Multifunctional automatic labeling machine

Abstract

The application discloses a multifunctional automatic labeling machine, which comprises a rack, wherein a block-shaped material supply device, a label supply device, a sheet-shaped material supply device, a material pasting device, a mechanical hand and a positioning and identifying device are arranged on the rack. The material pasting device comprises a first unwinding device, a first winding device and a workbench plate fixed on the rack. The film material output by the first unwinding device is wound into a roll shape by the first winding device after passing through the upper surface of the workbench plate. The mechanical hand comprises a gripper seat and a walking mechanism capable of moving the gripper seat on the rack. The gripper seat is provided with a first gripper capable of grabbing the block-shaped material and a second gripper capable of grabbing the label and the sheet-shaped material. The positioning and identifying device is used for identifying the position of the film material on the workbench plate and the position of the material on the mechanical hand. The automatic labeling machine has multiple functions, a wide application range and can accurately paste various materials on the same film material.

Description

Technical Field

[0001] This invention relates to the field of automatic labeling technology, and in particular to a multifunctional automatic labeling machine. Background Technology

[0002] In actual production, labeling products is an essential step before they leave the factory. Traditionally, labeling is done manually, which is not only inefficient but also results in inconsistent labeling. Currently, semi-automatic or automatic labeling devices are emerging to gradually replace manual labeling.

[0003] For example, patent document CN2218142649U discloses a high-precision automatic labeling device that can automatically apply labels and improve labeling accuracy and efficiency. However, this device also has the following problem: it can only affix labels to products, making it difficult to attach multiple different materials to the same product. For example, a packaging film for new energy batteries requires the attachment of three different materials: sponge blocks, labels, and decorative pieces. In this case, the aforementioned high-precision automatic labeling device is not applicable. Summary of the Invention

[0004] Therefore, the purpose of this invention is to provide a multifunctional automatic labeling machine capable of affixing multiple different materials onto the same film.

[0005] The technical solution adopted by this invention to solve its technical problem is as follows:

[0006] A multi-functional automatic labeling machine includes a frame, on which are mounted:

[0007] A block material feeding device for outputting block materials one by one;

[0008] A label supply device for outputting strip material, wherein a label is affixed to the strip material;

[0009] A sheet material feeding device for outputting sheet materials;

[0010] The film application device includes a first unwinding device, a first winding device, and a worktable fixed on the frame. The film material output by the first unwinding device passes through the upper surface of the worktable and is wound into a roll by the first winding device.

[0011] A robotic arm includes a gripper base and a traveling mechanism capable of moving the gripper base on a frame. The gripper base is provided with a first gripper capable of gripping block materials and a second gripper capable of gripping labels and sheet materials.

[0012] The positioning and recognition device includes a first vision system capable of recognizing the relative position of the film material and the worktable, and a second vision system capable of recognizing the position of the material on the robotic arm.

[0013] As a further optimization of the above technical solution, the first gripper is a first vacuum suction cup, and the second gripper is a second vacuum suction cup. The adsorption surfaces of the first vacuum suction cup and the second vacuum suction cup both face downwards. The gripper base is provided with a suction cup switching driver that can drive the first vacuum suction cup to move up and down. When the first vacuum suction cup moves upwards, its adsorption surface moves to a position higher than the adsorption surface of the second vacuum suction cup. When the first vacuum suction cup moves downwards, its adsorption surface moves to a position lower than the adsorption surface of the second vacuum suction cup.

[0014] As a further optimization of the above technical solution, the walking mechanism includes a base fixed on the frame, a first rotating arm with one end hinged to the base, a first driver capable of driving the first rotating arm to rotate relative to the base, a second rotating arm with one end hinged to the first rotating arm, a second driver capable of driving the second rotating arm to rotate relative to the first rotating arm, a lifting seat movably mounted on the first rotating arm, and a third driver capable of driving the lifting seat to move up and down relative to the second rotating arm, wherein the gripper base is fixed on the lifting seat.

[0015] As a further optimization of the above technical solution, the first vision system includes a support frame and a first camera device mounted on the support frame. The first camera device has a downward shooting direction and is located above the worktable. The second vision system includes a second camera device mounted in the middle of the frame. The second camera device has an upward shooting direction.

[0016] As a further optimization of the above technical solution, the label supply device includes a first bracket fixed on the frame, a second unwinding device, a second winding device, and a movable carrier plate mounted on the first bracket. The left edge of the movable carrier plate is the label-removing section. The second unwinding device includes a second unwinding wheel and an unwinding roller assembly that can guide the strip material along the upper surface of the movable carrier plate from right to left toward the label-removing section. The second winding device includes a second winding wheel, a second winding driver that can drive the second winding wheel to rotate, and a winding roller assembly that can guide the strip material around the label-removing section and transport it to the second winding wheel. The first bracket is also provided with a label-peeling driver that can drive the movable carrier plate to move left and right relative to the first bracket.

[0017] As a further optimization of the above technical solution, the take-up roller assembly includes a first take-up roller located to the right of the movable carrier plate, and a plurality of second take-up rollers capable of conveying material between the first take-up roller and the second take-up roller. When the second take-up roller rotates, the material on the upper surface of the movable carrier plate bypasses the labeling part and is conveyed to the right to the first take-up roller.

