CN110281493B - PLC-based (programmable logic controller-based) push-in IML (inertial measurement language) control system and control method thereof - Google Patents

Abstract

The invention discloses a PLC-based (programmable logic controller-based) push-in IML (inertial measurement language) control system, which comprises a programmable controller, a human-computer operation interface, at least one sensor, three motion servo modules, a conveying belt, an electrostatic generator, a vacuum valve and functional cylinders, wherein the programmable controller processes data received by a signal input end of the programmable controller and sends a control command through a signal output end of the programmable controller according to a processing result; the human-computer operation interface is used for sending a control command to the programmable controller and displaying a command execution result; the sensor is used for acquiring safety detection signals of the servo shaft or the pneumatic shaft and acquiring safety detection signals of the auxiliary machine and the injection molding machine; the three motion servo dies are used for controlling the moving distance and the speed of the manipulator along the X axis, the Y axis and the Z axis. According to the top-in IML control system and the control method thereof, the Schneider PLC is used as a main controller, the connection between the manipulator and the auxiliary machine is realized through a communication network, the interaction between the manipulator and the auxiliary machine is realized by adopting a programming method, the cost is reduced, and the debugging teaching time is shortened.

Description

PLC-based (programmable logic controller-based) push-in IML (inertial measurement language) control system and control method thereof

Technical Field

The invention relates to the field of injection molding automatic packaging, in particular to a PLC-based top-in IML control system and a control method thereof.

Background

In recent years, with the continuous development of science and technology and the continuous promotion of the injection molding industry, people have continuous perfection on the requirements of plastic products, and the injection molding industry faces the challenges of various technologies such as automation, intellectualization, informatization, science and technology. In the current technical field, a top-in IML system is generally divided into two parts, namely a manipulator and an auxiliary machine, and the prior art is also divided into two main types, namely a first type: a set of control system of the manipulator and a set of control system of the auxiliary machine; and in the second type, a set of control system is used for directly controlling the auxiliary machinery of the manipulator. The first technology is high in cost and high in operation difficulty, an engineer needs to control two controllers for operation, and the second technology is optimized on the first technology, so that the cost and the operation difficulty are reduced, the specificity is poor, expansion cannot be achieved, and the informatization level is low. Therefore, there is a need for a low cost, easy to operate, and scalable system to meet customer needs.

Disclosure of Invention

Aiming at the defects in the prior art, the technical problem to be solved by the invention is to provide a PLC-based top-in IML control system and a control method thereof, wherein the top-in IML control system realizes the connection between a manipulator and an auxiliary machine through a communication network, and adopts a programming method to realize the interaction between the manipulator and the auxiliary machine, thereby reducing the cost and the debugging and teaching time.

In order to solve the technical problem, the invention is realized by the following scheme: a PLC-based top-in IML control system, comprising:

the programmable controller is provided with a signal input end, a signal output end and a man-machine conversation interface, processes the data received by the signal input end of the programmable controller and sends a control command through the signal output end of the programmable controller according to a processing result;

the human-computer operation interface is connected to a human-computer conversation interface of the programmable controller and used for sending a control command to the programmable controller and displaying a command execution result;

the sensor is connected with each pin of the signal input end of the programmable controller and is used for acquiring safety detection signals of the servo shaft or the pneumatic shaft and acquiring safety detection signals of an auxiliary machine and an injection molding machine;

the three motion servo modules are respectively used for controlling the movement of the manipulator along an X axis, a Y axis and a Z axis; the three motion servo modules are respectively provided with a communication interface, and the three communication interfaces are connected to pins of a signal input end and a signal output end of the programmable controller and are respectively used for controlling the moving distance and speed of the manipulator along an X axis, a Y axis and a Z axis;

a conveyor belt for conveying the product;

the signal output end is also connected with:

the auxiliary arm upper and lower cylinders are connected with pins of a signal output end of the programmable controller, and a power shaft of the auxiliary arm upper and lower cylinders is connected with the manipulator and is used for controlling the manipulator to take products to move up and down;

the label bin side turnover cylinder is used for sucking a label into a working area of the manipulator;

the upper and lower cylinders on the side of the label bin are used for sucking labels;

the product receiving side turnover cylinder is used for sucking the products transferred by the manipulator;

the product-side upper and lower air cylinders are used for sucking products and then putting the products into the conveying belt;

the electrostatic generator is used for absorbing the label and then placing the label into the mold so that the label can be attached to the mold;

the vacuum valve is used for various sucking labels or products.

