Labeling machine and labeling method

Abstract

The present application applies to the technical field of automation. Provided is a labeling machine (100), comprising: a label supply mechanism (10), a positioning mechanism (20) and a robot (30). The robot (30) comprises a manipulator (31) and a suction gripper (32) arranged on the manipulator (31), wherein the suction gripper (32) is provided with a plurality of suction areas (32211), suction holes (32212) being formed in the suction areas (32211) of the suction gripper (32), and a plurality of mutually isolated cavities (32214) are provided inside the suction gripper (32), the cavities (32214) being arranged corresponding to the suction areas (32211) on a one-to-one basis; the manipulator (31) is configured to move the suction gripper (32) to the label supply mechanism (10), such that at least one suction area (32211) picks up a label by suction; and the manipulator (31) is further configured to move the suction gripper (32) to an object on the positioning mechanism (20) waiting to be labeled, such that the suction gripper (32) attaches the label to said object. Further provided in the present application is a labeling method. The labeling machine and the labeling method provided in the embodiments of the present application can be compatible with labels of different sizes, thereby reducing costs and improving efficiency.

Description

[0001] The present application claims priority to Chinese Patent Application No. 202410231754.1, filed with China National Intellectual Property Administration on February 29, 2024 and entitled "LABELING MACHINE AND LABELING METHOD", which is incorporated herein by reference in its entirety.TECHNICAL FIELD

[0002] The present application relates to the technical field of automation, and in particular, to a labeling machine and a labeling method.BACKGROUND

[0003] In an automated process, a suction gripper is often used to hold labels by suction and attach the labels to products. However, in the related art, due to poor compatibility of the suction gripper, the suction gripper can only adapt to labels of a specific size. When the size of the label changes, the suction gripper needs to be replaced, which wastes production time and increases the material preparation costs of the suction gripper.SUMMARY

[0004] Embodiments of the present application provide a labeling machine and a labeling method, which can be compatible with labels of different sizes, thereby reducing costs and improving efficiency.

[0005] Embodiments of a first aspect of the present application provide a labeling machine. The labeling machine includes: a label supply mechanism configured to provide a label; a positioning mechanism configured to position an article to be labeled; and a robot including a robotic arm and a suction gripper disposed on the robotic arm, where a plurality of suction zones are provided on the suction gripper, suction ports are formed in the suction zones of the suction gripper, and a plurality of mutually isolated cavities are provided in an interior of the suction gripper, the cavities being arranged in one-to-one correspondence with the suction zones; the robotic arm is configured to move the suction gripper to the label supply mechanism, such that at least one of the suction zones holds the label by suction, and the robotic arm is further configured to move the suction gripper onto an article to be labeled of the positioning mechanism, such that the suction gripper attaches the label onto the article to be labeled.

[0006] According to the labeling machine provided in the embodiments of the present application, the label supply mechanism can be used to provide the label, the positioning mechanism can be used to position the to-be-labeled article to be labeled, and the robot can be used to pick up and hold the label by suction, thereby enabling automatic labeling. The surface of the suction gripper is provided with the plurality of suction zones, and the suction port is formed in each suction zone. Therefore, each suction zone can independently hold a label by suction, and thereby the suction gripper can hold a plurality of labels of different sizes by suction. The labeling machine according to the present application can adapt to labels of a plurality of sizes to meet the requirements of different articles to be labeled, thereby enabling high compatibility, saving the material preparation costs of the suction gripper, and improving the overall efficiency. The suction gripper does not need to be replaced when the label type changes, thereby resolving the problem of wasted production time and increased material preparation costs caused by the replacement of the suction gripper.

[0007] In some embodiments, at least two of the suction zones have different sizes.

[0008] By adopting the above technical solution, the at least two of the suction zones can adapt to labels of at least two sizes, thereby improving the compatibility of the suction gripper.

[0009] In some embodiments, the plurality of mutually isolated cavities are provided in the interior of the suction gripper, each cavity is provided with a vacuum access port, and each cavity is in communication with the suction port in one suction zone.

[0010] By adopting the above technical solution, the plurality of mutually isolated cavities are provided in the interior of the suction member, and each cavity is provided with the vacuum access port, such that the vacuum degree of each cavity can be independently controlled, and thereby the suction zone corresponding to the cavity is controlled to hold the label by suction.

[0011] In some embodiments, the suction gripper further includes a plurality of vacuum generators, and the plurality of vacuum generators are in communication with the plurality of cavities in a one-to-one manner.

[0012] By adopting the above technical solution, each vacuum generator can control one suction zone to generate the suction force, and labels of different sizes can be activated by controlling different vacuum generators, thereby enabling compatibility and automatic type change.

[0013] In some embodiments, the robot further includes a visual detection module disposed on the robotic arm, and the visual detection module is configured to identify a position of the label and / or a position of the article to be labeled.

[0014] By arranging the visual detection module, the suction gripper can identify the position of the label and / or the position of the article to be labeled, thereby improving the positioning accuracy of the suction gripper.

[0015] In some embodiments, the visual detection module is further configured to acquire and verify label information, and the label information includes at least one of label size information, label specification information, and label content.

[0016] By adopting the above technical solution, the robotic arm can verify the label information by using the visual detection module, thereby reducing the probability of incorrect labeling and improving the accuracy of labeling.

[0017] In some embodiments, the visual detection module is further configured to capture an image of the label attached to the article to be labeled.

[0018] By capturing the image of the attached label, the label attachment effect can be detected. The labeling machine can also store and archive the image for subsequent use.

[0019] In some embodiments, the suction gripper includes a base and a suction member connected to the base; the base is connected to the robotic arm, and the suction zone is provided on the suction member.

[0020] In some embodiments, the visual detection module includes a first image capturing apparatus and a first light source that are disposed on the base, and the first light source is disposed adjacent to the first image capturing apparatus.

[0021] By adopting the above technical solution, the visual detection module can move together with the suction member, so as to facilitate the detection of the label and the article to be labeled.

[0022] In some embodiments, the labeling machine further includes a deviation correction detection module, and the deviation correction detection module is configured to capture an image of the suction gripper with the label held by suction, so as to identify a suction position of the label and detect an offset of the label; the robotic arm is capable of moving the suction gripper onto the article to be labeled based on the position of the article to be labeled, the suction position of the label, and the offset.

[0023] By adopting the above technical solution, the deviation correction detection module can identify the suction position of the label, such that the labeling machine can automatically perform deviation correction on the robotic arm, thereby improving the accuracy of the labeling position and enhancing the labeling effect.

[0024] In some embodiments, the deviation correction detection module includes a second image capturing apparatus and a second light source; the second image capturing apparatus is oriented upward and is configured to photograph the suction gripper and the label held by suction by the suction gripper, and the second light source is disposed adjacent to the second image capturing apparatus.

[0025] By adopting the above technical solution, the deviation correction detection module can automatically and conveniently photograph the suction gripper to identify the suction position of the label, thereby providing a deviation correction function and improving the accuracy of the attachment position.

[0026] In some embodiments, the second light source includes two strip-shaped light sources, the two strip-shaped light sources are disposed on two opposite sides of the second image capturing apparatus, respectively, and a light-emitting surface of the strip-shaped light source is oriented obliquely upward toward the second image capturing apparatus.

[0027] By adopting the above technical solution, the two strip-shaped light sources can illuminate the suction surface of the suction gripper and the label held on the suction surface by suction, which is beneficial for the second image capturing apparatus to capture the image, reduces the interference of ambient light, and improves the image stability.

[0028] In some embodiments, the labeling machine further includes an identification module, the identification module being configured to identify information of the article to be labeled; the label supply mechanism is capable of providing, based on the information of the article to be labeled, a corresponding label, and / or the robotic arm is capable of controlling, based on the information of the article to be labeled, at least one suction zone of the suction gripper to hold the label by suction.

[0029] By adopting the above technical solution, the labeling machine can automatically identify the article to be labeled through the identification module, and the label supply mechanism provides the label corresponding to the information of the article to be labeled, thereby enabling the type change of the label. The suction gripper can automatically hold the label by suction using the at least one suction zone, so as to adapt to the type change of the label.

[0030] In some embodiments, the labeling machine further includes a controller, and the controller is communicatively connected to the label supply mechanism, the robot, and the identification module, separately.

[0031] By adopting the above technical solution, the controller can control the label supply mechanism and the robot based on the identification information acquired by the identification module, which is beneficial to enabling automatic type change of the article to be labeled, improving the labeling efficiency, and providing a high degree of automation.

[0032] In some embodiments, the label supply mechanism includes a label printer and a label receiving mechanism; the label printer is configured to print a label, and the label receiving mechanism is disposed at an outlet of the label printer; the label receiving mechanism includes a label receiving platform, and the label receiving platform is configured to receive the label printed by the label printer.

[0033] By adopting the above technical solution, the label printer can automatically print different labels, thereby enabling a high degree of automation. The label receiving mechanism can receive the label, such that the label receiving mechanism allows the suction gripper to hold the label by suction, thereby improving the convenience of holding the label by suction.

[0034] In some embodiments, the surface of the label receiving platform is provided with a concave-convex structure and / or an anti-adhesive coating. By adopting the above technical solution, the suction gripper can conveniently pick up the label from the label receiving platform, thereby reducing the probability of the label being unable to separate from the label receiving platform due to adhesion to the label receiving platform, reducing the probability of label curling, and improving the reliability of label suction and the yield of label attachment.

[0035] In some embodiments, a reverse blowing hole is formed in the surface of the label receiving platform, and the reverse blowing hole is configured to be connected to a gas supply mechanism to direct gas toward the label on the label receiving platform. By forming the reverse blowing hole, the probability of the label adhering to the label receiving platform can be reduced, and the reliability of label suction and the yield of label attachment are improved.

[0036] In some embodiments, the label receiving mechanism further includes a detector, and the detector is configured to detect whether a label is present on the label receiving platform.

[0037] By arranging the detector, it is possible to detect whether a label is present on the label receiving platform, thereby controlling the suction gripper or other mechanisms to operate. This improves the labeling efficiency and automation degree of the labeling machine.

[0038] In some embodiments, the labeling machine further includes a counting module, and the counting module is capable of counting a number of uses of the label receiving platform, and sending reminder information when the number of uses of the label receiving platform reaches a preset value.

[0039] By adopting the above technical solution, the label receiving mechanism is provided with counting and maintenance reminder functions, enabling timely maintenance of the label receiving platform.

[0040] In some embodiments, the label receiving mechanism further includes a movement driving member connected to the label receiving platform, and the movement driving member is configured to drive the label receiving platform to move in a direction close to or away from the label printer.

[0041] By adopting the above technical solution, the movement driving member can drive the label receiving platform to move, so as to facilitate the receiving of the label provided by the label supply mechanism and the suction of the label by the suction gripper.

[0042] In some embodiments, the labeling machine further includes a sliding table, the label printer is disposed on the sliding table, and the sliding table is capable of driving the label printer to reciprocate.

[0043] By arranging the sliding table, the label printer can be pulled outward from the frame to facilitate loading of the label printer, thereby reducing the loading difficulty and increasing the loading speed.

[0044] In some embodiments, at least two label supply mechanisms are provided. By adopting the above technical solution, the at least two label supply mechanisms can operate independently of each other, thereby enabling non-stop loading and improving the overall efficiency of the labeling machine.

[0045] In some embodiments, the positioning mechanism includes a positioning platform, a positioning member, and a lifting member; the positioning platform is configured to support the article to be labeled, the positioning member is configured to position the article to be labeled, and the lifting member is configured to lift and lower the article to be labeled.

[0046] The positioning mechanism according to the embodiments of the present application can position and lift the article to be labeled, thereby facilitating the suction gripper attaching the label to the article to be labeled.

[0047] Embodiments of a second aspect of the present application provide a labeling method applied to the labeling machine according to the first aspect. The labeling method includes: providing, by the label supply mechanism, a label; holding, by the suction gripper, the label by suction using at least one suction zone; and moving, by the robotic arm, the suction gripper onto the article to be labeled, such that the suction gripper attaches the label onto the article to be labeled.

[0048] According to the above labeling method, the label supply mechanism can be used to provide a label, and the robot can be used to pick up and hold the label by suction. The surface of the suction gripper is provided with the plurality of suction zones, and the suction port is formed in each suction zone. Therefore, each suction zone can independently hold a label by suction, and thereby the suction gripper can hold a plurality of labels of different sizes by suction by using the plurality of suction zones. The labeling method according to the present application can adapt to labels of a plurality of sizes, thereby enabling high compatibility. The suction gripper does not need to be replaced when the label type changes, thereby resolving the problem of wasted production time and increased material preparation costs caused by the replacement of the suction gripper.

[0049] In some embodiments, the labeling machine further includes the identification module, and before holding, by the suction gripper, the label by suction using the at least one suction zone, the labeling method further includes: identifying, by the identification module, information of the article to be labeled; acquiring, based on the information of the article to be labeled, a size of the label; and controlling, based on the size of the label, at least one cavity of the suction gripper to be under negative pressure, and using a suction zone corresponding to the cavity to hold the label by suction.

[0050] By adopting the above technical solution, the labeling method can adapt to the type change of the article to be labeled. When the size of the label changes, the suction gripper is controlled to use the suction zone with the corresponding size to hold the label by suction, thereby improving the compatibility of the suction gripper.

[0051] In some embodiments, the robot further includes the visual detection module disposed on the robotic arm, and the labeling method further includes: acquiring, by the visual detection module, label information, and verifying whether the label information is incorrect, the label information including at least one of label size information, label specification information, and label content; and when the label information is correct, moving, by the robotic arm, the suction gripper, such that the suction gripper holds the label by suction.

[0052] By adopting the above technical solution, the visual detection module can verify the label information, thereby reducing the probability of incorrect labeling and improving the accuracy of labeling.

[0053] In some embodiments, the labeling machine further includes the deviation correction detection module. The labeling method further includes: identifying, by the visual detection module, a position of the article to be labeled; capturing an image of the suction gripper with the label held by suction, so as to identify a suction position of the label and detect an offset of the label; and moving, by the robotic arm, the suction gripper onto the article to be labeled, based on the position of the article to be labeled, the suction position of the label, and the offset of the label.

[0054] By adopting the above technical solution, the deviation correction detection module can identify the suction position of the label, such that the labeling method enables automatic deviation correction of the robotic arm, thereby improving the accuracy of the labeling position and enhancing the labeling effect.

[0055] In some embodiments, after label attachment, the labeling method further includes: capturing, by the visual detection module, an image of the label attached to the article to be labeled; and verifying the attachment position based on the image of the label.

[0056] In this way, the labeling method enables detection of the label attachment effect, thereby enabling closed-loop management.

[0057] The above description is only an overview of the technical solutions of the present application. To more clearly understand the technical means of the present application to enable implementation in accordance with the content of the specification and to make the above and other purposes, features, and advantages of the present application more obvious and easy to understand, the detailed description of the present application is provided below.BRIEF DESCRIPTION OF THE DRAWINGS

[0058] To more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for illustrating the embodiments or conventional technologies are briefly described below. Apparently, the drawings in the following description illustrate merely some embodiments of the present application, and those of ordinary skill in the art may still derive other drawings from these drawings without creative efforts. FIG. 1 is a schematic perspective view of a labeling machine in an operating state according to some embodiments of the present application; FIG. 2 is a partially enlarged view of portion A in the labeling machine shown in FIG. 1; FIG. 3 is a schematic perspective view of a suction gripper in the labeling machine shown in FIG. 1; FIG. 4 is a schematic perspective view of a suction member in the suction gripper shown in FIG. 3; FIG. 5 is a schematic perspective view of a suction cup main body in the suction member shown in FIG. 4; FIG. 6 is a schematic bottom view of a structure of the suction cup main body shown in FIG. 5; FIG. 7 is a schematic perspective view of a deviation correction detection module in the labeling machine shown in FIG. 1; FIG. 8 is a schematic perspective view of a label receiving mechanism in the labeling machine shown in FIG. 1; FIG. 9 is a schematic perspective view of a part of a frame and a label printer in the labeling machine shown in FIG. 1; FIG. 10 is a schematic perspective view of the labeling machine shown in FIG. 1 with an article to be labeled removed; FIG. 11 is a partially enlarged view of portion B in the labeling machine shown in FIG. 10; FIG. 12 is a module diagram of a labeling machine according to some embodiments of the present application; and FIG. 13 is a flowchart of a labeling method according to some embodiments of the present application.

