A double station labelling machine

Abstract

The utility model discloses a double -position labeling machine, including product feed conveying line, stripping machine, visual positioning mechanism and four -axis suction mechanism, product feed conveying line includes two conveying stations of transporting product side by side, visual positioning mechanism and four -axis suction mechanism all erect on product feed conveying line, visual positioning mechanism can shoot and position the labeling position on product, four -axis suction mechanism includes four -axis manipulator and two vacuum suction blocks that set up side by side on it, two vacuum suction blocks can suck the label that peels apart on stripping machine in turn, and in turn attach to the corresponding product below. The utility model satisfies the efficient demand of product labeling through the continuous labeling action of double -position product, guarantees product labeling quality.

Description

Technical Field

[0001] This utility model relates to the field of labeling technology, and in particular to a dual-station labeling machine. Background Technology

[0002] During processing, many products require labeling. Manual labeling is inefficient, so labeling machines were developed to replace manual labeling, improving production efficiency and saving labor costs. Nowadays, labeling machines are the most common type of labeling machine in factory processing. However, existing labeling machines only have one station. Therefore, after positioning the workpiece on the fixture, the operator must wait for the labeling to be completed before removing the workpiece, resulting in a long waiting time and low processing efficiency.

[0003] Therefore, there is a need to provide a dual-station labeling machine to solve the above problems. Utility Model Content

[0004] To overcome the above-mentioned shortcomings, the purpose of this utility model is to provide a dual-station labeling machine that meets the high-efficiency requirements of product labeling and ensures the quality of product labeling through continuous labeling action on dual-station products.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is: a dual-station labeling machine, including a product feeding conveyor line, a peeling machine, a vision positioning mechanism, and a four-axis suction mechanism; the product feeding conveyor line includes two parallel conveying stations for transporting products, the vision positioning mechanism and the four-axis suction mechanism are both mounted on the product feeding conveyor line, the vision positioning mechanism can capture and position the labeling position on the product, and the four-axis suction mechanism includes a four-axis robot and two vacuum suction blocks arranged side by side on it, the two vacuum suction blocks can sequentially pick up the labels peeled off from the peeling machine and sequentially attach them to the corresponding products below.

[0006] Furthermore, the visual positioning mechanism is located at the loading end of the product feeding conveyor line. The visual positioning mechanism includes a mechanism mounting support frame and two CCD cameras arranged side by side on it, with a light source corresponding to each CCD camera. The CCD cameras can capture images of the products moving below them in a timely manner, locate the position of the label on the product, and transmit this position information to the four-axis robot arm so that the four-axis robot arm can accurately attach the label to the corresponding position on the product, ensuring the positional accuracy of the labeling.

[0007] Furthermore, the four-axis manipulator also includes a mounting frame and two lifting cylinders arranged side by side vertically on the mounting frame. Each lifting cylinder has a lifting plate at the bottom of its piston rod. The four corners of the lower surface of the lifting plate are connected to the connecting seat by compression springs. Each of the four corners of the connecting seat has a movable guide post. The end of each movable guide post away from the connecting seat is inserted into the corresponding hole on the lifting plate and can extend out of the upper surface of the lifting plate.

[0008] The mounting bracket facilitates the installation and fixation of the robotic arms and robotic hands around the entire perimeter. The extension and retraction of the piston rods of the two lifting cylinders allows the vacuum suction block to move up or down, making it convenient for it to pick up materials on the peeling machine and attach the picked-up labels to the corresponding positions on the products below.

[0009] Furthermore, the two vacuum suction blocks are respectively fixed to the lower surface of a connecting base, and each vacuum suction block has a suction pipe connection hole on its side that communicates with several suction holes thereon. The suction connection hole is connected to an external suction pump through a connecting pipe. The suction pump draws air so that when the bottom of the vacuum suction block contacts the label, the label can be firmly suctioned to the bottom of the vacuum suction block.

