Full-automatic labeling device for beer bottles and labeling method thereof

Abstract

The application discloses a full-automatic label-attaching device for beer bottles and a label-attaching method thereof, relates to the technical field of automatic label-attaching equipment, and solves the problems of low manual feeding efficiency, easy label paper skew, small label storage capacity and the incapability of synchronously supplying labels for the label-attaching ring of the existing rotating disc label-attaching device. The device comprises an equipment rack, a double-station label storage bin mechanism, a robot module and an automatic displacement connection mechanism. The robot module is arranged between the double-station label storage bin mechanism and the automatic displacement connection mechanism, is used for grabbing the label storage box output by the double-station label storage bin mechanism, and is used for transferring and conveying the label storage box to the automatic displacement connection mechanism. The automatic displacement connection mechanism comprises a label paper positioning and arranging device and a photoelectric detection servo block device. The label paper positioning and arranging device and the photoelectric detection servo block device are arranged side by side on a base connected with a label-attaching station along the label paper conveying direction, are used for detecting the label paper reserve in real time, and are used for driving the label paper to move horizontally on the label paper positioning and arranging device to the label-attaching station.

Description

Technical Field

[0001] This invention relates to the field of automated labeling equipment technology, specifically to a fully automatic labeling device for beer bottles and its labeling method. Background Technology

[0002] In existing rotary labeling production lines, the label feeding mechanism generally adopts a traditional side-shifting label feeding structure. The production process mainly relies on manual loading of labels one box at a time, resulting in a low overall level of automation and several production drawbacks: 1. Traditional label paper supply equipment has limited label storage capacity, with a small number of label boxes and a small amount of label paper storage per batch. During the production process, it requires frequent manual intervention to change labels and replenish materials, and the replenishment operation requires the production line to be stopped. At the same time, when changing product lines or label paper specifications, the operation process is cumbersome and the debugging is time-consuming. The equipment has poor versatility and adaptability and cannot support long-term continuous production.

[0003] 2. The existing side-shifting label feeding mechanism has uneven force when pushing the label storage box, resulting in poor label paper feeding stability. It is very easy for label paper to become skewed, misaligned, or stuck, leading to a high labeling defect rate and increasing the cost of defective products and equipment maintenance.

[0004] 3. Existing equipment is not compatible with simultaneous supply of body labels and ring labels. The two types of labels need to be manually fed and managed separately. The workstations rely on manual operation for a long time, resulting in high labor costs.

[0005] 4. The existing labeling replenishment mechanism lacks an automated transfer and connection structure. When the label paper is exhausted or the label storage box is empty, it cannot be automatically identified and replenished. Manual replacement of the label box must be carried out on-site, which makes it impossible to achieve unmanned continuous production at the labeling station.

[0006] Therefore, there is an urgent need for an automated labeling device that can achieve large-capacity label storage, automatic label retrieval and replenishment by robots, simultaneous supply of body ring labels, compatibility with existing rotary table hosts, and minimal equipment modification. Summary of the Invention

[0007] To address the shortcomings and deficiencies of existing technologies, this invention provides a fully automated labeling device and method for beer bottles, which features simultaneous supply of body and ring labels, automatic robot labeling and box picking, full automation without human intervention, reduced labeling defect rate, increased continuous production time, minimal modifications to the original host, and compatibility with multiple product specifications and line changes.

[0008] To achieve the above objectives, the present invention provides the following technical solution: The fully automatic labeling device for beer bottles provided by the present invention includes an equipment frame, a dual-station label storage silo mechanism, a robot module, and an automatic transfer and connection mechanism; The robot module is located between the dual-station label storage bin mechanism and the automatic transfer and connection mechanism. It is used to grab the label boxes output by the dual-station label storage bin mechanism and transfer the label boxes to the inlet end of the automatic transfer and connection mechanism. The automatic shifting and connecting mechanism includes a support frame, a label paper positioning and sorting device, and a photoelectric detection servo lever device. The photoelectric detection servo lever device and the label paper positioning and sorting device are arranged in pairs and side by side on the support frame, and each set of photoelectric detection servo lever devices is set on the support frame at a height higher than the corresponding label paper positioning and sorting device. The label paper positioning and sorting device is used to receive the label paper transferred in by the robot module and transport it from the inlet end to the outlet end in a back-to-foreign direction, and to guide and limit the transmission of the label paper. The photoelectric detection servo lever device is used to detect the remaining position of the label paper on the label paper positioning and sorting device in real time, and drive the label paper to move horizontally on the label paper positioning and sorting device from back to front and transport it to the labeling station. The automatic transfer and connection mechanism consists of a body marker automatic transfer and connection mechanism and a ring marker automatic transfer and connection mechanism that are matched with the dual-station marker storage bin mechanism. The two are arranged in a parallel structure on the support frame in two layers.

[0009] Preferably, the label paper positioning and sorting device includes a label paper conveying platform, a top label gantry, and a label paper limiting frame. The label paper conveying platform is horizontally mounted on the support frame along the label paper conveying direction. It is equipped with a V-shaped sliding guide transport channel that matches the bottom of the label storage box. Each label paper conveying platform guide transport channel is equipped with limiting guide spokes on both sides to restrict the outward movement of the label storage box. The label paper limiting frame is fastened to the exit end of the guide transport channel of the label paper positioning and sorting device, forming a through channel port with the guide transport channel. The internal contour of the through channel port matches the shape and size of the label paper. After the label paper moves forward from the inlet end along the label paper conveying platform into the through channel port of the label paper limiting frame, it is then guided and limited by the inner wall of the through channel port, that is, its shape is constrained and regulated. The top label gantry is horizontally mounted above the label paper conveying platform. It can slide back and forth along the label paper conveying platform via a photoelectric detection servo block device. The width between the vertical support rods on both sides of each top label gantry is greater than the width of the label paper conveying platform. The distance between the top label gantry and the label paper conveying platform is greater than the height of the label paper. Movable baffles are connected to the vertical support rods on both sides of the top label gantry via one-way torsion springs. The one-way torsion springs restrict the movable baffles to rotate only in the direction of label paper transport to open and reset, and they cannot rotate in the opposite direction of label paper transport. When relabeling is required, the robot module pushes the labels out of the label storage box. As the labels move forward, driven by the first drive mechanism, they push against the movable baffles on both sides. The movable baffles open forward under the limiting action of the one-way torsion springs. After each set of labels has completely passed through the movable baffles, the movable baffles rotate backward to reset to the closed state under the elastic tension of the one-way torsion springs. Then, the movable baffles on both sides of the label-topping gantry begin to push the labels forward to perform the relabeling operation. After the labeling operation is completed, the top label gantry is driven to move backward by the first drive mechanism. The label paper located behind the top label gantry further pushes open the movable baffle, so that the movable baffle opens forward again along the rotation. The top label gantry can then retreat back to the initial standby position along the label paper conveying platform.

[0010] Preferably, the photoelectric detection servo lever device includes a first slide rail, a first slider, an L-shaped lever, and a first servo motor electrically connected to the photoelectric detection control system. The first slide rail and its first support base are arranged parallel to the label paper conveying platform on the support frame. The first slider is slidably connected to the first slide rail. The first servo motor is located at one end of the inlet of the first slide rail and is connected to the first slider through a screw transmission mechanism to drive the first slider to slide back and forth along the first slide rail. The L-shaped lever includes a first longitudinal block and a second transverse block, which are respectively arranged perpendicularly and parallel to the label paper conveying platform. The outer end of the first longitudinal block of the L-shaped lever is connected to the first slider and slides synchronously with the first slider. The outer end of the second transverse block of the L-shaped lever is vertically connected to one side of the top beam of the top label gantry. When the first slider moves forward, the L-shaped lever pulls the top label gantry to move the label paper forward synchronously.

