Labeling machine

Abstract

The invention discloses a labeling machine. The labeling machine comprises a machine body; the cotton bale conveying platform is located on one side or the lower side of the machine body; the national standard bearing platform is mounted on the machine body and is used for bearing two national standard labels; the code scanning device is positioned at the national standard label bearing platform and is used for scanning the code of the current national standard label; the factory label printer is installed on the machine body and used for printing factory label labels according to the content obtained by the code scanning device; the manipulator is mounted on the machine body, is provided with a pair of pickup parts arranged in parallel, and is used for correspondingly picking up a national standard label and a factory label after the factory label printer prints a corresponding factory label so as to label one end of a cotton bale which is currently conveyed in place on the cotton bale conveying platform, and further picking up a second national standard label and a second factory label; and labeling the second end of the corresponding cotton bale. According to the labeling machine, labeling of the two ends of the cotton bale can be achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of for cotton bag front and rear end label sticker installation labeler. BACKGROUND

[0002] For example, cotton packaging process, the last process of cotton processing production line, after the production of lint produced by cotton processing line is packaged, bagged and weighed, the information of cotton bag needs to be identified.According to the provisions of the national standard GB 6975-2013 "Cotton packaging" and related specifications, the cotton bag label includes the cotton bag label of batch inspection (including cotton origin, cotton processing unit, cotton quality identification, batch number, package number, gross weight, foreign fiber content code, production date) and the cotton bag label of each bag inspection (bar code, the corresponding content is the same as the previous item), the label corresponding to the content is referred to as national standard in the art.The national standard usually has three bar codes, one for textile mill, another for inspection agency, and the last one for cotton processing plant.

[0003] As the national standard clearly stipulates, it is allowed to mark the placement direction, trademark and other information on the surface of the packaging bag without affecting the cotton bag label, but the label used for the national standard is usually designed and manufactured according to the specifications.In order to highlight the information of cotton processing plant, there is usually an information filled in by cotton processing plant on the cotton bag, such as the aforementioned placement direction, trademark, and part of the information of the aforementioned national standard, which is usually referred to as factory label.Generally, factory label and national standard are collectively referred to as bar code or label on the side of cotton processing plant.

[0004] It should be noted that the national standard needs to be printed by a national standard printer, but the content of the national standard printer cannot be directly read, therefore, the printing of factory label is usually designed separately, which is relatively low in overall efficiency and relatively poor in uniformity.

[0005] Cotton bag usually has a set of labels at each end (standard cotton bag has a certain length, width and height, the two ends here correspond to the two ends in the length direction, for example, type I cotton bag, which has a length of 1400 mm, a width of 530 mm and a height of 700 mm, the length tolerance is -30 mm, the width tolerance is -10 mm, the height tolerance is 150 mm, and the weight tolerance is ±10 kg;The end surface corresponding to the two ends is the surface corresponding to 530*700).

[0006] At present, the national standard and the factory standard are generally pasted by manual pasting. As the processing speed of the cotton processing production line is continuously improved, the number of bales per hour can reach 60, and multiple workers are often required to work together at the baling and marking stations of the cotton production line, which is very labor-intensive. It is difficult to control the randomness of the label, resulting in a large difference in the position of the national standard and the factory standard, affecting the overall appearance. At present, the cotton processing production line has been automated except for the barcode pasting process. The automation of barcode pasting has a high significance for the automation, intelligence and informatization of the whole cotton processing production line.

[0007] It should be noted that the above background art is technical information obtained by the inventors in order to deduce related technical problems or obtained in the process of designing the present invention, and does not mean that the above background art has been prior art before the present application, especially the recognition and confirmation of related technical problems. SUMMARY

[0008] The purpose of the present application is to provide a labeling machine capable of labeling both ends of a cotton bale.

[0009] According to the embodiment of the present application, a labeling machine is provided, comprising: a machine body; a cotton bale conveying platform located on one side or the lower side of the machine body; a national standard label bearing platform installed on the machine body for bearing two national standard labels; a code scanning device located at the national standard label bearing platform to scan the current national standard label; a factory standard printer installed on the machine body for printing a factory standard label according to the content obtained by the code scanning device; a mechanical hand installed on the machine body and having a pair of pick-up components arranged side by side, which pick up a national standard label and a factory standard label after the corresponding factory standard label is printed by the factory standard printer, to label one end of the cotton bale currently conveyed to the position on the cotton bale conveying platform, and then pick up a second national standard label and a second factory standard label to label the second end of the corresponding cotton bale.

[0010] The labeling machine according to the embodiment of the present application fills the gap that the last process of the cotton processing production line cannot be automated. It obtains the corresponding identification information by reading the barcode on the national standard label, and then prints the factory standard label according to the identification information. A mechanical hand is provided to pick up a national standard label and a factory standard label, and then move to one end of the cotton bale currently in position to label the end. Then, a national standard label and a factory standard label are picked up again, and the other end of the cotton bale is labeled, thereby realizing the labeling of the cotton bale. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 This is a schematic diagram of the labeling machine structure in one embodiment.

[0012] Figure 2 This is a schematic diagram of the label separation device in one embodiment.

[0013] Figure 3 This is a schematic diagram of the first structure of the support in one embodiment.

[0014] Figure 4 This is a schematic diagram of the second structure of the support in one embodiment.

[0015] Figure 5 This is a schematic diagram of the detachable actuator structure in one embodiment.

[0016] Figure 6 This is a schematic diagram of the first structure of the first movable plate in one embodiment.

[0017] Figure 7 This is a schematic diagram of the second structure of the first movable plate in one embodiment.

[0018] Figure 8 This is a schematic diagram of the first structure of the second movable plate in one embodiment.

[0019] Figure 9 This is a schematic diagram of the second structure of the second movable plate in one embodiment.

[0020] Figure 10 This is a schematic diagram of the first pad structure in one embodiment.

[0021] Figure 11 This is a schematic diagram of the second pad structure in one embodiment.

[0022] Figure 12 This is a schematic diagram of the structure of the pad and the movable plate in the assembled state in one embodiment.

[0023] Figure 13 This is a schematic diagram of the third structure of the label separation device in one embodiment. The first pressing device, the first pad, and the second movable plate are omitted in the figure.

[0024] Figure 14 This is a schematic diagram of the pressing device structure in one embodiment.

[0025] Figure 15 This is a schematic diagram of a two-degree-of-freedom platform structure in one embodiment.

[0026] Figure 16 This is a first schematic diagram of the slide structure in one embodiment.

[0027] Figure 17 This is a second schematic diagram of the slide structure in one embodiment.

[0028] Figure 18This is a schematic diagram of the main frame platform structure (including cylinders) in one embodiment.

[0029] Figure 19 This is a schematic diagram of the end platform structure in one embodiment.

[0030] Figure 20 This is a first schematic diagram of a barcode picking robot in one embodiment.

[0031] Figure 21 This is a second schematic diagram of a barcode picking robot in one embodiment.

[0032] Figure 22 This is a schematic diagram of the adsorption component structure in one embodiment.

[0033] Figure 23 This is a schematic diagram of the suction cup support structure in one embodiment.

[0034] Figure 24 This is a schematic diagram of the support structure in one embodiment.

[0035] Figure 25 This is a schematic diagram of a guidance unit structure in one embodiment of the guidance component.

[0036] Figure 26 This is a first schematic diagram of a universal joint mechanism in one embodiment.

[0037] Figure 27 This is a second schematic diagram of the universal joint mechanism in one embodiment.

[0038] Figure 28 This is a schematic diagram of the main frame structure in one embodiment.

[0039] Figure 29 This is a schematic diagram of the linear drive unit and guide slide assembly in one embodiment.

