Three-axis follow-up online printing and labeling robot

Abstract

The utility model provides a three-axis follow-up online printing and labeling robot which is used for labeling goods conveyed on a production line, in the embodiment, the robot is particularly used for labeling stacked gypsum boards, the robot comprises a bottom frame, and a control cabinet, a label printer and a labeling mechanism are installed at the top of the bottom frame; the label printer and the labeling mechanism are distributed left and right, and the control cabinet is electrically connected with the label printer and the labeling mechanism; the labeling mechanism comprises a moving base installed on the bottom frame, a first moving arm capable of moving front and back is connected to the moving base, a second moving arm capable of moving left and right is connected to the first moving arm, a third moving arm capable of moving vertically is connected to the second moving arm, and the third moving arm extends forwards from the second moving arm. A suction cup is arranged at the front end and connected with a vacuum generator through a pipeline. A label outlet of the label printer is formed in the side close to the labeling mechanism, and the front side face of the suction cup can move to the rear side of the label outlet.

Description

Technical Field

[0001] This utility model relates to the field of printing and labeling technology, specifically a three-axis follow-up online printing and labeling robot, used to label goods on the production line, especially stacked gypsum boards. Background Technology

[0002] Before leaving the production line, gypsum boards are stacked and transported and packaged. During transport, labels are usually affixed to the sides of the gypsum boards to indicate their specifications, dates, and other information. Currently, the labeling process involves a labeling machine receiving information about the currently transported gypsum boards, printing labels, and then affixing labels after receiving confirmation that the gypsum boards have arrived at their designated locations.

[0003] However, the labeling process has requirements. First, the label should be affixed to the side of a stack of plasterboard, about 10 centimeters from the bottom. Currently used labeling machines have a fixed structure, but the height of the gypsum board conveying mechanism on the production line varies depending on the actual environment of different companies' production lines. Some are higher, and some are lower. This means that in order to use the labeling machine, it is necessary to set up a frame or base, or dig a pit to place the labeling machine to meet the labeling position requirements, which is very troublesome.

[0004] In addition, the label is required to be affixed to the side of a stack of plasterboards and located in the middle of the side length. However, a production line usually produces a variety of different specifications of plasterboards according to production needs. When the specifications of the plasterboards are changed, the size of the plasterboards changes, which means that the labeling position of the labeling machine is no longer in the middle of the side of the stack of plasterboards. The labeling machine needs to be moved manually, which is time-consuming, labor-intensive and inconvenient. Utility Model Content

[0005] To address the technical problems existing in the background art, this utility model provides a three-axis follow-up online printing and labeling robot.

[0006] The technical solution of this utility model is as follows:

[0007] A three-axis follower-type online printing and labeling robot includes a base frame, a control cabinet, a label printer and a labeling mechanism are mounted on the top of the base frame, the label printer and the labeling mechanism are distributed on the left and right sides, and the control cabinet is electrically connected to the label printer and the labeling mechanism.

[0008] The labeling mechanism includes a movable base mounted on a base frame, a first movable arm that can move back and forth connected to the movable base, a second movable arm that can move left and right connected to the first movable arm, a third movable arm that can move vertically connected to the second movable arm, the third movable arm extending forward from the second movable arm and having a suction cup at its front end, the suction cup being connected to a vacuum generator via a pipe;

[0009] The label printer's label outlet is located on the side near the labeling mechanism, and the front side of the suction cup can be moved to the rear side of the label outlet.

[0010] In use, based on the specifications and dimensions of the gypsum boards being produced, the control cabinet controls the movement of the three moving arms of the labeling mechanism according to the corresponding set values, adjusting the lateral and vertical positions of the suction cups to meet the labeling requirements of the currently stacked gypsum boards. Through three-axis movement, this online printing and labeling robot is applicable to labeling operations on various conveyor systems of different heights and various specifications of gypsum boards, eliminating the need for pre-construction of placement stations and relocation work, saving manpower and resources, and greatly improving ease of use.

[0011] Preferably, the base frame is a horizontal plate with several feet on the bottom, allowing the labeling mechanism to be installed closer to the ground.

[0012] Preferably, the front side of the base frame is recessed with an opening for movement, and the range of motion of the third moving arm corresponds vertically to the opening. This opening allows the third moving arm to move vertically to a lower position, enabling the printing and labeling robot of this application to flexibly handle even the conveying height of plasterboard close to the ground and meet labeling requirements.

[0013] Preferably, the cross-section of the movable opening is rectangular.

