A visual screening and labeling machine based on multi-size packaging of moisture-sensitive materials

Abstract

The patent discloses a visual screening and labeling machine for packaging moisture-sensitive materials of multiple sizes, which sequentially includes a first detection station, a labeling station, a discharge station and a control system along the conveying direction. The first detection station includes a first conveyor belt and a first detection component, and the first detection component can at least detect the material information, position and original label position of the packaged material. The labeling station includes a second conveyor belt, a pretreatment station and a labeling station arranged on the second conveyor belt in sequence. The labeling station is provided with a first mechanical hand, a labeler and a labeling mechanical hand. The first mechanical hand is provided with a rotating mechanism and a suction cup. The rotating mechanism can rotate the packaged material adsorbed on the suction cup to the labeling position. The labeling mechanical hand can attach the label on the labeler to the specified position of the packaged material. The discharge station includes a third conveyor belt capable of conveying the packaged material. The control system is configured to control the operation of the labeling machine. The patent solves the problem of labeling of packaged materials, realizes automatic labeling, and greatly improves the labeling speed and accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of packaging material labeling, in particular to a visual screening labeling machine based on multi-size packaging of moisture-sensitive materials. BACKGROUND

[0002] The packaging material, due to the uncertainty of the size of the outer packaging after packaging, the outer packaging may be deformed, such as wrinkles, uneven surface, and the specific style of the outer packaging after packaging is also various. And the position of the desiccant in the packaging material is also very random. Therefore, it brings many difficulties to the labeling of the packaging material.

[0003] It is just because of the above uncertainty and particularity that the labeling of the packaging material on the market is completed by manual operation at present. However, manual labeling is low in efficiency, increases labor cost, is high in error rate, and is not conducive to large-scale production or storage and transportation of enterprises or warehouses.

[0004] Therefore, in combination with the above-mentioned technical problems, it is necessary to provide a new technical scheme. SUMMARY

[0005] In order to solve the technical problems existing in the prior art, the purpose of the present application is to provide a visual screening labeling machine based on multi-size packaging of moisture-sensitive materials, to solve the problem of difficult labeling of packaging materials, to improve the degree of automation, to be high in flexibility, to greatly improve the efficiency, and the specific technical scheme is as follows:

[0006] The present application provides a visual screening labeling machine based on multi-size packaging of moisture-sensitive materials, which comprises a first detection table, a labeling table, a discharge table and a control system in sequence along the conveying direction;

[0007] The first detection table comprises a first conveying belt and a first detection component located above the first conveying belt, and the first detection component can at least detect the material information, position and original label position of the packaging material;

[0008] The labeling table comprises a second conveying belt, a pretreatment position and a labeling position arranged in sequence on the second conveying belt, and the labeling table is provided with a first mechanical hand, a label machine and a labeling mechanical hand. The first mechanical hand corresponds to the pretreatment position, and the first mechanical hand is provided with a rotating mechanism and a suction cup. The rotating mechanism can rotate the packaging material adsorbed on the suction cup to the labeling position according to the instruction of the control system. The label machine corresponds to the labeling position, and the labeling mechanical hand is located above the labeling position. The labeling mechanical hand can attach the label on the label machine to the specified position of the packaging material;

[0009] The discharge table comprises a third conveying belt capable of conveying the packaging material;

[0010] The control system is configured to control the operation of the labeling machine.

[0011] As a preferred embodiment of this patent, it also includes a second detection position, which is located on the side of the labeling position near the discharge platform. The second detection position includes a second detection component, which can detect the labeling status of the labeled and packaged materials.

[0012] As a preferred embodiment of this patent, the control system includes a calculation module that can calculate the angle to be rotated of the packaging material based on the position of the packaging material and the original label position detected by the first detection component.

[0013] As a preferred embodiment of this patent, the first robotic arm further includes a first linear drive mechanism, which can drive the encapsulated material adsorbed on the suction cup to move along a conveying direction perpendicular to the second conveyor belt.