[0011] Preferably, the photoelectric detection servo lever device further includes a photoelectric detection device electrically connected to the photoelectric detection control system. The photoelectric detection device is mounted on the first support base of the first slide rail, and the installation position of the photoelectric detection device is higher than that of the label paper conveying platform. The photoelectric detection device specifically includes photoelectric sensors A, B, and C, which are arranged at intervals from back to front along the label paper conveying platform. Among them, photoelectric sensor A is installed on the first support base corresponding to the label paper limiting frame, and is used to detect the position signal of whether the top label gantry has moved to the label replenishment position; photoelectric sensor B is installed on the first support base corresponding to the initial standby position of the top label gantry, and is used to detect the position signal of the L-shaped toggle block resetting to the position; photoelectric sensor C is installed on the first support base corresponding to the position of the adjacent label paper limiting frame, and is used to detect the position signal of the remaining amount of label paper in the top label gantry in real time. When the C photoelectric sensor detects that the remaining label paper has dropped to the threshold, the photoelectric detection control system controls the first servo motor to drive the first slider to move the L-shaped block forward. The L-shaped block pulls the top label gantry to slide forward along the label paper conveying platform, moving the label paper to the point where it contacts the front label paper for relabeling. After relabeling is completed, the photoelectric detection control system controls the first servo motor to drive the first slider to return backward. When it returns to the standby area, the B photoelectric sensor detects the top label gantry and pauses the backward movement, waiting for the next relabeling operation command from the photoelectric detection control system.

[0012] Preferably, the dual-station label storage silo structure includes a body label storage silo and a ring label storage silo; The two sets of label paper positioning and sorting devices and photoelectric detection servo lever devices of the body label automatic transfer and connection mechanism and the ring label automatic transfer and connection mechanism are set up in parallel layers on the upper and lower sides and operate independently. They are used to position and sort two different types of label paper in the dual-station label storage silo mechanism and simultaneously replenish and transport them for subsequent labeling operations.

[0013] Preferably, the equipment frame also includes a first frame and a second frame connected side-by-side. The first frame is used to support the dual-station label storage bin mechanism. Specifically, the first frame is a rectangular three-dimensional frame composed of horizontal support beams and vertical support beams. Its internal left and right side walls are respectively equipped with a body label storage bin and a ring label storage bin for storing the two types of label boxes in layers. Located in the middle of the first frame, near the side wall of the second frame, a connecting platform corresponding to the storage boxes in the two storage bins is connected by a second transverse support beam; The second frame is used to support the robot module; the second frame is specifically a C-shaped frame composed of a second support frame, a top horizontal mounting platform, and a bottom horizontal mounting platform; robot mounting seats are respectively installed on the upper surface of the bottom horizontal mounting platform and the lower surface of the top horizontal mounting platform, for installing robot modules that are respectively matched with the automatic body marker shifting and docking mechanism and the automatic ring marker shifting and docking mechanism.

[0014] Preferably, the dual-station label storage bin mechanism includes a body label storage bin, a ring label storage bin, and a servo lifting mechanism; Both the body label storage silo and the ring label storage silo are equipped with multi-layer label box carrying platforms. The label box carrying platforms are supported in layers by multiple horizontal support rods installed inside the first frame. Each layer of the label box carrying platform has multiple label boxes arranged in parallel, and the front end of each label box is equipped with a flip-type label baffle. The storage boxes in the body marker storage bin are rectangular frame boxes that match the shape of the body marker, while the storage boxes in the ring marker storage bin are arc-shaped frame boxes that match the shape of the ring marker. The storage bins are vertically connected to both sides of a rectangular three-dimensional frame via a servo lifting mechanism. The servo lifting mechanism includes a second drive motor, a lifting rail, and a vertical lifting plate. The lifting rail is located on the left and right side walls inside the rectangular three-dimensional frame. The vertical lifting plate is slidably connected to the inner side of the lifting rail, and a lifting hook is provided on the vertical lifting plate. The second drive motor is located at the upper end of the lifting rail, and its output end is connected to the vertical lifting plate via a lead screw drive pair. A clamping and limiting device is also connected to the vertical lifting plate to lock and position the storage bins suspended by the lifting hooks.

[0015] A horizontal support shaft is fixed to the bottom of the storage bin. The horizontal support shaft of the corresponding storage bin is connected to the lifting hook on the vertical lifting plate, thereby driving the corresponding storage bin to rise and fall synchronously with the vertical lifting plate. A pusher is located at the bottom of the label storage hopper. When the label paper in the storage hopper is used up, the servo lifting mechanism lowers the storage hopper to the bottom of the equipment frame. The lifting hook on the vertical lifting plate disengages from the horizontal support shaft on the back of the storage hopper, and the pusher moves the entire storage hopper horizontally out for refilling of the label box.

[0016] Preferably, a horizontal servo pusher device matching the connecting platform is provided between the body marker storage bin and the ring marker storage bin. The servo pusher device includes two sets of third servo motors, a third longitudinal guide rail, a third guide rail drive unit, and a pusher arm. A third longitudinal support beam and a pusher bracket are connected between the two transverse support beams at the top of the first rectangular three-dimensional frame. Two sets of parallel third longitudinal guide rails are installed at the bottom of the pusher bracket, and each third longitudinal guide rail is connected to a third guide rail drive unit and a pusher arm. Two third servo motors are located at both ends of the pusher bracket, and their output shafts are respectively connected to the third guide rail drive unit via a synchronous belt transmission mechanism. Two pushers are arranged horizontally opposite each other, extending into the body marker storage bin and the ring marker storage bin, respectively. After the label box carrying platform lifts the label box to the ready-to-be-delivered position, the control system controls the third guide rail drive and push arm of the servo pusher to smoothly push the single-layer label box onto the receiving platform in sequence.

[0017] Preferably, the robot module includes two five-axis robots. The fixed ends of the two five-axis robots are respectively mounted on robot mounting bases on the top and bottom horizontal mounting platforms, and the working ends of the two five-axis robots are staggered relative to each other, and are respectively used to grip the storage boxes on the body label storage bin and the ring label storage bin. The working end of the five-axis robot is connected to a clamping assembly, which includes a gripper cylinder, a wedge clamping structure, and a top label cylinder. The gripper cylinder is located on the end flange support plate of the five-axis robot, and its output end is connected to the wedge clamping structure. The gripper cylinder drives the wedge clamping structure to open and close, thereby clamping and positioning the label box. The top label cylinder is mounted on the flange support plate above the wedge-shaped clamping structure, with the piston rod of the top label cylinder facing inward towards the inside of the label storage box. After the clamping assembly clamps the label storage box and moves it to the end of the label paper positioning and sorting device, the piston rod of the top label cylinder extends forward, pushing the stacked label papers inside the label storage box outward, so that the label papers are sent into the top label gantry, completing the label paper pre-feeding process.

