Automatic tongue labeling device based on visual identification of parallel robot

Abstract

The application provides a kind of visual identification automatic tongue label attaching device (100) based on parallel robot, comprising: fixed frame (11);Transmission machine (12) for conveying tongue;Visual identification unit (13) is configured to collect the image of tongue and determine the position of tongue and the position to be labeled on tongue;Label supply machine (15) for supplying label;Robot unit (14), the robot unit (14) is configured to be able to obtain label from label supply machine (15), and label is placed on the position to be labeled on tongue, wherein, the operating head of the robot unit (14) is configured to be able to reciprocate between the label supply position of label supply machine (15) and the position to be labeled on tongue.The visual identification automatic tongue label attaching device based on parallel robot of the application can improve the generation efficiency of combining tongue with label, so that the accuracy and consistency of label on tongue in batch generation are higher.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent manufacturing or shoemaking, in particular to a visual identification automatic tongue label attaching device based on a parallel robot, and more particularly to a visual identification full-automatic tongue label ironing device based on a parallel robot. BACKGROUND

[0002] In the shoemaking industry, tongue label ironing is a link in the generation process. The tongue is a component between the lower part of the shoelace and the upper part of the instep, which reduces the friction between the shoelace and the instep. Generally, the tongue is a separate piece of material on the upper part of the shoe. Usually, a label carrying the LOGO or two-dimensional code of the brand of the shoe and other information is printed on the tongue, and this process can be realized by a label ironing machine. In batch production, the accuracy, consistency of the position of the label and the efficiency of label ironing need to be considered.

[0003] At present, the label ironing process of the tongue is mostly completed manually. The label is printed by a printer in advance and then collected uniformly for manual use. The label printer cannot be linked with the label ironing machine, the label ironing work efficiency is low, and the label ironing position consistency is poor. The label ironing machine currently in use is a tongue automatic transfer printing machine. The tongue needs to be placed neatly in advance by manual work, and a certain number of tongues are arranged in a fixed tool for use. The tongue automatic transfer printing machine and the fixed tool cannot meet the printing label requirements of different sizes and types of tongues. In shoe factories, there are many sizes and types of tongues. The tool needs to be replaced accordingly every time the tongue is changed, which is very inconvenient. The label ironing efficiency is improved compared with manual label ironing, but the speed is still not high. The machine places the label ironing and the label ironing on the same assembly line, and the label ironing speed is relatively fast, which greatly limits the overall speed.

[0004] In summary, the existing technology has the following technical problems:

[0005] 1. Low label ironing speed and low efficiency;

[0006] 2. Low label ironing precision and poor consistency;

[0007] 3. There is no uniform method and tool for a variety of tongues. The machine needs to be adjusted according to the change of the tongue;

[0008] 4. In the existing machine, the tongue needs to be placed neatly in advance before using the machine, which increases the operation process and labor cost. SUMMARY

[0009] The present application aims to at least partially overcome the defects of the prior art and provide a visual identification automatic tongue label attaching device based on a parallel robot.

[0010] The application also aims to provide a visual identification automatic tongue label attaching device based on a parallel robot, which improves the generation efficiency of combining a tongue with a label.

[0011] The application also aims to provide a visual identification automatic tongue label attaching device based on a parallel robot, which improves the generation efficiency of combining a tongue with a label.

[0012] The application also aims to provide a visual identification automatic tongue label attaching device based on a parallel robot, which improves the generation efficiency of combining a tongue with a label.

[0013] The application also aims to provide a visual identification automatic tongue label attaching device based on a parallel robot, which improves the generation efficiency of combining a tongue with a label.

[0014] To achieve the above-mentioned purpose or one of the purposes, the technical solution of the application is as follows:

[0015] A visual identification automatic tongue label attaching device based on a parallel robot is used to attach a label on a tongue, and the attaching device comprises:

[0016] A fixed frame;

[0017] A conveyor for conveying the tongue;

[0018] A visual identification unit configured to collect an image of the tongue and determine the position of the tongue and the label-attaching position on the tongue;

[0019] A label supply machine for supplying the label;

[0020] A robot unit configured to be able to obtain the label from the label supply machine and place the label on the label-attaching position on the tongue,

[0021] Wherein, the operation head of the robot unit is configured to be able to reciprocate between the label-supplying position of the label supply machine and the label-attaching position on the tongue.

