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

Labeling machine and labeling method

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on February 29, 2024, with application number 202410231754.1 and invention name “Labeling Machine and Labeling Method”, the entire contents of which are incorporated herein by reference. Technical Field

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

[0003] In automated manufacturing processes, suction grippers are often used to absorb and attach labels to products. However, conventional suction grippers have limited compatibility and can only accommodate labels of a specific size. Changes in label size require replacement of the gripper, wasting production time and increasing gripper stocking costs.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a labeling machine and a labeling method that are compatible with labels of different sizes, saving costs and improving efficiency.

[0006] An embodiment of the first aspect of the present application proposes a labeling machine, including: a label supply mechanism for providing labels; a positioning mechanism for positioning an article to be labeled; a robot, including a manipulator and an adsorption gripper provided on the manipulator, the adsorption gripper being provided with multiple adsorption areas, the adsorption gripper being provided with adsorption holes in the adsorption areas, the interior of the adsorption gripper being provided with multiple mutually isolated cavities, and each cavity being provided in a one-to-one correspondence with each adsorption area; the manipulator being used to move the adsorption gripper to the label supply mechanism so that at least one adsorption area adsorbs the label, and the manipulator being further used to move the adsorption gripper to the article to be labeled of the positioning mechanism so that the adsorption gripper attaches the label to the article to be labeled.

[0007] The labeling machine provided in the embodiment of the present application can use a label supply mechanism to provide labels, use a positioning mechanism to position the parts to be labeled, and use a robot to grab and adsorb labels, thereby realizing automatic labeling; the surface of the adsorption gripper has multiple adsorption areas, each of which is provided with adsorption holes, so that each adsorption area can independently adsorb labels, and thus the adsorption gripper can adsorb multiple labels of different sizes. The labeling machine provided in the present application can adapt to labels of various sizes to meet the needs of different parts to be labeled, has high compatibility, saves the material preparation cost of the adsorption gripper, and improves overall efficiency. When the label is changed, there is no need to replace the adsorption gripper, which solves the problem of wasting production time and increasing material preparation costs caused by replacing the adsorption gripper.

[0008] In some embodiments, at least two adsorption regions have different sizes.

[0009] By adopting the above technical solution, at least two adsorption areas can adapt to labels of at least two sizes, thereby improving the compatibility of the adsorption gripper.

[0010] In some embodiments, a plurality of mutually isolated cavities are provided inside the adsorption gripper, each cavity has a vacuum access port, and each cavity is connected to an adsorption hole in an adsorption area.

[0011] By adopting the above technical solution, a plurality of mutually isolated cavities are provided inside the adsorbent and each cavity has a vacuum access port, so that each cavity can independently control its vacuum degree, thereby controlling the adsorption area corresponding to the cavity to adsorb the label.

[0012] In some embodiments, the suction gripper further includes a plurality of vacuum generators, and the plurality of vacuum generators are connected to the plurality of cavities in a one-to-one correspondence.

[0013] By adopting the above technical solution, each vacuum generator can control an adsorption area to generate adsorption force. Labels of different sizes can be started by controlling different vacuum generators to achieve compatibility and automatic type change.

[0014] In some embodiments, the robot further includes a visual detection module disposed on the manipulator, and the visual detection module is used to identify the position of the label and / or the part to be labeled.

[0015] By setting up a visual detection module, the adsorption gripper can identify the position of the label and / or the part to be labeled, thereby improving the positioning accuracy of the adsorption gripper.

[0016] In some embodiments, the visual inspection module is further used to obtain and verify label information, where the label information includes at least one of label size information, label specification information, and label content.

[0017] By adopting the above technical solution, the robot arm can use the visual inspection module to verify the label information, reduce the probability of incorrect labeling, and improve the accuracy of labeling.

[0018] In some embodiments, the visual inspection module is further used to capture images of labels attached to the items to be labeled.

[0019] By collecting images after label attachment, the label attachment effect can be detected, and the labeling machine can also archive the images for future use.

[0020] In some embodiments, the adsorption gripper includes a base and an adsorption component connected to the base, the base is connected to the manipulator, and the adsorption area is provided on the adsorption component.

[0021] In some embodiments, the visual detection module includes a first image acquisition device and a first light source disposed on a base, and the first light source is disposed adjacent to the first image acquisition device.

[0022] By adopting the above technical solution, the visual inspection module can move together with the adsorption component to facilitate the detection of labels and parts to be labeled.

[0023] In some embodiments, the labeling machine also includes a correction detection module, which is used to capture an image of a suction gripper with a label adsorbed on it to identify the adsorption position of the label and detect the offset of the label; the robot can move the suction gripper to the part to be labeled based on the position of the part to be labeled, the adsorption position of the label and the offset.

[0024] By adopting the above technical solution, the correction detection module can identify the adsorption position of the label, so that the labeling machine can automatically correct the robot arm, thereby improving the accuracy of the labeling position and improving the labeling effect.

[0025] In some embodiments, the correction detection module includes a second image acquisition device and a second light source. The second image acquisition device is arranged upward and is used to take pictures of the adsorption gripper and the label adsorbed thereon. The second light source is arranged adjacent to the second image acquisition device.

[0026] By adopting the above technical solution, the correction detection module can automatically and conveniently take pictures of the adsorption gripper to identify the adsorption position of the label, which plays a role in correction and improves the accuracy of the attachment position.

[0027] In some embodiments, the second light source includes two bar-shaped light sources, which are respectively disposed on opposite sides of the second image acquisition device, and light-emitting surfaces of the bar-shaped light sources are tilted upward toward the second image acquisition device.

[0028] By adopting the above technical solution, the two strip light sources can illuminate the adsorption surface of the adsorption gripper and the label adsorbed on the adsorption surface, which is beneficial for the second image acquisition device to capture images, reduces the interference of ambient light, and improves image stability.

[0029] In some embodiments, the labeling machine further includes an identification module, which is used to identify information of the part to be labeled; the label supply mechanism can provide corresponding labels based on the information of the part to be labeled, and / or the robot can control at least one adsorption area of ​​the adsorption gripper to adsorb the label based on the information of the part to be labeled.

[0030] By adopting the above technical solution, the labeling machine can automatically identify the parts to be labeled through the identification module, and the label supply mechanism provides labels corresponding to the information of the parts to be labeled, thereby realizing label change; the adsorption gripper can automatically use at least one adsorption area to adsorb labels to adapt to label change.

[0031] In some embodiments, the labeling machine further comprises a controller, which is communicatively connected to the label feeding mechanism, the robot and the identification module respectively.

[0032] By adopting the above technical solution, the controller can control the label supply mechanism and the robot according to the identification information obtained by the identification module, which is conducive to the automatic change of the parts to be labeled, improves the labeling efficiency, and has a high degree of automation.

[0033] In some embodiments, the label supply mechanism includes a label printer and a label receiving mechanism. The label printer is used to print labels. The label receiving mechanism is arranged at the outlet of the label printer. The label receiving mechanism includes a label receiving platform. The label receiving platform is used to receive labels printed by the label printer.

[0034] By adopting the above technical solution, the label printer can automatically print different labels with a high degree of automation; the label receiving mechanism can receive the labels, so that the label receiving mechanism provides the adsorption gripper with adsorption labels, thereby improving the convenience of adsorbing labels.

[0035] In some embodiments, the surface of the label receiving platform is provided with a concave-convex structure and / or an anti-stick coating. By adopting this technical solution, the suction gripper can easily grab labels from the label receiving platform, reducing the probability of labels adhering to the platform and being unable to separate from it, and can also reduce the probability of labels curling, thereby improving the reliability of label adsorption and the yield rate of label attachment.

[0036] In some embodiments, the label receiving platform is provided with back-blowing holes, which are connected to an air supply mechanism to blow air toward the labels on the platform. This back-blowing hole reduces the likelihood of labels sticking to the platform, improving the reliability of label attachment and the yield rate of label attachment.

[0037] In some embodiments, the label receiving mechanism further includes a detector for detecting whether there is a label on the label receiving platform.

[0038] By setting up a detector, it is possible to detect whether there is a label on the label receiving platform, and then control the action of the adsorption gripper or other mechanisms, thereby improving the labeling efficiency and automation level of the labeling machine.