[0059] Reference numerals in the drawings have the following meanings: 100: labeling machine; 10: label supply mechanism; 11: label printer; 12: label receiving mechanism; 121: label receiving platform; 1211: concave-convex structure; 1212: gas inlet port; 123: movement driving member; 124: mounting base; 125: label receiving platform mounting bracket; 126: gas supply mechanism; 127: detector; 13: sliding table; 20: positioning mechanism; 21: positioning platform; 22: positioning member; 23: lifting member; 30: robot; 31: robotic arm; 32: suction gripper; 321: base; 3211: through hole; 322: suction member; 3201: suction surface; 3221: suction cup main body; 32211: suction zone; 32212: suction port; 32213: vacuum access port; 32214: cavity; 32215: partition plate; 3222: sealing plate; 323: vacuum generator; 33: visual detection module; 331: first image capturing apparatus; 332: first light source; 40: deviation correction detection module; 41: second image capturing apparatus; 42: second light source; 421: strip-shaped light source; 43: CCD calibration block; 44: camera mount; 45: camera protective cover; 50: frame; 60: identification module; 70: controller; 200: MES system.EMBODIMENTS OF THE PRESENT DISCLOSURE

[0060] Embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are merely used to more clearly illustrate the technical solutions of the present application, and therefore, are only exemplary and do not limit the protection scope of the present application.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used herein are only used to illustrate the specific embodiments, rather than limit the present application. The terms "include", "comprise", "have", and "provided with", and any variants thereof in the specification and claims of the present application and the above description of the drawings are intended to cover non-exclusive inclusions.

[0062] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and should not be interpreted as indicating or implying the relative importance or implicitly indicating the number, specific order, or primary and secondary relationship of the technical features referred to. In the description of the embodiments of the present application, unless otherwise specifically defined, "plurality of" means two or more.

[0063] Reference in the present application to "embodiment" means that a particular feature, structure, or characteristic described in combination with the embodiment may be included in at least one embodiment of the present application. The references of the word in the context of the specification do not necessarily refer to the same embodiment, nor to separate or alternative embodiments exclusive of other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0064] In the description of the embodiments of the present application, the term "and / or" is merely a way to describe the association relationship between associated objects, indicating that there are three possible relationships. For example, "A and / or B" may denote: the presence of A alone, the simultaneous presence of A and B, and the presence of B alone. In addition, the character " / " herein generally indicates an "or" relationship between the associated objects before and after the " / ".

[0065] In the description of the embodiments of the present application, the term "plurality of" refers to two or more (including two). Similarly, "plurality of groups" refers to two or more (including two) groups, and "plurality of pieces" refers to two or more (including two) pieces.

[0066] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings. They are merely for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the apparatus or element referred to must have a specific orientation or be constructed and operated in the specific orientation, and thus should not be construed as a limitation to the embodiments of the present application.

[0067] In the description of the embodiments of the present application, unless otherwise clearly specified and defined, the technical terms "mount", "interconnect", "connect", "fix", and the like should be interpreted in their broad senses. For example, they may be a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; or a direct connection, an indirect connection via an intermediate, a communication between interiors of two elements, or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application may be interpreted according to specific conditions.

[0068] In an automated process, a suction gripper is often used to hold labels by suction and attach the labels to articles to be labeled. The suction gripper holds the labels by suction based on the principle of vacuum suction. However, in the related art, the suction gripper has poor compatibility and can only adapt to labels of a specific size. When the size of the label changes, the suction gripper needs to be replaced, which wastes production time and increases the material preparation costs of the suction gripper.

[0069] In view of this, embodiments of the present application provide a labeling machine. The labeling machine includes a label supply mechanism, a positioning mechanism, and a robot. The robot includes a robotic arm and a suction gripper disposed on the robotic arm. A plurality of suction zones are provided on the suction gripper, suction ports are formed in the suction zones of the suction gripper, and a plurality of mutually isolated cavities are provided in the interior of the suction gripper. The cavities are arranged in one-to-one correspondence with the suction zones. The robotic arm is configured to move the suction gripper to the label supply mechanism, such that at least one of the suction zones holds the label by suction, and the robotic arm is further configured to move the suction gripper onto an article to be labeled of the positioning mechanism, such that the suction gripper attaches the label onto the article to be labeled. Since the plurality of suction zones are provided on the suction gripper, the suction gripper can hold labels of different sizes by suction by separately using different suction zones, which improves the compatibility of the suction gripper. When the size of the label changes, the suction gripper does not need to be replaced, thereby saving the material preparation costs of the suction gripper, shortening the time for replacing the suction gripper, and improving the labeling efficiency.

[0070] The labeling machine and the labeling method according to the embodiments of the present application are used to attach a label to an article to be labeled. The article to be labeled refers to an object to which a label is to be attached, and the article to be labeled may be a product, a workpiece, or the like.

[0071] Referring to FIGs. 1 to 6, embodiments of a first aspect of the present application provide a labeling machine 100. The labeling machine includes a label supply mechanism 10, a positioning mechanism 20, and a robot 30. The label supply mechanism 10 is configured to provide a label, the positioning mechanism 20 is configured to position an article to be labeled, and the robot 30 is configured to pick up and attach the label. The robot 30 includes a robotic arm 31 and a suction gripper 32 disposed on the robotic arm 31. A plurality of suction zones 32211 are provided on the suction gripper 32, suction ports 32212 are formed in the suction zones 32211 of the suction gripper 32, and a plurality of mutually isolated cavities 32214 are provided in the interior of the suction gripper 32. The cavities 32214 are arranged in one-to-one correspondence with the suction zones 32211. The robotic arm 31 is configured to move the suction gripper 32 to the label supply mechanism 10, such that at least one of the suction zones 32211 holds the label by suction. The robotic arm 31 is further configured to move the suction gripper 32 onto the article to be labeled of the positioning mechanism 20, such that the suction gripper 32 attaches the label onto the article to be labeled.

[0072] The label supply mechanism 10 is configured to provide the label. The label supply mechanism 10 may print the label by a label printer 11, or may convey the label by a conveying member, such as a conveyor belt.

[0073] The positioning mechanism 20 is configured to position the article to be labeled, to which a label is to be attached. The positioning mechanism 20 can fix the article to be labeled by means of various structures. For example, the positioning mechanism 20 may lock the article to be labeled by means of a locking member, clamp the article to be labeled by means of a clamping member, or hold the article to be labeled by suction by means of a suction element. Certainly, the positioning mechanism 20 can also fix the article to be labeled by means of other positioning members 22.

[0074] The robot includes the robotic arm 31 and the suction gripper 32. The robotic arm 31 may be a multi-axis robotic arm, such as a four-axis robotic arm. It can be understood that the robotic arm 31 may also be of other types, such as a five-axis robotic arm, as long as it can meet the movement requirements of the suction gripper 32.

[0075] The suction gripper 32 holds the label by suction based on the principle of vacuum suction. The plurality of suction zones 32211 are provided on the suction gripper 32, the suction ports 32212 are formed in the suction zones 32211 of the suction gripper 32, and the suction ports 32212 are configured to hold the label by suction. It can be understood that the suction port 32212 can be in communication with a vacuum generator 323, such that the suction port 32212 can hold the label by suction under negative pressure.

[0076] The labeling machine 100 further includes a frame 50. One or more of the label supply mechanism 10, the positioning mechanism 20, and the robot 30 are disposed on the frame 50.

[0077] In the suction gripper, the plurality of cavities 32214 are mutually isolated; that is, the plurality of cavities 32214 are separated from each other and are not in communication with each other, and each cavity 32214 can independently control the negative pressure state thereof.

[0078] The cavity 32214 corresponding to the suction zone 32211 means that the cavity 3224 is in communication with the suction port 32212 in the suction zone 32211. When the cavity 32214 is under negative pressure, the suction zone 32211 corresponding to the cavity 32214 can hold the label by suction under the action of the negative pressure.

[0079] One or a plurality of suction ports 32212 are formed in each suction zone 32211. Since the suction zones 32211 are arranged in one-to-one correspondence with the cavities 32214, the vacuum state of each cavity 32214 can be controlled separately, such that each suction zone 32211 can independently hold a label by suction. The plurality of suction zones 32211 may be provided on the same side of the suction gripper 32, or may be provided on different sides of the suction gripper 32. When the plurality of suction zones 32211 are provided on the same side of the suction gripper 32, the plurality of suction zones 32211 may be disposed adjacent to each other, and each suction zone 32211 can separately hold a label by suction; or, at least two adjacent suction zones 32211 can simultaneously hold one label by suction. It can be understood that if the size of the label to be held by suction matches the zone formed by two or more of the suction zones 32211, the plurality of suction zones 32211 can be used to hold one label by suction simultaneously.

[0080] Each suction zone 32211 is adapted to labels of one size that is to be held by suction. One or a plurality of suction ports 32212 may be formed in each suction zone 32211. The suction zone 32211 being adapted to the label means that the label can cover all the suction ports 32212 in the suction zone 32211, such that the suction ports 32212 do not leak air. The projection area of the label facing the suction zone 32211 may be equal to or different from the area of the suction zone 32211, but the projection of the label facing the suction zone 32211 is required to cover all the suction ports 32212 in the suction zone 32211.

[0081] The operating principle of the above labeling machine 100 is as follows: the label supply mechanism 10 provides a label to be attached; the positioning mechanism 20 positions the to-be-labeled article to be labeled; the robotic arm 31 moves the suction gripper 32 over the label to be held by suction; based on the size of the label to be held by suction, at least one cavity 32214 of the suction gripper 32 is under negative pressure; the suction zone 32211 corresponding to the cavity 32214 under the negative pressure is arranged directly opposite to the label to be held by suction, and the suction ports 32212 in the suction zone 32211 are in communication with the vacuum generator 323 and are configured to hold the label by suction, while the suction ports 32212 in the remaining suction zones 32211 do not undergo vacuum treatment. Then, the robotic arm 31 moves the suction gripper 32 over the article to be labeled, and the suction gripper 32 attaches the label onto the article to be labeled. When the size of the label to be held by suction changes, the suction gripper 32 can hold the label after the type change by suction by directly using the matched suction zone 32211, without needing to replace the suction gripper 32.

[0082] According to the labeling machine 100 provided in the embodiments of the present application, the label supply mechanism 10 can be used to provide the label, the positioning mechanism 20 can be used to position the to-be-labeled article to be labeled, and the robot 30 can be used to pick up and hold the label by suction, thereby enabling automatic labeling, providing a high degree of automation, and exhibiting high labeling efficiency. In addition, the surface of the suction gripper 32 is provided with the plurality of suction zones 32211, the plurality of mutually isolated cavities 32214 are provided in the suction gripper 32, and the cavities 32214 are arranged in one-to-one correspondence with the suction zones 32211. Therefore, by controlling the vacuum degree of each cavity 32214, each suction zone 32211 can be controlled to independently hold the label by suction, and further, the suction gripper 32 can hold a label of a corresponding size by suction through the cooperation among the plurality of suction zones 32211, or hold a label of a corresponding size by suction through one suction zone 32211. The labeling machine 100 according to the present application can adapt to labels of a plurality of sizes, thereby enabling high compatibility and improving the overall efficiency. The suction gripper 32 does not need to be replaced when the label type changes, thereby resolving the problem of wasted production time and increased material preparation costs caused by the replacement of the suction gripper 32.

[0083] In some embodiments, at least two of the suction zones 32211 have different sizes.

[0084] The surface of the suction member 322 is provided with a plurality of suction zones 32211. The number of the suction zones 32211 may be two, three, four, five, or more than five. The at least two of the suction zones 32211 have different sizes, and the suction zones 32211 having different sizes respectively correspond to labels of one size, such that the suction gripper 32 can hold labels of at least two sizes by suction. It can be understood that the two suction zones 32211 with different sizes may have the same shape or different shapes. For example, two rectangular suction zones 32211 are provided on a suction member 322. The two suction zones 32211 are different in length, width, or both length and width. For another example, a square suction zone 32211 and a strip-shaped suction zone 32211 are provided on the suction member 322, and the two are also different in size.

[0085] As shown in FIG. 6, in some embodiments, five suction zones 32211 are provided on the suction gripper 32. One suction zone 32211 is an elongated zone, two suction zones 32211 are both square and are arranged side by side on one side of the elongated zone, and the other two suction zones 32211 are both square and arranged side by side on the other side of the elongated zone. If the five suction zones 32211 are all different in size, the suction gripper 32 can hold labels of at least five sizes by suction.

[0086] By adopting the above technical solution, the at least two of the suction zones 32211 can adapt to labels of at least two sizes, thereby improving the compatibility of the suction gripper 32.

[0087] In other embodiments, the plurality of suction zones 32211 of the suction gripper 32 may also have the same size, and in this case, different numbers of suction zones 32211 may be used to hold labels of different sizes by suction by changing the number of cavities 32214 that are under negative pressure.

[0088] In some embodiments, the suction gripper 32 further includes a plurality of vacuum generators 323, and the plurality of vacuum generators 323 are in communication with the plurality of cavities 322143 in a one-to-one manner.

[0089] The vacuum generator 323 is a high-efficiency, compact vacuum component that generates negative pressure using a positive pressure air source. This makes it very easy and convenient to obtain negative pressure at a place where compressed air is available, or at a place in a pneumatic system where both positive and negative pressures are required simultaneously.

[0090] The number of vacuum generators 323 is the same as the number of cavities 32214. The plurality of vacuum generators 323 are in communication with the plurality of cavities 32214 in a one-to-one manner, such that each vacuum generator 323 can control the negative pressure state in one cavity 32214, thereby controlling one suction zone 32211 to generate a suction force.

[0091] By adopting the above technical solution, each vacuum generator 323 can control one suction zone 32211 to generate the suction force, and labels of different sizes can be activated by controlling different vacuum generators 323, thereby enabling compatibility and automatic type change.

[0092] In other embodiments, the number of vacuum generators 323 may also be less than the number of cavities 32214. For example, the vacuum generator 323 is used in combination with a control valve, and the vacuum generator 323 is controlled by the control valve to be in communication with a certain cavity 32214.

[0093] In some embodiments, the suction gripper 32 includes a base 321 and a suction member 322 connected to the base 321. The base 321 is connected to the robotic arm 31, and the suction zone 32211 is provided on the suction member 322.

[0094] The base 321 is configured to provide a mounting environment for the suction member 322. The suction member 322 is provided with a suction surface 3201, and a plurality of suction zones 32211 are provided on the suction surface 3201.

[0095] The suction surface 3201 is a surface of the suction member 322 for fitting the label. In some embodiments, the suction surface 3201 is planar to facilitate the fitting with the label. In other embodiments, the suction surface 3201 may also be non-planar. For example, the suction zone 32211 is concavely provided on the suction member 322 or convexly provided on the suction member 322. The suction member 322 includes a suction cup main body 3221 and a sealing plate 3222 connected to the suction cup main body 3221 in a sealed manner. An empty cavity is provided in the suction cup main body 3221, and a partition plate 32215 is provided in the empty cavity. The partition plate 32215 partitions the empty cavity into the plurality of mutually isolated cavities 32214. The sealing plate 3222 covers the suction cup main body 3221. A vacuum access port 32213 is formed in the suction cup main body 3221 or the sealing plate 3222.

[0096] The suction cup main body 3221 may be a square plate body or have other shapes. The suction port 32212 may be formed on a side, facing away from the sealing plate 3222, of the suction cup main body 3221. It can be understood that the suction port 32212 may also be formed on other sides of the suction cup main body 3221.

[0097] An empty cavity for forming the cavity 32214 is provided in the suction cup main body 3221. The sealing plate 3222 is connected to the suction cup main body 3221 in a sealed manner, the sealing plate 3222 and the suction cup main body 3221 are matched in shape, and the sealing plate 3222 covers the empty cavity of the suction cup main body 3221, so as to seal the cavity 32214.

[0098] The vacuum access port 32213 is formed in the sealing plate 3222. It can be understood that a gas channel communicating the cavity 32214 with the vacuum access port 32213 is provided in the sealing plate 3222. The vacuum access port 32213 may also be formed in the suction cup main body 3221; that is, the vacuum access port 32213 is in direct communication with the cavity 32214.

[0099] By adopting the above technical solution, the suction member 322 includes the suction cup main body 3221 and the sealing plate 3222. The partition plate 32215 in the suction cup main body 3221 partitions the empty cavity into the plurality of cavities 32214. The structure of the suction member 322 is simple, and the cost is low.

[0100] Optionally, the plurality of vacuum generators 323 are disposed on the base 321, such that the plurality of vacuum generators 323 can move together with the suction member 322.

[0101] As shown in FIG. 3, in some embodiments, the robot 30 further includes a visual detection module 33 disposed on the robotic arm 31. The visual detection module 33 is configured to identify the position of the label and / or the position of the article to be labeled.

[0102] The visual detection module 33 is disposed on the base 321 and can move together with the base 321 and the suction member 322. The visual detection module 33 can acquire a variety of types of information by photographing. Specifically, the visual detection module 33 can acquire the position information of the label by capturing an image of the label, and thereby the robotic arm 31 can accurately pick up the label based on the position information of the label.

[0103] The visual detection module 33 can also acquire the position information of the article to be labeled by capturing an image of the article to be labeled, and thereby the robotic arm 31 can attach the label in preparation based on the position of the article to be labeled.

[0104] By arranging the visual detection module 33, the suction gripper 32 can identify the position of the label and / or the position of the article to be labeled, and the labeling machine 100 can perform labeling by means of visual guidance, thereby improving the positioning accuracy of the suction gripper 32 and the accuracy of the labeling position.

[0105] In some embodiments, the visual detection module 33 is further configured to acquire and verify label information. The label information includes at least one of label size information, label specification information, and label content.