[0014] Preferably, the second movable arm moves within the movable opening, with its bottom edge lower than the bottom surface of the base frame, allowing the third movable arm to move to a position lower than the base frame.

[0015] Specifically, the movable base is located on the left side of the movable opening and extends back and forth, and a first drive motor is provided on it to drive the first movable arm to slide.

[0016] Specifically, the first movable arm extends to the left and right, with its left end slidably connected to the movable base, and a second drive motor is provided on the first movable arm to drive the second movable arm to slide.

[0017] Specifically, the second movable arm extends vertically and is slidably connected to the front side of the first movable arm, and the upper end of the second movable arm is provided with a third drive motor for driving the third movable arm to slide.

[0018] To ensure smoother and more secure label pickup, the suction cup is a vertical rectangular plate with an internal vacuum chamber and several air extraction holes arrayed on the front side.

[0019] To avoid collision and interference between the third moving arm and the label printer, the label printer is located on the right side of the movable port, and the right edge of the suction cup extends laterally out to the right side of the third moving arm.

[0020] This utility model provides a three-axis follow-up online printing and labeling robot for labeling the surface of goods, such as stacked gypsum boards conveyed on a production line. By moving the three moving arms, the horizontal and vertical positions of the suction cups can be adjusted, thereby adjusting the labeling position. It can flexibly cope with and meet the labeling requirements of gypsum boards conveyed at different heights and gypsum boards of different specifications.

[0021] In addition, during the labeling process, the second moving arm can be set to drive the suction cup to move laterally, so that the suction cup moves synchronously with the plasterboard. This allows the labeling to be completed before the plasterboard is transported to the designated position. The plasterboard does not need to stop and can be directly transported to the next process. This solves the technical problem that existing labeling machines need to be in position and stable before labeling can be done, and improves the work efficiency of the labeling process. Attached Figure Description

[0022] In the attached diagram:

[0023] Figure 1 A schematic diagram of an online labeling and printing robot;

[0024] Figure 2 This is a schematic diagram of the labeling mechanism.

[0025] The components represented by the various reference numerals in the diagram are:

[0026] 100. Base frame; 110. Movable port; 200. Control cabinet; 300. Label printer; 400. Labeling mechanism; 410. Movable base; 411. First drive motor; 412. First slide rail; 420. First moving arm; 421. First slider; 422. Second drive motor; 423. Second slide rail; 430. Second moving arm; 431. Second slider; 432. Third drive motor; 433. Third slide rail; 440. Third moving arm; 441. Third slider; 510. Suction cup; 520. Vacuum generator. Detailed Implementation

[0027] like Figure 1 As shown, this utility model embodiment provides a three-axis follow-up online printing and labeling robot (hereinafter referred to as labeling robot) to perform labeling operations on gypsum boards conveyed on the production line.

[0028] The labeling robot includes a base frame 100, on the top of which a control cabinet 200, a label printer 300, and a labeling mechanism 400 are mounted. The label printer 300 and the labeling mechanism 400 are distributed on the left and right sides. The control cabinet 200 is electrically connected to the label printer 300 and the labeling mechanism 400.

[0029] The labeling mechanism 400 includes a movable base 410 mounted on a base frame 100. A first movable arm 420 capable of moving back and forth is connected to the movable base 410. A second movable arm 430 capable of moving left and right is connected to the first movable arm 420. A third movable arm 440 capable of moving vertically is connected to the second movable arm 430. The third movable arm 440 extends forward from the second movable arm 430 and has a suction cup 510 at its front end. The suction cup 510 is connected to a vacuum generator 520 through a pipe.

[0030] The label printer 300 has its label outlet located near the labeling mechanism 400, and the front side of the suction cup 510 can be moved to the rear side of the label outlet.

[0031] In detail, combined Figure 1 As shown, the base frame 100 in this embodiment is a horizontally placed rectangular plate with several feet on its bottom surface for support. The base frame 100 is positioned close to the ground, which reduces the overall height and center of gravity of the labeling robot. It should be noted that the ground referred to here can be the natural ground of the gypsum board production area or a flat surface built for the production line. Due to the structural design of this application, there is no need to construct additional installation space for the labeling robot; therefore, there are no strict requirements regarding whether the placement location is on the ground or a built platform.

[0032] The base frame 100 has a recessed opening 110 on its front side, and the range of motion of the third movable arm 440 corresponds vertically to the opening 110. The opening 110 allows the third movable arm 440 to move vertically below the base frame 100, or even lower. Even when conveying plasterboard close to the ground, the labeling robot of this application can flexibly adapt and meet the labeling position requirements.