[0018] As a further optimization of the above technical solution, the unwinding assembly includes a first unwinding roller located to the right of the labeling section, and a plurality of second unwinding rollers capable of conveying material between the second unwinding roller and the first unwinding roller.

[0019] As a preferred embodiment of the above technical solution, the top or bottom of the first unwinding roller is the output section for outputting material, the output section is higher than the upper surface of the movable carrier plate, and the height difference between the output section and the upper surface of the movable carrier plate is 0~5mm.

[0020] As a preferred embodiment of the above technical solution, the top or bottom of the first unwinding roller is the output section for outputting materials, and the output section is at the same height as the upper surface of the movable carrier plate.

[0021] As a further optimization of the above technical solution, the second unwinding wheel is connected to a tensioning wheel assembly.

[0022] As a further optimization of the above technical solution, a mounting base is fixed on the first bracket, a slide is provided on the mounting base, the movable carrier plate is fixed on the slide, the label peeling driver is a cylinder, the cylinder is arranged in the left-right direction and located below the mounting base, the front part of the slide is provided with a connector extending downward to the bottom of the mounting base, the output shaft of the cylinder is connected to the connector to drive the movable carrier plate and the slide to move left and right together, and the mounting base is provided with a clearance groove in which the connector can move left and right.

[0023] As a further optimization of the above technical solution, the cylinder is an adjustable stroke cylinder.

[0024] As a further optimization of the above technical solution, the sheet material supply device includes a lifting pallet capable of placing sheet material and a sheet material feeding driver capable of driving the lifting pallet to move up and down relative to the frame. A baffle frame is fixed on the frame, and the baffle frame and the upper surface of the lifting pallet together form a storage space capable of placing sheet material. A sheet material sensor capable of sensing the position of the uppermost sheet material is provided on the baffle frame or the frame.

[0025] As a further optimization of the above technical solution, the enclosure frame includes a fixed base located below the lifting platform, a left side fence fixed to the left side of the fixed base, a rear baffle fixed to the rear of the fixed base, and a right side fence that can be moved left and right on the fixed base. The lifting platform is provided with a clearance groove that can avoid the right side fence. The left side fence, the right side fence, the rear baffle, and the upper surface of the lifting platform form the storage space. The fixed base is also provided with fasteners that can fix the right side fence.

[0026] As a further optimization of the above technical solution, the block material supply device includes a vibrating plate, which has a discharge trough capable of outputting block materials.

[0027] As a further optimization of the above technical solution, the first unwinding device includes a first unwinding wheel and a plurality of first transmission rollers;

[0028] The film application device also includes a feeding traction wheel, a take-up traction wheel, and a film driver that can drive the feeding traction wheel and the take-up traction wheel to rotate synchronously. The feeding traction wheel is used to transport the film output from the first unwinding wheel from one side of the worktable to the worktable, and the take-up traction wheel is used to pull the film on the worktable so that the film is output from the other side of the worktable.

[0029] The first winding device includes a plurality of second drive rollers and a first winding roller capable of winding the film material output by the winding traction roller;

[0030] The take-up traction wheel and the first take-up wheel are connected by a slippery first transmission mechanism to drive the first take-up wheel to rotate.

[0031] As a further optimization of the above technical solution, the first transmission mechanism includes a first pulley disposed on the take-up traction wheel, a second pulley disposed on the first take-up wheel, and a transmission belt connecting the first pulley and the second pulley. The transmission belt is a circular belt with a circular cross-section, and both the first pulley and the second pulley are provided with arc-shaped grooves that cooperate with the circular belt.

[0032] As a further optimization of the above technical solution, an unwinding traction wheel is provided between the first unwinding wheel and the feeding traction wheel, and the feeding traction wheel and the unwinding traction wheel are connected by a slippery second transmission mechanism to drive the unwinding traction wheel to rotate.

[0033] As a further optimization of the above technical solution, the second transmission mechanism includes a third pulley disposed on the feeding traction wheel, a fourth pulley disposed on the unwinding traction wheel, and a transmission belt connecting the third pulley and the fourth pulley. The transmission belt is a circular belt with a circular cross-section, and both the third pulley and the fourth pulley are provided with arc-shaped grooves that cooperate with the circular belt.

[0034] As a further optimization of the above technical solution, a marking component is provided above the worktable, and a power device is provided on the frame to drive the marking component to move relative to the worktable in two axes in the left-right and up-down directions. A material passage gap is left between the marking component and the upper surface of the worktable for the film material to pass through.

[0035] As a further optimization of the above technical solution, the power unit includes a slide that can be moved left and right on the worktable, a transverse drive that can drive the slide to move left and right relative to the worktable, a lifting block that is movably mounted on the slide, and a lifting drive that can drive the pressure mark to move up and down relative to the slide, wherein the pressure mark is mounted on the lifting block.

[0036] As a further optimization of the above technical solution, the number of lifting blocks is two, and the two lifting blocks are respectively located on the front and rear sides of the worktable. The pressure component is a cylindrical pressure roller, and the front and rear ends of the pressure roller are rotatably connected to the corresponding lifting blocks.

