Collaborative robotic label applicator

Abstract

The utility model relates to a label robot technical field, concretely relates to a kind of label pasting machine of collaborative mechanical arm formula, it includes: platform, the platform is provided with: collaborative robot, label printer, air bearing, first auxiliary tear film fixture, first magazine, quick-change fixture fixed area, second magazine, second auxiliary tear film fixture.For the problem that the multiple label pasting machine in prior art needs to occupy the length of larger production line, by integrating label printer and multiple magazine on platform, and setting collaborative robot, the clamping of multiple labels is realized by the mechanical arm of collaborative robot cooperation quick-change fixture, and the release of release film on label is realized by first and second auxiliary tear film fixture cooperation, then pasted in product corresponding position by collaborative robot, so that the pasting of multiple labels is realized on a station, and the influence on production line length is reduced.

Description

Technical Field

[0001] This utility model relates to the field of labeling robot technology, specifically to a collaborative robotic arm label applicator. Background Technology

[0002] A label applicator is a device used on production lines to apply labels to batches of products. It typically uses a robotic arm or equivalent device to affix pre-printed or on-site-printed labels to the product packaging surface, facilitating product identification and traceability in production lines, quality inspection, and logistics. A collaborative robot (Cobot) is a high-performance robotic arm designed to interact closely and collaborate effectively with humans in a shared workspace.

[0003] For example, application number CN202180094884.X discloses a labeling machine including a conveyor (2) for a container (3) to be labeled along a forward path and including at least one labeling station (6) arranged along the forward path of the container (3). The labeling station (6) has an unwinding assembly (7) for a label tape (8) and a cutting roller (10) designed to receive the label tape (8) such that the label tape adheres to a side surface (10a) of the cutting roller, and the cutting roller supports at least one cutting device (12) for the label tape (8). The cutting device (12) includes a corresponding suction chamber (13) that opens at the side surface (10a) of the cutting roller (10) and houses at least one blade (14) inside. The suction chamber (13) can be connected to an air suction device to draw the label tape (8) toward the interior of the suction chamber (13) and against the blade (14), and cut the label tape (8) in doing so. According to the invention, the cutting device (12) includes at least one corresponding blade support block (15) supported by the cutting roller (10) and supporting the blade (14). At least a portion of the blade support block (15) is internally provided with at least one cavity (16) for reducing noise generated by cutting the label tape (8).

[0004] For example, application number CN201911300433.8 discloses a multi-functional labeling machine capable of affixing three labels. Installed on a frame, it includes a conveyor belt with a predetermined path, a bottle-separating assembly, a first labeling mechanism, a first labeling pressing assembly, a feeding assembly, a second labeling mechanism, an auxiliary labeling assembly, a third labeling mechanism, a clamping assembly, and a second labeling pressing assembly. Equipped with the first, second, and third labeling mechanisms, it can apply side and top labels to packaging bottles simultaneously, affixing three labels at the same time. This adapts to various packaging labeling needs. Furthermore, the labeling of packaging bottles is automated, thereby improving production efficiency.

[0005] However, in actual implementation, the inventors found that such technical solutions usually integrate the label feeding mechanism and the labeling mechanism directly in the direction of movement of the production line. When multiple labels need to be applied, the labeling process is achieved by extending the conveyor belt and setting up multiple labeling mechanisms in sequence. This results in the overall length of the production line increasing significantly with the increase in the number of labels applied, and the increase in the number of workstations on the production line makes it more difficult to control the production cycle. Utility Model Content

[0006] To address the aforementioned problems in existing technologies, a collaborative robotic arm label applicator is provided.

[0007] The specific technical solution is as follows: A collaborative robotic arm label applicator includes a platform, on which: Collaborative robots; A label printer is positioned near a first corner of the platform; The collaborative robot is fixed to the left housing of the label printer; An air flotation platform is located near the second corner of the platform, in front of the label printer; The first auxiliary film-tearing clamp is located near the front of the platform, on the left front of the air flotation platform; The first material box is located near the third corner of the platform; A quick-change clamp fixing area is located behind the first material box, and multiple quick-change clamps are provided in the quick-change clamp fixing area; The second material box is located near the fourth corner of the platform; The second auxiliary film-tearing fixture is located on the left side of the collaborative robot.