[0106] The label size information refers to the geometrical dimension of the label, such as the length, the width, and the radius of the label. It can be understood that, if the label has a geometrical defect, the geometrical dimension of the label changes; if the specification of the label changes, the geometrical dimension of the label also changes. The label specification information represents an attribute of the label, which may be a large, medium, or small size, a label type, or other specifications. The label content includes the text and / or the pattern on the label.

[0107] If the visual detection module 33 verifies that the label information is incorrect, the suction member 322 does not need to hold the label by suction, and thus the incorrect label will not be attached to the article to be labeled, thereby providing a fool-proof function. If the visual detection module 33 verifies that the label information is correct, the suction member 322 holds the label by suction and attaches the label normally.

[0108] By adopting the above technical solution, the robotic arm 31 can verify the label information by using the visual detection module 33, thereby reducing the probability of incorrect labeling and improving the accuracy of labeling.

[0109] In some embodiments, the visual detection module 33 is further configured to capture an image of the label attached to the article to be labeled.

[0110] The visual detection module 33 can verify the label attachment position by capturing the image of the attached label, and thereby detect the attachment effect. The labeling machine 100 can also store and archive the image for subsequent use.

[0111] In some embodiments, the visual detection module 33 includes a first image capturing apparatus 331 and a first light source 332 that are disposed on the base 321. The first image capturing apparatus 331 is disposed on the robotic arm 31, and the first light source 332 is disposed adjacent to the first image capturing apparatus 331.

[0112] The first image capturing apparatus 331 may be a CCD camera. The CCD is short for charge coupled device, which can convert light into charges and store and transfer the charges, and can also read out the stored charges to generate a voltage change, so it is an ideal CCD camera element. The CCD camera formed by the CCD has the characteristics of small volume, light weight, immunity to magnetic fields, and resistance to vibration and impact, and is thereby widely used. The first image capturing apparatus 331 may also be other types of cameras, such as a complementary metal-oxide semiconductor (CMOS) camera. The first light source 332 is disposed adjacent to the first image capturing apparatus 331. The first light source 332 may be a strip-shaped light source, an annular light source, or the like. Optionally, an accommodating groove is formed in the base 321, and the first light source 332 is fixed in the accommodating groove. In other embodiments, the first light source 332 may also be directly fixed on the surface of the base 321.

[0113] Optionally, a through hole 3211 is formed in the base 321; the first image capturing apparatus 331 is disposed on a side, facing away from the suction member 322, of the base 321, and corresponding to the through hole 3211; the first image capturing apparatus 331 is configured to photograph the label or the article to be labeled, and the first light source 332 is disposed adjacent to the first image capturing apparatus 331.

[0114] Optionally, the first image capturing apparatus 331 and the suction member 322 are connected to two opposite sides of the base 321, respectively, such that the first image capturing apparatus 331 does not obstruct the suction member 322 from holding the label by suction. The first image capturing apparatus 331 is disposed corresponding to the through hole on the base 321, such that the first image capturing apparatus 331 can face the label or the article to be labeled through the through hole for photographing. It can be understood that the first image capturing apparatus 331 and the suction member 322 may also be disposed on the same side of the base 321, and in this case, the through hole may be omitted.

[0115] By adopting the above technical solution, the visual detection module 33 can move together with the suction member 322, so as to facilitate the detection of the label and the article to be labeled.

[0116] Referring to FIGs. 1 to 3, and 7, in some embodiments, the labeling machine 100 further includes a deviation correction detection module 40. The deviation correction detection module 40 is configured to capture an image of the suction gripper 32 with the label held by suction, so as to identify the suction position of the label and detect an offset of the label. The robotic arm 31 can move the suction gripper 32 onto the article to be labeled based on the position of the article to be labeled and the suction position of the label.

[0117] After the label is held by suction by the suction gripper 32, the deviation correction detection module 40 is configured to photograph the suction gripper 32 and the label to capture images of the label and the suction gripper 32, thereby identifying the suction position of the label and detecting an offset of the label. The offset refers to a distance by which an actual suction position of the label deviates from a preset suction position. The offset may include offsets in one direction or a plurality of directions.

[0118] If the suction position is accurate, deviation correction is not required for the robotic arm 31, and the label is directly attached based on the position of the article to be labeled. If there is a deviation in the suction position, deviation correction is required to be performed on the attachment position of the robotic arm 31 based on the suction position and the offset, such that the suction gripper 32 can attach the label to the preset attachment position. For example, if it is detected that the suction position of the label deviates leftward by a certain offset, deviation correction is required for the robotic arm 31; the suction gripper 32 is moved rightward by the offset, such that the label can still be attached to the preset position.

[0119] By adopting the above technical solution, the deviation correction detection module 40 can identify the suction position of the label, such that the labeling machine 100 can automatically perform deviation correction on the robotic arm 31, thereby improving the accuracy of the labeling position and enhancing the labeling effect.

[0120] Referring to FIGs. 1 and 7, in some embodiments, the deviation correction detection module 40 includes a second image capturing apparatus 41, a second light source 42, and a CCD calibration block 43. The second image capturing apparatus 41 is oriented upward and is configured to photograph the suction gripper 32 and the label held by suction by the suction gripper. The second light source 42 is disposed adjacent to the second image capturing apparatus 41. The CCD calibration block 43 is fixed on one side of the second image capturing apparatus 41 and is configured to calibrate the second image capturing apparatus 41.

[0121] The deviation correction detection module 40 may be disposed on the frame 50. The second image capturing apparatus 41 is oriented upward; that is, the second image capturing apparatus 41 is disposed in a direction facing away from the frame 50. After the label is held by suction by the suction gripper 32, the suction gripper 32 moves over the second image capturing apparatus 41, and the second image capturing apparatus 41 can photograph the suction gripper 32 and the label held by suction by the suction gripper, thereby identifying the suction position of the label.

[0122] The second image capturing apparatus 41 may be a CCD camera or other types of cameras. The second light source 42 is configured to provide illumination for the second image capturing apparatus 41, and the second light source 42 may be a strip-shaped light source, an annular light source, or other light sources.

[0123] The CCD calibration block 43 is a tool for calibrating the image capturing apparatus and consists of a plurality of blocks having different sizes and spacings. These blocks can be used to measure intrinsic parameters and extrinsic parameters of the image capturing apparatus, thereby improving the measurement accuracy and reliability of the camera. By means of the calibration block, information of the camera, such as the focal length, the distortion coefficient, the pixel size, and the image center position, may be acquired, thereby allowing for subsequent image processing and applications. In other embodiments, the CCD calibration block 43 may be omitted.

[0124] By adopting the above technical solution, the deviation correction detection module 40 can automatically and conveniently photograph the suction gripper 32 to identify the suction position of the label, thereby providing a deviation correction function and improving the accuracy of the attachment position.

[0125] Referring to FIG. 7, in some embodiments, the second light source 42 includes two strip-shaped light sources 421, the two strip-shaped light sources 421 are disposed on two opposite sides of the second image capturing apparatus 41 respectively, and a light-emitting surface of the strip-shaped light source 421 is oriented obliquely upward toward the second image capturing apparatus 41.

[0126] The strip-shaped light source 421 is a light source configured for machine vision detection, which features high brightness and high uniformity, and can provide stable, clear, and accurate images. The length of the strip-shaped light source 421 can be set based on requirements.

[0127] Since the suction gripper 32 can move over the second image capturing apparatus 41, and the light-emitting surfaces of the two strip-shaped light sources 421 are oriented obliquely upward, the suction surface 3201 of the suction gripper 32 and the label held on the suction surface 3201 by suction can be illuminated, which is beneficial for the second image capturing apparatus 41 to capture the image, reduces the interference from ambient light, and improves the image stability.

[0128] Optionally, the deviation correction detection module 40 further includes a camera mount 44 configured to mount the second image capturing apparatus 41 and a camera protective cover 45 configured to protect the second image capturing apparatus 41.

[0129] Referring to FIG. 2, in some embodiments, the labeling machine 100 further includes an identification module 60, and the identification module 60 is configured to identify information of the article to be labeled. The label supply mechanism 10 is capable of providing, based on the information of the article to be labeled, a corresponding label, and / or the robotic arm 31 is capable of controlling, based on the information of the article to be labeled, at least one suction zone 32211 of the suction gripper 32 to hold the label by suction.

[0130] In some embodiments, the identification module 60 is a radio frequency identification (RFID) module, and the RFID module is disposed at a position on the positioning mechanism 20. After the article to be labeled is positioned by the positioning mechanism 20, the RFID module can identify the information of the article to be labeled. RFID is a wireless communication technology that enables non-contact automatic identification and data acquisition of objects through radio waves. A basic RFID system typically includes an electronic tag and a reader (also referred to as a "reader / writer" or an "interrogator"). The electronic tag is typically attached to a target object and contains a silicon integrated circuit referred to as a "microchip". Such an integrated circuit contains information such as the serial number or the production date of the article to be labeled. The reader communicates with the electronic tag through radio waves, reads information in the electronic tag, and transmits the information to the computer system for processing. The RFID technology has the advantages of non-contact identification, can adapt to various environments, and does not require direct contact during tag reading and writing, thereby significantly improving the accuracy and reliability of data reading. In addition, the RFID technology also features a large capacity and can store more information, such as the production date and batch number of the article to be labeled. Moreover, the RFID technology can also allow simultaneous identification of a plurality of tags, thereby improving the operating efficiency.

[0131] Taking the article to be labeled being a battery module as an example, the battery module is disposed on a tray, and the positioning mechanism 20 can position the tray and the battery module on the tray. The tray is provided with an electronic tag thereon, and the RFID module can read information of the electronic tag to acquire the information of the battery module.

[0132] In other embodiments, the identification module 60 may also be the visual detection module 33 or other modules capable of identifying the article to be labeled.

[0133] The label supply mechanism 10 provides the corresponding label based on the information of the article to be labeled. When the label supply mechanism 10 includes the label printer 11, the label supply mechanism 10 can automatically print the corresponding label based on the information of the article to be labeled, thereby enabling the type change of the label.

[0134] The robotic arm 31 can control the at least one suction zone 32211 of the suction gripper 32 to hold the label by suction based on the information of the article to be labeled. Specifically, the robotic arm 31 can determine, through matching, the corresponding label based on the information of the article to be labeled, determine, through matching, the corresponding suction zone 32211 based on the size of the label, and thereby control the vacuum generator 323 corresponding to the suction zone 32211 to activate, thereby enabling the cavity 32214 corresponding to the suction zone 32211 to be under negative pressure and thus allowing the use of the suction zone 32211 to hold the label by suction.

[0135] By adopting the above technical solution, the labeling machine 100 can automatically identify the article to be labeled through the identification module 60, and the label supply mechanism 10 provides the label corresponding to the information of the article to be labeled, thereby enabling the type change of the label. The suction gripper 32 can automatically hold the label by suction using the at least one suction zone 32211, so as to adapt to the type change of the label. In this way, the labeling machine 100 can enable automatic type change, providing a high degree of automation.

[0136] In other embodiments, the identification module 60 may be omitted, and the information of the article to be labeled may be provided by a controller 70 or other modules, as long as the label supply mechanism 10 and the robotic arm 31 can acquire the information of the article to be labeled.

[0137] As shown in FIG. 2, in some embodiments, the labeling machine 100 further includes a controller 70. The controller 70 is communicatively connected to the label supply mechanism 10, the robot 30, and the identification module 60, separately.

[0138] The controller 70 can receive the information of the article to be labeled identified by the identification module 60, control, based on the information of the article to be labeled, the label supply mechanism 10 to provide a label, and control the robot 30 to hold the label by suction. It can be understood that the controller 70 may also be communicatively connected to the positioning mechanism 20 and the deviation correction detection module 40.

[0139] The controller 70 may be a programmable logic controller (PLC) 70. The programmable logic controller 70 is a digital arithmetic operation electronic system specially designed for application in an industrial environment. The programmable logic controller adopts a programmable memory that stores instructions for performing operations such as logic operations, sequential control, timing, counting, and arithmetic operations, and controls various types of mechanical devices or production processes via digital or analog inputs and outputs. In other embodiments, the controller 70 may also be other computers.

[0140] By adopting the above technical solution, the controller 70 can control the label supply mechanism 10 and the robot 30 based on the identification information acquired by the identification module 60, which is beneficial to enabling automatic type change of the article to be labeled, improving the labeling efficiency, and providing a high degree of automation.

[0141] Optionally, the controller 70 is further communicatively connected to a manufacturing execution system (MES) 200. The controller 70 can receive the information of the article to be labeled identified by the identification module 60, and upload the information of the article to be labeled to the MES system 200. The MES system 200 sends, based on the information of the article to be labeled, control information to the label supply mechanism 10, thereby controlling the label supply mechanism 10 to print or provide the corresponding label.

[0142] The MES system 200 is a production information management system designed for the shop-floor level of a manufacturing enterprise.

[0143] Referring to FIGs. 1, 2, 8, and 9, in some embodiments, the label supply mechanism 10 includes a label printer 11 and a label receiving mechanism 12. The label printer 11 is configured to print a label, the label receiving mechanism 12 is disposed at an outlet of the label printer 11, the label receiving mechanism 12 includes a label receiving platform 121, and the label receiving platform 121 is configured to receive the label printed by the label printer 11.

[0144] The label printer 11 can print the label based on the information of the article to be labeled. Certainly, the label printer 11 may also print the label based on the label specification information or other information. The label receiving mechanism 12 is configured to receive the label printed by the label printer 11, and the suction gripper 32 can hold the label on the label receiving mechanism 12 by suction.

[0145] By adopting the above technical solution, the label printer 11 can automatically print different labels, thereby enabling a high degree of automation. The label receiving mechanism 12 can receive the label, such that the label receiving mechanism 12 allows the suction gripper 32 to hold the label by suction, thereby improving the convenience of holding the label by suction.

[0146] Referring to FIG. 8, in some embodiments, the label receiving mechanism 12 includes the label receiving platform 121, and a surface of the label receiving platform 121 is provided with a concave-convex structure 1211 and / or an anti-adhesive coating.

[0147] The label receiving platform 121 is configured to receive the label printed by the label printer 11 and allow the suction gripper 32 to pick up the label. The concave-convex structure 1211 is provided on the label receiving platform 121. The concave-convex structure 1211 may be a plurality of protrusions and / or grooves arranged in parallel. In this way, the area of contact between the label receiving platform 121 and the label is small, thereby enabling the reduction in the probability of the label adhering to the label receiving platform 121.

[0148] The anti-adhesive coating is a coating applied to the surface of the label receiving platform 121 to prevent the label from adhering, which can also reduce the probability of the label adhering to the label receiving platform 121.

[0149] By adopting the above technical solution, the suction gripper 32 can conveniently pick up the label from the label receiving platform 121, thereby reducing the probability of the label being unable to separate from the label receiving platform 121 due to adhesion to the label receiving platform 121, reducing the probability of label curling, and improving the reliability of label suction and the yield of label attachment.

[0150] Referring to FIG. 8, in some embodiments, a reverse blowing hole (not shown in the figure) is formed in the surface of the label receiving platform 121, and the reverse blowing hole is connected to a gas supply mechanism 126 to direct gas toward the label on the label receiving platform 121.

[0151] The reverse blowing hole is formed in the surface of the label receiving platform 121 and configured to receive the label. When the concave-convex structure 1211 or the anti-adhesive coating is provided on the label receiving platform 121, the reverse blowing hole may extend through the concave-convex structure 1211 or the anti-adhesive coating. The number of reverse blowing holes may be one or more. For example, the reverse blowing holes are formed in an array on the surface of the label receiving platform 121.

[0152] A gas inlet port 1212 is further formed in a side surface of the label receiving platform 121. After the label is held by suction by the suction gripper 32, the gas inlet port is configured to be connected to the gas supply mechanism 126. The gas supply mechanism 126 can deliver a gas through the gas inlet port 1212 to the reverse blowing hole, thereby directing the gas toward the label through the reverse blowing hole.

[0153] By forming the reverse blowing hole, the probability of the label adhering to the label receiving platform 121 can be reduced, and the reliability of label suction and the yield of label attachment are improved.

[0154] With continued reference to FIG. 8, in some embodiments, the label receiving mechanism 12 further includes a detector 127, and the detector 127 is configured to detect whether a label is present on the label receiving platform 121.

[0155] The detector 127 may be disposed on the label receiving platform 121. The detector 127 may be of various types. For example, the detector 127 is a diffuse reflective sensor. The diffuse reflective sensor is a commonly used photoelectric sensor, also referred to as a reflective photoelectric sensor, which is a sensor based on the photoelectric effect and configured to detect the presence or position of an object. Specifically, the diffuse reflective sensor detects a feature of a target object, such as the position, the shape, or the color, by emitting a beam of light and measuring the reflected light.

[0156] When the detector 127 detects that a label is present on the label receiving platform 121, the suction gripper 32 may be moved over the label receiving platform 121 to hold the label by suction.

[0157] By arranging the detector 127, it is possible to detect whether a label is present on the label receiving platform 121, thereby controlling the suction gripper 32 or other mechanisms to operate. This improves the labeling efficiency and automation degree of the labeling machine 100.