[0040] In the diagram: 1. Cotton bale conveying platform, 2. Glue applicator, 3. Barcode pickup robot, 4. Three-coordinate gantry robot arm, 5. Servo drive group, 6. Cable chain group, 7. Factory label printer, 8. Two-degree-of-freedom platform, 9. Label separation device, 10. Machine body, 11. First movable plate, 12. First pad, 13. First hinge shaft, 14. First pressing device, 15. Second hinge shaft, 16. Second pressing device, 17. Second pad, 18. Support, 19. Second movable plate, 20. Separation actuator, 21. First reinforcing plate, 22. Second guide hole, 23. Second fixing hole, 24. First fixing hole, 25. First guide hole, 26. First through hole, 27. Frame plate, 28. Second through hole, 29. Fixing countersunk hole, 30. First base plate, 31. First mounting hole, 32. Third fixing hole, 33. Second countersunk hole, 34. Second support slider, 35. Fourth fixing hole, 36. First support slider, 37. Fifth fixing hole, 38. Vertical plate, 39. Second reinforcing plate, 40. Horizontal plate, 41. Strip plate, 42. First roller, 43. Sixth fixing hole, 44. Second roller, 45. First cylinder, 46. First movable plate, 47. Third through hole, 48. First slider, 49. First straight groove, 50. Third support slider, 51. Second straight groove, 52. Second movable plate, 53. Fourth through hole, 54. Second slider, 55. Third straight groove, 56. Fourth support slider, 57. Fourth straight groove, 58. First pad plate, 59. First hinge 60. Shaft hole, 61. First straight hole wall, 62. First actuating hole, 63. First tapered hole wall, 64. Second pad body, 65. Second actuating hole, 66. Second straight hole wall, 67. Second hinge shaft hole, 68. Second tapered hole wall, 69. Second cylinder, 70. Base plate, 71. Connecting fish mouth, 72. Third hinge shaft, 73. Pressure arm, 74. Fourth hinge shaft, 75. Pressure claw, 76. Sixth hinge shaft, 77. Third countersunk hole, 78. Seventh fixing hole, 79. Fixing plate, 80. Rocker arm, 81. Fifth hinge shaft, 82. Third reinforcing plate, 83. Hinge support, 84. Fifth through hole, 85. Main frame platform, 86. Slide plate, 87. End platform, 88. Third cylinder, 89. Third slider, 90. Oil cup, 91. Oil passage, 92. 92. Slide plate body, 93. Cylinder connecting block, 94. Slewing bearing, 95. Sixth through hole, 96. Third slider fixing hole, 97. Support leg, 98. Slide rail, 99. Flat cam, 100. Platform, 101. Cam groove, 102. Third roller, 103. Driven shaft, 104. Sub-frame, 105. Reinforcing frame, 106. Fastening screw, 107. Flat washer, 108. Seat hole, 109. Gantry support, 110. Diagonal brace, 111. Suction cup assembly, 112. First suction cup bracket, 113. Guide assembly, 114. Suction cup frame, 115. Second suction cup bracket, 116. Suction tube, 117. Screw sleeve, 118. First lower nut, 119. First upper nut, 120. Positioning plate, 121.122. Suction cup through hole; 123. Suction cup assembly mounting hole; 124. Guide assembly mounting hole; 125. Bow-shaped bracket; 126. Guide sleeve positioning mounting hole; 127. Process weight reduction hole; 128. Second assembly hole; 129. Guide sleeve seat fixing hole; 130. Second lower nut; 131. Second upper nut; 132. Screw; 133. Guide rod body; 134. Guide sleeve seat; 135. End component; 136. Drive arm; 137. Bearing; 138. Rotating shaft; 139. Fourth air... 140. Cylinder; 141. Connecting plate; 142. Connecting disc; 143. Pneumatic turntable; 144. Second seat plate; 145. Third mounting hole; 146. Air pipe connector; 147. Side plate; 148. Guide slide assembly; 149. Shift fork; 140. Fourth roller; 151. Connecting part; 152. First connecting plate; 153. Guide rail; 154. Cylinder fixing plate; 155. Second connecting plate; 156. Relief groove; 157. U-shaped opening; 158. Wheel arrangement; 159. Wheel arrangement seat; 150. Push plate. Detailed Implementation

[0041] To facilitate understanding of the present invention, the present invention will be described in more detail below with reference to the accompanying drawings and specific embodiments.

[0042] It should be understood that in the mechanical field, installation includes direct installation and indirect installation. Indirect installation includes, but is not limited to, installation on, for example, the machine body 10 via other components. The installation methods via other components include dynamic connection and static connection. Even dynamic connection with idle stroke is still a connection in the mechanical sense.

[0043] Given that, in the embodiments of the present invention, after the national standard is printed, it is usually that two labels are connected in series. However, it should also be known that even if adjacent labels are connected, the connection position is relatively fragile compared to other positions. Generally, there is a pre-fold between adjacent labels, and pre-perforations are evenly distributed along the extension direction of the pre-fold. After they are separated, the edge corresponding to the pre-fold will be a toothed edge.

[0044] As described in the background section, national standard labels typically have three barcodes: one for textile factories, one for inspection agencies, and one for cotton processing plants. By scanning the barcodes, the information identified by the national standard labels can be obtained, thus providing the corresponding data for printing factory logos.

[0045] Subsequently, after being printed, the national standard label is sent to the label separation device 9 and supported on the first pad 12 and the second pad 17. Typically, the upper surface of the label is the side containing the label information, facilitating scanning. Under these conditions, in the embodiments of the present invention, there is a defined top and bottom; however, it should be understood that in the mechanical field, top and bottom do not specifically refer to directly above or below, but generally indicate a height difference. Furthermore, in the embodiments of the present invention, top, bottom, and other terms such as left, right, inside, outside, front, back, etc., and similar expressions, are for illustrative and explanatory purposes only, and are intended not to mislead those skilled in the art.

[0046] Similarly, statements that are mutually explanatory, such as vertical or horizontal, are also for the purpose of explanation or clarification.

[0047] Additionally, to facilitate the description of the relationship between one component or component and another component or component shown in the accompanying drawings, spatially relative terms, such as "lower," "upper," and similar terms, may be used in embodiments of the invention. It should be understood that the spatially relative terms are intended to cover different orientations of the device during use and operation, in addition to those depicted in the accompanying drawings.

[0048] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention.

[0049] Furthermore, as a special note, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0050] It should be understood that in the field of mechanics, standard geometric terms are typically used to describe approximate mechanical structures, without implying that the mechanical mechanism possesses the exact geometric characteristics corresponding to those terms. For example, the bolt head of a hexagonal head bolt is actually a hexagonal prism, and the ends of the bolt head are rounded.

[0051] exist Figure 1 In the illustrated structure, the labeling machine includes a body 10, a cotton bale conveying platform 1, a national standard carrying platform, a barcode scanning device, a factory label printer 7, and a robotic arm. The body 10 is located within... Figure 1 The illustrated structure is a truss structure, but it should be understood that in the mechanical field, truss structures can be replaced by other structures, such as... Figure 1 Some sides of the middle body 10 may be wall panel structures.

[0052] Cotton bale conveyor platform 1 Figure 1In the illustrated structure, a certain part of the body 10 can be used to construct a cotton bale channel without affecting the cotton bale passage or the movement trajectory of the robot arm. The cotton bale conveying platform 1 can be set on the lower side of the cotton bale channel. That is, the cotton bale conveying platform 1 can also be located on the lower side of the body 10 as a whole. This lower side mainly refers to the lower side of the corresponding functional parts of the other components on the body 10.

[0053] exist Figure 1 At the location of the label separation device 9, there is a platform for carrying national standard labels, referred to as the national standard carrying platform. A national standard label printer can also be set up here. The printed national standard labels are directly transported to the national standard carrying platform, or the national standard labels printed by the national standard label printer are sent to the national standard carrying platform through, for example, a conveying mechanism.

[0054] As mentioned earlier, national standard labels typically have three barcodes. By scanning the barcodes, the relevant content on the national standard label can be obtained, and then the content can be sent to the factory label printer. The factory label printer can then print the factory label based on the obtained content.

[0055] Furthermore, a robotic arm is provided, which has a pair of picking components arranged in parallel. After the corresponding manufacturer's logo is printed by the manufacturer's logo printer, the robotic arm picks up a national standard label and a manufacturer's logo label to label one end of the cotton bale currently being transported to the cotton bale conveying platform. Then, it picks up a second national standard label and a second manufacturer's logo label to label the second end of the corresponding cotton bale.

[0056] Regarding the robotic arm, in a preferred embodiment of the present invention, a combination of a three-coordinate gantry robotic arm 4 and a barcode pickup robotic arm 3 is used. The cotton bale conveying platform 1 is typically a linear motion conveying platform, defining a first dimension in the conveying direction. The end face of the cotton bale to be labeled is perpendicular to this first dimension, and this end face is a vertical plane, thus having two mutually perpendicular dimensions: a vertical dimension and a horizontal dimension. Obviously, the horizontal dimension is perpendicular to the first dimension, which is also a horizontal dimension. The three-coordinate gantry robotic arm 4 adapts to the three mutually perpendicular dimensions, exhibiting relatively good adaptability and relatively easy drive implementation. The spatial position of the barcode pickup robotic arm 3 can be controlled via linear guide rails, thereby completing barcode pickup and labeling.

[0057] Regarding the bracket 18 configured in the label separation device, Figure 4 and Figure 5 The illustrated structure includes a frame plate 27 and a first base plate 30, both of which are rectangular plates in their main body. The frame plate 27 has a relatively large aspect ratio. Figure 4 and Figure 5In this text, the longer side of the shelf 27 is referred to as the long side, and the direction corresponding to the long side is denoted as the longitudinal direction, which is referred to as the first direction in the following text. In the following embodiments, the first direction is also the first horizontal direction. Correspondingly, the direction corresponding to the shorter side of the shelf 27 is called the width direction, which is also referred to as the third direction in the following embodiments, and the third direction is also the second horizontal direction.

[0058] In some embodiments, the frame plate 27 and the first base plate 30 are connected by welding, and in some embodiments, such as Figure 4 and Figure 5 As shown, the first base plate 30 is set vertically, and one end of the frame plate 27 is connected to the upper edge of the first base plate 30 in the longitudinal direction to reduce interference when the national standard barcode is fed in.