[0008] On the other hand, the collaborative robot is equipped with a gripper body at its end. The clamp body includes: The clamp body frame has an L-shaped cross-section; The lateral portion of the fixture body frame has an H-shaped slotted structure in the projection direction; A quick-change head is fixed at the far end of the lateral portion of the fixture body frame; The quick-change head is cylindrical, and the bottom of the quick-change head is provided with a locking connector male that matches the quick-change clamp; The front and rear sides of the quick-change head, corresponding to the lateral portion of the clamp body frame, are fixed to the lateral portion of the clamp body frame by horizontal screws. The upper part of the quick-change head is provided with a T-shaped flange, and the top of the flange is connected and fixed to the end of the collaborative robot.

[0009] On the other hand, a downward-facing camera is fixed to the outer side of the longitudinal portion of the clamp body frame by screws.

[0010] On the other hand, a longitudinal fixing plate is provided on the lower surface of the transverse part of the clamp body frame; A downward-pointing laser rangefinder is fixed to the side of the longitudinal fixing plate near the quick-change head by a fastener.

[0011] On the other hand, the quick-change fixture includes a first quick-change fixture; The first quick-change fixture is in the shape of a long cubic box; The top of the first quick-change fixture is provided with a locking connector female corresponding to the locking connector male; The bottom of the first quick-change fixture is a first vacuum suction cup.

[0012] On the other hand, the quick-change fixture includes a second quick-change fixture; The second quick-change fixture includes a portal frame; The top of the portal frame is provided with a female locking connector corresponding to the male locking connector; The two lower ends of the portal frame are respectively provided with second vacuum suction cups; A suction cup lifting mechanism is provided downward in the middle part of the gate-shaped frame, and a third vacuum suction cup is provided at the bottom of the suction cup lifting mechanism.

[0013] On the other hand, the first auxiliary film-tearing clamp includes a H-shaped frame; The middle part of the sun-shaped frame is provided with vertically distributed longitudinal beams, and the first side of the longitudinal beams is provided with a lifting mechanism. The lifting mechanism includes a lifting cylinder fixed to the first side of the longitudinal beam and a lifting plate disposed on the top of the lifting cylinder; The longitudinal beam is provided with a clamping mechanism on the second side relative to the first side; The clamping mechanism includes a clamping cylinder fixed to the second side of the longitudinal beam and a clamping plate disposed on the top of the lifting cylinder; The clamping plate extends beyond the H-shaped frame to reach above the lifting plate.

[0014] On the other hand, the second auxiliary film-tearing clamp includes: A column, the top of which is equipped with a rotary cylinder in a horizontal direction; A gripper frame is provided on the rotating end of the rotary cylinder; The gripper frame is provided with grippers at its end.

[0015] On the other hand, the material box is hollow. The material box is equipped with a label lifting mechanism inside.

[0016] On the other hand, the height of the air-floating platform matches the height of the output port of the label printer.

[0017] The above technical solution has the following advantages or beneficial effects: To address the issue that existing multi-label applicators require significant production line length, this solution integrates a label printer and multiple material boxes onto a platform, along with a collaborative robot. The robot's robotic arm, in conjunction with quick-change grippers, grips various labels and removes the release film from the labels using first and second auxiliary film-peeling grippers. The collaborative robot then applies the labels to the corresponding positions on the products, enabling the application of multiple labels at a single workstation and reducing the impact on production line length. Attached Figure Description

[0018] Embodiments of the present invention will be described more fully with reference to the accompanying drawings. However, the accompanying drawings are for illustration and explanation only and do not constitute a limitation on the scope of the present invention.

