Induction type labeling equipment and labeling method based on visual detection

Abstract

The invention discloses induction type labeling equipment based on visual inspection and a labeling method, and relates to the technical field of food processing. The equipment comprises a bottom table, a rotary table, a limiting mechanism, a material taking assembly and a mechanical arm; the bottom table is provided with a rotatable main support and a transverse frame, and a visual sensor is arranged above the side portion of the bottom table. The turntable is rotationally connected with the bottom table, a plurality of groups of limiting mechanisms are arrayed on the circumference of the turntable, and the limiting mechanisms are used for placing stacked box covers and adjusting and limiting the stacking postures of the box covers; the material taking assembly is connected with the transverse frame and used for picking up box covers to be labeled. The mechanical arm is arranged on the outer side of the bottom table to complete labeling of the outer side of the box cover. The box cover is limited through the limiting mechanism, it is guaranteed that the material taking postures are consistent, the labeling position is detected and recognized in combination with the visual sensor, the mechanical arm adjusts the labeling coordinates in advance, labeling is accurate, and the problem that the labeling quality is reduced due to the posture and shape difference of the box cover is effectively solved.

Description

Technical Field

[0001] This invention relates to the field of food processing technology, specifically to a vision-based inductive labeling device and labeling method. Background Technology

[0002] With the rapid development of fast food, takeout and other catering formats, boxed meals have become the main form of food packaging. The lid of the boxed meal not only plays a role in preventing leakage, moisture and keeping the food warm, but also undertakes important tasks such as brand display and product information labeling.

[0003] In related technologies, the labeling of lunchbox lids is mostly done manually or semi-automatically. For example, the patent with publication number CN116945694A provides a labeling device for lunchbox lid production. This device involves manually placing the lid to be labeled onto a conveying mechanism. The conveying mechanism moves intermittently. When the lid moves to below the second suction cup, it temporarily stops. The hydraulic rod drives the swing arm to move downward. When the second suction cup contacts the lid, it sucks the lid in place. The hydraulic rod then drives the swing arm to move upward. The first servo motor drives the swing arm to rotate, so that the lid is above the worktable. The hydraulic rod drives the swing arm to move downward again, placing the lid on the worktable. The second suction cup then places the lid on the worktable. By sucking out the air from the first suction cup, the lid is firmly attached to the worktable. The cylinder drives the pressure roller to move downward, and the pressure roller presses the label paper on the transmission mechanism onto the lid.

[0004] Although the existing technical solutions mentioned above can achieve semi-automatic labeling of boxed meals by using a swing arm to drive a suction cup to transfer the box lids from the conveyor mechanism to the worktable for automatic labeling, manually placing the box lids is not only cumbersome, but also makes it difficult to accurately control the placement posture of the box lids. As a result, when the suction cups transfer the box lids to the worktable for labeling, the random changes in the posture of the box lids cause inaccurate labeling position and labeling quality (such as defects like wrinkles), affecting the overall production quality of the boxed meals. Summary of the Invention

[0005] To address one of the shortcomings of existing technologies, this invention provides a vision-based inductive labeling device and method, which solves the problem that the lack of posture correction when labeling box lids affects the labeling quality.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a vision-based inductive labeling device, comprising: The base platform is a support structure that can be placed on the ground in the working environment. A vertical main support is provided on the upper part of the base platform, and a horizontal frame is provided on the upper end of the main support. The horizontal frame can rotate relative to the base platform. A vision sensor for detecting the label position of the box cover is fixedly installed on the upper side of the base platform. The turntable is rotatably mounted on the base platform, and the turntable and the main support are coaxially rotatably connected. The limiting mechanism has several sets arranged in a circular array on the turntable, and each set of limiting mechanisms can hold stacked box lids; the limiting mechanism is used to adjust and limit the stacking posture of the box lids. The material picking component is connected to the cross frame and can pick up the box lid to be labeled from inside the limiting mechanism. A robotic arm, positioned on the outside of the base, is used to attach labels to the outside of the box lid.

[0007] Preferably, the main support and the base are rotatably connected; Two crossbars are symmetrically arranged at the top of the main support, and the two crossbars extend to both sides of the main support respectively. The crossbars and the main support are fixedly connected. One material handling component is provided for each crossbeam, and the material handling component is located at the end of the crossbeam away from the main support.

[0008] Preferably, the limiting mechanism is provided in four sets, one set of which is empty inside and used to hold the box lid after labeling; each limiting mechanism includes: The stop lever assembly is provided in two sets. Each set of stop lever assemblies includes stop lever A and stop lever B. Stop lever A and stop lever B belonging to the same set are slidably connected to the turntable, and stop lever A and stop lever B belonging to the same set can move closer to or further away from each other. The two sets of stop bar assemblies of the same limit mechanism are arranged in a cross shape; Also includes: The adjustment component is linked to the limiting mechanism, and the adjustment component can adjust the distance between the stop bar A and the stop bar B.

[0009] Preferably, the material handling component includes: Suction cup A is a vacuum suction cup. Suction cup A can pick up the box lid to be labeled from inside the limiting mechanism. The suction cup holder, as the connecting carrier of suction cup A, can rise or fall vertically, and the suction cup holder can rotate relative to the horizontal frame to which it is connected. When the material handling component passes the workstation where the vision sensor and the robotic arm are located, it keeps the box lid in a vertical position.

[0010] Preferably, the stop assembly of the limiting mechanism further includes: A bidirectional screw A is rotatably mounted below the turntable; the lower ends of the stop rods A and B are respectively threaded to one threaded portion of the bidirectional screw A. The limiting mechanism further includes: A bevel ring A is coaxially rotatably disposed below the turntable; A bevel ring B is coaxially rotatably disposed below the turntable, with a gap between bevel ring B and bevel ring A; In the limiting mechanism, the two bidirectional screws A in the two sets of stop rod assemblies are linked to the bevel ring A and the bevel ring B respectively. The bevel ring A and the bevel ring B can drive the bidirectional screw A to rotate. The adjusting component is linked to bevel ring A and bevel ring B, and the adjusting component can drive bevel ring A or bevel ring B to rotate respectively.

