A labeling mechanism and method based on visual compensation

Abstract

The present invention provides a labeling mechanism and method based on visual compensation, which belongs to the technical field of test card production equipment. The labeling mechanism includes a visual image processing unit and an image acquisition unit, a six-degree-of-freedom mechanical arm, a vacuum suction cup and a labeling feeding mechanism. The six-degree-of-freedom mechanical arm and the labeling feeding mechanism are installed on the frame of the labeling equipment, the vacuum suction cup is arranged on the six-degree-of-freedom mechanical arm, the image acquisition unit is installed on the frame, the image acquisition unit is connected to the visual image processing unit, the visual image processing unit is connected to the six-degree-of-freedom mechanical arm through a controller, and the labeling feeding mechanism includes a feeding rack, a feeding platform arranged on the top of the feeding rack, a feeding reel and a receiving reel arranged on the feeding rack. The present invention realizes the driving of the labeling coil by setting a first rubber roller and a second rubber roller, and does not need to use an independent driving motor and a cumbersome control system to adjust the feeding and coiling of the labeling, thereby simplifying the equipment structure.

Description

Technical Field

[0001] The invention relates to the technical field of biochemical test card production equipment, and in particular to a labeling mechanism and method based on vision compensation. Background Art

[0002] When performing blood gas analysis, you need to use a blood gas analysis test card, inject the blood sample to be tested into the test card, and then insert the test card into the blood gas analyzer to detect the blood sample through the electrodes in the sensor module.

[0003] When producing test cards, it is necessary to label the test cards, such as attaching QR codes or barcode labels. Generally, a labeling machine is used to complete the labeling operation. Due to the small size of the test cards, visual compensation is generally required to complete the labeling operation. The use of visual compensation for labeling can ensure the accuracy of labeling.

[0004] However, when feeding the material during the labeling process, since the label is adhered to the base tape to form a roll, a motor is required to drive the feeding reel to rotate for feeding. At the same time, an independent motor is required to drive the receiving reel to achieve the purpose of base tape recycling. Generally, the motor speed is controlled based on the sensor detecting the process holes or process points on the side of the base tape to control the speed of the two independent motors. An independent control system and control program are required to control the feeding and winding motors respectively. Summary of the invention

[0005] The purpose of the present invention is to provide a labeling mechanism and method based on visual compensation, which realizes the driving of the labeling roll by setting a first rubber roller and a second rubber roller. It is not necessary to use an independent driving motor and a cumbersome control system to adjust the feeding and rolling of the labeling, which simplifies the equipment structure and reduces the number of motors used.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A labeling mechanism based on visual compensation, comprising a visual image processing unit and an image acquisition unit, a six-degree-of-freedom mechanical arm, a vacuum suction cup and a labeling feeding mechanism, wherein the six-degree-of-freedom mechanical arm and the labeling feeding mechanism are mounted on a frame of the labeling equipment, the vacuum suction cup is arranged on the six-degree-of-freedom mechanical arm, the image acquisition unit is mounted on the frame, the image acquisition unit is connected to the visual image processing unit, the visual image processing unit is connected to the six-degree-of-freedom mechanical arm through a controller, the labeling feeding mechanism comprises a feeding rack, a feeding platform arranged on the top of the feeding rack, a feeding reel and a receiving reel arranged on the feeding rack, a feeding channel is arranged on the feeding platform, and the labeling reel is led out from the feeding reel and passes through the feeding channel on the feeding platform and then is wound on the receiving reel;

[0008] A first rubber roller and a second rubber roller are rotatably arranged on the feeding frame, the first rubber roller is connected to a driving motor, the first rubber roller and the second rubber roller are connected by a gear transmission mechanism, the first and second rubber rollers are located below the feeding platform, the second rubber roller is located above the first rubber roller, the labeling roll passes between the first and second rubber rollers, and the second rubber roller is respectively connected to the feeding reel and the receiving reel by belts.

[0009] Among them, a slide groove is arranged on the feeding rack, a slider is slidably arranged in the slide groove, the second rubber roller is rotatably arranged on the slider, and an adjustment mechanism is arranged on the feeding rack, and the adjustment mechanism is used to adjust the position of the slider.

[0010] Further optimization is performed by providing a guide hole on the slider, providing a guide post in the slide groove, and the guide hole and the guide post are slidably matched.

[0011] Among them, the adjustment structure includes a fixed block and a rotating shaft, a mounting hole is provided on the slider, the rotating shaft is rotatably installed in the mounting hole, the fixed block is fixedly installed on the side of the feed rack, the rotating shaft extends out of the feed rack and is located above the fixed block, and a cam portion is provided on the rotating shaft at a position corresponding to the fixed block.