[0019] Figure 1 This is an overall schematic diagram of an embodiment of the present utility model; Figure 2 This is a schematic diagram of the quick-change head according to an embodiment of the present utility model; Figure 3 This is a schematic diagram of the first quick-change fixture according to an embodiment of the present utility model; Figure 4 This is a schematic diagram of the second quick-change fixture according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the first auxiliary film-tearing clamp according to an embodiment of the present utility model; Figure 6This is a schematic diagram of the second auxiliary film-tearing clamp according to an embodiment of the present utility model. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0022] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the present invention.

[0023] This utility model includes: A collaborative robotic arm label applicator, such as Figure 1 As shown, this includes a platform, on which: Collaborative robot 1; Label printer 2 is positioned near the first corner of the platform; Collaborative robot 1 is fixed to the left housing of label printer 2; Air flotation platform 3 is located near the second corner of the platform, in front of label printer 2; The first auxiliary film-tearing clamp 4 is located near the front of the platform, on the left front of the air flotation platform 3. The first material box 5 is located near the third corner of the platform; The quick-change fixture fixing area is located behind the first material box, and multiple quick-change fixtures 6 are provided in the quick-change fixture fixing area; The second material box 7 is located near the fourth corner of the platform; The second auxiliary film-tearing fixture 8 is located on the left side of the collaborative robot.

[0024] Specifically, addressing the issue that existing multi-label applicators require significant production line length, this solution integrates a label printer 2 and multiple material boxes onto the platform, along with a collaborative robot 1. The robotic arm of the collaborative robot 1, in conjunction with quick-change grippers, grips various labels and removes the release film from the labels using first and second auxiliary film-tearing grippers. The collaborative robot 1 then applies the labels to the corresponding positions on the products, thus enabling the application of multiple labels at a single workstation and reducing the impact on production line length.

[0025] Specifically, the aforementioned label applicator is installed as a whole at a workstation on the production line to affix labels to product packaging, such as cartons. To facilitate product identification at each stage, this workstation requires the affixing of three types of labels: labels directly printed by label printer 2, labels from the first material box 5, and labels from the second material box 7.

[0026] Collaborative robot 1 is a robotic arm structure with multiple joints. Its base is fixed to the left side housing of label printer 2. The end effector has a certain range of motion under the drive of multiple joints. Its specific structure is implemented with reference to existing technology, such as the patent document with application number CN201811619748.4. The robotic arm's driver program itself can also be easily set according to the actual production line layout, such as determining the motion trajectory of each step based on the teaching method disclosed in the patent document with application number CN201710713689.6.

[0027] Label printer 2 is a device with on-site label printing and peeling functions. Its structure can be implemented with reference to existing technology, such as the patent document with application number CN201911239215.8. Label printer 2 is fixed to the platform with screws. To save platform space, screw fixing holes are also machined on the left side of the housing of label printer 2 for fixing the base of collaborative robot 1 to the housing of label printer 2 with screws.

[0028] The air-floating platform 3 is a suspended platform fixed at a specific height. The surface of the suspended platform is machined with a large number of holes connected to an aerodynamic device to form an air film on the platform. Its specific structure can be implemented with reference to the patent application document with application number CN201610548069.7.

[0029] Generally, the height of the air-floating platform 3 matches the height of the output port of the label printer 2. Since the label printer 2 has label printing and release film peeling functions, the adhesive side of the output label will be exposed downwards and float away from the label printer 2, landing on the air film of the air-floating platform 3. It is then picked up by the collaborative robot 1 using a specific gripper and pasted on a specific position on the product packaging.

[0030] To accommodate different types of labels, this solution also includes multiple quick-change grippers 6 set in specific areas on the platform, and a quick-change head 92 set at the end of the collaborative robot 1 to enable quick replacement of different grippers.

