CN110395460A - A kind of household electric appliance energy consumption mark label intelligently sticks system and intelligent applying method - Google Patents
A kind of household electric appliance energy consumption mark label intelligently sticks system and intelligent applying method Download PDFInfo
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- CN110395460A CN110395460A CN201910679173.3A CN201910679173A CN110395460A CN 110395460 A CN110395460 A CN 110395460A CN 201910679173 A CN201910679173 A CN 201910679173A CN 110395460 A CN110395460 A CN 110395460A
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- energy consumption
- mark label
- consumption mark
- electrical appliances
- household electrical
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
- B25J15/0683—Details of suction cup structure, e.g. grooves or ridges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/02—Devices for moving articles, e.g. containers, past labelling station
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/08—Label feeding
- B65C9/12—Removing separate labels from stacks
- B65C9/14—Removing separate labels from stacks by vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/40—Controls; Safety devices
- B65C9/42—Label feed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
- B65C9/46—Applying date marks, code marks, or the like, to the label during labelling
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
This application discloses a kind of household electric appliance energy consumption mark labels intelligently to stick system and intelligent applying method.The system of sticking includes: for obtaining the barcode scanning gun of household electrical appliances model information, energy consumption mark label offer component, the energy consumption mark label handgrip, the six-joint robot for installing and controlling energy consumption mark label handgrip, the robot base for installation six-joint robot to be arranged, robot controller and control assembly for controlling six-joint robot for grabbing and sticking energy consumption mark label to the setting position of household electrical appliances, which, which is used to handle, provides the information of component, energy consumption mark label handgrip and robot controller from barcode scanning gun, energy consumption mark label and controlled.The system of sticking can automatic identification household electrical appliances model, select energy consumption mark label, and accurately determination stick position, energy consumption mark label is accurately and efficiently sticked, and the state of sticking can be detected in time, it is high, high-efficient to stick precision, it is suitable for household electric appliances intelligence production line, there is good prospects for commercial application.
Description
Technical field
The application belongs to intelligent industrial testing equipment field, and in particular to a kind of household electric appliance energy consumption mark label intelligently sticks system
And intelligent applying method.
Background technique
Existing household electrical appliance usually require clearly to indicate its energy consumption level, advocate energy-saving and emission-reduction, the whole society in country
It is dedicated to today of Green Development, the level of household appliances seems abnormal important, and consumer clearly can readily observe understanding
The energy-saving horizontal of household appliances is also the significant consideration for promoting it to buy product.Therefore, equal easy on the panel of household appliances
Look-out station would generally clearly put up the mark of energy consumption level, be generally termed Energy Labeling label, energy consumption mark label or energy consumption
Patch.
Usual energy consumption patch is completed by way of manually sticking, because of fault that manual operation occurs and to stick position inaccurate
The factors such as true, causing energy consumption patch information may be wrong, and the high result of fault rate is exactly production efficiency decline, and influences household electrical appliances
Pleasing aesthetic appearance, or even can misguide the consumer, have a negative impact to brand message.
Therefore, in household electrical appliances production process, effectively can accurately stick energy consumption patch is current urgent problem to be solved.
Summary of the invention
In order at least solve one of technical problem of the existing technology mentioned above, the embodiment of the present application discloses one kind
Household electric appliance energy consumption mark label intelligently sticks system, is adapted to setting with household electrical appliances production line, comprising:
Barcode scanning gun is arranged for obtaining household electrical appliances model information；
Energy consumption mark label provides component, and setting is for providing corresponding energy consumption mark label according to household electrical appliances model information；
Energy consumption mark label handgrip, setting is for grabbing and sticking energy consumption mark label to the setting position of household electrical appliances；
Six-joint robot is arranged for installing and controlling energy consumption mark label handgrip；
Robot base, setting is for being arranged installation six-joint robot；
Robot controller is arranged for controlling six-joint robot；
Control assembly, setting provide component, energy consumption mark label handgrip and machine from barcode scanning gun, energy consumption mark label for handling
The information of device people's controller simultaneously controls it.
Household electric appliance energy consumption mark label disclosed in some embodiments intelligently sticks system, and energy consumption mark label handgrip includes:
Mounting bracket is integrally rectangle；
Connecting flange is vertically set on the middle part of mounting bracket, and one end setting is connected with mounting bracket, other end setting
For being connected with six-joint robot；
Sucker is grabbed, surface is provided with multiple ports for being capable of forming negative pressure, is mounted on one end of mounting bracket, is used for
Grab energy consumption mark label；
Industrial camera is vertically arranged and is fixed on the mounting bracket, for obtaining the image information of household electrical appliances；
Light source assembly is arranged in mounting bracket, provides light source for obtaining household electrical appliances image information for industrial camera.