[0012] Wherein, a handle is arranged at the end of the rotating shaft.

[0013] It is further defined that a spring is disposed in the guide hole, and an upper end of the spring contacts the guide post.

[0014] Among them, a waist-shaped groove is arranged on the fixing block, and the fixing block is connected with the feed material by means of a screw passing through the waist-shaped groove.

[0015] Further optimization is that an inclined surface is arranged on the feeding platform, and the inclined surface constitutes a label peeling mechanism, and the label peeling mechanism is used to peel the label from the labeling base tape.

[0016] A labeling method based on visual compensation,

[0017] The specific labeling steps are as follows:

[0018] Step 1: The test card to be labeled is sent to the positioning seat set on the frame of the labeling equipment through the feeding mechanism;

[0019] Step 2: After the label feeding mechanism peels off the label, the six-degree-of-freedom robotic arm drives the vacuum suction cup to approach the label position and absorb the label;

[0020] Step 3: The six-degree-of-freedom robotic arm moves the label to the top of the image acquisition unit to obtain the image information of the label at this time;

[0021] Step 4: Send the acquired labeled image to the visual image processing unit, which is used to compare the acquired labeled image with the stored standard labeled image, and calculate the tilt angle between the labeled image and the standard labeled image and the distance to be offset;

[0022] Step 5: The calculated tilt angle and the distance to be offset are sent to the controller connected to the six-degree-of-freedom robotic arm. The controller controls the movement of the six-degree-of-freedom robotic arm according to the tilt angle, adjusts the angle and position of the label image adsorbed on the vacuum suction cup to the same as the angle and position of the standard label image, and then covers the label body on the test card.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] When the present invention is in use, the test card to be labeled is sent to a positioning seat arranged on the frame of the labeling equipment through a feeding mechanism; after the labeling feeding mechanism peels off the label, the six-degree-of-freedom mechanical arm drives the vacuum suction cup to approach the label position to absorb the label; at this time, the six-degree-of-freedom mechanical arm moves the label to above the image acquisition unit to obtain the image information of the labeling at this time; then the acquired labeling image is sent to the visual image processing unit, and the visual image processing unit is used to compare the acquired labeling image with the stored standard labeling image, and calculate the inclination angle and the distance to be offset between the labeling image and the standard labeling image; then, the calculated inclination angle and the distance to be offset are sent to a controller connected to the six-degree-of-freedom mechanical arm, and the controller controls the action of the six-degree-of-freedom mechanical arm according to the inclination angle, adjusts the angle and position of the labeling image adsorbed on the vacuum suction cup to be the same as the angle and position of the standard labeling image, and then covers the label body on the test card;

[0025] In the present invention, the labeling roll passes through the first rubber roller and the second rubber roller, and a motor can drive the first rubber roller and the second rubber roller to roll, thereby driving the labeling; at the same time, since the second rubber roller is respectively connected to the feeding reel and the receiving reel through belts, the first rubber roller, the second rubber roller, the feeding reel and the receiving reel can be driven to rotate by a motor, and when the feeding reel and the receiving reel are driven, the rotation error is eliminated by the slipping of the belt, and the first rubber roller and the second rubber roller clamp the label and pull the label, thereby achieving the purpose of feeding. In this way, in actual use, only one motor is needed to achieve the purpose of feeding and receiving. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0028] Figure 2 For the present invention Figure 1 A partial enlarged schematic diagram in the middle.

[0029] Figure 3 It is a schematic diagram of the connection relationship between the feeding rack and the feeding platform of the present invention.

[0030] Figure 4 This is a schematic diagram of the use status of the present invention.

[0031] Reference numerals:

[0032] 101-six-degree-of-freedom robotic arm, 102-vacuum suction cup, 103-labeling feeding mechanism, 104-feeding rack, 105-feeding platform, 106-feeding reel, 107-feeding channel, 108-first rubber roller, 109-second rubber roller, 110-driving motor, 111-gear transmission mechanism, 112-slideway, 113-slider, 114-adjusting mechanism, 115-guide hole, 116-guide column, 117-fixed block, 118-rotating shaft, 119-mounting hole, 120-cam part, 121-handle, 122-inclined surface, 123-waist groove, 124-support frame, 125-guide groove, 126-roller, 127-rubber pressing cylinder, 128-rectangular part, 129-round hole, 130-cylinder, 131-frame. DETAILED DESCRIPTION

[0033] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the embodiments of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0034] In the description of the embodiments of the present invention, it should be understood that the terms "length", "vertical", "horizontal", "top", "bottom", etc. indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present invention.