[0059] The frame plate 27 and the first base plate 30 can also be assembled by bolt connection to improve maintainability.

[0060] Shelf 27 Figure 4 and Figure 5 The frame plate 27 is connected to the first base plate 30 by a cantilever method. Therefore, in order to ensure that the upper surface of the frame plate 27 is relatively horizontal, the frame plate 27 needs to have relatively high rigidity. Figure 4 and Figure 5 In the illustrated structure, a triangular first reinforcing plate 21 is also provided between the lower surface of the frame plate 27 and the surface of the first base plate 30 facing the frame plate 27.

[0061] Figure 4 and Figure 5 In the middle, there are two first reinforcing plates 21, which are arranged on the left and right sides corresponding to the frame plate 27. The space between the two first reinforcing plates 21 is used for installing such... Figure 2 and 3 The separation actuator 20 shown.

[0062] from Figure 4 and Figure 5 As can be seen, the support plate 27 has several holes, and the support of the support plate 27 for the first movable plate 11 and the second movable plate 19 is also achieved through several second support sliders 34. In other words, the support plate 27 can also be replaced by other structures, such as pure beams or rods. One end of the beam is fixed to the first base plate 30 and installed in a cantilever manner. For example, second support sliders 34 are arranged on the beam, which can also satisfy the support for the first movable plate 11 and the second movable plate 19. Therefore, the component including the support plate 27, beams, etc., which is a relatively statically determinate setting for providing a support foundation for the label, is referred to as the first frame. This first frame is not limited to the support plate 27 or beams.

[0063] The first mounting plate 30 can be fixed to the main frame of the labeling machine or mounted on other movable devices. Therefore, the concept of statically fixed configurations in this invention is for illustrative purposes only. For example, the bracket 18, as a mounting base for other components of the label separation device, is a relatively static component, but does not mean that it is an absolutely static component. Furthermore, in some embodiments of the labeling machine, the label separation device can be mounted on other movable devices to facilitate the transport of the separated labels to a suitable position for label pickup.

[0064] In some embodiments, when the national standard label is conveyed to the label separation device, the QR code on the national standard needs to be scanned. The presence of the scanning device may interfere with the label picking device. Therefore, a device can be set up for the labeling machine to move the label separation device as a whole.

[0065] The above description is only intended to indicate that the bracket 18 can be a component that is statically set on the labeling machine, or a component whose position and state can be changed.

[0066] Meanwhile, for example, the frame plate 27 can be a plate or other components that can provide support, and the first pad 12 and the second pad 17 can be directly or indirectly provided on the frame plate 27.

[0067] To achieve label separation, at least one of the first pad 12 and the second pad 17 must be movable to provide a separation force. In some embodiments, one of the two pads is movable while the other is stationary on the frame 27. In other embodiments, both pads are movable, but they need to have different modes of motion to create relative motion, thereby providing a separation force. For ease of explanation, the first pad 12 is referred to as a pad that is movable in both cases; obviously, the term "first" here is not specific and is only used for distinction and explanation.

[0068] Accordingly, the first pad 12 is mounted on the first frame via a first linear sliding joint and a first rotary joint, for supporting the first label; from Figure 13 As can be seen, the first pad body 58 of the first pad 12 and the second pad body 63 of the second pad 17 form two sections to support the first label and the second label respectively.

[0069] It should be noted that, from Figure 2 As can be seen, the purpose of the first pressing device 14 and the second pressing device 16 is to press the two labels together, so that they can be reliably clamped when the two labels separate. There are no special requirements for the pressing area of ​​the first pressing device 14 and the second pressing device; only the reliability of the pressing is required. Figure 14In the illustrated structure, pressure claw 74 is used as the tool head of the pressing device. By comparing the distance characteristics between the two pressure claw heads on one pressure claw 74 and the distance characteristics between the two pressure claws 74 in the figure, and by comparing, for example, the length between the first pads 12, it can be seen that there is a large distance between the two pressure claws. Under this condition, the label can still be reliably pressed. Moreover, even if the accuracy of the automatic label delivery is not good, as long as the margin is determined by the distance characteristics between the two pressure claws 74, the problem of one pressure claw 74 pressing two labels at the same time will not occur.

[0070] The aforementioned first linear sliding joint and second rotary joint are used to generate relative movement and rotation between the first pad 12 and the second pad 17. Obviously, the relative movement is a back-to-back movement between the two pads. The relative rotation is used to first tear the two labels at their respective dividing lines, and then completely separate the two labels by means of the movement between the two pads.

[0071] Accordingly, the second pad 17 can be fixedly installed on the first frame or movably installed on the first frame to support the second label connected to the first label.

[0072] A first pressing device 14 is also provided. The first pressing device 14 is mounted on the first pad 12 and can move with the first pad 12. The first pressing device 14 can press the first label by its action, thereby forming a first clamping part between itself and the first pad 12.

[0073] A second pressing device 16 is provided, which is mounted on the second pad 17 or the bracket 18. If the second pad 17 is fixed, the second pressing device 16 can use the second pad 17 as the mounting base; if the second pad 17 is a movable part, the second pressing device 16 needs to use the second pad 17 as the mounting base.

[0074] Similarly, the second pressing device 16 cooperates with the second pad 17 to form a second clamping part, so as to press the second label after the second label is in place on the second pad.

[0075] After the first clamping part and the second clamping part clamp the first label and the second label respectively, a first driving mechanism is provided. The first driving mechanism drives the first linear sliding joint and the first rotary joint, so that the first pad 12 generates a first linear motion and a first rotational amount. As mentioned above, since the first pressing device 14 is installed on the first pad 12, under the drive of the first driving mechanism, the first clamping part will move as a whole, thereby tearing and separating the connecting part between the two labels.

[0076] The two labels can be removed one by one, and the two pressing devices can be opened separately to prevent the other label from falling off due to the wind force generated when one label is removed or the wind force in the workshop when they are opened at the same time.

[0077] Regarding the driving of the first linear prismatic joint and the first rotary joint, two driving devices can be used to drive them separately, or one driving device can be used to drive both kinematic joints.

[0078] To simplify the structure and thus improve overall reliability, a driving device is used in the preferred embodiment.

[0079] Furthermore, in some embodiments, the first drive mechanism is a first linear drive mechanism and is located on the lower side of the first frame. Accordingly, the first frame has a first channel for connecting the first pad 12 to the first drive mechanism, such as... Figure 4 and Figure 5 The first via 26 is shown in the figure.

[0080] Figure 4 and Figure 5 In the figure, the first through hole 26 is a rectangular hole. Under the condition that no motion interference occurs, the first through hole 26 can be an elongated hole extending longitudinally from the frame plate 27 in the figure. The length of the elongated hole is adapted to the amount of motion required to realize the first linear sliding joint and the first rotating joint. It can be slightly larger than the calculated value (the minimum value of the length of the elongated hole determined in the design), but should not be greater than 20% of the calculated value.

[0081] Regarding the coordination of the two movements of the first pad 12, the first linear prismatic joint and the first revolute joint can simultaneously actuate the first pad 12, or the first revolute joint can actuate the first pad 12 first, causing it to rotate and tear at the connection between the first label and the second label. Then, the second linear prismatic joint actuates the first pad 12, thus completely separating the first label from the second label. This type, where there is a sequential interaction between the first linear prismatic joint and the second revolute joint actuating the first pad 12, is referred to as the first form.

[0082] Regarding the implementation of the first form, if the first linear prismatic joint and the second rotary joint are each equipped with an independent drive device, the starting sequence of the two drive devices is relatively easy to achieve. However, if the first form is implemented using the same drive device, in order to avoid motion interference, the first linear prismatic joint has a first initial idle stroke. This single drive device first causes the first pad 12 to rotate based on mechanical transmission. After the first initial idle stroke ends, this single drive device will drive the first linear prismatic joint to operate.

[0083] Regarding the second pad 17, if it is mounted on the first frame via the second revolute joint and the second linear sliding joint, refer to the previous description of the first pad 12, and will not be repeated here. Similarly, in the following text, if a similar structure exists, the description of the first pad 12 will be the focus, and the description of the second pad 17 can be applied by analogy to the description of the first pad 12, without further explanation of the second pad 17.

[0084] Furthermore, regarding one implementation of the first form, specifically, the first pad 12 is mounted on the bracket 18 via the first movable plate 11, specifically mounted on the first frame, and the mounting method is to mount it on the first frame via the first linear sliding pair.

[0085] exist Figure 7 As can be seen in the illustrated structure, a first slider 48 is provided on the lower surface of the first pad 12 (hereinafter referred to as the back surface for ease of explanation), and... Figure 5 In the illustrated structure, a first guide hole 25 extending longitudinally on the frame plate 27 is provided, and the first slider 48 cooperates with the first guide hole 25 to form a first linear sliding pair.

[0086] In other embodiments, a linear guide pair can be directly used as the first linear sliding pair.