[0033] The cross-section of the movable opening 110 is rectangular.

[0034] The control cabinet 200 is located on the right rear side of the access port 110. It is used to receive information from the upper system (such as the production line management system) and control the operation of the labeling mechanism 400 and the label printer 300 based on the information and the data stored in it.

[0035] Information from the upper-level system may include, but is not limited to, the specifications and dates of the gypsum board produced.

[0036] The control cabinet 200 includes, but is not limited to, major components such as a control unit, a storage unit, a wireless communication unit, and a control panel. The control cabinet 200 is a commonly used basic device in the field of robot automation control; its specific structure will not be described in detail here, but those skilled in the art can refer to existing control cabinets 200.

[0037] The storage unit can pre-set and store corresponding labeling data according to the current height of the conveyor frame and the various specifications of the gypsum board being conveyed. The labeling data includes, but is not limited to, the action data of the labeling mechanism 400.

[0038] The label printer 300 is located on the right side of the movable opening 110 on the base plate, and the label outlet is located on the left side of the label printer 300. The label printer 300 can also use existing label printing equipment, which will not be described in detail here.

[0039] The core design feature of this application lies in the setting of the labeling mechanism 400, specifically, as follows: Figure 2 As shown.

[0040] The movable base 410 is located on the left side of the movable opening 110 and extends back and forth. The front end of the movable base 410 is close to the front side of the base frame 100, and the length of the movable base 410 is not less than the front and rear length of the movable opening 110. The movable opening 110 is provided with a first drive motor 411 for driving the first movable arm 420 to slide back and forth.

[0041] The first movable arm 420 extends to the left and right, with a first slider 421 at its left end. A first slide rail 412 is located on the top of the movable base 410. The first slider 421 engages with and slides along the first slide rail 412, allowing the first movable arm 420 to be slidably connected to the top of the movable base 410. The right end of the first movable arm 420 extends to or beyond the right side of the movable opening 110, providing sufficient lateral movement distance for the second movable arm 430. A second drive motor 422 is provided on the first movable arm 420 to drive the second movable arm 430 to slide.

[0042] The second movable arm 430 extends vertically and has a second slider 431 on its rear side. The front part of the first movable arm 420 has a second slide rail 423. The second slider 431 is engaged with the second slide rail 423 and slides along the second slide rail 423, so that the second movable arm 430 is slidably connected to the front part of the first movable arm 420. The second movable arm 430 is located in front of the first movable arm 420.

[0043] The second movable arm 430 moves within the movable opening 110, and its bottom edge is lower than the bottom surface of the base frame 100, so that the third movable arm 440 can move to a position lower than the base frame 100.

[0044] The upper end of the second movable arm 430 is provided with a third drive motor 432 for driving the third movable arm 440 to slide.

[0045] The third movable arm 440 extends forward and backward, and the rear end is provided with a third slider 441. The front part of the second movable arm 430 is provided with a third slide rail 433. The third slider 441 is locked on the third slide rail 433 and slides along the third slide rail 433, so that the third movable arm 440 is slidably connected to the front part of the second movable arm 430. The third movable arm 440 is located in front of the second movable arm 430.

[0046] The third movable arm 440 is preferably a rat cage-like frame structure to reduce the weight of the third movable arm 440.

[0047] Origin sensors are provided between the movable base 410 and the first movable arm 420, between the first movable arm 420 and the second movable arm 430, and between the second movable arm 430 and the third movable arm 440. Specifically, slotted photoelectric sensors are provided on the movable base 410, the first movable arm 420 and the second movable arm 430, and trigger plates are provided on the first movable arm 420, the second movable arm 430 and the third movable arm 440, respectively, to cooperate with the slotted photoelectric sensors on the movable base 410, the first movable arm 420 and the second movable arm 430 for resetting the moving position of each movable arm.

[0048] The front end of the third moving arm 440 is provided with a mounting plate, on which the suction cup 510 and the vacuum generator 520 are both mounted.

[0049] Since labels are typically rectangular, the suction cup 510 is preferably a vertically rectangular plate. The size of the suction cup 510 corresponds to the size of the label, and the front side of the suction cup 510 is used to hold the label. The suction cup 510 has a vacuum chamber inside, which is connected to a vacuum generator 520 via a pipe. Several air extraction holes are arrayed on the front side of the suction cup 510, and these holes communicate with the vacuum chamber.