[0037] As a further optimization of the above technical solution, the surface of the pressure roller is covered with an elastic rubber pad.

[0038] As a further optimization of the above technical solution, a guide column mechanism for guiding the lifting block is provided between the lifting block and the slide.

[0039] As a further optimization of the above technical solution, a guide rail is installed on the lower surface of the worktable, and the slide is slidably mounted on the guide rail.

[0040] As a further optimization of the above technical solution, a traction roller bracket is provided on the frame, the take-up traction wheel is rotatably mounted on the traction roller bracket, a movable frame is provided on one side of the take-up traction wheel, a film pressing roller parallel to the take-up traction wheel is provided on the movable frame, the film pressing roller is provided with a circumferential groove to avoid blocky materials on the film, and the movable frame is connected to a vertical movement driver that can drive it to move closer to and away from the take-up traction wheel.

[0041] The beneficial effects of this invention are:

[0042] First, the automatic labeling machine of the present invention has multiple functions and a wide range of applications. It can accurately locate labels on sheet materials, strip materials, sponge blocks and other block materials through a vision recognition system, and then accurately paste them onto the corresponding positions on the film material. Finally, it rolls up the labeled roll material.

[0043] Secondly, this invention can automatically peel off the label and transport it to the next station, which is very convenient. Even labels that are tightly stuck to the release paper can be peeled off smoothly, ensuring high reliability. During the label peeling process, the direction of movement of the release paper remains unchanged, and it is always taut by the second take-up roller and take-up roller assembly, which can prevent the release paper from having a hanging section and getting tangled on other moving parts.

[0044] Third, since the feeding traction wheel and the receiving traction wheel always rotate synchronously and at a constant speed, the membrane material also moves at a constant speed when passing over the upper surface of the worktable. This makes it easy to calculate the distance the membrane material moves on the worktable within any given time period, thereby ensuring that the material can be accurately pasted onto the predetermined position on the membrane material.

[0045] Fourth, since the radius of the film roll on the first unwinding roller and the first winding roller is constantly changing, a slippery first transmission mechanism is used to pull the first winding roller to rotate, which can adapt to the change in the radius of the film roll on the first winding roller; a slippery second transmission mechanism is used to pull the unwinding traction roller to rotate, which can adapt to the change in the radius of the film roll on the first unwinding roller; thus, the entire system can be driven to operate smoothly using only one motor. Attached Figure Description

[0046] Figure 1 This is a perspective view of the present invention;

[0047] Figure 2 It is a 3D diagram of a robotic arm;

[0048] Figure 3 This is the front view of the label supply device;

[0049] Figure 4 This is a diagram illustrating the working principle of peeling labels off strip materials;

[0050] Figure 5 yes Figure 4 Enlarged view of section A;

[0051] Figure 6 This is a three-dimensional view of the label supply device;

[0052] Figure 7 This is a three-dimensional view of the sheet material feeding device;

[0053] Figure 8 This is one of the three-dimensional views of the material application device;

[0054] Figure 9 This is the second 3D view of the material application device;

[0055] Figure 10 This is a schematic diagram of the installation structure of the receiving traction roller;

[0056] Figure 11 This is a schematic diagram of the pressure mark venting mechanism. Detailed Implementation

[0057] The technical solution of the present invention will now be clearly and completely described in conjunction with the accompanying drawings.

[0058] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in this invention are only used to explain the relative positional relationships and movement of the components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly. Furthermore, descriptions involving "preferred," "second-best," etc., in this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "preferred" or "second-best" may explicitly or implicitly include at least one of those features.

[0059] Reference Figures 1 to 11 The present invention proposes a multifunctional automatic labeling machine, including a frame 1, on which a block material supply device 2, a label supply device 3, a sheet material supply device 4, a labeling device 5, a robotic arm 6, and a positioning and identification device are provided.

[0060] The block material supply device 2 is used to output block materials one by one. The label supply device 3 is used to output strip material 91, on which a label 912 is affixed. The sheet material supply device 4 is used to output sheet material.

[0061] The film application device 5 includes a first unwinding device 52, a first winding device 53, and a worktable 51 fixed on the frame 1. The film material output by the first unwinding device 52 passes through the upper surface of the worktable 51 and is wound into a roll by the first winding device 53.

[0062] The robotic arm 6 includes a gripper base 601 and a traveling mechanism that can move the gripper base 601 on the frame 1. The gripper base 601 is provided with a first gripper that can grip block materials and a second gripper that can grip the label 912 and sheet materials.

[0063] The positioning and identification device includes a first vision system capable of identifying the relative position of the membrane material and the worktable 51, and a second vision system capable of identifying the position of the material on the robot arm 6.