[0035] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0036] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "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, an electrical connection, or a communication; 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 ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0037] In the embodiments of the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0038] The disclosure below provides many different embodiments or examples to implement different structures of the embodiments of the present invention. In order to simplify the disclosure of the embodiments of the present invention, the parts and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the embodiments of the present invention. In addition, the embodiments of the present invention can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed.

[0039] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0040] Embodiment 1

[0041] See also Figure 1-Figure 4The present embodiment discloses a labeling mechanism based on visual compensation, including a visual image processing unit and an image acquisition unit, a six-degree-of-freedom mechanical arm 101, a vacuum suction cup 102 and a labeling feeding mechanism 103, the six-degree-of-freedom mechanical arm 101 and the labeling feeding mechanism 103 are mounted on a frame 131 of the labeling device, the vacuum suction cup 102 is arranged on the six-degree-of-freedom mechanical arm 101, the vacuum suction cup 102 is used to absorb the label, the image acquisition unit is mounted on the frame 131, and the image acquisition unit The labeling feeding mechanism 103 includes a feeding frame 104, a feeding platform 105 arranged on the top of the feeding frame 104, a feeding roll 106 and a receiving roll arranged on the feeding frame 104, and a feeding channel 107 is arranged on the feeding platform 105. The labeling roll is led out from the feeding roll 106, passes through the feeding channel 107 on the feeding platform 105, and is then wound on the receiving roll.

[0042] A first rubber roller 108 and a second rubber roller 109 are rotatably arranged on the feeding rack 104, the first rubber roller 108 is connected to a driving motor 110, the first rubber roller 108 and the second rubber roller 109 are connected via a gear transmission mechanism 111, the first and second rubber rollers are located below the feeding platform 105, the second rubber roller 109 is located above the first rubber roller 108, the labeling roll passes between the first and second rubber rollers, and the second rubber roller 109 is respectively connected to the feeding reel 106 and the receiving reel via belts.

[0043] When the present invention is used, the test card to be labeled is sent to the positioning seat set on the labeling equipment frame 131 through the feeding mechanism; after the labeling feeding mechanism 103 peels off the label, the six-degree-of-freedom mechanical arm 101 drives the vacuum suction cup 102 to approach the label position to absorb the label; at this time, the six-degree-of-freedom mechanical arm 101 moves the label to the top of the image acquisition unit to obtain the image information of the label (label) at this time; then the acquired labeling image is sent to the visual image processing unit, and the visual image processing unit is used to compare the acquired labeling image with the stored standard labeling image, and calculate the inclination angle and the distance to be offset between the labeling image and the standard labeling image; then, the calculated inclination angle and the distance to be offset are sent to the controller connected to the six-degree-of-freedom mechanical arm 101, and the controller controls the action of the six-degree-of-freedom mechanical arm 101 according to the inclination angle, adjusts the angle and position of the labeling image adsorbed on the vacuum suction cup 102 to the same as the angle and position of the standard labeling image, and then covers the label body on the test card;

[0044] At the same time, the present invention passes the labeling roll through the first rubber roller 108 and the second rubber roller 109, and drives the first rubber roller 108 and the second rubber roller 109 to roll through a motor to drive the labeling roll; at the same time, because the second rubber roller 109 is respectively connected to the feeding reel 106 and the receiving reel through a belt, the first rubber roller 108, the second rubber roller 109, the feeding reel 106 and the receiving reel can be driven to rotate by a motor, and when the feeding reel 106 and the receiving reel are driven, the rotation error is eliminated by the slipping of the belt, and the first rubber roller 108 and the second rubber roller 109 clamp the label and pull the label, thereby achieving the purpose of feeding. In this way, in actual use, only one motor is needed to achieve the purpose of feeding and receiving, the overall structure of the equipment is simpler, and the belt is made of high wear-resistant material to reduce the wear of the belt when slipping.

[0045] Among them, a slide groove 112 is arranged on the feeding rack 104, a slider 113 is slidably arranged in the slide groove 112, the second rubber roller 109 is rotatably arranged on the slider 113, and an adjusting mechanism 114 is arranged on the feeding rack, and the adjusting mechanism 114 is used to adjust the position of the slider 113; by setting the sliding slider 113, the position of the second rubber roller 109 can be adjusted, thereby realizing the adjustment of the pressure between the first rubber roller 108 and the second rubber roller 109, thereby ensuring the pulling of the labeling base belt.

[0046] In actual use, an intermittent feeding mechanism is provided on the labeling equipment frame 131, and the intermittent feeding mechanism is used to sequentially feed the test cards to the labeling structure to achieve the purpose of labeling. The structure can adopt the intermittent feeding mechanism in the prior art.