[0158] With continued reference to FIG. 8, in some embodiments, the label receiving mechanism 12 further includes a movement driving member 123 connected to the label receiving platform 121. The movement driving member 123 is configured to drive the label receiving platform 121 to move in a direction close to or away from the label printer 11.

[0159] When label receiving is needed, the movement driving member 123 drives the label receiving platform 121 to move in the direction close to the label printer 11. After label receiving, the movement driving member 123 drives the label receiving platform 121 to move in the direction away from the label printer 11, so as to facilitate the suction of the label by the suction gripper 32, and prevent the label printer 11 from interfering with the suction gripper 32.

[0160] The movement driving member 123 may be a sliding table cylinder. The label receiving mechanism 12 further includes a mounting base 124 and a label receiving platform mounting bracket 125. The movement driving member 123 is disposed on the mounting base 124. The label receiving platform mounting bracket 125 is disposed on the movement driving member 123, and the label receiving platform 121 is disposed on the label receiving platform mounting bracket 125. In this way, the movement driving member 123 can drive the label receiving platform 121 to reciprocate via the label receiving platform mounting bracket, so as to move toward or away from the label printer 11. It can be understood that the structure of the label receiving mechanism 12 is not limited thereto. For example, the label receiving platform 121 is slidably connected to the mounting base 124, and the movement driving member 123 is a cylinder and is connected to one side of the label receiving platform 121. In this way, the movement driving member 123 can also drive the label receiving platform 121 to reciprocate.

[0161] By adopting the above technical solution, the movement driving member 123 can drive the label receiving platform 121 to move, so as to facilitate the receiving of the label provided by the label supply mechanism 10 and the suction of the label by the suction gripper 32.

[0162] In some embodiments, the labeling machine 100 further includes a counting module (not shown in the figure). The counting module is capable of counting the number of uses of the label receiving platform 121, and sending reminder information when the number of uses of the label receiving platform 121 reaches a preset value.

[0163] Optionally, the counting module may be a functional module in the controller 70, or may be a detection device disposed on the label receiving platform. The counting module is capable of counting the number of uses of the label receiving platform 121, and sending the reminder information when the number of uses of the label receiving platform 121 reaches the preset value, thereby reminding maintenance personnel to maintain the label receiving platform 121. During maintenance of the label receiving platform 121, it is necessary to clean the foreign matter on the label receiving platform 121 and keep the label receiving platform 121 clean.

[0164] By adopting the above technical solution, the labeling machine 100 is provided with counting and maintenance reminder functions, enabling timely maintenance of the label receiving platform 121.

[0165] In some embodiments, the labeling machine 100 further includes a sliding table 13. The labeling machine 100 further includes a sliding table 13. The label printer 11 is disposed on the sliding table 13, and the sliding table 13 is capable of driving the label printer 11 to reciprocate.

[0166] In the embodiments, a plurality of label supply mechanisms 10 are provided, and a plurality of sliding tables 13 are also provided. The label printers 11 are arranged in one-to-one correspondence with the sliding tables 13, and the sliding tables 13 can drive the label printer 11 to reciprocate.

[0167] Generally, the mechanism on the machine table has a compact structure, and the space is small; however, for safety considerations, the labeling machine 100 is equipped with a protective cover to improve safety. When loading is required for the label printer 11, for example, when a label roll needs to be replenished for the label printer 11, the arrangement of the protective cover increases the difficulty of loading the label printer 11. By arranging the sliding table 13, the label printer 11 can be pulled outward from the protective cover to facilitate loading of the label printer 11, thereby reducing the loading difficulty and increasing the loading speed.

[0168] In some embodiments, at least two label supply mechanisms 10 are provided.

[0169] In the embodiments, one robotic arm 31 is provided corresponding to two label supply mechanisms 10. That is, one robotic arm 31 can separately pick up labels provided by the two label supply mechanisms 10. Each label supply mechanism 10 includes a label printer 11 and a label receiving mechanism 12. The two label printers 11 are independent of each other, without mutual interference. When one label printer 11 is loaded, the other label printer 11 can operate normally, thereby enabling the labeling machine 100 to exhibit high efficiency. In addition, the types of labels printed by the two label printers 11 may be the same or different. When the types of the labels printed by the two label printers 11 are different, simultaneous adhesion of a plurality of different types of labels is enabled.

[0170] By adopting the above technical solution, the at least two label supply mechanisms 10 can operate independently of each other, thereby enabling non-stop loading, reducing the device breakdown rate, and improving the overall efficiency of the labeling machine 100.

[0171] Optionally, the two label supply mechanisms 10 are arranged side by side to facilitate the pickup of the label.

[0172] Referring to FIGs. 10 and 11, in some embodiments, the positioning mechanism 20 includes a positioning platform 21, a positioning member 22, and a lifting member 23. The positioning platform 21 is configured to support the article to be labeled, the positioning member 22 is configured to position the article to be labeled, and the lifting member 23 is configured to lift and lower the article to be labeled.

[0173] The positioning mechanism 20 is disposed on the frame 50, and the positioning member 22 may be of various types. For example, the positioning member 22 may include a positioning cylinder and a clamping member, and the positioning cylinder can drive the clamping member to move toward the article to be labeled, so as to fix the article to be labeled. It can be understood that the positioning member 22 may also be of various structures, such as a vacuum suction member or a magnetic suction member.

[0174] The lifting member 23 may be of various types. For example, the lifting member 23 is a jacking cylinder, and the lifting member 23 penetrates through the positioning platform 21 and can jack up the positioned article to be labeled to facilitate labeling. The lifting member 23 may also be disposed on a side portion of the positioning platform 21. It can be understood that the lifting member 23 may also be of a ball screw structure or other lifting drive structures.

[0175] The positioning mechanism 20 according to the embodiments of the present application can position and lift the article to be labeled, thereby facilitating the suction gripper 32 attaching the label to the article to be labeled.

[0176] Referring to FIGs. 1 to 12, some embodiments of the present application provide a labeling machine 100. The labeling machine includes a label supply mechanism 10, a positioning mechanism 20, a robot 30, a deviation correction detection module 40, and an identification module 60. The identification module 60 is configured to identify information of an article to be labeled. The label supply mechanism 10 includes a label printer 11 and a label receiving mechanism 12. The label printer 11 prints a corresponding label based on the information of the article to be labeled. The robot 30 includes a robotic arm 31, a suction gripper 32 disposed on the robotic arm 31, and a visual detection module 33. A plurality of suction zones 32211 are provided on the suction gripper 32, and at least one suction zone 32211 of the suction gripper 32 holds a label of a corresponding size by suction. The deviation correction detection module 40 is configured to capture an image of the suction gripper 32 with the label held by suction, so as to identify the suction position of the label. The robotic arm 31 can move the suction gripper 32 onto the article to be labeled based on the position of the article to be labeled and the suction position of the label. The above labeling machine 100 can enable automatic type change of the article to be labeled and the label, the suction gripper 32 can be compatible with labels of different sizes, the attachment accuracy of the labeling machine 100 is high, and the labeling machine 100 exhibits high labeling efficiency.

[0177] In the labeling machine 100 according to the embodiments of the present application, the mechanisms are modular, facilitating general-purpose design and ensuring good interchangeability.

[0178] Embodiments of a second aspect of the present application provide a labeling method. The labeling method is applied to the labeling machine 100 according to the first aspect. Referring to FIGs. 1 to 13, the labeling method includes: In step S1, the label supply mechanism 10 provides a label.

[0179] The label supply mechanism 10 may print the label by a label printer 11, or may convey the label by a conveying member, such as a conveyor belt. The label supply mechanism 10 is capable of providing a corresponding label based on the information of the article to be labeled. The information of the article to be labeled may be acquired by the identification module 60, or may be acquired by other methods.

[0180] In step S2, the suction gripper 32 holds the label by suction using at least one suction zone 32211.

[0181] One or a plurality of suction ports 32212 are formed in each suction zone 32211, and each suction zone 32211 can independently hold a label by suction. Each suction zone 32211 can separately hold a label by suction, or at least two adjacent suction zones 32211 can simultaneously hold one label by suction. When the size of the label changes, different suction zones 32211 are controlled to hold labels by suction. The suction gripper 32 can hold labels of different sizes by suction, thereby enabling high compatibility.

[0182] In step S3, the robotic arm 31 moves the suction gripper 32 onto the article to be labeled, such that the suction gripper 32 attaches the label onto the article to be labeled.

[0183] The article to be labeled is disposed on the positioning mechanism 20, and the robotic arm 31 is controlled to move based on the position of the article to be labeled, so as to move the suction gripper 32 onto the article to be labeled, such that the suction gripper 32 attaches the label onto the article to be labeled.

[0184] According to the above labeling method, the label supply mechanism 10 can be used to provide a label, and the robot 30 can be used to pick up and hold the label by suction. The surface of the suction gripper 32 is provided with the plurality of suction zones 32211, and the suction port 32212 is formed in each suction zone 32211. Therefore, each suction zone 32211 can independently hold a label by suction, and thereby the suction gripper 32 can hold a plurality of labels of different sizes by suction by using the plurality of suction zones 32211. The labeling method according to the present application can adapt to labels of a plurality of sizes, thereby enabling high compatibility. The suction gripper 32 does not need to be replaced when the label type changes, thereby resolving the problem of wasted production time and increased material preparation costs caused by the replacement of the suction gripper 32.

[0185] In some embodiments, the labeling machine 100 further includes the identification module. Before step S3, the identification module acquires information of the article to be labeled; acquires, based on the information of the article to be labeled, the size of the label; and controls, based on the size of the label, the suction ports 32212 in the at least one suction zone 32211 of the suction gripper 32 to be under negative pressure, and uses the at least one suction zone 32211 to hold the label by suction.

[0186] Specifically, the information of the article to be labeled may be acquired by the identification module 60. In other embodiments, the information of the article to be labeled may also be acquired by other methods. When the type of the article to be labeled changes, the size of the label may be changed. Therefore, the robot 30 or the controller 70 can acquire, based on the information of the article to be labeled, the size of the label corresponding to the article to be labeled.

[0187] Then, based on the size of the label, the robot 30 or the controller 70 controls a vacuum generator 323 corresponding to the at least one suction zone 32211 to activate, thereby enabling the suction port 32212 in the suction zone 32211 to be under negative pressure and thus allowing the use of the at least one suction zone 32211 to hold the label by suction.

[0188] By adopting the above technical solution, the labeling method can adapt to the type change of the article to be labeled. When the size of the label changes, the suction gripper 32 is controlled to use the suction zone 32211 with the corresponding size to hold the label by suction, thereby improving the compatibility of the suction gripper 32.

[0189] In some embodiments, the robot 30 further includes the visual detection module 33 disposed on the robotic arm 31. The labeling method further includes: acquiring, by the visual detection module 33, label information, and verifying whether the label information is incorrect, the label information including at least one of label size information, label specification information, and label content; and when the label information is correct, controlling the robotic arm 31 to move the suction gripper 32, such that the suction gripper 32 holds the label by suction.

[0190] By adopting the above technical solution, the visual detection module 33 can verify the label information, thereby reducing the probability of incorrect labeling and improving the accuracy of labeling.

[0191] In some embodiments, the labeling machine 100 further includes the deviation correction detection module 40. The labeling method further includes: identifying, by the visual detection module 33, a position of the article to be labeled; capturing, by the deviation correction detection module 40, an image of the suction gripper 32 with the label held by suction, so as to identify a suction position of the label and detect an offset of the label; and moving, by the robotic arm 31, the suction gripper 32 onto the article to be labeled, based on the position of the article to be labeled, the suction position of the label, and the offset of the label.

[0192] By adopting the above technical solution, the deviation correction detection module 40 can identify the suction position of the label, such that the labeling method enables automatic deviation correction of the robotic arm 31, thereby improving the accuracy of the labeling position and enhancing the labeling effect.

[0193] In some embodiments, after label attachment, the labeling method further includes: capturing, by the visual detection module 33, an image of the label attached to the article to be labeled; and verifying the attachment position based on the image of the label. Optionally, the labeling method further includes: storing and recording the image of the label, so as to facilitate production traceability. In this way, the labeling method enables detection of the label attachment position and the attachment effect, thereby enabling closed-loop management.

[0194] In some embodiments of the present application, the labeling method includes: entering the station by a tray carrying an article to be labeled, and reading, by the identification module 60, information of the article to be labeled; photographing, by the visual detection module 33 on the robot 30, the article to be labeled, and identifying a position of the article to be labeled; uploading, by the controller 70, the information of the article to be labeled to the MES system 200, issuing, by the MES 200, a customer code to the label supply mechanism 10, printing, by the label printer 11, a label, and receiving, by the label receiving mechanism 12, the label; photographing, by the robot 30 with the visual detection module 33, the label of the label receiving mechanism 12, and acquiring label information and verifying label content; picking up, by the robot 30, the label by using the suction gripper 32, and carrying, by the robot 30, the label to the deviation correction detection module 40 for addressing; then, attaching, by the suction gripper 32, the label to the article to be labeled; photographing and verifying, by the visual detection module 33, the adhesion position of the label; and releasing the tray.

[0195] Optionally, the step of printing the label by the label printer 11 may be executed synchronously with the step of identifying the position of the article to be labeled by the robot 30. Optionally, the robot 30 may also identify the position of the article to be labeled by using the visual detection module 33 after the pickup of the label by the suction gripper 32.

[0196] The above labeling method enables automatic labeling, can be compatible with labels of different sizes, and enables automatic type change of the article to be labeled. When the article to be labeled is a battery module, the labeling method can be compatible with battery modules of different blueprints.

[0197] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or make equivalent substitutions for some of the technical features; however, these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present application, and should all fall within the protection scope of the present application.

Examples

Embodiment Construction

[0060]Embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are merely used to more clearly illustrate the technical solutions of the present application, and therefore, are only exemplary and do not limit the protection scope of the present application.

[0061]Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used herein are only used to illustrate the specific embodiments, rather than limit the present application. The terms "include", "comprise", "have", and "provided with", and any variants thereof in the specification and claims of the present application and the above description of the drawings are intended to cover non-exclusive inclusions.

[0062]In the description of the embodiments of the present application, technic...

[0001] The present application claims priority to Chinese Patent Application No. 202410231754.1, filed with China National Intellectual Property Administration on February 29, 2024 and entitled "LABELING MACHINE AND LABELING METHOD", which is incorporated herein by reference in its entirety.TECHNICAL FIELD

[0002] The present application relates to the technical field of automation, and in particular, to a labeling machine and a labeling method.BACKGROUND

[0003] In an automated process, a suction gripper is often used to hold labels by suction and attach the labels to products. However, in the related art, due to poor compatibility of the suction gripper, the suction gripper can only adapt to labels of a specific size. When the size of the label changes, the suction gripper needs to be replaced, which wastes production time and increases the material preparation costs of the suction gripper.SUMMARY

[0004] Embodiments of the present application provide a labeling machine and a labeling method, which can be compatible with labels of different sizes, thereby reducing costs and improving efficiency.

[0005] Embodiments of a first aspect of the present application provide a labeling machine. The labeling machine includes: a label supply mechanism configured to provide a label; a positioning mechanism configured to position an article to be labeled; and a robot including a robotic arm and a suction gripper disposed on the robotic arm, where a plurality of suction zones are provided on the suction gripper, suction ports are formed in the suction zones of the suction gripper, and a plurality of mutually isolated cavities are provided in an interior of the suction gripper, the cavities being arranged in one-to-one correspondence with the suction zones; the robotic arm is configured to move the suction gripper to the label supply mechanism, such that at least one of the suction zones holds the label by suction, and the robotic arm is further configured to move the suction gripper onto an article to be labeled of the positioning mechanism, such that the suction gripper attaches the label onto the article to be labeled.

[0006] According to the labeling machine provided in the embodiments of the present application, the label supply mechanism can be used to provide the label, the positioning mechanism can be used to position the to-be-labeled article to be labeled, and the robot can be used to pick up and hold the label by suction, thereby enabling automatic labeling. The surface of the suction gripper is provided with the plurality of suction zones, and the suction port is formed in each suction zone. Therefore, each suction zone can independently hold a label by suction, and thereby the suction gripper can hold a plurality of labels of different sizes by suction. The labeling machine according to the present application can adapt to labels of a plurality of sizes to meet the requirements of different articles to be labeled, thereby enabling high compatibility, saving the material preparation costs of the suction gripper, and improving the overall efficiency. The suction gripper does not need to be replaced when the label type changes, thereby resolving the problem of wasted production time and increased material preparation costs caused by the replacement of the suction gripper.

[0007] In some embodiments, at least two of the suction zones have different sizes.

[0008] By adopting the above technical solution, the at least two of the suction zones can adapt to labels of at least two sizes, thereby improving the compatibility of the suction gripper.

[0009] In some embodiments, the plurality of mutually isolated cavities are provided in the interior of the suction gripper, each cavity is provided with a vacuum access port, and each cavity is in communication with the suction port in one suction zone.

[0010] By adopting the above technical solution, the plurality of mutually isolated cavities are provided in the interior of the suction member, and each cavity is provided with the vacuum access port, such that the vacuum degree of each cavity can be independently controlled, and thereby the suction zone corresponding to the cavity is controlled to hold the label by suction.