Household electric appliance energy consumption mark label disclosed in some embodiments intelligently sticks system, and it further includes displacement sensing that energy consumption, which identifies handgrip,
Device, for detecting the location information of household electrical appliances.
Household electric appliance energy consumption mark label disclosed in some embodiments intelligently sticks system, grabs and passes through between sucker and mounting bracket
Multiple movable connections of linear guide；
Household electric appliance energy consumption mark label disclosed in some embodiments intelligently sticks system, grabs and is arranged between sucker and mounting bracket
There is soft spring, the both ends of the soft spring are connected with energy consumption mark label and mounting bracket respectively.
Household electric appliance energy consumption mark label disclosed in some embodiments intelligently sticks system, grabs and is provided with Fibre Optical Sensor on sucker
Device, for detecting the energy consumption mark label being adsorbed on the sucker.
Household electric appliance energy consumption mark label disclosed in some embodiments intelligently sticks system, further includes lateral positioning mechanism, this is lateral
Positioning mechanism is arranged in household electrical appliances production line side, for limiting lateral position of the household electrical appliances in production line plane.
Household electric appliance energy consumption mark label disclosed in some embodiments intelligently sticks system, and lateral positioning mechanism includes:
Pedestal, including horizontally disposed base platform and the base seat support being vertically arranged, household electrical appliances production stream is fixed in setting
Waterline side, base seat support are fixed on line floor by removable connector.
Fixed frame, it is horizontally disposed to be connected in base platform；
Cylinder, it is horizontally disposed to be connected on fixed frame；
Positioning element is connected with cylinder, is arranged under the driving of cylinder and transversely and horizontally moves along household electrical appliances detection assembly line, with
Just the setting position on mobile appliance to production line.
Household electric appliance energy consumption mark label disclosed in some embodiments intelligently sticks system, including vertical positioning mechanism, the mechanism packet
It includes:
Movable beam, two parallel conductives for being horizontally set on above production line, being arranged in the same direction with production line
On rail；
Vertical positioning baffle, is vertically set on movable beam, passes through between vertical positioning baffle and movable beam
The movable connection of cylinder；
Servo motor, setting is connect with movable beam, for driving it to move on closed slide.
On the other hand, some embodiments disclose a kind of household electric appliance energy consumption mark label intelligence applying method, comprising:
Obtain the type information of household electrical appliances；
According to the type information of household electrical appliances, provide household electrical appliances model corresponding energy consumption mark label；
Household electrical appliances are located in the setting position in production line；
Obtain family's electrical image comprising energy consumption mark label target position；
It identifies household electrical appliances image information, obtains the calibration position set in family's electrical image；
Position is sticked according to what calibration position determined energy consumption mark label.
Corresponding energy consumption mark label is grabbed, and is sticked on and determining sticks position；
Obtain the image information of the household electrical appliances including energy consumption mark label；
Handle image information, if it is determined that energy consumption mark label stick position and consumption information is correct, complete household electric appliance energy consumption mark
Know patch stick, if it is determined that energy consumption mark label stick position and/or consumption information is incorrect, alert.
Household electric appliance energy consumption mark label disclosed in the embodiment of the present application intelligently sticks system, being capable of automatic identification household electrical appliances model letter
Breath prints energy consumption mark label according to the corresponding energy consumption standard of the type information, and accurately determines the energy consumption mark set on household electrical appliances
Position is sticked, accurately and efficiently sticks energy consumption mark label, and the state that sticks of energy consumption mark label can be tested and analyzed in time, and
Shi Faxian is incorrect to be sticked, and the subsequent detection time is saved, and improves household electrical appliances production efficiency, and it is high, high-efficient to stick precision, is suitable for
Household electric appliances intelligence production line has good prospects for commercial application.
Detailed description of the invention
1 household electric appliance energy consumption mark label of Fig. 1 embodiment intelligently sticks system structure diagram
1 lateral positioning mechanism structural schematic diagram of Fig. 2 embodiment
2 energy consumption mark label gripping structure schematic diagram of Fig. 3 embodiment
Specific embodiment
Dedicated word " embodiment " herein, should not necessarily be construed as being better than as any embodiment illustrated by " exemplary " or
It is better than other embodiments.Testing performance index in the embodiment of the present application, unless stated otherwise, using this field routine test side
Method.It should be understood that it is to describe special embodiment that term described herein, which is only, it is not intended to limit the application and discloses
Content.
Unless otherwise stated, technical and scientific terms used herein has the common of the application technical field
The normally understood identical meanings of technical staff；It is referred both to as not specifically specified test methods other in the application and technological means
The experimental method and technological means that those skilled in the art generally use.The household electrical appliances addressed in the application include refrigerator,
The higher common household electrical appliance of the energy consumption levels such as air-conditioning, refrigerator, washing machine, electric heater.Transverse direction that the application addresses and vertical,
The direction in production line plane relative to its preceding line direction is typically referred to, vertically identical as its direction, lateral and its side
To vertical.
