Labeling manipulator and labeling system suitable for non-planar article without fixed position

Abstract

The invention relates to a labeling manipulator and a labeling system suitable for non-planar articles without fixed positions, the labeling manipulator comprises a mounting plate and a reciprocating type linear driving mechanism arranged on the mounting plate, a connecting plate is arranged at the top end of a driving rod of the reciprocating type linear driving mechanism, a layer of soft material piece is arranged on the connecting plate, and the soft material piece is arranged on the mounting plate. A plurality of negative pressure adsorption holes used for being connected with a negative pressure source are formed in the soft material piece, and when air suction ports of the negative pressure adsorption holes are located at the label feeding position, the non-glue face of the label is sucked; then, a driving rod of the reciprocating type linear driving mechanism extends outwards to push the adhesive surface of the label located on the soft material piece to the non-planar object, the soft material piece deforms along with the change of the surface shape of the non-planar object, and the label is attached to the surface of the non-planar object in a wrapping mode. The packaging machine has the advantage that the special-shaped surface of the soft packaging material can be completely covered with the label.

Description

Technical Field

[0001] The invention relates to the technical field of automatic labeling, in particular to a labeling robot and a labeling system suitable for non-fixed and non-planar objects. Background Art

[0002] The existing large-scale storage and sorting system needs to classify and label the agricultural products (such as fruits and vegetables) collected from farmers in soft packaging (such as snakeskin bags) to indicate the object attributes of these agricultural products. However, these agricultural products have various shapes and no fixed shape. The labeling of these bagged non-flat items with no fixed shape is mainly done manually, which generates a lot of labor costs and is prone to the problem of mislabeling.

[0003] Chinese patent document CN 213168874 U discloses a labeling machine including a labeling head arranged on the front of the labeling machine body, a support frame arranged on the back of the labeling machine body, a first adjustment mechanism and a second adjustment mechanism; the first adjustment mechanism is used to adjust the posture of the labeling machine body; the labeling head is arranged on the labeling machine body through the second adjustment mechanism; the second adjustment mechanism is used to adjust the posture of the labeling head. The labeling machine adjusts the posture of the labeling machine body through the first adjustment mechanism and the posture of the labeling head through the second adjustment mechanism, so as to make the surface of the labeling head parallel to the contact surface of the object to be measured as much as possible, so as to complete the labeling of irregular planes. This labeling machine is not only complex in structure, but also the labels affixed by this labeling machine cannot completely cover the irregular surface of the soft packaging. Summary of the invention

[0004] The invention provides a labeling robot and a labeling system which can completely cover a label on a special-shaped surface of a soft package and is suitable for use on non-planar articles without a fixed position.

[0005] The technical solution of the present invention is: to provide a labeling robot suitable for non-planar objects without fixed positions, including a mounting plate and a reciprocating linear drive mechanism arranged on the mounting plate, a connecting plate is provided at the top end of the driving rod of the reciprocating linear drive mechanism, a layer of soft material is provided on the connecting plate, and a plurality of negative pressure adsorption holes for connecting to a negative pressure source are provided on the soft material part, when the suction port of the negative pressure adsorption hole is in the upper label position, the non-glue surface of the label is sucked; then, the driving rod of the reciprocating linear drive mechanism extends outward to push the glue surface of the label on the soft material part toward the non-planar object, the soft material part deforms as the surface shape of the non-planar object changes, and the label is covered and attached to the surface of the non-planar object.

[0006] As an improvement to the present invention, an air blowing pipe is provided at the oblique front of the outer side of the soft material piece, and the air blowing pipe is connected to the positive pressure gas source. The wind blown by the air blowing pipe blows the non-glue surface of the label toward the air intake port of the negative pressure adsorption hole.

[0007] As an improvement to the present invention, a hose is provided in the negative pressure adsorption hole, and the outer end of the hose is in the same plane as the label attachment surface of the soft material piece or slightly lower than the label attachment surface of the soft material piece; the inner end of the hose is directly connected to the negative pressure source.

[0008] As an improvement to the present invention, the outer end of the hose is a bell mouth.

[0009] As an improvement to the present invention, the soft material piece is sponge or foam cotton.