[0087] Furthermore, the first movable plate 11 is provided with a third channel, which is a third elongated hole. The extension direction of the third elongated hole is consistent with the movement direction of the first linear sliding pair, so as to generate a first initial idle stroke. Accordingly, the first drive mechanism is connected to the first pad 12 through a first shaft passing through the first channel and the third elongated hole, so that when the portion passing through the first channel and the third elongated hole does not abut against the end of the third elongated hole, it will not drive the first movable plate 11 in the first direction, thereby forming an idle stroke.

[0088] The part that cooperates with the first drive mechanism, such as Figure 6 The first roller 42 shown engages with the first actuation hole 61 on the first pad 12 to form a wedge mechanism, which converts linear motion into rotation, causing the first pad 12 to rotate about the first hinge axis 13. The rotating first pad 12, with its attached first pressing device 14, clamps the first label relative to the second label, causing relative rotation and thus tearing at the connection between the first and second labels starting from one end.

[0089] Figure 11 The through hole 61, referred to as the first actuation hole, is the part on the first pad 12 used to connect with the first drive mechanism (hereinafter referred to as the connecting body). In the figure, the first actuation hole 61 is a through hole in the vertical direction. In some embodiments, it can also be a groove structure. When a groove structure is adopted, a T-shaped groove can be formed to facilitate the formation of a limit.

[0090] Regarding the limiting mechanism, since the first actuating hole 61 is a through hole, a portion can be provided at the upper end to prevent the connector from coming out. Furthermore, based on the above description, since the first pad 12 is placed flat on the first movable plate 11, the connector can usually remain within the first actuating hole 61 without coming out due to gravity, without any other constraints.

[0091] Furthermore, considering that the first label needs to be placed on the first pad 12, the presence of the connector should not affect the first label placed on the upper surface of the first pad 12. Therefore, if a constraint is provided to prevent the connector from coming off, the constraint should also avoid the upper surface of the first pad 12.

[0092] Therefore, further, in some embodiments, the cross section of the first actuating hole 61 can be T-shaped, and if it is replaced by the first connecting groove, then the first connecting groove adopts a T-shaped groove design, and in order to facilitate the intervention of constraints, a cover plate can be set in a certain part of the T-shaped groove. After the corresponding constraints are intervened, the cover plate is fixed in the corresponding notch of the T-shaped groove.

[0093] And in Figure 11 In the illustrated structure, the lower part of the first actuating hole 61 is the first straight hole wall 60, and the upper part is the first conical hole wall 62. The cross-section of the hole shape defined by the first conical hole wall 62 is larger at the top and smaller at the bottom, which is manifested by its wall surface flaring outward. Under this condition, for example, the first roller 42 that cooperates with the first actuating hole 61 has a cylindrical structure at the lower or lower middle part and a frustum-shaped structure at the upper or upper end, thereby forming a constraint.

[0094] In addition, for structures such as T-slots or T-holes, the part corresponding to the frustum-shaped structure mentioned above can be a cylindrical head structure.

[0095] For the first actuating hole 61, in Figure 11 As can be seen in the illustrated structure, the right half of the figure is an obliquely extending hole, so that its extension direction forms a first angle with the first direction, which is 30°~45°.

[0096] Meanwhile, the first pad 12 is hinged to the first movable plate 11 via the first hinge shaft 13. Since the tearing at the joint between the labels is achieved through the rotation of the first pad 12, the farther the hinge point of the first hinge shaft 13 is from the adjacent point of the first pad 12 and the second pad 17, the lower the driving force required for the first pad 12, and the easier it is to control. Simultaneously, a certain offset is also needed laterally to generate a predetermined lever arm with the first actuating hole 61 laterally. Figure 11In the illustrated structure, the first hinge hole 59 for connecting the first hinge 13 is offset at a apex of the first pad 12 away from the second pad 17.

[0097] In addition, by using a roller structure, sliding friction can be transformed into rolling friction, resulting in a relatively small coefficient of friction.

[0098] Accordingly, such as Figure 6 As shown, both the first roller 42 and the second roller 44 are connected to the strip 41 described in the figure via roller shafts.

[0099] In addition, in comparison Figure 11 The first actuation hole 61 on the first pad 12 is illustrated. Figure 12 As can be seen from the second actuation hole 64 on the illustrated second pad 17, the second actuation hole 64 is a simple oblique hole, while the shape of the first actuation hole 61 is modified. Specifically, the end section of the first actuation hole 61 is an end section extending in a second direction, which is the same as the extension direction of the third channel, that is, the same as the first direction. The starting point of the end section corresponds to the end point of the first axis movement to the third channel, so as to generate longitudinal separation movement. The first axis is, for example, the roller shaft of the first roller 42 or the actuation shaft of the unit.

[0100] Figure 8 The back structure of the first pad 12 is shown. Figure 10 The back structure of the second pad 17 is shown. The configuration of the back structure of the pad is explained by taking the first pad 12 as an example. Figure 8 In the middle, four second straight grooves 51 are opened on the back of the first pad 12. The second straight grooves 51 are arranged in two columns and two rows. A third support slider 50 is fixed in the second straight groove 51. The material of the third support slider 50 is mainly nylon or polytetrafluoroethylene. It can also be a metal material with a relatively low coefficient of friction, such as austenitic stainless steel, hard alloy or bearing steel.

[0101] The third support slider 50 protrudes from the lower surface of the first pad 12 and contacts the first movable plate 11 to form a sliding pair. The same applies to the second pad 17, which will not be described in detail here.

[0102] Furthermore, since there is relative movement between, for example, the first movable plate 11 and the frame plate 27, as explained above, a first slider 48 is provided on the lower surface of the first movable plate, which will not be repeated here.

[0103] Correspondingly, the frame plate 27 is provided with a first guide rail or a first guide groove for guiding the first slider 48 in the extension direction of the third channel. Figure 5 In the illustrated structure, the first guide hole 25 is used to represent the first guide groove.

[0104] Regarding some embodiments of the second pad 17, for example, it may be movably mounted on the frame plate 27. The mounting method can refer to the first pad 12 described above, and will not be repeated here. However, it should be noted that if the second pad 17 is also movable, the motion relationship with the first pad 12 needs to be considered to ensure that there is a motion difference between the two. This motion difference includes displacement difference and rotation angle difference, and the corresponding kinematic pairs can be adapted accordingly, which will not be repeated here.

[0105] exist Figure 2 and Figure 3 As can be seen in the illustrated structure, the first driving mechanism for driving the first pad 12 and the second driving mechanism for driving the second pad 17 share the first driving device to simplify the overall structure.

[0106] exist Figure 6 In the illustrated structure, the power unit of the first drive device is the first and third cylinders 875. Figure 6 The strip 41 is a linkage component, and the upper surface of the strip 41 is provided with two rollers, namely the first roller 42 and the second roller 44.

[0107] The direction of the strip 41 is consistent with the aforementioned first direction. One of the two rollers constitutes the prime mover of the first drive mechanism, and the other constitutes the prime mover of the second drive mechanism.

[0108] Next, let's look at the pressing device. For reliability reasons, two pressing devices are used. The first pressing device 14 is used to press the first label onto the first pad 12, and the second pressing device 16 is used to press the second label onto the second pad 17.

[0109] Furthermore, both the first pressing device 14 and the second pressing device 16 include: Claw 74 is used to hold the corresponding label; Pressure arm 72, with its end for connecting the pressure claw; and The second driving device drives the pressure arm 72 to move the pressure claw 74 between the pressing position and the reset position.

[0110] Figure 15 In this configuration, a fixing plate 78 is used for mounting the pressing device on a corresponding pad, and is fixed to one side of the pad. The fixing plate 78 is a vertical plate. A horizontal plate is also provided, which is the base plate 69 shown in the figure. Figure 15 In the middle, the bottom plate 69 has a fifth through hole 83 for the push rod of the second cylinder 68 located on its lower side to pass upward.

[0111] The upper end of the push rod is hinged to the pressure arm 72 via a connecting fish mouth 70, and the corresponding hinge axis is the third hinge axis 71 shown in the figure.

[0112] The middle part of the pressure arm 72 is supported by a rocker arm 79. The upper end of the rocker arm 79 is hinged to the middle part of the pressure arm 72 via a fourth hinge shaft 73. The lower end of the rocker arm 79 is hinged to a hinge support 82 via a fifth hinge shaft 80. The hinge support 82 is fixed to the base plate 69.

[0113] Regarding the question of whether the labels have adhesive backing, most national standard labels do not. Under these conditions, adhesive needs to be applied to the labels before application. Therefore, in this embodiment of the invention, an adhesive applicator 2 is provided on the machine body 10. The position of the adhesive applicator 2 is preferably closer to the cotton bale conveying platform 1. Under these conditions, participants... Figure 1 In the illustrated structure, the glue applicator 2 is mounted on a column adjacent to the cotton bale conveying platform 1.

[0114] In some embodiments, the height of the glue applicator 2 can be approximately equal to the position on the corresponding end face of the cotton bale on the cotton bale conveying platform 1 for labeling. Under this condition, after the glue application is completed, the robot arm does not need to adjust its posture in the vertical direction.

