A mixed label sticking machine and a label sticking method thereof

Abstract

The application relates to a mixed investment labeling machine and a labeling method thereof. The labeling machine comprises a product conveying device, a product sensor, a plurality of label feeders, a labeling manipulator, a pressing cylinder, a quick-change suction head, a first camera, a second camera and a third camera. The first camera is a large-view camera, which is used for product identification and visual initial positioning of a product to be labeled on the product conveying device. The second camera is an upper camera, which is used for visual accurate positioning of a label sucked by the quick-change suction head. The third camera is arranged on the labeling manipulator and is used for visual accurate positioning of the product to be labeled on the product conveying device. The labeling manipulator moves to a position above the product to be labeled according to initial positioning information obtained by the first camera, the second camera can perform visual accurate positioning on the product to be labeled, and the labeling manipulator can more accurately attach the label to the product. The application can realize mixed investment and mixed label investment production, has high attachment precision, realizes automatic production and has high efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic labeling machines, in particular to a mixed labeling machine and a labeling method thereof. BACKGROUND

[0002] Various labels are attached to most products, such as company LOGO, product information label, ingredient list, warning label, etc. With the development of technology, manufacturers have higher and higher requirements for the labeling accuracy and efficiency of labels.

[0003] A full-automatic labeling machine is disclosed in Chinese Patent Application No. 201610494278.8, which mainly comprises a feeding device, a stripping device, a conveying device, a CCD detection device, a labeling device, a film tearing device, and a pressure maintaining and discharging device. The CCD detection device of the equipment comprises a bottom CCD camera and a top CCD camera. The bottom CCD camera identifies and feeds back the three-dimensional coordinates of the label, and the top CCD camera identifies and feeds back the three-dimensional coordinates of the mobile phone shell. Through position correction, the manipulator attaches the label to the mobile phone shell, which has high accuracy and efficiency and can realize automatic flow production.

[0004] Since the mobile phone shell in the patent is arranged on a positioning jig, the position of the mobile phone shell is fixed, and the top CCD camera can obtain the accurate three-dimensional coordinates of the mobile phone shell. In some special production application scenarios where products are mixed and labels are also mixed, various different products are randomly placed on the conveying device without being distinguished and positioned. Different products also have a large size gap, and the labels attached to different products and the labeling positions are not uniform. The existing top CCD camera uses fixed shooting parameters. Due to the limitation of the shooting performance of the existing camera, it cannot obtain a clear image on the entire conveying device, and cannot cope with such mixed labeling situations, which needs to be improved. SUMMARY

[0005] In order to solve the technical problem that the existing automatic labeling machine cannot adapt to the product mixed labeling and label mixed labeling application scenarios, the present application provides a mixed labeling machine and a labeling method thereof.

[0006] The technical scheme provided by the application is as follows: a mixed label sticking machine, comprising a product conveying device, a product sensor, a plurality of label supply devices, a label sticking manipulator, a pressing cylinder, a quick-change suction head, a first camera, a second camera and a third camera; the product sensor is used for sensing a product to be labeled; the product conveying device is used for conveying the product to be labeled and pausing the conveying when the product sensor senses the product to be labeled; the plurality of label supply devices are used for respectively providing various labels; the pressing cylinder is arranged on the label sticking manipulator; the quick-change suction head is arranged on the pressing cylinder; the label sticking manipulator is used for driving the pressing cylinder and the quick-change suction head to move; the quick-change suction head is used for sucking labels from the label supply devices; the pressing cylinder is used for driving the quick-change suction head to lift and lower, so as to stick the labels on the product; the first camera is a large-view camera and is arranged above the product conveying device, and is used for product identification and visual preliminary positioning of the product to be labeled on the product conveying device; the second camera is an upward camera and is used for visual accurate positioning of the labels sucked by the quick-change suction head; and the third camera is arranged on the label sticking manipulator and is used for visual accurate positioning of the product to be labeled on the product conveying device.