[0018] A labeling method for a fully automatic beer bottle labeling device includes the following steps: S1 loading stage: The operator loads the label storage boxes filled with labels into the label storage bins at the body label station and the ring label station in batches, closes the bin doors, and the whole equipment starts to run automatically; S2 hopper feeding: The servo lifting mechanism drives the entire layer of label box carrying platform to rise to the docking platform. After being lifted into place, the clamping and limiting components lock and position the label box carrying platform. The push arms of the two servo pusher devices move forward horizontally, smoothly pushing the storage boxes on the label box carrying platform to the label box receiving platform to wait for clamping; S3 Robot Box Retrieval: Two five-axis robots start in response to each other. The end gripper assembly uses a gripper cylinder to drive a wedge clamp to clamp the storage box on the docking platform. The five-axis robot then moves the storage box to the end of the label paper positioning and sorting device. S4 label feeding: The five-axis robot feeds the label storage boxes into the rear end of the label paper positioning and sorting device. The piston rod of the top label cylinder on the clamping assembly pushes the label paper inside the label storage box forward. The label paper moves forward and pushes the movable baffles on both sides of the top label gantry to open outward. After the label paper has completely passed through the movable baffles, the movable baffles rotate counterclockwise and close under the action of the torsion spring, pressing against the back of the label paper to prevent the label paper from scattering. Once all the labels inside the label storage box have been ejected, the five-axis robot picks up the empty label storage box, transfers it to the receiving platform along a preset path, and then pushes it back into the corresponding label storage bin, resetting it to the standby origin. S5 label storage shifting cycle: When the C photoelectric sensor detects in real time that the remaining amount of label paper is lower than the set threshold, the L-shaped lever pulls the top label gantry to push the label paper forward and send it into the front label paper limiting frame. The label paper limiting frame constrains and straightens the shape of the label paper, completing the label replenishment positioning. After photoelectric sensor A detects that the top label gantry has arrived at the label replenishment station, the L-shaped lever pulls the top label gantry back to the initial standby area of ​​photoelectric sensor B. S6 Circular Feeding: After all the single-layer label boxes are removed, the servo lifting mechanism rises one layer, the servo pushing box device continues to discharge material, the robot transfers the material, and the label paper is replenished. The entire process continues until all the label boxes in the warehouse are consumed, and the equipment prompts for replenishment. S7 Dual-label Synchronous Operation: Two sets of label paper positioning and sorting devices and photoelectric detection servo toggle devices arranged in upper and lower layers can operate independently, respectively corresponding to the relabeling process of different types of label paper. Two five-axis robots move synchronously to realize the synchronous automated labeling operation of different types of label paper.

[0019] The fully automatic labeling device and method for beer bottles provided by this invention have the following beneficial effects: (1) The beer bottle labeling device of the present invention has a compact overall structure and a high degree of automation. Through the cooperation of the dual-station label storage silo structure, servo precision conveying structure, dual robot collaborative transfer structure and photoelectric detection automatic shifting and connecting mechanism, the device achieves full-process automated operation of dual-station label storage, servo automatic conveying of label storage box, robot automatic transfer, automatic positioning and sorting of label paper and automatic identification and replenishment of excess label, which significantly improves the overall automation level and production efficiency of the production line.

[0020] Meanwhile, this invention employs a five-axis robot to precisely deliver labels to the rear end, coupled with a bottom V-shaped low-friction slide conveyor structure, ensuring uniform force and smooth transport of the label storage box. Furthermore, the multi-positioning structure, featuring a front-mounted label cylinder for tightening and limiting, guide spokes on both sides for full-process guidance and constraint, and a front-end label paper limiting frame with a regular shape, solves problems such as skewed, misaligned, and jammed label paper transport in traditional methods. This effectively reduces the labeling defect rate and equipment maintenance costs, while ensuring labeling accuracy and production stability.

[0021] This invention employs two sets of label paper positioning and sorting and servo-driven label replenishment mechanisms arranged independently in upper and lower layers, coupled with two staggered five-axis robots working independently and collaboratively. It can simultaneously and independently supply body labels and ring labels in parallel feeding, transfer and replenishment operations, realizing synchronous, independent and unmanned supply of the two types of labels, effectively reducing the cost of manual operation and human error.

[0022] (2) The device of the present invention is equipped with a PLC controller and multiple sets of detection elements such as photoelectric A / B / C three sets of position sensors, hopper lifting position sensor, robot origin sensor, etc. It can accurately identify the remaining amount of label paper, the position of the top label gantry station, the reset status of the L-shaped push block, the presence or absence of the storage box, and the signal of the hopper lifting position in real time. The device can automatically complete the entire production process from hopper lifting and positioning → automatic discharge of the storage box → automatic robot gripping and transfer → automatic feeding of the label hopper → automatic monitoring of the remaining amount of label paper → automatic label replenishment and reset → automatic recycling of empty storage boxes in a closed loop. This realizes the automation upgrade of the labeling station and meets the unmanned and continuous operation requirements of modern production lines.

[0023] (3) The device of the present invention can be directly connected to the side station of the original turntable labeling host without changing the host turntable, core labeling mechanism and original production process. The original product SKU production, line change and maintenance process can be completely retained. At the same time, the equipment can be adapted to the production of multiple specifications of label paper. With the automatic shifting and connecting mechanism and the pull-out hopper feeding structure, the label changing and specification changing debugging operation is simple and convenient, the line change time is short, and the equipment adaptability and versatility are effectively improved. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall structure of the fully automatic labeling device for beer bottles of the present invention; Figure 2 for Figure 1 A schematic diagram of the automatic transfer and connection mechanism in China; Figure 3 for Figure 2 A schematic diagram of the label paper positioning and sorting device and the photoelectric detection servo lever device; Figure 4 This is a schematic diagram of the dual-station standard material storage silo mechanism in this invention; Figure 5 for Figure 4 A schematic diagram of the structure of the dual-station standard material storage silo mechanism (front view). Figure 6 This is a schematic diagram of the servo pusher device in this invention; Figure 7 This is a schematic diagram of the robot module in this invention.

[0025] In the diagram: 1. First frame; 2. Dual-station label storage silo mechanism; 3. Robot module; 4. Automatic transfer and connection mechanism; 401. Automatic transfer and connection mechanism for body labels; 402. Automatic transfer and connection mechanism for ring labels; 5. Label paper positioning and sorting device; 6. Photoelectric detection servo lever device; 7. Label paper conveying platform; 8. Top label gantry frame; 9. Label paper limiting frame; 10. Movable baffle; 11. First slide rail; 12. First slider; 13. L-shaped lever; 14. A photoelectric sensor; 15. B 16. Photoelectric sensor; 17. C-type photoelectric sensor; 18. Second frame; 19. Second transverse support beam; 20. Connecting platform; 21. Body marker station storage bin; 22. Ring marker station storage bin; 23. Lifting rail; 24. Transverse support shaft; 25. Vertical lifting plate; 26. Lifting hook; 27. Third longitudinal support beam; 28. Push box bracket; 29. ​​Third guide rail drive component; 30. Push arm; 31. Gripper cylinder; 32. Wedge clamping structure; 33. Top marker cylinder; 44. Storage box. Detailed Implementation

[0026] The technical solutions of the present invention 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.

[0027] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," 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 or an electrical 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 invention according to the specific circumstances. Example 1

[0028] Please see Figures 1-7 The present invention provides a technical solution: like Figure 1 As shown, the fully automatic labeling device for beer bottles includes a machine frame, a dual-station label storage bin mechanism 2, a robot module 3, and an automatic transfer and connection mechanism 4. The machine frame is the basic structure supporting the entire machine. The dual-station label storage bin mechanism 2 and the robot module 3 are installed inside the machine frame. The robot module 3 is located between the dual-station label storage bin mechanism 2 and the automatic transfer and connection mechanism 4. It is used to grab the label storage box 33 output by the dual-station label storage bin mechanism 2 and stably transfer the label storage box 33 full of label paper to the working station of the automatic transfer and connection mechanism 4 according to the preset motion trajectory.