[0010] As an improvement to the present invention, the side of the sponge or foam away from the side where the air inlet is located is not closed, and the other five sides are all closed, and the negative pressure adsorption hole runs through the side where the air inlet is located and the side away from the air inlet, wherein most of the air inlet is used to adsorb the label, and a small part of the air inlet is used to communicate with the atmosphere, so as to maintain the initial state of the sponge or foam when no label is attached; Alternatively, the six sides of the sponge or foam cotton are all closed, and the negative pressure adsorption holes run through the side where the air intake port is located and the side away from the air intake port, wherein most of the air intake ports are used to adsorb labels, and a small part of the air intake ports are used to communicate with the atmosphere to maintain the sponge or foam cotton in its initial state when no label is attached.

[0011] As an improvement to the present invention, the air inlets of all the negative pressure adsorption holes are in the same plane as the label attachment surface of the soft material piece.

[0012] The present invention also provides a labeling system, including a mounting plate, on which a label supply system, a labeling robot and a control system are arranged, the label supply system includes a label feeding roller, a plurality of feeding rollers, a label peeling roller, a plurality of base paper receiving rollers and a base paper receiving roller, the label with base paper coming out of the label feeding roller passes through a plurality of feeding rollers and reaches a label peeling roller, under the action of the label peeling roller, the label is peeled off the base paper, the non-glue side of the label faces the negative pressure adsorption hole of the labeling robot and is adsorbed by the negative pressure adsorption hole, the base paper passes through a plurality of base paper receiving rollers and is received by the base paper receiving roller; the control system controls the label supply system and the labeling robot to work in coordination; the labeling robot is the above-mentioned labeling robot.

[0013] As an improvement to the present invention, the present invention also includes a printer and a printing back plate, wherein the printer is arranged on a mounting plate on the non-adhesive side of the label, the print head of the printer is used to print information on the non-adhesive side of the label, and the printing back plate is arranged on the opposite side of the print head, and is used to press against the base paper of the label when the print head is printing.

[0014] As an improvement to the present invention, a connecting piece 51 is provided at the tail of the labeling robot 5, and the connecting piece 51 is rotatably connected to the mounting plate 1 through a rotating shaft 52. A tension spring 53 is provided on the inner side of the head of the labeling robot 5, and one end of the tension spring 53 is connected to the inner side of the labeling robot 5, and the other end of the tension spring 53 is connected to the shaft column 54.

[0015] The present invention adopts a connection plate provided at the top end of the driving rod of the reciprocating linear driving mechanism, a layer of soft material piece is provided on the connection plate, and a plurality of negative pressure adsorption holes for connecting to a negative pressure source are provided on the soft material piece. When the air suction port of the negative pressure adsorption hole is at the upper label position, the non-glue surface of the label is sucked; then, the driving rod of the reciprocating linear driving mechanism extends outward to push the glue surface of the label on the soft material piece toward the non-planar object, and the soft material piece is deformed as the surface shape of the non-planar object changes, and the label is wrapped and attached to the surface of the non-planar object. Therefore, the present invention has the advantage of being able to completely cover the label on the irregular surface of the soft packaging object. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the planar structure of an embodiment of the labeling robot of the present invention.

[0017] Figure 2 yes Figure 1 A schematic diagram of the plan structure of an embodiment of the invention is shown in the figure A.

[0018] Figure 3 yes Figure 2 Schematic diagram of the planar structure of the BB section.

[0019] Figure 4 yes Figure 2 A schematic plan view of the structure of another embodiment of the BB section.

[0020] Figure 5 yes Figure 1 A schematic diagram of the planar structure of another embodiment of the present invention is shown in the A direction.

[0021] Figure 6 Schematic diagram of a first embodiment of a labeling machine according to the present invention.

[0022] Figure 7 It is a schematic diagram of the planar structure of the second embodiment of the labeling machine of the present invention.

[0023] Figure 8 It is a schematic diagram of the planar structure of the third embodiment of the labeling machine of the present invention. DETAILED DESCRIPTION

[0024] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0025] like Figures 1 to 5 As shown, Figures 1 to 5 Disclosed is a labeling robot 5 suitable for non-planar objects without a fixed position, comprising a mounting plate 1 and a reciprocating linear drive mechanism 2 arranged on the mounting plate 1, a connecting plate 22 is provided at the top end of a driving rod 21 of the reciprocating linear drive mechanism 2, a layer of soft material 23 is provided on the connecting plate 22, and a guide seat 24 for guiding the driving rod 21 is also provided on the mounting plate 1; a plurality of negative pressure adsorption holes 231 arranged in a matrix for connecting to a negative pressure source are provided on the soft material 23, the area occupied by the negative pressure adsorption holes 231 arranged in a matrix is ​​less than or equal to the area of ​​the label, so as to facilitate the label to be sucked tightly; when the air inlet 2311 of the negative pressure adsorption hole 231 is in the label upper position, the non-glue surface of the label is sucked, see Figure 2 and Figure 3 Then, the driving rod 21 of the reciprocating linear drive mechanism 2 extends outward, pushing the adhesive surface of the label on the soft material piece 23 toward the non-planar object, and the soft material piece 23 deforms as the surface shape of the non-planar object changes, and the label is covered and attached to the surface of the non-planar object. In this embodiment, the reciprocating linear drive mechanism 2 adopts a reciprocating cylinder. Obviously, the reciprocating linear drive mechanism 2 can also adopt a screw nut structure driven by a servo motor, or other reciprocating linear drive mechanisms, such as an electric cylinder.