[0011] Preferably, the four limiting mechanisms share a single bevel ring A and a single bevel ring B; The adjustment component includes: Two connecting shafts B are horizontally rotatably mounted below the turntable. A bevel gear C is fixedly installed coaxially at the end of each connecting shaft B; One of the bevel gears C on the connecting shaft B meshes with the bevel gear ring A, and the other bevel gear C on the connecting shaft B meshes with the bevel gear ring B; Motor D, as the power source of the adjustment component, can be linked with the two connecting shafts B respectively.

[0012] Preferably, the two connecting shafts B are arranged in parallel with their vertical distribution; a slot is provided at the end of the connecting shaft B away from the bevel gear C; the adjustment assembly further includes: A sliding shaft is provided for each of the connecting shafts B, and the sliding shaft is horizontally slidably connected to the base; the sliding shaft is linked with the motor D, and the motor D can drive the sliding shaft to rotate; the sliding shaft can be inserted into the connecting shaft B through a slot, and when the sliding shaft and the connecting shaft B are inserted, the sliding shaft can drive the connecting shaft B to rotate; The electric push rod B is linked with the sliding shaft, and the electric push rod B can drive one of the sliding shafts to move toward or away from its corresponding connecting shaft B.

[0013] Preferably, the stop lever B has an internal hollow structure, and the stop lever assembly further includes: Slide C is a through groove formed on the body of stop bar B; slide C is formed facing stop bar A in the same stop bar assembly; The T-shaped rod is slidably connected to the stop bar B via the slide groove C, and the T-shaped rod is located on the side of the stop bar B facing the stop bar A; Spring A is located on the side of the T-shaped rod opposite to the stop bar A.

[0014] Preferably, it also includes: An auxiliary feeding component is disposed on one side of the limiting mechanism used for feeding, and the auxiliary feeding component can drive the T-shaped rod to vibrate in the horizontal direction.

[0015] The labeling method, using a vision-based inductive labeling device as described above, includes the following steps: S1. Adjustment: According to the shape of the box lid to be labeled, adjust the distance between the stop bar A and the stop bar B in the limiting mechanism to meet the requirements for correcting the stacking posture of the box lid; S2, Loading: Place the horizontally stacked box lids into the limiting mechanism, and leave the baffle assembly away from the vision sensor empty for stacking the labeled box lids; S3. Material Picking: By rotating the horizontal frame, a material picking component is positioned directly above one of the limiting mechanisms; drive the suction cup A to move and remove the topmost box cover inside the limiting mechanism; S4. Inspection: The cross frame moves the material handling component to the inspection station of the vision sensor. During the movement, the material handling component adjusts the lid to a vertical position. The labeling position of the lid is determined by the image acquisition end of the vision sensor, and the inspection result is fed back to the robotic arm. S5. Labeling: The robotic arm determines the labeling position coordinates of the box lid based on the detection results of the vision sensor; when the horizontal frame moves the vertically positioned box lid to the labeling station, the robotic arm affixes the picked-up label to the labeling area on the surface of the box lid. S6. Unloading: The horizontal frame rotates, causing the labeled box lid to move above the limiting mechanism at the unloading station; the picking component releases the box lid inward toward the limiting mechanism; S7. Stacking: The T-shaped rod inside the stop bar B vibrates horizontally back and forth, shaking the box cover between the stop bar A and the stop bar B, so that the box cover is stacked horizontally between the stop bar A and the stop bar B. S8. Repeat steps S3 to S7.

[0016] Compared with existing technologies, this solution has the following advantages: By placing the box lids inside the limiting mechanism for limiting, the picking component maintains a consistent posture when picking up each box lid. Based on this, a vision sensor is used to detect the labeling position before labeling, so as to automatically detect and identify the labeling position. This allows the robotic arm to adjust the labeling position in advance based on the identified label coordinates, ensuring that the robotic arm can label the box lids in the designated position each time. For different box lids, this solution prevents the labeling quality from being reduced due to different postures and shapes.

[0017] In addition, the limiting mechanism can be adjusted synchronously according to the size, making it easy for the equipment to adapt to the labeling of different sizes of boxed meals. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural schematic diagram of an embodiment of this application; Figure 2 This is a schematic diagram of the structure as seen from the front in an embodiment of this application; Figure 3 This is a top view of the structure of an embodiment of this application; Figure 4This is a schematic diagram of the internal structure of the base platform in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of the bottom of the turntable in an embodiment of this application; Figure 6 This is an exploded view of the turntable in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of one of the stop rod assemblies in an embodiment of this application; Figure 8 This is a schematic diagram of another stop assembly according to an embodiment of this application; Figure 9 This is a schematic diagram of the structure of the stop bar B in an embodiment of this application; Figure 10 This is an exploded structural diagram of the stop bar B according to an embodiment of this application; Figure 11 This is a schematic diagram of the crossbeam structure in an embodiment of this application; Figure 12 This is a schematic diagram of the material handling component in an embodiment of this application; Figure 13 This is a schematic diagram of the structure of suction cup A and slider B in an embodiment of this application; Figure 14 This is a schematic diagram of the structure of the robotic arm in an embodiment of this application; Figure 15 This is a schematic diagram of the structure of the adjustment component in an embodiment of this application; Figure 16 This is a schematic diagram of the structure of the auxiliary feeding component in an embodiment of this application; Figure 17 for Figure 9 A magnified structural diagram of point A in the middle.