Furthermore, a control program is stored in the programmable controller, and after operation is performed according to an instruction transmitted from the human-computer operation interface, control commands for the three motion servo modules and the plurality of electromagnetic valves are sent out, wherein the control commands comprise a starting command, a stopping command, a forward rotation command, a reverse rotation command and a speed command; the programmable controller receives feedback signals of the three motion servo modules and signals of a magnetic switch arranged on the air cylinder, and transmits results to a human-computer operation interface for display after operation is performed through a control program.

Furthermore, a driver is arranged in the programmable controller, and the driver is connected to the motor through a power line, an encoder line and a brake line and is connected to the PLC through a communication cable; the storage unit in the driver stores the electrical parameter values of the motor, receives the control command sent by the PLC, and performs calculation through the controller in the driver, so that the driving power unit outputs corresponding voltage, current and frequency signals to drive the motor to operate.

Furthermore, the three motion servo modules are three motor power units, the three motor power units are connected to 3 gears of the manipulator through a speed reducer, and after the three motor power units are connected with the 3 gears, the three motor power units respectively control the manipulator to do transverse movement, drawing movement and up-and-down movement.

Furthermore, the electromagnetic valve is a power driving unit, when a cylinder needs to be driven to act, the PLC sends a low level signal in an IO interface mode to provide a voltage signal for the electromagnetic valve, the electromagnetic valve works, and the air cylinder connected with the electromagnetic valve is driven to work through air circuit connection, so that power is provided for the action of the air cylinder on the auxiliary machine.

Furthermore, the top-in IML control system further comprises an Ethernet communication module ETY which is a communication interface of the PLC and is used for connecting the human-machine operation interface and the PLC.

Furthermore, the top-in IML control system further comprises a photoelectric proximity switch, the photoelectric proximity switch is arranged at the initial end and the terminal of the cylinder or the motor driving part, the PLC can acquire a sensing unit of a mechanical running state through the photoelectric proximity switch, the photoelectric proximity switch is also used as an important detection unit for detecting faults, when the motor or the cylinder runs in place, the corresponding photoelectric proximity switch can send a signal to the PLC, the PLC can send a next action command only when receiving a safety signal, otherwise, the PLC stops sending the action signal, and sends an alarm command when the motor or the cylinder runs in place.

Further, the electrostatic generator is disposed within the mold and is configured to: when the taken label paper is placed into a mold, the static generator releases static electricity, so that the label is attached to the mold.

A control method of a top-in IML control system comprises the following steps: the control method is characterized by comprising the following steps:

firstly, turning over a label by a label bin side turning cylinder, turning over a sucker label and then turning over the sucker label vertically, and waiting for a manipulator to take the label;

after the mechanical arm finishes taking the label, the label bin side overturning cylinder backwards overturns the label to be vertical through the sucking disc, and the mechanical arm waits for taking the label;

thirdly, the manipulator ascends, transversely moves right above the injection molding machine and waits for the completion of mold opening;

step four, after the die sinking is finished, the manipulator descends, the upper and lower cylinders of the auxiliary arm descend, and the product is sucked;

after sucking the product, the upper and lower cylinders of the auxiliary arm ascend, and the drawing is carried out to the die;

step six, discharging static electricity for 0.2-0.5S by the static generator, and simultaneously discharging vacuum by the vacuum generator;

step seven, the manipulator is drawn and pulled back, then ascends, and gives an allowable die closing signal to the injection molding machine, so that the injection molding machine starts to produce products;

step eight, the manipulator transversely moves to a product receiving position, the auxiliary machine receives a product and sucks the product, the auxiliary arm of the manipulator is disconnected in vacuum, the manipulator ascends and is pulled to a label taking position, and the label is taken circularly;

and step nine, operating the product receiving cylinder to a horizontal position, then descending the driving end of the product receiving cylinder, putting the product into the conveying line, resetting, and starting the next cycle.

