Nameplate label sorting device
By coordinating the dual drive unit and dual gripper components, seamless and continuous cyclic gripping and stacking of nameplate labels is achieved, solving the problems of low efficiency and accuracy in sorting vehicle nameplate labels, and improving production efficiency and product traceability reliability.
Patent Information
- Application Number
- CN202511866043.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-10
- Publication Date
- 2026-02-06
AI Technical Summary
In existing technologies, vehicle nameplate labels are prone to misprinting during the printing process, resulting in low efficiency and high error rates for manual reordering, which affects production efficiency and product traceability accuracy.
By employing a dual-drive device and dual-grip components in synergy, the system achieves a seamless and continuous cycle of nameplate and label grabbing, handover, and stacking. The three-dimensional spatial movement function ensures precise alignment and automated operation, avoiding grabbing failures or damage caused by positional deviations.
It significantly improves label processing efficiency, ensures that labels are accurately arranged in a preset order, eliminates the risk of sorting errors, guarantees a smooth and efficient production process, and provides accurate product lifecycle traceability.
Smart Images
Figure CN121470190A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of vehicle production, in particular to a nameplate label sorting device. BACKGROUND
[0002] The whole vehicle nameplate label, also known as vehicle identification nameplate, is a legal identification fixed on a designated position of a vehicle to record the core technical parameters and identity information of the vehicle. The whole vehicle nameplate label printer is a core equipment in vehicle production, compliance management and whole life cycle tracing, and its core function is to accurately and efficiently print the whole vehicle nameplate label meeting the standards.
[0003] The whole vehicle nameplate label printer cooperates with the production indication system to perform printing work. Since the printing rhythm of the printer is faster than the production rhythm, the labels printed later will be stacked on the labels printed earlier, and the labels will be stacked irregularly and will be staggered in the horizontal direction. When the labels are stacked too much, the labels will be cross-stacked, resulting in disorder of the label order. In order to ensure smooth production process, the staff needs to check and reorder the disordered labels one by one, which not only causes waste of working hours, but also has the risk of manual sorting error, affecting the production efficiency and product tracing accuracy. SUMMARY
[0004] The purpose of the present application is to provide a nameplate label sorting device, which aims to solve the technical problems of low efficiency and easy sorting error in the current manual reordering of disordered labels.
[0005] The present application provides a nameplate label sorting device, which comprises: A first driving device and a first grabbing piece, the first grabbing piece is connected with the first driving device, the first driving device is configured to drive the first grabbing piece to rotate between a grabbing station and a first transfer station, and the first grabbing piece is adapted to grab the nameplate label printed by the printer at the grabbing station; A second driving device and a second grabbing piece, the second grabbing piece is connected with the second driving device, the second driving device is configured to drive the second grabbing piece to rotate between a second transfer station and a stacking station, the second grabbing piece rotating to the second transfer station can grab the nameplate label on the first grabbing piece rotating to the first transfer station, the first grabbing piece is adapted to release the nameplate label when the second grabbing piece grabs the nameplate label, and the second grabbing piece is adapted to release the nameplate label at the stacking station.
[0006] In the above scheme, the nameplate label sorting device provided by the application can realize seamless continuous circulation of the nameplate label grabbing, handover and stacking actions through the cooperation of the double driving devices and the double grabbing pieces, effectively avoid the action waiting gap under the single station operation mode, and significantly improve the label processing efficiency per unit time. At the same time, the automatic operation eliminates the influence of human intervention factors on the label circulation, ensures the accurate discharge of the nameplate labels according to the preset order, and fundamentally eliminates the risk of disordered nameplate label sorting, which not only guarantees the smooth and efficient production process, but also provides accurate and reliable label sequence support for product life cycle traceability.
[0007] Optionally, the first driving device is further configured to drive the first grabbing piece to move along a first direction, a second direction and a third direction; the first direction is parallel to a horizontal plane, the second direction is parallel to the horizontal plane and perpendicular to the first direction, and the third direction is perpendicular to the horizontal plane. When the first driving device drives the first grabbing piece to move to the first position, the first grabbing piece rotates to the grabbing station to grab the nameplate label. When the first driving device drives the first grabbing piece to move to the second position, the first grabbing piece rotates to the first handover station.
[0008] In the above scheme, the three-dimensional space movement function of the first driving device can accurately adjust the position of the first grabbing piece, ensure the accurate alignment of the first grabbing piece and the nameplate label output by the printer, avoid grabbing failure or label damage caused by position deviation, and improve the grabbing success rate.
[0009] Optionally, the first driving device includes a first mechanical arm and a first rotary driving piece, the first rotary driving piece is connected with the operation end of the first mechanical arm, and the first grabbing piece is connected with the first rotary driving piece.
[0010] In the above scheme, the first driving device includes a first mechanical arm and a first rotary driving piece, so as to drive the first rotary driving piece and the first grabbing piece to move at any position in space through the first mechanical arm, which is simple in structure, flexible in driving, reduces space occupation, and makes the nameplate label sorting device compact in structure.