[0039] In some embodiments, the labeling machine further includes a counting module, which can count the number of times the labeling platform is used and issue a reminder message when the number of times the labeling platform is used reaches a preset value.

[0040] By adopting the above technical solution, the bid receiving organization has a counting and maintenance reminder function, so as to facilitate timely maintenance of the bid receiving platform.

[0041] In some embodiments, the label receiving mechanism further includes a movable driving member connected to the label receiving platform, and the movable driving member is used to drive the label receiving platform to move toward or away from the label printer.

[0042] By adopting the above technical solution, the mobile driving member can drive the label receiving platform to move, so as to receive the label provided by the label supply mechanism and facilitate the adsorption gripper to adsorb the label.

[0043] In some embodiments, the labeling machine further includes a slide, and the label printer is disposed on the slide, and the slide can drive the label printer to move back and forth.

[0044] By setting up a slide, the label printer can be pulled outward from the frame to facilitate loading of the label printer, which reduces the loading difficulty and increases the loading speed.

[0045] In some embodiments, at least two label supply mechanisms are provided. By adopting the above technical solution, at least two label supply mechanisms can operate independently of each other, achieving non-stop loading and improving the overall efficiency of the labeling machine.

[0046] In some embodiments, the positioning mechanism includes a positioning platform, a positioning member, and a lifting member. The positioning platform is used to carry the piece to be labeled, the positioning member is used to position the piece to be labeled, and the lifting member is used to lift the piece to be labeled.

[0047] The positioning mechanism provided in the embodiment of the present application can position the object to be labeled and elevate the object to be labeled, so as to facilitate the suction gripper to attach the label to the object to be labeled.

[0048] An embodiment of the second aspect of the present application proposes a labeling method, which is applied to the labeling machine provided in the first aspect. The labeling method includes: a label supply mechanism provides a label; an adsorption gripper uses at least one adsorption area to adsorb the label; and a robotic arm moves the adsorption gripper to the object to be labeled, so that the adsorption gripper attaches the label to the object to be labeled.

[0049] The labeling method described above can utilize a label supply mechanism to provide labels, and a robot to grasp and adsorb the labels. The surface of the adsorption gripper has multiple adsorption areas, each of which is provided with adsorption holes, so that each adsorption area can independently adsorb labels. Furthermore, the adsorption gripper can adsorb multiple labels of different sizes through the multiple adsorption areas. The labeling method provided in this application is adaptable to labels of various sizes and has high compatibility. When changing labels, there is no need to replace the adsorption gripper, thus solving the problem of wasted production time and increased material preparation costs caused by replacing the adsorption gripper.

[0050] In some embodiments, the labeling machine further includes an identification module. Before the adsorption gripper uses at least one adsorption area to adsorb the label, the labeling method further includes: the identification module identifies information of the part to be labeled; obtains the size of the label based on the information of the part to be labeled; and controls at least one cavity of the adsorption gripper to have a negative pressure based on the size of the label and uses the adsorption area corresponding to the cavity to adsorb the label.

[0051] By adopting the above technical solution, the labeling method can adapt to the change of the labeling part. When the label size changes, the adsorption gripper can be controlled to use the adsorption area of ​​the corresponding size to adsorb the label, thereby improving the compatibility of the adsorption gripper.

[0052] In some embodiments, the robot also includes a visual inspection module provided on the manipulator, and the labeling method also includes: the visual inspection module obtains label information and verifies whether the label information is incorrect, the label information includes at least one of label size information, label specification information, and label content; when the label information is correct, the manipulator moves the adsorption gripper to make the adsorption gripper adsorb the label.

[0053] By adopting the above technical solution, the visual inspection module can verify the label information, reduce the probability of wrong labeling, and improve the accuracy of labeling.

[0054] In some embodiments, the labeling machine further includes a correction detection module; the labeling method further includes: a visual detection module identifying the position of the part to be labeled; collecting an image of a suction gripper with a label adsorbed thereon to identify the adsorption position of the label and detect the offset of the label; the robotic arm moves the suction gripper to the part to be labeled based on the position of the part to be labeled, the adsorption position of the label, and the offset of the label.

[0055] By adopting the above technical solution, the correction detection module can identify the adsorption position of the label, so that the labeling method realizes automatic correction of the robot arm, improves the accuracy of the labeling position, and improves the labeling effect.

[0056] In some embodiments, after attaching the label, the labeling method further includes: using a visual inspection module to capture an image of the label attached to the object to be labeled; and verifying the attachment position based on the label image.

[0057] In this way, the labeling method can detect the label attachment effect and achieve closed-loop management.

[0058] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or conventional technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0060] FIG1 is a perspective schematic diagram of a labeling machine in operation according to some embodiments of the present application;

[0061] FIG2 is a partial enlarged view of section A of the labeling machine shown in FIG1 ;

[0062] FIG3 is a perspective schematic diagram of an adsorption gripper in the labeling machine shown in FIG1 ;

[0063] FIG4 is a perspective schematic diagram of the adsorption member in the adsorption gripper shown in FIG3 ;

[0064] FIG5 is a perspective schematic diagram of the suction cup body in the adsorption member shown in FIG4 ;

[0065] FIG6 is a bottom view of the structure of the suction cup body shown in FIG5 ;

[0066] FIG7 is a perspective schematic diagram of a deviation correction detection module in the labeling machine shown in FIG1 ;

[0067] FIG8 is a perspective schematic diagram of a label receiving mechanism in the labeling machine shown in FIG1 ;

[0068] FIG9 is a perspective schematic diagram of a portion of the frame and label printer in the labeling machine shown in FIG1 ;

[0069] FIG10 is a perspective schematic diagram of the labeling machine shown in FIG1 after removing the parts to be labeled;

[0070] FIG11 is a partial enlarged view of section B of the labeling machine shown in FIG10 ;

[0071] FIG12 is a module diagram of a labeling machine provided in some embodiments of the present application;

[0072] FIG13 is a flow chart of a labeling method provided in some embodiments of the present application.

[0073] The meanings of the marks in the figure are:

[0074] 100. Labeling machine; 10. Label supply mechanism; 11. Label printer; 12. Label receiving mechanism; 121. Label receiving platform; 1211. Concave-convex structure; 1212. Air inlet; 123. Movable drive element; 124. Mounting base; 125. Label receiving platform mounting support; 126. Air supply mechanism; 127. Detector; 13. Slide; 20. Positioning mechanism; 21. Positioning platform; 22. Positioning element; 23. Lifting element; 30. Robot; 31. Manipulator; 32. Adsorption gripper; 321. Base; 3211. Through hole; 322. Adsorption element; 3201. Adsorption surface; 3221 , suction cup body; 32211, adsorption area; 32212, adsorption hole; 32213, vacuum access port; 32214, cavity; 32215, partition; 3222, sealing plate; 323, vacuum generator; 33, visual inspection module; 331, first image acquisition device; 332, first light source; 40, correction detection module; 41, second image acquisition device; 42, second light source; 421, strip light source; 43, CCD calibration block; 44, camera bracket; 45, camera protective cover; 50, rack; 60, identification module; 70, controller; 200, MES system. Modes for Carrying Out the Invention

[0075] The following embodiments of the technical solution of the present application will be described in detail with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present application and are therefore only examples and are not intended to limit the scope of protection of the present application.

[0076] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0077] In the description of the embodiments of this application, the technical terms "first" and "second" are used only to distinguish different objects and should not be understood to indicate or imply relative importance or implicitly specify the quantity, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, the meaning of "plurality" is more than two, unless otherwise clearly and specifically defined.

[0078] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0079] In the description of the embodiments of this application, the term "and / or" is simply a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0080] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0081] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the embodiments of the present application.

[0082] In the description of the embodiments of the present application, unless otherwise expressly specified or limited, technical terms such as "installed," "connected," "connected," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; internal connections between two components or interactions between two components. Those skilled in the art can understand the specific meanings of the above terms in the embodiments of the present application based on specific circumstances.

[0083] In automated manufacturing processes, a suction gripper is often used to absorb labels and attach them to the parts to be labeled. The gripper uses vacuum suction to hold the labels. However, conventional grippers have limited compatibility and can only accommodate labels of a specific size. Changes in label size require replacement of the gripper, wasting production time and increasing gripper stock preparation costs.

