Automatic labeling equipment based on visual positioning

Abstract

The utility model relates to the technical field of labeling, in particular to automatic labeling equipment based on visual positioning, which comprises a rack, a robot module, a camera positioning mechanism, a leveling mechanism, a feeding mechanism, a conveying mechanism and a discharging mechanism are arranged on the rack, label storage and feeding can be realized through the feeding mechanism, and the conveying mechanism is used for conveying labels. The leveling mechanism is used for leveling a label conveyed by the feeding mechanism, the robot module is used for moving the leveled label to the position above the camera positioning mechanism for shooting detection and recognition to obtain image coordinates of the label, the conveying mechanism is used for conveying a jig to be labeled to the position below the robot module, and the robot module is used for conveying the jig to be labeled to the position below the robot module according to the recognized label image coordinates. According to the automatic labeling device, the position points, needing to be labeled, on the to-be-labeled jig conveyed by the conveying mechanism are found for attachment, after attachment is completed, the conveying mechanism continues to convey the labeled jig to the position below the discharging mechanism, the discharging mechanism conveys the labeled jig into the material receiving box, and therefore automatic labeling operation is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of labeling, and labeling relates to automatic labeling equipment based on visual positioning. Background Art

[0002] Traditional manual labeling has been gradually replaced by automatic labeling machines. Depending on the labeling accuracy, the labeling methods and effects vary. For products with low labeling accuracy, only a simple transmission structure with sensors and fixture positioning is needed. However, for products with higher precision, traditional methods cannot meet product requirements, which requires visual technology that is more sophisticated than sensors. Utility Model Content

[0003] The technical problem to be solved by the utility model is to provide an automatic labeling device based on visual positioning, which can improve the accuracy of labeling.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0005] An automated labeling device based on visual positioning comprises a frame, wherein a robot module, a camera positioning mechanism, a leveling mechanism and a loading mechanism are sequentially arranged at one end of one side of the frame along the feeding direction, a conveying mechanism and a unloading mechanism are sequentially arranged at the other end of one side of the frame along the feeding direction, a plurality of jigs to be labeled are installed at equal intervals on the conveying mechanism, the robot module is used for moving the leveled label to the top of the camera positioning mechanism for shooting and detection, and then moving the label to the jig to be labeled for fitting.

[0006] Furthermore, the camera positioning mechanism includes two mounting components and two camera components, the two camera components are arranged between the mounting components, the two camera components are respectively installed on the two mounting components, and the two camera components are arranged obliquely symmetrically.

[0007] Furthermore, the camera assembly includes a camera, a bracket and a ring light, the bracket is mounted on the mounting assembly, the camera and the ring light are both mounted on the bracket, the camera is located directly below the ring light, and the lens of the camera is arranged toward the through hole of the ring light.

[0008] Furthermore, the leveling mechanism includes a leveling platform and two leveling movable components, the leveling platform and the two leveling movable components are both mounted on a frame, the two leveling movable components are respectively located on opposite sides of the leveling platform, a driving cylinder is mounted on the leveling movable component, the telescopic end of the driving cylinder is arranged toward the leveling platform, a leveling steel bar is mounted on the telescopic end of the driving cylinder, and one end of the leveling steel bar away from the telescopic end of the driving cylinder extends to the surface of the leveling platform.

[0009] Furthermore, the leveling mechanism also includes a first driving motor, the leveling moving assembly includes a rotating shaft, a driving gear, a pulley, two first sliders, two bar gears and two bar slide rails, the two bar slide rails are both mounted on one side surface of the frame, a spacing is provided between the two bar slide rails, the two first sliders are respectively slidably connected with the two bar slide rails, the bar gear is mounted on the first slider, the driving cylinder is mounted on the bar gear, a spacing is provided between the two bar gears, the first driving motor is mounted on the other side surface opposite to one side surface of the frame, the rotating shaft is fixedly connected to the output end of the first driving motor, one end of the rotating shaft passes through the frame and extends between the two bar slide rails, the driving gear is sleeved on the outer wall of one end of the rotating shaft, the driving gear is located between the two bar gears and is respectively meshed with the two bar gears;

[0010] The belt pulley is sleeved on the outer wall of one end of the rotating shaft and is located below the driving gear. The belt pulleys in the two leveling moving assemblies are connected via a second transmission belt.