[0011] Optionally, the first driving device comprises a first linear module, a second linear module, a third linear module and a first rotary driving member, the second linear module is connected with the first linear module, the first linear module is adapted to drive the second linear module to move along the first direction; the third linear module is connected with the second linear module, the second linear module is adapted to drive the third linear module to move along the second direction; the first rotary driving member is connected with the third linear module, the third linear module is adapted to drive the first rotary driving member to move along the third direction, and the first grabbing member is connected with the first rotary driving member.
[0012] In the above scheme, the first driving device comprises a first linear module, a second linear module and a third linear module, and the first linear module, the second linear module and the third linear module form a three-axis orthogonal linear module driving system. The movement range of the first rotary driving member covers any position in a three-dimensional space, the positioning accuracy is high, the movement independence is strong, the operation is flexible, the load bearing is stable, and stable driving and supporting foundation can be provided.
[0013] Optionally, the first rotary driving member comprises a first driving seat and a first driving cylinder, the first grabbing member is hinged to the first driving seat, one end of the first driving cylinder is connected with the first driving seat, and the other end of the first driving cylinder is hinged to the first grabbing member. The first driving cylinder can drive the first grabbing member to rotate around the hinge shaft.
[0014] In the above scheme, the first rotary driving member adopts the design mode of the first driving seat and the first driving cylinder, which has simple structure and accurate positioning, ensures that the first grabbing member can smoothly grab and hand over the nameplate label, and has fast response speed and increased work efficiency.
[0015] Optionally, the second driving device is further configured to drive the second grabbing member to move along a first direction, a second direction and a third direction; the first direction is parallel to a horizontal plane, the second direction is parallel to the horizontal plane and perpendicular to the first direction, and the third direction is perpendicular to the horizontal plane. When the second driving device drives the second grabbing member to move to the third position, the second grabbing member rotates to the second handover station. When the second driving device drives the second grabbing member to move to the fourth position, the second grabbing member rotates to the stacking station.
[0016] In the above scheme, the position of the second grabbing member can be accurately adjusted through the three-dimensional space movement function of the second driving device, so that the second grabbing member can be accurately aligned with the first grabbing member at the second handover station, the grabbing failure or label damage caused by position deviation is avoided, and the grabbing success rate is improved.
[0017] Optionally, the second driving device comprises a second mechanical arm and a second rotary driving member, the second rotary driving member is connected with the operating end of the second mechanical arm, and the second grabbing member is connected with the second rotary driving member.
[0018] In the above scheme, the second driving device comprises a second mechanical arm and a second rotary driving member, so that the second rotary driving member and the second grabbing member can be moved to any position in space by the second mechanical arm, which is simple in structure, flexible in driving, reduces the space occupation, and makes the nameplate label sorting device compact in structure.
[0019] Optionally, the second driving device comprises a fourth linear module, a fifth linear module, a sixth linear module and a second rotary driving member, the fifth linear module is connected with the fourth linear module, the fourth linear module is adapted to drive the fifth linear module to move along the first direction; the sixth linear module is connected with the fifth linear module, the fifth linear module is adapted to drive the sixth linear module to move along the second direction; the second rotary driving member is connected with the sixth linear module, the sixth linear module is adapted to drive the second rotary driving member to move along the third direction, and the second grabbing member is connected with the second rotary driving member.
[0020] In the above scheme, the second driving device comprises a fourth linear module, a fifth linear module and a sixth linear module, and the fourth linear module, the fifth linear module and the sixth linear module constitute a three-axis orthogonal linear module driving system, the movement range of the second rotary driving member covers any position in three-dimensional space, the positioning accuracy is high, the motion independence is strong, the operation is flexible, the load bearing is stable, and stable driving and supporting basis can be provided.
[0021] Optionally, the second rotary driving member comprises a second driving seat and a second driving cylinder, the second grabbing member is hinged with the second driving seat, one end of the second driving cylinder is connected with the second driving seat, the other end of the second driving cylinder is hinged with the second grabbing member, and the second driving cylinder can drive the second grabbing member to rotate around the hinge shaft.
[0022] In the above scheme, the second rotary driving member adopts the design mode of the second driving seat and the second driving cylinder, which is simple in structure, accurate in positioning, ensures that the second grabbing member can smoothly hand over the nameplate label, and has fast response speed and increased work efficiency.
[0023] Optionally, the first grabbing member comprises a first negative pressure pipeline and a first suction disc, the first negative pressure pipeline is arranged on the first driving device, one end of the first negative pressure pipeline is adapted to be connected with a negative pressure equipment, and the other end of the first negative pressure pipeline is connected with the first suction disc.
[0024] The above solution uses a negative pressure suction cup gripping structure, which uses negative pressure adsorption to achieve flexible clamping of nameplates and labels. Compared with mechanical clamping methods, it can avoid physical damage such as squeezing, scratches or creases to the surface of the nameplates and labels. It is especially suitable for nameplates and labels with easily damaged information such as logos, barcodes, and QR codes printed on the surface, which can ensure the appearance integrity and information readability of the nameplates and labels.