[0029] like Figure 2 As shown, the automatic transfer and connection mechanism 4 is specifically a label paper sorting and automatic label replenishment mechanism. The automatic transfer and connection mechanism 4 includes a support frame, a label paper positioning and sorting device 5, and a photoelectric detection servo lever device 6. The label paper positioning and sorting device 5 and the photoelectric detection servo lever device 6 are arranged in pairs side-by-side on the support frame, with each pair of photoelectric detection servo lever devices 6 positioned at a height higher than the corresponding label paper positioning and sorting device 5. Their positions are matched, and their actions are coordinated and linked, connecting as a whole to the external labeling station. The label paper positioning and sorting device 5 is used to receive the label paper transferred from the robot module 3 and transport it from the inlet end to the outlet end in a back-to-foreign direction, guiding, shaping, and positioning the label paper during the transport process. The photoelectric detection servo toggle device 6 is used to monitor the remaining amount of label paper on the label paper positioning and sorting device 5 in real time. When the remaining amount of label paper is detected to be lower than the preset operation threshold, the device drives the label paper to move horizontally on the label paper positioning and sorting device 5 from back to front and transport it to the labeling station. The device continuously replenishes and pushes the label paper to the rear labeling station, realizing a fully automatic operation process of intelligent detection, automatic label replenishment and continuous conveying of label paper.

[0030] like Figure 3 As shown, the label paper positioning and sorting device 5 includes a label paper conveying platform 7, a top label gantry 8, and a label paper limiting frame 9. The label paper conveying platform 7 is horizontally mounted on the support frame along the label paper conveying direction, providing a stable bearing benchmark for label paper conveying. The label paper conveying platform 7 is equipped with a V-shaped sliding surface guide transport channel that matches the bottom of the label storage box 33, used to center and guide the label paper, reduce the sliding friction of the label storage box 33, and ensure smooth and non-deviation-free transfer. Furthermore, both sides of the label paper conveying platform 7 are equipped with limiting guide spokes that restrict the outward movement of the label storage box on both sides. The guide spokes on both sides cooperate with each other to limit and guide the label paper from both sides, further constraining the label paper conveying trajectory and preventing the label paper from being skewed or deviated.

[0031] The label holder 9 is fastened to the exit end of the guide transport channel of the label positioning and sorting device 5, forming a through channel port with the guide transport channel. The internal contour of the through channel port matches the shape and size of the label. The label moves forward from the inlet end along the label conveying platform 7 into the through channel port of the label holder 9. The label is then guided and limited by the inner wall of the through channel port. Through the all-round constraint of the inner wall of the cavity, the shape of the label is rectified and corrected, completely eliminating the label wrinkles, curling edges, misalignment and other defects. The label is accurately positioned before being conveyed, ensuring the subsequent labeling accuracy.

[0032] The top label gantry 8 is horizontally mounted above the label paper conveying platform 7. Driven by a photoelectric detection servo lever device 6, it can slide back and forth along the label paper conveying platform 7. The width between the vertical support rods on both sides of each top label gantry 8 is greater than the width of the label paper conveying platform 7, and the distance between the top label gantry 8 and the label paper conveying platform 7 is greater than the height of the label paper. This provides lateral and vertical movement allowance for stacking labels, ensuring smooth entry of labels into the gantry. Movable baffles 10 are connected to the vertical support rods on both sides of the top label gantry 8 via one-way torsion springs. These one-way torsion springs restrict the movable baffles 10 to rotate only in the label paper conveying direction, preventing rotation in the opposite direction.

[0033] When a relabeling operation is required, the robot module 3 pushes the label paper out of the label storage box 33. As the label paper moves forward driven by the first drive mechanism, it pushes against the movable baffles 10 on both sides. The movable baffles 10 open forward under the limiting action of the one-way torsion spring. After each set of label paper has completely passed through the movable baffles 10, the movable baffles 10 rotate backward to reset to the closed state under the elastic tension of the one-way torsion spring. At this time, the movable baffles 10 on both sides, which are in the closed state, fit against the rear end face of the label paper, which can form a limiting block for the label paper and prevent the label paper from becoming loose or rebounding. Then, the movable baffles 10 on both sides of the label gantry 8 start to steadily push the label paper forward along the label paper conveying platform 7 to perform the relabeling operation. After the labeling operation is completed, the top label gantry 8 is driven to move backward by the first drive mechanism. The label paper located behind the top label gantry 8 further pushes open the movable baffle 10, so that the movable baffle 10 opens forward again along the rotation. The top label gantry can then retreat back to the initial standby position along the label paper conveying platform 7.

[0034] The photoelectric detection servo lever device 6 is specifically the core actuator for label paper balance monitoring and automatic label shifting and replenishment. It includes a first slide rail 11, a first slider 12, an L-shaped lever 13, and a first servo motor electrically connected to the photoelectric detection control system. The first slide rail 11 and its first support base are arranged parallel to the label paper conveying platform 7 on the support frame. The first slider 12 is slidably connected to the first slide rail 11. The first servo motor is located at one end of the inlet of the first slide rail 11 and is connected to the first slider 12 through a screw transmission mechanism, driving the first slider 12 to reciprocate linearly along the first slide rail 11. The L-shaped lever 13 includes a first longitudinal block and a second transverse block arranged perpendicularly and parallel to the label paper conveying platform 7, respectively. The outer end of the first longitudinal block of the L-shaped lever 13 is connected to the first slider 12 and slides synchronously with the first slider 12. The outer end of the second transverse block of the L-shaped lever 13 is vertically connected to the upper part of one side of the top beam of the top label gantry 8. When the first slider 12 moves forward, the L-shaped lever pulls the top label gantry 8 to synchronously convey the label paper forward.

[0035] The photoelectric detection servo lever device 6 also includes a photoelectric detection device electrically connected to the photoelectric detection control system. The photoelectric detection device is mounted on the first support base of the first slide rail 11, and its installation position is higher than that of the label paper conveying platform 7. The photoelectric detection device includes photoelectric sensors A 14, B 15, and C 16 arranged sequentially from back to front along the label paper conveying platform 7 at intervals. Among them, photoelectric sensor A 14 is mounted on the first support base corresponding to the label paper limiting frame 9 and is used to detect the position signal of whether the top label gantry 8 has moved to the label replenishment position; photoelectric sensor B 15 is mounted on the first support base corresponding to the initial standby position of the top label gantry 8 and is used to detect the position signal of the L-shaped lever 13 resetting to the position; photoelectric sensor C 16 is mounted on the first support base adjacent to the position of the label paper limiting frame 9 and is used to detect the position signal of the remaining amount of label paper in the top label gantry 8 in real time. The entire equipment is equipped with a PLC controller. During operation, photoelectric sensor C16 monitors the remaining label paper level in real time. When photoelectric sensor C16 detects that the remaining label paper level has dropped to a threshold, the equipment automatically triggers a relabeling program. The photoelectric detection and control system controls the first servo motor to drive the first slider 12, which in turn moves the L-shaped lever 13 forward. The L-shaped lever 13 pulls the top label gantry 8 forward along the label paper conveying platform 7, moving the label paper to contact the front label paper for relabeling, ensuring uninterrupted label paper conveying. After relabeling, the photoelectric detection and control system controls the first servo motor to drive the first slider 12 and the L-shaped lever 13 to return to their original position. The top label gantry 8 then slides backward. When it returns to the standby area, photoelectric sensor B15 detects the top label gantry 8 and pauses the backward movement, waiting for the next relabeling command from the photoelectric detection and control system.

