Labeling manipulator and labeling machine

Abstract

The utility model relates to a labeling mechanical arm and a labeling machine, the labeling mechanical arm comprises a mechanical arm body, the mechanical arm body is fixedly provided with a frame, the frame is provided with a clamping assembly, and the clamping assembly can clamp and fix a workpiece; the telescopic driving assembly is arranged on the frame, the telescopic driving assembly is connected with a labeling assembly, the labeling assembly is provided with a label adsorption end, and the label adsorption end can rotate to face the workpiece and is close to the workpiece so as to attach the label to the workpiece. The telescopic driving assembly can drive the labeling assembly to move to be close to a label, the label is grabbed through the labeling assembly, after the picking work of the label is completed, clamping of a workpiece is completed under the cooperation of the mechanical arm and the clamping assembly, then the labeling assembly rotates to face and be close to the workpiece, and the label is attached to the workpiece. The labeling assembly and the mechanical arm are flexibly integrated into a whole, and the occupied space of equipment is saved.

Description

Technical Field

[0001] The present application relates to the field of labeling equipment, and in particular to a labeling robot and a labeling machine. Background Art

[0002] The labeling machine is a device that can stick rolled paper labels or metal foil labels on PCBs, products or specified packaging. The labeling machine locates the PCB or product that flows into the previous link on the production line and uses visual means to confirm its coordinates. After the labeling machine suction head picks up the material at the feeder, it takes a photo on the bottom camera to confirm the label coordinates. According to the internal algorithm of the machine, the label is aligned with the coordinates of the position to be pasted, and then pasted on the product.

[0003] In the related art, the robot arm and the labeling device of the labeling machine are two separate functional devices, which are not integrated together, resulting in a large size of the labeling machine, a large space occupation, a complex structure, and a high cost. Summary of the invention

[0004] The present application provides a labeling robot and a labeling machine, which can flexibly integrate the labeling component and the robot into one, saving equipment space, and solving the problem that ordinary robots can only grasp but not label.

[0005] In a first aspect, an embodiment of the present application provides a labeling robot, comprising:

[0006] A manipulator, wherein the manipulator is fixed with a frame, the frame is provided with a clamping assembly, and the clamping assembly can clamp and fix a workpiece;

[0007] A telescopic driving component is arranged on the frame and is connected to a labeling component. The labeling component has a label adsorption end, and the label adsorption end can be rotated to face and approach the workpiece to attach the label to the workpiece.

[0008] In combination with the first aspect, in one embodiment, the telescopic drive assembly includes:

[0009] A linear motor is installed on the frame. A sliding block is installed on the linear motor. The sliding block is fixed to the labeling assembly.

[0010] In combination with the first aspect, in one embodiment, the telescopic drive assembly further includes:

[0011] A plurality of guide posts are slidably mounted on the frame, one end of the plurality of guide posts is fixed to the sliding block, and the other end of one of the guide posts is fixed to the labeling assembly.

[0012] In combination with the first aspect, in one embodiment, the number of the plurality of guide posts is four, and the four guide posts are distributed in a rectangular shape;

[0013] The clamping assembly is located inside the four guide columns.

[0014] In combination with the first aspect, in one embodiment, the labeling assembly includes:

[0015] A rotary cylinder, wherein the rotary cylinder is mounted on the telescopic drive assembly, a side thrust cylinder 1 is mounted on the rotary end of the rotary cylinder, and a vacuum suction cup is mounted on the telescopic end of the side thrust cylinder 1;

[0016] The rotating cylinder, the side-pushing cylinder 1 and the vacuum suction cup constitute the label adsorption end.

[0017] In combination with the first aspect, in one embodiment, the labeling assembly further includes:

[0018] A visual camera is installed on the side thrust cylinder 1, and is used to photograph and locate the label.

[0019] In combination with the first aspect, in one embodiment, the clamping assembly includes:

[0020] A clamping jaw cylinder and a fixed clamping jaw piece, wherein the clamping jaw cylinder is mounted on the frame, a movable clamping jaw piece is fixed to the telescopic end of the clamping jaw cylinder, and the fixed clamping jaw piece is fixed to the frame;

[0021] The clamping jaw cylinder can drive the movable clamping jaw piece to approach or move away from the fixed clamping jaw piece to clamp or release the workpiece.