[0007] By adopting the above technical scheme, the product conveying device of the application can convey the product to be labeled forward, and pause the conveying when the product sensor senses the product to be labeled, so that the product to be labeled is in a stationary state, which is beneficial to shooting a clear picture; the first camera is a large-view camera, can shoot a picture in the whole working range of the product conveying device, and can obtain the type of the product to be labeled and perform visual preliminary positioning on the product to be labeled by analyzing the shot picture; the label sticking manipulator can suck corresponding labels from the label supply devices according to the actual needs of the product, can suck multiple labels at a time, or can suck one label each time, and then move above the second camera; the second camera shoots the labels sucked by the quick-change suction head, performs visual accurate positioning, and can obtain the accurate position of the labels on the quick-change suction head; then, the label sticking manipulator moves to a position above the product to be labeled and suitable for shooting according to the preliminary positioning information obtained by the first camera, so as to perform visual accurate positioning on the product to be labeled; at this time, the label sticking manipulator can more accurately stick the labels on the product according to the accurate positioning information of the labels obtained by the second camera and the accurate positioning information of the product obtained by the third camera. The application can realize mixed product and label production, has high sticking accuracy, realizes automatic production, has high efficiency, has good product compatibility, and saves personnel adjustment of the label sticking machine.

[0008] Preferably, the first camera is used for reading a two-dimensional code on the product to be labeled, so as to perform product identification.

[0009] Preferably, the label sticking manipulator is provided with a plurality of groups of pressing cylinders and quick-change suction heads, and can suck and stick multiple labels at a time.

[0010] Preferably, the number of the lower pressure cylinders and quick-change suction heads is three, which are respectively located at three sides of the labeling manipulator, and the third camera is arranged at the remaining one side of the labeling manipulator.

[0011] Preferably, the quick-change suction head comprises a positioning seat, a suction head body and a sealing ring, an air passage on the positioning seat is communicated with an air passage of the suction head body, and the sealing ring is arranged between the positioning seat and the suction head body to seal the connecting part of the air passages; a plurality of positioning pins are arranged on the upper surface of the suction head body, and a soft rubber pad is arranged on the lower surface of the suction head body; the positioning seat comprises an upper cover, a lower cover and a locking disc, the locking disc is arranged between the upper cover and the lower cover and can rotate horizontally around the axis thereof, a pull rod is arranged on the side surface of the locking disc and extends out of the upper cover and the lower cover, a plurality of first lock holes are arranged on the lower cover, the positions of the first lock holes correspond to the positions of the positioning pins, a plurality of second lock holes are arranged on the locking disc, the second lock holes comprise locking holes and unlocking holes which are communicated with each other, the upper end of the positioning pin can be inserted into the first lock hole and the unlocking hole, and the locking disc is rotated by a certain angle, so that the locking hole can lock the upper end of the positioning pin.

[0012] Preferably, an elastic impact bead is arranged on the lower cover of the positioning seat, the elastic impact bead elastically abuts against the locking disc, and a positioning pit is arranged on the upper surface of the pull rod at a corresponding position.

[0013] Preferably, a vertical baffle with adjustable transverse position is arranged above the product conveying device, which is used to limit the use range of the product conveying device.

[0014] Preferably, the labeling manipulator is a four-axis servo manipulator or a six-axis servo manipulator.

[0015] Preferably, the label feeder is a double-layer label feeder, and a plurality of label feeders are arranged horizontally and side by side.

[0016] Another technical scheme provided in the application is a labeling method of the labeling machine described above, which comprises the following steps:

[0017] S1: placing a product to be labeled on the product conveying device, conveying the product to be labeled forward by the product conveying device, and pausing the conveying of the product conveying device when the product sensor senses the product to be labeled;

[0018] S2: photographing the region of the product conveying device by the first camera, identifying the type of the product to be labeled, and performing visual preliminary positioning on the product to be labeled;

[0019] S3: confirming the number and type of labels to be attached according to the identified type of the product, and providing various labels by the plurality of label feeders according to the demand;

[0020] S4: The labeling manipulator drives the lower pressing cylinder and the quick-change suction head to move, and one or more labels are sucked at a time, and then the labeling manipulator moves above the second camera, and the second camera performs visual fine positioning on the label sucked by the quick-change suction head;