[0019] In the picture: 1. Base; 11. Main support; 12. Horizontal frame; 13. Vision sensor; 14. Base; 15. Support plate; 16. Secondary support; 17. Base plate; 18. Column; 19. Motor A; 110. Support base; 111. Conductive slip ring; 112. L-shaped plate; 113. Protective cover; 114. Operation panel; 2. Turntable; 21. Slide A; 22. Slide B; 23. Center hole; 24. Annular column; 25. Limiting ring A; 26. Bearing plate A; 27. Bearing plate B; 28. Bearing plate C; 29. ​​Flat gear ring; 210. Flat gear; 211. Motor B; 212. Annular plate; 3. Limiting mechanism; 31. Stop rod assembly; 311. Stop rod A; 312. Stop rod B; 3121. Slide groove C; 3122. Sealing cap; 313. Slider A; 314. Bidirectional screw A; 32. Bevel gear A; 33. Bevel gear ring A; 34. Worm gear; 35. Worm; 36. Connecting shaft A; 37. Bevel gear B; 38. Bevel gear ring B; 39. T-shaped rod; 391. Spring A; 392. Connecting rod; 393. Slide plate A; 394. Vertical slide groove; 395. Trapezoidal boss; 396. Limiting plate; 397. Slide plate B; 398. Trapezoidal groove; 399. Adsorption plate; 4. Material handling assembly; 41. Rotating block; 42. Motor C; 43. Electric push rod A; 44. Suction cup A; 45. Suction cup frame; 46. Slider B; 461. Annular cavity; 462. Threaded sleeve; 47. Connecting pipe A; 48. Limiting ring B; 49. Pressure sensor; 410. Spring B; 411. Lead screw; 412. Dual-axis motor; 413. Air pipe; 414. Solenoid valve; 415. Equipment box; 5. Robotic arm; 51. Steering servo motor A; 52. Swing servo motor; 53. Telescopic arm; 54. Steering servo motor B; 55. Connecting pipe B; 56. Suction cup B; 6. Adjusting assembly; 61. Sliding shaft; 62. Convex shaft; 63. Connecting shaft B; 64. Bevel gear C; 65. Slot; 66. Motor D; 67. Bearing plate D; 68. Toothed pulley; 69. Toothed belt; 610. Floral shaft; 611. Bushing; 612. Sliding pin; 613. Rotating arm; 614. Straight slot hole; 615. Connecting sleeve; 616. Electric push rod B; 7. Auxiliary feeding assembly; 71. Right-angle frame; 72. Sliding sleeve; 73. Slide plate C; 74. Electric push rod C; 75. Electromagnet; 76. Support rod. Detailed Implementation

[0020] The technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0021] Please see Figures 1-17 This application provides the following technical solutions: The vision-based inductive labeling device includes a base platform 1, a turntable 2, a material handling assembly 4, and a robotic arm 5. The base platform 1 is a frustum of a cylinder, serving as the fundamental support structure of the device. A rotatable main support 11, a vertically oriented column, is mounted on the upper part of the base platform 1. Horizontally extending crossbars 12 are symmetrically arranged on both sides of the upper part of the main support 11. Furthermore, a base 14 is fixedly mounted at the bottom of the base platform 1. A support plate 15 and a secondary support 16 are fixedly mounted on the outer side of the base 14, with the secondary support 16 being vertically oriented. Both the support plate 15 and the secondary support 16 extend upwards. A vision sensor 13 for detecting the labeling position on the box lid 100 is fixedly mounted on the upper end of the support plate 15. An operation panel 114 for controlling the operation of the device is also fixedly mounted on the outer side of the base platform 1 via a protective cover 113.

[0022] Turntable 2 is also rotatably connected to base platform 1. The turntable 2 is horizontally positioned and coaxially aligned with base platform 1 and stand 11. Stacked box covers 100 can be placed on turntable 2. A limiting mechanism 3 is provided corresponding to the placement position of the box covers 100 on turntable 2. The limiting mechanism 3 is used to correct and limit the stacking posture of the box covers 100. Four sets of limiting mechanisms 3 are arranged in a circumferential array on turntable 2. During operation, three of the limiting mechanisms 3 contain box covers 100 awaiting labeling, while the remaining limiting mechanism 3 is empty and used to place box covers 100 that have already been labeled. The box covers 100 are stacked horizontally within the limiting mechanisms 3.

[0023] The material-picking assembly 4 is mounted on the crossbeam 12 and is used to pick up the box cover 100. The robotic arm 5 is mounted on the sub-support 16 and is used to attach the label 200 to the outside of the box cover 100. The material-picking assembly 4 and the crossbeam 12 are rotatably connected. After the material-picking assembly 4 picks up the box cover 100, it rotates the box cover 100 to a vertical position as it passes the vision sensor 13 and the robotic arm 5.

[0024] When labeling the lids 100, the lids to be labeled are horizontally stacked and placed inside the limiting mechanism 3 for positioning, ensuring that the picking component 4 maintains a consistent posture when picking up each lid 100. Based on this, the robotic arm 5 affixes the label 200 to the designated position on the lid 100. For different lids 100, the vision sensor 13 captures and identifies images before labeling, automatically determining the labeling position. This allows the robotic arm 5 to adjust the labeling position in advance based on the identified label coordinates, preventing labeling quality degradation due to differences in posture or shape. Furthermore, the limiting mechanism 3 can be adjusted according to the size of the lids 100 to be labeled, facilitating the labeling of different sizes of lunchboxes.

[0025] Based on the above implementation scheme, a base plate 17 is fixedly installed at the lower part of the base platform 1 as the positioning and support structure of the turntable 2, and a vertical column 18 is fixedly installed on the upper side of the base plate 17. A center hole 23 is opened at the center of the turntable 2, and the turntable 2 is rotatably connected to the column 18 through the center hole 23. A motor B211 is also fixedly installed on the base plate 17, and a spur gear 210 is coaxially fixedly installed on the motor shaft of the motor B211. An annular column 24 is coaxially fixedly connected to the lower side of the turntable 2, and a spur gear ring 29 is fixedly connected to the lower end of the annular column 24. The spur gear ring 29 meshes with the spur gear 210. The turntable 2 can be driven to rotate by the motor B211.

[0026] In addition, a motor A19 for driving the main support 11 to rotate is fixedly installed at the top of the column 18, and a support base 110 is coaxially fixedly connected to the motor shaft of the motor A19. The main support 11 is fixedly installed on the support base 110. In order to enable the material handling assembly 4 to be stably connected to the external control system, a conductive slip ring 111 is provided on the outside of the motor A19. The outer ring of the conductive slip ring 111 is fixedly connected to the motor A19, and the inner ring of the conductive slip ring 111 is fixedly connected to the support base 110.

[0027] Based on the above implementation scheme, each limiting mechanism 3 includes a stop bar assembly 31 formed by several stop bars. The stop bars in the stop bar assembly 31 form an array structure surrounding the periphery of the box cover 100, limiting the box cover 100. The turntable 2 has a set of sliding grooves corresponding to the stop bars of one stop bar assembly 31. The sliding groove set includes a sliding groove A21 opened radially along the turntable 2 and a sliding groove B22 opened perpendicularly to the sliding groove A21.