[0010] Furthermore, a visual inspection mechanism and two pushing mechanisms are sequentially arranged at the end of the product feeding conveyor line away from the visual positioning mechanism. The visual inspection mechanism includes a detection camera. The two pushing mechanisms are symmetrically arranged along the conveying direction of the product feeding conveyor line. Each pushing mechanism includes a pushing cylinder horizontally positioned towards the product, with a pushing plate at the top of the piston rod of the pushing cylinder. The visual inspection mechanism photographs the labeled product for inspection. The photographed product is transmitted to an external display screen and automatically compared with a product labeling standard image to determine whether the labeled product is qualified. If qualified, it is conveyed to the next process via the product feeding conveyor line. If unqualified, the pushing cylinder operates, extending its piston rod to move the pushing plate towards the product, tilting the product to separate qualified and unqualified products, facilitating subsequent sorting of qualified and unqualified products.

[0011] Furthermore, the four-axis suction mechanism also includes a four-axis support frame, on which the four-axis robot arm is mounted. The four-axis support frame provides support for the four-axis robot arm.

[0012] Furthermore, it also includes a frame, which comprises a detachable movable part and a fixed part. The four-axis support frame is detachably connected to the movable part and the fixed part at both ends perpendicular to the product feeding direction, respectively. The bottom of the movable part is equipped with several casters. The detachable frame facilitates its assembly and use with different product feeding conveyor lines.

[0013] Furthermore, an encoder tracking mechanism is symmetrically arranged on both sides of the product feeding conveyor line along its length, and the two encoder tracking mechanisms are located between the vision positioning mechanism and the four-axis suction mechanism. After the product is photographed and its labeling coordinates are determined by the vision positioning mechanism, it continues to be conveyed by the product feeding conveyor belt. When products at two conveying stations on the same product feeding conveyor belt pass through their respective encoder tracking mechanisms, the encoder tracking mechanisms can transmit the relative distance data between the corresponding products and the four-axis robot to the external control system, so that the external control system can control the four-axis robot to pick up materials and apply labels in a timely and accurate manner.

[0014] The beneficial effects of this utility model are: In this invention, a four-axis suction mechanism, a product feeding conveyor line, a vision positioning mechanism, and a peeling machine work together. The four-axis suction mechanism has two vacuum suction blocks arranged side by side for automatically picking up labels. The product feeding conveyor line can simultaneously transport two rows of products placed side by side along its length. Finally, driven by the four-axis robot, the two picked-up labels can be sequentially attached to the corresponding products. That is, by continuously labeling products at two workstations, the high-efficiency requirements of product labeling are met, errors caused by manual labeling are avoided, and the quality of product labeling is guaranteed. Attached Figure Description

[0015] Figure 1 This is an axonometric view of the overall structure of an embodiment of the present invention; Figure 2 This is a partial structural isometric view of an embodiment of the present invention; Figure 3 This is another partial structural isometric view of an embodiment of the present invention; Figure 4 This is an isometric view of the overall structure of a four-axis robot according to an embodiment of the present invention; Figure 5 This is an axonometric view of the overall structure of a four-axis robot according to another embodiment of the present invention; In the diagram: 1. Frame; 11. Moving part; 12. Fixed part; 2. Four-axis suction mechanism; 21. Four-axis support frame; 22. Four-axis robot; 221. Mounting frame; 222. Lifting cylinder; 223. Compression spring; 224. Lifting plate; 225. Connecting seat; 226. Moving guide column; 23. Vacuum suction block; 24. Air extraction hole; 3. Product feeding conveyor line; 4. Stripper; 5. Vision positioning mechanism; 51. CCD camera; 52. Mechanism mounting support frame; 53. Light source; 6. Encoder tracking mechanism; 7. Pushing mechanism; 71. Pushing cylinder; 72. Pushing plate. Detailed Implementation

[0016] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the scope of protection of the present invention.