[0031] In one embodiment, such as Figure 2 As shown, the collaborative robot 1 has a gripper body 9 at its end. The fixture body 9 includes: The fixture body frame 91 has an L-shaped cross-section; The transverse portion of the fixture body frame 91 has an H-shaped slotted structure in the projection direction; A quick-change head 92 is fixed at the far end of the transverse part of the fixture body frame 91; The quick-change head 92 is cylindrical, and the bottom of the quick-change head 92 is provided with a locking connector male head 93 that matches the quick-change clamp 6; The front and rear sides of the quick-change head 92, corresponding to the lateral portion of the clamp body frame 91, are fixed to the lateral portion of the clamp body frame by horizontal screws. The upper part of the quick-change head 92 is provided with a T-shaped flange 94, and the top of the flange 94 is connected and fixed to the end of the collaborative robot 1.

[0032] Specifically, in order to adapt to different quick-change fixtures 6, a quick-change head 92 is fixed at the end of the collaborative robot 1 using the above-described structure in this embodiment.

[0033] The quick-change head 92 has a roughly cylindrical metal structure with a T-shaped flange 94 fixed at its top. The upward extension of the T provides a certain installation space. The collaborative robot 1 has a flange with corresponding openings at its end, and the two flanges are fixed by tightening screws.

[0034] Below the quick-change head 92 is a locking male connector 93, which is a device that matches the locking female connector 97. Its specific structure can be found in the patent document with application number CN202311867856.4.

[0035] Furthermore, to achieve better scalability, this embodiment also introduces a fixture body frame 91. The fixture body frame 91 has an L-shaped cross-section and an H-shaped slotted structure in the projection direction, formed by cutting aluminum profiles. The distal end of the lateral portion of the fixture body frame 91 is stably connected to the quick-change head 92 by horizontal screws. When the quick-change head 92 is installed at the end of the collaborative robot 1, the fixture body frame 91 will also be driven to achieve the same trajectory and axial movement as the quick-change head 92, thus facilitating adaptation to various devices.

[0036] For example, in one embodiment, a downward-pointing camera 95 is fixed to the outer side of the longitudinal portion of the fixture body frame by screws.

[0037] For example, in one embodiment, a longitudinal fixing plate 911 is provided on the lower surface of the transverse portion of the clamp body frame 91; A downward-pointing laser rangefinder 96 is fixed to the side of the longitudinal fixing plate 911 near the quick-change head 92 by a fastener.

[0038] In one embodiment, such as Figure 3 As shown, the quick-change fixture includes a first quick-change fixture 61; The first quick-change fixture 61 is in the shape of a long cubic box; The top of the first quick-change clamp 61 is provided with a locking connector female 97 corresponding to the locking connector male; The bottom of the first quick-change fixture 61 is the first vacuum suction cup.

[0039] Specifically, to achieve the gripping of labels that are applied as a whole, this embodiment constructs the aforementioned first quick-change clamp 61. Specifically, the bottom of the first quick-change clamp 61 is a first vacuum suction cup, which forms a negative pressure at the bottom through an external starting device, thereby adsorbing the labels in the air-floating platform or material box. The top of the first quick-change clamp 61 is provided with a locking connector female 97 corresponding to the locking connector male 93, which is inserted and fixed to achieve installation and fixation.

[0040] In one embodiment, such as Figure 4 As shown, the quick-change fixture includes a second quick-change fixture 62; The second quick-change fixture 62 includes a portal frame 621; The top of the portal frame 621 is provided with a locking connector female 97 corresponding to the locking connector male; The two lower ends of the gate-shaped frame 621 are respectively provided with second vacuum suction cups 622; A suction cup lifting mechanism 623 is provided downward in the middle part of the gate-shaped frame 621, and a third vacuum suction cup 64 is provided at the bottom of the suction cup lifting mechanism 623.

[0041] Specifically, to achieve the gripping of partial labels within a large label, in this embodiment, an aluminum profile is used to splice together a U-shaped frame 621 below the locking connector female 97 corresponding to the male locking connector. Multiple second vacuum suction cups 622 are respectively provided at the two lower ends of the U-shaped frame 621. The openings of the second vacuum suction cups 622 face upwards and pass through the columns of the U-shaped frame 621 to connect to external pneumatic pipes, thereby establishing negative pressure at the bottom of the suction cups. The multiple second vacuum suction cups 622 work together to achieve the adsorption of the large-area backing paper of the label.