[0064] The working principle of this automatic labeling machine is as follows: 1. When it is necessary to affix block materials to the film, the gripper seat 601 on the robot arm 6 moves the first gripper to the output position of the block material supply device 2, and then the first gripper picks up the block material. Next, the first gripper moves to the working area of ​​the second vision system, which can identify and position the relative position of the block material and the first gripper. At the same time, the first vision system can identify the position of the film on the worktable 51, thus completing the positioning of the block material and the film. Then, the robot arm 6 moves the block material to the top of the worktable 51 and presses the block material down, thus completing the affixing of block materials such as sponge blocks to the film. 2. When sheet materials need to be applied to the membrane, the gripper seat 601 on the robot arm 6 moves the second gripper to the output position of the sheet material supply device 4, and then the second gripper picks up the sheet material. The second gripper then moves to the working area of ​​the second vision system, which can identify and position the relative position of the sheet material and the second gripper. At the same time, the first vision system can identify the position of the membrane material on the worktable 51, and thus complete the positioning of the sheet material and the membrane material. Then, the robot arm 6 moves the sheet material to the top of the worktable 51 and presses the sheet material down, thus completing the application of sheet materials such as sponge blocks to the membrane material. 3. When it is necessary to affix label 912 to the membrane material, the gripper seat 601 on the robot arm 6 moves the second gripper to the output position of the label supply device 3. Then, the second gripper picks up the label 912 on the strip material 91. Next, the second gripper moves to the working area of ​​the second vision system, which can identify and position the relative position of the label 912 and the second gripper. At the same time, the first vision system can identify the position of the membrane material on the worktable 51, which can complete the positioning of the label 912 and the membrane material. Then, the robot arm 6 moves the label 912 to the top of the worktable 51 and presses the label 912 down to complete the affixing of the sponge block or other label 912 to the membrane material.

[0065] As can be seen from the above working principle, the automatic labeling machine of the present invention has diverse functions and a wide range of applications. It can accurately position the label 912 on sheet materials, strip materials 91, sponge blocks and other block materials, and then accurately paste them onto the corresponding positions on the film material. Finally, the roll of material with the label 912 pasted on it is rolled up.

[0066] In a preferred embodiment of the present invention, the first gripper is a first vacuum suction cup 602, and the second gripper is a second vacuum suction cup 603. The adsorption surfaces of both the first and second vacuum suction cups face downwards. A suction cup switching driver 604 is provided on the gripper base 601, capable of driving the first vacuum suction cup 602 to move up and down. When the first vacuum suction cup 602 is needed to grip material, it is driven downwards to move its adsorption surface below the adsorption surface of the second vacuum suction cup 603. When the second vacuum suction cup 603 is needed to grip material, it is driven upwards to move its adsorption surface above the adsorption surface of the second vacuum suction cup 603.

[0067] In a preferred embodiment of the present invention, the traveling mechanism includes a base 61 fixed on a frame 1, a first rotating arm 62 hinged at one end to the base 61, a first driver capable of driving the first rotating arm 62 to rotate relative to the base 61, a second rotating arm 63 hinged at one end to the first rotating arm 62, a second driver capable of driving the second rotating arm 63 to rotate relative to the first rotating arm 62, a lifting seat 64 movably mounted on the first rotating arm 62, and a third driver capable of driving the lifting seat 64 to move up and down relative to the second rotating arm 63. A gripper base 601 is fixed on the lifting seat 64. The first and second drivers are both servo motors, and the third driver can be a cylinder, a hydraulic cylinder, or a motor.

[0068] In some embodiments of the present invention, the aforementioned walking mechanism may also adopt other structural forms, such as the robotic arm 6 in the patent text with publication number CN115781745A, or the robotic arm 6 disclosed in the patent text WO2020087606A1, or the four-axis moving mechanism disclosed in the patent text with publication number CN114473970A, or a common XYZ three-axis moving mechanism, etc.

[0069] The structures of the first vacuum suction cup 602 and the second vacuum suction cup 603 are existing technologies, such as the vacuum suction cup disclosed in the patent document with publication number CN110116381A or the vacuum suction cup disclosed in the patent document with publication number CN106321608A, or other suitable structures.

[0070] Reference Figure 1 The first vision system includes a support frame 71 and a first camera device 72 mounted on the support frame 71. The first camera device 72 has a downward shooting direction and is located above the worktable 51. The second vision system includes a second camera device 81 mounted in the middle of the frame 1. The second camera device 81 has an upward shooting direction.

[0071] In a preferred embodiment of the present invention, the label supply device 3 includes a first support 31 fixed on the frame 1, a second unwinding device, a second winding device, and a movable carrier plate 32 mounted on the first support 31. The second unwinding device includes a second unwinding roller 331 and an unwinding roller assembly capable of guiding the strip material 91 along the upper surface of the movable carrier plate 32 from right to left toward the label-removing part 321. The second winding device includes a second winding roller 341, a second winding driver 342 capable of driving the second winding roller 341 to rotate, and a winding roller assembly capable of guiding the strip material 91 around the label-removing part 321 and conveying it to the second winding roller 341. The first support 31 is also provided with a label-removing driver 351 capable of driving the movable carrier plate 32 to move left and right relative to the first support 31. The second winding driver 342 is preferably a motor.