[0021] S5: The labeling manipulator drives the lower pressing cylinder and the quick-change suction head to move, and one or more labels are sucked at a time, and then the labeling manipulator moves above the second camera, and the second camera performs visual fine positioning on the label sucked by the quick-change suction head;

[0022] S6: The labeling manipulator drives the lower pressing cylinder and the quick-change suction head to move above the product to be labeled, and the third camera on the labeling manipulator takes a photo of the product to be labeled for visual fine positioning;

[0023] S7: The labeling manipulator drives the lower pressing cylinder and the quick-change suction head to move to the accurate labeling position according to the fine positioning data of the label and the product to be labeled;

[0024] S8: The lower pressing cylinder drives the quick-change suction head to descend, and the label is attached to the product.

[0025] In summary, the present application has the following at least one beneficial technical effect:

[0026] 1. The present application uses the first camera, the second camera and the third camera to obtain accurate positioning information of the label and accurate positioning information of the product, which can more accurately attach the label to the product, can realize mixed investment and mixed label production, has high attachment precision, automatic production, high efficiency and good product compatibility;

[0027] 2. The quick-change suction head of the present application can quickly replace the suction head body, and can quickly adapt to the quick change of mixed investment products; the sealing ring between the positioning seat and the suction head body can seal the air channel at the connection between the positioning seat and the suction head body, to prevent air leakage;

[0028] 3. The quick-change suction head is provided with an elastic impact bead, so that the locking disc is in a relatively stable state and cannot be automatically unlocked, and the worker needs to forcibly move the lever to unlock. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is the overall schematic view of the mixed investment labeling machine described in the embodiment of the present application;

[0030] Figure 2 is the front view of the internal structure of the mixed investment labeling machine described in the embodiment of the present application;

[0031] Figure 3 is the perspective view of the internal structure of the mixed investment labeling machine described in the embodiment of the present application;

[0032] Figure 4 is the perspective view of the internal structure of the mixed investment labeling machine described in the embodiment of the present application from another angle.

[0033] Figure 5 is a perspective view of a product conveying device according to an embodiment of the present application;

[0034] Figure 6 is a layout view of a product conveying device, a label feeder and a labeling manipulator according to an embodiment of the present application;

[0035] Figure 7 is a structural schematic view of a label feeder according to an embodiment of the present application;

[0036] Figure 8 is a layout view of a labeling manipulator, a pressing cylinder and a quick-change suction head according to an embodiment of the present application;

[0037] Figure 9 is a layout view of a pressing cylinder, a quick-change suction head and a third camera according to an embodiment of the present application;

[0038] Figure 10 is a layout view of a pressing cylinder, a quick-change suction head and a third camera according to an embodiment of the present application;

[0039] Figure 11 is a structural schematic view of a quick-change suction head according to an embodiment of the present application;

[0040] Figure 12 is a structural schematic view of a quick-change suction head according to an embodiment of the present application;

[0041] Figure 13 is a semi-partial structural schematic view of a quick-change suction head according to an embodiment of the present application;

[0042] Figure 14 is an assembly action schematic view of a quick-change suction head according to an embodiment of the present application;

[0043] Figure 15 is a structural schematic view of a positioning seat according to an embodiment of the present application;

[0044] Figure 16 is a structural schematic view of a positioning seat according to an embodiment of the present application.

[0045] Explanation of reference signs: 1, product conveying device; 11, vertical baffle; 2, product sensor; 3, label feeder; 4, labeling manipulator; 5, down cylinder; 6, quick-change suction head; 61, positioning seat; 611, upper cover; 612, lower cover; 6121, first lock hole; 613, locking disc; 6131, lever; 6132, second lock hole; 6133, locking hole; 6134, unlocking hole; 6135, positioning pit; 62, suction head body; 621, positioning pin; 622, soft rubber pad; 63, sealing ring; 64, elastic impact bead; 7, first camera; 8, second camera; 9, third camera; 100, product; 101, two-dimensional code. DETAILED DESCRIPTION

[0046] The following will be described in detail with reference to the accompanying drawings Figures 1 to 16 The present application is further described in detail.