[0115] Correspondingly, if we disregard the above factors and consider only the application of adhesive, it can be set at other locations on the body 10. For example, adhesive can be applied directly after picking up the corresponding national standard label, or adhesive can be applied to the national standard label after picking up the factory label.

[0116] The glue applicator 2 is preferably a commercially available device that applies glue by spraying, which has relatively high glue application efficiency.

[0117] The following describes the end-effector of the robotic arm, denoted as barcode pickup robotic arm 3: Figure 20 and Figure 21 An example of a barcode pickup robot 3 includes a plate-type suction cup frame 113, which is a rectangular plate structure in the figure and is shown separately. Figure 24 In. Figure 24 In the illustrated structure, the suction cup frame 113 is a rounded rectangular structure. In order to reduce weight, except for the area used for connecting with other components, the remaining part forms the weight-reducing process hole 126 shown in the figure.

[0118] exist Figure 24 In the illustrated structure, the plate-type suction cup frame 113 generally exhibits a left-right symmetrical structure in the figure, and a set of guide sleeve positioning mounting holes 125 are provided at the left and right ends of the figure, while the one in the middle is used for the installation of the barcode picking robot 3 on, for example, a three-coordinate truss robot arm 4.

[0119] The guide sleeve positioning mounting hole 125 is used to install a pair of guide components. The purpose of setting the guide components is to avoid rigid impact when picking up or affixing labels.

[0120] The two guide components are vertically positioned based on the picking action, and are arranged side-by-side between them. Figure 24 In the illustrated structure, the guide positioning mounting holes 125 corresponding to the two guide components are located at both ends of the suction cup frame 113 of the plate structure, thus having a certain distance, denoted as the second distance. This second distance is related to the first distance and is mainly used to avoid motion interference when picking up the two types of labels respectively.

[0121] Accordingly, each guide assembly has a downward reset mechanism. Figure 20 The compression spring mounted on the guide rod body 132 can be seen in the image.

[0122] In addition, compression springs can be replaced with rubber sleeves, which are often used as reset components in the mold machinery field and have a relatively long service life.

[0123] Furthermore, two adsorption components are provided, each corresponding to one of the guiding components, and are installed at the lower end of the guiding component. Accordingly, a first distance is maintained between the two adsorption components.

[0124] Regarding the adsorption component, Figure 20 and Figure 21 The illustrated structure uses a suction cup assembly 110, as shown in the figure, which is mounted on the first suction cup bracket 111 and the second suction cup bracket 114. It is clearly visible in the figure that there is a significant space between the two suction cup assemblies 110.

[0125] The suction cup assembly is a type of adsorption assembly. In some embodiments, the adsorption assembly can also be an electrostatic adsorption device, which only requires a predetermined distance between the two electrostatic adsorption devices.

[0126] Regarding the absorption and release, there are two considerations. First, the printed labels are usually adhesive-free labels, but before application, adhesive can be applied to the back of the label using a gluing device, and then it can be applied to one end of a cotton bag. The label adheres to the corresponding end of the cotton bag, and the attraction generated by static electricity is less than the bonding force of the adhesive, so it can detach from the electrostatic adsorption plate when the barcode picking robot moves backward.

[0127] For suction cup 115, it can usually be released by using suction tube 116 of suction cup 115 to convert the air release method. This is common knowledge in the field of suction cup technology and will not be elaborated here.

[0128] Since most labels are strip-shaped or rectangular with an aspect ratio greater than or equal to 1:1, to simplify the structure, each adsorption component has two suction cups. The two suction cups 115 are located at opposite ends of the label, which is sufficient to ensure reliable label adsorption.

[0129] It should also be noted that the paper used for labels is generally coated paper, thermal paper, or PET, PVC plastic paper, etc., all of which are lightweight materials. In other words, even if the number of suction cups is relatively small, it can still meet the requirement of relatively reliable adsorption.

[0130] In addition, in the embodiments of the present invention, small suction cups can be used (suction cups with a diameter of 4 to 80 mm are classified as small suction cups in the suction cup classification), but the diameter of the suction cup should be less than or equal to two-thirds of the width of the label to avoid air leakage of the suction cup caused by the deviation of the adsorption position.

[0131] exist Figure 23 In the illustrated structure, the suction assembly in the mounting structure of the guide assembly includes a suction cup main frame, which includes: support plate, such as Figure 23 The bow-shaped bracket 124 shown is connected to the lower end of the corresponding guide assembly, as in... Figure 23 The guide component mounting hole 123 shown is used to connect with, for example, the guide component mounting hole 123 to... Figure 25 The screw 132 shown is used for connection.

[0132] in addition, Figure 23 The central bow-shaped bracket 124 also has suction cup assembly mounting holes 123 for mounting the suction cup assembly 110 on the suction cup bracket.

[0133] In addition, Figure 23 In the illustrated structure, the suction cup bracket further includes a positioning plate 120, which is parallel to the bracket plate and is a horizontal plate. In the figure, the positioning plate 120 is fixedly connected to the bow-shaped frame 124 that constitutes the bracket plate.

[0134] The positioning plate 120 and the suction cup assembly have suction cup through holes 121 at a vertically aligned position; correspondingly, the suction cup 115 of the suction cup assembly 110 extends downward from the suction cup through holes 121. The presence of the positioning plate 120 is mainly used to prevent overtravel when picking up and affixing barcodes. At the same time, the presence of the positioning plate 120 facilitates the release of the label.

[0135] Furthermore, the suction cup 115 extends downward from the suction cup through hole 121 by 2~5mm. When the label is applied by pressing, for example, when the robotic arm drives the barcode picking robot to retract, the spring-back suction cup bracket can help release the label.

[0136] exist Figure 22 In the illustrated structure, the suction cup assembly includes: Screw insert 117, which is an external threaded screw insert; while Figure 23In the illustrated structure, the bow-shaped frame 124 has a suction cup assembly mounting hole 122. This suction cup assembly mounting hole 122 is a smooth hole. After the threaded sleeve 117 is inserted into the suction cup assembly mounting hole 122, it is fixed with a pair of nuts. Figure 22 The first lower nut 118 and the first upper nut 119 shown are located on the lower side of the support plate of the bow frame 124 and the first upper nut 119 is located on the upper side of the support plate. The positions of the two nuts can be adjusted according to the site conditions to adjust the amount of the suction cup 115 protruding from the lower side of the positioning plate 120.

[0137] Accordingly, the suction tube 116 of the suction cup 115 is a rigid tube and is nested in the screw sleeve 117. The connection between the suction tube and the screw sleeve 117 can be, for example, welded or threaded. If a threaded connection is used, a set screw is required to lock it from the side or a set nut is used to tighten it.

[0138] The suction cup 115 is obviously located at the lower end of the straw 116.

[0139] For distinction, see Figure 20 and Figure 21 The two positioning plates 120 of the two suction cup brackets have different lengths along the longitudinal direction of the label.

[0140] Accordingly, the two positioning plates 120 are aligned longitudinally with the labels to ensure that the two labels are in the predetermined alignment state when they are applied.

[0141] exist Figure 23 The illustrated structure includes a support plate body comprising a support plate body constituting a planar plate and a connecting plate bent from opposite sides of the support plate body toward the side where the positioning plate 120 is located; correspondingly, the positioning plate 120 is welded to the end of the connecting plate, and obviously the end of the connecting plate is its lower end.

[0142] Regarding the installation method of the corresponding guide components on the corresponding bracket plate, combined with Figure 22 The illustrated structure and the aforementioned description of the installation method of the suction cup assembly 110 will not be repeated here.

[0143] In addition, Figure 20 In the illustrated structure, the first suction cup bracket 111 located on the left side of the figure has two ear plates at both ends of the bracket plate body for mounting the suction cup assembly 110, so that the distance between the two suction cup assemblies 110 is greater than the distance between the two suction cup assemblies 110 on the second suction cup bracket 114.

[0144] The following describes the universal joint mechanism directly related to the barcode pickup robot 3, which together with the barcode pickup robot 3 constitutes... Figure 1 The end effector of the three-coordinate gantry robot 4 shown.

[0145] Accordingly, for the label, when initially picking up the label, the label must be in a horizontal position. The front and rear ends of the cotton bale are two parallel vertical surfaces. Therefore, after being picked up by the end-effector 135, the label needs to be rotated at least 90° to align with the front or rear end of the cotton bale. Here, the end-effector 135 refers to the barcode pickup robot 3. Since it is the final component, it is referred to as end-effector 135 for ease of description.

[0146] Furthermore, given that the front end face is aligned, the rear end face requires the end component 135 to rotate 180°, which also causes the label to become inverted. Therefore, another degree of freedom is needed to ensure the label remains upright on the rear end face of the cotton bale. When this transformation is achieved using a universal joint, the two corresponding rotations only need to be integer multiples of 90° each to ensure the label remains upright whether it is applied to the front or rear end face of the cotton bale. Moreover, mechanical limit switches can be used for position control, eliminating the need for feedback elements.