[0011] Further, the feeding mechanism includes a material taking component and a material storage component, the material storage component is installed on one side of the frame, the material taking component is installed on the other side of the frame opposite to the one side, and the material taking component is slidably connected to the frame, and the material taking component is located directly below the material storage component;

[0012] The material storage assembly includes two outer plates, two inner plates are arranged between the two outer plates, and a material storage with openings on both the upper and lower sides is formed between the two outer plates and the two inner plates. The material storage is used to place labels, and a plurality of support plates for carrying labels are arranged on the inner side surfaces of the outer plates and close to the edges of the material picking assembly.

[0013] Furthermore, a plurality of stratified cylinders are provided at equal intervals along the height direction on the outer side surface of the inner plate, and the telescopic end of each stratified cylinder penetrates the inner plate and extends into the material storage and is connected to a limiting block.

[0014] Furthermore, the conveying mechanism includes a second drive motor and a transmission assembly, the second drive motor and the two transmission assemblies are installed on the frame, the transmission assembly includes a transmission chain and two transmission gears, the two transmission gears are connected by a transmission chain, the output end of the second drive motor is fixedly connected to one of the transmission gears, and a plurality of the jigs to be labeled are installed on the transmission chain at equal intervals.

[0015] Furthermore, the unloading mechanism includes a mounting frame, a first electric guide rail is installed on the mounting frame, a second slider is slidably connected to the first electric guide rail in a direction parallel to the feeding direction, a unloading cylinder is installed on the second slider, a unloading suction head assembly is installed at the telescopic end of the unloading cylinder, and the suction head end of the unloading suction head assembly faces downward.

[0016] Furthermore, it also includes a compacting mechanism, which is arranged near the inlet end of the unloading mechanism, and the compacting mechanism includes a third driving motor and two mounting side plates, the two mounting side plates are both mounted on one side surface of the frame, the third driving motor is mounted on the other side surface of the frame opposite to one side surface, a pressure roller is rotatably connected between the two mounting side plates, one end of the pressure roller extends out of the mounting side plate and is connected to a driven wheel, the output end of the third driving motor is sleeved with a driving wheel, the driving wheel is connected to the transmission wheel by a second transmission belt, and a blowing assembly is also connected between the two mounting side plates, the blowing assembly is located above the pressure mixing, and the blowing end of the blowing assembly faces downward.

[0017] The beneficial effects of the utility model are:

[0018] The present invention sequentially arranges a robot module, a camera positioning mechanism, a leveling mechanism and a loading mechanism at one end of one side of a frame along the feeding direction, and sequentially arranges a conveying mechanism and a unloading mechanism at the other end of one side of the frame along the feeding direction. The loading mechanism can realize the storage and loading of labels, the leveling mechanism levels the labels conveyed by the loading mechanism, the robot module moves the leveled labels to the top of the camera positioning mechanism for shooting and detection, identifies the image coordinates of the labels, and the conveying mechanism conveys the jig to be labeled to the bottom of the robot module. The robot module finds the position points on the jig to be labeled conveyed by the conveying mechanism according to the identified label image coordinates for laminating. After laminating, the conveying mechanism continues to convey the jig with the labels to the bottom of the unloading mechanism, and the unloading mechanism conveys the jig with the labels to the receiving box, thereby realizing the automatic labeling operation. The present invention adopts the camera positioning method, which has a high recognition rate and accurate measurement results, and can effectively make up for the shortcomings of quality abnormalities such as wrong labeling and missing labeling, poor compatibility and low gluing accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural schematic diagram of an automatic labeling device based on visual positioning according to the utility model;

[0020] Figure 2 It is a structural schematic diagram of a robot module of an automatic labeling device based on visual positioning according to the utility model;

[0021] Figure 3It is a structural schematic diagram of a camera positioning mechanism of an automatic labeling device based on visual positioning according to the utility model;

[0022] Figure 4 It is a structural schematic diagram of the leveling mechanism and the material taking component of the automatic labeling equipment based on visual positioning according to the utility model;

[0023] Figure 5 It is a structural schematic diagram of a leveling mechanism of an automatic labeling device based on visual positioning according to the utility model;

[0024] Figure 6 It is a structural schematic diagram of a feeding mechanism of an automatic labeling device based on visual positioning according to the utility model;

[0025] Figure 7 It is a structural schematic diagram of the conveying mechanism of the automatic labeling equipment based on visual positioning according to the utility model;

[0026] Figure 8 It is a structural schematic diagram of a material unloading mechanism of an automatic labeling device based on visual positioning according to the utility model;

[0027] Fig. 9 It is a structural schematic diagram of a compacting mechanism of an automatic labeling device based on visual positioning according to the utility model;

[0028] Description of labels:

[0029] 1. Frame;