[0025] Optionally, the second gripper includes a second negative pressure pipe and a second suction cup. The second negative pressure pipe is disposed on the second driving device. One end of the second negative pressure pipe is adapted to be connected to a negative pressure device, and the other end of the second negative pressure pipe is connected to the second suction cup.
[0026] In the above solution, the second gripper adopts a negative pressure suction cup gripping structure, which achieves flexible clamping of the nameplate label through negative pressure adsorption. Compared with mechanical clamping, it can avoid physical damage such as squeezing, scratches or creases to the surface of the nameplate label. It is especially suitable for nameplate labels with easily damaged information such as logos, barcodes, and QR codes printed on the surface, which can ensure the appearance integrity and information readability of the nameplate label. Attached Figure Description
[0027] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0028] Figure 1 This is a schematic diagram of a nameplate label sorting device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of a first rotating member provided in an embodiment of this application; Figure 3 This is a schematic diagram of the structure of a first gripper provided in an embodiment of this application.
[0029] Explanation of reference numerals in the attached figures: 1. First drive unit; 11. First robotic arm; 111. First base; 112. First base; 113. First arm; 114. Second arm; 12. First rotary drive component; 121. First drive seat; 122. First drive cylinder; 2. First gripper; 21. First negative pressure pipe; 22. First suction cup; 23. First suction cup seat; 3. Nameplate label; 4. Second drive unit; 41. Second robotic arm; 411. Third arm; 412. Fourth arm; 42. Second rotary drive component; 5. Second gripper; 51. Second negative pressure pipe; 52. Second suction cup; 6. First rotating component; 61. First rotating seat; 62. First rotating plate; 7. Support platform. Detailed Implementation
[0030] In the embodiments of this application, the terms "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," "third," "fourth," "fifth," and "sixth" may explicitly or implicitly include one or more of that feature.
[0031] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.
[0032] "A and / or B" includes the following three combinations: A only, B only, and a combination of A and B.
[0033] In the embodiments of this application, "parallel," "perpendicular," and "equal" include the described situation and situations similar to the described situation, where the range of similarity is within an acceptable deviation range, which is determined by those skilled in the art taking into account the measurement under discussion and the error associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallelism and approximate parallelism, where the acceptable deviation range for approximate parallelism can be, for example, a deviation within 5°; "perpendicular" includes absolute perpendicularity and approximate perpendicularity, where the acceptable deviation range for approximate perpendicularity can also be, for example, a deviation within 5°. "Equal" includes absolute equality and approximate equality, where the acceptable deviation range for approximate equality can be, for example, a difference between the two equals being less than or equal to 5% of either one.
[0034] Please see Figure 1 , Figure 1 This is a schematic diagram of a nameplate label sorting device provided in an embodiment of this application. Figure 1 The document includes a structural diagram showing the first drive device 1 driving the first gripper 2 to rotate to the gripping station and the first handover station, and a structural diagram showing the second drive device 4 driving the second gripper 5 to rotate to the second handover station and the stacking station.
[0035] like Figure 1As shown in the figure, this application provides a nameplate label sorting device including a first driving device 1, a first gripper 2, a second driving device 4, and a second gripper 5. The first gripper 2 is connected to the first driving device 1. The first driving device 1 is configured to drive the first gripper 2 to rotate between a gripping station and a first handover station. The rotation axis of the first gripper 2 is parallel to the horizontal plane. The first gripper 2 is suitable for gripping the nameplate label 3 printed by the printer at the gripping station, and can drive the nameplate label 3 to rotate synchronously during the rotation process. The second gripper 5 is connected to the second drive device 4. The second drive device 4 is configured to drive the second gripper 5 to rotate between the second handover station and the stacking station. The rotation axis of the second gripper 5 is parallel to the horizontal plane. When the second gripper 5 rotates to the second handover station, it can grip the nameplate label 3 on the first gripper 2 rotated to the first handover station. The first gripper 2 is adapted to release the nameplate label 3 when the second gripper 5 grips the nameplate label 3. The second gripper 5 is adapted to release the nameplate label 3 at the stacking station. The first drive device 1 and the second drive device 4 can be connected to the support platform 7 or to the ground, without limitation.
[0036] The nameplate label sorting device provided in this application adopts the coordinated operation of dual drive devices and dual grippers, which can realize a seamless and continuous cycle of nameplate label 3 gripping, handing over and stacking actions, effectively avoiding the action waiting gap in the single-station operation mode, and significantly improving the label processing efficiency per unit time. At the same time, the automated operation eliminates the influence of human intervention factors on label flow, ensuring that the nameplate labels 3 are accurately arranged in the preset order, eliminating the risk of nameplate label 3 sorting disorder from the root, which not only ensures the smooth and efficient production process, but also provides accurate and reliable label sequence support for product life cycle traceability.