[0028] The limiting mechanism 3 includes two stop rod assemblies 31 respectively corresponding to slide grooves A21 and B22. Each stop rod assembly 31 includes a stop rod A311 and a stop rod B312, with the bottom ends of the stop rods A311 and B312 respectively fixedly connected to a slider A313. A horizontal and rotatable bidirectional screw A314 is provided below the stop rods A311 and B312, and the sliders A313 at the bottom ends of the stop rods A311 and B312 are threadedly connected to a threaded portion of the bidirectional screw A314. The stop rods A311 and B312 in the two stop rod assemblies 31 are distributed in a "+" structure. By rotating the bidirectional screw A314, the stop rods A311 and B312 are moved closer or further apart, thus allowing the limiting mechanism 3 to adapt to circular, square, and rectangular lids 100.

[0029] Based on the above implementation scheme, the material handling component 4 includes a rotating block 41 rotatably connected to the crossbeam 12, and a motor C42 fixedly connected to the crossbeam 12. The motor C42 can drive the rotating block 41 to rotate. An electric push rod A43 is fixedly mounted on the rotating block 41. A suction cup frame 45 is fixedly mounted on the movable end of the electric push rod A43. Two sliders B46 are slidably connected inside the suction cup frame 45, and a connecting tube A47 is slidably mounted inside each slider B46. The sliding direction of the slider B46 is perpendicular to the sliding direction of the connecting tube A47, and the sliding direction of the connecting tube A47 is parallel to the axial direction of the electric push rod A43. The two sliders B46 can move closer to or further away from each other. A suction cup A44 is fixedly mounted at the end of the connecting tube A47, and the box cover 100 can be picked up by the suction cup A44.

[0030] When the crossbeam 12 moves the material-grabbing assembly 4 directly above the limiting mechanism 3, the electric push rod A43 drives the suction cup frame 45 downwards, causing the suction cup frame 45 to move the two suction cups A44 towards the inside of the lid 100, allowing the suction cups A44 to adhere to the lid 100. Then, the electric push rod A43 removes the lid 100 from between the stop bars A311 and B312. It is important to note that the angle of the suction cup frame 45 needs to be adjusted to ensure that the suction cup frame 45 does not interfere with the stop bars A311 and B312 during its movement.

[0031] By adjusting the positions of the two sliders B46, the appropriate spacing of the suction cups A44 can be obtained according to the size of the lid 100. Preferably, the spacing of the suction cups A44 is adjusted along the length of the lid 100. This is to increase the stability of picking up and placing the lid 100, and also to prevent the lid 100 from separating from the suction cups A44 due to excessive pressure applied by the robotic arm 5 during subsequent labeling.

[0032] Based on the above implementation scheme, a through hole is formed in the slider B46 corresponding to the connecting pipe A47, and an annular cavity 461 is formed inside the through hole. A limiting ring B48, a spring B410, and a pressure sensor 49 are sleeved on the outside of the connecting pipe A47. The limiting ring B48 is an annular plate fixedly set on the outside of the connecting pipe A47. The spring B410 is located above the sensing end of the pressure sensor 49, and both the sensing end of the pressure sensor 49 and the spring B410 are located below the limiting ring B48.

[0033] With the connecting pipe A47 and slider B46 connected, the limiting ring B48 is located above slider B46, and the outer diameter of the limiting ring B48 is larger than the inner diameter of the through hole on slider B46. The pressure sensor 49 and the spring B410 are located inside the annular cavity 461.

[0034] A threaded sleeve 462 is fixedly mounted on the upper part of slider B46, and its interior has a threaded through hole. A lead screw 411 is rotatably mounted on the suction cup frame 45. The lead screw 411 can be a bidirectional lead screw, or two lead screws can be arranged symmetrically on the same axis. When two lead screws 411 are arranged, a dual-axis motor 412 is provided for each lead screw 411, and the dual-axis motor 412 drives the two lead screws 411 to rotate. The two sliders B46 are respectively threadedly connected to the lead screw 411 through their respective threaded sleeves 462.

[0035] The upper end of each connecting pipe A47 is connected to one end of the air pipe 413. The other end of the air pipe 413, located on the outside of the same cross frame 12, is connected to the air pump inside the equipment box 415. A solenoid valve 414 is installed on the air path of the air pipe 413. The equipment box 415 is fixedly installed on the upper side of the middle part of the cross frame 12.

[0036] This structure allows for adjustment of the spacing between sliders B46, thereby changing the working positions of the two suction cups A44. Pressure sensor 49 provides timely feedback on the force exerted when suction cups A44 press down onto the upper surface of the lid 100.

[0037] Based on the above implementation scheme, the robotic arm 5 includes a steering servo motor A51 fixedly connected to the sub-support 16, which also serves as the base of the robotic arm 5. The drive end of the steering servo motor A51 is fixedly connected to the housing of the swing servo motor 52, and the drive end of the swing servo motor 52 is fixedly connected to one end of the telescopic arm 53. The movable end of the telescopic arm 53 is fixedly connected to a steering servo motor B54, and the movable end of the steering servo motor B54 is fixedly provided with a connecting pipe B55. A suction cup B56 is fixedly provided at one end of the connecting pipe B55 for picking up the label 200, and the other end is connected to the suction end of a vacuum pump via a pipeline. The robotic arm 5, in conjunction with a label conveyor, adsorbs and picks up the label 200, which is existing technology and will not be described in detail here.

[0038] Based on the above implementation scheme, and considering the ease of adjustment of the limiting mechanism 3, the four limiting mechanisms 3 in this scheme adopt a synchronous adjustment method. To achieve this effect, this scheme also includes an adjustment component 6 for adjusting the distance between the drive levers A311 and B312, thereby achieving linkage between the adjustment component 6 and the drive levers A311 and B312. There are multiple ways to achieve this; this scheme provides one of the following: Each end of a bidirectional screw A314 arranged radially along the turntable 2 is equipped with a bevel gear A32, with the bevel gear A32 positioned at the end of the bidirectional screw A314 facing the central axis of the turntable 2. A worm gear 34 is fixedly mounted in the middle of the shaft of another bidirectional screw A314 perpendicular to the aforementioned bidirectional screw A314. A horizontal connecting shaft A36 is rotatably mounted below the turntable 2, with one end of the connecting shaft A36 coaxially fixedly connected to a worm 35, which meshes with the worm gear 34. A bevel gear B37 is fixedly mounted at the other end of the connecting shaft A36. A bevel gear ring A33 and a bevel gear ring B38 are coaxially rotatably mounted below the turntable 2, with bevel gear ring A33 positioned above bevel gear ring B38. Bevel gear A32 meshes with bevel gear ring A33, and bevel gear B37 meshes with bevel gear ring B38. Bearing plate A26 and bearing plate B27 are provided on the lower side of turntable 2, which serve as the rotating connection structure between connecting shaft A36 and bidirectional screw A314.