[0014] As a preferred embodiment of this patent, the first detection component can also detect the size of the packaging material.

[0015] As a preferred embodiment of this patent, the distance between the labeling height and the labeling position of the labeling robot is less than the thickness of the packaging material.

[0016] As a preferred embodiment of this patent, the labeling station is also equipped with a label machine, which corresponds to the labeling position, with the labeling position of the packaged material facing the label machine.

[0017] As a preferred embodiment of this patent, it also includes a housing, which has an inlet and an outlet. The inlet corresponds to the first detection station, and the outlet is located at one end of the third conveyor belt along the conveying direction.

[0018] As a preferred embodiment of this patent, the suction cup is an elastic suction cup.

[0019] As a preferred embodiment of this patent, the labeling robot arm is equipped with multiple suction nozzles.

[0020] Compared with the prior art, the technical solution described in this patent has at least one or more of the following beneficial effects:

[0021] This labeling machine solves the problem of labeling packaged materials, realizes automatic labeling, greatly improves labeling speed and accuracy, and significantly reduces the labor cost of labeling.

[0022] The first detection component scans and detects the position and size of the packaging material, as well as the information and position of the original label. The control system then calculates the coordinates of the labeling location, the required rotation angle, and the required displacement based on this information. This enables precise and efficient labeling of the packaging material and improves the labeling accuracy.

[0023] The first robotic arm is equipped with elastic suction cups, which facilitates full adhesion to the packaging material with wrinkles and uneven surfaces, and prevents the adsorbed packaging material from falling off.

[0024] The rotating packaged material is positioned so that the labeling area faces the labeling machine, reducing the travel distance of the labeling robot and helping to increase labeling speed and efficiency. Furthermore, the simple design of the labeling robot's labeling motion improves both efficiency and stability.

[0025] Furthermore, when calculating the labeling position, it's crucial to avoid the desiccant area within the packaging material. Labels should not be attached to the desiccant or its edges, as this will make subsequent label identification difficult. It also leads to issues with secure label adhesion, and the protruding desiccant can damage the packaging material or the labeling robot during labeling.

[0026] The machine is equipped with suction nozzles, multiple of which can be controlled individually or by area, facilitating the adsorption of labels of different sizes. Furthermore, the flexibility of the nozzles ensures that the label is firmly pressed onto the uneven surface of the packaging material, increasing the yield rate of the labeling machine.

[0027] A second detection component is installed to detect the labeling status of the packaged materials, thereby improving the accuracy of labeling.

[0028] A third conveyor belt is installed to facilitate seamless integration with subsequent processes.

[0029] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0030] To more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0031] Figure 1 This is a three-dimensional structural diagram of the labeling machine described in this patent from one perspective;

[0032] Figure 2 This is a three-dimensional structural diagram of the labeling machine described in this patent, taken from another perspective;

[0033] Figure 3 This is a three-dimensional structural schematic diagram of the first robotic arm described in this patent;

[0034] Figure 4 This is an exploded structural diagram of the first robotic arm described in this patent;

[0035] Figure 5 This is a three-dimensional structural diagram of the labeling robot described in this patent.

[0036] Among them, 1-first inspection station, 2-labeling station, 3-discharge station, 4-pre-processing position, 5-labeling position, 6-second inspection position, 7-shell, 9-packaging material, 11-first conveyor belt, 12-first inspection component, 21-second conveyor belt, 31-third conveyor belt, 41-first robot arm, 411-rotation mechanism, 412-suction cup, 413-first linear drive mechanism, 414-lifting drive mechanism, 415-second linear drive mechanism, 416-support frame, 417-crossbar, 418-robot arm body, 51-labeling machine, 52-labeling robot arm, 521-suction nozzle, 61-second inspection component, 71-inlet, 72-outlet. Detailed Implementation