[0084] In view of this, an embodiment of the present application provides a labeling machine, including a label supply mechanism, a positioning mechanism, and a robot. The robot includes a manipulator and a suction gripper provided on the manipulator. The suction gripper is provided with multiple suction areas. The suction gripper has suction holes in the suction areas. The interior of the suction gripper is provided with multiple mutually isolated cavities, and each cavity is provided in a one-to-one correspondence with each suction area. The manipulator is used to move the suction gripper to the label supply mechanism so that at least one suction area adsorbs the label. The manipulator is also used to move the suction gripper to the object to be labeled on the positioning mechanism so that the suction gripper attaches the label to the object to be labeled. Since the suction gripper is provided with multiple suction areas, the suction gripper can adsorb labels of different sizes through different suction areas, thereby improving the compatibility of the suction gripper. When the size of the label changes, there is no need to replace the suction gripper, saving the material preparation cost of the suction gripper and the time of replacing the suction gripper, thereby improving the labeling efficiency.

[0085] The labeling machine and labeling method provided in the embodiments of the present application are used to attach labels to items to be labeled. The items to be labeled refer to items to be labeled, and the items to be labeled may be products, workpieces, etc.

[0086] 1 to 6 , an embodiment of the first aspect of the present application provides a labeling machine 100 , comprising a label supply mechanism 10 , a positioning mechanism 20 , and a robot 30 . The label supply mechanism 10 is used to provide labels, the positioning mechanism 20 is used to position the parts to be labeled, and the robot 30 is used to grab and attach labels. The robot 30 includes a manipulator 31 and an adsorption gripper 32 provided on the manipulator 31. The adsorption gripper 32 is provided with multiple adsorption areas 32211, and the adsorption gripper 32 is provided with adsorption holes 32212 in the adsorption areas 32211; the interior of the adsorption gripper 32 is provided with multiple mutually isolated cavities 32214, and each cavity 32214 is arranged in a one-to-one correspondence with each adsorption area 32211; the manipulator 31 is used to move the adsorption gripper 32 to the label supply mechanism 10, so that at least one adsorption area 32211 adsorbs the label. The manipulator 31 is also used to move the adsorption gripper 32 to the part to be labeled on the positioning mechanism 20, so that the adsorption gripper 32 attaches the label to the part to be labeled.

[0087] The label supply mechanism 10 is used to provide labels. The label supply mechanism 10 can print labels through the label printer 11, and can also transport labels through a conveying member such as a conveyor belt.

[0088] The positioning mechanism 20 is used to position the labeling object to be labeled. The positioning mechanism 20 can fix the labeling object through various structures. For example, the positioning mechanism 20 can hold the labeling object through a clamping member, clamp the labeling object through a clamping member, or adsorb the labeling object through an adsorption element. Of course, the positioning mechanism 20 can also fix the labeling object through other positioning members 22.

[0089] The robot includes a manipulator 31 and an adsorption gripper 32. The manipulator 31 can be a multi-axis manipulator, such as a four-axis manipulator. It is understood that the manipulator 31 can also be other types such as a five-axis manipulator, as long as it can meet the movement requirements of the adsorption gripper 32.

[0090] The suction gripper 32 uses the principle of vacuum suction to absorb the label. The suction gripper 32 is provided with multiple suction areas 32211 and has suction holes 32212 formed within the suction areas 32211. The suction holes 32212 are used to absorb the label. It is understood that the suction holes 32212 can be connected to the vacuum generator 323, so that the suction holes 32212 can absorb the label under negative pressure.

[0091] The labeling machine 100 further includes a frame 50 , on which one or more of the label supply mechanism 10 , the positioning mechanism 20 and the robot 30 are disposed.

[0092] In the adsorption gripper, the multiple cavities 32214 are isolated from each other, that is, the multiple cavities 32214 are separated from each other and not connected to each other, and each cavity 32214 can independently control its negative pressure state.

[0093] The cavity 32214 corresponds to the adsorption area 32211, which means that the cavity 3224 is connected to the adsorption hole 32212 in the adsorption area 32211. When the cavity 32214 is under negative pressure, the adsorption area 32211 corresponding to the cavity 32214 can adsorb the label under the action of the negative pressure.

[0094] Each adsorption area 32211 is provided with one or more adsorption holes 32212. Since the adsorption areas 32211 are arranged in a one-to-one correspondence with the cavities 32214, the vacuum state of each cavity 32214 can be individually controlled, so that each adsorption area 32211 can independently adsorb a label. Specifically, multiple adsorption areas 32211 can be arranged on the same side of the adsorption gripper 32, or on different sides of the adsorption gripper 32. When multiple adsorption areas 32211 are arranged on the same side of the adsorption gripper 32, the multiple adsorption areas 32211 can be arranged adjacent to each other, and each adsorption area 32211 can adsorb a label individually, or at least two adjacent adsorption areas 32211 can adsorb one label at the same time. It can be understood that if the size of the label to be adsorbed matches the area formed by two or more adsorption areas 32211, multiple adsorption areas 32211 can be used to adsorb one label at a time.

[0095] Each adsorption region 32211 is adapted to a label of a specific size to be adsorbed. Each adsorption region 32211 may be provided with one or more adsorption holes 32212. Adsorption region 32211 being adapted to a label means that the label can cover all adsorption holes 32212 within the adsorption region 32211, thereby preventing air leakage through the adsorption holes 32212. The projected area of ​​the label onto the adsorption region 32211 may be equal to or different from the area of ​​the adsorption region 32211, provided that the projection of the label onto the adsorption region 32211 covers all adsorption holes 32212 within the adsorption region 32211.

[0096] The operating principle of the labeling machine 100 is as follows: the label supply mechanism 10 provides the label to be attached, the positioning mechanism 20 positions the object to be labeled, and the robot 31 moves the suction gripper 32 over the label to be attached. Depending on the size of the label to be attached, at least one cavity 32214 of the suction gripper 32 is negatively pressurized. The suction area 32211 corresponding to the negatively pressurized cavity 32214 is positioned directly opposite the label to be attached. The suction holes 32212 within this suction area 32211 are connected to the vacuum generator 323 and are used to attach the label; the suction holes 32212 in the remaining suction areas 32211 do not require vacuuming. Next, the robot 31 moves the suction gripper 32 over the object to be labeled, where it attaches the label to the object. If the size of the label to be attached changes, the suction gripper 32 can directly use the adapted suction area 32211 to attach the changed label, without having to replace the suction gripper 32.

[0097] The labeling machine 100 provided in the embodiment of the present application can use a label supply mechanism 10 to provide labels, a positioning mechanism 20 to position the labeling object to be labeled, and a robot 30 to grasp and absorb the labels, thereby achieving automatic labeling with a high degree of automation and high labeling efficiency. The surface of the suction gripper 32 has multiple suction areas 32211, and the suction gripper 32 is provided with multiple mutually isolated cavities 32214. The cavities 32214 are arranged in a one-to-one correspondence with the suction areas 32211. By controlling the vacuum level of each cavity 32214, each suction area 32211 can be controlled to independently absorb a label. As a result, the suction gripper 32 can coordinately absorb labels of corresponding sizes through multiple suction areas 32211, or absorb labels of corresponding sizes through a single suction area 32211. The labeling machine 100 provided in the present application can adapt to labels of various sizes, has high compatibility, and improves overall efficiency. When changing labels, there is no need to replace the suction gripper 32, which solves the problem of wasted production time and increased material preparation costs caused by replacing the suction gripper 32.

[0098] In some embodiments, at least two adsorption regions 32211 have different sizes.

[0099] The surface of the adsorption member 322 has a plurality of adsorption areas 32211, and the number of adsorption areas 32211 can be two, three, four, five or more than five. Among them, at least two adsorption areas 32211 are of different sizes, and the adsorption areas 32211 of different sizes correspond to labels of one size, so that the adsorption gripper 32 can adsorb labels of at least two sizes. It can be understood that the two adsorption areas 32211 of different sizes can have the same shape or different shapes. For example, the adsorption member 322 is provided with two rectangular adsorption areas 32211, and the two adsorption areas 32211 have different lengths, different widths, or different lengths and widths. For another example, the adsorption member 322 is provided with a square adsorption area 32211 and a strip-shaped adsorption area 32211, and the sizes of the two are also different.