[0039] With this structure, the distance between the drive levers A311 and B312 can be adjusted simply by enabling the adjusting component 6 to drive the bevel gear rings A33 and B38 to rotate. When the bevel gear rings A33 and B38 rotate, their corresponding bidirectional screws A314 rotate, thereby causing the levers A311 and B312 to move closer or further apart. This achieves synchronous adjustment of all lever assemblies 31.

[0040] Based on the above implementation scheme, to facilitate the rotational connection of the bevel gear rings A33 and B38 to the turntable 2, the bevel gear rings A33 and B38 are respectively fitted onto the outer side of the annular post 24 on the lower side of the turntable 2, and are rotatably connected to the annular post 24. Simultaneously, a limiting ring A25 is also fitted onto the outer side of the annular post 24 on the lower side of the turntable 2, and the limiting ring A25 is located between the bevel gear rings A33 and B38.

[0041] The adjusting assembly 6 includes a motor D66 and a bearing plate D67 fixedly mounted on the outside of the base 1, with the motor D66 serving as the power source. The adjusting assembly 6 has two parallel connecting shafts B63. An annular plate 212 is fixedly mounted on the circumference of the lower surface of the turntable 2, rotatably connected to the base 1 and located inside the base 1. One end of each connecting shaft B63 is rotatably connected to the annular plate 212, and the other end is rotatably connected to the bearing plate C28 on the lower side of the turntable 2. A bevel gear C64 is coaxially fixed to the end of each connecting shaft B63, with the two bevel gears C64 meshing on the outside of bevel gear rings A33 and B38, respectively. The adjustment of the stop lever assembly 31 is achieved through the linkage of the motor D66 with the bevel gear rings A33 and B38.

[0042] Based on the above implementation scheme, the adjustment assembly 6 further includes two sliding shafts 61 slidably disposed on the side wall of the base 1, each corresponding to a connecting shaft B63. The sliding shafts 61 are arranged radially along the base 1, and a protruding shaft 62 is fixedly disposed at the end of each sliding shaft 61 facing the center of the turntable 2. A slot 65 is provided at the end of the connecting shaft B63 facing the sliding shaft 61 corresponding to the protruding shaft 62, allowing the protruding shaft 62 to be inserted into the connecting shaft B63 via the slot 65. The motor D66 is linked to the sliding shafts 61, driving the sliding shafts 61 to rotate.

[0043] By driving two sliding shafts 61 to slide radially within the side wall of the base platform 1, the sliding shafts 61 drive the convex shaft 62 to insert into the slot 65 at the end of the connecting shaft B63, so that the sliding shafts 61 and the connecting shaft B63 are coaxially connected. Then, by driving the sliding shafts 61 to rotate, the bevel gear C64 at the end of the connecting shaft B63 can be driven to rotate, thereby driving the bevel gear ring A33 and bevel gear ring B38 to move.

[0044] After adjustment, the convex shaft 62 is separated from the connecting shaft B63. The connecting shaft B63 is located within the range of the annular plate 212 and does not affect the rotation of the turntable 2. The turntable 2 is driven to rotate by the motor B211. When the turntable 2 rotates, it causes the connecting shaft B63 to be displaced and separated from the sliding shaft 61. The connecting shaft B63 and the turntable 2 rotate synchronously and remain relatively stationary. The worm gear 35 will not rotate, thus maintaining the stable working state of the limiting mechanism 3. When the connecting shaft B63 is aligned with the sliding shaft 61 again, the limiting mechanism 3 can be adjusted again by inserting the convex shaft 62 into the slot 65.

[0045] Based on the above implementation scheme, each sliding shaft 61 is slidably connected to a decorative shaft 610 on the side opposite to the convex shaft 62, with the sliding direction of the decorative shaft 610 being the axial direction of the sliding shaft 61. Each decorative shaft 610 is coaxially and fixedly connected to a toothed pulley 68, and the two toothed pulleys 68 are linked by a toothed belt 69. The housing of the motor D66 is fixedly connected to the bearing plate D67, the motor shaft of the motor D66 is fixedly connected to one of the toothed pulleys 68, and the other toothed pulley 68 is rotatably connected to the bearing plate D67.

[0046] A sliding shaft bracket is provided for each of the two sliding shafts 61. The two sliding shafts 61 are rotatably connected to the sliding shaft bracket and can slide and translate with the sliding shaft bracket. The adjustment component 6 also includes an electric push rod B616, the movable end of which is linked to the sliding shaft bracket.

[0047] This structure allows the sliding shaft 61 to be moved horizontally by the electric push rod B616, enabling it to connect and disconnect from the connecting shaft B63. Furthermore, even if the sliding shaft 61 experiences horizontal displacement during this process, the sliding fit between the spindle 610 and the sliding shaft 61 will not affect the motor D66's ability to drive the sliding shaft 61 to rotate.

[0048] Based on the above implementation scheme, the sliding shaft bracket can adopt various different structural forms. This scheme provides one such form, in which the sliding shaft bracket includes a bushing 611 rotatably mounted on the outside of the sliding shaft 61, and sliding pins 612 fixedly mounted on both sides of the bushing 611. A rotating arm 613 is also provided on each side of the two sliding shafts 61, and each rotating arm 613 has two straight slots 614 corresponding to the sliding pins 612. The sliding pins 612 on the outside of the upper and lower sliding shafts 61 are slidably connected to the rotating arms 613 through the straight slots 614. A connecting sleeve 615 is fixedly mounted at the middle position between the rotating arms 613 on both sides, and the connecting sleeve 615 is rotatably connected to the outside of the base platform 1. The outside of the base platform 1 is connected by an L-shaped plate 112 and an electric push rod B616, which drives one of the bushings 611 to move axially along the sliding shaft 61.