Compared with the prior art, the invention has the beneficial effects that: according to the top-in IML control system and the control method thereof, the Schneider PLC is used as a main controller, the connection between the manipulator and the auxiliary machine is realized through a communication network, the interaction between the manipulator and the auxiliary machine is realized by adopting a programming method, the cost is reduced, and the debugging teaching time is shortened.

Drawings

Fig. 1 is a schematic circuit connection diagram of the PLC-based top-entry IML control system according to the present invention.

Fig. 2 is a flowchart of a control method of the PLC-based push-in IML control system according to the present invention.

Fig. 3 is an enlarged view of the left-hand flow of fig. 2.

Fig. 4 is an enlarged view of an upper section of the middle flow path of fig. 2.

Fig. 5 is an enlarged view of a lower section of the middle flow path of fig. 2.

Fig. 6 is an enlarged view of the right flow of fig. 2.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and thus the protection scope of the present invention is more clearly and clearly defined. It should be apparent that the described embodiments of the present invention are only some embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Example 1, the specific structure of the present invention is as follows:

referring to fig. 1, a PLC-based push-in IML control system according to the present invention includes:

the programmable controller 1 is provided with a signal input end 11, a signal output end 12 and a man-machine conversation interface 13, the programmable controller 1 processes data received by the signal input end 11 and sends a control command through the signal output end 12 according to a processing result;

the human-computer operation interface 2 is connected to a human-computer conversation interface 13 of the programmable controller 1 and is used for sending a control command to the programmable controller 1 and displaying a command execution result;

the sensor 3 is connected with each pin of a signal input end 11 of the programmable controller 1 and is used for acquiring safety detection signals of a servo shaft or a pneumatic shaft and acquiring safety detection signals of an auxiliary machine and an injection molding machine;

three motion servo modules 41, 42 and 43 for controlling the movement of the manipulator along the X-axis, the Y-axis and the Z-axis, respectively; the three motion servo modules 41, 42, 43 respectively have communication interfaces 411, 421, 431, and the three communication interfaces 411, 421, 431 are all connected to pins of the signal input terminal 11 and the signal output terminal 12 of the programmable controller 1, and are respectively used for controlling the moving distance and speed of the manipulator along the X-axis, the Y-axis and the Z-axis;

a conveyor belt for conveying the product;

the signal output end 12 is further connected with:

the auxiliary arm up-down cylinder 51 is connected with a pin of the signal output end 12 of the programmable controller 1, and a power shaft of the auxiliary arm up-down cylinder is connected with the manipulator and used for controlling the manipulator to take a product to move up and down;

a label bin side turning cylinder 52 for sucking the label into the working area of the manipulator;

an upper and lower cylinder 53 on the label compartment side for sucking a label;

a product-receiving side-turning cylinder 54 for sucking the product transferred from the manipulator;

the product-side upper and lower air cylinders 55 are used for sucking products and then putting the products into the conveying belt;

an electrostatic generator 56 for sucking the label and putting the label into the mold so that the label can be attached to the mold;

a vacuum valve 57 for various suction labels or products.

A preferred technical solution of this embodiment: the programmable controller 1 stores a control program, and sends control commands to the three motion servo modules 41, 42 and 43 and the plurality of electromagnetic valves after operation according to instructions transmitted from the human-machine operation interface 2, wherein the control commands comprise a starting command, a stopping command, a forward rotation command, a reverse rotation command and a speed command; the programmable controller 1 receives feedback signals of the three motion servo modules 41, 42 and 43 and signals of magnetic switches arranged on the air cylinders, and transmits results to the man-machine operation interface 2 for display after calculation through a control program.