[0037] In some embodiments, the first driving device 1 is further configured to drive the first gripper 2 to move along a first direction, a second direction, and a third direction; the first direction is parallel to the horizontal plane, the second direction is parallel to the horizontal plane and perpendicular to the first direction, and the third direction is perpendicular to the horizontal plane, thereby enabling the first driving device 1 to drive the first gripper 2 to move at any position in space, increasing the range of movement of the first gripper 2. The first direction is... Figure 1 The X-axis direction in the diagram, the second direction is... Figure 1 The Y-axis direction in the diagram, the third direction is... Figure 1 In the Z-axis direction. When the first drive device 1 drives the first gripper 2 to move to the first position, the first gripper 2 rotates to the gripping station to grip the nameplate label 3; when the first drive device 1 drives the first gripper 2 to move to the second position, the first gripper 2 rotates to the first handover station.
[0038] In this design, the position of the first gripper 2 can be precisely adjusted through the three-dimensional spatial movement function of the first drive device 1, ensuring that the first gripper 2 is precisely aligned with the nameplate label 3 output by the printer, avoiding gripping failure or label damage due to positional deviation, and improving the gripping success rate.
[0039] In some implementations, such as Figure 1 As shown, the first driving device 1 includes a first robotic arm 11 and a first rotary drive 12. The first robotic arm 11 includes a fixed end and an operating end. The fixed end of the first robotic arm 11 is connected to the support platform 7 or the ground without restriction. The first rotary drive 12 is connected to the operating end of the first robotic arm 11, so that the first robotic arm 11 can drive the first rotary drive 12 to move along a first direction, a second direction, and a third direction, thereby enabling the first robotic arm 11 to drive the first rotary drive 12 to move to any position in space, allowing the first rotary drive 12 to move to a first position and a second position. The first gripper 2 is connected to the first rotary drive 12, thereby driving the first gripper 2 to move to the first position or the second position. The first rotary drive 12 can drive the first gripper 2 to rotate to the gripping station in the first position, and can drive the first gripper 2 to rotate to the first handover station in the second position.
[0040] In this design, the first driving device 1 includes a first robotic arm 11 and a first rotary driving component 12, so that the first robotic arm 11 can drive the first rotary driving component 12 and the first gripping component 2 to move at any position in space. The structure is simple, the driving is flexible, and the space occupation is reduced, making the nameplate label sorting device compact.
[0041] In some examples, the first robotic arm 11 includes a first base 111, a first base 112, a first arm 113, and a second arm 114. The first base 111 is connected to the support platform 7 or the ground. The first base 112 is hinged to the first base 111, with its hinge axis perpendicular to the horizontal plane. One end of the first arm 113 is hinged to the first base 112, with its hinge axis parallel to the horizontal plane. One end of the second arm 114 is hinged to the other end of the first arm 113, with its hinge axis parallel to the hinge axis of the first arm 113. A first rotary drive member 12 is connected to the other end of the second arm 114. It is understood that the first robotic arm 11 should also include multiple drive motors to drive the corresponding first base 111, first arm 113, and second arm 114 to rotate.
[0042] In a specific example, combined Figure 1 and Figure 2As shown, the first driving device 1 also includes a first rotating component 6, which includes a first rotating seat 61, a first motor, and a first rotating plate 62. The first rotating seat 61 is connected to the other end of the second arm 114. The first motor is mounted on the first rotating seat 61, and the output shaft of the first motor extends vertically. One end of the first rotating plate 62 is connected to the output shaft of the first motor so that the first rotating plate 62 can be driven to rotate by the first motor. The rotation axis of the first rotating plate 62 is perpendicular to the horizontal plane. The first rotating drive component 12 is connected to the first rotating plate 62.
[0043] In this design, the first rotating plate 62 can be rotated by the first motor to adjust the posture of the first rotating drive component 12, and then the posture of the nameplate label 3 can be adjusted by the first rotating drive component 12 to facilitate its docking with the second gripper 5.
[0044] In other embodiments, the first driving device 1 includes a first linear module, a second linear module, a third linear module, and a first rotary drive 12. The first linear module is connected to the support platform 7 or the ground. The second linear module is connected to the first linear module, and the first linear module is adapted to drive the second linear module to move along a first direction. The third linear module is connected to the second linear module, and the second linear module is adapted to drive the third linear module to move along a second direction. The first rotary drive 12 is connected to the third linear module, and the third linear module is adapted to drive the first rotary drive 12 to move along a third direction. The first gripper 2 is connected to the first rotary drive 12.
[0045] In this design, the first drive device 1 includes a first linear module, a second linear module, and a third linear module. The first linear module, the second linear module, and the third linear module form a three-axis orthogonal linear module drive system. The movement range of the first rotary drive component 12 covers any position in three-dimensional space. It has high positioning accuracy, strong motion independence, flexible operation, and stable load bearing, and can provide a stable drive and support foundation.
[0046] It is understood that, in a specific example, the first driving device 1 also includes a first rotating member 6, and the first gripping member 2 is connected to the third linear module through the first rotating member 6. The structure of the first rotating member 6 here is the same as that of the first rotating member 6 mentioned above, and will not be described in detail here.
[0047] It is evident that the design of the first drive device 1 is unrestricted and can be designed according to actual needs.