[0047] Reference Figures 1 to 4 The embodiment of the present application discloses a mixed investment labeling machine, which comprises a product conveying device 1, a product sensor 2, a plurality of label feeders 3, a labeling manipulator 4, a down cylinder 5, a quick-change suction head 6, a first camera 7, a second camera 8 and a third camera 9. The product sensor 2 is used for sensing a product 100 to be labeled. The product conveying device 1 is used for conveying the product 100 to be labeled and is paused when the product sensor 2 senses the product 100 to be labeled. The plurality of label feeders 3 are respectively used for providing various labels. The down cylinder 5 is arranged on the labeling manipulator 4. The quick-change suction head 6 is arranged on the down cylinder 5. The labeling manipulator 4 is used for driving the down cylinder 5 and the quick-change suction head 6 to move. The quick-change suction head 6 is used for sucking labels from the label feeders 3. The down cylinder 5 is used for driving the quick-change suction head 6 to ascend and descend, so as to attach the labels on the product 100. The first camera 7 is a large-view camera and is arranged above the product conveying device 1. The first camera 7 is used for product 100 identification and visual preliminary positioning of the product 100 to be labeled on the product conveying device 1. The second camera 8 is an upper camera and is used for visual precise positioning of the labels sucked by the quick-change suction head 6. The third camera 9 is arranged on the labeling manipulator 4 and is used for visual precise positioning of the product 100 to be labeled on the product conveying device 1.

[0048] There are various ways to analyze the type of product 100 by taking pictures with the first camera 7. One is to identify and determine according to the shape, color and special features of the surface of the product 100. The other is to print bar codes and two-dimensional codes on the surface of the product 100, and to determine the type of product 100 by reading the bar codes and two-dimensional codes. In the embodiment, the first camera 7 is also used for reading the two-dimensional code 101 on the product 100 to be labeled, so as to identify the product 100.

[0049] Reference Figure 9 and Figure 10The labeling manipulator 4 is provided with multiple sets of pressing air cylinders 5 and quick-change suction heads 6, and multiple labels are sucked and attached at one time. More specifically, the number of the pressing air cylinders 5 and the quick-change suction heads 6 is three, which are respectively arranged at three sides of the labeling manipulator 4, and the third camera 9 is arranged at the remaining one side of the labeling manipulator 4, so that the layout is reasonable, the components do not affect each other, and the labeling manipulator 4 can work at the same time. The shape of each quick-change suction head 6 can also be inconsistent, so that the labels can be set according to the types of the labels, and the efficiency of taking and attaching the labels can be improved.

[0050] With reference to Figure 5 The product conveying device 1 is provided with a vertical baffle 11 with adjustable transverse position, which is used to limit the use range of the product conveying device 1 and guide the conveying position of the product 100 to a certain extent. The visual recognition system is set to recognize only part of the photo, so that the calculation amount can be reduced.

[0051] With reference to Figure 7 The label feeder 3 is a double-layer label feeder 3, and multiple label feeders 3 are arranged horizontally and side by side. There are five sets of double-layer label feeders 3 in this embodiment, which can provide up to ten different labels, and the number range of the mixed products 100 can also be appropriately increased.

[0052] With reference to Figure 8 The labeling manipulator 4 is a four-axis servo manipulator, and a six-axis servo manipulator can also be selected. Compared with the traditional three-axis manipulator, the four-axis servo manipulator can be more accurately positioned and moved in three-dimensional space, and more precise control and operation can be realized.