[0072] In this invention, the working principle of the second vacuum suction cup 603 gripping the label 912 is as follows: Under the power of the second winding driver 342, the strip material 91 is output from the second unwinding wheel 331. The strip material 91 includes a whole strip of release paper 911 and a label 912 attached to the release paper 911. After passing through the unwinding assembly, the strip material 91 is conveyed from right to left along the upper surface of the movable carrier plate 32. Then, the second vacuum suction cup 603 on the robot arm 6 moves to the upper left side of the movable carrier plate 32 and grips the label 912 on the strip material 91. Label 912 is picked up; then, under the power of the label peeling driver 351, the movable carrier plate 32 moves to the right, and at the same time, the second take-up wheel 341 pulls the release paper 911 under the movable carrier plate 32 to the right, thus separating the release paper 911 and label 912. After separation, the robot arm 6 transports label 912 to the top of the second camera device 81 for photographing and positioning, and then moves it to the top of the worktable 51 to attach label 912 to the film material; the movable carrier plate 32 then moves to the left to the initial position. Compared with the prior art, the present invention can automatically peel off label 912 and transport it to the next station, which is very convenient. Even if label 912 is stuck very tightly to release paper 911, label 912 can be successfully peeled off from release paper 911, with high reliability. During the process of peeling off the label 912, the direction of movement of the release paper 911 remains unchanged, and it is always pulled taut by the second take-up roller 341 and the take-up roller assembly, which can prevent the release paper 911 from having a hanging section and getting tangled on other moving parts.

[0073] Reference Figure 3 and Figure 4In one specific embodiment of the invention, the take-up roller assembly includes a first take-up roller 343 located to the right of the movable carrier plate 32, and a plurality of second take-up rollers 344 capable of conveying material between the first take-up roller 343 and the second take-up roller 341. The unwinding assembly includes a first unwinding roller 333 located to the right of the label-unwinding section 321, and a plurality of second unwinding rollers 334 capable of conveying material between the second unwinding roller 331 and the first unwinding roller 333. The second unwinding roller 331 is connected to a tensioning roller assembly 332.

[0074] The top or bottom of the first unwinding roller 333 is the output section for the strip material 91. The output section can be positioned in two ways: First, the output section is higher than the upper surface of the movable carrier plate 32, with a height difference of 0-5mm between the output section and the upper surface of the movable carrier plate 32. Second, the top or bottom of the first unwinding roller 333 is the output section for the strip material 91, and the output section 331 is at the same height as the upper surface of the movable carrier plate 32.

[0075] In the above scheme, the conveying process of the strip material 91 is as follows: under the power of the second take-up drive 342, the strip material 91 is output from the second unwinding roller 331, and then passes through the tensioning roller. The tensioned strip material 91 passes through all the second unwinding rollers 334 in sequence, and then reaches the first unwinding roller 333. After the strip material 91 is output from the output part of the first unwinding roller 333, it is conveyed from right to left along the upper surface of the movable carrier plate 32. After the label 912 is peeled off at the left edge of the movable carrier plate 32, the remaining release paper 911 will bypass the label peeling part on the left side of the delivery carrier plate, and then be conveyed to the right to the first take-up roller 343. Then it passes through all the second take-up rollers 344 and is finally wound onto the second take-up roller 341.

[0076] Reference Figure 6 A mounting base 311 is fixed on the first bracket 31, and a slide 312 is provided on the mounting base 311. The movable carrier plate 32 is fixed on the slide 312. The label peeling driver 351 is a cylinder, which is arranged in the left-right direction and located below the mounting base 311. A connector 313 extending downward to the bottom of the mounting base 311 is provided at the front of the slide 312. The output shaft of the cylinder is connected to the connector 313 to drive the movable carrier plate 32 and the slide 312 to move left and right together. The mounting base 311 is provided with a clearance groove 318 for the connector 313 to move left and right therein. A guide rail is provided between the mounting base 311 and the slide 312 to guide the slide 312. This design has the following advantages: because the slide 312 and the cylinder are at different heights, the overall length of the slide 312 and the cylinder is the longer of the two, which helps to reduce the overall length and the floor space occupied. If the two are set at the same height using the conventional method, the overall length of the slide 312 and the cylinder will be the sum of their lengths, requiring a lot of space.

[0077] Preferably, the cylinder is an adjustable stroke cylinder. This configuration allows for adjustable displacement of the movable carrier plate 32 in the left-right direction. When the length of the label 912 changes due to the replacement of the strip material 91, the stroke of the adjustable stroke cylinder can be adjusted to accommodate the change in the strip material 91. Alternatively, the label peeling actuator 351 can be replaced with other structures, such as a combination of a servo motor and a ball screw, or a combination of a servo motor and a gear pair.

[0078] Reference Figure 7 The sheet material supply device 4 includes a lifting pallet 41 capable of holding sheet materials and a sheet material feeding driver 42 capable of driving the lifting pallet 41 to move up and down relative to the frame 1. A baffle frame 44 is fixed on the frame 1. The baffle frame 44 and the upper surface of the lifting pallet 41 together form a storage space for holding sheet materials. A sheet material sensor 43 capable of sensing the position of the uppermost sheet material is provided on the baffle frame 44 or the frame 1. The sheet material sensor 43 is preferably a photoelectric sensor, and the sheet material feeding driver 42 is preferably a servo motor.