[0048] In some embodiments, the first rotary drive 12 includes a first drive base 121 and a first drive cylinder 122. The first drive base 121 is connected to the operating end of the first robotic arm 11 or a third linear module. When the first drive device 1 includes a first rotating member 6, the first drive base 121 is connected to the first rotating plate 62 of the first rotating member 6. The first gripper 2 is hinged to the first drive base 121, and the hinge axis of the first gripper 2 is parallel to the horizontal plane. One end of the first drive cylinder 122 is connected to the first drive base 121; the connection method can be a fixed connection or a hinge, etc., without limitation. The other end of the first drive cylinder 122 is hinged to the first gripper 2, and the first drive cylinder 122 can drive the first gripper 2 to rotate around its hinge axis. The first drive cylinder 122 is tilted. When the first drive cylinder 122 extends, it will push the first gripper 2 to flip. When the first drive cylinder 122 retracts, it can drive the first gripper 2 to reset. In turn, the first drive cylinder 122 can drive the first gripper 2 to rotate between the gripping station and the first handover station.
[0049] In this design, the first rotary drive component 12 adopts the design of the first drive seat 121 and the first drive cylinder 122, which has a simple structure, accurate positioning, and ensures that the first gripper 2 can smoothly grip and transfer the nameplate label 3. In addition, the response speed is fast, which increases work efficiency.
[0050] In other embodiments, the first rotary drive 12 includes a base and a drive motor. The base is connected to the operating end of the first robotic arm 11 or a third linear module. When the first drive device 1 includes a first rotating member 6, the base is connected to the first rotating plate 62 of the first rotating member 6. The output shaft of the drive motor is parallel to the horizontal plane, and the first gripper 2 is connected to the output shaft of the drive motor so that the drive motor can drive the first gripper 2 to rotate to a gripping station or a first handover station.
[0051] It is evident that the design of the first rotary drive component 12 is unrestricted and can be designed according to actual needs.
[0052] In some embodiments, the second drive device 4 is further configured to drive the second gripper 5 to move along a first direction, a second direction, and a third direction; the first direction is parallel to the horizontal plane, the second direction is parallel to the horizontal plane and perpendicular to the first direction, and the third direction is perpendicular to the horizontal plane, thereby enabling the second drive device 4 to drive the second gripper 5 to move to any position in space, increasing the movement range of the second gripper 5. When the second drive device 4 drives the second gripper 5 to the third position, the second gripper 5 rotates to the second handover station; when the second drive device 4 drives the second gripper 5 to the fourth position, the second gripper 5 rotates to the stacking station.
[0053] In this design, the position of the second gripper 5 can be precisely adjusted through the three-dimensional spatial movement function of the second drive device 4, ensuring that the second gripper 5 can be precisely aligned with the first gripper 2 at the second handover station, avoiding gripping failure or label damage due to position deviation, and improving the gripping success rate.
[0054] In some implementations, such as Figure 1 As shown, the second driving device 4 includes a second robotic arm 41 and a second rotary drive 42. The second robotic arm 41 includes a fixed end and an operating end. The fixed end of the second robotic arm 41 is connected to the support platform 7 or the ground without restriction. The second rotary drive 42 is connected to the operating end of the second robotic arm 41, so that the second robotic arm 41 can drive the second rotary drive 42 to move along the first direction, the second direction, and the third direction, thereby enabling the second robotic arm 41 to drive the second rotary drive 42 to move to any position in space, allowing the second rotary drive 42 to move to the third position and the fourth position. The second gripper 5 is connected to the second rotary drive 42, thereby driving the second gripper 5 to move to the third position or the fourth position. In the third position, the second rotary drive 42 can drive the first gripper 2 to rotate to the second handover station, and in the fourth position, it can drive the second gripper 5 to rotate to the stacking station.
[0055] In this design, the second driving device 4 includes a second robotic arm 41 and a second rotary driving member 42, so that the second robotic arm 41 can drive the second rotary driving member 42 and the second gripper 5 to move at any position in space. The structure is simple, the drive is flexible, and the space occupation is reduced, making the nameplate label sorting device compact.
[0056] In some examples, the second robotic arm 41 includes a second base, a second base plate, a third arm 411, and a fourth arm 412. The second base is connected to the support platform 7 or the ground. The second base plate is hinged to itself, with its hinge axis perpendicular to the horizontal plane. One end of the third arm 411 is hinged to the second base plate, with its hinge axis parallel to the horizontal plane. One end of the fourth arm 412 is hinged to the other end of the third arm 411, with its hinge axis parallel to that of the third arm 411. A second rotary drive member 42 is connected to the other end of the fourth arm 412. It is understood that the second robotic arm 41 should also include multiple drive motors to drive the corresponding second base, third arm 411, and fourth arm 412 to rotate.
[0057] In a specific example, the second driving device 4 further includes a second rotating component, which includes a second rotating seat, a second motor, and a second rotating plate. The second rotating seat is connected to the other end of the fourth arm 412. The second motor is mounted on the second rotating seat, and the output shaft of the second motor extends vertically. One end of the second rotating plate is connected to the output shaft of the second motor so that the second rotating plate can be driven to rotate by the second motor. The rotation axis of the second rotating plate is perpendicular to the horizontal plane. The second rotation driving component 42 is connected to the second rotating plate.