[0022] In combination with the first aspect, in one embodiment, the clamping assembly includes:

[0023] Two clamping claw cylinders, both of which are mounted on the frame, and the telescopic ends of the two clamping claw cylinders are arranged in parallel, and both of which are fixed with movable clamping claw pieces;

[0024] When the telescopic ends of the two clamping jaw cylinders are retracted, the two movable clamping jaw pieces clamp the workpiece, and when the telescopic ends of the two clamping jaw cylinders are extended, the two movable clamping jaw pieces release the clamping of the workpiece.

[0025] In combination with the first aspect, in one embodiment, the labeling robot further includes:

[0026] A second side-pushing cylinder, the second side-pushing cylinder is mounted on the frame, and the second side-pushing cylinder and the labeling assembly are distributed on opposite sides of the clamping assembly;

[0027] The telescopic end of the second side thrust cylinder can be moved closer to or away from the labeling assembly, the clamping direction of the clamping assembly and the telescopic direction of the second side thrust cylinder are located in the same plane, and the clamping direction of the clamping assembly is perpendicular to the telescopic direction of the second side thrust cylinder.

[0028] In a second aspect, an embodiment of the present application provides a labeling machine, which includes a labeling robot as described in some of the above embodiments.

[0029] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0030] The labeling component can be driven by the telescopic driving component to move close to the label, and the label can be grabbed by the labeling component. After completing the label picking work, the workpiece can be clamped with the cooperation of the manipulator and the clamping component. Then, the labeling component can be rotated to face and approach the workpiece to attach the label to the workpiece, thus realizing the flexible integration of the labeling component and the manipulator, saving equipment space, and solving the problem that ordinary manipulators can only grab but not label. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 It is a three-dimensional structural diagram of the labeling robot;

[0033] Figure 2 A schematic diagram of the three-dimensional structure of the labeling component.

[0034] In the figure: 1. frame; 2. clamping assembly; 21. clamping claw cylinder; 22. movable clamping claw plate; 3. telescopic drive assembly; 31. linear motor; 32. sliding block; 33. guide column; 4. labeling assembly; 41. label adsorption end; 42. rotating cylinder; 43. side push cylinder one; 44. vacuum suction cup; 5. side push cylinder two. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0036] The embodiments of the present application provide a labeling robot and a labeling machine, which can flexibly integrate the labeling component with the robot, save equipment space, and solve the problem that ordinary robots can only grasp but not label.

[0037] like Figure 1 As shown, the embodiment of the present application provides a labeling manipulator, which may include: a manipulator, the manipulator is fixed with a frame 1, the frame 1 is provided with a clamping assembly 2, the clamping assembly 2 can clamp and fix a workpiece; a telescopic driving assembly 3, the telescopic driving assembly 3 is provided on the frame 1, and the telescopic driving assembly 3 is connected to a labeling assembly 4, the labeling assembly 4 has a label adsorption end 41, the label adsorption end 41 can rotate to face and approach the workpiece to attach the label to the workpiece. Exemplarily, the frame 1 is generally arranged in a rectangular frame as a whole, the manipulator can drive the frame 1 to move flexibly, the clamping assembly 2 is installed at the bottom of the frame 1, the telescopic driving assembly 3 is installed inside the frame 1 to reduce the occupied space volume, and the telescopic end of the telescopic driving assembly 3 passes through the bottom of the frame 1, and the labeling assembly 4 is installed at the telescopic end of the telescopic driving assembly 3, the telescopic driving assembly 3 can drive the labeling assembly 4 to move up and down, the label adsorption end 41 can rotate to face and approach the label to complete the label picking work, and can rotate to face and approach the workpiece to attach the label to the workpiece.

[0038] Specifically, the telescopic driving component 3 can drive the labeling component 4 to move close to the label, and the label can be grabbed by the labeling component 4. After completing the label picking work, the workpiece is clamped with the cooperation of the manipulator and the clamping component 2. Then, the labeling component 4 can be rotated to face and approach the workpiece to attach the label to the workpiece, thereby realizing the flexible integration of the labeling component 4 and the manipulator, saving equipment space, and solving the problem that ordinary manipulators can only grab but not label.