[0036] This invention achieves fully automated operation of the entire process of label paper storage, robot transfer, posture correction, and intelligent label replenishment through the cooperation of a dual-station label storage silo mechanism 2, a robot module 3, and an automatic transfer and connection mechanism 4. The label paper conveying platform 7, guide spokes, and front-end label paper limiting frame 9 work together to effectively correct the label paper conveying posture, eliminating label paper offset, wrinkles, and misalignment. A movable baffle 10 controlled by a one-way torsion spring enables adaptive actions such as label paper feeding avoidance, feeding limit, and return stroke anti-interference. Simultaneously, multiple sets of photoelectric sensors provide real-time sampling in conjunction with precise servo screw drive, intelligently identifying label paper balance, automatically completing label replenishment and repositioning, and mechanism reset. The closed-loop control is precise and reliable, significantly improving label paper conveying stability and label replenishment continuity, effectively replacing traditional manual feeding and label replenishment methods, reducing labor costs and label defect rates, and adapting to the needs of automated continuous labeling production. Example 2

[0037] like Figure 4As shown, the dual-station standard material storage silo mechanism includes a body standard material storage silo and a ring standard material storage silo. like Figure 2 and Figure 3 The automatic transfer and connection mechanism shown is a body label automatic transfer and connection mechanism and a ring label automatic transfer and connection mechanism that are matched with the dual-station label storage silo mechanism. The two are arranged in parallel layers on the support frame. The two sets of label paper positioning and sorting devices 5 and photoelectric detection servo toggle devices 6 of the body label automatic transfer and connection mechanism and the ring label automatic transfer and connection mechanism are arranged in parallel layers and operate independently. They are used to position and sort the two different types of label paper in the dual-station label storage silo mechanism and simultaneously replenish and transport them for subsequent labeling operations.

[0038] Specifically, the upper and lower label paper positioning and sorting devices 5 are each independently equipped with a label paper conveying platform 7, a top label gantry 8, a one-way torsion spring movable baffle 10, and a label paper limiting frame 9, each possessing complete label paper guiding, posture correction, and limiting conveying functions. Correspondingly, the two sets of photoelectric detection servo block devices 6 are each independently equipped with a servo sliding mechanism, an L-shaped block 13, and three sets of photoelectric sensors, capable of independently completing label paper balance monitoring, label replenishment position identification, servo shifting conveying, and mechanism reset control for the corresponding layer. The two operating mechanisms operate independently of each other, and the control systems do not interfere with each other, allowing for synchronous start-up or individual start-stop operations according to actual production needs.

[0039] This invention employs a dual-layer parallel structure design, adaptable to two different specifications and types of label paper for the simultaneous supply and relabeling of product body labels and ring labels. During operation, the two layers can simultaneously perform label paper sorting and automatic relabeling processes, enabling parallel, synchronous, and continuous automated labeling production of two types of labels without manual equipment switching or tooling changes. This solves the problems of traditional labeling equipment that can only supply a single type of label paper, requires separate production for different types of labels, and suffers from low production efficiency. The compact and highly integrated structure significantly improves equipment compatibility and production efficiency without occupying additional equipment space, effectively meeting the needs of simultaneous automated labeling production with multiple labels and processes. Example 3

[0040] like Figure 1As shown, the equipment frame includes a first frame 1 and a second frame 17 connected side-by-side. The first frame 1 supports the dual-station label storage bin mechanism. Its internal left and right side walls are respectively equipped with a body label storage bin 20 and a ring label storage bin 21 for layered storage of two types of label boxes. A connecting platform 19, corresponding to the label boxes in the two storage bins, is connected to the middle of the first frame 1. The second frame 17 supports the robot modules, specifically a U-shaped frame composed of a second support frame, a top horizontal mounting platform located above the second support frame, and a bottom horizontal mounting platform located below the second support frame. Robot mounting seats are provided on the lower surface of the top horizontal mounting platform and the upper surface of the bottom horizontal mounting platform for mounting robot modules 3 that are respectively matched with the body label automatic transfer and connecting mechanism and the ring label automatic transfer and connecting mechanism.

[0041] like Figure 4 and Figure 5 As shown, the dual-station label storage mechanism 2 includes a body label storage hopper 20, a ring label storage hopper 21, and a servo lifting mechanism. Both the body label storage hopper 20 and the ring label storage hopper 21 have multi-layer label box carrying platforms. Each carrying platform has multiple parallel label boxes 33. The front end of each label box 33 has a flip-type label baffle to effectively prevent stacked labels from scattering or slipping during lifting and pushing, ensuring label storage stability. The label boxes 33 in the body label storage hopper 20 are rectangular frame boxes matching the shape of the body label, while the label boxes 33 in the ring label storage hopper 21 are arc-shaped frame boxes matching the shape of the ring label, adaptable to the stacking and storage of different types of labels.

[0042] The storage bin is connected to both sides of the rectangular three-dimensional frame by a servo lifting mechanism that can move up and down. The servo lifting mechanism includes a second drive motor, a lifting rail 22, and a vertical lifting plate 24. The lifting rail 22 is located on the left and right side walls inside the rectangular three-dimensional frame. The vertical lifting plate 24 is slidably connected to the inner side of the lifting rail 22. The vertical lifting plate 24 is equipped with a lifting hook 25. The second drive motor is located at the upper end of the lifting rail 22. Its output end is connected to the vertical lifting plate 24 through a lead screw transmission pair. The vertical lifting plate 24 is also equipped with a clamping and limiting device for locking and positioning the storage bin suspended by the lifting hook 25. A horizontal support shaft 23 is fixedly connected to the bottom of the label storage hopper. The servo lifting mechanism is equipped with a hopper lifting position sensor, which can collect the lifting stroke and positioning signal of the hopper in real time. When the equipment is working, the vertical lifting plate 24 is connected to the horizontal support shaft 23 on the back of the label storage hopper through the lifting hook 25. Relying on the precise drive of the screw transmission pair, the label storage hopper 20 at the body label station and the label storage hopper 21 at the ring label station are lifted vertically in sync. The hopper lifting position sensor provides real-time feedback of the position signal, which accurately lifts the target label box 33 to the docking height of the label box 33 carrying platform 19. After it is in place, the PLC controller receives the position signal and controls the clamping limit component to lock and position the label box carrying platform to prevent the hopper from shaking or shifting during operation and to ensure the accuracy of pushing and picking up the box.

[0043] Push rollers are installed at the bottom of the label storage bins 20 at the body label station and 21 at the ring label station. When the label paper in the label storage bins 20 at the body label station or 21 at the ring label station is exhausted, the storage bins are lowered to the bottom of the equipment frame by the servo lifting mechanism. The lifting hooks 25 on the vertical lifting plate 24 are disengaged from the horizontal support shaft 23 on the back of the storage bins. The storage bins can be pulled out horizontally by the bottom push rollers, which makes it easy for operators to quickly complete the filling, replenishment and replacement of the label boxes 33. After replenishment, the boxes can be pushed back into the frame and repositioned. The equipment can continue to operate in cycles without stopping the whole machine, which effectively improves the continuous production capacity.