Term used in the disclosure " basic " and " about " are for describing small fluctuation.It is less than for example, they can refer to
Or be equal to ± 5%, such as less than or equal to ± 2%, such as less than or equal to ± 1%, such as less than or equal to ± 0.5%, such as less than or
Equal to ± 0.2%, such as less than or equal to ± 0.1%, such as less than or equal to ± 0.05%.Concentration, amount and other numeric datas exist
It can indicate or present with range format herein.Such range format only uses for convenience and for the sake of brief, therefore Ying Ling
Work is construed to not only include the numerical value clearly enumerated as the boundary of the range, further includes include all independent within the scope of this
Numerical value or subrange.For example, the numberical range of " 1~5% " should be construed to include 1% to 5% the value clearly enumerated,
It further include independent values in the range shown and subrange.It therefore, include independent values in this numberical range, such as 2%,
3.5% and 4% and subrange, such as 1%~3%, 2%~4% and 3%~5%.This principle is equally applicable to only enumerate
The range of one numerical value.In addition, width or the feature regardless of the range, such explanation is all suitable for.
In the disclosure, including claims, all conjunctions, as "comprising", " comprising ", " having ", " having ",
" containing ", " being related to ", " receiving " etc. are understood to be open, that is, refer to " including but not limited to ".Only conjunction
" by ... constitute " and " consist of " be closing conjunction.
In order to better illustrate teachings herein, numerous details is given in specific embodiment below.This
Field is it will be appreciated by the skilled person that without certain details, the application equally be can be implemented.In embodiment, for ability
Certain methods known to field technique personnel, means, instrument, equipment etc. are not described in detail, to highlight the purport of the application.In
Under the premise of not conflicting, technical characteristic disclosed in the embodiment of the present application can in any combination, and obtained technical solution belongs to this Shen
It please embodiment disclosure.
Usual household electrical appliances production line is to work continuously to improve production efficiency, in order to realize the accurate height of energy consumption mark label
Effect sticks, it usually needs the work that household electric appliance energy consumption mark label intelligently sticks system is arranged according to the productive temp of household electrical appliances production line
Make beat.
As optional embodiment, energy consumption mark label can be set in production line and intelligently stick section, the section
Interior production line is set as three phases, that is, rapidly enters the stage, stops sticking the stage and be quickly driven out to the stage.Passing through
The production section of three phases is set, identical work pace can be kept with production line, does not influence household electrical appliances production flowing water
The normal rhythm of production and efficiency of line.The nearly stage is being rapidly entered, household electrical appliances are set to be faster than the speed entrance of normal assembly line, In
The stage obtains and identifies household electrical appliances model information, so that control system determines that corresponding consumption information and the household electrical appliances are stopping pasting
The setting position in the stage of applying, and then household electrical appliances are sent into the position set, the stage is sticked into stopping；Stopping sticking the stage, six
Axis robot control crawl sucker, the energy consumption mark label that print components print is grabbed and is applied on the position of setting, and right
Result progress identification decision is sticked, determines and is driven out to the stage into quick after sticking correctly；It quickly is driven out to the stage, household electrical appliances are moved
Dynamic speed, the production link after entering after synchronous with production line, energy consumption mark label, which sticks operation, to be terminated.
As optional embodiment, energy consumption patch intelligence sticks the three phases of section, and production Roller conveyor uses individual motor,
It is controlled by the frequency converter each speed regulation being independently arranged.
In some embodiments, household electric appliance energy consumption mark label intelligently sticks system, and household electrical appliances production flowing water is matingly arranged in
It on line, specifically includes: being identified for obtaining the barcode scanning gun of household electrical appliances model information, providing corresponding energy consumption according to household electrical appliances model information
The energy consumption mark label of patch provide component, crawl and to the setting position of household electrical appliances stick energy consumption mark label energy consumption mark label handgrip,
For install and control energy consumption mark label handgrip six-joint robot, for be arranged installation six-joint robot robot base,
For controlling the robot controller and control assembly of six-joint robot, which comes from barcode scanning gun, energy consumption for handling
Mark label provides the information of component, energy consumption mark label handgrip and robot controller and is controlled.
Barcode scanning gun, also known as code reader usually can identify that the information such as bar code, the two dimensional code on household electrical appliances, these information are logical
Key technology possessed by specific model representated by the household electrical appliances and performance index information are often contained, it can be with according to these information
Energy consumption level corresponding to the household electrical appliances is judged, therefore usually setting barcode scanning gun identifies household electrical appliances model information, to identify that household electrical appliances are raw
Produce family's power information of quantity-produced different model on assembly line.The type information indicated on usual household electrical appliances is all disposed within household electrical appliances
Trailing flank, so, barcode scanning gun is usually matched when being set on assembly line, is usually arranged in the same side, just with household electrical appliances model information
In scanning and recognizing.As optional embodiment, swing type laser barcode scanning gun or vision formula barcode scanning gun may be selected.