[0022] According to one preferred embodiment of the application, the visual identification unit, the label supply machine and the robot unit work synchronously, so that in the process of a tongue moving to the working area of the robot unit, the visual identification unit obtains the information of the tongue, the label supply machine completes the label-supplying operation, the robot unit completes the label-taking operation, and then places the label on the label-attaching position on the tongue.

[0023] According to one preferred embodiment of the application, the visual identification unit is arranged above the conveyor, the robot unit is arranged above the conveyor and downstream of the visual identification unit, and the label supply machine is arranged beside the conveyor.

[0024] According to a preferred embodiment of the present application, the visual recognition unit is further configured to determine the shape and size of the tongue.

[0025] According to a preferred embodiment of the present application, the visual recognition unit is configured to compare the captured image of the tongue with the images of the tongues in the tongue library, determine the type of the tongue, and then calculate the position of the label to be attached on the tongue according to a predetermined program.

[0026] According to a preferred embodiment of the present application, the labeling device further comprises an adhesive machine arranged downstream of the conveyor, the adhesive machine being configured to fix the label on the tongue.

[0027] According to a preferred embodiment of the present application, the labeling device further comprises an electric control unit electrically connected with the conveyor, the visual recognition unit, the label supply machine, the robot unit and the adhesive machine, and configured to provide power for the conveyor, the visual recognition unit, the label supply machine, the robot unit and the adhesive machine, and control the operation of the conveyor, the visual recognition unit, the label supply machine, the robot unit and the adhesive machine.

[0028] According to a preferred embodiment of the present application, the fixed frame is provided with a sliding frame, and the label supply machine is slidingly arranged on the sliding frame, so that the label supply machine can move between the working position and the non-working position.

[0029] According to a preferred embodiment of the present application, the fixed frame is provided with a robot mounting table for mounting and fixing the robot unit.

[0030] According to a preferred embodiment of the present application, the robot unit comprises a suction head assembly and three actuating units, each of which comprises:

[0031] an actuating motor arranged on the robot mounting table;

[0032] an actuating arm, one end of the actuating arm being connected with the actuating motor, so that the actuating arm can rotate around the shaft under the drive of the actuating motor;

[0033] two mechanical arms, one end of each of the mechanical arms being hinged to the other end of the actuating arm, and the other end of each of the mechanical arms being hinged to the suction head assembly.

[0034] According to a preferred embodiment of the present application, the robot unit further comprises a vacuum unit attached to the suction head assembly, and configured to control the suction head assembly to suck or drop the label.

[0035] According to a preferred embodiment of the present application, the suction head assembly comprises at least two suction heads.

[0036] The application firstly adopts a parallel robot combined with visual identification and simultaneously linked with a label supply machine such as a label printer to realize the function of tongue label ironing. The visual identification system can identify different colors and different types of tongues and has high compatibility. The tongues only need to be randomly laid on the pipeline and do not need to be arranged in order. The visual identification system can automatically identify the position, angle and type of the tongue and send the identification information to the parallel robot. The linked robot accurately performs the label sticking action. The visual identification system simultaneously links the label printer. Once the tongue is identified, the label printer is started to print the label. The robot accurately places the printed label at the specified position of the tongue (the position to be stuck on the tongue can be set). The working efficiency is very high and the consistency is very good. One minute can complete 60 tongue label sticking, which is equivalent to sticking one tongue per second, 15 times of artificial and 4 times of existing robots. The consistency is good and the precision can reach within 1mm, which is 50% higher than the existing machine precision. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 A perspective view of a parallel robot-based visual identification automatic tongue label attaching device according to an embodiment of the application;

[0038] Figure 2 A parallel robot-based visual identification automatic tongue label attaching device according to an embodiment of the application is shown from another angle;