[0030] 2. Robot module; 21. Operating arm; 211. First rotating arm; 212. Second rotating arm; 213. Third rotating arm; 214. Support arm; 22. Label suction plate; 23. Lifting cylinder;

[0031] 3. Camera positioning mechanism; 31. Mounting assembly; 311. Fixing seat; 312. Connecting rod; 32. Camera assembly; 321. Camera; 322. Bracket; 323. Ring light;

[0032] 4. Leveling mechanism; 41. Leveling platform; 411. Avoidance groove; 42. Leveling moving assembly; 421. First driving motor; 422. Strip slide rail; 423. First slider; 424. Strip gear; 425. Rotating shaft; 426. Driving gear; 427. First transmission belt; 43. Driving cylinder; 44. Leveling steel bar;

[0033] 5. Feeding mechanism; 51. Picking assembly; 511. Second electric guide rail; 512. Third slide block; 513. Picking cylinder; 514. Picking plate; 515. First vacuum suction cup; 52. Storage assembly; 521. Outer plate; 522. Inner plate; 523. Support sheet; 524. Layering cylinder; 525. Limiting block;

[0034] 6. Conveying mechanism; 61. Second driving motor; 62. Transmission assembly; 621. Transmission chain; 622. Transmission gear;

[0035] 7. unloading mechanism; 71. mounting frame; 72. first electric guide rail; 73. second slide block; 74. unloading cylinder; 75. unloading suction head assembly; 751. L-shaped mounting horizontal plate; 752. second vacuum suction cup;

[0036] 8. Jig to be labeled;

[0037] 9. Compacting mechanism; 91. Third driving motor; 92. Installing side plate; 93. Pressing roller; 94. Driven wheel; 95. Driving wheel; 96. Second driving belt; 97. Blowing assembly; 971. Crossbar; 972. Blowing pipe;

[0038] 10. Material receiving box;

[0039] 11. Labels. DETAILED DESCRIPTION

[0040] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0041] Please refer to Figure 1 , the technical solution adopted by the utility model is:

[0042] An automated labeling device based on visual positioning comprises a frame, wherein a robot module, a camera positioning mechanism, a leveling mechanism and a loading mechanism are sequentially arranged at one end of one side of the frame along the feeding direction, a conveying mechanism and a unloading mechanism are sequentially arranged at the other end of one side of the frame along the feeding direction, a plurality of jigs to be labeled are installed at equal intervals on the conveying mechanism, the robot module is used for moving the leveled label to the top of the camera positioning mechanism for shooting and detection, and then moving the label to the jig to be labeled for fitting.

[0043] From the above description, it can be seen that the beneficial effects of the utility model are:

[0044] The present invention sequentially arranges a robot module, a camera positioning mechanism, a leveling mechanism and a loading mechanism at one end of one side of a frame along the feeding direction, and sequentially arranges a conveying mechanism and a unloading mechanism at the other end of one side of the frame along the feeding direction. The loading mechanism can realize the storage and loading of labels, the leveling mechanism levels the labels conveyed by the loading mechanism, the robot module moves the leveled labels to the top of the camera positioning mechanism for shooting and detection, identifies the image coordinates of the labels, and the conveying mechanism conveys the jig to be labeled to the bottom of the robot module. The robot module finds the position points on the jig to be labeled conveyed by the conveying mechanism according to the identified label image coordinates for laminating. After laminating, the conveying mechanism continues to convey the jig with the labels to the bottom of the unloading mechanism, and the unloading mechanism conveys the jig with the labels to the receiving box, thereby realizing the automatic labeling operation. The present invention adopts the camera positioning method, which has a high recognition rate and accurate measurement results, and can effectively make up for the shortcomings of quality abnormalities such as wrong labeling and missing labeling, poor compatibility and low gluing accuracy.

[0045] Furthermore, the camera positioning mechanism includes two mounting components and two camera components, the two camera components are arranged between the mounting components, the two camera components are respectively installed on the two mounting components, and the two camera components are arranged obliquely symmetrically.

[0046] Furthermore, the camera assembly includes a camera, a bracket and a ring light, the bracket is mounted on the mounting assembly, the camera and the ring light are both mounted on the bracket, the camera is located directly below the ring light, and the lens of the camera is arranged toward the through hole of the ring light.

[0047] It can be seen from the above description that by setting a ring light, not only can the camera be supplemented with light, but also light can be focused, thereby improving the camera's shooting effect and further improving the detection accuracy.