[0058] In this design, the second rotating plate can be driven by the second motor to rotate, thereby adjusting the posture of the second rotating drive component 42. In turn, the posture of the nameplate label 3 can be adjusted by the second rotating drive component 42 to facilitate its docking with the first gripper 2.
[0059] In other embodiments, the second driving device 4 includes a fourth linear module, a fifth linear module, a sixth linear module, and a second rotary drive 42. The second linear module is connected to the support platform 7 or the ground. The fifth linear module is connected to the fourth linear module, and the fourth linear module is adapted to drive the fifth linear module to move along a first direction. The sixth linear module is connected to the fifth linear module, and the fifth linear module is adapted to drive the sixth linear module to move along a second direction. The second rotary drive 42 is connected to the sixth linear module, and the sixth linear module is adapted to drive the second rotary drive 42 to move along a third direction. The second gripper 5 is connected to the second rotary drive 42.
[0060] In this design, the second drive device 4 includes a fourth linear module, a fifth linear module, and a sixth linear module. The fourth linear module, the fifth linear module, and the sixth linear module form a three-axis orthogonal linear module drive system. The movement range of the second rotary drive component 42 covers any position in three-dimensional space. It has high positioning accuracy, strong motion independence, flexible operation, and stable load bearing, and can provide a stable drive and support foundation.
[0061] It is understood that, in a specific example, the second drive device 4 also includes a second rotating member, and the second gripping member 5 is connected to the sixth linear module through the second rotating member. The structure of the second rotating member here is the same as that of the second rotating member mentioned above, and will not be described in detail here.
[0062] It is evident that the design of the second drive device 4 is unrestricted and can be designed according to actual needs.
[0063] In some embodiments, the second rotary drive 42 includes a second drive base and a second drive cylinder. The second drive base is connected to the operating end of the second robotic arm 41 or the sixth linear module. When the second drive device 4 includes a second rotating member, the second drive base is connected to the second rotating plate of the second rotating member. The second gripper 5 is hinged to the second drive base, and the hinge axis of the second gripper 5 is parallel to the horizontal plane. One end of the second drive cylinder is connected to the second drive base, and the connection method can be a fixed connection or a hinge, etc., without limitation. The other end of the second drive cylinder is hinged to the second gripper 5, and the second drive cylinder can drive the second gripper 5 to rotate around its hinge axis. The second drive cylinder is inclined. When the second drive cylinder extends, it pushes the second gripper 5 to flip. When the second drive cylinder retracts, it can drive the second gripper 5 to reset, thereby enabling the second gripper 5 to rotate between the stacking station and the second handover station.
[0064] In this design, the second rotary drive component 42 adopts a design of a second drive seat and a second drive cylinder, which has a simple structure, accurate positioning, and ensures that the second gripper 5 can smoothly transfer the nameplate label 3. In addition, the response speed is fast, which increases work efficiency.
[0065] In other embodiments, the second rotary drive 42 includes a base and a drive motor. The base is connected to the operating end of the second robotic arm 41 or the sixth linear module. When the second drive device 4 includes a second rotating member, the base is connected to the second rotating plate of the second rotating member. The output shaft of the drive motor is parallel to the horizontal plane, and the second gripper 5 is connected to the output shaft of the drive motor so that the second gripper 5 can be rotated to the stacking station or the second handover station by the drive motor.
[0066] It is evident that the design of the second rotary drive component 42 is unrestricted and can be designed according to actual needs.
[0067] In some implementations, combined Figure 1 and Figure 3As shown, the first gripping component 2 includes a first suction cup seat 23, a first negative pressure pipe 21, and a first suction cup 22. The first negative pressure pipe 21 is mounted on the first driving device 1 via the first suction cup seat 23. When the first driving device 1 includes a first rotary driving member 12, the first suction cup seat 23 is hinged to the first driving seat 121 of the first rotary driving member 12, and the hinge axis of the first suction cup seat 23 is parallel to the horizontal plane. The first driving cylinder 122 of the first rotary driving member 12 can drive the first suction cup seat 23 to rotate, thereby driving the first negative pressure pipe 21 and the first suction cup 22 to rotate. The first negative pressure pipe 21 passes through the first suction cup seat 23. One end of the first negative pressure pipe 21 is adapted to be connected to a negative pressure device, and the other end of the first negative pressure pipe 21 is connected to the first suction cup 22. When the surface of the first suction cup 22 contacts the surface of the nameplate label 3, the negative pressure device provides negative pressure so that the first suction cup 22 can be negatively connected to the nameplate label 3.
[0068] In this design, the first gripper 2 adopts a negative pressure suction cup gripping structure, which uses negative pressure adsorption to achieve flexible clamping of the nameplate label 3. Compared with mechanical clamping, it can avoid physical damage such as squeezing, scratches or creases to the surface of the nameplate label 3. It is especially suitable for nameplate labels 3 with easily damaged information such as logos, barcodes, and QR codes printed on the surface, which can ensure the appearance integrity and information readability of the nameplate label 3.