[0100] As shown in FIG6 , in some embodiments, the suction gripper 32 is provided with five suction areas 32211. One suction area 32211 is an elongated strip, two suction areas 32211 are both square and arranged side by side on one side of the elongated strip, and two other suction areas 32211 are both square and arranged side by side on the other side of the elongated strip. The five suction areas 32211 are all of different sizes, so the suction gripper 32 can absorb labels of at least five different sizes.

[0101] By adopting the above technical solution, at least two adsorption areas 32211 can adapt to labels of at least two sizes, thereby improving the compatibility of the adsorption gripper 32 .

[0102] In other embodiments, the multiple adsorption areas 32211 of the adsorption gripper 32 may also have the same size. In this case, by changing the number of cavities 32214 with negative pressure, different numbers of adsorption areas 32211 can be used to adsorb labels of different sizes.

[0103] In some embodiments, the suction gripper 32 further includes a plurality of vacuum generators 323 , and the plurality of vacuum generators 323 are connected to the plurality of cavities 322143 in a one-to-one correspondence.

[0104] The vacuum generator 323 is a highly efficient, compact vacuum component that utilizes a positive pressure gas source to generate negative pressure, making it very easy and convenient to obtain negative pressure where compressed air is available or where both positive and negative pressures are required in a pneumatic system.

[0105] The number of vacuum generators 323 is the same as the number of cavities 32214. Multiple vacuum generators 323 are connected to multiple cavities 32214 in a one-to-one correspondence, so that each vacuum generator 323 can control the negative pressure state in a cavity 32214, and then control an adsorption area 32211 to generate adsorption force.

[0106] By adopting the above technical solution, each vacuum generator 323 can control an adsorption area 32211 to generate adsorption force. Labels of different sizes can be activated by controlling different vacuum generators 323 to achieve compatibility and automatic type change.

[0107] 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 conjunction with a control valve, which controls the vacuum generator 323 to communicate with a certain cavity 32214 through the control valve.

[0108] In some embodiments, the adsorption gripper 32 includes a base 321 and an adsorption member 322 connected to the base 321 . The base 321 is connected to the manipulator 31 , and the adsorption area 32211 is provided on the adsorption member 322 .

[0109] The base 321 is used to provide an installation environment for the adsorption member 322 . The adsorption member 322 has an adsorption surface 3201 , and a plurality of adsorption areas 32211 are provided on the adsorption surface 3201 .

[0110] The suction surface 3201 is the surface of the suction member 322 used to attach labels. In some embodiments, the suction surface 3201 is planar to facilitate label attachment. In other embodiments, the suction surface 3201 may be non-planar. For example, the suction area 32211 may be recessed or protruded on the suction member 322. The suction member 322 includes a suction cup body 3221 and a sealing plate 3222 sealed to the suction cup body 3221. The suction cup body 3221 has a cavity defined therein, and a partition 32215 is provided within the cavity. The partition 32215 divides the cavity into a plurality of mutually isolated cavities 32214. The sealing plate 3222 covers the suction cup body 3221. A vacuum inlet 32213 is provided on the suction cup body 3221 or the sealing plate 3222.

[0111] The suction cup body 3221 can be a square plate or other shapes; the adsorption hole 32212 is arranged on the side of the suction cup body 3221 away from the sealing plate 3222. It can be understood that the adsorption hole 32212 can also be arranged on other sides of the suction cup body 3221.

[0112] The suction cup body 3221 has a cavity therein for forming the cavity 32214 . The sealing plate 3222 is sealedly connected to the suction cup body 3221 . The sealing plate 3222 matches the shape of the suction cup body 3221 and covers the cavity of the suction cup body 3221 to seal the cavity 32214 .

[0113] The vacuum inlet 32213 is provided on the sealing plate 3222. It can be understood that a gas channel connecting the cavity 32214 and the vacuum inlet 32213 is provided in the sealing plate 3222. The vacuum inlet 32213 can also be provided on the suction cup body 3221, that is, the vacuum inlet 32213 is directly connected to the cavity 32214.

[0114] By adopting the above technical solution, the adsorption member 322 includes a suction cup body 3221 and a sealing plate 3222. The partition 32215 in the suction cup body 3221 divides the cavity into multiple cavities 32214. The structure of the adsorption member 322 is relatively simple and the cost is low.

[0115] Optionally, a plurality of vacuum generators 323 are provided on the base 321 , so that the plurality of vacuum generators 323 can move together with the adsorption member 322 .

[0116] As shown in FIG3 , in some embodiments, the robot 30 further includes a visual detection module 33 provided on the manipulator 31 , and the visual detection module 33 is used to identify the position of the label and / or the position of the part to be labeled.

[0117] The visual inspection module 33 is mounted on the base 321 and is movable along with the base 321 and the suction member 322. The visual inspection module 33 can obtain various information by taking photos. Specifically, the visual inspection module 33 can obtain the label's location information by capturing an image of the label, allowing the manipulator 31 to accurately grasp the label based on the label's location information.

[0118] The visual inspection module 33 can also obtain the position information of the object to be labeled by collecting images of the object to be labeled, and then the robot 31 can prepare to attach the label according to the position of the object to be labeled.

[0119] By providing the visual detection module 33 , the suction gripper 32 can identify the position of the label and / or the item to be labeled, and the labeling machine 100 can label by visual guidance, thereby improving the positioning accuracy of the suction gripper 32 and the accuracy of the labeling position.

[0120] In some embodiments, the visual inspection module 33 is further configured to obtain and verify label information, where the label information includes at least one of label size information, label specification information, and label content.

[0121] Label dimensional information refers to the label's overall dimensions, such as length, width, and radius. It's understood that if a label has external defects, its dimensions will change; if the label's specifications change, its dimensions will also change. Label specification information represents the label's attributes, including large, medium, or small sizes, as well as the label type or other specifications. Label content includes the text and / or images on the label.

[0122] If the visual inspection module 33 verifies that the label information is incorrect, the suction member 322 does not need to absorb the label, and the wrong label will not be attached to the labeling object, which plays a fool-proof role. If the visual inspection module 33 verifies that the label information is correct, the suction member 322 absorbs the label and attaches it normally.

[0123] By adopting the above technical solution, the robot arm 31 can use the visual inspection module 33 to verify the label information, reduce the probability of incorrect labeling, and improve the accuracy of labeling.

[0124] In some embodiments, the visual inspection module 33 is further configured to capture an image of a label attached to the object to be labeled.

[0125] The visual inspection module 33 can check the label attachment position and further detect the attachment effect by collecting images after the label is attached. The labeling machine 100 can also archive the images for future use.

[0126] In some embodiments, the visual inspection module 33 includes a first image acquisition device 331 and a first light source 332 provided on the base 321 . The first image acquisition device 331 is provided on the manipulator 31 , and the first light source 332 is provided adjacent to the first image acquisition device 331 .

[0127] The first image acquisition device 331 can be a CCD camera. CCD, short for charge coupled device, can convert light into electrical charge, store and transfer the charge, and also extract the stored charge to generate a voltage change. Therefore, it is an ideal CCD camera component. CCD cameras constructed with it are widely used due to their small size, light weight, immunity to magnetic fields, and resistance to vibration and impact. The first image acquisition device 331 can also be another type of camera, such as a CMOS (Complementary Metal-Oxide Semiconductor) camera. The first light source 332 is disposed adjacent to the first image acquisition device 331 and can be a bar light source, a ring light source, or other types. Optionally, a receiving groove is provided within the base 321, and the first light source 332 is secured within the receiving groove. In other embodiments, the first light source 332 can also be directly secured to the surface of the base 321.

[0128] Optionally, a through hole 3211 is provided on the base 321, and the first image acquisition device 331 is provided on the side of the base 321 away from the adsorption member 322 and is arranged corresponding to the through hole 3211. The first image acquisition device 331 is used to take pictures of the label or the part to be labeled, and the first light source 332 is arranged adjacent to the first image acquisition device 331.