[0037] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0038] In the description of this invention, it should be understood that the terms "upper," "lower," "top," "bottom," "inner," "outer," "front end," "rear end," "both ends," "one end," and "the other end," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0039] In the description of this invention, unless otherwise explicitly specified and limited, the terms "provided with," "equipped with," "connected," "installed," "sleeved," "opened," and "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Example

[0040] Please refer to Figures 1-5 ,like Figures 1-5 As shown, the present invention provides a vision screening and labeling machine based on multi-size packaged moisture-sensitive materials, which includes a first detection table 1, a labeling table 2, a discharge table 3 and a control system in sequence along the conveying direction;

[0041] The first detection station 1 includes a first conveyor belt 11 and a first detection component 12 located above the first conveyor belt 11. The first detection component 12 is capable of detecting at least the material information of the packaged material and the position of the original label.

[0042] The labeling station 2 includes a second conveyor belt 21, a pre-processing position 4 and a labeling position 5 sequentially arranged on the second conveyor belt 21. The labeling station 2 is equipped with a first robot arm 41, which corresponds to the pre-processing position 4. The first robot arm 41 is equipped with a rotating mechanism 411 and a suction cup 412. The rotating mechanism 411 can rotate the packaged material adsorbed on the suction cup 412 to the labeling position according to the instructions of the control system. The labeling station 2 is also equipped with a label machine 51 and a labeling robot arm 52. The label machine 51 corresponds to the labeling position 5, and the labeling robot arm 52 is located above the labeling position 5. The labeling robot arm 52 can affix the label on the label machine 51 to the designated position of the packaged material.

[0043] The discharge station 3 includes a third conveyor belt 31 capable of conveying packaged materials;

[0044] The control system is configured to control the operation of the labeling machine.

[0045] "Encapsulation materials" refers to vacuum-sealed packaging materials, such as tin foil materials and plastic sealing materials.

[0046] Because the size, shape, and irregular appearance of the outer packaging after packaging materials are unpredictable, and the outer packaging may deform (e.g., wrinkles, uneven surfaces), the specific style of the packaged outer packaging varies greatly. Furthermore, the desiccant inside the packaged material is randomly distributed within the outer packaging. Therefore, this labeling machine solves the problem of automatic labeling of packaged materials, greatly improving labeling speed and accuracy, and significantly reducing manual labeling costs.

[0047] Preferably, the control system includes a calculation module that can calculate the angle to be rotated of the packaging material based on the position of the packaging material and the original label position detected by the first detection component. More preferably, the calculation module can also calculate the displacement of the packaging material to be moved along the conveying direction and perpendicular to the conveying direction, respectively.

[0048] Preferably, the labeling station 2 further includes a second detection position 6, which is located on the side of the labeling station 5 near the discharge station 3. The second detection position 6 includes a second detection component 61, which can detect the labeling status of the labeled and packaged materials. For example, it can determine the accuracy of the labeling, whether the information on the new label is consistent with the information on the original label, etc.

[0049] like Figure 2 As shown, the first detection station 1 includes a first conveyor belt 11 and a first detection component 12 located above the first conveyor belt 11. The first detection component 12 is capable of detecting at least the material information of the packaged material and the position of the original label. In this example, the first detection component 12 scans and detects the label information and position of the original label and transmits it to the control system. The control system confirms whether the packaged material is correct based on the label information of the original label, and calculates the coordinates of the position to be labeled, the angle to be rotated, and the displacement to be moved based on the position and size of the packaged material and the position coordinates of the original label.

[0050] Preferably, the first detection component 12 can also detect the size of the packaging material. In the example, the first detection component 12 visually scans the size of the packaging material based on its contour, such as a 7-inch or 13-inch component within the packaging material.