[0047] A guide hole 115 is provided on the slider 113 , and a guide post 116 is provided in the slide groove 112 . The guide hole 115 and the guide post 116 are slidably matched, so that the slider 113 is more stable when moving.

[0048] Among them, the adjustment structure includes a fixed block 117 and a rotating shaft 118. A mounting hole 119 is provided on the slider 113. The rotating shaft 118 is rotatably installed in the mounting hole 119. The fixed block 117 is fixedly installed on the side of the feed rack 104. After the rotating shaft 118 extends out of the feed rack 104, it is located above the fixed block 117, and a cam portion 120 is provided on the rotating shaft 118 at a position corresponding to the fixed block 117.

[0049] During adjustment, the cam portion 120 is in contact with the fixed block 117 , and the position of the slider 113 can be adjusted by rotating the rotating shaft 118 , which makes the operation more convenient.

[0050] A handle 121 is provided at the end of the rotating shaft 118, and the handle 121 makes adjustment more convenient.

[0051] A spring is arranged in the guide hole 115, and the upper end of the spring contacts the guide post 116. In actual use, this can not only achieve the purpose of guiding, but also, under the action of the spring, pre-compression of the slider 113 can be achieved, and under the action of the gravity of the slider 113 and the elastic force of the spring, the first rubber roller 108 and the second rubber roller 109 can be in close contact.

[0052] The feeding platform 105 is provided with an inclined surface 122 , which constitutes a label peeling mechanism, and the label peeling mechanism is used to peel the label from the labeling base tape.

[0053] In addition, this embodiment also discloses a labeling method based on visual compensation, and the specific labeling steps are as follows:

[0054] Step 1: The test card to be labeled is sent to a positioning seat provided on the labeling equipment frame 131 through a feeding mechanism;

[0055] Step 2: After the label feeding mechanism 103 peels off the label, the six-degree-of-freedom robot arm 101 drives the vacuum suction cup 102 to approach the label position to absorb the label;

[0056] Step 3: The six-degree-of-freedom robot arm 101 moves the label to above the image acquisition unit to obtain the image information of the label at this time;

[0057] Step 4: Send the acquired labeled image to the visual image processing unit, which is used to compare the acquired labeled image with the stored standard labeled image, and calculate the tilt angle between the labeled image and the standard labeled image and the distance to be offset;

[0058] Step 5: The calculated tilt angle and the distance to be offset are sent to the controller connected to the six-degree-of-freedom robot 101. The controller controls the movement of the six-degree-of-freedom robot 101 according to the tilt angle, adjusts the angle and position of the label image adsorbed on the vacuum suction cup 102 to be the same as the angle and position of the standard label image, and then covers the label body on the test card.

[0059] Embodiment 2

[0060] This embodiment is further optimized on the basis of the first embodiment. In this embodiment, a waist-shaped groove 123 is provided on the fixing block 117 , and the fixing block 117 is connected to the feed material by means of screws passing through the waist-shaped groove 123 .

[0061] In this way, the position of the fixing block 117 can be adjusted as needed.

[0062] Further optimization, in this embodiment, a support frame 124 is further provided on the feeding frame 104, a guide groove 125 is provided in the support frame 124, a roller 126 is slidably provided in the guide groove 125, a rubber pressure cylinder 127 is rotatably provided on the roller 126, and both ends of the roller 126 have a rectangular portion 128 matching the guide groove 125; under the action of the gravity of the rubber pressure cylinder 127, the rubber pressure cylinder 127 can press the label, so that the label located on the feeding platform 105 can be in a straight state, which is convenient for peeling and taking the label;

[0063] For further optimization, a circular hole 129 is provided at the top of the guide groove 125, a first spring is provided in the circular hole 129, and a cylinder 130 extending into the circular hole 129 is provided on the rectangular portion 128. By cooperating with the circular hole 129, the rubber pressure cylinder 127 can be limited to avoid lateral movement of the roller 126.