[0042] A suction cup lifting mechanism 623 is located downwards in the middle of the U-shaped frame 621. A third vacuum suction cup 64 is located at the bottom of the suction cup lifting mechanism 623 and is connected to an external pneumatic pipe, thereby creating negative pressure at the bottom of the suction cup to adsorb small labels on the backing paper. The backing paper can be removed by interrupting the negative pressure of the second vacuum suction cup 622 and cooperating with an auxiliary film-tearing clamp.

[0043] Two auxiliary film-tearing clamps are provided for this purpose: In one embodiment, such as Figure 5 As shown, the first auxiliary film-tearing clamp 4 includes a H-shaped frame 41; The middle part of the H-shaped frame 41 is provided with longitudinal beams distributed in the vertical direction, and the first side of the longitudinal beam is provided with a lifting mechanism. The lifting mechanism includes a lifting cylinder 42 fixed to the first side of the longitudinal beam and a lifting plate 43 disposed on the top of the lifting cylinder; The longitudinal beam is provided with a clamping mechanism on its second side relative to the first side; The clamping mechanism includes a clamping cylinder 44 fixed to the second side of the longitudinal beam and a clamping plate 45 disposed on the top of the lifting cylinder; The clamping plate 45 passes over the H-shaped frame and reaches above the lifting plate.

[0044] Specifically, in order to fix the bottom paper, this embodiment provides a first auxiliary film-tearing clamp 4 that clamps from the top and bottom.

[0045] The first auxiliary film-tearing fixture 4 includes a lifting mechanism and a clamping mechanism arranged on both sides of the H-shaped frame 41. Each mechanism consists of a lifting cylinder 42 fixed to the first side of the longitudinal beam and a lifting plate 43 positioned on top of the lifting cylinder; and a clamping cylinder 44 fixed to the second side of the longitudinal beam and a clamping plate 45 positioned on top of the lifting cylinder. The lifting plate 43 moves up and down under the action of the lifting cylinder 42, lifting the bottom paper from below. The clamping plate 45 moves up and down under the action of the clamping cylinder 44, clamping the bottom paper from above. The clamping plate 45 is a T-shaped structure that extends across the H-shaped frame via a transverse extension structure to reach above the lifting plate 43, thus coinciding with the lifting plate 43 in the projection direction. The two mechanisms work together to clamp the bottom paper.

[0046] In one embodiment, such as Figure 6 As shown, the second auxiliary film-tearing clamp 8 includes: A column 81, with a rotary cylinder 82 mounted horizontally at the top of the column 81; A gripper frame 83 is provided on the rotating end of the rotary cylinder 82; The end of the gripper frame 83 is provided with a gripper 84.

[0047] Specifically, to achieve the peeling of the release film, this embodiment also includes a second auxiliary film-peeling fixture 8 with a rotating mechanism. The gripper frame 83 has an L-shaped structure, with its bottom surface fixed to the rotating part of the rotary cylinder 82. The rotary cylinder 82 drives the frame to rotate circumferentially, causing the front gripper 84 to swing in the same arc shape, thereby removing the release film from the bottom glass of the label. The gripper 84 is connected to an external pneumatic pipe to control the clamping or releasing of the release film.

[0048] In one embodiment, the first material box and the second material box are the same type of material box; The material box is hollow. The material box is equipped with a label lifting mechanism, which drives the labels upward. This label lifting mechanism can be based on a lifting cylinder.

[0049] In one embodiment, the height of the air-floating platform matches the height of the label printer's output port.