[0017] See appendix Figures 1 to 5 As shown, a dual-station labeling machine in this embodiment includes a product feeding conveyor line 3, a peeling machine 4, a vision positioning mechanism 5, and a four-axis suction mechanism 2; the product feeding conveyor line 3 includes two parallel conveying stations for transporting products, and the two parallel products can be accurately grabbed and fed at the same time by an external robotic arm, without the need for manual operation; The visual positioning mechanism 5 and the four-axis suction mechanism 2 are both mounted on the product feeding conveyor line 3. The visual positioning mechanism 5 can capture and locate the labeling position on the product, that is, accurately transmit the labeling coordinates on each product to the external control system so that the external control system can control the four-axis robot arm 22 to apply the label. The four-axis suction mechanism 2 includes a four-axis robotic arm 22 and two vacuum suction blocks 23 arranged side by side on it. The two vacuum suction blocks 23 can sequentially pick up the labels peeled off from the peeler 4 and attach them to the corresponding products below. The continuous labeling action of the two vacuum suction blocks 23 on the dual-station products on the product feeding and conveying line 3 meets the high-efficiency requirements of product labeling. The above labeling process can effectively avoid the errors caused by manual labeling, thereby ensuring the quality of product labeling.

[0018] It should be noted that the specific model of the stripper 4 is not limited, and any publicly available stripper 4 on the market is acceptable. Its specific structure will not be described in detail here.

[0019] The visual positioning mechanism 5 is located at the loading end of the product feeding conveyor line 3. The visual positioning mechanism 5 includes a mechanism mounting support frame 52 and two CCD cameras 51 arranged side by side on it. Each CCD camera 51 has a corresponding light source 53 below it. The CCD cameras 51 can capture images of the products moving below them in a timely manner, locate the position of the label on the product, and transmit this position information to the four-axis robot 22 so that the four-axis robot 22 can accurately attach the label to the corresponding position on the product, ensuring the positional accuracy of the label.

[0020] In some embodiments, the CCD camera 51 is electrically connected to an external control system. The product top photo taken by the CCD camera 51 is promptly fed back to the external control system. The external control system can accurately locate the labeling position on the product based on the photo and transmit the corresponding labeling position to the four-axis robot 22.

[0021] The mechanism mounting support frame 52 is installed at the feeding end of the product feeding conveyor line 3 to ensure that the product can be directly photographed by the CCD camera 51 after it is placed on the product feeding conveyor line 3, and there will be no product missed in the picture; the light source 53 can illuminate the product, so that the CCD camera 51 can capture the product more clearly.

[0022] Below the CCD camera 51 is a protective bracket connected to the mechanism mounting support frame 52. The light source 53 is located on the protective bracket and is completely covered by the protective bracket, which can effectively prevent the light source 53 from being damaged by impact.

[0023] The four-axis manipulator 22 also includes a mounting frame 221 and two lifting cylinders 222 arranged side by side vertically on the mounting frame 221. Each lifting cylinder 222 has a lifting plate 224 at the bottom of its piston rod. The four corners of the lower surface of the lifting plate 224 are connected to the connecting seat 225 by compression springs 223. Each of the four corners of the connecting seat 225 is provided with a movable guide post 226. The end of each movable guide post 226 away from the connecting seat 225 is inserted into the corresponding insertion hole on the lifting plate 224 and can extend out of the upper surface of the lifting plate 224.

[0024] The mounting bracket 221 facilitates the installation and fixation of the robotic arms and robotic hands around the entire perimeter. The extension and retraction of the piston rods of the two lifting cylinders 222 can move the vacuum suction block 23 up or down, making it convenient for it to pick up materials on the peeler 4 and attach the picked-up labels to the corresponding positions on the products below.

[0025] Specifically, when the lifting cylinder 222 picks up a label, its piston rod extends, driving the lifting plate 224 to move downwards. The lifting plate 224 is connected to the connecting seat 225 via a compression spring 223. Therefore, the connecting seat 225 and the vacuum suction block 23 on it also move downwards to pick up the label. The moving guide post 226 provides guidance for the up-and-down movement of the connecting seat 225, ensuring the stability of the up-and-down movement of the vacuum suction block 23. After each vacuum suction block 23 picks up a label, the piston rod of the corresponding lifting cylinder 222 retracts back to its original position.