The information that energy consumption mark label includes is mainly the energy consumption level of household electrical appliances, usually with more eye-catching colored font or
Pattern form mark, the information such as some other technologies, production and after-sale service, usually with the information mark such as the bar code of black, text
Show.The information gap that energy consumption mark label corresponding to the different classes of household electrical appliances of different model includes is larger, prints unified energy consumption
Mark label carries out selection and sticks inconvenient instead, and mistake is be easy to cause to stick, and causes that the production cost increases.
In some embodiments, energy consumption mark label provides component and is set as printer, and selection is using printer
When the mode that prints, obtain the corresponding energy consumption mark label of household electrical appliances model information, not only stick high-efficient, but also stick accuracy rate
It is high.
As optional embodiment, print components include printer.As optional embodiment, printer setup is more
It is a.
As optional embodiment, multiple black-and-white printers is selected to provide component as energy consumption mark label.It is labelled in energy consumption
Different grades of energy consumption level colored marking is pre-printed on label paper, the black and white that quantity identical as energy consumption level grade is arranged is beaten
Print machine prints the other information of household electrical appliances on the energy consumption labelling paper of different energy consumption grades, obtains energy consumption mark label.Further make
Black-and-white printer quantity for optional embodiment, selection is more than energy consumption grade quantity, as spare printer, in active print
When machine breaks down, as printer is replaced, energy consumption mark label identical with fault printer is printed.
As optional embodiment, guide rail and positioning pin are set below printer, when needing to change paper, switching correspondence is beaten
Print machine changes paper button, while spare printer starts, and changes paper process into this printer, positioning pin is extracted, safety zone is pulled to,
It carries out changing paper, is then pushed into unloading position again, position.Further, as optional embodiment, automatic control guide rail can be used.
As optional embodiment, color printer is set as energy consumption mark label, component is provided, it can be in complete blank
Energy consumption labelling paper on print complete energy consumption mark label.It is further used as optional embodiment, multiple colour prints are set
Machine partially prints energy consumption mark label for working online, and is partially used as spare printer.
The set-up mode of usual multiple printers, selects overlapped, Heterogeneous Permutation mode, so that every printer
Feeding position be exposed at and be manually convenient for changing label paper, printing band or eliminate on the directions of other failures.Usual printer
Square side, be provided with the space of personnel's operant activity, for the ease of personnel operation, personnel operating space bottom be arranged
Have foot-operated.
In some embodiments, energy consumption mark label provides component and selects energy consumption mark label container, is provided with rule
The energy consumption mark label storage compartments of arrangement, different size or the energy consumption mark label comprising different information are set according to certain rule
It sets in partition, energy consumption mark label handgrip grabs energy consumption corresponding with instruction according to the instruction of control assembly on the position of setting
Mark label.
As optional embodiment, energy consumption mark label provides component and selects print components and energy consumption mark label container simultaneously,
To provide further types of energy consumption mark label.
In some embodiments, household electric appliance energy consumption mark label mark handgrip includes: the mounting bracket being integrally rectangle；Even
Acting flange, is vertically set on the medium position of mounting bracket, and one end setting is connected with mounting bracket, other end setting for
Six-joint robot is connected；Sucker is grabbed, surface is provided with multiple ports for being capable of forming negative pressure, is mounted on the one of mounting bracket
End grabs energy consumption mark label using the suction of negative port；Industrial camera is vertically arranged and is fixed on the mounting bracket, for obtaining
Take the image information of household electrical appliances；Light source assembly is arranged in mounting bracket, provides for obtaining household electrical appliances image information for industrial camera
Light source.
Household electric appliance energy consumption mark label mark handgrip is integrated with multiple components, can be realized the crawl of energy consumption patch, sticks, image letter
Multiple functions such as the acquisition of breath, the acquisition of household electrical appliances location information, are rectangle so its entirety is arranged, convenient in mounting bracket
Multiple components are arranged in distribution, are easy to implement all parts independently or cooperate.
As optional embodiment, setting is connected with long-neck connecting flange in mounting bracket, will pass through long-neck connection method
The movable end of mounting bracket and six-joint robot is connected by orchid, controls mounting bracket using six-joint robot.
As optional embodiment, grabs sucker and be set as rectangular tabular, the shape and energy consumption mark of square face
The shape for knowing patch is adapted, and on the one hand can effectively grab energy consumption mark label, on the other hand can be by energy consumption mark label securely
It sticks on the setting position of household electrical appliances.