[0011] In some embodiments, the suction gripper further includes a plurality of vacuum generators, and the plurality of vacuum generators are in communication with the plurality of cavities in a one-to-one manner.

[0012] By adopting the above technical solution, each vacuum generator can control one suction zone to generate the suction force, and labels of different sizes can be activated by controlling different vacuum generators, thereby enabling compatibility and automatic type change.

[0013] In some embodiments, the robot further includes a visual detection module disposed on the robotic arm, and the visual detection module is configured to identify a position of the label and / or a position of the article to be labeled.

[0014] By arranging the visual detection module, the suction gripper can identify the position of the label and / or the position of the article to be labeled, thereby improving the positioning accuracy of the suction gripper.

[0015] In some embodiments, the visual detection module is further configured to acquire and verify label information, and the label information includes at least one of label size information, label specification information, and label content.

[0016] By adopting the above technical solution, the robotic arm can verify the label information by using the visual detection module, thereby reducing the probability of incorrect labeling and improving the accuracy of labeling.

[0017] In some embodiments, the visual detection module is further configured to capture an image of the label attached to the article to be labeled.

[0018] By capturing the image of the attached label, the label attachment effect can be detected. The labeling machine can also store and archive the image for subsequent use.

[0019] In some embodiments, the suction gripper includes a base and a suction member connected to the base; the base is connected to the robotic arm, and the suction zone is provided on the suction member.

[0020] In some embodiments, the visual detection module includes a first image capturing apparatus and a first light source that are disposed on the base, and the first light source is disposed adjacent to the first image capturing apparatus.

[0021] By adopting the above technical solution, the visual detection module can move together with the suction member, so as to facilitate the detection of the label and the article to be labeled.

[0022] In some embodiments, the labeling machine further includes a deviation correction detection module, and the deviation correction detection module is configured to capture an image of the suction gripper with the label held by suction, so as to identify a suction position of the label and detect an offset of the label; the robotic arm is capable of moving the suction gripper onto the article to be labeled based on the position of the article to be labeled, the suction position of the label, and the offset.

[0023] By adopting the above technical solution, the deviation correction detection module can identify the suction position of the label, such that the labeling machine can automatically perform deviation correction on the robotic arm, thereby improving the accuracy of the labeling position and enhancing the labeling effect.

[0024] In some embodiments, the deviation correction detection module includes a second image capturing apparatus and a second light source; the second image capturing apparatus is oriented upward and is configured to photograph the suction gripper and the label held by suction by the suction gripper, and the second light source is disposed adjacent to the second image capturing apparatus.

[0025] By adopting the above technical solution, the deviation correction detection module can automatically and conveniently photograph the suction gripper to identify the suction position of the label, thereby providing a deviation correction function and improving the accuracy of the attachment position.

[0026] In some embodiments, the second light source includes two strip-shaped light sources, the two strip-shaped light sources are disposed on two opposite sides of the second image capturing apparatus, respectively, and a light-emitting surface of the strip-shaped light source is oriented obliquely upward toward the second image capturing apparatus.

[0027] By adopting the above technical solution, the two strip-shaped light sources can illuminate the suction surface of the suction gripper and the label held on the suction surface by suction, which is beneficial for the second image capturing apparatus to capture the image, reduces the interference of ambient light, and improves the image stability.

[0028] In some embodiments, the labeling machine further includes an identification module, the identification module being configured to identify information of the article to be labeled; the label supply mechanism is capable of providing, based on the information of the article to be labeled, a corresponding label, and / or the robotic arm is capable of controlling, based on the information of the article to be labeled, at least one suction zone of the suction gripper to hold the label by suction.

[0029] By adopting the above technical solution, the labeling machine can automatically identify the article to be labeled through the identification module, and the label supply mechanism provides the label corresponding to the information of the article to be labeled, thereby enabling the type change of the label. The suction gripper can automatically hold the label by suction using the at least one suction zone, so as to adapt to the type change of the label.

[0030] In some embodiments, the labeling machine further includes a controller, and the controller is communicatively connected to the label supply mechanism, the robot, and the identification module, separately.

[0031] By adopting the above technical solution, the controller can control the label supply mechanism and the robot based on the identification information acquired by the identification module, which is beneficial to enabling automatic type change of the article to be labeled, improving the labeling efficiency, and providing a high degree of automation.

[0032] In some embodiments, the label supply mechanism includes a label printer and a label receiving mechanism; the label printer is configured to print a label, and the label receiving mechanism is disposed at an outlet of the label printer; the label receiving mechanism includes a label receiving platform, and the label receiving platform is configured to receive the label printed by the label printer.

[0033] By adopting the above technical solution, the label printer can automatically print different labels, thereby enabling a high degree of automation. The label receiving mechanism can receive the label, such that the label receiving mechanism allows the suction gripper to hold the label by suction, thereby improving the convenience of holding the label by suction.

[0034] In some embodiments, the surface of the label receiving platform is provided with a concave-convex structure and / or an anti-adhesive coating. By adopting the above technical solution, the suction gripper can conveniently pick up the label from the label receiving platform, thereby reducing the probability of the label being unable to separate from the label receiving platform due to adhesion to the label receiving platform, reducing the probability of label curling, and improving the reliability of label suction and the yield of label attachment.

[0035] In some embodiments, a reverse blowing hole is formed in the surface of the label receiving platform, and the reverse blowing hole is configured to be connected to a gas supply mechanism to direct gas toward the label on the label receiving platform. By forming the reverse blowing hole, the probability of the label adhering to the label receiving platform can be reduced, and the reliability of label suction and the yield of label attachment are improved.

[0036] In some embodiments, the label receiving mechanism further includes a detector, and the detector is configured to detect whether a label is present on the label receiving platform.

[0037] By arranging the detector, it is possible to detect whether a label is present on the label receiving platform, thereby controlling the suction gripper or other mechanisms to operate. This improves the labeling efficiency and automation degree of the labeling machine.

[0038] In some embodiments, the labeling machine further includes a counting module, and the counting module is capable of counting a number of uses of the label receiving platform, and sending reminder information when the number of uses of the label receiving platform reaches a preset value.

[0039] By adopting the above technical solution, the label receiving mechanism is provided with counting and maintenance reminder functions, enabling timely maintenance of the label receiving platform.

[0040] In some embodiments, the label receiving mechanism further includes a movement driving member connected to the label receiving platform, and the movement driving member is configured to drive the label receiving platform to move in a direction close to or away from the label printer.

[0041] By adopting the above technical solution, the movement driving member can drive the label receiving platform to move, so as to facilitate the receiving of the label provided by the label supply mechanism and the suction of the label by the suction gripper.

[0042] In some embodiments, the labeling machine further includes a sliding table, the label printer is disposed on the sliding table, and the sliding table is capable of driving the label printer to reciprocate.

[0043] By arranging the sliding table, the label printer can be pulled outward from the frame to facilitate loading of the label printer, thereby reducing the loading difficulty and increasing the loading speed.

[0044] In some embodiments, at least two label supply mechanisms are provided. By adopting the above technical solution, the at least two label supply mechanisms can operate independently of each other, thereby enabling non-stop loading and improving the overall efficiency of the labeling machine.

[0045] In some embodiments, the positioning mechanism includes a positioning platform, a positioning member, and a lifting member; the positioning platform is configured to support the article to be labeled, the positioning member is configured to position the article to be labeled, and the lifting member is configured to lift and lower the article to be labeled.

[0046] The positioning mechanism according to the embodiments of the present application can position and lift the article to be labeled, thereby facilitating the suction gripper attaching the label to the article to be labeled.

[0047] Embodiments of a second aspect of the present application provide a labeling method applied to the labeling machine according to the first aspect. The labeling method includes: providing, by the label supply mechanism, a label; holding, by the suction gripper, the label by suction using at least one suction zone; and moving, by the robotic arm, the suction gripper onto the article to be labeled, such that the suction gripper attaches the label onto the article to be labeled.

[0048] According to the above labeling method, the label supply mechanism can be used to provide a label, and the robot can be used to pick up and hold the label by suction. The surface of the suction gripper is provided with the plurality of suction zones, and the suction port is formed in each suction zone. Therefore, each suction zone can independently hold a label by suction, and thereby the suction gripper can hold a plurality of labels of different sizes by suction by using the plurality of suction zones. The labeling method according to the present application can adapt to labels of a plurality of sizes, thereby enabling high compatibility. The suction gripper does not need to be replaced when the label type changes, thereby resolving the problem of wasted production time and increased material preparation costs caused by the replacement of the suction gripper.

[0049] In some embodiments, the labeling machine further includes the identification module, and before holding, by the suction gripper, the label by suction using the at least one suction zone, the labeling method further includes: identifying, by the identification module, information of the article to be labeled; acquiring, based on the information of the article to be labeled, a size of the label; and controlling, based on the size of the label, at least one cavity of the suction gripper to be under negative pressure, and using a suction zone corresponding to the cavity to hold the label by suction.

[0050] By adopting the above technical solution, the labeling method can adapt to the type change of the article to be labeled. When the size of the label changes, the suction gripper is controlled to use the suction zone with the corresponding size to hold the label by suction, thereby improving the compatibility of the suction gripper.

[0051] In some embodiments, the robot further includes the visual detection module disposed on the robotic arm, and the labeling method further includes: acquiring, by the visual detection module, label information, and verifying whether the label information is incorrect, the label information including at least one of label size information, label specification information, and label content; and when the label information is correct, moving, by the robotic arm, the suction gripper, such that the suction gripper holds the label by suction.

[0052] By adopting the above technical solution, the visual detection module can verify the label information, thereby reducing the probability of incorrect labeling and improving the accuracy of labeling.

[0053] In some embodiments, the labeling machine further includes the deviation correction detection module. The labeling method further includes: identifying, by the visual detection module, a position of the article to be labeled; capturing an image of the suction gripper with the label held by suction, so as to identify a suction position of the label and detect an offset of the label; and moving, by the robotic arm, the suction gripper onto the article to be labeled, based on the position of the article to be labeled, the suction position of the label, and the offset of the label.

[0054] By adopting the above technical solution, the deviation correction detection module can identify the suction position of the label, such that the labeling method enables automatic deviation correction of the robotic arm, thereby improving the accuracy of the labeling position and enhancing the labeling effect.

[0055] In some embodiments, after label attachment, the labeling method further includes: capturing, by the visual detection module, an image of the label attached to the article to be labeled; and verifying the attachment position based on the image of the label.

[0056] In this way, the labeling method enables detection of the label attachment effect, thereby enabling closed-loop management.

[0057] The above description is only an overview of the technical solutions of the present application. To more clearly understand the technical means of the present application to enable implementation in accordance with the content of the specification and to make the above and other purposes, features, and advantages of the present application more obvious and easy to understand, the detailed description of the present application is provided below.BRIEF DESCRIPTION OF THE DRAWINGS

[0058] To more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for illustrating the embodiments or conventional technologies are briefly described below. Apparently, the drawings in the following description illustrate merely some embodiments of the present application, and those of ordinary skill in the art may still derive other drawings from these drawings without creative efforts. FIG. 1 is a schematic perspective view of a labeling machine in an operating state according to some embodiments of the present application; FIG. 2 is a partially enlarged view of portion A in the labeling machine shown in FIG. 1; FIG. 3 is a schematic perspective view of a suction gripper in the labeling machine shown in FIG. 1; FIG. 4 is a schematic perspective view of a suction member in the suction gripper shown in FIG. 3; FIG. 5 is a schematic perspective view of a suction cup main body in the suction member shown in FIG. 4; FIG. 6 is a schematic bottom view of a structure of the suction cup main body shown in FIG. 5; FIG. 7 is a schematic perspective view of a deviation correction detection module in the labeling machine shown in FIG. 1; FIG. 8 is a schematic perspective view of a label receiving mechanism in the labeling machine shown in FIG. 1; FIG. 9 is a schematic perspective view of a part of a frame and a label printer in the labeling machine shown in FIG. 1; FIG. 10 is a schematic perspective view of the labeling machine shown in FIG. 1 with an article to be labeled removed; FIG. 11 is a partially enlarged view of portion B in the labeling machine shown in FIG. 10; FIG. 12 is a module diagram of a labeling machine according to some embodiments of the present application; and FIG. 13 is a flowchart of a labeling method according to some embodiments of the present application.

[0059] Reference numerals in the drawings have the following meanings: 100: labeling machine; 10: label supply mechanism; 11: label printer; 12: label receiving mechanism; 121: label receiving platform; 1211: concave-convex structure; 1212: gas inlet port; 123: movement driving member; 124: mounting base; 125: label receiving platform mounting bracket; 126: gas supply mechanism; 127: detector; 13: sliding table; 20: positioning mechanism; 21: positioning platform; 22: positioning member; 23: lifting member; 30: robot; 31: robotic arm; 32: suction gripper; 321: base; 3211: through hole; 322: suction member; 3201: suction surface; 3221: suction cup main body; 32211: suction zone; 32212: suction port; 32213: vacuum access port; 32214: cavity; 32215: partition plate; 3222: sealing plate; 323: vacuum generator; 33: visual detection module; 331: first image capturing apparatus; 332: first light source; 40: deviation correction detection module; 41: second image capturing apparatus; 42: second light source; 421: strip-shaped light source; 43: CCD calibration block; 44: camera mount; 45: camera protective cover; 50: frame; 60: identification module; 70: controller; 200: MES system.EMBODIMENTS OF THE PRESENT DISCLOSURE

[0060] Embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are merely used to more clearly illustrate the technical solutions of the present application, and therefore, are only exemplary and do not limit the protection scope of the present application.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used herein are only used to illustrate the specific embodiments, rather than limit the present application. The terms "include", "comprise", "have", and "provided with", and any variants thereof in the specification and claims of the present application and the above description of the drawings are intended to cover non-exclusive inclusions.

[0062] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and should not be interpreted as indicating or implying the relative importance or implicitly indicating the number, specific order, or primary and secondary relationship of the technical features referred to. In the description of the embodiments of the present application, unless otherwise specifically defined, "plurality of" means two or more.

[0063] Reference in the present application to "embodiment" means that a particular feature, structure, or characteristic described in combination with the embodiment may be included in at least one embodiment of the present application. The references of the word in the context of the specification do not necessarily refer to the same embodiment, nor to separate or alternative embodiments exclusive of other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0064] In the description of the embodiments of the present application, the term "and / or" is merely a way to describe the association relationship between associated objects, indicating that there are three possible relationships. For example, "A and / or B" may denote: the presence of A alone, the simultaneous presence of A and B, and the presence of B alone. In addition, the character " / " herein generally indicates an "or" relationship between the associated objects before and after the " / ".

[0065] In the description of the embodiments of the present application, the term "plurality of" refers to two or more (including two). Similarly, "plurality of groups" refers to two or more (including two) groups, and "plurality of pieces" refers to two or more (including two) pieces.

[0066] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings. They are merely for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or implying that the apparatus or element referred to must have a specific orientation or be constructed and operated in the specific orientation, and thus should not be construed as a limitation to the embodiments of the present application.

[0067] In the description of the embodiments of the present application, unless otherwise clearly specified and defined, the technical terms "mount", "interconnect", "connect", "fix", and the like should be interpreted in their broad senses. For example, they may be a fixed connection, a detachable connection, or an integral connection; a mechanical connection or an electrical connection; or a direct connection, an indirect connection via an intermediate, a communication between interiors of two elements, or an interaction between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application may be interpreted according to specific conditions.

[0068] In an automated process, a suction gripper is often used to hold labels by suction and attach the labels to articles to be labeled. The suction gripper holds the labels by suction based on the principle of vacuum suction. However, in the related art, the suction gripper has poor compatibility and can only adapt to labels of a specific size. When the size of the label changes, the suction gripper needs to be replaced, which wastes production time and increases the material preparation costs of the suction gripper.

[0069] In view of this, embodiments of the present application provide a labeling machine. The labeling machine includes a label supply mechanism, a positioning mechanism, and a robot. The robot includes a robotic arm and a suction gripper disposed on the robotic arm. A plurality of suction zones are provided on the suction gripper, suction ports are formed in the suction zones of the suction gripper, and a plurality of mutually isolated cavities are provided in the interior of the suction gripper. The cavities are arranged in one-to-one correspondence with the suction zones. The robotic arm is configured to move the suction gripper to the label supply mechanism, such that at least one of the suction zones holds the label by suction, and the robotic arm is further configured to move the suction gripper onto an article to be labeled of the positioning mechanism, such that the suction gripper attaches the label onto the article to be labeled. Since the plurality of suction zones are provided on the suction gripper, the suction gripper can hold labels of different sizes by suction by separately using different suction zones, which improves the compatibility of the suction gripper. When the size of the label changes, the suction gripper does not need to be replaced, thereby saving the material preparation costs of the suction gripper, shortening the time for replacing the suction gripper, and improving the labeling efficiency.

[0070] The labeling machine and the labeling method according to the embodiments of the present application are used to attach a label to an article to be labeled. The article to be labeled refers to an object to which a label is to be attached, and the article to be labeled may be a product, a workpiece, or the like.