[0069] In some embodiments, the second gripper 5 includes a second suction cup 52 seat, a second negative pressure pipe 51, and a second suction cup 52. The second negative pressure pipe 51 is mounted on the second driving device 4 via the second suction cup 52 seat. When the second driving device 4 includes a second rotary driving member 42, the second suction cup 52 seat is hinged to the second driving seat of the second rotary driving member 42, and the hinge axis of the second suction cup 52 seat is parallel to the horizontal plane. The second driving cylinder of the second rotary driving member 42 can drive the second suction cup 52 seat to rotate, thereby driving the second negative pressure pipe 51 and the second suction cup 52 to rotate. The first negative pressure pipe 21 passes through the first suction cup seat 23. One end of the second negative pressure pipe 51 is adapted to be connected to a negative pressure device, and the other end of the second negative pressure pipe 51 is connected to the second suction cup 52. When the surface of the second suction cup 52 contacts the surface of the nameplate label 3, the negative pressure device provides negative pressure so that the second suction cup 52 can be negatively connected to the nameplate label 3.
[0070] In this design, the second gripper 5 adopts a negative pressure suction cup gripping structure, which achieves flexible clamping of the nameplate label 3 through negative pressure adsorption force. Compared with mechanical clamping, it can avoid physical damage such as squeezing, scratches or creases to the surface of the nameplate label 3. It is especially suitable for nameplate labels 3 with easily damaged information such as logos, barcodes, and QR codes printed on the surface, which can ensure the appearance integrity and information readability of the nameplate label 3.
[0071] In some embodiments, the nameplate label sorting device further includes a feeding box and a discharging box, wherein the feeding box is used to receive the nameplate labels 3 printed by the printer, and the discharging box is used to receive the nameplate labels 3 released by the second gripper 5.
[0072] In this embodiment of the nameplate label sorting device, the nameplate label 3 printed by the printer falls into the interior of the feeding box. At this time, the nameplate label 3 is placed horizontally. The first driving device 1 drives the first gripper 2 to move to the first position. At the same time, the first rotary driving component 12 of the first driving device 1 drives the first gripper 2 to rotate to the gripping station. At this time, the first gripper 2 is located above the nameplate label 3. The negative pressure device provides negative pressure, and the first suction cup 22 of the first gripper 2 is negatively connected to the nameplate label 3, realizing that the first gripper 2 grips the nameplate label 3. Afterwards, the first driving device 1 drives the first gripper 2 to move to the second position. At the same time, the first rotary driving component 12 drives the first gripper 2 to rotate to the first handover station. At this time, the axis of the first suction cup 22 is parallel to the horizontal plane, and the plane where the nameplate label 3 is located is perpendicular to the horizontal plane.
[0073] The first driving device 1 drives the second gripper 5 to move to the third position. At the same time, the second rotating driving component 42 of the second driving device 4 drives the second gripper 5 to rotate to the second handover station. At this time, the axis of the second suction cup 52 of the second gripper 5 is parallel to the horizontal plane and coincides with the axis of the first suction cup 22 (the two may not coincide). The negative pressure device provides negative pressure, and the second suction cup 52 is negatively connected to the nameplate label 3, so that the second gripper 5 can grip the nameplate label 3. At the same time, the negative pressure of the negative pressure device acting on the first suction cup 22 disappears, so as to release the negative pressure connection between the first gripper 2 and the nameplate label 3. Then, the first drive device 1 drives the second gripper 5 to move to the fourth station. At this time, the second gripper 5 is located in the unloading box. The second rotary drive device 42 drives the second gripper 5 to rotate to the stacking station. At this time, the axis of the second suction cup 52 is perpendicular to the horizontal plane, the nameplate label 3 is placed horizontally, the negative pressure of the negative pressure device on the second suction cup 52 disappears, so as to release the negative pressure connection between the second gripper 5 and the nameplate label 3. The nameplate label 3 falls into the unloading box, and so on.
[0074] In some embodiments, the feeding box is equipped with a photoelectric sensor to detect whether there is a nameplate label 3 inside the feeding box. When the nameplate label 3 is present inside the feeding box, the photoelectric sensor feeds back to the control module, and the control module triggers the nameplate label sorting device to work.
[0075] In some embodiments, the nameplate label sorting device also includes a differential pressure sensor, which is installed on the second negative pressure pipe 51 of the second gripper 5. When the differential pressure sensor on the second gripper 5 detects that the second suction cup 52 has formed a stable adsorption force, the control module controls the negative pressure device to stop providing negative pressure toward the first suction cup 22, so as to ensure that the nameplate label 3 can be transferred to the second gripper 5.
[0076] In the description of the embodiments of this application, specific features, structures, materials or characteristics may be combined in any suitable manner in one or more embodiments or examples.