[0051] like Figures 2-4 As shown, the labeling station 2 is equipped with a first robotic arm 41, which corresponds to the pre-processing position 4. The first robotic arm 41 is equipped with a rotating mechanism 411 and a suction cup 412. The rotating mechanism 411 can rotate the packaging material adsorbed on the suction cup 412 to the labeling position according to the instructions of the control system. Preferably, the first robotic arm 41 further includes a first linear drive mechanism 413, which can drive the packaging material adsorbed by the suction cup to move along the conveying direction perpendicular to the second conveyor belt 21. Preferably, the first robotic arm 41 also includes a second linear drive mechanism 415, which can drive the packaging material adsorbed by the suction cup to move along the conveying direction of the second conveyor belt 21.

[0052] The conveying direction of the second conveyor belt 21 is defined as the x-direction, and the direction perpendicular to the conveying direction of the second conveyor belt 21 is defined as the y-direction.

[0053] In the example, such as Figures 2-4As shown, the first robotic arm 41 includes a rotating mechanism 411, a suction cup 412, a first linear drive mechanism 413, a lifting drive mechanism 414, a second linear drive mechanism 415, a support frame 416, a crossbar 417, and a robotic arm body 418. The support frame 416 is located on both sides of the second conveyor belt 21 and corresponds to the pre-processing position 4. The crossbar 417 is slidably mounted on the support frame 416, and its length direction is perpendicular to the conveying direction of the second conveyor belt. The robotic arm body 418 is fixedly mounted on the crossbar 417. The rotating mechanism 411, the suction cup 412, and the lifting drive mechanism 414 are all located on the robotic arm body 41. On the 8th, a suction cup 412 is mounted on one end of the robot body 418 near the second conveyor belt 21. A lifting drive mechanism 414 can drive the suction cup 412 to move up and down, and a rotating mechanism 411 can drive the suction cup 412 to rotate. A first linear drive mechanism 413 is fixedly mounted on a crossbar 417 and can drive the suction cup 412 on the robot body 418 to move along a direction perpendicular to the conveying direction of the second conveyor belt 21. A second linear drive mechanism 415 is fixedly mounted on a support frame 416 and can drive the suction cup 412 on the robot body 418 to move along the conveying direction of the second conveyor belt 21. Preferably, the support frame is set on both sides of the first detection table and the pre-processing position, so that the first robot can adsorb and transfer the packaging material on the first detection table to the pre-processing position, and the first robot can rotate the packaging material to a certain angle according to the control system command during the transfer process. Furthermore, the control system adjusts the x and y directions of the packaging material using the first and second linear drive mechanisms based on the calculated coordinates of the labeling position and the required displacement, ensuring that the labeling position on the packaging material is accurately moved to the designated labeling location. In this example, the suction cup is an elastic suction cup. An elastic suction cup facilitates full adhesion to packaging material with wrinkles or uneven surfaces, preventing the adsorbed packaging material from falling off.

[0054] like Figure 2As shown, the labeling station 2 is also equipped with a label machine 51 and a labeling robot 52. The label machine 51 corresponds to the labeling position 5, and the labeling robot 52 is located above the labeling position 5. The labeling robot 52 can affix the label from the label machine 51 to the labeling position on the packaged material. In this example, the label machine 51 is located on one side of the labeling position 5. In this example, the labeling position of the packaged material faces the label machine 51 at the labeling position 5. The purpose of this arrangement is to reduce the travel distance of the labeling robot, which helps to improve the labeling speed and efficiency. It also simplifies the labeling action design of the labeling robot, improving both efficiency and stability. In this example, the labeling position of the packaged material faces the label machine 51, and the original label position of the packaged material faces the side away from the label machine, that is, the original label position and the labeling position are set at 180 degrees. Of course, this patent is not limited to this, and other angles can be used according to actual needs. Another important point to note is that the calculation module determines the labeling position based on the surface condition of the packaging material detected by the first detection component, ensuring that the desiccant position does not overlap with the labeling position. The calculation avoids the desiccant position within the packaging material. Since the desiccant within the packaging bag is randomly positioned during packaging, if the desiccant position is 180 degrees from the original label position, the control system, based on the visual scan by the first detection component, will avoid the desiccant position when calculating the labeling position. This prevents the label from adhering to the desiccant or its edge, which would cause difficulties in subsequent label recognition. Furthermore, it leads to unstable label adhesion, and the protruding height of the desiccant can damage the packaging material or the labeling robot during labeling.