[0071] Referring to FIGs. 1 to 6, embodiments of a first aspect of the present application provide a labeling machine 100. The labeling machine includes a label supply mechanism 10, a positioning mechanism 20, and a robot 30. The label supply mechanism 10 is configured to provide a label, the positioning mechanism 20 is configured to position an article to be labeled, and the robot 30 is configured to pick up and attach the label. The robot 30 includes a robotic arm 31 and a suction gripper 32 disposed on the robotic arm 31. A plurality of suction zones 32211 are provided on the suction gripper 32, suction ports 32212 are formed in the suction zones 32211 of the suction gripper 32, and a plurality of mutually isolated cavities 32214 are provided in the interior of the suction gripper 32. The cavities 32214 are arranged in one-to-one correspondence with the suction zones 32211. The robotic arm 31 is configured to move the suction gripper 32 to the label supply mechanism 10, such that at least one of the suction zones 32211 holds the label by suction. The robotic arm 31 is further configured to move the suction gripper 32 onto the article to be labeled of the positioning mechanism 20, such that the suction gripper 32 attaches the label onto the article to be labeled.

[0072] The label supply mechanism 10 is configured to provide the label. The label supply mechanism 10 may print the label by a label printer 11, or may convey the label by a conveying member, such as a conveyor belt.

[0073] The positioning mechanism 20 is configured to position the article to be labeled, to which a label is to be attached. The positioning mechanism 20 can fix the article to be labeled by means of various structures. For example, the positioning mechanism 20 may lock the article to be labeled by means of a locking member, clamp the article to be labeled by means of a clamping member, or hold the article to be labeled by suction by means of a suction element. Certainly, the positioning mechanism 20 can also fix the article to be labeled by means of other positioning members 22.

[0074] The robot includes the robotic arm 31 and the suction gripper 32. The robotic arm 31 may be a multi-axis robotic arm, such as a four-axis robotic arm. It can be understood that the robotic arm 31 may also be of other types, such as a five-axis robotic arm, as long as it can meet the movement requirements of the suction gripper 32.

[0075] The suction gripper 32 holds the label by suction based on the principle of vacuum suction. The plurality of suction zones 32211 are provided on the suction gripper 32, the suction ports 32212 are formed in the suction zones 32211 of the suction gripper 32, and the suction ports 32212 are configured to hold the label by suction. It can be understood that the suction port 32212 can be in communication with a vacuum generator 323, such that the suction port 32212 can hold the label by suction under negative pressure.

[0076] The labeling machine 100 further includes a frame 50. One or more of the label supply mechanism 10, the positioning mechanism 20, and the robot 30 are disposed on the frame 50.

[0077] In the suction gripper, the plurality of cavities 32214 are mutually isolated; that is, the plurality of cavities 32214 are separated from each other and are not in communication with each other, and each cavity 32214 can independently control the negative pressure state thereof.

[0078] The cavity 32214 corresponding to the suction zone 32211 means that the cavity 3224 is in communication with the suction port 32212 in the suction zone 32211. When the cavity 32214 is under negative pressure, the suction zone 32211 corresponding to the cavity 32214 can hold the label by suction under the action of the negative pressure.

[0079] One or a plurality of suction ports 32212 are formed in each suction zone 32211. Since the suction zones 32211 are arranged in one-to-one correspondence with the cavities 32214, the vacuum state of each cavity 32214 can be controlled separately, such that each suction zone 32211 can independently hold a label by suction. The plurality of suction zones 32211 may be provided on the same side of the suction gripper 32, or may be provided on different sides of the suction gripper 32. When the plurality of suction zones 32211 are provided on the same side of the suction gripper 32, the plurality of suction zones 32211 may be disposed adjacent to each other, and each suction zone 32211 can separately hold a label by suction; or, at least two adjacent suction zones 32211 can simultaneously hold one label by suction. It can be understood that if the size of the label to be held by suction matches the zone formed by two or more of the suction zones 32211, the plurality of suction zones 32211 can be used to hold one label by suction simultaneously.

[0080] Each suction zone 32211 is adapted to labels of one size that is to be held by suction. One or a plurality of suction ports 32212 may be formed in each suction zone 32211. The suction zone 32211 being adapted to the label means that the label can cover all the suction ports 32212 in the suction zone 32211, such that the suction ports 32212 do not leak air. The projection area of the label facing the suction zone 32211 may be equal to or different from the area of the suction zone 32211, but the projection of the label facing the suction zone 32211 is required to cover all the suction ports 32212 in the suction zone 32211.

[0081] The operating principle of the above labeling machine 100 is as follows: the label supply mechanism 10 provides a label to be attached; the positioning mechanism 20 positions the to-be-labeled article to be labeled; the robotic arm 31 moves the suction gripper 32 over the label to be held by suction; based on the size of the label to be held by suction, at least one cavity 32214 of the suction gripper 32 is under negative pressure; the suction zone 32211 corresponding to the cavity 32214 under the negative pressure is arranged directly opposite to the label to be held by suction, and the suction ports 32212 in the suction zone 32211 are in communication with the vacuum generator 323 and are configured to hold the label by suction, while the suction ports 32212 in the remaining suction zones 32211 do not undergo vacuum treatment. Then, the robotic arm 31 moves the suction gripper 32 over the article to be labeled, and the suction gripper 32 attaches the label onto the article to be labeled. When the size of the label to be held by suction changes, the suction gripper 32 can hold the label after the type change by suction by directly using the matched suction zone 32211, without needing to replace the suction gripper 32.

[0082] According to the labeling machine 100 provided in the embodiments of the present application, the label supply mechanism 10 can be used to provide the label, the positioning mechanism 20 can be used to position the to-be-labeled article to be labeled, and the robot 30 can be used to pick up and hold the label by suction, thereby enabling automatic labeling, providing a high degree of automation, and exhibiting high labeling efficiency. In addition, the surface of the suction gripper 32 is provided with the plurality of suction zones 32211, the plurality of mutually isolated cavities 32214 are provided in the suction gripper 32, and the cavities 32214 are arranged in one-to-one correspondence with the suction zones 32211. Therefore, by controlling the vacuum degree of each cavity 32214, each suction zone 32211 can be controlled to independently hold the label by suction, and further, the suction gripper 32 can hold a label of a corresponding size by suction through the cooperation among the plurality of suction zones 32211, or hold a label of a corresponding size by suction through one suction zone 32211. The labeling machine 100 according to the present application can adapt to labels of a plurality of sizes, thereby enabling high compatibility and improving the overall efficiency. The suction gripper 32 does not need to be replaced when the label type changes, thereby resolving the problem of wasted production time and increased material preparation costs caused by the replacement of the suction gripper 32.

[0083] In some embodiments, at least two of the suction zones 32211 have different sizes.

[0084] The surface of the suction member 322 is provided with a plurality of suction zones 32211. The number of the suction zones 32211 may be two, three, four, five, or more than five. The at least two of the suction zones 32211 have different sizes, and the suction zones 32211 having different sizes respectively correspond to labels of one size, such that the suction gripper 32 can hold labels of at least two sizes by suction. It can be understood that the two suction zones 32211 with different sizes may have the same shape or different shapes. For example, two rectangular suction zones 32211 are provided on a suction member 322. The two suction zones 32211 are different in length, width, or both length and width. For another example, a square suction zone 32211 and a strip-shaped suction zone 32211 are provided on the suction member 322, and the two are also different in size.

[0085] As shown in FIG. 6, in some embodiments, five suction zones 32211 are provided on the suction gripper 32. One suction zone 32211 is an elongated zone, two suction zones 32211 are both square and are arranged side by side on one side of the elongated zone, and the other two suction zones 32211 are both square and arranged side by side on the other side of the elongated zone. If the five suction zones 32211 are all different in size, the suction gripper 32 can hold labels of at least five sizes by suction.

[0086] By adopting the above technical solution, the at least two of the suction zones 32211 can adapt to labels of at least two sizes, thereby improving the compatibility of the suction gripper 32.

[0087] In other embodiments, the plurality of suction zones 32211 of the suction gripper 32 may also have the same size, and in this case, different numbers of suction zones 32211 may be used to hold labels of different sizes by suction by changing the number of cavities 32214 that are under negative pressure.

[0088] In some embodiments, the suction gripper 32 further includes a plurality of vacuum generators 323, and the plurality of vacuum generators 323 are in communication with the plurality of cavities 322143 in a one-to-one manner.

[0089] The vacuum generator 323 is a high-efficiency, compact vacuum component that generates negative pressure using a positive pressure air source. This makes it very easy and convenient to obtain negative pressure at a place where compressed air is available, or at a place in a pneumatic system where both positive and negative pressures are required simultaneously.

[0090] The number of vacuum generators 323 is the same as the number of cavities 32214. The plurality of vacuum generators 323 are in communication with the plurality of cavities 32214 in a one-to-one manner, such that each vacuum generator 323 can control the negative pressure state in one cavity 32214, thereby controlling one suction zone 32211 to generate a suction force.

[0091] By adopting the above technical solution, each vacuum generator 323 can control one suction zone 32211 to generate the suction force, and labels of different sizes can be activated by controlling different vacuum generators 323, thereby enabling compatibility and automatic type change.

[0092] In other embodiments, the number of vacuum generators 323 may also be less than the number of cavities 32214. For example, the vacuum generator 323 is used in combination with a control valve, and the vacuum generator 323 is controlled by the control valve to be in communication with a certain cavity 32214.

[0093] In some embodiments, the suction gripper 32 includes a base 321 and a suction member 322 connected to the base 321. The base 321 is connected to the robotic arm 31, and the suction zone 32211 is provided on the suction member 322.

[0094] The base 321 is configured to provide a mounting environment for the suction member 322. The suction member 322 is provided with a suction surface 3201, and a plurality of suction zones 32211 are provided on the suction surface 3201.

[0095] The suction surface 3201 is a surface of the suction member 322 for fitting the label. In some embodiments, the suction surface 3201 is planar to facilitate the fitting with the label. In other embodiments, the suction surface 3201 may also be non-planar. For example, the suction zone 32211 is concavely provided on the suction member 322 or convexly provided on the suction member 322. The suction member 322 includes a suction cup main body 3221 and a sealing plate 3222 connected to the suction cup main body 3221 in a sealed manner. An empty cavity is provided in the suction cup main body 3221, and a partition plate 32215 is provided in the empty cavity. The partition plate 32215 partitions the empty cavity into the plurality of mutually isolated cavities 32214. The sealing plate 3222 covers the suction cup main body 3221. A vacuum access port 32213 is formed in the suction cup main body 3221 or the sealing plate 3222.

[0096] The suction cup main body 3221 may be a square plate body or have other shapes. The suction port 32212 may be formed on a side, facing away from the sealing plate 3222, of the suction cup main body 3221. It can be understood that the suction port 32212 may also be formed on other sides of the suction cup main body 3221.

[0097] An empty cavity for forming the cavity 32214 is provided in the suction cup main body 3221. The sealing plate 3222 is connected to the suction cup main body 3221 in a sealed manner, the sealing plate 3222 and the suction cup main body 3221 are matched in shape, and the sealing plate 3222 covers the empty cavity of the suction cup main body 3221, so as to seal the cavity 32214.

[0098] The vacuum access port 32213 is formed in the sealing plate 3222. It can be understood that a gas channel communicating the cavity 32214 with the vacuum access port 32213 is provided in the sealing plate 3222. The vacuum access port 32213 may also be formed in the suction cup main body 3221; that is, the vacuum access port 32213 is in direct communication with the cavity 32214.

[0099] By adopting the above technical solution, the suction member 322 includes the suction cup main body 3221 and the sealing plate 3222. The partition plate 32215 in the suction cup main body 3221 partitions the empty cavity into the plurality of cavities 32214. The structure of the suction member 322 is simple, and the cost is low.

[0100] Optionally, the plurality of vacuum generators 323 are disposed on the base 321, such that the plurality of vacuum generators 323 can move together with the suction member 322.

[0101] As shown in FIG. 3, in some embodiments, the robot 30 further includes a visual detection module 33 disposed on the robotic arm 31. The visual detection module 33 is configured to identify the position of the label and / or the position of the article to be labeled.

[0102] The visual detection module 33 is disposed on the base 321 and can move together with the base 321 and the suction member 322. The visual detection module 33 can acquire a variety of types of information by photographing. Specifically, the visual detection module 33 can acquire the position information of the label by capturing an image of the label, and thereby the robotic arm 31 can accurately pick up the label based on the position information of the label.

[0103] The visual detection module 33 can also acquire the position information of the article to be labeled by capturing an image of the article to be labeled, and thereby the robotic arm 31 can attach the label in preparation based on the position of the article to be labeled.

[0104] By arranging the visual detection module 33, the suction gripper 32 can identify the position of the label and / or the position of the article to be labeled, and the labeling machine 100 can perform labeling by means of visual guidance, thereby improving the positioning accuracy of the suction gripper 32 and the accuracy of the labeling position.

[0105] In some embodiments, the visual detection module 33 is further configured to acquire and verify label information. The label information includes at least one of label size information, label specification information, and label content.

[0106] The label size information refers to the geometrical dimension of the label, such as the length, the width, and the radius of the label. It can be understood that, if the label has a geometrical defect, the geometrical dimension of the label changes; if the specification of the label changes, the geometrical dimension of the label also changes. The label specification information represents an attribute of the label, which may be a large, medium, or small size, a label type, or other specifications. The label content includes the text and / or the pattern on the label.

[0107] If the visual detection module 33 verifies that the label information is incorrect, the suction member 322 does not need to hold the label by suction, and thus the incorrect label will not be attached to the article to be labeled, thereby providing a fool-proof function. If the visual detection module 33 verifies that the label information is correct, the suction member 322 holds the label by suction and attaches the label normally.

[0108] By adopting the above technical solution, the robotic arm 31 can verify the label information by using the visual detection module 33, thereby reducing the probability of incorrect labeling and improving the accuracy of labeling.

[0109] In some embodiments, the visual detection module 33 is further configured to capture an image of the label attached to the article to be labeled.

[0110] The visual detection module 33 can verify the label attachment position by capturing the image of the attached label, and thereby detect the attachment effect. The labeling machine 100 can also store and archive the image for subsequent use.

[0111] In some embodiments, the visual detection module 33 includes a first image capturing apparatus 331 and a first light source 332 that are disposed on the base 321. The first image capturing apparatus 331 is disposed on the robotic arm 31, and the first light source 332 is disposed adjacent to the first image capturing apparatus 331.

[0112] The first image capturing apparatus 331 may be a CCD camera. The CCD is short for charge coupled device, which can convert light into charges and store and transfer the charges, and can also read out the stored charges to generate a voltage change, so it is an ideal CCD camera element. The CCD camera formed by the CCD has the characteristics of small volume, light weight, immunity to magnetic fields, and resistance to vibration and impact, and is thereby widely used. The first image capturing apparatus 331 may also be other types of cameras, such as a complementary metal-oxide semiconductor (CMOS) camera. The first light source 332 is disposed adjacent to the first image capturing apparatus 331. The first light source 332 may be a strip-shaped light source, an annular light source, or the like. Optionally, an accommodating groove is formed in the base 321, and the first light source 332 is fixed in the accommodating groove. In other embodiments, the first light source 332 may also be directly fixed on the surface of the base 321.

[0113] Optionally, a through hole 3211 is formed in the base 321; the first image capturing apparatus 331 is disposed on a side, facing away from the suction member 322, of the base 321, and corresponding to the through hole 3211; the first image capturing apparatus 331 is configured to photograph the label or the article to be labeled, and the first light source 332 is disposed adjacent to the first image capturing apparatus 331.

[0114] Optionally, the first image capturing apparatus 331 and the suction member 322 are connected to two opposite sides of the base 321, respectively, such that the first image capturing apparatus 331 does not obstruct the suction member 322 from holding the label by suction. The first image capturing apparatus 331 is disposed corresponding to the through hole on the base 321, such that the first image capturing apparatus 331 can face the label or the article to be labeled through the through hole for photographing. It can be understood that the first image capturing apparatus 331 and the suction member 322 may also be disposed on the same side of the base 321, and in this case, the through hole may be omitted.

[0115] By adopting the above technical solution, the visual detection module 33 can move together with the suction member 322, so as to facilitate the detection of the label and the article to be labeled.

[0116] Referring to FIGs. 1 to 3, and 7, in some embodiments, the labeling machine 100 further includes a deviation correction detection module 40. The deviation correction detection module 40 is configured to capture an image of the suction gripper 32 with the label held by suction, so as to identify the suction position of the label and detect an offset of the label. The robotic arm 31 can move the suction gripper 32 onto the article to be labeled based on the position of the article to be labeled and the suction position of the label.

[0117] After the label is held by suction by the suction gripper 32, the deviation correction detection module 40 is configured to photograph the suction gripper 32 and the label to capture images of the label and the suction gripper 32, thereby identifying the suction position of the label and detecting an offset of the label. The offset refers to a distance by which an actual suction position of the label deviates from a preset suction position. The offset may include offsets in one direction or a plurality of directions.