[0079] The feeding method of the sheet material feeding device 4 is as follows: First, a stack of sheet material is placed on the lifting pallet 41, so that the top layer of sheet material is at a set height position. After the second vacuum suction cup 603 on the robot arm 6 grabs away the top few sheets of sheet material, the sheet material sensor 43 senses that the height of the sheet material stack is lower than the critical value, and then feeds this signal back to the central control system. The central control system will issue an instruction to make the sheet material feeding driver 42 work, drive the lifting pallet 41 to move upward until the height position of the upper surface of the sheet material stack meets the requirements.

[0080] Specifically, the enclosure frame 44 includes a fixed base 444 located below the lifting platform 41, a left fence 441 fixed to the left side of the fixed base 444, a rear baffle 443 fixed to the rear of the fixed base 444, and a right fence 442 that can be moved left and right on the fixed base 444. The lifting platform 41 is provided with a clearance groove 318 that can avoid the right fence 442. The left fence 441, the right fence 442, the rear baffle 443, and the upper surface of the lifting platform 41 form a storage space. The fixed base 444 is also provided with fasteners that can fix the right fence 442. Preferably, the fixed base 444 is provided with an elongated hole 4441 arranged in the left and right direction. The fastener is a screw or bolt. The threaded end of the screw or bolt passes through the elongated hole 4441 and connects with the base plate of the right fence 442 to lock the right fence 442. After the fastener is loosened, the right fence 442 can be moved left and right to adjust the width of the storage space, thereby accommodating sheet materials of different widths.

[0081] Reference Figure 1The block material supply device 2 includes a vibrating plate 21, which has a discharge chute 22 capable of outputting block materials.

[0082] Reference Figure 8 and Figure 9 The first unwinding device 52 includes a first unwinding roller 521 and a plurality of first drive rollers 522. The film application device 5 also includes a feeding traction roller 54, a take-up traction roller 55, and a film driver 56 capable of driving the feeding traction roller 54 and the take-up traction roller 55 to rotate synchronously. The feeding traction roller 54 is used to transport the film output from the first unwinding roller 521 from one side of the worktable 51 onto the worktable 51, and the take-up traction roller 55 is used to pull the film on the worktable 51 so that the film is output from the other side of the worktable 51. The first winding device 53 includes a plurality of second drive rollers 532 and a first winding roller 531 capable of winding the film output from the take-up traction roller 55. The take-up traction roller 55 and the first winding roller 531 are connected by a slipperable first transmission mechanism to drive the first winding roller 531 to rotate. An unwinding traction wheel 58 is provided between the first unwinding wheel 521 and the feeding traction wheel 54. The feeding traction wheel 54 and the unwinding traction wheel 58 are connected by a slippery second transmission mechanism to drive the unwinding traction wheel 58 to rotate.

[0083] Specifically, the film material driver 56 employs a motor. The output shaft of this motor is connected to the feeding traction wheel 54 and the take-up traction wheel 55 via a synchronous belt mechanism or a gear mechanism to enable them to rotate synchronously. The first transmission mechanism includes a first pulley 571 mounted on the take-up traction wheel 55, a second pulley 572 mounted on the first take-up wheel 531, and a transmission belt connecting the first pulley 571 and the second pulley 572. The transmission belt is a circular belt with a circular cross-section, and both the first pulley 571 and the second pulley 572 are provided with arc-shaped grooves 573 that mate with the circular belt. The second transmission mechanism includes a third pulley 574 mounted on the feeding traction wheel 54, a fourth pulley 575 mounted on the unwinding traction wheel 58, and a transmission belt connecting the third pulley 574 and the fourth pulley 575. The transmission belt is a circular belt with a circular cross-section, and both the third pulley 574 and the fourth pulley 575 are provided with arc-shaped grooves 573 that mate with the circular belt.

[0084] The membrane material is conveyed as follows: under the power of the membrane material driver 56, the membrane material is output from the first unwinding roller 521, then passes through the tensioning roller, and the tensioned membrane material passes through all the first drive rollers 522 in sequence, then through the unwinding traction roller and all the second drive rollers 532 to reach the feeding traction roller, then passes through the upper surface of the worktable 51 to reach the take-up traction roller, then passes through all the second drive rollers 532, and finally can be wound up by the second take-up roller 344.

[0085] In one of the membrane materials to which this invention is applicable, both the upper and lower surfaces have release paper. In order to peel off one layer of release paper between the membrane material being conveyed to the worktable 51, a peeling knife can be installed on the unwinding traction wheel 58.

[0086] In the above scheme, since the feeding traction wheel 54 and the take-up traction wheel 55 always rotate synchronously and at a constant speed, the film material also moves at a constant speed when passing over the upper surface of the worktable 51. This facilitates the calculation of the distance the film material moves on the worktable 51 within any given time period, thereby ensuring that the material can be accurately pasted onto the predetermined position on the film material. In addition, since the radius of the film roll on the first unwinding wheel 521 and the first take-up wheel 531 is constantly changing, a slippery first transmission mechanism is used to pull the first take-up wheel 531 to rotate, which can adapt to the change in the radius of the roll material on the first take-up wheel 531; a slippery second transmission mechanism is used to pull the unwinding traction wheel 58 to rotate, which can adapt to the change in the radius of the roll material on the first unwinding wheel 521; thus, the entire system can be driven smoothly by only one motor.