[0039] Figure 3 A right view of a parallel robot-based visual identification automatic tongue label attaching device according to an embodiment of the application;

[0040] Figure 4 A front view of a parallel robot-based visual identification automatic tongue label attaching device according to an embodiment of the application;

[0041] Figure 5 A left view of a parallel robot-based visual identification automatic tongue label attaching device according to an embodiment of the application;

[0042] Figure 6 A top view of a parallel robot-based visual identification automatic tongue label attaching device according to an embodiment of the application;

[0043] Figure 7 A partial structure of a parallel robot-based visual identification automatic tongue label attaching device according to an embodiment of the application is shown from a top view, wherein the cover and the adhesive machine of the label attaching device are removed;

[0044] Figure 8 A perspective view of the partial structure shown; Figure 7 A perspective view of the partial structure shown;

[0045] Figure 9 A vision-identified automatic tongue label attaching device based on a parallel robot according to an embodiment of the present application is shown from another angle;

[0046] Figure 10 is a partial enlarged view of Figure 9 ;

[0047] Figure 11 is a partial enlarged view of a vision-identified automatic tongue label attaching device based on a parallel robot according to an embodiment of the present application;

[0048] Figure 12 is a partial enlarged view of a vision-identified automatic tongue label attaching device based on a parallel robot according to an embodiment of the present application;

[0049] Figure 13 A vision-identified automatic tongue label attaching device based on a parallel robot according to an embodiment of the present application is shown from another angle, wherein a vacuum unit of a suction head assembly is shown. DETAILED DESCRIPTION

[0050] Exemplary embodiments of the present application are described in detail below with reference to the attached drawings, wherein the same or similar components have the same or similar reference numbers. Also, in the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present disclosure. However, it will be apparent to one skilled in the art that one or more embodiments can be practiced without these specific details. In other instances, well-known structures and devices are shown in block diagram form in order to faciliate understanding of the attached drawings.

[0051] According to the general concept of the present application, a vision-identified automatic tongue label attaching device based on a parallel robot is proposed, which first uses a parallel robot in combination with vision identification and in linkage with a label printer to realize the function of tongue label ironing, and the general concept is to combine a parallel robot, vision identification and a label printer together to realize the function of tongue label ironing. Specifically, the vision identification function is first introduced into the tongue label attaching process, and an intelligent algorithm is used to identify and position the tongue, reducing the labor intensity of manual material sorting. That is, the tongue can be placed on the conveyor belt of the conveyor in any way without the need to spend time and manually arrange it, improving product compatibility and versatility. Secondly, the parallel robot is first applied to the tongue label attaching work, greatly improving the ironing efficiency and accuracy, reducing the number of manual labor and labor intensity. In addition, the parallel robot is first used in combination with the label printer, the printer quickly outputs the label, the robot quickly sucks the label, and then places it on the tongue. The vision-identified automatic tongue label attaching device based on a parallel robot of the present application can improve the automation degree of the shoe industry ironing link, link the vision system with the label printer, add a database and information system to the labeler, and let the labeler have a brain and eyes.

[0052] The parallel robot-based visual identification automatic tongue label attaching device of the present application will be described in detail below with reference to the accompanying drawings, such as Figure 1 As shown in the drawings, the parallel robot-based visual identification automatic tongue label attaching device 100 comprises a fixed frame 11, which can be a square frame body, used to support most of the components of the label attaching device 100, and is placed on the platform surface and fixed; a conveyor 12 for conveying the tongue, which passes through the fixed frame 11 and can be supported by the fixed frame 11 or by an independent support assembly, and comprises a conveyor motor 19 and a conveyor belt 22, with the conveyor motor 19 being arranged on the lower side; a visual identification unit 13 configured to collect images of the tongue and determine the position of the tongue and the label attaching position on the tongue, which is arranged above the conveyor 12 and has a gap between the conveyor belt 22 of the conveyor 12, so that the tongue placed on the conveyor belt 22 can pass through the gap to be imaged, and comprises a square dark box with a light source and a camera arranged inside, the camera being used to collect images of the tongue passing below the visual identification unit 13, and the collected images being sent to a computer for processing and identification; a label supply machine 15 for supplying labels, which is arranged beside the conveyor 12 and is usually a label printer that can timely and rapidly print the required labels and automatically supply them outward, with the printed labels being placed on a label output part 23 for waiting to be taken away; a robot unit 14 arranged above the conveyor 12 and downstream of the visual identification unit 13, which is configured to obtain labels from the label supply machine 15 and place them on the label attaching position on the tongue, wherein the operating head of the robot unit 14 is configured to reciprocally move between the label supply position of the label supply machine 15 and the label attaching position on the tongue.