[0129] Optionally, the first image capture device 331 and the suction member 322 are attached to opposite sides of the base 321, so that the first image capture device 331 does not obstruct the suction member 322 from adsorbing the label. The first image capture device 331 is positioned corresponding to the through-hole in the base 321, allowing the first image capture device 331 to capture the label or the object to be labeled through the through-hole. It is understood that the first image capture device 331 and the suction member 322 can also be positioned on the same side of the base 321, in which case the through-hole can be eliminated.

[0130] By adopting the above technical solution, the visual inspection module 33 can move together with the adsorption member 322 to facilitate the inspection of labels and items to be labeled.

[0131] 1 to 3 and 7 , in some embodiments, the labeling machine 100 further includes a deflection correction detection module 40, which is used to capture an image of the adsorption gripper 32 with the label adsorbed thereon to identify the adsorption position of the label and detect the offset of the label; the manipulator 31 can move the adsorption gripper 32 to the object to be labeled based on the position of the object to be labeled and the adsorption position of the label.

[0132] After the suction gripper 32 has attached a label, the deviation correction detection module 40 is configured to capture an image of the label and the suction gripper 32, thereby identifying the label's attachment position and detecting the label's offset. The offset refers to the distance between the label's actual attachment position and the preset attachment position, and can include offsets in one or more directions.

[0133] If the suction position is accurate, there is no need to correct the robot 31, and the label can be directly attached to the position of the labeling object. If the suction position is deviated, the attachment position of the robot 31 needs to be corrected based on the suction position and the offset, so that the suction gripper 32 can attach the label to the preset attachment position. For example, if the suction position of the detected label is offset to the left by a certain offset, the robot 31 needs to be corrected and the suction gripper 32 needs to be offset to the right by the offset so that the label can still be attached to the preset position.

[0134] By adopting the above technical solution, the correction detection module 40 can identify the adsorption position of the label, so that the labeling machine 100 can automatically correct the robot 31, thereby improving the accuracy of the labeling position and improving the labeling effect.

[0135] 1 and 7 , in some embodiments, the deflection correction detection module 40 includes a second image acquisition device 41, a second light source 42, and a CCD calibration block 43. The second image acquisition device 41 is disposed upward and is used to take pictures of the adsorption gripper 32 and the label adsorbed thereon. The second light source 42 is disposed adjacent to the second image acquisition device 41. The CCD calibration block 43 is fixed to one side of the second image acquisition device 41 and is used to calibrate the second image acquisition device 41.

[0136] The correction detection module 40 can be arranged on the frame 50, and the second image acquisition device 41 is arranged upward, that is, the second image acquisition device 41 is arranged in a direction away from the frame 50. After the adsorption gripper 32 adsorbs the label, the adsorption gripper 32 moves to the top of the second image acquisition device 41. The second image acquisition device 41 can take a picture of the adsorption gripper 32 and the label adsorbed by it to identify the adsorption position of the label.

[0137] The second image acquisition device 41 may be a CCD camera or other types of cameras. The second light source 42 is used to provide illumination for the second image acquisition device 41 . The second light source 42 may be a bar light source, an annular light source or other light sources.

[0138] The CCD calibration block 43 is a tool used to calibrate the image acquisition device. It consists of multiple blocks of varying sizes and spacing. These blocks can be used to measure internal and external parameters of the image acquisition device, improving the camera's measurement accuracy and reliability. Using the calibration block, information such as the camera's focal length, distortion coefficient, pixel size, and image center position can be obtained, enabling subsequent image processing and application. In other embodiments, the CCD calibration block 43 may be omitted.

[0139] By adopting the above technical solution, the correction detection module 40 can automatically and conveniently take a picture of the adsorption gripper 32 to identify the adsorption position of the label, thereby playing a correction role and improving the accuracy of the attachment position.

[0140] 7 , in some embodiments, the second light source 42 includes two bar-shaped light sources 421 . The two bar-shaped light sources 421 are respectively disposed on opposite sides of the second image acquisition device 41 , and light-emitting surfaces of the bar-shaped light sources 421 are tilted upward toward the second image acquisition device 41 .

[0141] The bar light source 421 is a light source used for machine vision inspection, which has the characteristics of high brightness and high uniformity and can provide stable, clear and accurate images; the length of the bar light source 421 can be set according to needs.

[0142] Since the adsorption gripper 32 can be moved above the second image acquisition device 41, the light-emitting surfaces of the two bar-shaped light sources 421 are tilted upward, which can illuminate the adsorption surface 3201 of the adsorption gripper 32 and the label adsorbed on the adsorption surface 3201, which is beneficial for the second image acquisition device 41 to capture images, reduces the interference of ambient light, and improves image stability.

[0143] Optionally, the deviation correction detection module 40 further includes a camera bracket 44 for mounting the second image acquisition device 41 and a camera protection cover 45 for protecting the second image acquisition device 41 .

[0144] Please refer to Figure 2. In some embodiments, the labeling machine 100 further includes an identification module 60, which is used to identify information of the part to be labeled; the label supply mechanism 10 can provide corresponding labels based on the information of the part to be labeled, and / or the robot 31 can control at least one adsorption area 32211 of the adsorption gripper 32 to adsorb the label based on the information of the part to be labeled.

[0145] In some embodiments, the identification module 60 is an RFID (Radio Frequency Identification) module. The RFID module is located at the positioning mechanism 20. After the positioning mechanism 20 locates the object to be labeled, the RFID module can identify the object's information. RFID is a wireless communication technology that uses radio waves for contactless, automatic identification of objects and data acquisition. A basic RFID system typically consists of an electronic tag and a reader (also known as a "reader / writer" or "interrogator"). The electronic tag is typically attached to the target object and contains a silicon integrated circuit called a "microchip." This integrated circuit contains information such as the serial number or production date of the object to be labeled. The reader communicates with the electronic tag via radio waves, reads the information from the electronic tag, and transmits this information to a computer system for processing. RFID technology offers the advantages of contactless identification, adaptability to various environments, and the fact that direct contact is not required during tag reading and writing, significantly improving the accuracy and reliability of data reading. RFID technology also has a large storage capacity, allowing it to store more information, such as the production date and batch number of the object to be labeled. Furthermore, RFID technology can simultaneously identify multiple tags, improving work efficiency.

[0146] Taking the battery module as an example, the battery module is placed 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, and the RFID module can read the information of the electronic tag to obtain the information of the battery module.

[0147] In other embodiments, the recognition module 60 may also be other modules such as the visual detection module 33 that are capable of recognizing the parts to be labeled.

[0148] The label supply mechanism 10 provides corresponding labels according to the information of the part to be labeled. When the label supply mechanism 10 includes a label printer 11, the label supply mechanism 10 can automatically print corresponding labels according to the information of the part to be labeled, thereby realizing label type change.

[0149] The manipulator 31 can control at least one suction area 32211 of the suction gripper 32 to absorb the label based on the information of the object to be labeled. Specifically, the manipulator 31 can match the corresponding label based on the information of the object to be labeled, and match the corresponding suction area 32211 based on the label size. Then, the manipulator 31 can control the vacuum generator 323 corresponding to the suction area 32211 to activate, so that the cavity 32214 corresponding to the suction area 32211 is negatively pressurized, thereby utilizing the suction area 32211 to absorb the label.

[0150] By adopting the above technical solution, the labeling machine 100 can automatically identify the item to be labeled through the recognition module 60. The label supply mechanism 10 provides a label corresponding to the item information to be labeled, thus achieving label change. The suction gripper 32 can automatically use at least one suction area 32211 to absorb the label to adapt to the label change. In this way, the labeling machine 100 can achieve automatic label change and a high degree of automation.

[0151] In other embodiments, the identification module 60 may be omitted, and the information of the parts to be labeled may be provided by the controller 70 or other modules, as long as the label supply mechanism 10 and the manipulator 31 can obtain the information of the parts to be labeled.

[0152] As shown in FIG. 2 , in some embodiments, the labeling machine 100 further includes a controller 70 , which is communicatively connected to the label supply mechanism 10 , the robot 30 , and the recognition module 60 .