[0049] During adjustment, the electric push rod B616 pushes one of the bushings 611 toward the inside of the base 1, causing the bushing 611 to move the inner sliding shaft 61 to align with its corresponding connecting shaft B63. During this process, the sliding pins 612 on both sides of the bushing 611 slide along the straight slot 614, causing the rotating arm 613 to rotate around the axis of the connecting sleeve 615. The rotating arm 613 then moves the other bushing 611 away from the base 1, thereby distancing the other sliding shaft 61 from the connecting shaft B63.

[0050] When any one of the sliding shafts 61 is connected to the connecting shaft B63, the starting motor D66 drives the toothed pulley 68 to rotate, which in turn drives the sliding shaft 61 to rotate through the flower shaft 610. This achieves separate driving of the bevel gear ring A33 and the bevel gear ring B38. Compared with the traditional method of adjusting with dual motors and dual push rods, the overall system is lighter.

[0051] Based on the above implementation scheme, considering that in actual use, to prevent the stop bars A311 and B312 from causing significant resistance to the box cover 100 when in the limiting position, thus affecting subsequent material handling, the stop bar B312 has an internal hollow structure, and a sliding groove C3121 is provided on the inner side of the stop bar B312. The sliding groove C3121 is a through groove, which is opened towards the stop bar A311 corresponding to the stop bar B312. A T-shaped rod 39 is slidably provided on the side of the stop bar B312 near the stop bar A311 through the sliding groove C3121. A spring A391 is fixedly provided on the side of the T-shaped rod 39 away from the stop bar A311. The spring A391 is located inside the stop bar B312, and a sealing cap 3122 is threadedly connected to the top of the stop bar B312.

[0052] By applying elastic pressure to the T-shaped rod 39 via spring A391, the lid 100 can exert lateral pressure on the T-shaped rod 39 during the stacking of the lids, causing spring A391 to compress and deform. At this time, the distance between the opposite sides of the stop rods A311 and B312 increases, facilitating the placement of the lids 100 between them. After the lids 100 are stacked, compared to simply clamping and limiting the lids 100 with rigid rods, the T-shaped rod 39 provides elastic restraint for the lids 100, resulting in less resistance when the subsequent material handling assembly 4 picks up and places the lids 100.

[0053] Based on the above implementation plan, considering that when the box cover 100 is stacked again after labeling, the box cover 100 may tilt and fall due to the distance between the stop bar A311 and the stop bar B312 after being released from a high position, which may affect the stacking effect during material unloading.

[0054] Therefore, this solution also includes an auxiliary feeding component 7 for driving the movement of the T-shaped rod 39. The position of the feeding component 7 corresponds to the position of the limiting mechanism 3 for feeding on the turntable 2.

[0055] The auxiliary feeding assembly 7 includes a horizontally arranged right-angle frame 71. Sliding sleeves 72 are fixedly installed on the lower sides of the two right-angled sides of the right-angle frame 71, corresponding to sliding grooves A21 and B22 respectively. A sliding plate C73 is slidably connected inside the sliding sleeves 72. An electric push rod C74 is fixedly installed at one end of the sliding plate C73 near the stop bar B312. The movable end of the electric push rod C74 points vertically downwards and is fixedly connected to an electromagnet 75. The right-angle frame 71 is fixedly installed above the stop bar B312 and below the crossbar 12 via a vertical support rod 76.

[0056] A connecting rod 392 is fixedly installed on the side of the T-shaped rod 39 away from the stop rod A311 in the limiting mechanism 3. A sliding plate A393 is fixedly installed on the other end of the connecting rod 392. A vertical sliding groove 394 is opened on the inner side of the sliding plate A393. Trapezoidal protrusions 395 are evenly arranged on the side of the vertical sliding groove 394 away from the T-shaped rod 39. A limiting plate 396 is fixedly installed on the side of the vertical sliding groove 394 close to the T-shaped rod 39. A sliding plate B397 is slidably arranged on the inner side of the vertical sliding groove 394. The sliding plate B397 is slidably arranged on the outside of the limiting plate 396. A trapezoidal groove 398 is provided on the outside of the sliding plate B397 corresponding to the trapezoidal protrusion 395. An adsorption plate 399 is fixedly installed on the top of the sliding plate B397 corresponding to the electromagnet 75. The adsorption plate 399 is made of a material that can be attracted by magnetism.

[0057] When the stop lever B312 is adjusted, the electric push rod C74 drives the electromagnet 75 to abut against the upper end of the adsorption plate 399. After being energized, the electromagnet 75 attracts the adsorption plate 399. Subsequently, driven by the stop lever B312, the electric push rod C74 drives the slide plate C73 to slide inside the sliding sleeve 72, allowing the electric push rod C74 to match the stop lever B312 at different positions. When the turntable 2 drives the limiting mechanism 3 forward, the next stop lever B312 will also move to the lower part of the electromagnet 75 accordingly.

[0058] When the robotic arm 5 places the labeled box cover 100 between the stop bar A311 and the stop bar B312, the sliding plate B397, driven by the electric push rod C74, repeatedly rises and falls along the vertical slide groove 394. This causes the trapezoidal groove 398 on the outer side of the sliding plate B397 to interact with the trapezoidal protrusion 395 on one side of the vertical slide groove 394, creating pressure. Under the action of the sliding plate B397, the sliding plate A393 pushes the T-shaped rod 39 to move radially repeatedly. This causes the box cover 100 between the stop bar A311 and the stop bar B312 to be repeatedly pushed and shaken, eventually turning the tilted box cover 100 into a horizontal state. This ensures that the box covers 100 are neatly stacked after being labeled, facilitating subsequent stacking and unloading.