[0044] like Figure 4 and Figure 6As shown, a horizontal servo pusher device matching the connecting platform is provided between the body marker storage bin and the ring marker storage bin. The servo pusher device includes two sets of third servo motors, a third longitudinal guide rail, a third guide rail drive component 28, and a pusher arm 29. A third longitudinal support beam 26 and a pusher bracket 27 are also connected between the two horizontal support beams at the top of the first frame's rectangular three-dimensional frame. Two sets of parallel third longitudinal guide rails are installed at the bottom of the pusher bracket 27, and each third longitudinal guide rail is connected to a set of third guide rail drive components 28 and a pusher arm 29. Two servo motors are respectively located at both ends of the pusher bracket 27, and their output shafts are respectively connected to the third guide rail drive component 28 through a synchronous belt transmission mechanism. The two pushers 29 are arranged opposite each other in the horizontal direction and extend into the body marker storage bin 20 and the ring marker storage bin 21, respectively. The pusher operation area is equipped with a storage box 33 detection sensor to identify the presence or absence of the storage box 33 in real time. Once the storage bin is raised and lowered into position and locked in place, the storage box 33 detection sensor detects the presence of the storage box 33 at the discharge station. The PLC controller receives the signal and triggers the box pushing action. The servo motors on both sides start synchronously and drive the third guide rail drive component 28 through the synchronous belt transmission mechanism to drive the push arm 29 to extend horizontally, smoothly and orderly pushing the storage box 33 on the single-layer box carrying platform to the connecting platforms 19 at both ends, completing the automated discharge and connecting process.

[0045] like Figure 1 and Figure 7 As shown, robot module 3 includes two five-axis robots. The fixed ends of the two robots are respectively mounted on robot mounting bases on the top and bottom horizontal mounting platforms, and the working ends of the two robots are staggered relative to each other. They are used to grip the storage boxes 33 on the body label storage bin 20 and the ring label storage bin 21, respectively, and independently complete the gripping and transfer operation of the storage boxes 33 on one side. Robot module 3 is equipped with robot origin sensors, which can detect the robot's standby origin position in real time, providing reference signals for robot start-up, reset, and trajectory operation, ensuring that the robot's transfer actions are precise and orderly.

[0046] The five-axis robot's working end is equipped with a clamping assembly, which includes a gripper cylinder 30, a wedge clamping structure 31, and a top label cylinder 32. The gripper cylinder 30 is mounted on the end flange support plate of the five-axis robot, and its output end is connected to the wedge clamping structure. The gripper cylinder 30 drives the wedge clamping structure to open and close, thereby clamping and positioning the label storage box 33. The top label cylinder 32 is located above the wedge clamping structure, with its piston rod facing inward towards the label storage box 33. When the clamping assembly clamps the label storage box 33 and moves it to the end of the label paper positioning and sorting device 5, the piston rod of the top label cylinder 32 extends forward, pushing the stacked labels inside the label storage box 33 outward, so that the labels are fed into the top label gantry 8, completing the label paper pre-feeding process.

[0047] This invention achieves partitioned load-bearing and modular installation of the equipment through a split frame structure. It enables large-capacity label storage and convenient replenishment through a dual-station pull-out label storage hopper. Combined with servo lifting and synchronous belt push box structure, it achieves precise and automatic discharging of the label storage box 33. Through dual five-axis robots with special clamping and label-topping fixtures, it achieves automatic transfer of the label storage box 33 and pre-ejection of label paper. The entire mechanism has precise linkage and a high degree of automation. It can adapt to the simultaneous feeding of two types of label paper, effectively improve the equipment's storage capacity and labeling operation efficiency, reduce the frequency of manual intervention, and is suitable for long-term unmanned continuous labeling production. Example 4

[0048] The labeling method for a fully automatic beer bottle labeling device includes the following steps: S1 Loading Stage: Operators pre-load the fully loaded label storage boxes 33, containing body labels and ring labels, into the label box carrying platforms inside the label storage bins 20 and 21 at the body label station and the ring label station, layer by layer and in batches. After the label boxes 33 are filled, the equipment door is closed, and the equipment starts to run automatically.

[0049] S2 hopper feeding: After the equipment starts production, the servo lifting mechanism drives the entire layer of label box carrying platform to rise to the height of the label box 33 carrying platform. After being lifted into place, the clamping and limiting components lock and position the label box carrying platform.

[0050] The push arms 29 of the two servo pusher devices move forward horizontally to smoothly and orderly push the current layer of storage boxes 33 onto the storage box 33 support platform 19, completing the automatic discharge and connection of the storage boxes 33, and waiting for the robot to pick them up.

[0051] S3 Robot Box Retrieval: Two five-axis robots start synchronously according to the system program. The end gripper assembly drives the wedge clamp to clamp the label box 33 on the label box carrying platform through the gripper cylinder 30. The five-axis robot smoothly lifts and transfers the label box 33 according to the preset motion trajectory, and accurately transfers the label box 33 full of label paper to the label paper positioning and sorting device 5 of the automatic transfer and connection mechanism 4 at the end standby station.

[0052] S4 Labeling and Feeding: The five-axis robot feeds the label storage boxes 33 into the rear end of the label paper positioning and sorting device 5. The piston rod of the top label cylinder 32 on the fixture assembly pushes the label paper inside the label storage box 33 forward.

[0053] The label paper moves forward and pushes the movable baffles 10 on both sides of the top label gantry 8 to open outward. After the label paper completely passes through the movable baffles 10, the movable baffles 10 rotate counterclockwise and close under the action of the torsion spring, pressing against the back of the label paper to prevent the label paper from scattering.

[0054] After the labels inside the label storage box 33 have been completely ejected and the pre-loading is completed, the five-axis robot re-clamps the empty label storage box 33, transfers the empty label storage box 33 to the connecting platform 19 along the preset path, and then pushes it back into the corresponding label storage bin. Subsequently, the robot resets and returns to the standby origin, waiting for the next box retrieval command.

[0055] S5 Label Warehouse Shifting Cycle: When the C photoelectric sensor 16 detects in real time that the remaining amount of label paper is lower than the set threshold, the equipment automatically triggers the label replenishment program. The L-shaped lever 13 pulls the top label gantry 8 to push the label paper forward and into the front label paper limiting frame 9. The label paper limiting frame 9 constrains and straightens the shape of the label paper, completing the label replenishment positioning. After the A photoelectric sensor 14 detects that the top label gantry 8 has reached the label replenishment station, the L-shaped lever 13 pulls the top label gantry 8 back to the initial standby area of ​​the B photoelectric sensor 15. S6 cyclic feeding: After all the single-layer label boxes 33 are removed, the servo lifting mechanism rises to the next layer, switching the lower layer full-load label boxes 33 to the discharge station. The servo pushing device, robot transfer mechanism, and automatic label replenishment mechanism continue to operate in a cycle, uninterruptedly completing the discharge, transfer, labeling, and label replenishment process. Layer-by-layer cyclic operation continues until all the label boxes 33 in the entire warehouse are consumed, and the equipment prompts for replenishment. S7 Dual-label Synchronous Operation: Two sets of label paper positioning and sorting devices 5 and photoelectric detection servo toggle devices 6 arranged in upper and lower layers can operate independently, respectively corresponding to the relabeling process of different types of label paper. Two five-axis robots move synchronously to realize the synchronous automated labeling operation of different types of label paper.

[0056] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A fully automatic labeling device for beer bottles, characterized in that, It includes equipment frame, dual-station standard material storage silo mechanism (2), robot module (3) and automatic transfer and connection mechanism (4); The robot module (3) is located between the dual-station label storage bin mechanism (2) and the automatic transfer and docking mechanism (4), and is used to grab the label box (33) output by the dual-station label storage bin mechanism (2) and transfer the label box (33) to the entrance end of the automatic transfer and docking mechanism (4); The automatic shifting and connecting mechanism (4) includes a support frame, a label paper positioning and sorting device (5) and a photoelectric detection servo block device (6). The photoelectric detection servo block device (6) and the label paper positioning and sorting device (5) are arranged in pairs on the support frame, and each set of photoelectric detection servo block devices (6) is set on the support frame at a height higher than the corresponding label paper positioning and sorting device (5). The label paper positioning and sorting device (5) is used to receive the label paper transferred in by the robot module (3) and transport it from the inlet end to the outlet end in a direction from back to front, and to guide and limit the label paper. The photoelectric detection servo pusher device (6) is used to detect the remaining position of the label paper on the label paper positioning and sorting device (5) in real time, and drive the label paper to move horizontally on the label paper positioning and sorting device (5) in the direction from back to front and transport it to the labeling station. The automatic transfer and connection mechanism (4) is a body marker automatic transfer and connection mechanism (401) and a ring marker automatic transfer and connection mechanism (402) that are matched with the dual-station marker storage bin mechanism (2), and the two are arranged on the support frame in a parallel structure of two layers.