[0055] Preferably, the distance between the labeling height and the labeling position of the labeling robot 52 is less than the thickness of the packaging material. In this example, the labeling robot is equipped with multiple suction nozzles 521. These nozzles can be controlled individually or by area, facilitating the adsorption of labels of different sizes. Furthermore, the elasticity of the nozzles ensures that the label is fully pressed onto the uneven surface of the packaging material, increasing the yield of the labeling machine.

[0056] like Figure 2 As shown, the discharge station 3 includes a third conveyor belt 31 capable of conveying packaged materials. The discharge station is configured such that the third conveyor belt on the discharge station and the second conveyor belt on the labeling station are independently controlled, facilitating the connection between the labeling machine and subsequent processes. Labeled packaged materials are conveyed from the second conveyor belt to the third conveyor belt, awaiting delivery to the next process. If the subsequent process does not require delivery, the labeled packaged materials are temporarily stored on the third conveyor belt.

[0057] Preferably, sensors are installed on the first detection station 1, the pre-processing station 4, the labeling station 5, the second detection station 6, and the discharge station 3. The sensors can detect whether there is packaging material at the corresponding position, thus avoiding abnormalities such as material collision.

[0058] In a preferred embodiment, such as Figures 1-2 As shown, the system also includes a housing 7, which covers the first inspection station 1, the labeling station 2, and the discharge station 3. The housing 7 has an inlet 71 and an outlet 72. The inlet 71 corresponds to the first inspection station 1, and the outlet 72 is located at one end of the third conveyor belt 31 along the conveying direction. It should be noted that the positions of the inlet 71 and outlet 72 are adjusted appropriately according to the actual arrangement of the upstream and downstream processes. In this example, the conveying direction of the first conveyor belt 11 is perpendicular to the conveying direction of the second conveyor belt 21, and the inlet 71 is located at the front end of the first conveyor belt 11 in the conveying direction.

[0059] All features of the above components can be freely combined without conflict. In addition, changes, modifications and alterations to the component structure are also within the scope of protection of this patent.

[0060] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "yet another embodiment," "another embodiment," "other embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Furthermore, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0061] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications and variations to the above embodiments within the scope of the present invention.