[0118] If the suction position is accurate, deviation correction is not required for the robotic arm 31, and the label is directly attached based on the position of the article to be labeled. If there is a deviation in the suction position, deviation correction is required to be performed on the attachment position of the robotic arm 31 based on the suction position and the offset, such that the suction gripper 32 can attach the label to the preset attachment position. For example, if it is detected that the suction position of the label deviates leftward by a certain offset, deviation correction is required for the robotic arm 31; the suction gripper 32 is moved rightward by the offset, such that the label can still be attached to the preset position.

[0119] By adopting the above technical solution, the deviation correction detection module 40 can identify the suction position of the label, such that the labeling machine 100 can automatically perform deviation correction on the robotic arm 31, thereby improving the accuracy of the labeling position and enhancing the labeling effect.

[0120] Referring to FIGs. 1 and 7, in some embodiments, the deviation correction detection module 40 includes a second image capturing apparatus 41, a second light source 42, and a CCD calibration block 43. The second image capturing apparatus 41 is oriented upward and is configured to photograph the suction gripper 32 and the label held by suction by the suction gripper. The second light source 42 is disposed adjacent to the second image capturing apparatus 41. The CCD calibration block 43 is fixed on one side of the second image capturing apparatus 41 and is configured to calibrate the second image capturing apparatus 41.

[0121] The deviation correction detection module 40 may be disposed on the frame 50. The second image capturing apparatus 41 is oriented upward; that is, the second image capturing apparatus 41 is disposed in a direction facing away from the frame 50. After the label is held by suction by the suction gripper 32, the suction gripper 32 moves over the second image capturing apparatus 41, and the second image capturing apparatus 41 can photograph the suction gripper 32 and the label held by suction by the suction gripper, thereby identifying the suction position of the label.

[0122] The second image capturing apparatus 41 may be a CCD camera or other types of cameras. The second light source 42 is configured to provide illumination for the second image capturing apparatus 41, and the second light source 42 may be a strip-shaped light source, an annular light source, or other light sources.

[0123] The CCD calibration block 43 is a tool for calibrating the image capturing apparatus and consists of a plurality of blocks having different sizes and spacings. These blocks can be used to measure intrinsic parameters and extrinsic parameters of the image capturing apparatus, thereby improving the measurement accuracy and reliability of the camera. By means of the calibration block, information of the camera, such as the focal length, the distortion coefficient, the pixel size, and the image center position, may be acquired, thereby allowing for subsequent image processing and applications. In other embodiments, the CCD calibration block 43 may be omitted.

[0124] By adopting the above technical solution, the deviation correction detection module 40 can automatically and conveniently photograph the suction gripper 32 to identify the suction position of the label, thereby providing a deviation correction function and improving the accuracy of the attachment position.

[0125] Referring to FIG. 7, in some embodiments, the second light source 42 includes two strip-shaped light sources 421, the two strip-shaped light sources 421 are disposed on two opposite sides of the second image capturing apparatus 41 respectively, and a light-emitting surface of the strip-shaped light source 421 is oriented obliquely upward toward the second image capturing apparatus 41.

[0126] The strip-shaped light source 421 is a light source configured for machine vision detection, which features high brightness and high uniformity, and can provide stable, clear, and accurate images. The length of the strip-shaped light source 421 can be set based on requirements.

[0127] Since the suction gripper 32 can move over the second image capturing apparatus 41, and the light-emitting surfaces of the two strip-shaped light sources 421 are oriented obliquely upward, the suction surface 3201 of the suction gripper 32 and the label held on the suction surface 3201 by suction can be illuminated, which is beneficial for the second image capturing apparatus 41 to capture the image, reduces the interference from ambient light, and improves the image stability.

[0128] Optionally, the deviation correction detection module 40 further includes a camera mount 44 configured to mount the second image capturing apparatus 41 and a camera protective cover 45 configured to protect the second image capturing apparatus 41.

[0129] Referring to FIG. 2, in some embodiments, the labeling machine 100 further includes an identification module 60, and the identification module 60 is configured to identify information of the article to be labeled. The label supply mechanism 10 is capable of providing, based on the information of the article to be labeled, a corresponding label, and / or the robotic arm 31 is capable of controlling, based on the information of the article to be labeled, at least one suction zone 32211 of the suction gripper 32 to hold the label by suction.

[0130] In some embodiments, the identification module 60 is a radio frequency identification (RFID) module, and the RFID module is disposed at a position on the positioning mechanism 20. After the article to be labeled is positioned by the positioning mechanism 20, the RFID module can identify the information of the article to be labeled. RFID is a wireless communication technology that enables non-contact automatic identification and data acquisition of objects through radio waves. A basic RFID system typically includes an electronic tag and a reader (also referred to as a "reader / writer" or an "interrogator"). The electronic tag is typically attached to a target object and contains a silicon integrated circuit referred to as a "microchip". Such an integrated circuit contains information such as the serial number or the production date of the article to be labeled. The reader communicates with the electronic tag through radio waves, reads information in the electronic tag, and transmits the information to the computer system for processing. The RFID technology has the advantages of non-contact identification, can adapt to various environments, and does not require direct contact during tag reading and writing, thereby significantly improving the accuracy and reliability of data reading. In addition, the RFID technology also features a large capacity and can store more information, such as the production date and batch number of the article to be labeled. Moreover, the RFID technology can also allow simultaneous identification of a plurality of tags, thereby improving the operating efficiency.

[0131] Taking the article to be labeled being a battery module as an example, the battery module is disposed on a tray, and the positioning mechanism 20 can position the tray and the battery module on the tray. The tray is provided with an electronic tag thereon, and the RFID module can read information of the electronic tag to acquire the information of the battery module.

[0132] In other embodiments, the identification module 60 may also be the visual detection module 33 or other modules capable of identifying the article to be labeled.

[0133] The label supply mechanism 10 provides the corresponding label based on the information of the article to be labeled. When the label supply mechanism 10 includes the label printer 11, the label supply mechanism 10 can automatically print the corresponding label based on the information of the article to be labeled, thereby enabling the type change of the label.

[0134] The robotic arm 31 can control the at least one suction zone 32211 of the suction gripper 32 to hold the label by suction based on the information of the article to be labeled. Specifically, the robotic arm 31 can determine, through matching, the corresponding label based on the information of the article to be labeled, determine, through matching, the corresponding suction zone 32211 based on the size of the label, and thereby control the vacuum generator 323 corresponding to the suction zone 32211 to activate, thereby enabling the cavity 32214 corresponding to the suction zone 32211 to be under negative pressure and thus allowing the use of the suction zone 32211 to hold the label by suction.

[0135] By adopting the above technical solution, the labeling machine 100 can automatically identify the article to be labeled through the identification module 60, and the label supply mechanism 10 provides the label corresponding to the information of the article to be labeled, thereby enabling the type change of the label. The suction gripper 32 can automatically hold the label by suction using the at least one suction zone 32211, so as to adapt to the type change of the label. In this way, the labeling machine 100 can enable automatic type change, providing a high degree of automation.

[0136] In other embodiments, the identification module 60 may be omitted, and the information of the article to be labeled may be provided by a controller 70 or other modules, as long as the label supply mechanism 10 and the robotic arm 31 can acquire the information of the article to be labeled.

[0137] As shown in FIG. 2, in some embodiments, the labeling machine 100 further includes a controller 70. The controller 70 is communicatively connected to the label supply mechanism 10, the robot 30, and the identification module 60, separately.

[0138] The controller 70 can receive the information of the article to be labeled identified by the identification module 60, control, based on the information of the article to be labeled, the label supply mechanism 10 to provide a label, and control the robot 30 to hold the label by suction. It can be understood that the controller 70 may also be communicatively connected to the positioning mechanism 20 and the deviation correction detection module 40.

[0139] The controller 70 may be a programmable logic controller (PLC) 70. The programmable logic controller 70 is a digital arithmetic operation electronic system specially designed for application in an industrial environment. The programmable logic controller adopts a programmable memory that stores instructions for performing operations such as logic operations, sequential control, timing, counting, and arithmetic operations, and controls various types of mechanical devices or production processes via digital or analog inputs and outputs. In other embodiments, the controller 70 may also be other computers.

[0140] By adopting the above technical solution, the controller 70 can control the label supply mechanism 10 and the robot 30 based on the identification information acquired by the identification module 60, which is beneficial to enabling automatic type change of the article to be labeled, improving the labeling efficiency, and providing a high degree of automation.

[0141] Optionally, the controller 70 is further communicatively connected to a manufacturing execution system (MES) 200. The controller 70 can receive the information of the article to be labeled identified by the identification module 60, and upload the information of the article to be labeled to the MES system 200. The MES system 200 sends, based on the information of the article to be labeled, control information to the label supply mechanism 10, thereby controlling the label supply mechanism 10 to print or provide the corresponding label.

[0142] The MES system 200 is a production information management system designed for the shop-floor level of a manufacturing enterprise.

[0143] Referring to FIGs. 1, 2, 8, and 9, in some embodiments, the label supply mechanism 10 includes a label printer 11 and a label receiving mechanism 12. The label printer 11 is configured to print a label, the label receiving mechanism 12 is disposed at an outlet of the label printer 11, the label receiving mechanism 12 includes a label receiving platform 121, and the label receiving platform 121 is configured to receive the label printed by the label printer 11.

[0144] The label printer 11 can print the label based on the information of the article to be labeled. Certainly, the label printer 11 may also print the label based on the label specification information or other information. The label receiving mechanism 12 is configured to receive the label printed by the label printer 11, and the suction gripper 32 can hold the label on the label receiving mechanism 12 by suction.

[0145] By adopting the above technical solution, the label printer 11 can automatically print different labels, thereby enabling a high degree of automation. The label receiving mechanism 12 can receive the label, such that the label receiving mechanism 12 allows the suction gripper 32 to hold the label by suction, thereby improving the convenience of holding the label by suction.

[0146] Referring to FIG. 8, in some embodiments, the label receiving mechanism 12 includes the label receiving platform 121, and a surface of the label receiving platform 121 is provided with a concave-convex structure 1211 and / or an anti-adhesive coating.

[0147] The label receiving platform 121 is configured to receive the label printed by the label printer 11 and allow the suction gripper 32 to pick up the label. The concave-convex structure 1211 is provided on the label receiving platform 121. The concave-convex structure 1211 may be a plurality of protrusions and / or grooves arranged in parallel. In this way, the area of contact between the label receiving platform 121 and the label is small, thereby enabling the reduction in the probability of the label adhering to the label receiving platform 121.

[0148] The anti-adhesive coating is a coating applied to the surface of the label receiving platform 121 to prevent the label from adhering, which can also reduce the probability of the label adhering to the label receiving platform 121.

[0149] By adopting the above technical solution, the suction gripper 32 can conveniently pick up the label from the label receiving platform 121, thereby reducing the probability of the label being unable to separate from the label receiving platform 121 due to adhesion to the label receiving platform 121, reducing the probability of label curling, and improving the reliability of label suction and the yield of label attachment.

[0150] Referring to FIG. 8, in some embodiments, a reverse blowing hole (not shown in the figure) is formed in the surface of the label receiving platform 121, and the reverse blowing hole is connected to a gas supply mechanism 126 to direct gas toward the label on the label receiving platform 121.

[0151] The reverse blowing hole is formed in the surface of the label receiving platform 121 and configured to receive the label. When the concave-convex structure 1211 or the anti-adhesive coating is provided on the label receiving platform 121, the reverse blowing hole may extend through the concave-convex structure 1211 or the anti-adhesive coating. The number of reverse blowing holes may be one or more. For example, the reverse blowing holes are formed in an array on the surface of the label receiving platform 121.

[0152] A gas inlet port 1212 is further formed in a side surface of the label receiving platform 121. After the label is held by suction by the suction gripper 32, the gas inlet port is configured to be connected to the gas supply mechanism 126. The gas supply mechanism 126 can deliver a gas through the gas inlet port 1212 to the reverse blowing hole, thereby directing the gas toward the label through the reverse blowing hole.

[0153] By forming the reverse blowing hole, the probability of the label adhering to the label receiving platform 121 can be reduced, and the reliability of label suction and the yield of label attachment are improved.

[0154] With continued reference to FIG. 8, in some embodiments, the label receiving mechanism 12 further includes a detector 127, and the detector 127 is configured to detect whether a label is present on the label receiving platform 121.

[0155] The detector 127 may be disposed on the label receiving platform 121. The detector 127 may be of various types. For example, the detector 127 is a diffuse reflective sensor. The diffuse reflective sensor is a commonly used photoelectric sensor, also referred to as a reflective photoelectric sensor, which is a sensor based on the photoelectric effect and configured to detect the presence or position of an object. Specifically, the diffuse reflective sensor detects a feature of a target object, such as the position, the shape, or the color, by emitting a beam of light and measuring the reflected light.

[0156] When the detector 127 detects that a label is present on the label receiving platform 121, the suction gripper 32 may be moved over the label receiving platform 121 to hold the label by suction.

[0157] By arranging the detector 127, it is possible to detect whether a label is present on the label receiving platform 121, thereby controlling the suction gripper 32 or other mechanisms to operate. This improves the labeling efficiency and automation degree of the labeling machine 100.

[0158] With continued reference to FIG. 8, in some embodiments, the label receiving mechanism 12 further includes a movement driving member 123 connected to the label receiving platform 121. The movement driving member 123 is configured to drive the label receiving platform 121 to move in a direction close to or away from the label printer 11.

[0159] When label receiving is needed, the movement driving member 123 drives the label receiving platform 121 to move in the direction close to the label printer 11. After label receiving, the movement driving member 123 drives the label receiving platform 121 to move in the direction away from the label printer 11, so as to facilitate the suction of the label by the suction gripper 32, and prevent the label printer 11 from interfering with the suction gripper 32.

[0160] The movement driving member 123 may be a sliding table cylinder. The label receiving mechanism 12 further includes a mounting base 124 and a label receiving platform mounting bracket 125. The movement driving member 123 is disposed on the mounting base 124. The label receiving platform mounting bracket 125 is disposed on the movement driving member 123, and the label receiving platform 121 is disposed on the label receiving platform mounting bracket 125. In this way, the movement driving member 123 can drive the label receiving platform 121 to reciprocate via the label receiving platform mounting bracket, so as to move toward or away from the label printer 11. It can be understood that the structure of the label receiving mechanism 12 is not limited thereto. For example, the label receiving platform 121 is slidably connected to the mounting base 124, and the movement driving member 123 is a cylinder and is connected to one side of the label receiving platform 121. In this way, the movement driving member 123 can also drive the label receiving platform 121 to reciprocate.

[0161] By adopting the above technical solution, the movement driving member 123 can drive the label receiving platform 121 to move, so as to facilitate the receiving of the label provided by the label supply mechanism 10 and the suction of the label by the suction gripper 32.

[0162] In some embodiments, the labeling machine 100 further includes a counting module (not shown in the figure). The counting module is capable of counting the number of uses of the label receiving platform 121, and sending reminder information when the number of uses of the label receiving platform 121 reaches a preset value.

[0163] Optionally, the counting module may be a functional module in the controller 70, or may be a detection device disposed on the label receiving platform. The counting module is capable of counting the number of uses of the label receiving platform 121, and sending the reminder information when the number of uses of the label receiving platform 121 reaches the preset value, thereby reminding maintenance personnel to maintain the label receiving platform 121. During maintenance of the label receiving platform 121, it is necessary to clean the foreign matter on the label receiving platform 121 and keep the label receiving platform 121 clean.

[0164] By adopting the above technical solution, the labeling machine 100 is provided with counting and maintenance reminder functions, enabling timely maintenance of the label receiving platform 121.

[0165] In some embodiments, the labeling machine 100 further includes a sliding table 13. The labeling machine 100 further includes a sliding table 13. The label printer 11 is disposed on the sliding table 13, and the sliding table 13 is capable of driving the label printer 11 to reciprocate.

[0166] In the embodiments, a plurality of label supply mechanisms 10 are provided, and a plurality of sliding tables 13 are also provided. The label printers 11 are arranged in one-to-one correspondence with the sliding tables 13, and the sliding tables 13 can drive the label printer 11 to reciprocate.

[0167] Generally, the mechanism on the machine table has a compact structure, and the space is small; however, for safety considerations, the labeling machine 100 is equipped with a protective cover to improve safety. When loading is required for the label printer 11, for example, when a label roll needs to be replenished for the label printer 11, the arrangement of the protective cover increases the difficulty of loading the label printer 11. By arranging the sliding table 13, the label printer 11 can be pulled outward from the protective cover to facilitate loading of the label printer 11, thereby reducing the loading difficulty and increasing the loading speed.

[0168] In some embodiments, at least two label supply mechanisms 10 are provided.

[0169] In the embodiments, one robotic arm 31 is provided corresponding to two label supply mechanisms 10. That is, one robotic arm 31 can separately pick up labels provided by the two label supply mechanisms 10. Each label supply mechanism 10 includes a label printer 11 and a label receiving mechanism 12. The two label printers 11 are independent of each other, without mutual interference. When one label printer 11 is loaded, the other label printer 11 can operate normally, thereby enabling the labeling machine 100 to exhibit high efficiency. In addition, the types of labels printed by the two label printers 11 may be the same or different. When the types of the labels printed by the two label printers 11 are different, simultaneous adhesion of a plurality of different types of labels is enabled.