[0153] The controller 70 can receive the information of the labeling part identified by the identification module 60 and control the label supply mechanism 10 to provide labels and the robot 30 to absorb labels according to the information of the labeling part. It is understood that the controller 70 can also communicate with the positioning mechanism 20 and the correction detection module 40.

[0154] The controller 70 may be a programmable logic controller (PLC). A programmable logic controller 70 is a digital computing electronic system designed specifically for use in industrial environments. It uses a programmable memory to store instructions for performing logical operations, sequential control, timing, counting, and arithmetic operations, and controls various types of mechanical equipment or production processes through digital or analog input and output. In other embodiments, the controller 70 may also be other computers.

[0155] By adopting the above technical solution, the controller 70 can control the label supply mechanism 10 and the robot 30 according to the identification information obtained by the identification module 60, which is conducive to realizing automatic type change of the parts to be labeled, improving the labeling efficiency and having a high degree of automation.

[0156] Optionally, the controller 70 is further connected to the MES system 200. The controller 70 can receive the information of the parts to be labeled identified by the identification module 60 and upload the information to the MES system 200. The MES system 200 sends control information to the label supply mechanism 10 based on the information of the parts to be labeled, thereby controlling the label supply mechanism 10 to print or provide corresponding labels.

[0157] The MES system 200, namely the Manufacturing Execution System (MES for short), is a production information management system for the workshop execution layer of a manufacturing enterprise.

[0158] Please refer to Figures 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 used to print labels. The label receiving mechanism 12 is arranged at the outlet of the label printer 11. The label receiving mechanism 12 includes a label receiving platform 121. The label receiving platform 121 is used to receive the labels printed by the label printer 11.

[0159] The label printer 11 can print labels based on the information of the label to be attached. Of course, the label printer 11 can also print labels based on label specifications or other information. The label receiving mechanism 12 is used to receive the labels printed by the label printer 11, and the suction gripper 32 can absorb the labels on the label receiving mechanism 12.

[0160] By adopting the above technical solution, the label printer 11 can automatically print different labels with a high degree of automation; the label receiving mechanism 12 can receive labels, so that the label receiving mechanism 12 provides the adsorption gripper 32 with adsorption labels, thereby improving the convenience of adsorbing labels.

[0161] Referring to FIG. 8 , in some embodiments, the label receiving mechanism 12 includes a 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-stick coating.

[0162] The label receiving platform 121 is used to receive labels printed by the label printer 11 and for the suction gripper 32 to grasp the labels. The label receiving platform 121 is provided with a concave-convex structure 1211, which can be a plurality of parallel protrusions and / or grooves. This reduces the contact area between the label receiving platform 121 and the label, thereby reducing the probability of the label sticking to the label receiving platform 121.

[0163] The anti-stick coating is applied on the surface of the label receiving platform 121 and is used to prevent labels from sticking, and can also reduce the probability of labels sticking to the label receiving platform 121.

[0164] By adopting the above technical solution, the adsorption gripper 32 can easily grab the label from the label receiving platform 121, reducing the probability of the label adhering to the label receiving platform 121 and being unable to be separated from the label receiving platform 121, and can reduce the probability of the label curling, thereby improving the reliability of label adsorption and the yield rate of label attachment.

[0165] Referring to FIG. 8 , in some embodiments, a back-blowing hole (not shown) is provided on the surface of the label receiving platform 121 . The back-blowing hole is connected to the air supply mechanism 126 to blow air toward the label on the label receiving platform 121 .

[0166] Backflush holes are provided on the label receiving platform 121 for receiving labels. When the label receiving platform 121 is provided with a concave-convex structure 1211 or a release coating, the backflush holes can penetrate the concave-convex structure 1211 or the release coating. The number of backflush holes can be one or more, for example, an array of backflush holes is provided on the surface of the label receiving platform 121.

[0167] An air inlet 1212 is also provided on the side of the label receiving platform 121. After the adsorption gripper 32 adsorbs the label, the air inlet is used to connect the air supply mechanism 126. The air supply mechanism 126 can transport gas to the back-blowing hole through the air inlet 1212, thereby blowing air toward the label through the back-blowing hole.

[0168] By providing the back-blowing hole, the probability of the label sticking to the label receiving platform 121 can be reduced, thereby improving the reliability of label adsorption and the yield rate of label attachment.

[0169] 8 , in some embodiments, the label receiving mechanism 12 further includes a detector 127 , and the detector 127 is used to detect whether there is a label on the label receiving platform 121 .

[0170] Detector 127 can be installed on the label receiving platform 121. Detector 127 can be of various types. For example, detector 127 can be a diffuse reflective sensor. A diffuse reflective sensor is a commonly used photoelectric sensor, also known as a reflective photoelectric sensor. It is a sensor based on the photoelectric effect and is used to detect the presence or position of an object. Specifically, a diffuse reflective sensor detects the position, shape, color, and other characteristics of a target object by emitting a beam of light and measuring the reflected light.

[0171] When the detector 127 detects that there is a label on the label receiving platform 121 , the adsorption gripper 32 can move to the top of the label receiving platform 121 to adsorb the label.

[0172] By providing the detector 127 , it is possible to detect whether there is a label on the label receiving platform 121 , thereby controlling the action of the adsorption gripper 32 or other mechanisms, thereby improving the labeling efficiency and automation level of the labeling machine 100 .

[0173] 8 , in some embodiments, the label receiving mechanism 12 further includes a movable driving member 123 connected to the label receiving platform 121 . The movable driving member 123 is used to drive the label receiving platform 121 to move toward or away from the label printer 11 .

[0174] When it is necessary to receive a label, the mobile driving component 123 drives the label receiving platform 121 to move toward the direction close to the label printer 11. After receiving the label, the mobile driving component 123 drives the label receiving platform 121 to move away from the label printer 11 to facilitate the adsorption gripper 32 to adsorb the label and avoid interference with the adsorption gripper 32 by the label printer 11.

[0175] The mobile driving member 123 can be a sliding cylinder, and the label receiving mechanism 12 further includes a mounting base 124 and a label receiving platform mounting support 125. The mobile driving member 123 is disposed on the mounting base 124, the label receiving platform mounting support 125 is disposed on the mobile driving member 123, and the label receiving platform 121 is disposed on the label receiving platform mounting support 125. In this way, the mobile driving member 123 can drive the label receiving platform 121 to move back and forth through the label receiving platform mounting support to move closer to or away from the label printer 11. It is understood that the structure of the label receiving mechanism 12 is not limited to this. For example, the label receiving platform 121 is slidably connected to the mounting base 124, the mobile driving member 123 is a cylinder and is connected to one side of the label receiving platform 121, and the mobile driving member 123 can also drive the label receiving platform 121 to move back and forth.

[0176] By adopting the above technical solution, the mobile driving member 123 can drive the label receiving platform 121 to move, so as to receive the label provided by the label supply mechanism 10 and facilitate the adsorption gripper 32 to adsorb the label.

[0177] In some embodiments, the labeling machine 100 further includes a counting module (not shown), which can count the number of times the labeling platform 121 is used and issue a reminder message when the number of times the labeling platform 121 is used reaches a preset value.

[0178] Optionally, the counting module may be a functional module in the controller 70 or a detection device provided on the docking platform. The counting module can count the number of times the docking platform 121 is used and issue a reminder message when the number of times the docking platform 121 is used reaches a preset value, so as to remind maintenance personnel to perform maintenance on the docking platform 121. When maintaining the docking platform 121, it is necessary to clean foreign matter on the docking platform 121 to keep the docking platform 121 clean.

[0179] By adopting the above technical solution, the labeling machine 100 has a counting and maintenance reminder function, so as to facilitate timely maintenance of the label receiving platform 121.

[0180] In some embodiments, the labeling machine 100 further includes a slide 13 , on which the label printer 11 is disposed, and the slide 13 can drive the label printer 11 to move back and forth.

[0181] In this embodiment, there are multiple label supply mechanisms 10 and multiple slides 13 . The label printers 11 are arranged in a one-to-one correspondence with the slides 13 , and the slides 13 can drive the label printers 11 to move back and forth.