[0077] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A nameplate label sorting device, characterized in that, include: The first drive device (1) and the first gripper (2) are connected to the first drive device (1). The first drive device (1) is configured to drive the first gripper (2) to rotate between the gripping station and the first handover station. The first gripper (2) is adapted to grip the nameplate label (3) printed by the printer at the gripping station. The second drive device (4) and the second gripper (5) are connected to the second drive device (4). The second drive device (4) is configured to drive the second gripper (5) to rotate between the second handover station and the stacking station. The second gripper (5) rotated to the second handover station can grab the nameplate label (3) on the first gripper (2) rotated to the first handover station. The first gripper (2) is adapted to release the nameplate label (3) when the second gripper (5) grabs the nameplate label (3). The second gripper (5) is adapted to release the nameplate label (3) at the stacking station.
2. The nameplate label sorting device according to claim 1, characterized in that, The first drive device (1) is also configured to drive the first gripper (2) to move along a first direction, a second direction and a third direction; the first direction is parallel to the horizontal plane, the second direction is parallel to the horizontal plane and perpendicular to the first direction, and the third direction is perpendicular to the horizontal plane; When the first driving device (1) drives the first gripper (2) to move to the first position, the first gripper (2) rotates to the gripping station to grip the nameplate label (3). When the first driving device (1) drives the first gripper (2) to move to the second position, the first gripper (2) rotates to the first handover station.
3. The nameplate label sorting device according to claim 2, characterized in that, The first driving device (1) includes a first robotic arm (11) and a first rotary drive (12). The first rotary drive (12) is connected to the operating end of the first robotic arm (11), and the first gripper (2) is connected to the first rotary drive (12).
4. The nameplate label sorting device according to claim 2, characterized in that, The first driving device (1) includes a first linear module, a second linear module, a third linear module and a first rotary driving member (12). The second linear module is connected to the first linear module, and the first linear module is adapted to drive the second linear module to move along the first direction. The third linear module is connected to the second linear module, and the second linear module is adapted to drive the third linear module to move along the second direction. The first rotary driving member (12) is connected to the third linear module, and the third linear module is adapted to drive the first rotary driving member (12) to move along the third direction. The first gripper (2) is connected to the first rotary driving member (12).
5. The nameplate label sorting device according to claim 3 or 4, characterized in that, The first rotary drive (12) includes a first drive seat (121) and a first drive cylinder (122). The first gripper (2) is hinged to the first drive seat (121). One end of the first drive cylinder (122) is connected to the first drive seat (121), and the other end of the first drive cylinder (122) is hinged to the first gripper (2). The first drive cylinder (122) can drive the first gripper (2) to rotate around its hinge axis.
6. The nameplate label sorting device according to claim 1, characterized in that, The second drive device (4) is also configured to drive the second gripper (5) to move along a first direction, a second direction and a third direction; the first direction is parallel to the horizontal plane, the second direction is parallel to the horizontal plane and perpendicular to the first direction, and the third direction is perpendicular to the horizontal plane; When the second drive device (4) drives the second gripper (5) to move to the third position, the second gripper (5) rotates to the second handover station; When the second drive device (4) drives the second gripper (5) to move to the fourth position, the second gripper (5) rotates to the stacking station.
7. The nameplate label sorting device according to claim 6, characterized in that, The second drive device (4) includes a second robotic arm (41) and a second rotary drive (42). The second rotary drive (42) is connected to the operating end of the second robotic arm (41), and the second gripper (5) is connected to the second rotary drive (42).
8. The nameplate label sorting device according to claim 6, characterized in that, The second driving device (4) includes a fourth linear module, a fifth linear module, a sixth linear module, and a second rotary driving member (42). The fifth linear module is connected to the fourth linear module, and the fourth linear module is adapted to drive the fifth linear module to move along the first direction. The sixth linear module is connected to the fifth linear module, and the fifth linear module is adapted to drive the sixth linear module to move along the second direction. The second rotary driving member (42) is connected to the sixth linear module, and the sixth linear module is adapted to drive the second rotary driving member (42) to move along the third direction. The second gripper (5) is connected to the second rotary driving member (42).
9. The nameplate label sorting device according to claim 7 or 8, characterized in that, The second rotary drive (42) includes a second drive seat and a second drive cylinder. The second gripper (5) is hinged to the second drive seat. One end of the second drive cylinder is connected to the second drive seat, and the other end of the second drive cylinder is hinged to the second gripper (5). The second drive cylinder can drive the second gripper (5) to rotate around its hinge axis.
10. The nameplate label sorting device according to claim 1, characterized in that, The first gripper (2) includes a first negative pressure pipe (21) and a first suction cup (22). The first negative pressure pipe (21) is disposed on the first driving device (1). One end of the first negative pressure pipe (21) is adapted to be connected to a negative pressure device, and the other end of the first negative pressure pipe (21) is connected to the first suction cup (22). And / or, the second gripper (5) includes a second negative pressure pipe (51) and a second suction cup (52), the second negative pressure pipe (51) is disposed on the second drive device (4), one end of the second negative pressure pipe (51) is adapted to be connected to a negative pressure device, and the other end of the second negative pressure pipe (51) is connected to the second suction cup (52).