[0059] Based on the aforementioned labeling equipment, this solution also proposes a labeling method for box lids, including the following steps: S1. Equipment debugging: According to the outer diameter or length and width of the box cover 100 to be labeled, start the adjustment component 6 on the outside of the base 1 to make the adjustment component 6 drive the stop bar A311 and stop bar B312 in each stop bar assembly 31 to adjust the spacing to meet the requirements of correcting the stacking posture of the box cover 100. S2, Stacking and feeding: Place the box cover 100 between each group of baffle assembly 31 in a horizontal stacking manner, and leave the baffle assembly 31 away from the vision sensor 13 empty for stacking the box cover 100 after labeling. S3. Automatic material handling: The main support 11 drives the horizontal frame 12 to rotate, so that the horizontal frame 12 drives one of the material handling components 4 to the labeling position of the robotic arm 5, while the other material handling component 4 is located at the material handling position and directly above the limiting mechanism 3. The stacked box lids 100 can be taken out one by one by driving the suction cup A44 to lift and lower. S4. Visual inspection: When the picking component 4 picks up a box cover 100, the main support 11 drives the cross frame 12 to move towards the detection station of the visual sensor 13. During the movement, the picking component 4 adjusts the angle of the suction cup A44 to change the box cover 100 from a horizontal state to a vertical state. At this time, the outer side of the box cover 100 is close to the detection end of the visual sensor 13, which is used to detect the labeling position of each box cover 100. S5. Automatic labeling: The robotic arm 5 determines the labeling position coordinates of the box cover 100 based on the detection results of the vision sensor 13. When the horizontal frame 12 moves the vertical box cover 100 to the labeling station, the robotic arm 5 attaches the picked-up label 200 to the labeling area on the outside of the box cover 100. S6. Automatic feeding: After labeling, the box cover 100 is positioned above the empty limiting mechanism 3 under the drive of the cross frame 12, and the box cover 100 can be placed inside the limiting mechanism 3 and released by the lifting and lowering of the drive suction cup A44. S7. Vibration stacking: After the box cover 100 is released, the T-shaped rod 39 inside the stop rod B312 is driven to slide radially back and forth by the auxiliary feeding component 7. By shaking the box cover 100 between the stop rod A311 and the stop rod B312, the box cover 100 is horizontally stacked between the stop rod A311 and the stop rod B312. S8. Continue labeling: Repeat steps S3, S4, S5, S6 and S7.

[0060] The combination of equipment and methods in this solution enables fully automated operation, significantly improving production efficiency. The entire labeling process requires minimal manual intervention. From automatic spacing adjustment based on different lid sizes during equipment setup, to stacking and feeding, automatic material handling, and precise labeling position determination via visual inspection, followed by automatic labeling, automatic unloading, and final vibration stacking, each step is seamlessly integrated and highly efficient. Simultaneously, the visual inspection process ensures accurate labeling placement, greatly improving product labeling quality and reducing defect rates due to labeling position deviations. Furthermore, the equipment boasts good versatility, adapting to lids of varying outer diameters (or lengths and widths) for labeling operations, reducing the cost of replacing equipment due to product specification changes. In addition, the automated process reduces potential errors and fatigue from manual operation, improving operational stability and reliability, and providing strong support for efficient, precise, and stable production.

[0061] In this solution, the limiting mechanism 3 in the visual detection-based induction labeling equipment for boxed meals first limits the lid 100 by using two stop rod assemblies 31 in each limiting mechanism 3 after adjustment. This ensures the lid 100 maintains a uniform and stable posture before and after material handling. Furthermore, during lid stacking, lateral compression causes the T-shaped rod 39 to compress the spring A391, increasing the distance between stop rods A311 and B312, facilitating the placement of the lid 100 between them. After stacking, the T-shaped rod 39 provides elastic limiting for the lid 100, preventing subsequent movement of the lid by the robotic arm 5 between stop rods A311 and B312. Significant resistance is generated when picking up and placing items between B312. When the robotic arm 5 places the labeled box cover 100 between the stop bar A311 and the stop bar B312, the slide plate B397 driven by the electric push rod C74 repeatedly rises and falls along the vertical slide groove 394. This causes the trapezoidal groove 398 on the outside of the slide plate B397 to interact with the trapezoidal protrusion 395 on one side of the vertical slide groove 394, resulting in compression. Under the action of the slide plate B397, the slide plate A393 pushes the T-shaped rod 39 to move radially repeatedly. This causes the box cover 100 between the stop bar A311 and the stop bar B312 to be repeatedly pushed and shaken, eventually turning the tilted box cover 100 into a horizontal state, so as to ensure that the box cover 100 is neatly stacked after being labeled.

[0062] It is worth noting that the above-mentioned limiting method has the following advantages: One advantage is that it can accurately ensure the uniform and stable posture of the box lid before and after picking up the material, which greatly improves the accuracy and reliability of the labeling equipment during operation, effectively avoids labeling deviations caused by inconsistent postures, and ensures labeling quality.

[0063] Secondly, during the stacking process, the T-shaped rod 39 compresses the spring A391 by lateral compression, thereby increasing the distance between the stop rods A311 and B312, which facilitates the stacking of the lid 100. After stacking, the T-shaped rod 39 is used to achieve elastic limiting, preventing greater resistance during subsequent picking and placing. This design takes into account both the convenience of stacking and the smoothness of picking and placing, thus improving the overall work efficiency.

[0064] Thirdly, when the lid 100 is tilted, the interaction of the electric push rod C74 and other related components causes the slide plate A393 to push the T-shaped rod 39 to move radially repeatedly, thereby adjusting the tilted lid 100 to a horizontal state. This ensures that the lid 100 is neatly stacked after labeling, improves the aesthetics and neatness of the product stacking, and meets the production requirements for product appearance.

[0065] In the description of this application and its embodiments, it should be understood that the terms "top", "bottom", "height", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0066] In this application and its embodiments, unless otherwise expressly specified and limited, the terms "set," "install," "connect," "link," "fix," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0067] In this application and its embodiments, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0068] The foregoing disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described above. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples; such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. In addition, various specific examples of processes and materials are provided in this application, but those skilled in the art will recognize the application of other processes and / or the use of other materials.

[0069] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0070] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A vision-based inductive labeling device, characterized in that, include: The base platform is a support structure that can be placed on the ground in the working environment. A vertical main support is provided on the upper part of the base platform, and a horizontal frame is provided on the upper end of the main support. The horizontal frame can rotate relative to the base platform. A vision sensor for detecting the label position of the box cover is fixedly installed on the upper side of the base platform. The turntable is rotatably mounted on the base platform, and the turntable and the main support are coaxially rotatably connected. The limiting mechanism has several sets arranged in a circular array on the turntable, and each set of limiting mechanisms can hold stacked box lids; the limiting mechanism is used to adjust and limit the stacking posture of the box lids. The material picking component is connected to the cross frame and can pick up the box lid to be labeled from inside the limiting mechanism. A robotic arm, positioned on the outside of the base, is used to attach labels to the outside of the box lid.