[0087] Then it reaches the first unwind roller 333. After the film material is output from the output part of the first unwind roller 333, it is conveyed from right to left along the upper surface of the movable carrier plate 32. After the label 912 is peeled off at the left edge of the movable carrier plate 32, the remaining release paper will bypass the label peeling part on the left side of the delivery carrier plate and then be conveyed to the right to the first take-up roller 343. Then it passes through all the second take-up rollers 344 and is finally wound onto the second take-up roller 341.

[0088] Reference Figure 10 As a further optimization of the above technical solution, a traction roller bracket 501 is provided on the frame 1, and a take-up traction wheel 55 is rotatably mounted on the traction roller bracket 501. A movable frame 502 is provided on one side of the take-up traction wheel 55, and a film pressing roller 503 parallel to the take-up traction wheel 55 is provided on the movable frame 502. The film pressing roller 503 is provided with a circumferential groove 504 to avoid blocky materials on the film. The movable frame 502 is connected to a vertical movement driver 505 that can drive it to move closer to and away from the take-up traction wheel 55. The vertical movement driver 505 is preferably a cylinder.

[0089] As a further improvement of the present invention, a marking element 591 is provided above the worktable 51, and a power device is provided on the frame 1 to drive the marking element 591 to move relative to the worktable 51 in two axes in the left-right and up-down directions. A material passage gap 592 is left between the marking element 591 and the upper surface of the worktable 51 for the film material to pass through. The marking element 591 and the power device constitute an exhaust mechanism.

[0090] Figure 11A first embodiment of the exhaust mechanism is shown, in which the power unit includes a slide mounted on a worktable 51 that can move left and right, a transverse drive 552 that can drive the slide to move left and right relative to the worktable 51, a lifting block 553 movably mounted on the slide, and a lifting drive 554 that can drive a pressure mark 591 to move up and down relative to the slide, the pressure mark 591 being mounted on the lifting block 553.

[0091] The transverse drive 552 is a cylinder, motor or hydraulic cylinder, and the lifting drive 554 is a cylinder, motor or hydraulic cylinder.

[0092] Specifically, there are two lifting blocks 553, and the two lifting blocks 553 are located on the front and rear sides of the worktable 51 respectively. The pressure roller 591 is a cylindrical pressure roller, and the front and rear ends of the pressure roller are rotatably connected to the corresponding lifting blocks 553 through bearings.

[0093] The working principle of this scheme is as follows: Under the traction of the feeding traction wheel 54 and the receiving traction wheel 55, the film material is conveyed from left to right along the upper surface of the worktable. The robot arm 6 attaches the label 912 to the upper surface of the film material. Then, the film material, carrying the label 912, continues to be conveyed to the right. When the label 912 passes through the material passage gap 592 between the pressure roller and the worktable 51, the pressure roller maintains its height position or presses down a certain distance, so that the distance between the pressure roller and the worktable 51 is equal to the sum of the thicknesses of the label 912 and the film material, or slightly less than the sum of the thicknesses of the label 912 and the film material. Then, the slide moves a certain distance to the left, which will cause the pressure roller to roll to the left, thus pressing the label 912 tightly and squeezing out the air between the label 912 and the film material. After the air is vented, the pressure roller moves to the initial position to the right, and then the next label pressing and air venting operation is performed.

[0094] Furthermore, the surface of the pressure roller is covered with an elastic pad 593. In this design, when the pressure roller rolls to the left to expel the gas between the film and the label 912, the distance between the elastic pad 593 and the worktable 51 needs to be slightly less than the sum of the thicknesses of the label 912 and the film. Using a soft elastic pad 593 to expel the gas between the film and the label 912 can prevent the label 912 from being scratched during the venting process. At the same time, it can compensate for and prevent positional deviations of the pressure roller, and prevent large deviations in the distance between the pressure roller and the worktable 51 from failing to achieve a good venting effect.

[0095] To improve the smoothness of the movement of the moving parts, a guide post mechanism 555 is provided between the lifting block 553 and the slide to guide the lifting block 553; a guide rail is installed on the lower surface of the worktable 51, and the slide is slidably installed on the guide rail.

[0096] In addition, the exhaust mechanism can also adopt other structural forms, such as setting the pressure plate 591 as a flat plate.

[0097] The above are merely preferred embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct or indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A multi-functional automatic labeling machine, comprising a frame (1), characterized in that, The frame (1) is equipped with: Block material supply device (2) is used to output block materials one by one; A label supply device (3) is used to output strip material (91) on which a label (912) is affixed. Flake material supply device (4), used to output flake material; The film application device (5) includes a first unwinding device (52), a first winding device (53) and a worktable (51) fixed on the frame (1). The film material output by the first unwinding device (52) passes through the upper surface of the worktable (51) and is wound into a roll by the first winding device (53). The robotic arm (6) includes a gripper base (601) and a walking mechanism capable of moving the gripper base (601) on the frame (1). The gripper base (601) is provided with a first gripper capable of gripping block materials and a second gripper capable of gripping labels (912) and sheet materials. The positioning and identification device includes a first vision system capable of identifying the relative position of the membrane material and the worktable (51) and a second vision system capable of identifying the position of the material on the robot (6).