[0026] After the two vacuum suction blocks 23 sequentially pick up a label, the robotic arm moves the robotic hand above the corresponding product and applies labels to the two side-by-side products. During labeling, the piston rod of the lifting cylinder 222 extends, causing the vacuum suction block 23 that picks up the label to move downwards and press the adhesive side of the label firmly onto the label position on the product, completing the automatic labeling. During the labeling process, the elasticity of the compression spring 223 prevents the vacuum suction block 23 from making hard contact with the product surface and damaging the product.

[0027] It should be noted that there is a gap between the two vacuum suction blocks 23 to avoid interference between the two vacuum suction blocks 23 when the labels are applied to the corresponding products in sequence.

[0028] Two vacuum suction blocks 23 are respectively fixed to the lower surface of a connecting base 225. Each vacuum suction block 23 has a suction pipe connection hole on its side that communicates with several suction holes 24. The suction connection hole is connected to an external suction pump through a connecting pipe. The suction pump draws air so that when the bottom of the vacuum suction block 23 contacts the label, the label can be firmly suctioned to the bottom of the vacuum suction block 23.

[0029] A visual inspection mechanism and two pushing mechanisms 7 are sequentially arranged at the end of the product feeding conveyor line 3 away from the visual positioning mechanism 5. The visual inspection mechanism includes an inspection camera. The two pushing mechanisms 7 are symmetrically arranged along the conveying direction of the product feeding conveyor line 3. Each pushing mechanism 7 includes a pushing cylinder 71 horizontally positioned towards the product direction, and a pushing plate 72 is provided at the top of the piston rod of the pushing cylinder 71. The visual inspection mechanism takes pictures of the labeled products for inspection. The pictures of the labeled products are transmitted to an external display screen and automatically compared with the product labeling standard image to determine whether the labeled products are qualified. If qualified, they are conveyed to the next process through the product feeding conveyor line 3. If unqualified, the pushing cylinder 71 is activated, and the piston rod extends to drive the pushing plate 72 to move towards the product direction, tilting the product to separate qualified and unqualified products, facilitating subsequent sorting of qualified and unqualified products.

[0030] In some embodiments, the pusher plate 72 is L-shaped and has support feet at the bottom of the product, so that there is a gap between the lower surface of the product and the upper surface of the product feeding conveyor line 3 after the product is placed on the product feeding conveyor line 3. The horizontal support plate on the pusher plate 72 can be inserted into the gap and continue to push the product when it is conveyed by the product feeding conveyor line 3, so that the product and the product feeding conveyor line 3 move relative to each other, changing from the original upright placement to an inclined placement, which facilitates the subsequent differentiation of qualified and unqualified products.

[0031] The four-axis suction mechanism 2 also includes a four-axis support frame 21, on which the four-axis robot arm 22 is mounted. The four-axis support frame 21 provides support for the four-axis robot arm 22.

[0032] It also includes a frame 1, which includes a detachable movable part 11 and a fixed part 12. The two ends of the four-axis support frame 21 perpendicular to the product feeding direction are detachably connected to the movable part 11 and the fixed part 12, respectively. The bottom of the movable part 11 is provided with several casters. The frame 1 is detachable, which facilitates its assembly and use with different product feeding conveyor lines 3.

[0033] During assembly, the movable part 11 of the frame 1 can be moved to one side of the product feeding and conveying line along its length via casters. One end of the four-axis support frame 21 can be locked and fixed to the movable part 11 with screws. Then, the fixed part 12 is moved to the other side of the product feeding and conveying line 3 along its length and connected to the other end of the four-axis support frame 21, thus completing the assembly of the entire labeling machine.