[0026] Due to the adoption of the above structure, the present invention has the advantage that the label can be completely covered on the irregular surface of the soft package.

[0027] Preferably, a blowing pipe 3 is provided at the oblique front of the outer side of the soft material piece 23, and the blowing pipe 3 is connected to the positive pressure gas source, and the wind blown by the blowing pipe 3 blows the non-glue surface of the label toward the air inlet 2311 of the negative pressure adsorption hole 231. Figure 6 In the present invention, the main function of the air blowing tube 3 is to guide the label to move toward the air inlet 2311 of the negative pressure adsorption hole 231 to prevent the label from being too far away from the air inlet 2311 and not being adsorbed.

[0028] Preferably, a hose 233 is provided in the negative pressure adsorption hole 231, and the outer end 2331 of the hose 233 is in the same plane as the label attachment surface 232 of the soft material piece 23 or is slightly lower than the label attachment surface 232 of the soft material piece 23; the inner end 2332 of the hose 233 is directly connected to the negative pressure source. In this embodiment, the inner end 2332 is directly connected to the negative pressure source through the manifold 2333. The advantage of providing the hose 233 in the negative pressure adsorption hole 231 is that the soft material piece 23 will not be deformed by the negative pressure source in the initial state.

[0029] Preferably, the outer end 2331 of the hose 233 is a bell mouth 2334; the bell mouth 2334 is more conducive to adsorbing and tightening the label.

[0030] Preferably, a connecting piece 51 is provided at the tail of the labeling robot 5, and the connecting piece 51 is rotatably connected to the mounting plate 1 through a rotating shaft 52. A tension spring 53 is provided on the inner side of the head of the labeling robot 5, and one end of the tension spring 53 is connected to the inner side of the labeling robot 5, and the other end of the tension spring 53 is connected to the shaft column 54 (see Figure 8 ). This design can improve labeling efficiency on the one hand, and can also label objects in motion on the other hand.

[0031] Preferably, the soft material piece 23 is sponge or foam.

[0032] In the present invention, the sponge can be polyester sponge, polyurethane sponge, cold foaming sponge or polyether sponge, etc., and its hardness can be selected between 10 and 55 degrees Shore W.

[0033] The foam cotton can be made of polyester fiber, polyurethane PU or ethylene-vinyl acetate copolymer EVA; the hardness range of the foam cotton can be selected between 0 and 40 degrees, and the hardness unit is HS Hofer unit; among them, 0 degrees means completely soft, and the larger the value, the harder the foam cotton.

[0034] Preferably, the side of the sponge or foam away from the air inlet 2311 is not closed, and the other five sides are all closed, and the negative pressure adsorption hole 231 passes through the side where the air inlet 2311 is located and the side away from the air inlet 2311, wherein most of the air inlets 23111 are used to adsorb labels, and a small part of the air inlets 23112 are used to communicate with the atmosphere to keep the sponge or foam in its initial state when no label is attached. The small part of the air inlets 23112 can be closer to the most of the air inlets 23111, or can be slightly farther away. The distance between the small part of the air inlets 23112 and the most of the air inlets 23111 is not limited here, as long as it satisfies that when the most of the air inlets 23111 adsorb the label, the small part of the air inlets 23112 can leak air appropriately, while keeping the initial state of the sponge or foam unchanged when no label is attached.

[0035] Alternatively, the six sides of the sponge or foam are all closed, and the negative pressure adsorption hole 231 passes through the side where the air inlet 2311 is located and the side away from the air inlet 2311, wherein most of the air inlet 23111 is used to adsorb labels, and a small part of the air inlet 23112 is used to communicate with the atmosphere to keep the sponge or foam in its initial state when no label is attached. The small part of the air inlet 23112 can be closer to the most of the air inlet 23111, or it can be slightly farther away. The distance between the small part of the air inlet 23112 and the most of the air inlet 23111 is not limited here, as long as it satisfies that when the most of the air inlet 23111 adsorbs the label, the small part of the air inlet 23112 can leak air appropriately, while keeping the initial state of the sponge or foam unchanged when no label is attached.