2. The multifunctional automatic labeling machine according to claim 1, characterized in that, The first gripper is a first vacuum suction cup (602), and the second gripper is a second vacuum suction cup (603). The adsorption surfaces of the first vacuum suction cup (602) and the second vacuum suction cup (603) both face downwards. The gripper base (601) is provided with a suction cup switching driver (604) that can drive the first vacuum suction cup (602) to move up and down. When the first vacuum suction cup (602) moves upwards, its adsorption surface moves to a position higher than the adsorption surface of the second vacuum suction cup (603). When the first vacuum suction cup (602) moves downwards, its adsorption surface moves to a position lower than the adsorption surface of the second vacuum suction cup (603).

3. A multifunctional automatic labeling machine according to claim 1 or 2, characterized in that, The first vision system includes a support frame (71) and a first camera device (72) mounted on the support frame (71). The first camera device (72) has a downward shooting direction and is located above the worktable (51). The second vision system includes a second camera device (81) mounted in the middle of the frame (1). The second camera device (81) has an upward shooting direction.

4. A multifunctional automatic labeling machine according to claim 2, characterized in that, The label supply device (3) includes a first bracket (31) fixed on the frame (1), a second unwinding device, a second winding device and a movable carrier plate (32) mounted on the first bracket (31). The left edge of the movable carrier plate (32) is a label-removing part (321). The second unwinding device includes a second unwinding roller (331) and an unwinding roller assembly that can guide the strip material (91) to be conveyed from right to left toward the label-removing part (321) along the upper surface of the movable carrier plate (32). The second winding device includes a second winding roller (341), a second winding driver (342) that can drive the second winding roller (341) to rotate, and a winding roller assembly that can guide the strip material (91) to pass around the label-removing part (321) and be conveyed to the second winding roller (341). The first bracket (31) is also provided with a label-removing driver (351) that can drive the movable carrier plate (32) to move left and right relative to the first bracket (31).

5. A multifunctional automatic labeling machine according to claim 4, characterized in that, The first bracket (31) is fixed with a mounting base (311), and a slide (312) is provided on the mounting base (311). The movable carrier plate (32) is fixed on the slide (312). The label peeling driver (351) is a cylinder. The cylinder is arranged in the left-right direction and located below the mounting base (311). The front part of the slide (312) is provided with a connector (313) extending downward to the bottom of the mounting base (311). The output shaft of the cylinder is connected to the connector (313) to drive the movable carrier plate (32) and the slide (312) to move left and right together. The mounting base (311) is provided with a clearance groove (318) in which the connector (313) can move left and right.

6. A multifunctional automatic labeling machine according to claim 1, characterized in that, The sheet material supply device (4) includes a lifting pallet (41) capable of placing sheet material and a sheet material feeding driver (42) capable of driving the lifting pallet (41) to move up and down relative to the frame (1). A baffle frame (44) is fixed on the frame (1). The baffle frame (44) and the upper surface of the lifting pallet (41) together form a storage space capable of placing sheet material. A sheet material sensor (43) capable of sensing the position of the uppermost sheet material is provided on the baffle frame (44) or the frame (1).

7. A multifunctional automatic labeling machine according to claim 1, characterized in that, The first unwinding device (52) includes a first unwinding wheel (521); The film application device (5) also includes a feeding traction wheel (54), a take-up traction wheel (55), and a film driver (56) capable of driving the feeding traction wheel (54) and the take-up traction wheel (55) to rotate synchronously. The feeding traction wheel (54) is used to transport the film output from the first unwinding wheel (521) from one side of the worktable (51) to the worktable (51). The take-up traction wheel (55) is used to pull the film on the worktable (51) so that the film is output from the other side of the worktable (51). The first winding device (53) includes a first winding wheel (531) capable of winding the film material output by the winding traction wheel (55). The take-up traction wheel (55) and the first take-up wheel (531) are connected by a slipperable first transmission mechanism to drive the first take-up wheel (531) to rotate.

8. A multifunctional automatic labeling machine according to claim 7, characterized in that, An unwinding traction wheel (58) is provided between the first unwinding wheel (521) and the feeding traction wheel (54). The feeding traction wheel (54) and the unwinding traction wheel (58) are connected by a slipperable second transmission mechanism to drive the unwinding traction wheel (58) to rotate.

9. A multifunctional automatic labeling machine according to claim 1 or 7, characterized in that, A pressure mark (591) is provided above the worktable (51). A power device is provided on the frame (1) that can drive the pressure mark (591) to move relative to the worktable (51) in the left-right and up-down directions. A material passage gap (592) is left between the pressure mark (591) and the upper surface of the worktable (51) for the film material to pass through.

10. A multifunctional automatic labeling machine according to claim 9, characterized in that, The power unit includes a slide that is movable left and right on the worktable (51), a transverse drive (552) that can drive the slide to move left and right relative to the worktable (51), a lifting block (553) movably mounted on the slide, and a lifting drive (554) that can drive the pressure mark (591) to move up and down relative to the slide, wherein the pressure mark (591) is mounted on the lifting block (553).

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