A preferred technical solution of this embodiment: a driver is arranged in the programmable controller 1, and the driver is connected to the motor through a power line, an encoder line and a brake line and is connected to the PLC through a communication cable; the storage unit in the driver stores the electrical parameter values of the motor, receives the control command sent by the PLC, and performs calculation through the controller in the driver, so that the driving power unit outputs corresponding voltage, current and frequency signals to drive the motor to operate.

A preferred technical solution of this embodiment: the three motion servo modules 41, 42 and 43 are three motor power units, the three motor power units are connected to 3 gears of the manipulator through a speed reducer, and after the three motor power units are connected with the 3 gears, the three motor power units respectively control the manipulator to do transverse motion, drawing motion and up-and-down motion.

A preferred technical solution of this embodiment: the solenoid valve is a power driving unit, when a cylinder in the solenoid valve needs to be driven to act, the PLC sends a low level signal in an IO interface mode, a voltage signal is sent to the solenoid valve, the solenoid valve works, the cylinder connected with the solenoid valve is driven to work through air circuit connection, and power is provided for the action of the cylinder on the auxiliary machine. 6. The PLC-based top-in IML control system of claim 2, further comprising an ethernet communication module ETY, which is a communication interface of the PLC, for connecting the human machine interface 2 and the PLC.

A preferred technical solution of this embodiment: this formula IML control system is gone into on top still includes photoelectric proximity switch, the setting is at the initial end and the terminal of cylinder or motor drive portion, through photoelectric proximity switch, PLC can acquire mechanical running state's perception unit, photoelectric proximity switch also is used as the important detecting element who detects the trouble, when motor or cylinder operation target in place, corresponding photoelectric proximity switch can signal for PLC, PLC only when receiving safety signal, can send action command on next step, otherwise PLC will stop sending action signal, send alarm command when serious.

A preferred technical solution of this embodiment: the electrostatic generator 56 is disposed within the mold for: when the taken label paper is placed into a mold, the static generator releases static electricity, so that the label is attached to the mold.

Example 2:

as shown in fig. 2 to 6, the control method of a top-in IML control system of the present invention includes the following steps:

step one, the label bin side overturning cylinder 52 overturns the label of the sucker and then vertically overturns the label to wait for the mechanical arm to take the label;

after the mechanical arm finishes taking the label, the label bin side overturning cylinder 52 backwards overturns the label to be vertical through the sucking disc, and waits for the mechanical arm to take the label;

thirdly, the manipulator ascends, transversely moves right above the injection molding machine and waits for the completion of mold opening;

step four, after the die sinking is finished, the manipulator descends, the upper and lower cylinders 51 of the auxiliary arm descend, and the product is sucked;

after sucking the product, the upper and lower cylinders 51 of the auxiliary arm ascend, and the drawing is carried out to the mold;

step six, discharging static electricity for 0.2-0.5S by the static generator, and simultaneously discharging vacuum by the vacuum generator;

step seven, the manipulator is drawn and pulled back, then ascends, and gives an allowable die closing signal to the injection molding machine, so that the injection molding machine starts to produce products;

step eight, the manipulator transversely moves to a product receiving position, the auxiliary machine receives a product and sucks the product, the auxiliary arm of the manipulator is disconnected in vacuum, the manipulator ascends and is pulled to a label taking position, and the label is taken circularly;

and step nine, operating the product receiving cylinder to a horizontal position, then descending the driving end of the product receiving cylinder, putting the product into the conveying line, resetting, and starting the next cycle.

Example 3: the work flow of the PLC control system is divided into three sections of programs, and the work flow is as follows:

a first stage: marking bin side action:

1) when the label is in an automatic state, the label bin side overturning cylinder overturns to the label bin to prepare for taking labels;

2) descending the upper and lower cylinders at the side of the standard bin, and vacuum sucking;

3) after the label is confirmed to be taken, the upper air cylinder and the lower air cylinder ascend;

4) when the fiddle ascends to the position, the marking bin side turns over the air cylinder to be vertical, and a manipulator is waited to take the label;

5) when the mechanical arm finishes taking the label and is positioned at a safe position, the label bin moves to enter the next cycle;

and a second stage: the mechanical arm acts:

1) the manipulator moves to the upper side of the marking bin;