[0053] Further, the label attaching device 100 further comprises an adhesive machine 16, also known as a label ironing machine or ironing machine, arranged downstream of the conveyor 12, which is used to fix the labels on the tongue, with the tongue on the conveyor belt 22 having carried the labels directly entering the adhesive machine 16 to complete the label ironing operation in the adhesive machine 16 and then being collected.

[0054] Further, the label attaching device 100 further comprises an electric control unit 17 electrically connected with the conveyor 12, the visual identification unit 13, the label supply machine 15, the robot unit 14 and the adhesive machine 16, respectively, for providing power for the conveyor 12, the visual identification unit 13, the label supply machine 15, the robot unit 14 and the adhesive machine 16 and controlling the operation of the conveyor 12, the visual identification unit 13, the label supply machine 15, the robot unit 14 and the adhesive machine 16.

[0055] It should be noted that the visual recognition unit 13, the label supply machine 15 and the robot unit 14 work synchronously, so that one tongue is in the process of moving to the working area of the robot unit 14, the visual recognition unit 13 obtains the information of the tongue, the label supply machine 15 completes the label supply operation, and the robot unit 14 completes the label taking operation, and then places the label on the position to be pasted on the tongue. This synchronous work is realized through the control of the electrical control unit 17, and when the labeling device 100 works, the tongue to be pasted is sequentially supplied to one end of the conveyor 12 (which can be delivered manually or supplied by a hopper, as long as a certain supply rate is maintained), when the tongue passes below the visual recognition unit 13, the visual recognition unit 13 collects the image of the tongue and processes the data, determines the type, shape and size of the tongue by using the program, and also determines the angle of the tongue, because the tongue is placed randomly on the conveyor 12, so that the label can be placed at the correct angle in the subsequent process. This process includes: the visual recognition unit 13 is configured to compare the collected image of the tongue with the image of the tongue in the tongue library to determine the type of the tongue, and then calculate the position to be pasted on the tongue according to the predetermined program.

[0056] According to a preferred embodiment of the present application, the fixed frame 11 is provided with a sliding frame 21, and the label supply machine 15 is slidingly arranged on the sliding frame 21, so that the label supply machine 15 can move between the working position and the non-working position, so that the label supply machine 15 can be close to the conveyor 12 when in use, and can be moved out when maintenance or replacement of consumables is needed.

[0057] The robot unit 14 will be described below in conjunction with the drawings. The robot unit 14 is installed on the fixed frame 11 and is protected by a robot mounting platform 33. The robot mounting platform 33 can be a rectangular platform. The robot unit 14 is installed on the robot mounting platform 33. An upper cover 18 is provided above the robot mounting platform 33 to cover the upper part of the fixed frame 11 so that the components of the robot unit 14 are not exposed. In one embodiment, a mounting plate 20 is formed on the robot mounting platform 33. The mounting plate 20 has a reduced thickness relative to the other parts of the robot mounting platform 33. The mounting plate 20 has a clover shape and is rotationally symmetric about the center. The mounting plate 20 has three outwardly extending protrusions. Each protrusion is used to fix an actuating motor which will be described later. The reduced thickness of the mounting plate 20 provides more space for the movement of the actuating arms 26 and the mechanical arms 25 which will be described later. This is because the reduced thickness of the mounting plate 20 avoids the interference between the robot mounting platform 33 and the actuating arms 26 and the mechanical arms 25. Further, a hollow area can be provided on the robot mounting platform 33 to allow the actuating arms 26 and the mechanical arms 25 to move into the hollow area. The hollow area can be covered by the upper cover 18.