[0147] Figure 26 and Figure 27 The end component 135 shown has two sets of suction cups. One set of suction cups is used to pick up the first type of label, and the other set of suction cups is used to pick up the second type of label. After picking up one label of each type, for example, the front end of the cotton bag is labeled first, and then one label of each type is picked up before labeling the rear end of the cotton bag.

[0148] As mentioned earlier, labels are often laid flat when they are printed or processed and are then picked up; this flatness is usually horizontal. Under these conditions, the end component 135 needs to adjust its position after picking up the corresponding label to meet the labeling requirements.

[0149] The universal joint includes a swing power component, which has an output swing member. In some embodiments, the swing power component is a swing cylinder, which can be a swing hydraulic cylinder or a pneumatic turntable 142. Both of these power components can directly output swing.

[0150] It should be noted that in the mechanical field, oscillation usually refers to rotation with a range of less than 360°. For example, oscillating cylinders often use mechanical limits to form a stop point, thereby determining the start and end points of the oscillation stroke. This method does not require the setting of feedback elements, so the working reliability is relatively good.

[0151] The swing cylinder is suitable for heavy-duty applications, while the pneumatic turntable 142 is suitable for relatively light-duty applications that require high response speed. Therefore, in the embodiments of the present invention, the pneumatic turntable 142 is preferably used.

[0152] from Figure 26 and Figure 27 As can be seen in the illustrated structure, the pneumatic turntable 142 has a second seat plate 143 for mounting on, for example, a three-degree-of-freedom conveying mechanism, so as to convey it to the front side of the front end or the rear side of the cotton bale.

[0153] Figure 26 The third mounting hole 144 on the second base plate 143 is used for mounting the pneumatic turntable 142 on, for example, the aforementioned three-degree-of-freedom conveying mechanism.

[0154] Because it is used to pick up labels that are in a horizontal position, therefore in Figure 26 The illustrated structure shows the universal joint in the state of picking up the label, with the second base plate 143 on top and the end component 135 on the bottom. The connecting plate 141 of the pneumatic turntable 142 is correspondingly on the bottom, and the part that generates another rotation is mounted on the connecting plate 141.

[0155] The two dead points of the pneumatic turntable 142 correspond to two dead point positions, one of which can be used for labeling the front face of the cotton bale, and the other can be used for labeling the rear face of the cotton bale.

[0156] The main body that generates another rotating part is as follows Figure 28 The tilting frame shown is fixedly installed on the connecting plate 141, and the part that mates with the connecting plate 141 is... Figure 26 The connecting plate 140 shown in the figure, the connecting plate 140 in Figure 1 The middle is a horizontal plate, and in Figure 1 It is displayed as a rectangular panel.

[0157] In addition, a disc-shaped component is provided at the center of the connecting plate 140 to facilitate connection with the connecting plate 141. Alternatively, the disc-shaped component can be omitted, and a hole corresponding to the connecting hole of the connecting plate 141 can be directly opened on the connecting plate 140, and then fixed by means of, for example, bolt connection.

[0158] Figure 28 In the middle, corresponding to the rectangular plate structure of the connecting plate 140, there are two side plates 146. The two side plates 146 are parallel to each other and are connected to a pair of opposite sides of the connecting plate 140 by screws. Figure 28The structure also includes two connecting plates, namely the first connecting plate 151 and the second connecting plate 154 shown in the figure. The two connecting plates are connected to the two side plates 146 to form a rectangular tube structure. At the same time, they are also connected to the connecting plate 140, thus forming a stable structure with relatively easy overall rigidity.

[0159] Two of the side plates 146 have bearing seat holes, and bearings 137 are installed in the bearing seat holes. A rotating shaft 138 is provided, which is installed in the bearing seat holes through the bearings 137.

[0160] Shaft 138 Figure 28 The center is a horizontal axis, which is perpendicular to the axis of the connecting plate that provides output from the pneumatic mounting plate 3.

[0161] Furthermore, at least one side plate 146 is provided with a guide rail 152, that is, the guide rail 152 has one side guide rail or two side guide rails. Figures 26-28 The illustrated structure shows a single-sided guide rail configuration. Figure 29 As can be seen in the illustrated structure, when using a single-sided guide rail, since the push rod of the fourth cylinder 139 is parallel to the guide rail 152, under this condition, the push rod of the fourth cylinder 139 will be subjected to a certain radial load in addition to the axial load, which will affect the seal of the fourth cylinder 139 and reduce its service life. However, if two-sided guide rails are used, the radial loads generated on both sides are balanced or canceled out, thus allowing the seal of the fourth cylinder 139 to have a longer service life. But using a single-sided guide rail can make the overall structure more compact, especially since the cylinder can be offset to one side, making room for the drive arm 136 to be installed, allowing the drive arm 136 to be centered in the left-right direction, making the overall structure easier to arrange.

[0162] Correspondingly, for example, the fourth cylinder 139 constituting the linear drive unit is mounted on the tilting frame. Figure 26 In the illustrated structure, the fourth cylinder 139 is mounted on the lower side of the connecting plate 140. In order to adjust the position, a cylinder fixing plate 153 is further provided. Obviously, the fourth cylinder 139 can also be directly fixed to the lower surface of the connecting plate 140. The cylinder fixing plate 153 is mainly used to make the fourth cylinder 139 in a suitable position in the vertical direction to avoid interference in the assembly position, especially to ensure that, for example, the wheel seat 158 ​​and the push plate 159 do not interfere with the connecting plate 140.

[0163] Furthermore, a roller assembly is provided that guides the guide rail 152. The rollers 157 of the roller assembly cooperate with the guide rail 152 to form a guide rail pair. Due to the presence of multiple support points (each first roller provides a fulcrum), the fit gap can be effectively eliminated, thereby ensuring the smoothness of the drive. At the same time, it can make the posture of the end component 135 more stable.

[0164] Each row of wheel assemblies uses 2 to 4 fifth rollers. Figure 29 The illustrated structure uses three fifth rollers.

[0165] Furthermore, the wheel assembly is fixed to the push rod via its wheel seat 158, and is driven by the push rod to generate linear motion in the direction of the push rod.

[0166] The provided wheel arrangement is guided by the guide rail, and the provided wheel arrangement seat 158 ​​has a fork 148, the fork 148 having an elongated hole or straight slot extending in a predetermined direction. Figure 26 The illustrated structure uses a straight groove structure, shown as a U-shaped groove in the figure, with the straight groove running vertically.

[0167] Clearly, given a defined extension direction, neither using a straight slot nor an elongated hole affects the fit with the drive arm 136's active end. Relatively speaking, using a straight slot structure facilitates assembly and disassembly.

[0168] Furthermore, a rotating shaft 138 is provided, which is mounted on the side plate 146 via a bearing 137. Figure 26 In the illustrated structure, this is represented as a horizontal axis. Accordingly, the axis of this pivot 138 is perpendicular to the direction of the push rod and the axis of rotation of the swing member.

[0169] The drive arm 136 is fixedly mounted on the rotating shaft 138 to form a lever, thereby having an active end and a driven end. The driven end of the drive arm 136 is used to install the end component 135, while the active end cooperates with the elongated hole or straight groove to form a kinematic pair.

[0170] exist Figure 27 In the illustrated structure, a second roller 149 is mounted on the driving end of the drive arm 136. This second roller 149 runs through the elongated hole or straight groove. When the shift fork 148 moves horizontally, the driving end of the drive arm 136 can convert the horizontal movement of the shift fork 148 into rotation of the drive arm 136. The driving end of the drive arm 136 has horizontal and vertical components. The second roller 149 is mainly used to convert sliding friction into rolling friction. Obviously, even with sliding friction, the desired motion can still be achieved; the difference lies only in the magnitude of the coefficient of friction.

[0171] The two side plates 146 mentioned above define the left and right directions, which, as previously stated, are also commonly referred to as the lateral direction. Figure 29 In the illustrated structure, the fourth cylinder 139 is arranged parallel to the guide rail 152, and the wheel assembly running on the guide rail 152 is horizontally connected to the push rod of the fourth cylinder 139. Specifically... Figure 29The wheel seat 158 ​​of the middle wheel assembly is horizontally connected to the push rod via the push plate 159. This structure is relatively compact and can make full use of the lateral space.

[0172] Regarding the number of wheel assemblies, as mentioned earlier, in some embodiments a single wheel assembly is used, which is then offset, in which case the fourth cylinder 139 is also offset on the main frame. Correspondingly, the drive arm 136 is centrally located between the two side plates 146 and below the linear drive unit.

[0173] exist Figure 29 In the illustrated structure, the fork 148 is a vertical plate, and the elongated hole or straight groove extends vertically. This structure has relatively good reliability and relatively high static stiffness.

[0174] In addition, Figure 27 As can be seen in the illustrated structure, the length of the driven arm of the drive arm 136 is much greater than the length of its driving arm, and the length ratio between the two is preferably 3 to 6, with 4.5 adopted in the preferred embodiment.

[0175] In order to have a relatively greater load-bearing capacity under the condition of comparable weight, the drive arm 136 is a plate structure, and the corresponding plate surface of the drive arm 136 is perpendicular to the axis of the rotating shaft 138.