2) the manipulator waits until the label bin has taken the label and is in a safe position;

3) descending the manipulator, pulling and pulling forward, sucking the manipulator jig in vacuum, and breaking the mark bin side in vacuum;

4) the manipulator is drawn and pulled back and ascends, and a signal for recycling is given to the marking bin when the manipulator ascends to the place;

5) the manipulator moves to the upper part of the injection molding machine and waits for the completion of mold opening;

6) the manipulator descends, the auxiliary arm cylinder descends, the drawing advances, and the product is taken out and opened by vacuum suction;

7) after a product is taken out, drawing and retreating, and lifting an auxiliary arm cylinder;

8) pulling and continuing to advance, sucking the jig in vacuum, and starting to release static electricity for 0.5S;

9) the manipulator is drawn back and ascends, and after the manipulator ascends to the place, a signal allowing the mold closing is output, so that the injection molding machine starts to inject glue and punch a product;

10) the manipulator moves to the upper side of the product receiving side to wait for the product receiving side to be in a safe position and no product exists;

11) the manipulator descends, the auxiliary arm descends, the drawing advances, the manipulator takes the product and sucks and breaks the product in vacuum, and the product is connected for vacuum suction and output;

12) after the suction of the product is confirmed, the manipulator is drawn and pulled back and ascends, the auxiliary arm cylinder ascends, the type of the action of starting the product receiving is output, and the next cycle is started to be prepared;

a third stage: product receiving action:

1) when a product receiving action signal is received and safety is confirmed, the product receiving side turns the cylinder horizontally;

2) the upper and lower air cylinders on the product receiving side descend, and after the product receiving side is in place, the connected product is sucked and broken in vacuum;

3) the upper and lower cylinders on the product receiving side ascend, and after the product receiving side is in place, the product receiving turnover cylinder turns over to be vertical;

4) waiting for the next signal reception and preparing for the next cycle.

The manipulator in the invention can take the mark position, put the mark position, take the product position, and the product receiving position can be set by using the touch screen.

In the control system, a motion servo module adopts a Fuji smart series, a programmable controller adopts Schneider TM241CE40T, and a touch screen adopts HMIGXU 3500.

The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims (4)

1. A PLC-based push-in IML control system, comprising:

the programmable controller (1) is provided with a signal input end (11), a signal output end (12) and a man-machine conversation interface (13), the programmable controller (1) processes data received by the signal input end (11) and sends a control command through the signal output end (12) according to a processing result;

the human-computer operation interface (2) is connected to a human-computer conversation interface (13) of the programmable controller (1) and is used for sending a control command to the programmable controller (1) and displaying a command execution result;

the sensor (3) is connected with each pin of a signal input end (11) of the programmable controller (1) and is used for acquiring safety detection signals of a servo shaft or a pneumatic shaft and acquiring safety detection signals of an auxiliary machine and an injection molding machine;

three motion servo modules (41, 42, 43) for controlling the movement of the manipulator along the X-axis, the Y-axis and the Z-axis, respectively; the three motion servo modules (41, 42, 43) are respectively provided with a communication interface (411, 421, 431), and the three communication interfaces (411, 421, 431) are connected to pins of a signal input end (11) and a signal output end (12) of the programmable controller (1) and are respectively used for controlling the moving distance and speed of the manipulator along an X axis, a Y axis and a Z axis;

a conveyor belt for conveying the product;

the signal output end (12) is also connected with:

the auxiliary arm up-down cylinder (51) is connected with a pin of a signal output end (12) of the programmable controller (1), and a power shaft of the auxiliary arm up-down cylinder is connected with the manipulator and used for controlling the manipulator to take a product to move up and down;

the label bin side turnover cylinder (52) is used for sucking labels into a working area of the manipulator;

an upper and lower cylinder (53) at the side of the label bin for sucking the label;

the product receiving side turnover cylinder (54) is used for sucking the products transferred by the manipulator;

the product-receiving side upper and lower air cylinders (55) are used for sucking products and then putting the products into the conveying belt;