[0050] The front side of the suction cup 510 may also be provided with a rectangular plate-shaped porous sponge pad, which can increase the vertical friction of the label when the suction cup 510 holds the label, reduce the working power of the vacuum generator 520 while ensuring that the label does not slide downward, and at the same time play a certain buffering role when labeling.

[0051] The suction cup 510 is offset relative to the third moving arm 440, and its position is offset to the right of the third moving arm 440. The right edge of the suction cup 510 extends laterally to the right side of the third moving arm 440 to avoid collision and interference between the third moving arm 440 and the label printer 300.

[0052] When the labeling robot provided in this embodiment is in use, it instructs the label printer 300 to print labels according to the specifications and dimensions of the gypsum board being produced. Based on the corresponding stored data, it controls the movement of the three moving arms of the labeling mechanism 400 and adjusts the horizontal and vertical positions of the suction cup 510 to achieve the purpose of adjusting the labeling position. It can flexibly cope with and meet the labeling requirements of gypsum boards conveyed at different heights and gypsum boards of different specifications.

[0053] In addition, during the labeling process, the second moving arm 430 can be configured to drive the suction cup 510 to move laterally, so that the suction cup 510 moves synchronously with the gypsum board. With the real-time conveying position of the gypsum board obtained by the encoder on the conveyor line, the labeling can be completed before the gypsum board is conveyed to the designated position. After the gypsum board reaches the designated position, there is no need to stop, and it can be directly conveyed to the next process. This solves the technical problem in the traditional labeling process that the labeling machine can only apply the label after the gypsum board has reached the designated position and stopped, thus improving the work efficiency of the labeling process.

[0054] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A three-axis follow-up online printing and labeling robot, characterized in that, Includes a base frame (100), on which a control cabinet (200), a label printer (300), and a labeling mechanism (400) are mounted. The label printer (300) and the labeling mechanism (400) are distributed on the left and right sides. The control cabinet (200) is electrically connected to the label printer (300) and the labeling mechanism (400). The labeling mechanism (400) includes a movable base (410) mounted on a base frame (100), a first movable arm (420) capable of moving back and forth is connected to the movable base (410), a second movable arm (430) capable of moving left and right is connected to the first movable arm (420), a third movable arm (440) capable of moving vertically is connected to the second movable arm (430), the third movable arm (440) extends forward from the second movable arm (430) and has a suction cup (510) at its front end, the suction cup (510) being connected to a vacuum generator (520) through a pipe; The label printer (300) has its label outlet located on the side near the labeling mechanism (400), and the front side of the suction cup (510) can be moved to the rear side of the label outlet.

2. The three-axis follower-type online printing and labeling robot as described in claim 1, characterized in that, The base frame (100) is a horizontal plate with several feet on the bottom.

3. A three-axis follower-type online printing and labeling robot as described in claim 2, characterized in that, The base frame (100) has a recessed opening (110) on its front side, and the range of motion of the third movable arm (440) corresponds vertically to the opening (110).

4. A three-axis follower-type online printing and labeling robot as described in claim 3, characterized in that, The cross-section of the movable port (110) is rectangular.

5. A three-axis follower-type online printing and labeling robot as described in claim 4, characterized in that, The second movable arm (430) moves within the movable opening (110), and its bottom edge is lower than the bottom surface of the base frame (100).

6. A three-axis follower-type online printing and labeling robot as described in claim 5, characterized in that, The movable base (410) is located to the left of the movable opening (110) and extends back and forth. A first drive motor (411) is provided on it to drive the first movable arm (420) to slide.

7. A three-axis follower-type online printing and labeling robot as described in claim 6, characterized in that, The first movable arm (420) extends to the left and right, and its left end is slidably connected to the movable base (410). The first movable arm (420) is provided with a second drive motor (422) to drive the second movable arm (430) to slide.

8. A three-axis follower-type online printing and labeling robot as described in claim 7, characterized in that, The second movable arm (430) extends vertically and is slidably connected to the front side of the first movable arm (420). The upper end of the second movable arm (430) is provided with a third drive motor (432) for driving the third movable arm (440) to slide.

9. A three-axis follower-type online printing and labeling robot as described in claim 1, characterized in that, The suction cup (510) is a vertical rectangular plate with a vacuum chamber inside and several air extraction holes arrayed on the front side.

10. A three-axis follower-type online printing and labeling robot as described in claim 9, characterized in that, The label printer (300) is located to the right of the movable port (110), and the right edge of the suction cup (510) extends laterally to the right side of the third movable arm (440).

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