cylinder (20) is greater than the gap (D2) formed between the adjacent two suction cups (10); A fixing plate (30) for fixing the miniature air cylinders (20); The connecting plate (21) comprises a straight connecting plate (211) and a folded connecting plate (213); The two miniature air cylinders (20) adjacent to the straight connecting plate (211) connected with the miniature air cylinder (20) are connected with the folded connecting plate (213); the miniature air cylinder (20) connected with the folded connecting plate (213) and adjacent to the two sides of the miniature air cylinder (20) connected with the straight connecting plate (211) is arranged on the fixing plate (30) and located on the opposite side of the miniature air cylinder (20) connected with the straight connecting plate (211).

2. The labelling mechanism of claim 1, wherein, The miniature air cylinder (20) is provided with a driving part (22) for driving the movement of the connecting plate (21), the connecting plate (21) is connected with the suction cup (10), the suction cup (10) is correspondingly connected with the driving part (22) of the miniature air cylinder (20), and one side of another suction cup (10) adjacent to the suction cup (10) is connected to the corresponding driving part (22) by the connecting plate (21).

3. The labelling mechanism of claim 2, wherein, The folded connecting plate (213) comprises a first plate body (214) and a second plate body (217) connected with each other; one end of the first plate body (214) is connected with the driving part (22) of the miniature air cylinder (20), and the other end is fixedly connected with the second plate body (217); the second plate body (217) is fixedly connected with the suction cup (10).

4. The labelling mechanism of claim 2, wherein, The straight connecting plate (211) is a vertical plate body, one end of the straight connecting plate (211) is fixedly connected with the driving part (22) of the miniature air cylinder (20), and the other end is fixedly connected with the suction cup (10).

5. The labelling mechanism of claim 1, wherein, A plurality of the miniature air cylinders (20) are distributed on both sides of the fixing plate (30).

6. An intelligent labelling apparatus characterised in that, It comprises the labeling mechanism (1) according to any one of claims 1 to 5; the labeling mechanism (1) is connected with a three-way servo transfer platform (4), and the three-way servo transfer platform (4) drives the labeling mechanism (1) to move.

7. A labeling method applied to the smart labeling apparatus of claim 6, characterized in that, It comprises the following steps: Suction of labels: a plurality of suction cups (10) simultaneously adsorb labels, and each suction cup (10) adsorbs one label; Transfer of labels: move the suction cup (10) after adsorbing the label to above the workpiece to be processed, and make one of the plurality of suction cups (10) located directly above the position where the label is required to be attached to the workpiece to be processed; Label pasting: sequentially pasting the labels adsorbed by the plurality of suction cups (10) on the workpiece to be processed; Suction cup resetting: resetting the suction cup (10) to the initial position after pasting.

8. The labelling method according to claim 7, characterised in that The step "sequentially pasting the labels adsorbed by the plurality of suction cups (10) on the workpiece to be processed" comprises the following steps: The micro pneumatic cylinder (20) connected with the suction cup (10) located directly above the position where the label needs to be pasted on the workpiece to be processed drives the suction cup (10) to move downward and paste the label on the workpiece to be processed, and then the micro pneumatic cylinder (20) drives the suction cup (10) to reset; the next suction cup (10) is moved to another position where the label needs to be pasted on the workpiece to be processed, and the micro pneumatic cylinder (20) drives the suction cup (10) to paste the label on the workpiece to be processed; and the process is repeated sequentially until all the labels on the suction cups (10) are pasted on the workpiece to be processed.

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