[0182] Typically, the machine's structure is compact, requiring minimal space. However, for safety reasons, a protective cover is added to the labeling machine 100 to enhance safety. When loading the label printer 11, such as refilling paper, the protective cover increases the difficulty of loading the label printer 11. The slide 13 allows the label printer 11 to be pulled outward from the protective cover, making loading easier and faster.

[0183] In some embodiments, at least two label feeding mechanisms 10 are provided.

[0184] In this embodiment, a robot arm 31 is configured to correspond to two label supply mechanisms 10, meaning that one robot arm 31 can grasp labels provided by each label supply mechanism 10. Each label supply mechanism 10 includes a label printer 11 and a label receiving mechanism 12. The two label printers 11 operate independently and independently of each other. While one label printer 11 is loading material, the other label printer 11 can continue to operate normally, resulting in a highly efficient labeling machine 100. Furthermore, the two label printers 11 can print labels of the same or different types. When the two label printers 11 print labels of different types, multiple different types of labels can be applied simultaneously.

[0185] By adopting the above technical solution, at least two label supply mechanisms 10 can operate independently of each other, achieving non-stop loading, reducing equipment downtime rate, and improving the overall efficiency of the labeling machine 100.

[0186] Optionally, two label supply mechanisms 10 are arranged in parallel to facilitate grabbing of labels.

[0187] 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 used to carry the piece to be labeled, the positioning member 22 is used to position the piece to be labeled, and the lifting member 23 is used to lift and lower the piece to be labeled.

[0188] The positioning mechanism 20 is arranged on the frame 50, and the positioning member 22 can be of various types. For example, the positioning member 22 can include a positioning cylinder and a clamping member. The positioning cylinder can drive the clamping member to move toward the object to be labeled to fix the object to be labeled. It can be understood that the positioning member 22 can also be a vacuum adsorption member, a magnetic adsorption member and other structures.

[0189] The lifting member 23 can be of various types. For example, the lifting member 23 can be a lifting cylinder. The lifting member 23 is installed in the positioning platform 21 and can lift the positioned labeling object to facilitate labeling. The lifting member 23 can also be installed on the side of the positioning platform 21. It is understood that the lifting member 23 can also be a ball screw structure or other lifting drive structure.

[0190] The positioning mechanism 20 provided in the embodiment of the present application can position the object to be labeled and elevate the object to be labeled, so as to facilitate the suction gripper 32 to attach the label to the object to be labeled.

[0191] Please refer to Figures 1 to 12. Some embodiments of the present application provide a labeling machine 100, including a label supply mechanism 10, a positioning mechanism 20, a robot 30, a correction detection module 40 and an identification module 60. The identification module 60 is used to identify information of the part to be labeled. The label supply mechanism 10 includes a label printer 11 and a label receiving mechanism 12. The label printer 11 prints corresponding labels according to the information of the part to be labeled; the robot 30 includes a manipulator 31, a suction gripper 32 provided on the manipulator 31 and a visual detection module 33. The suction gripper 32 is provided with multiple suction areas 32211. At least one suction area 32211 of the suction gripper 32 adsorbs labels of corresponding sizes; the correction detection module 40 is used to capture an image of the suction gripper 32 with a label adsorbed to identify the adsorption position of the label. The manipulator 31 can move the suction gripper 32 to the part to be labeled according to the position of the part to be labeled and the adsorption position of the label. The labeling machine 100 can realize automatic type change of the parts to be labeled and the labels. The adsorption gripper 32 is compatible with labels of different sizes. The labeling machine 100 has high attachment accuracy and high labeling efficiency.

[0192] In the labeling machine 100 provided in the embodiment of the present application, each mechanism is modularized, which is conducive to achieving universal design and good interchangeability.

[0193] The embodiment of the second aspect of the present application provides a labeling method, which is applied to the labeling machine 100 provided in the first aspect. Referring to Figures 1 to 13, the labeling method includes:

[0194] In step S1 , the label supply mechanism 10 provides labels.

[0195] The label supply mechanism 10 can print labels using a label printer 11 or can deliver labels using a conveyor belt or other conveying device. The label supply mechanism 10 can provide corresponding labels based on the information of the part to be labeled. The information of the part to be labeled can be obtained by the identification module 60 or other methods.

[0196] In step S2 , the adsorption gripper 32 uses at least one adsorption area 32211 to adsorb the label.

[0197] Each suction area 32211 is provided with one or more suction holes 32212, each capable of independently absorbing a label. Each suction area 32211 can independently absorb a label, or at least two adjacent suction areas 32211 can simultaneously absorb a label. When the label size changes, different suction areas 32211 can be controlled to absorb the label. The suction gripper 32 can absorb labels of varying sizes, ensuring high compatibility.

[0198] In step S3 , the robot 31 moves the suction gripper 32 to the object to be labeled, so that the suction gripper 32 attaches the label to the object to be labeled.

[0199] The object to be labeled is placed on the positioning mechanism 20 . The robot 31 is controlled to move according to the position of the object to be labeled so as to move the suction gripper 32 to the object to be labeled so that the suction gripper 32 can attach the label to the object to be labeled.

[0200] The labeling method described above can utilize the label supply mechanism 10 to provide labels, and utilize the robot 30 to grasp and adsorb the labels. The surface of the adsorption gripper 32 has multiple adsorption areas 32211, and each adsorption area 32211 is provided with an adsorption hole 32212, so that each adsorption area 32211 can independently adsorb a label. Furthermore, the adsorption gripper 32 can adsorb multiple labels of different sizes through the multiple adsorption areas 32211. The labeling method provided in this application is adaptable to labels of various sizes and has high compatibility. When the label is changed, there is no need to replace the adsorption gripper 32, thereby solving the problem of wasted production time and increased material preparation costs caused by replacing the adsorption gripper 32.

[0201] In some embodiments, the labeling machine 100 further includes an identification module. Before step S3, the identification module obtains information about the part to be labeled; obtains the size of the label based on the information about the part to be labeled; and controls the adsorption holes 32212 in at least one adsorption area 32211 of the adsorption gripper 32 to have a negative pressure based on the size of the label, and uses at least one adsorption area 32211 to adsorb the label.

[0202] Specifically, the information of the part to be labeled can be obtained by the identification module 60. In other embodiments, the information of the part to be labeled can also be obtained by other means. When the part to be labeled changes, the size of the label may change. Therefore, the robot 30 or the controller 70 can obtain the size of the label corresponding to the part to be labeled based on the information of the part to be labeled.

[0203] Next, based on the size of the label, the robot 30 or the controller 70 controls the vacuum generator 323 corresponding to at least one adsorption area 32211 to start, so that the adsorption holes 32212 in the adsorption area 32211 are under negative pressure, so as to use at least one adsorption area 32211 to adsorb the label.

[0204] By adopting the above technical solution, the labeling method can adapt to the change of the labeling part. When the label size changes, the adsorption gripper 32 can be controlled to use the adsorption area 32211 of the corresponding size to adsorb the label, thereby improving the compatibility of the adsorption gripper 32.

[0205] In some embodiments, the robot 30 also includes a visual inspection module 33 provided on the manipulator 31, and the labeling method also includes: the visual inspection module 33 obtains the label information and verifies whether the label information is correct, the label information includes at least one of the label size information, label specification information, and label content; when the label information is correct, the manipulator 31 is controlled to move the adsorption gripper 32 so that the adsorption gripper 32 adsorbs the label.

[0206] By adopting the above technical solution, the visual inspection module 33 can verify the label information, reduce the probability of wrong labeling, and improve the accuracy of labeling.

[0207] In some embodiments, the labeling machine 100 further includes a correction detection module 40; the labeling method further includes: the visual detection module 33 identifies the position of the part to be labeled; the correction detection module 40 captures an image of the adsorption gripper 32 with the label adsorbed to identify the adsorption position of the label and detect the offset of the label; the manipulator 31 moves the adsorption gripper 32 to the part to be labeled based on the position of the part to be labeled, the adsorption position of the label, and the offset of the label.

[0208] By adopting the above technical solution, the correction detection module 40 can identify the adsorption position of the label, so that the labeling method realizes automatic correction of the robot 31, improves the accuracy of the labeling position, and improves the labeling effect.