2. The fully automatic labeling device for beer bottles according to claim 1, characterized in that, The label paper positioning and sorting device (5) includes a label paper conveying platform (7), a top label gantry (8), and a label paper limiting frame (9). The label paper conveying platform (7) is horizontally mounted on the support frame along the label paper conveying direction. It is provided with a V-shaped sliding guide transport channel that matches the bottom of the label storage box (33). Each guide transport channel of the label paper conveying platform (7) is provided with limiting guide spokes on both sides to restrict the outward movement of the label storage box (33). The label paper limiting frame (9) is fastened to the exit end of the guide transport channel of the label paper positioning and sorting device (5), forming a through channel port with the guide transport channel. The internal contour of the through channel port matches the shape and size of the label paper. After the label paper moves forward from the entrance end along the label paper conveying platform (7) into the through channel port of the label paper limiting frame (9), the label paper is guided and limited by the inner wall of the through channel port, that is, its shape is constrained and regulated. The top label gantry (8) is horizontally mounted above the label paper conveying platform (7), and can slide back and forth along the label paper conveying platform (7) by the photoelectric detection servo block device (6). The width between the vertical support rods on both sides of each set of top label gantry (8) is greater than the width of the label paper conveying platform (7). The distance between the top label gantry (8) and the label paper conveying platform (7) is greater than the height of the label paper. Movable baffles (10) are connected to the vertical support rods on both sides of the top label gantry (8) by one-way torsion springs. The one-way torsion springs restrict the movable baffles (10) to only rotate in one direction to open and reset in the direction of label paper transport, and they cannot rotate in the opposite direction of label paper transport. When a relabeling operation is required, the robot module (3) pushes the label paper out of the label storage box (33). As the label paper moves forward driven by the first drive mechanism, it pushes against the movable baffles (10) on both sides. The movable baffles (10) open forward under the limiting action of the one-way torsion spring. After each set of label paper has completely passed through the movable baffles (10), the movable baffles (10) rotate backward to reset to the closed state under the elastic tension of the one-way torsion spring. Then, the movable baffles (10) on both sides of the top label gantry (8) start to push the label paper forward to perform the relabeling operation. After the labeling operation is completed, the top label gantry (8) is driven to move backward by the first drive mechanism. The label paper located behind the top label gantry (8) further pushes open the movable baffle (10), so that the movable baffle (10) opens forward again along the rotation. The top label gantry (8) can move backward along the label paper conveying platform (7) back to the initial standby position.

3. The fully automatic labeling device for beer bottles according to claim 2, characterized in that, The photoelectric detection servo lever device (6) includes a first slide rail (11), a first slider (12), an L-shaped lever (13), and a first servo motor electrically connected to the photoelectric detection control system. The first slide rail (11) and its first support base are arranged parallel to the label paper conveying platform (7) on the support frame. The first slider (12) is slidably connected to the first slide rail (11). The first servo motor is located at one end of the inlet of the first slide rail (11) and is connected to the first slider (12) through a screw transmission mechanism, driving the first slider (12) to slide back and forth along the first slide rail (11). The L-shaped lever (13) includes a first longitudinal block and a second transverse block that are respectively arranged perpendicularly and parallel to the label paper conveying platform (7). The outer end of the first longitudinal block of the L-shaped lever (13) is connected to the first slider (12) and slides synchronously with the first slider (12). The outer end of the second transverse block of the L-shaped lever (13) is vertically connected to one side of the top beam of the top label gantry (8). When the first slider (12) moves forward, the L-shaped lever pulls the top label gantry (8) to synchronously transport the label paper forward.

4. The fully automatic labeling device for beer bottles according to claim 3, characterized in that, The photoelectric detection servo block device (6) also includes a photoelectric detection device electrically connected to the photoelectric detection control system. The photoelectric detection device is located on the first support base of the first slide rail (11), and the installation position of the photoelectric detection device is higher than that of the label paper conveying platform (7). The photoelectric detection device specifically includes photoelectric sensor A (14), photoelectric sensor B (15), and photoelectric sensor C (16) arranged sequentially from back to front along the label paper conveying platform (7). Among them, the A photoelectric sensor (14) is set on the first support base corresponding to the label paper limiting frame (9) and is used to detect the position signal of whether the top label gantry (8) has moved to the label replenishment position; the B photoelectric sensor (15) is set on the first support base corresponding to the initial standby position of the top label gantry (8) and is used to detect the position signal of the L-shaped toggle block (13) being reset to the position; the C photoelectric sensor (16) is set on the first support base adjacent to the position of the label paper limiting frame (9) and is used to detect the position signal of the remaining amount of label paper in the top label gantry (8) in real time. When the C photoelectric sensor (16) detects that the remaining amount of label paper has dropped to the threshold, the photoelectric detection control system controls the first servo motor to drive the first slider (12) to move the L-shaped block (13) forward. The L-shaped block (13) pulls the top label gantry (8) to slide forward along the label paper conveying platform (7) in sync, moving the label paper to the point of contact with the front label paper for relabeling. After the relabeling is completed, the photoelectric detection control system controls the first servo motor to drive the first slider (12) to return backward. When it returns to the standby area, the B photoelectric sensor (15) detects the top label gantry (8) and pauses the backward movement, waiting for the next relabeling operation instruction from the photoelectric detection control system.

5. The fully automatic labeling device for beer bottles according to claim 4, characterized in that, The dual-station marker storage mechanism (2) includes a body marker station marker storage silo (20) and a ring marker station marker storage silo (21). The two sets of label paper positioning and sorting devices (5) and photoelectric detection servo block devices (6) of the automatic label shifting and connecting mechanism (401) and the automatic label shifting and connecting mechanism (402) are arranged in parallel layers on the top and bottom, and operate independently of each other. They are used to position and sort the two different types of label paper in the dual-station label storage silo mechanism (2) and simultaneously replenish and transport them for subsequent labeling operations.

6. The fully automatic labeling device for beer bottles according to claim 1, characterized in that, The equipment frame also includes a first frame (1) and a second frame (17) connected side by side. The first frame (1) is used to support the dual-station label storage silo mechanism (2). Specifically, the first frame (1) is a rectangular three-dimensional frame composed of horizontal support beams and vertical support beams. The left and right side walls inside are respectively provided with body label storage silo (20) and ring label storage silo (21) for storing the label boxes (33) of the two types of label paper in layers. Located in the middle of the first frame (1), near the second frame (17), a side wall is connected by a second transverse support beam (18) to a connecting platform (19) corresponding to the storage boxes (33) in the two storage bins. The second frame (17) is used to support the robot module (3); the second frame (17) is specifically a C-shaped frame composed of a second support frame, a top horizontal mounting platform and a bottom horizontal mounting platform; the upper surface of the bottom horizontal mounting platform and the lower surface of the top horizontal mounting platform are respectively equipped with robot mounting seats, which are used to install the robot module (3) that is matched with the body marker automatic shifting and docking mechanism (401) and the ring marker automatic shifting and docking mechanism (402).