[0053] With reference to Figures 11 to 16The quick-change suction head 6 includes a positioning seat 61, a suction head body 62, and a sealing ring 63. An air passage on the positioning seat 61 is communicated with an air passage of the suction head body 62, and the sealing ring 63 is arranged between the positioning seat 61 and the suction head body 62 to seal the connecting part of the air passages. The upper surface of the suction head body 62 is provided with a plurality of positioning pins 621, and the lower surface is provided with a soft rubber pad 622. The positioning seat 61 includes an upper cover 611, a lower cover 612, and a locking disc 613. The locking disc 613 is arranged between the upper cover 611 and the lower cover 612 and can rotate horizontally around the axis thereof. The side surface of the locking disc 613 is provided with a rotating rod 6131 which extends out of the upper cover 611 and the lower cover 612. The lower cover 612 is provided with a plurality of first locking holes 6121 which are one-to-one corresponding to the positions of the positioning pins 621. The locking disc 613 is provided with a plurality of second locking holes 6132 which include locking holes 6133 and unlocking holes 6134 that are communicated with each other. The upper end of the positioning pin 621 can be inserted into the first locking hole 6121 and the unlocking hole 6134. The upper end of the positioning pin 621 is provided with an annular groove, and the locking hole 6133 can lock the upper end of the positioning pin 621.

[0054] The soft rubber pad 622 can better attach and maintain the pressure of the label, and can avoid deforming the product 100.

[0055] The positioning seat 61 is fixedly arranged on the lifting air cylinder, the suction head body 62 is detachably arranged on the positioning seat 61, and the sealing ring 63 is sleeved on the column of the suction head body 62. When the suction head body 62 is installed, the rotating rod 6131 is rotated to the unlocking position. At this time, the first locking hole 6121 is opposite to the unlocking hole 6134 of the second locking hole 6132. Since the diameter of the unlocking hole 6134 is greater than that of the head of the positioning pin 621, the positioning pin 621 can be inserted into the first locking hole 6121 and the unlocking hole 6134 of the second locking hole 6132. After installation, the rotating rod 6131 is rotated to the locking position. At this time, the locking hole 6133 of the second locking hole 6132 moves to directly above the first locking hole 6121. Since the diameter of the locking hole 6133 is smaller than that of the head of the positioning pin 621, the positioning pin 621 is clamped and cannot be separated, so as to be stably fixed on the positioning seat 61. When the suction head body 62 is detached, the rotating rod 6131 is rotated to the unlocking position, the positioning pin 621 can be separated from the unlocking hole 6134 of the second locking hole 6132, and the suction head body 62 can be directly pulled out. The quick-change suction head 6 can quickly replace the suction head body 62, and can quickly adapt to the rapid replacement of the mixed-injection product 100. The sealing ring 63 between the positioning seat 61 and the suction head body 62 can seal the air passages at the connecting parts of the positioning seat 61 and the suction head body 62, and can prevent air leakage.

[0056] Referring to Figure 15 and Figure 16The lower cover 612 of the positioning seat 61 is provided with an elastic knock bead 64, the elastic knock bead 64 is in elastic abutment with the locking disc 613, and the upper surface of the pull rod 6131 is provided with a positioning pit 6135 at the corresponding position. When the elastic knock bead 64 is sunk into the positioning pit 6135, the locking disc 613 is in a relatively stable state and cannot be unlocked accidentally, and the worker needs to pull the pull rod 6131 to unlock.

[0057] The labeling method of the mixed labeling machine comprises the following steps:

[0058] S1: Place the product to be labeled 100 on the product conveying device 1, and the product conveying device 1 forwards the product to be labeled 100, and when the product sensor 2 senses the product to be labeled 100, the product conveying device 1 pauses conveying;

[0059] S2: The first camera 7 takes a photo of the product conveying device 1 area, identifies the type of the product to be labeled 100, and performs visual preliminary positioning on the product to be labeled 100;

[0060] S3: According to the identified type of the product 100, the number and type of labels to be attached are confirmed, and multiple label feeders 3 provide various labels according to the demand;

[0061] S4: The labeling manipulator 4 drives the lower pressing cylinder 5 and the quick-change suction head 6 to move, and sucks one or more labels at a time, and then moves to above the second camera 8, and the second camera 8 performs visual fine positioning on the label sucked by the quick-change suction head 6;

[0062] S5: The labeling manipulator 4 drives the lower pressing cylinder 5 and the quick-change suction head 6 to move, and sucks one or more labels at a time, and then moves to above the second camera 8, and the second camera 8 performs visual fine positioning on the label sucked by the quick-change suction head 6;