[0039] In some embodiments, Figure 1 As shown, the telescopic drive assembly 3 may include: a linear motor 31, the linear motor 31 is mounted on the frame 1, the linear motor 31 is equipped with a sliding block 32, and the sliding block 32 is fixed to the labeling assembly 4. Exemplarily, the linear motor 31 is mounted on the inner top wall of the frame 1, and the output end of the linear motor 31 is equipped with a sliding block 32, and the sliding block 32 can drive the labeling assembly 4 to move up and down, so that the labeling assembly 4 moves down close to the label, so as to facilitate the labeling assembly 4 to grab the label.

[0040] Furthermore, the telescopic drive assembly 3 may also include: a plurality of guide posts 33, the plurality of guide posts 33 are slidably mounted on the frame 1, one end of the plurality of guide posts 33 is fixed to the sliding block 32, and the other end of one of the guide posts 33 is fixed to the labeling assembly 4. Exemplarily, the guide posts 33 slide through the bottom of the frame 1 and are slidably connected to the sliding block 32, and the guide posts 33 can improve the stability and reliability of the linear sliding of the sliding block 32.

[0041] Furthermore, the number of the plurality of guide posts 33 is four, and the four guide posts 33 are arranged in a rectangular shape; the clamping assembly 2 is located in the four guide posts 33. Among them, by locating the clamping assembly 2 in the four guide posts 33, the space utilization rate of the labeling robot can be further improved, and its volume is smaller; at the same time, when an accidental collision occurs, the guide posts 33 are the first to bear the impact, so as to prevent the clamping assembly 2 from being seriously damaged.

[0042] In some embodiments, Figure 1 and Figure 2 As shown, the labeling assembly 4 may include: a rotating cylinder 42, the rotating cylinder 42 is mounted on the telescopic drive assembly 3, the rotating end of the rotating cylinder 42 is mounted with a side-pushing cylinder 43, and the telescopic end of the side-pushing cylinder 43 is mounted with a vacuum suction cup 44; the rotating cylinder 42, the side-pushing cylinder 43 and the vacuum suction cup 44 constitute the label adsorption end 41. Exemplarily, the rotating cylinder 42 may be mounted on one of the guide columns 33, and the rotating end of the rotating cylinder 42 may drive the side-pushing cylinder 43 to rotate, so that the vacuum suction cup 44 rotates to face the label, and the label is picked up by the side-pushing cylinder 43, or rotates to face the workpiece, and the label is attached by the side-pushing cylinder 43.

[0043] Furthermore, the labeling assembly 4 may also include: a visual camera, which is installed on the side-pushing cylinder 1 43 and is used to take pictures and locate the label. The visual camera can take pictures in real time, and the visual system can obtain the specific position of the label based on the pictures taken, so that the manipulator can control the overall movement of the frame, and the final label acquisition work can be performed through the rotating cylinder 42, the side-pushing cylinder 1 43 and the vacuum suction cup 44.

[0044] In some embodiments, the clamping assembly 2 may include: a clamping cylinder 21 and a fixed clamping jaw piece, the clamping cylinder 21 is installed on the frame 1, a mobile clamping jaw piece 22 is fixed to the telescopic end of the clamping cylinder 21, and the fixed clamping jaw piece is fixed to the frame 1; the clamping cylinder 21 can drive the mobile clamping jaw piece 22 to approach or move away from the fixed clamping jaw piece to clamp or release the workpiece. Among them, a clamping cylinder 21 and a fixed clamping jaw piece can be used, and the clamping or release of the workpiece can be achieved by controlling the mobile clamping jaw piece 22 to move closer to or away from the fixed clamping jaw piece through the clamping cylinder 21.