[0034] An encoder tracking mechanism 6 is symmetrically arranged on both sides of the product feeding conveyor line 3 along its length, and the two encoder tracking mechanisms 6 are located between the vision positioning mechanism 5 and the four-axis suction mechanism 2. After the product is photographed by the vision positioning mechanism 5 and its labeling coordinates are determined, it continues to be conveyed by the product feeding conveyor belt. When products at two conveying stations on the same product feeding conveyor belt pass through their respective encoder tracking mechanisms 6, the encoder tracking mechanism 6 can transmit the relative distance data between the corresponding product and the four-axis robot 22 to the external control system, so that the external control system can control the four-axis robot 22 to pick up materials and apply labels in a timely and accurate manner.

[0035] It should be noted that the image processing algorithm or judgment logic used for camera-based detection is existing technology and will not be elaborated upon here.

[0036] The above embodiments are only for illustrating the technical concept and features of this utility model. Their purpose is to enable those skilled in the art to understand the content of this utility model and implement it. They cannot be used to limit the protection scope of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be covered within the protection scope of this utility model.

Claims

1. A dual-station labeling machine, characterized in that: The system includes a product feeding conveyor line, a peeling machine, a vision positioning mechanism, and a four-axis suction mechanism. The product feeding conveyor line includes two parallel conveying stations for transporting products. The vision positioning mechanism and the four-axis suction mechanism are both mounted on the product feeding conveyor line. The vision positioning mechanism can capture and locate the labeling position on the product. The four-axis suction mechanism includes a four-axis robot and two vacuum suction blocks arranged side by side on it. The two vacuum suction blocks can sequentially pick up the labels peeled off from the peeling machine and attach them to the corresponding products below.

2. The dual-station labeling machine according to claim 1, characterized in that: The visual positioning mechanism is located at the loading end of the product feeding conveyor line. The visual positioning mechanism includes a mechanism mounting support frame and two CCD cameras arranged side by side on it. Each CCD camera has a corresponding light source below it.

3. A dual-station labeling machine according to claim 1, characterized in that: The four-axis manipulator also includes a mounting frame and two lifting cylinders arranged side by side vertically on the mounting frame. Each lifting cylinder has a lifting plate at the bottom of its piston rod. The four corners of the lower surface of the lifting plate are connected to the connecting seat by compression springs. Each of the four corners of the connecting seat has a movable guide post. The end of each movable guide post away from the connecting seat is inserted into the corresponding hole on the lifting plate and can extend out of the upper surface of the lifting plate.

4. A dual-station labeling machine according to claim 3, characterized in that: The two vacuum suction blocks are respectively fixed on the lower surface of a connecting base, and each vacuum suction block has a suction pipe connection hole on its side that is connected to several suction holes thereon.

5. A dual-station labeling machine according to claim 1, characterized in that: A visual inspection mechanism and two pushing mechanisms are sequentially arranged at one end of the product feeding conveyor line away from the visual positioning mechanism. The visual inspection mechanism includes a detection camera. The two pushing mechanisms are symmetrically arranged along the conveying direction of the product feeding conveyor line. Each pushing mechanism includes a pushing cylinder arranged horizontally towards the product direction, and a pushing plate is provided at the top of the piston rod of the pushing cylinder.

6. A dual-station labeling machine according to claim 1, characterized in that: The four-axis suction mechanism also includes a four-axis support frame, on which the four-axis robot arm is mounted.

7. A dual-station labeling machine according to claim 6, characterized in that: It also includes a frame, which includes a detachable movable part and a fixed part. The two ends of the four-axis support frame perpendicular to the product feeding direction are detachably connected to the movable part and the fixed part, respectively. The bottom of the movable part is provided with several casters.

8. A dual-station labeling machine according to claim 1, characterized in that: An encoder tracking mechanism is symmetrically arranged on both sides of the product feeding conveyor line along its length, and the two encoder tracking mechanisms are located between the vision positioning mechanism and the four-axis suction mechanism.

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