[0063] S6: The labeling manipulator 4 drives the lower pressing cylinder 5 and the quick-change suction head 6 to move to directly above the product to be labeled 100, and the third camera 9 on the labeling manipulator 4 takes a photo of the product to be labeled 100 for visual fine positioning;

[0064] S7: The labeling manipulator 4 drives the lower pressing cylinder 5 and the quick-change suction head 6 to move to the accurate labeling position according to the fine positioning data of the label and the product to be labeled 100;

[0065] S8: The lower pressing cylinder 5 drives the quick-change suction head 6 to descend, and the label is attached to the product 100.

[0066] The product conveying device 1 can convey the product 100 to be labeled forward, and pause the conveying when the product sensor 2 senses the product 100 to be labeled, so that the product 100 to be labeled is in a stationary state, which is beneficial to clearly capture the picture; the first camera 7 is a large field of view camera, which can capture the picture in the working range of the product conveying device 1, and the type of the product 100 to be labeled can be obtained by analyzing the captured picture, and the product 100 to be labeled can be preliminarily positioned visually; the labeling manipulator 4 can suck the corresponding label from the label feeder 3 according to the actual needs of the product 100, which can be multiple at a time or one at a time, and then move above the second camera 8, the second camera 8 captures the picture of the label sucked by the quick-change suction head 6, and performs visual fine positioning to obtain the accurate position of the label on the quick-change suction head 6, and then the labeling manipulator 4 moves to the position above the product 100 to be labeled according to the preliminary positioning information obtained by the first camera 7 (the most suitable shooting parameters of the second camera 8 can be given to achieve the best shooting effect), so that the product 100 to be labeled can be fine positioned visually, and then the labeling manipulator 4 can more accurately attach the label to the product 100 according to the fine positioning information of the label obtained by the second camera 8 and the fine positioning information of the product 100 obtained by the third camera 9. The application does not need to set a special positioning jig for the product 100, does not need to accurately place the product 100, can realize mixed investment and label investment production of the product 100, has high labeling accuracy, automatic production, high efficiency, good compatibility of the product 100, and saves personnel adjustment of the labeling machine.

[0067] The above are preferred embodiments of the application, and do not limit the protection scope of the application, therefore: any equivalent changes made on the structure, shape, principle of the application should be covered in the protection scope of the application.

Claims

1. A mixed investment stamping machine characterized by comprising: The application relates to a label sticking machine, which comprises a product conveying device (1), a product sensor (2), a plurality of label feeders (3), a label sticking manipulator (4), a pressing cylinder (5), a quick-change suction head (6), a first camera (7), a second camera (8) and a third camera (9). The product sensor (2) is used for sensing a product (100) to be labeled; the product conveying device (1) is used for conveying the product (100) to be labeled and is paused when the product (100) to be labeled is sensed by the product sensor (2); the plurality of label feeders (3) are respectively used for providing various labels; the pressing cylinder (5) is arranged on the label sticking manipulator (4); the quick-change suction head (6) is arranged on the pressing cylinder (5); the label sticking manipulator (4) is used for driving the pressing cylinder (5) and the quick-change suction head (6) to move; the quick-change suction head (6) is used for sucking labels from the label feeders (3); the pressing cylinder (5) is used for driving the quick-change suction head (6) to ascend and descend so as to attach the labels to the product (100); the first camera (7) is a large-view camera and is arranged above the product conveying device (1) and is used for performing product (100) identification and visual preliminary positioning on the product (100) to be labeled on the product conveying device (1); the second camera (8) is an upper camera and is used for performing visual accurate positioning on the labels sucked by the quick-change suction head (6); and the third camera (9) is arranged on the label sticking manipulator (4) and is used for performing visual accurate positioning on the product (100) to be labeled on the product conveying device (1). The quick-change suction head (6) comprises a positioning seat (61), a suction head body (62) and a sealing ring (63). An air channel on the positioning seat (61) is communicated with an air channel of the suction head body (62), and the sealing ring (63) is arranged between the positioning seat (61) and the suction head body (62) to seal the connecting position of the air channels. A plurality of positioning pins (621) are arranged on the upper surface of the suction head body (62), and a soft rubber pad (622) is arranged on the lower surface of the suction head body (62). The positioning seat (61) comprises an upper cover (611), a lower cover (612) and a locking disc (613). The locking disc (613) is arranged between the upper cover (611) and the lower cover (612) and can rotate horizontally around the axis thereof. A lever (6131) is arranged on the side surface of the locking disc (613) and extends out of the upper cover (611) and the lower cover (612). A plurality of first lock holes (6121) are arranged on the lower cover (612). The first lock holes (6121) correspond to the positions of the positioning pins (621) one by one. A plurality of second lock holes (6132) are arranged on the locking disc (613). The second lock holes (6132) comprise locking holes (6133) and unlocking holes (6134) which are communicated with each other. The upper ends of the positioning pins (621) can be inserted into the first lock holes (6121) and the unlocking holes (6134). The locking disc (613) is rotated by a certain angle, and the locking holes (6133) can lock the upper ends of the positioning pins (621). The lower cover (612) of the positioning seat (61) is provided with an elastic collision bead (64), the elastic collision bead (64) is in elastic abutment with a locking disc (613), and the upper surface of the shifting rod (6131) is provided with a positioning pit (6135) at the corresponding position.