[0064] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0065] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. It should be pointed out that any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A labeling mechanism based on visual compensation, comprising a visual image processing unit and an image acquisition unit, a six-degree-of-freedom mechanical arm, a vacuum suction cup and a labeling feeding mechanism, wherein the six-degree-of-freedom mechanical arm and the labeling feeding mechanism are mounted on a frame of the labeling equipment, the vacuum suction cup is arranged on the six-degree-of-freedom mechanical arm, the image acquisition unit is mounted on the frame, the image acquisition unit is connected to the visual image processing unit, and the visual image processing unit is connected to the six-degree-of-freedom mechanical arm through a controller, characterized in that: The labeling feeding mechanism includes a feeding rack, a feeding platform arranged on the top of the feeding rack, a feeding reel and a receiving reel arranged on the feeding rack, a feeding channel is arranged on the feeding platform, and the labeling reel is led out from the feeding reel and passes through the feeding channel on the feeding platform before being wound on the receiving reel; The feeding frame is rotatably provided with a first rubber roller and a second rubber roller, the first rubber roller is connected to a driving motor, the first rubber roller and the second rubber roller are connected through a gear transmission mechanism, the first and second rubber rollers are located below the feeding platform, the second rubber roller is located above the first rubber roller, the labeling roll passes between the first and second rubber rollers, and the second rubber roller is respectively connected to the feeding roll and the receiving roll through belts; The labeling roll is passed through the first rubber roller and the second rubber roller, and the first rubber roller and the second rubber roller can be driven to roll by a motor to drive the labeling roll; since the second rubber roller is respectively connected to the feeding roll and the receiving roll by belts, the first rubber roller, the second rubber roller, the feeding roll and the receiving roll can be driven to rotate by a motor, and when the feeding roll and the receiving roll are driven, the rotation error is eliminated by the slipping of the belt, and the first rubber roller and the second rubber roller clamp the label and pull the label, thereby achieving the purpose of feeding; a supporting frame is also provided on the feeding frame, and a guide groove is provided in the supporting frame, and a roller is slidably provided in the guide groove, and a rubber pressing cylinder is rotatably provided on the roller, and a rectangular portion matching the guide groove is provided at both ends of the roller; under the action of the gravity of the rubber pressing cylinder, the rubber pressing cylinder can press the label, so that the label located on the feeding platform can be in a straight state, which is convenient for stripping and taking the label; A circular hole is provided at the top of the guide groove, a first spring is provided in the circular hole, and a cylinder extending into the circular hole is provided on the rectangular portion. The rubber pressure cylinder can be limited by cooperating with the circular hole to prevent the roller from moving laterally. The feeding rack is provided with a slide groove, a slider is slidably provided in the slide groove, the second rubber roller is rotatably provided on the slider, and the feeding rack is provided with an adjustment mechanism, which is used to adjust the position of the slider; The feeding platform is provided with an inclined surface, which constitutes a label peeling mechanism, and the label peeling mechanism is used to peel the label from the labeling base belt.

2. A labeling mechanism based on visual compensation according to claim 1, characterized in that: A guide hole is arranged on the slide block, a guide column is arranged in the slide groove, and the guide hole and the guide column are slidably matched.

3. The labeling mechanism based on visual compensation according to claim 2, characterized in that: The adjustment structure includes a fixed block and a rotating shaft. A mounting hole is provided on the slider. The rotating shaft is rotatably installed in the mounting hole. The fixed block is fixedly installed on the side of the feeding rack. After the rotating shaft extends out of the feeding rack, it is located above the fixed block, and a cam portion is provided on the rotating shaft at a position corresponding to the fixed block.

4. The labeling mechanism based on visual compensation according to claim 3, characterized in that: A handle is arranged at the end of the rotating shaft.

5. The labeling mechanism based on visual compensation according to claim 3, characterized in that: A spring is arranged in the guide hole, and the upper end of the spring contacts the guide post.

6. The labeling mechanism based on visual compensation according to claim 3, characterized in that: The fixing block is provided with a waist-shaped groove, and the fixing block is connected with the feeder by means of screws passing through the waist-shaped groove.

7. A labeling method based on visual compensation, characterized in that: The method comprises using the visual compensation-based labeling mechanism described in any one of claims 1 to 6; The specific labeling steps are as follows: Step 1: The test card to be labeled is sent to the positioning seat set on the frame of the labeling equipment through the feeding mechanism; Step 2: After the label feeding mechanism peels off the label, the six-degree-of-freedom robotic arm drives the vacuum suction cup to approach the label position and absorb the label; Step 3: The six-degree-of-freedom robotic arm moves the label to the top of the image acquisition unit to obtain the image information of the label at this time; Step 4: Send the acquired labeled image to the visual image processing unit, which is used to compare the acquired labeled image with the stored standard labeled image, and calculate the tilt angle between the labeled image and the standard labeled image and the distance to be offset; Step 5: The calculated tilt angle and the distance to be offset are sent to the controller connected to the six-degree-of-freedom robotic arm. The controller controls the movement of the six-degree-of-freedom robotic arm according to the tilt angle, adjusts the angle and position of the label image adsorbed on the vacuum suction cup to the same as the angle and position of the standard label image, and then covers the label body on the test card.

Images