As optional embodiment, the setting of flat crawl sucker is mounted in mounting bracket, for the ease of crawl and
Energy consumption mark label is sticked, which is typically mounted on the end of mounting bracket, such as the length side of rectangular mounting bracket is arranged in
To an end, ensure that the surface of chuck surface and mounting bracket is parallel to each other after setting is fixed, it is ensured that firmly install stabilization,
Grab and stick operation facilitate it is accurate.
It is provided with negative pressure opening, utilizes negative pressure opening in tabular crawl chuck surface as optional embodiment
Negative pressure by energy consumption mark label be adsorbed on crawl sucker surface on, when needing to stick, stop negative pressure, can be by mark label
Release, is sticked on the setting position on household electrical appliances using the pressure of sucker.
As optional embodiment, the other end of negative pressure opening is connected on negative pressure gas source, for example, can be set and vacuum
Pump, vacuum generator connection, provide negative pressure.The pressure size of usual negative pressure is set as needed, to meet energy consumption mark label
It securely adsorbs, be easy to be released to principle.
As optional embodiment, be provided with pressure gauge in negative pressure opening, so as to accurate judgement crawl sucker whether at
Function has grabbed energy consumption mark label.
As optional embodiment, negative pressure opening is set as multiple, is regularly distributed on the surface of crawl sucker, so as to
Uniform vacuum force is formed on the surface of crawl sucker, energy consumption mark label is firmly adsorbed on its surface.It is multiple negative
The other end for pressing off mouth is all connected to negative pressure gas source, such as setting all connected in parallel.
In some embodiments, it grabs on sucker and is provided with fibre optical sensor, be adsorbed on the sucker for detecting
Energy consumption mark label.Grab sucker complete grasping movement after, by light sensor detect energy consumption mark label, if crawl failure or
Person's energy consumption patch is fallen, and control assembly can make the instruction grabbed again according to detection signal, and crawl sucker is grabbed again
Operation, it is ensured that crawl sticks the high-accuracy and high efficiency of operation.
It is additionally provided with industrial camera on usual household electric appliance energy consumption mark label handgrip, to obtain the image information of household electrical appliances, determines energy
Consumption mark label sticks position.
As optional embodiment, industrial camera setting is connected with mounting bracket, and installation direction is vertical with mounting bracket；
Color camera or black and white camera are usually selected, for example, 500W pixel CCD color camera can be chosen.
As optional embodiment, the axle center of industrial camera and the 6th axis of six-joint robot are arranged concentrically, and have just been adjusted
Take pictures direction and the picture-taking position of industrial camera.
In some embodiments, light source assembly is provided on energy consumption mark label handgrip, setting is mounted in mounting bracket,
For providing the light source for being suitable for taking pictures to industrial camera.Usual light source assembly can emit the light of high brightness, will wrap on household electrical appliances
The brightness increase for sticking the position of position is included, to obtain the image that brightness is suitable, is easy to analyze photographic intelligence.
As optional embodiment, light source assembly generally includes bowl-type light source, strip source, polygon light source, planar shaped
Light source.
In some embodiments, energy consumption mark label handgrip further includes displacement sensor, and the position for detecting household electrical appliances is believed
Breath, accurately to determine the position of putting up of energy consumption patch, pressure is puted up in control, and efficiency and effect are puted up in raising.
In some embodiments, it grabs between sucker and mounting bracket and passes through the movable connection of multiple linear guides；With
The activity for relatively moving buffering, mitigating six-joint robot that will pass through between crawl sucker and mounting bracket may to electric appliance surface
Bring damage, for example, movable six-joint robot drives crawl sucker, after grabbing energy consumption mark label, paste to energy consumption mark label
It is mobile to apply position, crawl sucker stops movement after touching household electrical appliances, can be at this time if six-joint robot stops moving not yet
By the effect of linear guide, the moving distance of six-joint robot is buffered, and ensures to grab sucker and stops movement, house will not be damaged
Electric surface portion.
As optional embodiment, optoelectronic switch is additionally provided in mounting bracket, after crawl sucker moves a certain distance,
Optoelectronic switch is touched, robot stops movement, and crawl sucker stops movement.
Household electric appliance energy consumption mark label disclosed in some embodiments intelligently sticks system, grabs and is arranged between sucker and mounting bracket
There is soft spring, the both ends of the soft spring are connected between energy consumption mark label and installation respectively.The soft spring being arranged can be with
The movement for buffering six-joint robot, gradually prevents six-joint robot from continuing to move to, spring pressure during soft spring-compressed
It is reduced to setting position, photoelectric signaling of alarming, six-joint robot stops at home.
In some embodiments, it includes six-joint robot that household electric appliance energy consumption mark label, which intelligently sticks system, the six axis machine
People is a kind of man-machine collaboration robot or industrial six-joint robot, can be led in three-dimensional, the rotation of 360 degree of each direction
Often with the activity space for having six degree of freedom, such as UR10 robot, repeatable accuracy 0.05mm, load-bearing capacity is up to 5 kilograms, the 5th
Axis reaches distance up to the industrial robots such as 1.44 meters or ABB modern times, and first axle additional load meets energy consumption up to 6 kilograms
Mark label intelligently sticks demand.