[0048] Furthermore, the leveling mechanism includes a leveling platform and two leveling movable components, the leveling platform and the two leveling movable components are both mounted on a frame, the two leveling movable components are respectively located on opposite sides of the leveling platform, a driving cylinder is mounted on the leveling movable component, the telescopic end of the driving cylinder is arranged toward the leveling platform, a leveling steel bar is mounted on the telescopic end of the driving cylinder, and one end of the leveling steel bar away from the telescopic end of the driving cylinder extends to the surface of the leveling platform.

[0049] From the above description, it can be seen that when the label is transported to the table top of the entire platform, the two driving cylinders start to extend, and one end of the two leveling steel bars slowly moves to the label as the driving cylinders extend, and the leveling moving assembly is started to drive the driving cylinders to move back and forth, so that the leveling steel bars on the driving cylinders can level the labels on the entire platform back and forth.

[0050] Furthermore, the leveling mechanism also includes a first driving motor, the leveling moving assembly includes a rotating shaft, a driving gear, a pulley, two first sliders, two bar gears and two bar slide rails, the two bar slide rails are both mounted on one side surface of the frame, a spacing is provided between the two bar slide rails, the two first sliders are respectively slidably connected with the two bar slide rails, the bar gear is mounted on the first slider, the driving cylinder is mounted on the bar gear, a spacing is provided between the two bar gears, the first driving motor is mounted on the other side surface opposite to one side surface of the frame, the rotating shaft is fixedly connected to the output end of the first driving motor, one end of the rotating shaft passes through the frame and extends between the two bar slide rails, the driving gear is sleeved on the outer wall of one end of the rotating shaft, the driving gear is located between the two bar gears and is respectively meshed with the two bar gears;

[0051] The belt pulley is sleeved on the outer wall of one end of the rotating shaft and is located below the driving gear. The belt pulleys in the two leveling moving assemblies are connected via a second transmission belt.

[0052] From the above description, it can be known that the first driving motor is started to drive the rotating shaft to rotate, the rotation of the rotating shaft drives the driving gear to rotate, and the rotation of the driving gear drives the two bar gears to move on the two bar slide rails.

[0053] Further, the feeding mechanism includes a material taking component and a material storage component, the material storage component is installed on one side of the frame, the material taking component is installed on the other side of the frame opposite to the one side, and the material taking component is slidably connected to the frame, and the material taking component is located directly below the material storage component;

[0054] The material storage assembly includes two outer plates, two inner plates are arranged between the two outer plates, and a material storage with openings on both the upper and lower sides is formed between the two outer plates and the two inner plates. The material storage is used to place labels, and a plurality of support plates for carrying labels are arranged on the inner side surfaces of the outer plates and close to the edges of the material picking assembly.

[0055] Furthermore, a plurality of stratified cylinders are provided at equal intervals along the height direction on the outer side surface of the inner plate, and the telescopic end of each stratified cylinder penetrates the inner plate and extends into the material storage and is connected to a limiting block.

[0056] From the above description, it can be seen that by setting a plurality of layered cylinders and limit blocks to divide the material storage into several small storages, the labels can be better managed.

[0057] Furthermore, the conveying mechanism includes a second drive motor and a transmission assembly, the second drive motor and the two transmission assemblies are installed on the frame, the transmission assembly includes a transmission chain and two transmission gears, the two transmission gears are connected by a transmission chain, the output end of the second drive motor is fixedly connected to one of the transmission gears, and a plurality of the jigs to be labeled are installed on the transmission chain at equal intervals.

[0058] It can be known from the above description that the second driving motor is started to drive the transmission gear to rotate, and the rotation of the transmission gear drives the transmission chain to move, thereby driving the jig to be labeled to move.

[0059] Furthermore, the unloading mechanism includes a mounting frame, a first electric guide rail is installed on the mounting frame, a second slider is slidably connected to the first electric guide rail in a direction parallel to the feeding direction, a unloading cylinder is installed on the second slider, a unloading suction head assembly is installed at the telescopic end of the unloading cylinder, and the suction head end of the unloading suction head assembly faces downward.

[0060] From the above description, it can be seen that when the unloading cylinder is started, the unloading cylinder extends to drive the suction head assembly to descend, and the jig with a label delivered by the conveying mechanism is sucked up. The first electric guide rail is started to drive the second slider to slide in the direction of the discharge end, thereby driving the jig with a label to slide in the direction of the discharge end and deliver it to the receiving box.