the static generator (56) is used for sucking the label and then placing the label into the mould so that the label can be attached to the mould;

a vacuum valve (57) for various suction labels or products;

the programmable controller (1) is internally stored with a control program, and sends control commands to the three motion servo modules (41, 42 and 43) and the plurality of electromagnetic valves after operation according to instructions transmitted from the human-computer operation interface (2), wherein the control commands comprise a starting command, a stopping command, a forward rotation command, a reverse rotation command and a speed command; the programmable controller (1) receives feedback signals of the three motion servo modules (41, 42 and 43) and signals of a magnetic switch arranged on an air cylinder, and transmits results to the man-machine operation interface (2) for displaying after operation is carried out through a control program;

a driver is arranged in the programmable controller (1), and the driver is connected to the motor through a power line, an encoder line and a brake line and is connected to the PLC through a communication cable; the storage unit in the driver stores the electrical parameter values of the motor, receives a control command sent by the PLC, and performs calculation through the controller in the driver, so that the driving power unit outputs corresponding voltage, current and frequency signals to drive the motor to operate;

the three motion servo modules (41, 42 and 43) are three motor power units, the three motor power units are connected to 3 gears of the manipulator through a speed reducer, and after the three motor power units are connected with the 3 gears, the three motor power units respectively control the manipulator to do transverse motion, drawing motion and up-and-down motion;

the electromagnetic valve is a power driving unit, when a cylinder in the electromagnetic valve needs to be driven to act, the PLC sends a low level signal in an IO interface mode to provide a voltage signal for the electromagnetic valve, the electromagnetic valve works, and the PLC drives the cylinder connected with the electromagnetic valve to work through gas circuit connection to provide power for the action of the cylinder on the auxiliary machine;

this formula IML control system is gone into on top still includes photoelectric proximity switch, the setting is at the initial end and the terminal of cylinder or motor drive portion, through photoelectric proximity switch, PLC can acquire mechanical running state's perception unit, photoelectric proximity switch also is used as the important detecting element who detects the trouble, when motor or cylinder operation target in place, corresponding photoelectric proximity switch can signal for PLC, PLC only when receiving safety signal, can send action command on next step, otherwise PLC will stop sending action signal, send alarm command when serious.

2. The PLC-based top-in IML control system of claim 1, further comprising an ethernet communication module ETY, which is a communication interface of the PLC, for connecting the human machine interface (2) and the PLC.

3. The PLC-based top-entry IML control system of claim 1, wherein the electrostatic generator (56) is disposed within a mold and configured to: when the taken label paper is placed into a mold, the static generator releases static electricity, so that the label is attached to the mold.

4. A control method of a top-entry IML control system as claimed in any one of claims 1 to 3, comprising the steps of:

step one, a label bin side overturning cylinder (52) overturns the label of the sucker and then vertically overturns the label to wait for a manipulator to take the label;

after the mechanical arm finishes taking the label, the label bin side overturning cylinder (52) backwards overturns the label to be vertical through the sucking disc, and the mechanical arm waits for taking the label;

thirdly, the manipulator ascends, transversely moves right above the injection molding machine and waits for the completion of mold opening;

after the die sinking is finished, the manipulator descends, the upper and lower cylinders (51) of the auxiliary arm descend, and a product is sucked;

after sucking the product, the upper and lower cylinders (51) of the auxiliary arm ascend, and the drawing is carried out to the die;

step six, discharging static electricity for 0.2-0.5S by the static generator, and simultaneously discharging vacuum by the vacuum generator;

step seven, the manipulator is drawn and pulled back, then ascends, and gives an allowable die closing signal to the injection molding machine, so that the injection molding machine starts to produce products;

step eight, the manipulator transversely moves to a product receiving position, the auxiliary machine receives a product and sucks the product, the auxiliary arm of the manipulator is disconnected in vacuum, the manipulator ascends and is pulled to a label taking position, and the label is taken circularly;

and step nine, operating the product receiving cylinder to a horizontal position, then descending the driving end of the product receiving cylinder, putting the product into the conveying line, resetting, and starting the next cycle.

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