7. The fully automatic labeling device for beer bottles according to claim 6, characterized in that, The dual-station marker storage mechanism (2) includes a body marker station marker storage silo (20), a ring marker station marker storage silo (21), and a servo lifting mechanism; The label storage bins (20) at the body label station and the label storage bins (21) at the ring label station are both equipped with multi-layer label box carrying platforms. The label box carrying platforms are supported in layers by multiple horizontal support rods installed inside the first frame (1). Each layer of the label box carrying platform is equipped with multiple label boxes (33) arranged in parallel. The front end of each label box (33) is equipped with a flip-type label baffle. The storage box (33) in the body marker storage bin (20) is a rectangular frame box that matches the shape of the body marker, and the storage box (33) in the ring marker storage bin (21) is an arc-shaped frame box that matches the shape of the ring marker. The storage bin is vertically connected to both sides of the rectangular three-dimensional frame via a servo lifting mechanism. The servo lifting mechanism includes a second drive motor, a lifting rail (22), and a vertical lifting plate (24). The lifting rail (22) is located on the left and right side walls inside the rectangular three-dimensional frame. The vertical lifting plate (24) is slidably connected to the inner side of the lifting rail (22). The vertical lifting plate (24) is provided with a lifting hook (25). The second drive motor is located at the upper end of the lifting rail (22), and its output end is connected to the vertical lifting plate (24) via a screw drive pair. The vertical lifting plate (24) is also connected with a clamping and limiting device for locking and positioning the storage bin suspended by the lifting hook (25). A horizontal support shaft (23) is fixedly connected to the bottom of the storage bin. The horizontal support shaft (23) of the corresponding storage bin is connected to the vertical lifting plate (24) via the lifting hook (25), thereby driving the corresponding storage bin to rise and fall synchronously with the vertical lifting plate (24). A pusher is provided at the bottom of the label storage bin. When the label paper in the label storage bin is exhausted, the label storage bin is lowered to the bottom of the equipment frame by a servo lifting mechanism. The lifting hook (25) on the vertical lifting plate (24) is disengaged from the horizontal support shaft (23) on the back of the label storage bin, and the label storage bin is moved horizontally as a whole by the pusher to refill the label box (33).

8. The fully automatic labeling device for beer bottles according to claim 7, characterized in that, A horizontal servo pusher device matching the connecting platform (19) is provided between the body marker storage bin (20) and the ring marker storage bin (21). The servo pusher device includes two sets of third servo motors, a third longitudinal guide rail, a third guide rail drive (28), and a pusher arm (29). A third longitudinal support beam (26) and a pusher bracket (27) are connected between the two transverse support beams at the top of the rectangular three-dimensional frame of the first frame (1). Two sets of parallel third longitudinal guide rails are installed at the bottom of the pusher bracket (27), and each of the third longitudinal guide rails is connected to a set of third guide rail drive (28) and a pusher arm (29). The two third servo motors are respectively located at both ends of the pusher bracket (27), and their output shafts are respectively connected to the third guide rail drive (28) through a synchronous belt transmission mechanism. The two pushers (29) are arranged opposite each other in the horizontal direction and extend into the body marker storage bin (20) and the ring marker storage bin (21) respectively. After the label box carrying platform lifts the label box (33) to the position to be sent out, the third guide rail drive (28) and push arm (29) of the servo pusher device are controlled by the control system to push the single-layer label box (33) smoothly onto the docking platform (19) in sequence.

9. The fully automatic labeling device for beer bottles according to claim 6, characterized in that, The robot module (3) includes two five-axis robots. The fixed ends of the two five-axis robots are respectively set on the robot mounting bases of the top and bottom horizontal mounting platforms, and the working ends of the two five-axis robots are staggered relative to each other, respectively used to clamp the storage boxes (33) on the body marker storage bin (20) and the ring marker storage bin (21). The working end of the five-axis robot is connected to a clamping assembly, which includes a gripper cylinder (30), a wedge clamping structure (31), and a top label cylinder (32). The gripper cylinder (30) is located on the end flange support plate of the five-axis robot, and its output end is connected to the wedge clamping structure (31). The gripper cylinder (30) drives the wedge clamping structure (31) to open and close, thereby clamping and positioning the label box (33). The top label cylinder (32) is mounted on the flange support plate above the wedge clamping structure (31), and the piston rod of the top label cylinder (32) faces the inside of the label storage box (33). When the clamping assembly clamps the label storage box (33) and moves it to the end of the label paper positioning and sorting device (5), the piston rod of the top label cylinder (32) extends forward and pushes the stacked label papers inside the label storage box (33) outward, so that the label papers are sent into the top label gantry (8) to complete the label paper pre-transfer process.

10. The labeling method of a fully automatic labeling device for beer bottles according to claims 1-9, characterized in that, Includes the following steps: S1 loading stage: The operator loads the label storage box (33) filled with label paper into the label storage bin (20) of the body label station and the label storage bin (21) of the ring label station in batches, closes the bin door, and the whole equipment starts to run automatically; S2 hopper feeding: The servo lifting mechanism drives the entire layer of label box carrying platform to rise to the docking platform (19). After being lifted into place, the clamping and limiting component locks and positions the label box carrying platform. The push arms (29) of the two servo pusher devices move forward horizontally to smoothly push the storage box (33) of the label box carrying platform to the label box (33) docking platform (19) to wait for it to be picked up; S3 Robot Takes Box: Two five-axis robots are started in response to each other. The end clamping assembly drives the wedge clamp to clamp the label box (33) on the docking platform (19) through the gripper cylinder (30). The five-axis robot drives the label box (33) to be transferred to the end of the label paper positioning and sorting device (5). S4 Replenishment and feeding: The five-axis robot feeds the label storage box (33) into the rear end of the label paper positioning and sorting device (5), and the piston rod of the top label cylinder (32) on the clamp assembly pushes the label paper inside the label storage box (33) forward; The label paper moves forward and pushes the movable baffles (10) on both sides of the top label gantry (8) to open outward. After the label paper completely passes through the movable baffles (10), the movable baffles (10) rotate counterclockwise and close under the action of the torsion spring, pressing against the back of the label paper to prevent the label paper from scattering. After all the labels inside the label storage box (33) are ejected, the five-axis robot picks up the empty label storage box (33), transfers the empty label storage box (33) to the docking platform (19) along the preset path, and then pushes it back into the corresponding label storage bin and resets it to the standby origin. S5 label shifting cycle: When the C photoelectric sensor (16) detects in real time that the remaining amount of label paper is lower than the set threshold, the L-shaped lever (13) pulls the top label gantry (8) to push the label paper forward and send it into the front label paper limiting frame (9). The label paper limiting frame (9) constrains and straightens the shape of the label paper to complete the label replacement positioning. After the A photoelectric sensor (14) detects that the top label gantry (8) has arrived at the label replenishment station, the L-shaped lever (13) pulls the top label gantry (8) back to the initial standby area of ​​the B photoelectric sensor (15). S6 Circular Feeding: After all the single-layer label boxes (33) are taken out, the servo lifting mechanism rises one layer, the servo pushing box device continues to discharge materials, the robot transfers materials, and the label paper is replenished. The whole process continues until the entire warehouse of label boxes (33) is consumed and the equipment prompts for replenishment. S7 Dual-label Synchronous Operation: Two sets of label paper positioning and sorting devices (5) arranged in upper and lower layers and photoelectric detection servo block devices (6) can operate independently, respectively corresponding to the labeling process of different types of label paper. Two five-axis robots move synchronously to realize the synchronous automated labeling operation of different types of label paper.

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