[0176] The connection between the drive arm 136 and the rotating shaft 138 is a typical structure of shaft connection. It is only necessary to determine the installation position of the drive arm 136 on the rotating shaft 138, and the connection method is obvious.

[0177] Regarding the two-degree-of-freedom platform 8, see [link / reference]. Figure 1 It is mainly used for the label separation device 9 it carries to move between two workstations. Obviously, the two workstations must be determined. Therefore, the corresponding linear motion (displacement) and the predetermined rotation (angle) are determined.

[0178] Meanwhile, based on the above description, it can be seen that in the embodiments of the present invention, linear motion is the basic motion and rotational motion is the derived motion. Under the condition that the two measurements mentioned above are determined, the shape of the cam groove 100 is also easy to determine.

[0179] Figure 18 The cam groove 100 shown is designed as a planar cam 98 that achieves 90° rotation. In the figure, when the slide plate 85 is linearly driven, it will drive the end platform 86 it carries to move linearly as well. The groove wall of the cam groove 100 is not parallel to the slide rail 97 as a whole. Under this condition, the groove wall will interact with the follower to generate a lateral component, thereby causing the end platform 86 to deflect, that is, the rotation corresponding to the second degree of freedom.

[0180] Deflection and Figure 18 The length of the inclined portion of the cam groove 100 and the angle between the inclined portion and the slide rail 97 are both positively correlated. Those skilled in the art can easily calculate this based on the expected deflection. Figure 18 In addition to the inclined portion, the middle cam groove 100 also has sections parallel to the slide rail 97 in its initial and final sections, and the end platform 86 will not deflect in these two cam groove sections. If the linear motion is relatively small, it is only necessary to make the sections of the inclined cam groove 100 have a larger angle relative to the slide rail 97.

[0181] The above relationship between the segmentation of the cam groove 100 and the slide rail 97 is common knowledge in the field of mechanics and will not be elaborated here. It is only used to show that, with the help of a cam pair, it is still possible to achieve the combination of two motion forms under the condition of using a single drive device.

[0182] As can be seen from the above examples regarding the cooperation between cam pairs and linear motion pairs, the two-degree-of-freedom platform according to embodiments of the present invention includes a main frame, such as... Figure 15 The main frame platform 85 is shown. The main frame is the base of the two-degree-of-freedom platform. Figure 15 The main frame platform 85 shown is the configuration of the main frame in the labeling machine, not all main frames are configured in this way.

[0183] and Figure 15 The main frame platform 85 shown is fixed in the labeling machine, but for other two-degree-of-freedom platforms with similar requirements in the mechanical field, the corresponding main frame does not necessarily need to be fixed.

[0184] Figure 15 and Figure 18 The main frame platform 85 has legs 96 and a platform 99 supported on the upper part of the legs 96. The platform 99 is a horizontal platform plate in the figure.

[0185] Furthermore, a slide rail 97 is provided on the platform 99. The slide rail 97 is a linear guide rail in the figure. A planar cam 98 is provided between the two slide rail components of the slide rail 97. In the figure, the cam groove 100 of the planar cam 98 has three segments. The main segment is at a predetermined angle to the slide rail 97, and the other two segments are parallel to the slide rail 97. The length of each segment and the angle between the main segment and the slide rail 97 have a definite relationship with the linear motion and rotation angle. The linear motion and rotation angle exhibit a mechanically traditional synchronous relationship, which is easier to guarantee and more accurate than the algorithm-based coupling relationship. This has been mentioned above and will not be repeated here.

[0186] Obviously, for example, the two slide rail components must be parallel to each other to form a certain support span, which can improve the stability of the slide plate 85. There will be a large space between the two slide rail components, which can be used to install the planar cam 98.

[0187] The linear guide includes, but is not limited to, the slide rail 97, or a guide rod, which can be a better alternative. The slide rail 97 is more suitable for heavy-duty applications, while the guide rod is more suitable for light-duty applications.

[0188] The planar cam 98 is fixedly mounted on the platform 99 of the main frame platform 85 by bolts; it should be noted that the components of the main frame platform 85 used to support the planar cam 98 and the slide rail 97 are not necessarily platform structures, but can be beam structures.

[0189] Furthermore, in the labeling machine, the platform 99 of the main frame platform 85 is a horizontal platform plate. However, for a two-degree-of-freedom platform, the emphasis is on its degree of freedom and implementation method, and it is irrelevant whether the platform 99 is a horizontal platform plate. Those skilled in the art should have a clear understanding of this.

[0190] Furthermore, a slide plate 85 is provided, which is provided with a third slider 88 for cooperating with the linear guide portion to form a linear guide pair, thereby forming a linear guide pair. Figure 15 It is displayed as a linear guide pair.

[0191] Furthermore, the slide plate 85 has a sixth through hole 94. The purpose of setting the sixth through hole 94 is to allow the transmission part to pass through, mainly... Figure 19 The driven shaft 102 with the third roller 101 can be used alone if the friction mode is not considered. The driven shaft 102 acts as the driven element, while the third roller 101 mainly changes the sliding friction into rolling friction.

[0192] In addition, a slewing bearing 93 is provided on the slide plate 85. It should be noted that a slewing bearing is a common configuration in the mechanical field. The slewing bearing 93 typically includes a bearing housing, a bearing mounted in the bearing housing, and a connecting part pre-installed on the inner ring of the bearing. The subframe is mounted on the connecting part.

[0193] The connecting part is generally a shaft structure with a flange, and the subframe is connected to the shaft by bolts.

[0194] The subframe is mounted on the slide plate 85 via the slewing bearing 93, and the lower side of the subframe is provided with a follower that passes through the sixth through hole 94 to cooperate with the planar cam to form a cam pair.

[0195] Accordingly, the follower is located on one side of the slewing bearing 93, thereby having a predetermined lever arm while avoiding positional and motion interference.

[0196] A drive device is provided, mounted on the main frame, and its output component is connected to the slide plate 85 to drive the slide plate 85 in a linear motion. As the slide plate 85 moves linearly, it drives the end platform 86 mounted on the slide plate 85 in a linear motion. The follower on the end platform 86 extends to the cam groove 100 and generates a lateral component as the slide plate 85 moves linearly. This lateral component is perpendicular to the linear motion direction of the slide plate 85, which is the longitudinal direction, also known as the longitudinal axis.

[0197] The lateral component will drive the follower to rotate the end platform 86.

[0198] In summary, the two-degree-of-freedom platform based on the embodiments of the present invention only needs to use one drive device to achieve synchronization through mechanical transmission. If this synchronization is described using coupling, it must be a strong coupling.

[0199] Regarding the drive unit, since the basic motion is linear motion, linear drive components can be directly selected, typically such as the third cylinder 87, hydraulic cylinder, or linear motor, as well as other mechanisms that use rotating components to drive and output linear motion.

[0200] In a preferred embodiment, the slide plate 85 is a horizontal plate; correspondingly, there are two sliders for each slide rail component or each guide rod component, so that the four sliders are arranged in two rows and two columns on the lower surface of the slide plate 85 to obtain relatively good stability.

[0201] Given that the slewing bearing 93 is relatively sensitive to the load distribution on the end platform 86, if the load distribution is uneven, it is easy to generate a large overturning moment on the vertically arranged slewing bearing 93. Therefore, in the preferred embodiment, the slide plate 85 and the periphery of the slewing bearing 93 are provided with support sliders for providing sliding support to the end platform 86, thereby forming multi-point support and effectively counteracting the overturning moment.

[0202] However, it should be understood that the slewing bearing 93 has a relatively strong load-bearing capacity for both radial and axial loads. For example, heavy equipment such as excavators generally use a simple slewing bearing to mount the main parts on the chassis. Therefore, in many embodiments, to simplify the structure, the slewing bearing 93 can be used alone to support, for example, the end platform 86.

[0203] Conversely, if a support slider is provided, the end platform 86 at least has a plate-like subframe portion that cooperates with the support slider.

[0204] exist Figure 19In the illustrated structure, the end platform 86 used as the subframe includes a rectangular plate structure subframe 103. The subframe 103 can also be a circular plate structure. For ease of explanation, they are collectively referred to as subframe 103.

[0205] Furthermore, the seat hole forms the central hole of the subframe 103 to reduce the overturning moment.

[0206] Accordingly, the driven shaft 102 constituting the driven member is fixedly installed on one side of the central hole.

[0207] In some embodiments, the structure for mounting the follower is a single mounting hole provided on the subframe. This single mounting hole is a stepped hole, which has a large hole segment and a small hole segment. Obviously, the size here is a relative pair of concepts used to indicate the relationship between the two relatively large and relatively small hole segments in the stepped hole.

[0208] Furthermore, the driven member includes a mating portion that forms a shaft-hole fit with the large hole section, and a driven head protruding from the lower end of the sub-frame for constructing a cam pair, the driven head being used to fit with the cam groove 100. A screw hole is provided at the center of the upper end of the mating portion.