2. The mixed investment stamping machine according to claim 1, characterized in that, The first camera (7) is used for reading a two-dimensional code (101) on the product (100) to be labeled to identify the product (100).

3. The mixed investment stamping machine according to claim 1, characterized in that, The labeling manipulator (4) is provided with multiple sets of downward pressing air cylinders (5) and quick-change suction heads (6), which can suck and attach multiple labels at one time.

4. The mixed investment stamping machine according to claim 3, characterized in that, The number of the downward pressing air cylinders (5) and the quick-change suction heads (6) is three, which are respectively located at three sides of the labeling manipulator (4), and the third camera (9) is arranged at the remaining one side of the labeling manipulator (4).

5. The mixed investment stamping machine according to claim 1, wherein The product conveying device (1) is provided with a vertical baffle (11) with an adjustable transverse position above the product conveying device (1), which is used for limiting the use range of the product conveying device (1).

6. The mixed investment stamping machine according to claim 1, characterized in that, The labeling manipulator (4) is a four-axis servo manipulator or a six-axis servo manipulator.

7. The mixed investment stamping machine according to claim 1, wherein The label feeder (3) is a double-layer label feeder (3), and multiple label feeders (3) are arranged horizontally and side by side.

8. A method of labeling by the labeling machine according to any one of claims 1 to 7, characterized by, The method comprises the following steps: S1: placing the product (100) to be labeled on the product conveying device (1), and conveying the product (100) to be labeled forward, and when the product sensor (2) senses the product (100) to be labeled, the product conveying device (1) pauses conveying; S2: the first camera (7) takes a photo of the region of the product conveying device (1), identifies the type of the product (100) to be labeled, and performs visual preliminary positioning on the product (100) to be labeled; S3: according to the identified type of the product (100), the number and type of labels needed are confirmed, and multiple label feeders (3) provide various labels according to the needs; S4: the labeling manipulator (4) drives the downward pressing air cylinder (5) and the quick-change suction head (6) to move, sucks one or more labels at one time, and then moves to above the second camera (8), and the second camera (8) performs visual fine positioning on the label sucked by the quick-change suction head (6); S5: the labeling manipulator (4) drives the downward pressing air cylinder (5) and the quick-change suction head (6) to move to directly above the product (100) to be labeled, and the third camera (9) on the labeling manipulator (4) takes a photo of the product (100) to be labeled to perform visual fine positioning; S6: the labeling manipulator (4) drives the downward pressing air cylinder (5) and the quick-change suction head (6) to move to the accurate labeling position according to the fine positioning data of the label and the product (100) to be labeled; S7: the downward pressing air cylinder (5) drives the quick-change suction head (6) to descend, and the label is attached to the product (100).

Images