[0058] The robot unit 14 includes a suction head assembly 30 and three actuating units. Each actuating unit includes an actuating motor 24 installed on the robot mounting platform 33, an actuating arm 26 connected to the actuating motor 24 at one end of the actuating arm 26. The actuating arm 26 is in the shape of a wrench and can rotate about the axis under the drive of the actuating motor 24. Two mechanical arms 25 are hingedly connected to the other end of the actuating arm 26 at one end of each mechanical arm 25. The other end of each mechanical arm 25 is hingedly connected to the suction head assembly 30. The two mechanical arms 25 are parallel to each other and are hingedly connected to the actuating arm 26 at a first hinge 27. The two mechanical arms 25 are located on the two sides of the actuating arm 26 and are hingedly connected to the two ends of the first hinge 27, respectively. The lower end of the mechanical arm 25 is hingedly connected to the suction head assembly 30 at a second hinge 28. The suction head assembly 30 includes two suction heads. Each suction head can suck one label. Therefore, the suction head assembly 30 can suck two labels at the same time but can release one label at a time. This reduces the frequency of movement of the robot unit. Figure 10 In an alternative embodiment, the suction head assembly 30 further includes a mounting platform. As shown, the two suction heads are provided on the lower side of the mounting platform. In this case, the lower end of the mechanical arm 25 is hingedly connected to the mounting platform at the second hinge 28. The robot unit 14 further includes a rotating motor 29 which is drivingly connected to the suction head assembly 30. The rotating motor 29 is used to rotate the suction head assembly 30 so that the label sucked by the suction head assembly 30 can be rotated to the angle corresponding to the tongue. The rotating motor 29 is connected to the control unit and the power supply through a first connector 31 and a second connector 32.

[0059] The suction head assembly 30 of the present application is used to pick up the label by a vacuum unit, specifically, a vacuum unit is arranged in the robot unit 14, which can include a vacuum generator, an air pipe 34 connected with the suction head assembly 30, and a solenoid valve for controlling the suction and discharge of air to control the suction head assembly 30 to pick up or put down the label, and the opening and closing of the suction head is controlled by the solenoid valve. Figure 13 As shown, two air pipes are respectively communicated with two suction heads, as an example, the vacuum generator and the solenoid valve can be arranged in the visual recognition unit 13.

[0060] The visual recognition automatic tongue label attaching device based on the parallel robot of the present application is used in specific use, first, the tongue is placed on the conveyor belt 22 in sequence, when the tongue passes below the visual recognition unit 13, the visual recognition unit 13 visually recognizes the state of the tongue, then the label printer is adjusted, which is convenient for the robot unit 14 to grab the label, through the set predetermined program, the label is placed on the tongue in sequence, and then the adhesive machine 16 is used to adhere the label placed on the tongue.

[0061] The visual recognition unit 13 is a very important part in this automatic tongue label attaching device, which includes a camera module, a vision processor, a vision software library and a controller, the camera module is used to collect the image of the tongue, which is composed of a camera sensor and a lens, the camera sensor is responsible for capturing optical images and converting them into digital signals, and the lens is used to adjust the focal length and field angle of the image, the camera module is connected to the controller through a cable, the vision processor is a computer system used to process the images collected by the camera, which includes an image processing unit, a cache and other processor resources, the vision processor is used for image recognition and analysis tasks, including target detection, image classification and feature extraction, and the vision processor is connected to the controller through a high-speed interface. The vision software library is a set of software tools used to write and run applications for the vision processor, these libraries include image processing algorithms, machine learning models and other vision tools, and the vision software library is integrated into the development environment of the vision processor.