[0050] The above are merely preferred embodiments of the present utility model and are not intended to limit the implementation methods and protection scope of the present utility model. Those skilled in the art should realize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A collaborative robotic arm label applicator, characterized in that, Includes a platform, on which: Collaborative robots; A label printer is positioned near a first corner of the platform; The collaborative robot is fixed to the left housing of the label printer; An air flotation platform is located near the second corner of the platform, in front of the label printer; The first auxiliary film-tearing clamp is located near the front of the platform, on the left front of the air flotation platform; The first material box is located near the third corner of the platform; A quick-change clamp fixing area is located behind the first material box, and multiple quick-change clamps are provided in the quick-change clamp fixing area; The second material box is located near the fourth corner of the platform; The second auxiliary film-tearing fixture is located on the left side of the collaborative robot.

2. The collaborative robotic arm label applicator according to claim 1, characterized in that, The collaborative robot is equipped with a gripper body at its end. The clamp body includes: The clamp body frame has an L-shaped cross-section; The lateral portion of the fixture body frame has an H-shaped slotted structure in the projection direction; A quick-change head is fixed at the far end of the lateral portion of the clamp body frame; The quick-change head is cylindrical, and the bottom of the quick-change head is provided with a locking connector male that matches the quick-change clamp; The front and rear sides of the quick-change head, corresponding to the lateral portion of the clamp body frame, are fixed to the lateral portion of the clamp body frame by horizontal screws. The upper part of the quick-change head is provided with a T-shaped flange, and the top of the flange is connected and fixed to the end of the collaborative robot.

3. The collaborative robotic arm label applicator according to claim 2, characterized in that, A downward-facing camera is fixed to the outer side of the longitudinal portion of the fixture body frame by screws.

4. The collaborative robotic arm label applicator according to claim 2, characterized in that, A longitudinal fixing plate is provided on the lower surface of the transverse part of the clamp body frame; A downward-pointing laser rangefinder is fixed to the side of the longitudinal fixing plate near the quick-change head by a fastener.

5. The collaborative robotic arm label applicator according to claim 2, characterized in that, The quick-change fixture includes a first quick-change fixture; The first quick-change fixture is in the shape of a long cubic box; The top of the first quick-change fixture is provided with a locking connector female corresponding to the locking connector male; The bottom of the first quick-change fixture is a first vacuum suction cup.

6. The collaborative robotic arm label applicator according to claim 2, characterized in that, The quick-change fixture includes a second quick-change fixture; The second quick-change fixture includes a portal frame; The top of the portal frame is provided with a female locking connector corresponding to the male locking connector; The two lower ends of the portal frame are respectively provided with second vacuum suction cups; A suction cup lifting mechanism is provided downward in the middle part of the gate-shaped frame, and a third vacuum suction cup is provided at the bottom of the suction cup lifting mechanism.

7. The collaborative robotic arm label applicator according to claim 1, characterized in that, The first auxiliary film-tearing fixture includes a H-shaped frame; The middle part of the sun-shaped frame is provided with vertically distributed longitudinal beams, and the first side of the longitudinal beams is provided with a lifting mechanism. The lifting mechanism includes a lifting cylinder fixed to the first side of the longitudinal beam and a lifting plate disposed on the top of the lifting cylinder; The longitudinal beam is provided with a clamping mechanism on the second side relative to the first side; The clamping mechanism includes a clamping cylinder fixed to the second side of the longitudinal beam and a clamping plate disposed on the top of the lifting cylinder; The clamping plate extends beyond the H-shaped frame to reach above the lifting plate.

8. The collaborative robotic arm label applicator according to claim 1, characterized in that, The second auxiliary film-tearing clamp includes: A column, the top of which is equipped with a rotary cylinder in a horizontal direction; A gripper frame is provided on the rotating end of the rotary cylinder; The gripper frame is provided with grippers at its end.

9. The collaborative robotic arm label applicator according to claim 1, characterized in that, The first material box and the second material box are the same type of material box; The material box is hollow. The material box is equipped with a label lifting mechanism inside.

10. The collaborative robotic arm label applicator according to claim 1, characterized in that, The height of the air-floating platform is matched with the height of the output port of the label printer.

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