[0061] Furthermore, it also includes a compacting mechanism, which is arranged near the inlet end of the unloading mechanism, and the compacting mechanism includes a third driving motor and two mounting side plates, the two mounting side plates are both mounted on one side surface of the frame, the third driving motor is mounted on the other side surface of the frame opposite to one side surface, a pressure roller is rotatably connected between the two mounting side plates, one end of the pressure roller extends out of the mounting side plate and is connected to a driven wheel, the output end of the third driving motor is sleeved with a driving wheel, the driving wheel is connected to the transmission wheel by a second transmission belt, and a blowing assembly is also connected between the two mounting side plates, the blowing assembly is located above the pressure mixing, and the blowing end of the blowing assembly faces downward.

[0062] From the above description, it can be seen that due to the jig for sticking labels, the corners of the labels may also be warped. The compacting mechanism can further flatten the warped parts, making the labels more flat and firm. Start the blowing assembly to flatten the warped parts of the label corners, and then start the third drive motor to drive the pressure roller to rotate to flatten them.

[0063] Please refer to Figures 1 to 9 , Embodiment 1 of the present utility model is:

[0064] Please refer to Figure 1, an automatic labeling equipment based on visual positioning, comprising a frame 1, one end of one side of the frame 1 is provided with a robot module 2, a camera positioning mechanism 3, a leveling mechanism 4 and a loading mechanism 5 in sequence along the feeding direction, the other end of one side of the frame 1 is provided with a conveying mechanism 6 and a unloading mechanism 7 in sequence along the feeding direction, a plurality of jigs 8 to be labeled are installed on the conveying mechanism 6 at equal intervals, the robot module 2 is used to move the leveled label 11 to the top of the camera positioning mechanism 3 for shooting and detection, and then move the label 11 to the jig 8 to be labeled for fitting.

[0065] Please refer to Figure 3 The camera positioning mechanism 3 includes two mounting components 31 and two camera components 32. The two camera components are arranged between the mounting components 31. The two camera components 32 are respectively installed on the two mounting components 31, and the two camera components 32 are arranged obliquely symmetrically.

[0066] Please refer to Figure 3 The camera assembly 32 includes a camera 321, a bracket 322 and a ring light 323. The bracket 322 is installed on the mounting assembly 31. The camera 321 and the ring light 323 are both installed on the bracket 322. The camera 321 is located directly below the ring light 323, and the lens of the camera 321 is set toward the through hole of the ring light 323.

[0067] Please refer to Figure 3 The mounting assembly 31 includes two fixing seats 311 , a connecting rod 312 is connected between the two fixing seats 311 , and the bracket 322 is slidably connected to the connecting rod 312 .

[0068] Please refer to Figure 4 and Figure 5 The leveling mechanism 4 includes a leveling platform 41 and two leveling moving assemblies 42, which are both mounted on the frame 1, and the two leveling moving assemblies 42 are respectively located on the opposite sides of the leveling platform 41, and a driving cylinder 43 is installed on the leveling moving assembly 42, and the telescopic end of the driving cylinder 43 is arranged toward the leveling platform 41, and a leveling steel bar 44 is installed on the telescopic end of the driving cylinder 43, and one end of the leveling steel bar 44 away from the telescopic end of the driving cylinder 43 extends to the table top of the leveling platform 41.

[0069] Please refer to Figure 4 and Figure 5The leveling mechanism 4 also includes a first driving motor 421, the leveling moving assembly 42 includes a rotating shaft 425, a driving gear 426, a pulley, two first sliders 423, two bar gears 424 and two bar slide rails 422, the two bar slide rails 422 are both mounted on one side of the frame 1, a spacing is provided between the two bar slide rails 422, the two first sliders 423 are respectively slidably connected with the two bar slide rails 422, the bar gear 424 is mounted on the first slider 423, the driving cylinder 4 3 is installed on the bar gear 424, and a distance is set between the two bar gears 424. The first driving motor 421 is installed on the other side of the frame 1 opposite to one side of the frame 1. The rotating shaft 425 is fixedly connected to the output end of the first driving motor 421. One end of the rotating shaft 425 passes through the frame 1 and extends between the two bar slide rails 422. The driving gear 426 is sleeved on the outer wall of one end of the rotating shaft 425. The driving gear 426 is located between the two bar gears 424 and meshes with the two bar gears 424 respectively.

[0070] Please refer to Figure 5 The pulley is sleeved on the outer wall of one end of the rotating shaft 425 and is located below the driving gear 426 . The pulleys in the two leveling moving assemblies 42 are connected by a first transmission belt 417 .

[0071] Please refer to Figure 6 The feeding mechanism 5 includes a material taking component 51 and a material storage component 52. The material storage component 52 is installed on one side of the frame 1. The material taking component 51 is installed on the other side of the frame 1 opposite to the one side. The material taking component 51 is slidably connected to the frame 1. The material taking component 51 is located directly below the material storage component 52.