[0170] By adopting the above technical solution, the at least two label supply mechanisms 10 can operate independently of each other, thereby enabling non-stop loading, reducing the device breakdown rate, and improving the overall efficiency of the labeling machine 100.

[0171] Optionally, the two label supply mechanisms 10 are arranged side by side to facilitate the pickup of the label.

[0172] Referring to FIGs. 10 and 11, in some embodiments, the positioning mechanism 20 includes a positioning platform 21, a positioning member 22, and a lifting member 23. The positioning platform 21 is configured to support the article to be labeled, the positioning member 22 is configured to position the article to be labeled, and the lifting member 23 is configured to lift and lower the article to be labeled.

[0173] The positioning mechanism 20 is disposed on the frame 50, and the positioning member 22 may be of various types. For example, the positioning member 22 may include a positioning cylinder and a clamping member, and the positioning cylinder can drive the clamping member to move toward the article to be labeled, so as to fix the article to be labeled. It can be understood that the positioning member 22 may also be of various structures, such as a vacuum suction member or a magnetic suction member.

[0174] The lifting member 23 may be of various types. For example, the lifting member 23 is a jacking cylinder, and the lifting member 23 penetrates through the positioning platform 21 and can jack up the positioned article to be labeled to facilitate labeling. The lifting member 23 may also be disposed on a side portion of the positioning platform 21. It can be understood that the lifting member 23 may also be of a ball screw structure or other lifting drive structures.

[0175] The positioning mechanism 20 according to the embodiments of the present application can position and lift the article to be labeled, thereby facilitating the suction gripper 32 attaching the label to the article to be labeled.

[0176] Referring to FIGs. 1 to 12, some embodiments of the present application provide a labeling machine 100. The labeling machine includes a label supply mechanism 10, a positioning mechanism 20, a robot 30, a deviation correction detection module 40, and an identification module 60. The identification module 60 is configured to identify information of an article to be labeled. The label supply mechanism 10 includes a label printer 11 and a label receiving mechanism 12. The label printer 11 prints a corresponding label based on the information of the article to be labeled. The robot 30 includes a robotic arm 31, a suction gripper 32 disposed on the robotic arm 31, and a visual detection module 33. A plurality of suction zones 32211 are provided on the suction gripper 32, and at least one suction zone 32211 of the suction gripper 32 holds a label of a corresponding size by suction. The deviation correction detection module 40 is configured to capture an image of the suction gripper 32 with the label held by suction, so as to identify the suction position of the label. The robotic arm 31 can move the suction gripper 32 onto the article to be labeled based on the position of the article to be labeled and the suction position of the label. The above labeling machine 100 can enable automatic type change of the article to be labeled and the label, the suction gripper 32 can be compatible with labels of different sizes, the attachment accuracy of the labeling machine 100 is high, and the labeling machine 100 exhibits high labeling efficiency.

[0177] In the labeling machine 100 according to the embodiments of the present application, the mechanisms are modular, facilitating general-purpose design and ensuring good interchangeability.

[0178] Embodiments of a second aspect of the present application provide a labeling method. The labeling method is applied to the labeling machine 100 according to the first aspect. Referring to FIGs. 1 to 13, the labeling method includes: In step S1, the label supply mechanism 10 provides a label.

[0179] The label supply mechanism 10 may print the label by a label printer 11, or may convey the label by a conveying member, such as a conveyor belt. The label supply mechanism 10 is capable of providing a corresponding label based on the information of the article to be labeled. The information of the article to be labeled may be acquired by the identification module 60, or may be acquired by other methods.

[0180] In step S2, the suction gripper 32 holds the label by suction using at least one suction zone 32211.

[0181] One or a plurality of suction ports 32212 are formed in each suction zone 32211, and each suction zone 32211 can independently hold a label by suction. Each suction zone 32211 can separately hold a label by suction, or at least two adjacent suction zones 32211 can simultaneously hold one label by suction. When the size of the label changes, different suction zones 32211 are controlled to hold labels by suction. The suction gripper 32 can hold labels of different sizes by suction, thereby enabling high compatibility.

[0182] In step S3, the robotic arm 31 moves the suction gripper 32 onto the article to be labeled, such that the suction gripper 32 attaches the label onto the article to be labeled.

[0183] The article to be labeled is disposed on the positioning mechanism 20, and the robotic arm 31 is controlled to move based on the position of the article to be labeled, so as to move the suction gripper 32 onto the article to be labeled, such that the suction gripper 32 attaches the label onto the article to be labeled.

[0184] According to the above labeling method, the label supply mechanism 10 can be used to provide a label, and the robot 30 can be used to pick up and hold the label by suction. The surface of the suction gripper 32 is provided with the plurality of suction zones 32211, and the suction port 32212 is formed in each suction zone 32211. Therefore, each suction zone 32211 can independently hold a label by suction, and thereby the suction gripper 32 can hold a plurality of labels of different sizes by suction by using the plurality of suction zones 32211. The labeling method according to the present application can adapt to labels of a plurality of sizes, thereby enabling high compatibility. The suction gripper 32 does not need to be replaced when the label type changes, thereby resolving the problem of wasted production time and increased material preparation costs caused by the replacement of the suction gripper 32.

[0185] In some embodiments, the labeling machine 100 further includes the identification module. Before step S3, the identification module acquires information of the article to be labeled; acquires, based on the information of the article to be labeled, the size of the label; and controls, based on the size of the label, the suction ports 32212 in the at least one suction zone 32211 of the suction gripper 32 to be under negative pressure, and uses the at least one suction zone 32211 to hold the label by suction.

[0186] Specifically, the information of the article to be labeled may be acquired by the identification module 60. In other embodiments, the information of the article to be labeled may also be acquired by other methods. When the type of the article to be labeled changes, the size of the label may be changed. Therefore, the robot 30 or the controller 70 can acquire, based on the information of the article to be labeled, the size of the label corresponding to the article to be labeled.

[0187] Then, based on the size of the label, the robot 30 or the controller 70 controls a vacuum generator 323 corresponding to the at least one suction zone 32211 to activate, thereby enabling the suction port 32212 in the suction zone 32211 to be under negative pressure and thus allowing the use of the at least one suction zone 32211 to hold the label by suction.

[0188] By adopting the above technical solution, the labeling method can adapt to the type change of the article to be labeled. When the size of the label changes, the suction gripper 32 is controlled to use the suction zone 32211 with the corresponding size to hold the label by suction, thereby improving the compatibility of the suction gripper 32.

[0189] In some embodiments, the robot 30 further includes the visual detection module 33 disposed on the robotic arm 31. The labeling method further includes: acquiring, by the visual detection module 33, label information, and verifying whether the label information is incorrect, the label information including at least one of label size information, label specification information, and label content; and when the label information is correct, controlling the robotic arm 31 to move the suction gripper 32, such that the suction gripper 32 holds the label by suction.

[0190] By adopting the above technical solution, the visual detection module 33 can verify the label information, thereby reducing the probability of incorrect labeling and improving the accuracy of labeling.

[0191] In some embodiments, the labeling machine 100 further includes the deviation correction detection module 40. The labeling method further includes: identifying, by the visual detection module 33, a position of the article to be labeled; capturing, by the deviation correction detection module 40, an image of the suction gripper 32 with the label held by suction, so as to identify a suction position of the label and detect an offset of the label; and moving, by the robotic arm 31, the suction gripper 32 onto the article to be labeled, based on the position of the article to be labeled, the suction position of the label, and the offset of the label.

[0192] By adopting the above technical solution, the deviation correction detection module 40 can identify the suction position of the label, such that the labeling method enables automatic deviation correction of the robotic arm 31, thereby improving the accuracy of the labeling position and enhancing the labeling effect.

[0193] In some embodiments, after label attachment, the labeling method further includes: capturing, by the visual detection module 33, an image of the label attached to the article to be labeled; and verifying the attachment position based on the image of the label. Optionally, the labeling method further includes: storing and recording the image of the label, so as to facilitate production traceability. In this way, the labeling method enables detection of the label attachment position and the attachment effect, thereby enabling closed-loop management.

[0194] In some embodiments of the present application, the labeling method includes: entering the station by a tray carrying an article to be labeled, and reading, by the identification module 60, information of the article to be labeled; photographing, by the visual detection module 33 on the robot 30, the article to be labeled, and identifying a position of the article to be labeled; uploading, by the controller 70, the information of the article to be labeled to the MES system 200, issuing, by the MES 200, a customer code to the label supply mechanism 10, printing, by the label printer 11, a label, and receiving, by the label receiving mechanism 12, the label; photographing, by the robot 30 with the visual detection module 33, the label of the label receiving mechanism 12, and acquiring label information and verifying label content; picking up, by the robot 30, the label by using the suction gripper 32, and carrying, by the robot 30, the label to the deviation correction detection module 40 for addressing; then, attaching, by the suction gripper 32, the label to the article to be labeled; photographing and verifying, by the visual detection module 33, the adhesion position of the label; and releasing the tray.

[0195] Optionally, the step of printing the label by the label printer 11 may be executed synchronously with the step of identifying the position of the article to be labeled by the robot 30. Optionally, the robot 30 may also identify the position of the article to be labeled by using the visual detection module 33 after the pickup of the label by the suction gripper 32.

[0196] The above labeling method enables automatic labeling, can be compatible with labels of different sizes, and enables automatic type change of the article to be labeled. When the article to be labeled is a battery module, the labeling method can be compatible with battery modules of different blueprints.

[0197] The above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments or make equivalent substitutions for some of the technical features; however, these modifications or substitutions do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions in the embodiments of the present application, and should all fall within the protection scope of the present application.

Examples

Embodiment Construction

[0060]Embodiments of the technical solutions of the present application will be described in detail below with reference to the drawings. The following embodiments are merely used to more clearly illustrate the technical solutions of the present application, and therefore, are only exemplary and do not limit the protection scope of the present application.

[0061]Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present application belongs. The terms used herein are only used to illustrate the specific embodiments, rather than limit the present application. The terms "include", "comprise", "have", and "provided with", and any variants thereof in the specification and claims of the present application and the above description of the drawings are intended to cover non-exclusive inclusions.

[0062]In the description of the embodiments of the present application, technic...

Claims

1. A labeling machine, comprising: a label supply mechanism configured to provide a label; a positioning mechanism configured to position an article to be labeled; and a robot comprising a robotic arm and a suction gripper disposed on the robotic arm, wherein a plurality of suction zones are provided on the suction gripper, suction ports are formed in the suction zones of the suction gripper, and a plurality of mutually isolated cavities are provided in an interior of the suction gripper, the cavities being arranged in one-to-one correspondence with the suction zones; the robotic arm is configured to move the suction gripper to the label supply mechanism, such that at least one of the suction zones holds the label by suction, and the robotic arm is further configured to move the suction gripper onto the article to be labeled of the positioning mechanism, such that the suction gripper attaches the label onto the article to be labeled.

2. The labeling machine according to claim 1, wherein at least two of the suction zones have different sizes.

3. The labeling machine according to claim 1 or 2, wherein the suction gripper further comprises a plurality of vacuum generators, and the plurality of vacuum generators are in communication with the plurality of cavities in a one-to-one manner.

4. The labeling machine according to any one of claims 1 to 3, wherein the robot further comprises a visual detection module disposed on the robotic arm, and the visual detection module is configured to identify a position of the label and / or a position of the article to be labeled.

5. The labeling machine according to claim 4, wherein the visual detection module is further configured to acquire and verify label information, and the label information comprises at least one of label size information, label specification information, and label content.

6. The labeling machine according to claim 4 or 5, wherein the visual detection module is further configured to capture an image of the label attached to the article to be labeled.

7. The labeling machine according to claim 6, wherein the suction gripper comprises a base and a suction member connected to the base; the base is connected to the robotic arm, and the suction zone is provided on the suction member.

8. The labeling machine according to claim 7, wherein the visual detection module comprises a first image capturing apparatus and a first light source that are disposed on the base, and the first light source is disposed adjacent to the first image capturing apparatus.

9. The labeling machine according to any one of claims 4 to 8, wherein the labeling machine further comprises a deviation correction detection module, and the deviation correction detection module is configured to capture an image of the suction gripper with the label held by suction, so as to identify a suction position of the label and detect an offset of the label; the robotic arm is capable of moving the suction gripper onto the article to be labeled based on the position of the article to be labeled, the suction position of the label, and the offset.

10. The labeling machine according to claim 9, wherein the deviation correction detection module comprises a second image capturing apparatus and a second light source; the second image capturing apparatus is oriented upward and is configured to photograph the suction gripper and the label held by suction by the suction gripper, and the second light source is disposed adjacent to the second image capturing apparatus.

11. The labeling machine according to claim 10, wherein the second light source comprises two strip-shaped light sources, the two strip-shaped light sources are disposed on two opposite sides of the second image capturing apparatus, respectively, and a light-emitting surface of the strip-shaped light source is oriented obliquely upward toward the second image capturing apparatus.

12. The labeling machine according to any one of claims 1 to 11, wherein the labeling machine further comprises an identification module, the identification module being configured to identify information of the article to be labeled; the label supply mechanism is capable of providing, based on the information of the article to be labeled, a corresponding label, and / or the robotic arm is capable of controlling, based on the information of the article to be labeled, at least one suction zone of the suction gripper to hold the label by suction.

13. The labeling machine according to claim 12, wherein the labeling machine further comprises a controller, and the controller is communicatively connected to the label supply mechanism, the robot, and the identification module, separately.

14. The labeling machine according to any one of claims 1 to 13, wherein the label supply mechanism comprises a label printer and a label receiving mechanism; the label printer is configured to print a label, and the label receiving mechanism is disposed at an outlet of the label printer; the label receiving mechanism comprises a label receiving platform, and the label receiving platform is configured to receive the label printed by the label printer.

15. The labeling machine according to claim 14, wherein a surface of the label receiving platform is provided with a concave-convex structure and / or an anti-adhesive coating.

16. The labeling machine according to claim 14 or 15, wherein a reverse blowing hole is formed in the surface of the label receiving platform, and the reverse blowing hole is connected to a gas supply mechanism to direct gas toward the label on the label receiving platform.

17. The labeling machine according to any one of claims 14 to 16, wherein the label receiving mechanism further comprises a detector, and the detector is configured to detect whether a label is present on the label receiving platform.

18. The labeling machine according to claim 14, wherein the labeling machine further comprises a counting module, and the counting module is capable of counting a number of uses of the label receiving platform, and sending reminder information when the number of uses of the label receiving platform reaches a preset value.

19. The labeling machine according to any one of claims 14 to 18, wherein the label receiving mechanism further comprises a movement driving member connected to the label receiving platform, and the movement driving member is configured to drive the label receiving platform to move in a direction close to or away from the label printer.

20. The labeling machine according to any one of claims 14 to 19, wherein the labeling machine further comprises a sliding table, the label printer is disposed on the sliding table, and the sliding table is capable of driving the label printer to reciprocate.

21. The labeling machine according to any one of claims 1 to 20, wherein at least two label supply mechanisms are provided.

22. The labeling machine according to any one of claims 1 to 21, wherein the positioning mechanism comprises a positioning platform, a positioning member, and a lifting member; the positioning platform is configured to support the article to be labeled, the positioning member is configured to position the article to be labeled, and the lifting member is configured to lift and lower the article to be labeled.

23. A labeling method, applied to the labeling machine according to any one of claims 1 to 22, the automatic labeling method comprising: providing, by a label supply mechanism, a label; holding, by a suction gripper, the label by suction using at least one suction zone; and moving, by the robotic arm, the suction gripper onto the article to be labeled, such that the suction gripper attaches the label onto the article to be labeled.

24. The labeling method according to claim 23, wherein the labeling machine further comprises the identification module, and before holding, by the suction gripper, the label by suction using the at least one suction zone, the labeling method further comprises: identifying, by the identification module, information of the article to be labeled; acquiring, based on the information of the article to be labeled, a size of the label; and controlling, based on the size of the label, at least one cavity of the suction gripper to be under negative pressure, and using a suction zone corresponding to the cavity to hold the label by suction.

25. The labeling method according to claim 23 or 24, wherein the robot further comprises the visual detection module disposed on the robotic arm, and the automatic labeling method further comprises: acquiring, by the visual detection module, label information, and verifying whether the label information is incorrect, the label information comprising at least one of label size information, label specification information, and label content; and when the label information is correct, moving, by the robotic arm, the suction gripper, such that the suction gripper holds the label by suction.

26. The labeling method according to claim 25, wherein the labeling machine further comprises the deviation correction detection module; the automatic labeling method further comprises: identifying, by the visual detection module, a position of the article to be labeled; capturing, by the deviation correction detection module, an image of the suction gripper with the label held by suction, so as to identify a suction position of the label and detect an offset of the label; and moving, by the robotic arm, the suction gripper onto the article to be labeled, based on the position of the article to be labeled, the suction position of the label, and the offset of the label.

27. The labeling method according to claim 25 or 26, wherein the automatic labeling method further comprises: capturing, by the visual detection module, an image of the label attached to the article to be labeled; and verifying the attachment position based on the image of the label.

Images