Claims

1. A vision screener labeller for multi-size packaged moisture sensitive materials, characterised in that, The first detection station (1), the labeling station (2), the discharging station (3) and a control system are sequentially arranged along a conveying direction; The first detection station (1) comprises a first conveying belt (11) and a first detection component (12) located above the first conveying belt (11), and the first detection component (12) can at least detect material information, a position and an original label position of the packaging material; The labeling station (2) comprises a second conveying belt (21), a pretreatment position (4) and a labeling position (5) sequentially arranged on the second conveying belt (21), and the labeling station (2) is provided with a first mechanical arm (41), a labeling machine (51) and a labeling mechanical arm (52); the first mechanical arm (41) corresponds to the pretreatment position (4), the first mechanical arm (41) is provided with a rotating mechanism (411) and a suction cup (412), the rotating mechanism (411) can rotate the packaging material adsorbed on the suction cup (412) to the labeling position according to the instruction of the control system, and the suction cup (412) is an elastic suction cup; the labeling machine (51) corresponds to the labeling position (5), the labeling mechanical arm (52) is located above the labeling position (5), and the labeling mechanical arm (52) can attach the label on the labeling machine (51) to the specified position of the packaging material; The discharging station (3) comprises a third conveying belt (31) capable of conveying the packaging material; The control system is configured to control the operation of the labeling machine; The first mechanical arm (41) further comprises a first linear driving mechanism (413), a lifting driving mechanism (414), a second linear driving mechanism (415), a support frame (416), a crossbar (417) and a mechanical arm body (418). The support frame (416) is arranged on both sides of the second conveying belt (21) and corresponds to the pretreatment position (4). The crossbar (417) is slidingly installed on the support frame (416), and the length direction of the crossbar (417) is perpendicular to the conveying direction of the second conveying belt. The mechanical arm body (418) is fixedly installed on the crossbar (417). The rotating mechanism (411), the suction cup (412) and the lifting driving mechanism (414) are all arranged on the mechanical arm body (418). The suction cup (412) is installed on one end of the mechanical arm body (418) close to the second conveying belt (21). The lifting driving mechanism (414) can drive the suction cup (412) to move up and down. The rotating mechanism (411) can drive the suction cup (412) to rotate. The first linear driving mechanism (413) is fixedly installed on the crossbar (417). The first linear driving mechanism (413) can drive the suction cup (412) on the mechanical arm body (418) to move along a direction perpendicular to the conveying direction of the second conveying belt (21). The second linear driving mechanism (415) is fixedly installed on the support frame (416). The second linear driving mechanism (415) can drive the suction cup (412) on the mechanical arm body (418) to move along the conveying direction of the second conveying belt (21). The support frame is arranged on both sides of the first detection table and the pretreatment position, so that the first mechanical arm absorbs and transfers the packaging material on the first detection table to the pretreatment position, and rotates the packaging material to a certain angle according to the control system instruction during the transfer process. The packaging material refers to a vacuum-sealed packaged material. The desiccant in the packaging material is randomly distributed in the outer package. The first detection component (12) scans and detects the label information and position of the original label and transmits them to the control system. The control system confirms whether the packaging material is correct through the label information of the original label, and calculates the coordinates of the position to be labeled through the position and size of the packaging material and the position coordinates of the original label. The control system comprises a calculation module. The calculation module can calculate the angle to be rotated of the packaging material, the displacement to be moved of the packaging material along the conveying direction and perpendicular to the conveying direction, respectively, according to the packaging material position and the original label position detected by the first detection component. When calculating the position to be labeled, the position of the desiccant in the packaging material is avoided to prevent the label from being attached to the desiccant or the edge of the desiccant. The calculation module calculates the position to be labeled and the position of the desiccant not to overlap according to the surface condition of the packaging material detected by the first detection component.

2. The multi-size package moisture sensitive material based vision screening and labeling machine according to claim 1, wherein, The second detection position (6) is located on one side of the labeling position (5) close to the discharge table (3). The second detection position (6) comprises a second detection component (61) capable of detecting the labeling condition of the labeled packaging material.

3. The multi-size package moisture sensitive material based vision screening and labeling machine according to claim 1, wherein, The first detection component (12) can also detect the size of the packaging material.

4. The multi-size package moisture sensitive material based vision screening and labeling machine according to claim 1, wherein, The distance between the labeling height of the labeling manipulator (52) and the labeling position is less than the thickness of the packaging material.

5. The multi-size package moisture sensitive material based vision screening and labeling machine according to claim 1, wherein, The labeling station (2) is further provided with a labeling machine (51), the labeling machine (51) corresponds to the labeling position (5), and the position to be labeled of the packaging material on the labeling position (5) faces the labeling machine (51).

6. The multi-size package moisture sensitive material based vision screening and labeling machine according to claim 1, wherein, Further comprising a shell (7), the shell (7) is provided with an inlet (71) and an outlet (72), the inlet (71) corresponds to the first detection station (1), and the outlet (72) is arranged at one end of the third conveying belt (31) along the conveying direction.

7. The multi-size package based visual screening and labeling machine for moisture-sensitive material according to claim 1 or 4, characterized in that, A plurality of suction nozzles (521) are arranged on the labeling manipulator.

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