In some embodiments, it is provided with robot base, for installing selected six-joint robot, is fixed in
Suitable position.It is generally arranged at household electrical appliances production line side.
In some embodiments, it is provided with six-joint robot controller, it is mating with selected six-joint robot, by pre-
If control instruction six-joint robot is controlled.
In some embodiments, it includes control assembly that household electric appliance energy consumption mark label, which intelligently sticks system, for handling, storing
With display barcode scanning gun, industrial camera, displacement sensor, the offers such as robot controller information, and control intelligence and stick system.
Control assembly generally includes message handler, memory, display and information input part etc..In some embodiments, it also sets
It is equipped with communication component, sticks the transmission of the information between system and other information processing unit for intelligence.
As optional embodiment, control assembly includes image processor, the figure obtained for handling image acquisition components
Picture, optionally, image acquisition components can be used as independent circuit, module or chip and provide.Image processor can be in
Central processor (CPU), specific integrated circuit (ASIC) or field programmable gate array (FPGA) Lai Shixian, also can be used communication
Mode realizes image transmitting to industrial personal computer using industrial personal computer as processor.Image processor may include single processor
Or multiple processors.
In some embodiments, control assembly includes display module, such as display, can be suitable for display image or
The device of video, for example, liquid crystal display (LCD), cathode-ray tube (CRT), Organic Light Emitting Diode (OLED) or plasma
Body display, display may be configured for showing the figure of the image obtained by image acquisition components and image processor processing
Picture.In some embodiments, it is long-range eventually to can be smart phone, tablet computer, laptop computer etc. for display
End, the remote terminal receive image data from control assembly via Radio Link.Radio Link can be RF (radio frequency) link,
WI-FI link, Bluetooth link, 3G link or LTE link.
Household electric appliance energy consumption mark label disclosed in some embodiments intelligently sticks system, further includes lateral positioning mechanism, this is lateral
Positioning mechanism is arranged in household electrical appliances production line side, for limiting lateral position of the household electrical appliances in assembly line plane.
During mobile in production line, the position on assembly line is not fixed and invariable usual household electrical appliances,
It can be in because of many reasons on the different location of assembly line, the especially not identical meeting of distance of the household electrical appliances apart from assembly line side
Positioning and precise and high efficiency to energy consumption mark label, which stick, brings obstacle, and extension sticks adjustment time, and reduction sticks efficiency and accurate
Property.As optional embodiment, lateral positioning mechanism is set in household electrical appliances production line side, by household electrical appliances in assembly line plane
Position positioned.For example, the positioning element that lateral positioning mechanism can be set is moved to the fixation position of setting, pass through it
Household electrical appliances are moved to the fixation position, positioning of the household electrical appliances in assembly line plane can be realized by transverse shifting.
As optional embodiment, the positioning element of lateral positioning mechanism can be acted on to the collet of household electrical appliances, it is mobile to be somebody's turn to do
Collet realizes positioning of the household electrical appliances in assembly line plane to fixed position.When moving on assembly line, bottom is set usual household electrical appliances
It is equipped with collet, it is possible to realize the positioning of household electrical appliances to fixed position by mobile collet.
As optional embodiment, the surface element that the positioning element of lateral positioning mechanism is acted on to household electrical appliances can be set
Position, transverse shifting household electrical appliances to fixed position, realizes located lateral of the household electrical appliances in assembly line plane.It acts directly on household electrical appliances
Lateral location positions it, and positioning accuracy can be some higher, usually in this case it is desirable to lateral positioning mechanism
Positioning mechanism carries out specific setting, such as on the position of positioning mechanism and family's electrical contact, flexible contact surface is arranged, to reduce
Damage to electric appliance surface influences its beauty.
Household electric appliance energy consumption mark label disclosed in some embodiments intelligently sticks system, and lateral positioning mechanism includes: pedestal, including
Household electrical appliances production line side, base seat support are fixed in horizontally disposed base platform and the base seat support being vertically arranged, setting
It is fixed on line floor by removable connector；Fixed frame, it is horizontally disposed to be connected in base platform；Cylinder, it is horizontal
Setting is connected on fixed frame；Positioning element is connected with cylinder, is arranged under the driving of cylinder along household electrical appliances assembly line transversely and horizontally
It is mobile, so as to the setting position on mobile appliance to production line.
As optional embodiment, it is provided with height-adjustable component on base seat support, base can be adjusted by the component
The height of seat support to realize positioning element mobile appliance at various height, such as on lower position acts on collet
Carry out mobile appliance, or acts on household electrical appliances side on higher position and carry out mobile appliance.As optional embodiment, pedestal branch
Adjustable frames are arranged in the bottom of frame.