[0072] Please refer to Figure 6 The material storage component 52 includes two outer plates 521, two inner plates 522 are arranged between the two outer plates 521, and a material storage with openings on both the upper and lower sides is formed between the two outer plates 521 and the two inner plates 522. The material storage is used to place labels 11, and a plurality of support sheets 523 for carrying labels 11 are arranged on the inner side of the outer plates 521 and close to the edge of the material picking component 51.

[0073] Please refer to Figure 6 A plurality of stratification cylinders 524 are provided on the outer side surface of the inner plate 522 at equal intervals along the height direction. The telescopic end of each stratification cylinder 524 penetrates the inner plate 522 and extends into the material storage and is connected to a limiting block 525 .

[0074] Please refer to Figure 4The material picking component 51 includes a second electric guide rail 511, and a third slider 512 is slidably connected to the second electric guide rail 511 in a direction parallel to the feeding direction. A material picking cylinder 513 is installed on the third slider 512, and a material picking plate 514 is installed at the telescopic end of the material picking cylinder 513. Two first vacuum suction cups 515 are provided on the material picking plate 514, and the adsorption ends of the first vacuum suction cups 515 face upward.

[0075] Please refer to Figure 4 An escape groove 411 for evacuating the first vacuum suction cup 515 is provided at an edge of one end of the table top of the whole platform 41 close to the material taking component 51 .

[0076] Please refer to Figure 7 The conveying mechanism 6 includes a second driving motor 61 and a transmission assembly 62 (the number of the transmission assemblies 62 can be two), the second driving motor 61 and the two transmission assemblies 62 are installed on the frame 1, the transmission assembly 62 includes a transmission chain 621 and two transmission gears 622, the two transmission gears 622 are connected by the transmission chain 621, the output end of the second driving motor 61 is fixedly connected to one of the transmission gears 622, and a plurality of the jigs 8 to be labeled are installed on the transmission chain 621 at equal intervals.

[0077] Please refer to Figure 8 The unloading mechanism 7 includes a mounting frame 71, on which a first electric guide rail 72 is mounted, and a second slider 73 is slidably connected to the first electric guide rail 72 in a direction parallel to the feeding direction, and a unloading cylinder 74 is mounted on the second slider 73, and a unloading suction head assembly 75 is mounted at the telescopic end of the unloading cylinder 74, and the suction head end of the unloading suction head assembly 75 faces downward.

[0078] Please refer to Figure 8 The unloading suction head assembly 75 includes an L-shaped mounting horizontal plate 751 and a plurality of second vacuum suction cups 752 . The plurality of second vacuum suction cups 752 are mounted on the L-shaped mounting horizontal plate 751 , and the suction ends of the second vacuum suction cups 752 face downward.

[0079] Please refer to Figure 1 and Fig. 9, also includes a compacting mechanism 9, which is arranged near the inlet end of the unloading mechanism 7, and the compacting mechanism 9 includes a third driving motor 91 and two mounting side plates 92, both of which are mounted on one side surface of the frame 1, and the third driving motor 91 is mounted on the other side surface of the frame 1 opposite to one side surface, and a pressure roller 93 is rotatably connected between the two mounting side plates 92, one end of the pressure roller 93 extends out of the mounting side plate 92 and is connected to a driven wheel 94, and the output end of the third driving motor 91 is sleeved with a driving wheel 95, and the driving wheel 95 is connected to the transmission wheel through a second transmission belt 96, and a blowing component 97 is also connected between the two mounting side plates 92, and the blowing component 97 is located above the pressure mixing, and the blowing end of the blowing component 97 faces downward.

[0080] Please refer to Fig. 9 The blowing assembly 97 includes a cross bar 971 and a blowing pipe 972. The opposite ends of the cross bar 971 are respectively mounted on two mounting side plates 92. The blowing pipe 972 is mounted on the cross bar 971, and the blowing end of the blowing pipe 972 faces downward.

[0081] Please refer to Figure 2 The robot module 2 includes an operating arm 21 and a label suction plate 22. The operating arm 21 is a planar joint structure, has great flexibility in movement on the xy plane, and has strong rigidity along the z axis. The label suction plate 22 is a hollow structure, which is equipped with a solenoid valve and a vacuum tube to realize the label suction and labeling function; the operating arm 21 includes a support arm 214 and three rotating arms, which are a first rotating arm 211, a second rotating arm 212 and a third rotating arm 213. The second rotating arm 212 is located between the first rotating arm 211 and the third rotating arm 213 and is rotatably connected to the first rotating arm 211 and the third rotating arm 213 respectively. The support arm 214 is installed on the frame 1, the first rotating arm 211 is rotatably installed on the support arm 214, and the third rotating arm 213 is installed with a lifting cylinder 23. The label suction plate 22 is installed at the telescopic end of the lifting cylinder 23, and the adsorption end of the label suction plate 22 faces downward.