[0062] In a specific application, artificial supply of the tongue can be adopted, or a distribution device such as a hopper can be adopted to sequentially supply the tongues to the conveying belt, and sometimes, the tongues can be overlapped due to a mistake, for example, one tongue is not completely separated from another tongue, but a part of the tongue is overlapped together, for this case, the application further proposes to set a poking rod inside the visual recognition unit 13, the poking rod is arranged on the inner wall of the square dark box of the visual recognition unit 13, the poking rod is actuated by a motor under the control of the controller, when the visual recognition unit 13 detects that the shape of the tongue is not a regular shape, analysis is performed to determine whether the tongue is overlapped, when it is determined that the tongue is overlapped, the controller starts the poking rod, the poking rod pokes the tongue to separate the tongue, and then the visual recognition unit 13 identifies the tongue again until it is determined that there is no tongue overlapping, in this process, the electric control unit can control the conveyor 12, the robot unit 14 and the label supply machine 15 to temporarily stop working.

[0063] Further, a gas jet head is arranged beside the position of the visual recognition unit 13 of the conveyor 12, the gas jet head is connected with the electric control unit and is controlled by the electric control unit, when the visual recognition unit 13 detects that the tongue on the conveying belt is placed upside down, the gas jet head is started to blow the tongue away from the conveying belt, and the robot unit 14 and the label supply machine 15 are controlled to temporarily stop working, and the next tongue is waited.

[0064] The application firstly adopts a parallel robot combined with visual recognition and linked with a label supply machine such as a label printer to realize the function of tongue label ironing. The visual recognition system can recognize different colors and different types of tongues, and has high compatibility, and only needs to randomly lay the tongues on the assembly line, and does not need to arrange the tongues in order, and the visual recognition system can automatically recognize the position and angle of the tongue and the type, and send the recognition information to the parallel robot, the linked robot accurately performs the label ironing action, and the visual recognition system simultaneously links the label printer, and starts the label printer to print a label once the tongue is recognized, and the robot accurately places the printed label at a specified position of the tongue (the position of the tongue to be ironed can be set), and the working efficiency is very high, and the consistency is very good. One minute can complete the ironing of 60 tongues, which is equivalent to ironing one tongue per second, is 15 times of an artificial, and is 5 times of an existing robot, and the consistency is good, and the precision can reach within 1 mm, and the precision is improved by 50% than that of an existing robot.

[0065] Although the embodiments of the application have been shown and described, it is to be understood that the embodiments are subject to modification and change without departing from the spirit and principles of the application. The scope of the application is defined by the appended claims and their equivalents.

[0066] List of reference signs:

[0067] 100 attachment device

[0068] 11 stationary frame

[0069] 12 conveyor

[0070] 13 vision recognition unit

[0071] 14 robot unit

[0072] 15 label supply machine

[0073] 16 adhesive machine

[0074] 17 electric control unit

[0075] 18 lid

[0076] 19 conveyor motor

[0077] 20 mounting plate

[0078] 21 sliding frame

[0079] 22 conveyor belt

[0080] 23 label output

[0081] 24 actuating motor

[0082] 25 robot arm

[0083] 26 actuating arm

[0084] 27 first articulation

[0085] 28 second articulation

[0086] 29 rotary motor

[0087] 30 suction head assembly

[0088] 31 first connector

[0089] 32 second connector

[0090] 33 robot mounting station

[0091] 34 air tube

Claims

1. A visual recognition automatic tongue label attaching device (100) based on parallel robot for attaching a label on a tongue, characterized in that, The labeling device (100) comprises: a fixed frame (11); a conveyor (12) for conveying the tongue; a visual recognition unit (13) configured to capture images of the tongue and determine the position of the tongue and the position to be labeled on the tongue; a label supply machine (15) for supplying labels; a robot unit (14) configured to obtain labels from the label supply machine (15) and place the labels on the position to be labeled on the tongue, wherein the operating head of the robot unit (14) is configured to reciprocate between the label supply position of the label supply machine (15) and the position to be labeled on the tongue, the visual recognition unit is further configured to identify and position the tongue by using an intelligent algorithm, determine the type, shape and size of the tongue, and determine the position to be labeled on the tongue according to a predetermined program after comparing the captured image of the tongue with the images of the tongues in the tongue library; a sliding frame is arranged on the fixed frame, and the label supply machine is slidingly arranged on the sliding frame, so that the label supply machine can move between the working position and the non-working position, so as to be close to the conveyor during use, and be moved out when maintenance or replacement of consumables is required; a robot mounting table is arranged on the fixed frame for mounting and fixing the robot unit, and the robot mounting table is also used to protect the robot unit, the robot mounting table is in the shape of a rectangular platform, a cover is arranged above the robot mounting table, the cover closes the upper part of the fixed frame, so that the components of the robot unit are not exposed from the top, a mounting plate is formed on the robot mounting table, the mounting plate has a reduced thickness relative to other parts of the robot mounting table, the mounting plate is in the shape of a clover, rotationally symmetric about the center, and includes three outwardly extending protruding parts, each of which is used to fixedly mount an actuating motor, the reduced thickness of the mounting plate is used to avoid interference between the robot mounting table and the actuating arm and the mechanical arm, and a hollow area is provided on the robot mounting table to facilitate the actuating arm and the mechanical arm to enter the hollow area when they are in motion, and the hollow area is covered by the cover; the robot unit comprises a suction head assembly and three actuating units, each of which comprises: the actuating motor arranged on the robot mounting table; an actuating arm in the shape of a wrench, one end of the actuating arm being connected with the actuating motor, so that the actuating arm can rotate about the shaft under the drive of the actuating motor; two mechanical arms arranged in parallel, one end of each of the mechanical arms being hingedly connected to the other end of the actuating arm, and the other end of each of the mechanical arms being hingedly connected to the suction head assembly; the suction head assembly comprises two suction heads, the suction head assembly simultaneously sucks two labels, but only releases one label at a time, so as to reduce the frequency of back-and-forth movement of the robot unit; the suction head assembly further comprises a mounting platform, the two suction heads are arranged on the lower side of the mounting platform, and the lower ends of the mechanical arms are hingedly connected to the mounting platform; The visual recognition unit is internally provided with a toggle lever, which is arranged on the inner wall of the visual recognition unit and is actuated by a motor under the control of the controller. When the visual recognition unit detects that the shape of the tongue is not a regular shape, it is determined whether there is a tongue stacking condition. After determining that the tongue is stacked, the controller starts the toggle lever, which toggles the tongue to separate the tongue. Then the visual recognition unit identifies the tongue again until it is determined that there is no tongue stacking condition. A gas jet head is arranged beside the conveyor at the position of the visual recognition unit. When the visual recognition unit detects that the tongue on the conveyor belt is placed upside down, the gas jet head is started to blow the tongue off the conveyor belt, and the robot unit and the label supply machine (15) are temporarily stopped to wait for the next tongue.

2. The visual recognition automatic tongue labeling device (100) based on a parallel robot according to claim 1, characterized in that: The visual recognition unit (13), the label supply machine (15) and the robot unit (14) work synchronously, so that one tongue obtains information from the visual recognition unit (13) during the process of moving to the working area of the robot unit (14), the label supply machine (15) completes the label supply operation, and the robot unit (14) completes the label taking operation, and then places the label on the tongue at the position to be pasted.

3. The visual recognition automatic tongue labeling device (100) based on a parallel robot according to claim 2, characterized in that: The visual recognition unit (13) is arranged above the conveyor (12), the robot unit (14) is arranged above the conveyor (12) and downstream of the visual recognition unit (13), and the label supply machine (15) is arranged beside the conveyor (12).

4. The visual recognition automatic tongue labeling device (100) based on a parallel robot according to any one of claims 1-3, characterized in that: The labeling device (100) further comprises an adhesive machine (16) arranged downstream of the conveyor (12), which is used to fix the label on the tongue.

5. The visual recognition automatic tongue labeling device (100) based on a parallel robot according to claim 4, characterized in that: The labeling device (100) further comprises an electric control unit (17) electrically connected with the conveyor (12), the visual recognition unit (13), the label supply machine (15), the robot unit (14) and the adhesive machine (16), respectively, for providing power for the conveyor (12), the visual recognition unit (13), the label supply machine (15), the robot unit (14) and the adhesive machine (16), and controlling the operation of the conveyor (12), the visual recognition unit (13), the label supply machine (15), the robot unit (14) and the adhesive machine (16).

Images