[0209] In some embodiments, after attaching the label, the labeling method further includes: the visual inspection module 33 captures an image of the label attached to the object to be labeled; and verifies the attachment position based on the label image. Optionally, the labeling method further includes storing and recording the label image to facilitate production traceability. In this way, the labeling method can detect the label attachment position and attachment effect, achieving closed-loop management.

[0210] In some embodiments of the present application, the labeling method includes: a pallet carrying parts to be labeled enters the station, and the identification module 60 reads the information of the parts to be labeled; the visual inspection module 33 on the robot 30 takes a photo of the parts to be labeled and identifies the position of the parts to be labeled; the controller 70 uploads the information of the parts to be labeled to the MES system 200, and the MES 200 sends the customer code to the label supply mechanism 10, the label printer 11 prints the label, and the label receiving mechanism 12 receives the label; the robot 30 with the visual inspection module 33 takes a photo of the label of the label receiving mechanism 12, obtains the label information and verifies the label content; the robot 30 grabs the label through the adsorption gripper 32, and the robot 30 takes the label to the correction detection module 40 for addressing; then, the adsorption gripper 32 attaches the label to the part to be labeled, the visual inspection module 33 takes a photo to verify the label pasting position, and the pallet is released.

[0211] Optionally, the step of printing the label by the label printer 11 can be performed simultaneously with the step of the robot 30 identifying the position of the part to be labeled; optionally, the robot 30 can also use the visual detection module 33 to identify the position of the part to be labeled after the suction gripper 32 grabs the label.

[0212] The above labeling method realizes automatic labeling, is compatible with labels of different sizes, and realizes automatic change of the part to be labeled. When the part to be labeled is a battery module, the labeling method is compatible with battery modules of different blueprints.

[0213] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A labeling machine, wherein: include: a label supply mechanism, for providing labels; Positioning mechanism, used to position the parts to be labeled; The robot includes a manipulator and an adsorption gripper provided on the manipulator, wherein the adsorption gripper is provided with a plurality of adsorption areas, the adsorption gripper is provided with adsorption holes in the adsorption areas, and the interior of the adsorption gripper is provided with a plurality of mutually isolated cavities, and each of the cavities is arranged in a one-to-one correspondence with each of the adsorption areas; the manipulator is used to move the adsorption gripper to the label supply mechanism so that at least one of the adsorption areas adsorbs the label, and the manipulator is also used to move the adsorption gripper to the part to be labeled of the positioning mechanism so that the adsorption gripper attaches the label to the part to be labeled.

2. The labeling machine according to claim 1, wherein: At least two of the adsorption regions have different sizes.

3. The labeling machine according to claim 1 or 2, wherein: The adsorption gripper further includes a plurality of vacuum generators, and the plurality of vacuum generators are connected to the plurality of cavities in a one-to-one correspondence.

4. The labeling machine according to any one of claims 1 to 3, wherein: The robot further comprises a visual detection module provided on the manipulator, wherein the visual detection module is used to identify the position of the label and / or the part to be labeled.

5. The labeling machine according to claim 4, wherein: The visual inspection module is further used to obtain and verify label information, where the label information includes 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 inspection module is further configured to capture an image of the label attached to the object to be labeled.

7. The labeling machine of claim 6, wherein: The adsorption gripper includes a base and an adsorption component connected to the base, the base is connected to the manipulator, and the adsorption area is provided on the adsorption component.

8. The labeling machine of claim 7, wherein: The visual detection module includes a first image acquisition device and a first light source provided on the base, wherein the first light source is arranged adjacent to the first image acquisition device.

9. The labeling machine according to any one of claims 4 to 8, wherein: The labeling machine further includes a deviation correction detection module, which is used to capture an image of the adsorption gripper with the label adsorbed thereon to identify the adsorption position of the label and detect the offset of the label; The robot can move the adsorption gripper onto the object to be labeled according to the position of the object to be labeled, the adsorption position of the label and the offset.

10. The labeling machine of claim 9, wherein: The correction detection module includes a second image acquisition device and a second light source. The second image acquisition device is arranged upward and is used to take pictures of the adsorption gripper and the label adsorbed thereon. The second light source is arranged adjacent to the second image acquisition device.

11. The labeling machine of claim 10, wherein: The second light source includes two bar-shaped light sources, which are respectively arranged on two opposite sides of the second image acquisition device, and the light-emitting surfaces of the bar-shaped light sources are arranged to be inclined upward toward the second image acquisition device.

12. The labeling machine according to any one of claims 1 to 11, wherein: The labeling machine further includes an identification module, which is used to identify information of the part to be labeled; The label supply mechanism can provide corresponding labels according to the information of the part to be labeled, and / or the manipulator can control at least one adsorption area of ​​the adsorption gripper to adsorb the label according to the information of the part to be labeled.

13. The labeling machine of claim 12, wherein: The labeling machine further includes a controller, which is communicatively connected to the label supply mechanism, the robot and the identification module respectively.

14. The labeling machine according to any one of claims 1 to 13, wherein: The label supply mechanism includes a label printer and a label receiving mechanism. The label printer is used to print labels. The label receiving mechanism is arranged at the outlet of the label printer. The label receiving mechanism includes a label receiving platform. The label receiving platform is used to receive the labels printed by the label printer.

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

16. A labelling machine as claimed in claim 14 or 15, wherein: A back-blowing hole is provided on the surface of the label receiving platform, and the back-blowing hole is connected to an air supply mechanism to blow air to the label on the label receiving platform.

17. A labelling machine as claimed in any one of claims 14 to 16, wherein: The label receiving mechanism further includes a detector, which is used to detect whether there is a label on the label receiving platform.

18. The labeling machine of claim 14, wherein: The labeling machine further comprises a counting module, which is capable of counting the number of times the label receiving platform is used and issuing a reminder message when the number of times the label receiving platform is used reaches a preset value.

19. A labelling machine as claimed in any one of claims 14 to 18, wherein: The label receiving mechanism further includes a moving drive connected to the label receiving platform, and the moving drive is used to drive the label receiving platform to move toward or away from the label printer.

20. A labelling machine as claimed in any one of claims 14 to 19, wherein: The labeling machine further comprises a slide, the label printer is arranged on the slide, and the slide can drive the label printer to move back and forth.

21. A labelling machine as claimed in any one of claims 1 to 20, wherein: There are at least two label supply mechanisms.

22. The labelling machine according to any one of claims 1 to 21, wherein: The positioning mechanism includes a positioning platform, a positioning member and a lifting member. The positioning platform is used to carry the piece to be labeled, the positioning member is used to position the piece to be labeled, and the lifting member is used to lift the piece to be labeled.

23. A labeling method, applied to the labeling machine according to any one of claims 1 to 22, wherein: The automatic labeling method comprises: The label supply organization provides labels; The adsorption gripper utilizes at least one adsorption area to adsorb the label; The robot moves the adsorption gripper to the object to be labeled, so that the adsorption gripper attaches the label to the object to be labeled.

24. The labeling method according to claim 23, wherein: The labeling machine further includes an identification module. Before the adsorption gripper uses at least one adsorption area to adsorb the label, the labeling method further includes: The identification module identifies the information of the label to be attached; Obtain the size of the label based on the information of the label to be attached; According to the size of the label, at least one cavity of the adsorption gripper is controlled to have a negative pressure and the adsorption area corresponding to the cavity is used to adsorb the label.

25. The labeling method according to claim 23 or 24, wherein: The robot further includes a visual detection module provided on the manipulator, and the automatic labeling method further includes: The visual inspection module obtains label information and verifies whether the label information is correct, wherein the label information includes at least one of label size information, label specification information, and label content; When the label information is correct, the robot moves the adsorption gripper to allow the adsorption gripper to adsorb the label.

26. The labeling method according to claim 25, wherein: The labeling machine also includes a deviation correction detection module; The automatic labeling method further comprises: The visual inspection module identifies the position of the part to be labeled; The deviation correction detection module collects an image of the adsorption gripper with the label adsorbed thereon to identify the adsorption position of the label and detect the offset of the label; The robot moves the adsorption gripper onto the object to be labeled according to the position of the object to be labeled, the adsorption 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: The visual inspection module collects an image of the label attached to the object to be labeled; The attachment position is checked based on the image of the label.

Images