[0082] The working principle of the above-mentioned automatic labeling equipment based on visual positioning is:

[0083] The label 11 is placed in the material storage, and the support sheet 523 arranged on the inner side of the outer plate 521 and close to the edge of the material picking component 51 can play a supporting role for the label 11 in the material storage; when starting to load the material, the material picking cylinder 513 is started, and the material picking cylinder 513 extends to the bottom of the outlet of the material storage, and the first vacuum suction cup 515 is started to adsorb the label 11 at the outlet position of the material storage, and then the material picking cylinder 513 contracts to take the label 11 out of the material storage; then the second electric guide rail 511 is started, and the second electric guide rail 511 starts to drive the third slider 512 to slide, and the material picking cylinder 513 is driven by the third slider 512 to move to the whole platform 41, and then the first vacuum suction cup 515 is closed, so that the label 11 can be placed on the whole platform 41 for wrinkle flattening; the robot module 2 adsorbs the flattened label 11 and moves it to the top of the camera positioning mechanism 3 for shooting and detection, and the recognition is obtained. The image coordinates of the label 11 are obtained by starting the second drive motor 61 to drive the transmission gear 622 to rotate, and the transmission gear 622 rotates to drive the transmission chain 621 to move, thereby driving the jig 8 to be labeled to move to the bottom of the robot module 2. The robot module 2 finds the position point on the jig 8 to be labeled that is transported by the conveying mechanism 6 according to the image coordinates of the label 11 obtained by recognition, and then fits it. After the fitting is completed, the conveying mechanism 6 continues to transport the jig with the label 11 to the bottom of the compacting mechanism 9 for further flattening, so that the label 11 is more flat and firmly fitted; finally, the unloading cylinder 74 is started, and the unloading cylinder 74 is extended to drive the suction head assembly to descend, so as to suck the jig with the label 11 transported by the conveying mechanism 6, and start the first electric guide rail 72 to drive the second slide block 73 to slide in the direction of the discharge end, thereby driving the jig with the label 11 sucked to slide in the direction of the discharge end and send it to the receiving box 10.

[0084] In summary, the utility model provides an automatic labeling equipment based on visual positioning, which sequentially arranges a robot module, a camera positioning mechanism, a leveling mechanism and a loading mechanism at one end of one side of a frame along the feeding direction, and sequentially arranges a conveying mechanism and a unloading mechanism at the other end of one side of the frame along the feeding direction. The loading mechanism can realize the storage and loading of labels, the leveling mechanism levels the labels conveyed by the loading mechanism, the robot module moves the leveled labels to the top of the camera positioning mechanism for shooting and detection, recognizes the image coordinates of the labels, and conveys The mechanism transports the jig to be labeled to the bottom of the robot module. The robot module finds the position points on the jig to be labeled transported by the conveying mechanism according to the identified label image coordinates and performs labeling. After labeling, the conveying mechanism continues to transport the labeled jig to the bottom of the unloading mechanism, and the unloading mechanism transports the labeled jig to the receiving box, thereby realizing automatic labeling operation. This solution adopts camera positioning, which has a high recognition rate and accurate measurement results. It can effectively make up for the quality abnormalities such as wrong labeling and missing labeling, poor compatibility and low gluing accuracy.

[0085] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent transformations made using the contents of the specification and drawings of the present invention, or directly or indirectly applied in the relevant technical field, are also included in the patent protection scope of the present invention.

Claims

1. An automatic labeling device based on visual positioning, characterized in that: It comprises a frame, wherein a robot module, a camera positioning mechanism, a leveling mechanism and a loading mechanism are sequentially arranged at one end of one side of the frame along the feeding direction, a conveying mechanism and a unloading mechanism are sequentially arranged at the other end of one side of the frame along the feeding direction, a plurality of jigs to be labeled are installed on the conveying mechanism at equal intervals, the robot module is used for moving the leveled label to the top of the camera positioning mechanism for shooting and detection, and then moving the label to the jig to be labeled for bonding.

2. The automatic labeling equipment based on visual positioning according to claim 1 is characterized in that: The camera positioning mechanism comprises two mounting components and two camera components. The two camera components are arranged between the mounting components. The two camera components are respectively mounted on the two mounting components, and the two camera components are arranged obliquely symmetrically.