2. The vision-based inductive labeling device as described in claim 1, characterized in that, The main support and the base are rotatably connected; Two crossbars are symmetrically arranged at the top of the main support, and the two crossbars extend to both sides of the main support respectively. The crossbars and the main support are fixedly connected. One material handling component is provided for each crossbeam, and the material handling component is located at the end of the crossbeam away from the main support.

3. The vision-based inductive labeling device as described in claim 2, characterized in that, The limiting mechanism is provided in four sets, one set of which is empty inside and used to hold the box lid after labeling; each limiting mechanism includes: The stop lever assembly is provided in two sets. Each set of stop lever assemblies includes stop lever A and stop lever B. Stop lever A and stop lever B belonging to the same set are slidably connected to the turntable, and stop lever A and stop lever B belonging to the same set can move closer to or further away from each other. The two sets of stop bar assemblies of the same limit mechanism are arranged in a cross shape; Also includes: The adjustment component is linked to the limiting mechanism, and the adjustment component can adjust the distance between the stop bar A and the stop bar B.

4. The vision-based inductive labeling device as described in claim 1, characterized in that, The material handling component includes: Suction cup A is a vacuum suction cup. Suction cup A can pick up the box lid to be labeled from inside the limiting mechanism. The suction cup holder, as the connecting carrier of suction cup A, can rise or fall vertically, and the suction cup holder can rotate relative to the horizontal frame to which it is connected. When the material handling component passes the workstation where the vision sensor and the robotic arm are located, it keeps the box lid in a vertical position.

5. The vision-based inductive labeling device as described in claim 3, characterized in that, The stop assembly of the limiting mechanism also includes: A bidirectional screw A is rotatably mounted below the turntable; the lower ends of the stop rods A and B are respectively threaded to one threaded portion of the bidirectional screw A. The limiting mechanism further includes: A bevel ring A is coaxially rotatably disposed below the turntable; A bevel ring B is coaxially rotatably disposed below the turntable, with a gap between bevel ring B and bevel ring A; In the limiting mechanism, the two bidirectional screws A in the two sets of stop rod assemblies are linked to the bevel ring A and the bevel ring B respectively. The bevel ring A and the bevel ring B can drive the bidirectional screw A to rotate. The adjustment component is linked to bevel ring A and bevel ring B, and the adjustment component can drive bevel ring A or bevel ring B to rotate respectively.

6. The vision-based inductive labeling device as described in claim 5, characterized in that, The four limiting mechanisms share a single bevel ring A and a single bevel ring B; The adjustment component includes: Two connecting shafts B are horizontally rotatably mounted below the turntable. A bevel gear C is fixedly installed coaxially at the end of each connecting shaft B; One of the bevel gears C on the connecting shaft B meshes with the bevel gear ring A, and the other bevel gear C on the connecting shaft B meshes with the bevel gear ring B. Motor D, as the power source of the adjustment component, can be linked with the two connecting shafts B respectively.

7. The vision-based inductive labeling device as described in claim 6, characterized in that, The two connecting shafts B are arranged in parallel with one above the other; a slot is provided at the end of the connecting shaft B away from the bevel gear C; the adjustment assembly also includes: A sliding shaft is provided for each of the connecting shafts B, and the sliding shaft is horizontally slidably connected to the base; the sliding shaft is linked with the motor D, and the motor D can drive the sliding shaft to rotate; the sliding shaft can be inserted into the connecting shaft B through a slot, and when the sliding shaft and the connecting shaft B are inserted, the sliding shaft can drive the connecting shaft B to rotate; The electric push rod B is linked with the sliding shaft, and the electric push rod B can drive one of the sliding shafts to move toward or away from its corresponding connecting shaft B.

8. The vision-based inductive labeling device as described in claim 3, characterized in that, The stop lever B has an internal hollow structure, and the stop lever assembly further includes: Slide C is a through groove formed on the body of stop bar B; slide C is formed facing stop bar A in the same stop bar assembly; The T-shaped rod is slidably connected to the stop bar B via the slide groove C, and the T-shaped rod is located on the side of the stop bar B facing the stop bar A; Spring A is located on the side of the T-shaped rod opposite to the stop bar A.

9. The vision-based inductive labeling device as described in claim 8, characterized in that, Also includes: An auxiliary feeding component is disposed on one side of the limiting mechanism used for feeding, and the auxiliary feeding component can drive the T-shaped rod to vibrate in the horizontal direction.

10. A labeling method, characterized in that, Using the vision-based inductive labeling device according to any one of claims 1-9, the method includes the following steps: S1. Adjustment: According to the shape of the box lid to be labeled, adjust the distance between the stop bar A and the stop bar B in the limiting mechanism to meet the requirements for correcting the stacking posture of the box lid; S2, Loading: Place the horizontally stacked box lids into the limiting mechanism, and leave the baffle assembly away from the vision sensor empty for stacking the labeled box lids; S3. Material Picking: By rotating the horizontal frame, a material picking component is positioned directly above one of the limiting mechanisms; drive the suction cup A to move and remove the topmost box cover inside the limiting mechanism; S4. Inspection: The cross frame moves the material handling component to the inspection station of the vision sensor. During the movement, the material handling component adjusts the lid to a vertical position. The labeling position of the lid is determined by the image acquisition end of the vision sensor, and the inspection result is fed back to the robotic arm. S5. Labeling: The robotic arm determines the labeling position coordinates of the box lid based on the detection results of the vision sensor; when the horizontal frame moves the vertically positioned box lid to the labeling station, the robotic arm affixes the picked-up label to the labeling area on the surface of the box lid. S6. Unloading: The horizontal frame rotates, causing the labeled box lid to move above the limiting mechanism at the unloading station; the picking component releases the box lid inward toward the limiting mechanism; S7. Stacking: The T-shaped rod inside the stop bar B vibrates horizontally back and forth, shaking the box cover between the stop bar A and the stop bar B, so that the box cover is stacked horizontally between the stop bar A and the stop bar B. S8. Repeat steps S3 to S7.

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