In some embodiments, guiding parts is provided in production line.Being generally directed toward component is bar-like member,
The adjacent position in the upstream of lateral register component is set, and one end of guiding parts is connected in the side of production line, another
It holds and is extended a distance into the middle part of production line, which is typically not greater than lateral positioning mechanism on assembly line
Position is set and nor affects on accurate positionin of the lateral positioning mechanism to household electrical appliances to guide household electrical appliances close to positioning mechanism.
In some embodiments, stop member is provided in production line, stop member setting and assembly line
Direction is vertical, and to limit household electrical appliances and production line in the relative position of its direction of advance, i.e. household electrical appliances are flat in production line
Vertical position in face.The usual stop member, which is arranged in energy consumption mark label and sticks the stopping of section, to be sticked on the stage, had been sticked
It is moved down automatically at rear stop member, household electrical appliances will not be stopped in the movement in assembly line direction.As optional embodiment, rolling
It is provided with flapper moving up and down on cylinder assembly line, to be limited to the setting position of household electrical appliances in assembly line direction of advance.
In some embodiments, vertical positioning mechanism is provided with above production line, height is not less than household electrical appliances
Height in production line.The vertical positioning mechanism is arranged above household electrical appliances, inclines if household electrical appliances have in production line direction
Tiltedly or offset, household electrical appliances are not perpendicular to production line plane, the family that can will be tilted or deviate by the vertical positioning mechanism
It corrects to vertical in electric direction.As optional embodiment, vertical positioning mechanism includes movable beam, which is horizontally set on
On two closed slides being arranged in the same direction above production line, with production line, the both ends of crossbeam are parallel with two respectively
The movable connection of guide rail, so that crossbeam is moved along closed slide；Vertically disposed vertical positioning is provided on movable beam
Baffle, by the movable connection of cylinder between the vertical positioning baffle and movable beam, so that vertical positioning baffle is in cylinder
Driving under, servo motor, for drive movable beam movement on closed slide mobile in vertical direction.In general, setting
The household electrical appliances in production line are set perpendicular to production line plane, meet household electric appliance energy consumption patch sticks requirement, if because
Certain reason household electrical appliances are not vertically arranged in production line plane, in the run-off the straight of production line direction, that is, household electrical appliances
It needs to adjust in vertical position, the vertical positioning mechanism above production line, which is arranged in, can carry out the tune of vertical position
Section.Vertical positioning mechanism is moved to household electrical appliances in the driving of servo motor according to the instruction of control assembly, movable beam
Side, then vertical positioning baffle moves down under the drive of cylinder, and the side of vertical positioning baffle and household electrical appliances contacts with each other,
And moved appropriately distance, with reach household electrical appliances be vertically arranged position until.
In some embodiments, household electric appliance energy consumption mark label intelligently sticks system and is arranged in the region of Relatively centralized, should
It is provided with protective fence around areas outside, is isolated system is intelligently sticked with ambient enviroment, it is ensured that sticks system and sticks operation
The safety of process.As optional embodiment, protective fence includes transparent curtain wall, convenient for sticking system from external observation and sticking work
Industry situation is provided with the current automatically-controlled door of personnel on protective fence, and automatically-controlled door is set as automatically controlling, and passes through identification personnel identity control
The unlatching of automatically-controlled door processed.The mode for identifying personnel identity includes password identification, recognition of face, gesture identification.As optional implementation
Mode, protective fence are set as roll guard.
In some embodiments, household electric appliance energy consumption mark label intelligence applying method includes:
Obtain the type information of household electrical appliances；
According to the type information of household electrical appliances, the corresponding energy consumption mark label of household electrical appliances model is printed；
Household electrical appliances are stablized into the setting position in production line；
Determine that energy consumption mark label sticks position on household electrical appliances；
The energy consumption mark label of printing is grabbed, and is sticked on and determining sticks position；
Obtain the image information of the household electrical appliances including energy consumption mark label；
Handle image information, if it is decided that energy consumption mark label stick position and consumption information is correct, complete household electric appliance energy consumption
Patch stick, if it is decided that energy consumption mark label stick position and/or consumption information is incorrect, alert.
As optional embodiment, in household electric appliance energy consumption mark label intelligence applying method, determine energy consumption mark label on household electrical appliances
The position that sticks include:
Obtain family's electrical image comprising energy consumption mark label target position；
It identifies household electrical appliances image information, obtains the calibration position set in family's electrical image；
Position is sticked according to what calibration position determined energy consumption mark label.
As optional embodiment, according to the position at household electrical appliances edge in family's electrical image, determine energy consumption mark label sticks portion
Position.For example, two adjacent lateral locations in identification family's electrical image, then according to the fixed range apart from side of setting, i.e.,
It can determine and stick position within the vertical non-leap year of electric appliance surface.For example, can be selected this when household electrical appliances appearance is metal plate material
The method of random sample.