[0045] Of course, in some embodiments, such as Figure 1 As shown, the clamping assembly 2 includes: two clamping jaw cylinders 21, both of which are installed on the frame 1, and the telescopic ends of the two clamping jaw cylinders 21 are arranged in parallel, and the telescopic ends are fixed with movable clamping jaw pieces 22; when the telescopic ends of the two clamping jaw cylinders 21 are retracted, the two movable clamping jaw pieces 22 clamp the workpiece, and when the telescopic ends of the two clamping jaw cylinders 21 are extended, the two movable clamping jaw pieces 22 release the clamping of the workpiece. Among them, two clamping jaw cylinders 21 can be used, and each clamping jaw cylinder 21 can control the corresponding movable clamping jaw piece 22 to move, so as to realize the two movable clamping jaw pieces 22 to move closer or move away in opposite directions in both directions, so as to realize the clamping or releasing of the workpiece.

[0046] In some embodiments, Figure 1 As shown, the labeling manipulator may also include: a side-pushing cylinder 2 5, the side-pushing cylinder 2 5 is installed on the frame 1, the side-pushing cylinder 2 5 and the labeling assembly 4 are distributed on opposite sides of the clamping assembly 2; the telescopic end of the side-pushing cylinder 2 5 can move closer to or away from the labeling assembly 4, the clamping direction of the clamping assembly 2 and the telescopic direction of the side-pushing cylinder 2 5 are located in the same plane, and the clamping direction of the clamping assembly 2 is perpendicular to the telescopic direction of the side-pushing cylinder 2 5. Exemplarily, the telescopic end of the side-pushing cylinder 2 5 can be arranged along the left-right direction, the clamping direction of the clamping assembly 2 can be arranged along the front-back direction, and the side-pushing cylinder 2 5 and the labeling assembly are distributed on opposite sides of the clamping assembly 2 along the left-right direction. After the clamping assembly 2 completes the clamping work of the workpiece, the telescopic end of the side-pushing cylinder 2 5 can be extended to contact the side of the workpiece, so as to facilitate the extension of the side-pushing cylinder 1 43 to perform the label attachment work, and prevent the side-pushing cylinder 1 43 from extending and causing the workpiece to move, thereby causing the problem of label attachment failure.

[0047] In some embodiments, embodiments of the present application provide a labeling machine, which includes a labeling robot as in some embodiments.

[0048] The specific working principle is: the sliding block 32 is at the highest point by default. When the material comes from upstream, the manipulator controls the frame 1 to move to the top of the label, starts the linear motor 31, controls the sliding block 32 to descend to the specified height, and the rotary cylinder 42 rotates to control the side push cylinder 43 and the vacuum suction cup 44 to rotate downward. The side push cylinder 43 makes the vacuum suction cup 44 close to the label. The label is grasped by absolute coordinates for positioning, and the label placement accuracy is required to be high. If the accuracy of label absorption needs to be improved during actual use, a visual system can be added for coordinate compensation. After the vacuum suction cup 44 is close to the label, vacuum is passed into the suction cup, and the vacuum generates suction to adsorb the label on the vacuum suction cup 44. At this time, the label removal action is completed.

[0049] After taking the label, start the linear motor 31 and control the sliding block 32 to rise back to the default height to avoid interference between the side push cylinder 43 and other mechanisms when clamping the workpiece. Start the rotating cylinder 42, rotate the side push cylinder 43 and the vacuum suction cup 44 to the horizontal direction, control the frame 1 to move above the workpiece, extend the clamping cylinder 21, and open the movable clamping jaw 22. After the control frame 1 descends to the specified height, the clamping cylinder 21 contracts, and the movable clamping jaw 22 closes to grab the workpiece, and the control frame 1 moves to the downstream to release the workpiece.

[0050] In the process of grabbing the workpiece and moving it to the downstream, the linear motor 31 is started, the sliding block 32 is controlled to descend to the specified height, and the side push cylinder 1 43 and the side push cylinder 2 5 are extended. The function of the side push cylinder 2 5 is to provide a supporting force to prevent the workpiece from changing its position due to external force when labeling. When the side push cylinder 1 43 is extended, the label adsorbed by the vacuum suction cup 44 is close to the surface of the workpiece. At this time, the label is already attached to the surface of the workpiece. After the vacuum suction cup 44 breaks the vacuum, the side push cylinder 1 43 and the side push cylinder 2 5 are retracted at the same time, the linear motor 31 is started, and the sliding block 32 is controlled to rise back to the default height. After the control frame 1 moves to the downstream to release the workpiece, a working cycle is completed.