[0209] Accordingly, a screw is provided that passes through the small hole segment and engages with the screw hole, such as... Figure 19 The fastening screw 105 shown is used in conjunction with the flat washer 106 to fix the driven shaft 102 to the mounting hole of the unit.

[0210] In some embodiments, a circumferential connection is formed between the mating part and the large hole segment. This circumferential connection can be a key connection or a surface connection.

[0211] exist Figure 19 The illustrated structure also includes a frame for reinforcing the sub-stand 103, such as... Figure 19 The reinforced border 104 shown.

[0212] When reinforcing the border 104 to form the frame, in Figure 19 The frame is rectangular, and a gantry frame 108 is provided on a pair of opposite side edges. Furthermore, diagonal bracing 109 is provided to improve the stability of the gantry frame 108, thereby making the overall rigidity of the sub-frame 103 relatively good.

[0213] The diagonal brace is connected between one side of the gantry brace 108 and the upper side of the frame in the figure.

[0214] The above description is illustrative in conjunction with the accompanying drawings and is not intended to limit the invention. Within the framework of this invention, the above embodiments or different embodiments can be combined without conflict. Although the invention has been described in detail in the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this invention.

Claims

1. A labeling machine, characterized in that, include: Organism; The cotton bale conveyor platform is located on one side or below the machine body; The national standard support platform, installed on the machine body, is used to support two national standard labels; A barcode scanning device is located at the national standard label carrying platform to scan the current national standard label. The factory logo printer is installed on the machine body and is used to print factory logo labels based on the content obtained by the barcode scanner. The robotic arm, mounted on the machine body, has a pair of picking components arranged side by side. After the corresponding factory logo is printed by the factory logo printer, it picks up a national standard label and a factory logo label to label one end of the cotton bale currently being conveyed on the cotton bale conveying platform. Then it picks up a second national standard label and a second factory logo label to label the second end of the corresponding cotton bale.

2. The labeling machine according to claim 1, characterized in that, The robotic arm includes a three-coordinate gantry robotic arm, which uses the body as its frame; One dimension of the three-coordinate gantry robot is the conveying direction of the cotton bale conveying platform, the second dimension is vertical, and the third dimension is perpendicular to the plane defined by the first and second dimensions.

3. The labeling machine according to claim 1, characterized in that, The national standard carrier platform has a label separation device for separating two consecutively printed national standard labels.

4. The labeling machine according to claim 3, characterized in that, The label separation device includes: The support frame has a horizontally positioned first frame. The first pad is mounted on the first frame via a first linear sliding joint and a first rotary joint, and is used to support the first label. The second pad is installed on the first frame and is used to support the second label that is connected to the first label; The first drive mechanism drives the first linear sliding joint and the first rotary joint, thereby causing the first pad to generate a first linear motion and a first rotational motion. A first pressing device is installed on the first pad to press the first label after the first label is in place on the first pad; A second pressing device is installed on the second pad or bracket to press the second label into place after the second label is in position on the second pad.

5. The labeling machine according to claim 4, characterized in that, The first drive mechanism is a first linear drive mechanism and is located on the lower side of the first frame; Accordingly, the first frame has a first channel for connecting the first pad to the first drive mechanism.

6. The labeling machine according to claim 5, characterized in that, The first linear moving pair has a first initial free stroke, which causes the first pad to rotate first.

7. The labeling machine according to claim 6, characterized in that, The first pad is mounted on the bracket via a first movable plate; The first movable plate is mounted on the bracket via the first linear sliding joint, and the first movable plate is provided with a third channel, which is a third elongated hole whose extension direction is consistent with the movement direction of the first linear sliding joint, so as to generate a first initial empty stroke; Accordingly, the first drive mechanism is connected to the first pad via a first shaft passing through the first channel and the third elongated hole.

8. The labeling machine according to claim 7, characterized in that, The first pad has a first connecting hole or a first connecting groove, which is an elongated hole extending in a first direction; The first direction forms a first angle with the extension direction of the third channel; Accordingly, the first pad is hinged to the first movable plate via the first hinge shaft.

9. The labeling machine according to claim 8, characterized in that, The lower or lower-middle part of the first connecting hole or the first connecting groove is a straight wall, and the upper part is an outwardly flared conical wall; Accordingly, the lower or lower-middle part of the first shaft is cylindrical, and the upper part is a frustum shape with a larger upper part and a smaller upper part. Corresponding to the first connecting hole, the upper end surface of the frustum shape is lower than the upper plate surface of the first pad.

10. The labeling machine according to claim 9, characterized in that, The part of the first shaft that mates with the first connecting hole is a roller.

11. The labeling machine according to any one of claims 8 to 10, characterized in that, The end of the first connecting hole is a portion extending in a second direction, which is the same as the extension direction of the third channel, and the starting point of the end portion corresponds to the end point of the first axis moving to the third channel.

12. The labeling machine according to any one of claims 7 to 10, characterized in that, The friction pair formed between the first pad and the first movable plate is formed between the third support slider disposed on the upper surface of the first movable plate and the lower surface of the first pad.

13. The labeling machine according to any one of claims 7 to 10, characterized in that, The lower surface of the first movable plate is provided with a first slider; Accordingly, the first frame is provided with a first guide rail or a first guide groove for guiding the first slider in the extension direction of the third channel.

14. The labeling machine according to claim 4, characterized in that, The second pad is mounted on the first frame via a second linear joint and a second rotary joint; A second driving mechanism is provided to drive the second linear motion pair and the second rotary pair, so that the second pad generates a second linear motion amount and a second rotational amount, and there is a displacement difference between the second linear motion amount and the first linear motion amount; There is a difference in angle between the second and first angle measurements; The linear motion directions corresponding to the first linear kinematic pair and the second linear kinematic pair are the same; The second revolute joint rotates in the same or opposite direction as the first revolute joint.

15. The labeling machine according to claim 14, characterized in that, The first drive mechanism and the second drive mechanism share the first drive device.

16. The labeling machine according to claim 15, characterized in that, The first driving device includes a first power machine and a first linkage component, wherein the first power machine is a power machine whose output motion is linear motion; The first linkage is a rod; Correspondingly, the linear motion output by the first power machine is consistent with the direction of the link and the linear direction determined by the first linear sliding pair; The rod is equipped with a first driving element and a second driving element.

17. The labeling machine according to claim 4, characterized in that, Both the first pressing device and the second pressing device include: Claws are used to hold the corresponding labels; The pressure arm, with its end for connecting the pressure claw; and The second drive device drives the pressure arm to move the pressure claw between the pressing position and the reset position.

18. The labeling machine according to claim 17, characterized in that, The pressure claw is mounted on the end of the pressure arm via a sixth hinge shaft; The axial direction of the sixth hinge is parallel to the direction of linear motion determined by the first linear sliding pair.

19. The labeling machine according to claim 18, characterized in that, The pressure arm is mounted on the sub-frame via a rocker arm, and the sub-frame is correspondingly fixed to the first pad. Correspondingly, one end of the rocker arm is hinged to the sub-frame, and the other end of the rocker arm is hinged to the middle of the pressure arm; The end of the pressure arm that is away from the pressure claw is connected to the second drive device.

20. The labeling machine according to claim 3, characterized in that, The label separation device is set on a two-degree-of-freedom platform with one horizontal linear degree of freedom and one rotational degree of freedom with the vertical axis as the axis. Accordingly, the label printing direction of the factory label printer is perpendicular to the direction in which the national standard label is fed into the national flat support platform.

21. The labeling machine according to claim 1, characterized in that, An adhesive applicator is installed at a predetermined position on the machine body to apply adhesive to the labels picked up by the robotic arm.

22. The labeling machine according to claim 21, characterized in that, The glue applicator is located on the machine body on the side where the cotton bale conveying platform is located.

23. The labeling machine according to claim 1, characterized in that, The robotic arm includes: Main frame; Two guide assemblies are arranged vertically side by side on the main frame, and each guide assembly has a downward reset device; The two pickup components, which are adsorption components, are installed one-to-one with each other at the lower end of the guide component, and a first distance is left between the two adsorption components.

24. The labeling machine according to claim 1 or 23, characterized in that, The robotic arm also includes a universal joint for supporting the main frame, the universal joint comprising: The swing power component has an output swing member; A tilting frame, fixed to the output swing member, has two side plates and a connecting plate for fixed connection between the two side plates; wherein at least one side plate is provided with a guide rail; A linear drive unit is fixed on the tilting frame, and the output component is a push rod whose direction is parallel to the guide rail; A wheel assembly is fixed to the push rod, the provided wheel is guided by the guide rail, and the provided wheel seat has a fork with an elongated hole or straight groove extending in a predetermined direction. The rotating shaft is mounted on the side plate via bearings, and the axis of the rotating shaft is perpendicular to the direction of the push rod and the axis of rotation of the swing component. The drive arm is fixed on the rotating shaft to form a lever, and the driven end of the drive arm is used to install the end component, while the driving end cooperates with the elongated hole or straight groove to form a kinematic pair.

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