[0036] Preferably, the air inlets 2311 of all the negative pressure adsorption holes 231 and the label attaching surface 232 of the soft material piece 23 are in the same plane.

[0037] See also Figure 6 and Figure 7 The present invention also provides a labeling system, including a mounting plate 1, on which a label supply system 4, a labeling robot 5 and a control system 6 are arranged, the label supply system 4 includes a label feeding roller 41, a plurality of feeding rollers 42, a label peeling roller 43, a plurality of backing paper receiving rollers 44 and a backing paper receiving roller 45, a label 46 with backing paper coming out of the label feeding roller 41 is pulled by the backing paper receiving roller 45, passes through a plurality of feeding rollers 42 and reaches the label peeling roller 43, under the action of the label peeling roller 43, the label 46 is peeled off from the backing paper, and the non-glue surface of the label 46 faces the negative pressure adsorption hole 231 of the labeling robot 5. Figure 1-Figure 5, and is adsorbed by the negative pressure adsorption hole 231, and the bottom paper 47 passes through a number of bottom paper receiving rollers 44 and is received by the bottom paper receiving roller 45; the control system 6 controls the label supply system 4 and the labeling robot 5 to work in coordination; the labeling robot 5 is the above-mentioned labeling robot. In this embodiment, the bottom paper receiving roller 45 is an active roller, and the label feeding roller 41 is a passive roller. In this case, the labeling system of this embodiment needs to pre-print the label paper, such as printing a one-dimensional code or a two-dimensional code including product information, and then affix the label to the product.

[0038] Preferably, the present invention further comprises a printer 7 and a printing backing plate 8, wherein the printer 7 is arranged on the mounting plate 1 on the non-adhesive side of the label, the printing head 71 of the printer 7 is used to print information on the non-adhesive side of the label, and the printing backing plate 8 is arranged on the opposite side of the printing head 71, and is used to abut against the bottom paper 47 of the label when the printing head 71 is printing. In this case, the labeling system of this embodiment can print labels online, such as printing one-dimensional codes or two-dimensional codes including product information, and then affix the labels to the products.

[0039] The labeling system of the above embodiment is suitable for labeling objects in a stationary state. However, in actual use, in many cases, the objects are moving on an assembly line. If the objects have to be stopped and labeled during the labeling process, it will inevitably lead to low efficiency.

[0040] In order to improve the labeling efficiency and realize labeling of the labeled objects while they are in motion, the present invention has been improved on the basis of the above embodiments. Figure 8 Specifically, a connecting member 51 is provided at the tail of the labeling robot 5, and the connecting member 51 is rotatably connected to the mounting plate 1 through a rotating shaft 52. A tension spring 53 is provided inside the head of the labeling robot 5, and one end of the tension spring 53 is connected to the inner shell of the labeling robot 5, and the other end of the tension spring 53 is connected to the shaft column 54. In this way, when the driving rod 21 of the reciprocating linear driving mechanism 2 of the labeling robot 5 extends outward, the adhesive surface of the label on the soft material part 23 is pushed to the surface of the non-planar object, and the non-planar object is still in the process of moving, at this time, the tension spring 53 will be appropriately stretched, and the soft material part 23 will move with the non-planar object. When the label is attached, the driving rod 21 retracts, and after the soft material part 23 leaves the non-planar object, the head of the labeling robot 5 is reset under the return action of the tension spring 53, so as to achieve labeling of the moving non-planar object.

[0041] The non-planar surface in the present invention refers to surfaces that do not have planar characteristics, that is, surfaces that have curvature or are not completely flat.

[0042] Non-planar surfaces include, but are not limited to, surfaces with curvature such as spheres, cylinders, cones, etc. Agricultural products such as potatoes, onions, carrots, sweet potatoes, and cabbages packed in snakeskin bags are all non-planar objects.