[0051] In the description of the present application, it should be noted that the terms "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0052] It should be noted that, in this application, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0053] The above description is only a specific implementation of the present application, so that those skilled in the art can understand or implement the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest range consistent with the principles and novel features applied for herein.

Claims

1. A labeling robot, characterized in that: It includes: A manipulator, wherein the manipulator is fixed with a frame (1), the frame (1) is provided with a clamping assembly (2), and the clamping assembly (2) can clamp and fix a workpiece; A telescopic drive component (3), the telescopic drive component (3) is arranged on the frame (1), and the telescopic drive component (3) is connected to a labeling component (4), the labeling component (4) has a label adsorption end (41), and the label adsorption end (41) can rotate to face and approach the workpiece to attach the label to the workpiece.

2. The labeling robot according to claim 1, characterized in that: The telescopic drive assembly (3) comprises: A linear motor (31), the linear motor (31) is mounted on the frame (1), the linear motor (31) is equipped with a sliding block (32), and the sliding block (32) is fixed to the labeling assembly (4).

3. The labeling robot according to claim 2, characterized in that: The telescopic drive assembly (3) further comprises: A plurality of guide columns (33) are slidably mounted on the frame (1), one end of each of the guide columns (33) is fixed to the sliding block (32), and the other end of one of the guide columns (33) is fixed to the labeling assembly (4).

4. The labeling robot according to claim 3, characterized in that: The number of the plurality of guide posts (33) is four, and the four guide posts (33) are distributed in a rectangular shape; The clamping assembly (2) is located inside the four guide columns (33).

5. The labeling robot according to claim 1, characterized in that: The labeling assembly (4) comprises: A rotating cylinder (42), wherein the rotating cylinder (42) is mounted on the telescopic drive assembly (3), a side thrust cylinder (43) is mounted on the rotating end of the rotating cylinder (42), and a vacuum suction cup (44) is mounted on the telescopic end of the side thrust cylinder (43); The rotating cylinder (42), the side-pushing cylinder (43) and the vacuum suction cup (44) constitute the label adsorption end (41).

6. The labeling robot according to claim 5, characterized in that: The labeling assembly (4) further comprises: A visual camera, wherein the visual camera is installed on the side thrust cylinder 1 (43), and the visual camera is used to photograph and locate the label.

7. The labeling robot according to claim 1, characterized in that: The clamping assembly (2) comprises: A clamping jaw cylinder (21) and a fixed clamping jaw piece, wherein the clamping jaw cylinder (21) is mounted on the frame (1), a movable clamping jaw piece (22) is fixed to the telescopic end of the clamping jaw cylinder (21), and the fixed clamping jaw piece is fixed to the frame (1); The clamping jaw cylinder (21) can drive the movable clamping jaw piece (22) to approach or move away from the fixed clamping jaw piece to clamp or release the workpiece.

8. The labeling robot according to claim 1, characterized in that: The clamping assembly (2) comprises: Two clamping claw cylinders (21), both of which are mounted on the frame (1), and the telescopic ends of the two clamping claw cylinders (21) are arranged in parallel, and both of which are fixed with movable clamping claw pieces (22); When the telescopic ends of the two clamping jaw cylinders (21) are retracted, the two movable clamping jaw pieces (22) clamp the workpiece, and when the telescopic ends of the two clamping jaw cylinders (21) are extended, the two movable clamping jaw pieces (22) release the clamping of the workpiece.

9. The labeling robot according to claim 1, characterized in that: The labeling robot also includes: Side-pushing cylinder 2 (5), the side-pushing cylinder 2 (5) is installed on the frame (1), and the side-pushing cylinder 2 (5) and the labeling assembly (4) are distributed on opposite sides of the clamping assembly (2); The telescopic end of the second side thrust cylinder (5) can be moved closer to or away from the labeling assembly (4), the clamping direction of the clamping assembly (2) and the telescopic direction of the second side thrust cylinder (5) are located in the same plane, and the clamping direction of the clamping assembly (2) is perpendicular to the telescopic direction of the second side thrust cylinder (5).

10. A labeling machine, characterized in that: It comprises a labeling robot as described in any one of claims 1-9.

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