3. The automatic labeling equipment based on visual positioning according to claim 2 is characterized in that: The camera assembly includes a camera, a bracket and a ring light, wherein the bracket is mounted on the mounting assembly, and the camera and the ring light are both mounted on the bracket. The camera is located directly below the ring light, and the lens of the camera is arranged toward the through hole of the ring light.

4. The automatic labeling equipment based on visual positioning according to claim 1 is characterized in that: The leveling mechanism includes a leveling platform and two leveling movable components, which are both installed on a frame, and the two leveling movable components are respectively located on opposite sides of the leveling platform. A driving cylinder is installed on the leveling movable component, and the telescopic end of the driving cylinder is arranged toward the leveling platform. A leveling steel bar is installed on the telescopic end of the driving cylinder, and one end of the leveling steel bar away from the telescopic end of the driving cylinder extends to the table top of the leveling platform.

5. The automatic labeling equipment based on visual positioning according to claim 4 is characterized in that: The leveling mechanism also includes a first driving motor, and the leveling moving assembly includes a rotating shaft, a driving gear, a pulley, two first sliders, two bar gears and two bar slide rails, the two bar slide rails are all installed on one side surface of the frame, a spacing is provided between the two bar slide rails, the two first sliders are respectively slidably connected with the two bar slide rails, the bar gear is installed on the first slider, the driving cylinder is installed on the bar gear, a spacing is provided between the two bar gears, the first driving motor is installed on the other side surface opposite to one side surface of the frame, the rotating shaft is fixedly connected to the output end of the first driving motor, one end of the rotating shaft passes through the frame and extends between the two bar slide rails, the driving gear is sleeved on the outer wall of one end of the rotating shaft, the driving gear is located between the two bar gears and is respectively meshed with the two bar gears; The belt pulley is sleeved on the outer wall of one end of the rotating shaft and is located below the driving gear. The belt pulleys in the two leveling moving assemblies are connected via a second transmission belt.

6. The automatic labeling equipment based on visual positioning according to claim 1, characterized in that: The feeding mechanism comprises a material taking component and a material storage component, wherein the material storage component is mounted on one side of the frame, the material taking component is mounted on the other side of the frame opposite to the one side, and the material taking component is slidably connected to the frame, and the material taking component is located directly below the material storage component; The material storage assembly includes two outer plates, two inner plates are arranged between the two outer plates, and a material storage with openings on both the upper and lower sides is formed between the two outer plates and the two inner plates. The material storage is used to place labels, and a plurality of support plates for carrying labels are arranged on the inner side surfaces of the outer plates and close to the edges of the material picking assembly.

7. The automatic labeling equipment based on visual positioning according to claim 6 is characterized in that: A plurality of layered cylinders are arranged at equal intervals on the outer side surface of the inner plate in the height direction, and the telescopic end of each layered cylinder penetrates the inner plate, extends to the inside of the material storage, and is connected to a limiting block.

8. The automatic labeling equipment based on visual positioning according to claim 1, characterized in that: The conveying mechanism includes a second drive motor and a transmission assembly, the second drive motor and the two transmission assemblies are installed on the frame, the transmission assembly includes a transmission chain and two transmission gears, the two transmission gears are connected by a transmission chain, the output end of the second drive motor is fixedly connected to one of the transmission gears, and a plurality of the jigs to be labeled are installed on the transmission chain at equal intervals.

9. The automatic labeling equipment based on visual positioning according to claim 1, characterized in that: The unloading mechanism includes a mounting frame, a first electric guide rail is installed on the mounting frame, a second slider is slidably connected to the first electric guide rail in a direction parallel to the feeding direction, a unloading cylinder is installed on the second slider, a unloading suction head assembly is installed at the telescopic end of the unloading cylinder, and the suction head end of the unloading suction head assembly faces downward.

10. The automatic labeling equipment based on visual positioning according to claim 1, characterized in that: It also includes a compacting mechanism, which is arranged near the inlet end of the unloading mechanism, and the compacting mechanism includes a third driving motor and two mounting side plates, both of which are mounted on one side surface of the frame, and the third driving motor is mounted on the other side surface of the frame opposite to one side surface, and a pressure roller is rotatably connected between the two mounting side plates, one end of the pressure roller extends out of the mounting side plate and is connected to a driven wheel, and a driving wheel is sleeved on the output end of the third driving motor, and the driving wheel is connected to the transmission wheel through a second transmission belt, and a blowing assembly is also connected between the two mounting side plates, and the blowing assembly is located above the compression mixing, and the blowing end of the blowing assembly faces downward.

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