[0043] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A labeling robot suitable for non-planar objects without fixed positions, characterized in that: The invention comprises a mounting plate (1) and a reciprocating linear drive mechanism (2) arranged on the mounting plate (1); a connecting plate (22) is arranged at the top end of a driving rod (21) of the reciprocating linear drive mechanism (2); a layer of soft material (23) is arranged on the connecting plate (22); a plurality of negative pressure adsorption holes (231) for connecting to a negative pressure source are arranged on the soft material (23); when the air suction port (2311) of the negative pressure adsorption hole (231) is in the labeling position, the non-glue surface of the label is sucked; then, the driving rod (21) of the reciprocating linear drive mechanism (2) extends outwards, pushing the glue surface of the label on the soft material (23) toward the non-planar object; the soft material (23) deforms as the surface shape of the non-planar object changes, and the label is covered and attached to the surface of the non-planar object.

2. The labeling robot suitable for non-planar objects without fixed positions according to claim 1 is characterized in that An air blowing pipe (3) is provided at the oblique front of the outer side of the soft material piece (23), the air blowing pipe (3) being connected to a positive pressure gas source, and the air blown out of the air blowing pipe (3) blows the non-glue surface of the label toward the air inlet (2311) of the negative pressure adsorption hole (231).

3. The labeling robot suitable for non-planar objects without fixed positions according to claim 1 or 2, characterized in that A hose (233) is provided in the negative pressure adsorption hole (231); the outer end (2331) of the hose (233) is in the same plane as the label attachment surface (232) of the soft material piece (23) or is slightly lower than the label attachment surface (232) of the soft material piece (23); and the inner end (2332) of the hose (233) is directly connected to the negative pressure source.

4. The labeling robot suitable for non-planar objects without fixed positions according to claim 3 is characterized in that The outer end (2331) of the hose (233) is a bell mouth.

5. The labeling robot suitable for non-planar objects without fixed positions according to claim 1 or 2, characterized in that The soft material piece (23) is sponge or foam.

6. The labeling robot suitable for non-planar objects without fixed positions according to claim 6 is characterized in that : The side of the sponge or foam cotton away from the side where the air inlet (2311) is located is not closed, and the other five sides are all closed, and the negative pressure adsorption hole (231) passes through the side where the air inlet (2311) is located and the side away from the air inlet (2311), wherein most of the air inlet (23111) is used to adsorb labels, and a small part of the air inlet (23112) is used to communicate with the atmosphere to maintain the initial state of the sponge or foam cotton when no label is attached; or, the six sides of the sponge or foam cotton are all closed, and the negative pressure adsorption hole (231) passes through the side where the air inlet (2311) is located and the side away from the air inlet (2311), wherein most of the air inlet (23111) is used to adsorb labels, and a small part of the air inlet (23112) is used to communicate with the atmosphere to maintain the initial state of the sponge or foam cotton when no label is attached.

7. A labeling system, comprising a mounting plate (1), characterized in that The mounting plate (1) is provided with a label supply system (4), a labeling robot (5) and a control system (6). The label supply system (4) comprises a label feeding roller (41), a plurality of feeding rollers (42), a label peeling roller (43), a plurality of backing paper receiving rollers (44) and a backing paper receiving roller (45). The label (46) with backing paper coming out of the label feeding roller (41) passes through the plurality of feeding rollers (42) and then reaches the label peeling roller (43). Under the action of the label peeling roller (43), the label (46) with backing paper coming out of the label feeding roller (41) passes through the plurality of feeding rollers (42) and then reaches the label peeling roller (43). The label (46) is peeled off from the base paper, and the non-adhesive surface of the label (46) faces the negative pressure adsorption hole (231) of the labeling robot (5) and is adsorbed by the negative pressure adsorption hole (231). The base paper (47) is received by the base paper receiving roller (45) after passing through a plurality of base paper receiving rollers (44); the control system (6) controls the label supply system (4) and the labeling robot (5) to work in coordination; the labeling robot (5) is the labeling robot described in any one of claims 1 to 7.

8. The labeling system according to claim 8, characterized in that The invention also comprises a printer (7) and a printing back plate (8), wherein the printer (7) is arranged on the mounting plate (1) on the non-adhesive side of the label, the printing head (71) of the printer (7) is used to print information on the non-adhesive side of the label, and the printing back plate (8) is arranged on the opposite side of the printing head (71) and is used to abut against the bottom paper (47) of the label when the printing head (71) is printing.

9. The labeling system according to claim 8 or 9, characterized in that A connecting piece (51) is provided at the tail of the labeling robot (5), and the connecting piece (51) is rotatably connected to the mounting plate (1) via a rotating shaft (52). A tension spring (53) is provided on the inner side of the head of the labeling robot (5), and one end of the tension spring (53) is connected to the inner side of the labeling robot (5), and the other end of the tension spring (53) is connected to the shaft column (54).

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