Energy consumption mark label is determined according to the setting position of household electrical appliances special sign in family's electrical image as optional embodiment
Stick position.For example, base position is determined as pasting by special sign then on the basis of its position in identification family's electrical image
Start position is applied, is sticked according to the direction that sticks of setting, can be completed and stick operation at setting position.Special sign packet
Include the mark such as trade mark of household electrical appliances.Such as household electrical appliances appearance can select such localization method when being the transparent materials such as glass.
It is further illustrated below in conjunction with technical detail of the attached drawing to the embodiment of the present application.
Fig. 1 is that household electric appliance energy consumption mark label disclosed in embodiment 1 intelligently sticks system composed structure schematic diagram.
In embodiment 1, refrigerator 105 is arranged on roller assembly line 100, is arranged in the rear side of roller assembly line 100
There is swing type barcode scanning gun；Front side is provided with lateral positioning mechanism 5；The right of lateral positioning mechanism 5 is provided with robot
Pedestal 3 is provided with six-joint robot 2 in robot base 3, and the top free end of six-joint robot 2 is provided with energy consumption mark label
Handgrip 1 is provided with print components 6 on the right side of robot base 3, and print components 6 are arranged on electrical cabinet 7, set in electrical cabinet 7
It is equipped with the component parts such as the display component, processor, input module of control assembly.
Fig. 2 is lateral positioning mechanism schematic diagram disclosed in embodiment 2.
In embodiment 2, the side of roller assembly line is arranged in lateral positioning mechanism 5, is provided on roller assembly line lateral
Fixed edge limiting component 104 is provided with guiding parts 102, lateral positioning mechanism 5 and guide part on fixed edge limiting component 104
Part 102 is disposed adjacent；
Lateral positioning mechanism 5 includes that base seat support 53 by being vertically arranged and horizontally disposed base platform 50 are mutually connected
The pedestal of formation is provided with fixed frame 54 in base platform 50, passes through installing component 55 between base platform 50 and fixed frame 54
It is connected；Installing component 55 is the bar-like member for being provided with spaced mounting hole, is fixedly mounted in base platform 50,
Installing component 55 is set as two, is fixed on the upper surface two sides of base platform 50 in parallel, by adjusting fixed frame 54 and installation
Relative position between component 55, the distance between adjustable fixed frame 54 and roller assembly line；Cylinder 52 is connected in fixation
On frame 54, the setting of positioning element 51 is connected with cylinder 52；Positioning element 51 is set as pushing away refrigerator 105 under the driving of cylinder 52
To the position of setting.
Fig. 3 is energy consumption mark label gripping structure schematic diagram disclosed in embodiment 3.
The mounting bracket 10 being integrally rectangle is the frame structure with engraved structure, and 14 right angle setting of connecting flange is solid
It is scheduled in one surface, is located at medium position；On another surface of mounting bracket 10, left side is equipped with planar light source group
Part 15, planar light source component 15 are arranged in parallel with mounting bracket 10, are mutually connected by multiple fixedly connected parts 17；Right side installation
There is crawl sucker 11, crawl sucker 11 is arranged in parallel with mounting bracket 10, by can between linear guide 12 and mounting bracket 10
It is flexibly connected；The position of planar light source component 15 is provided in mounting bracket, setting is equipped with industrial camera 13, industrial camera
13 installation direction is vertical with planar light source component 15；In mounting bracket 10 in the installation site of neighbouring connecting flange 14, peace
Equipped with laser displacement sensor 16.
Household electric appliance energy consumption mark label disclosed in the embodiment of the present application intelligently sticks system, being capable of automatic identification household electrical appliances model letter
Breath prints energy consumption mark label according to the corresponding energy consumption standard of the type information, and accurately determines the energy consumption mark set on household electrical appliances
Position is sticked, accurately and efficiently sticks energy consumption mark label, and the state that sticks of energy consumption mark label can be tested and analyzed in time, and
Shi Faxian is incorrect to be sticked, and the subsequent detection time is saved, and improves household electrical appliances production efficiency, and it is high, high-efficient to stick precision, is suitable for
Household electric appliances intelligence production line has good prospects for commercial application.
Technical detail disclosed in technical solution and embodiment disclosed in the present application, is merely illustrative the structure of the application
Think, does not constitute the restriction to the application, it is all not have a creative change to what technical detail disclosed in the present application was made, all
With the application spirit having the same, all within the protection scope of the claim of this application.
Claims (10)
1. a kind of household electric appliance energy consumption mark label intelligently sticks system, setting is adapted to household electrical appliances production line, which is characterized in that packet
It includes:
Barcode scanning gun is arranged for obtaining the household electrical appliances model information；
Energy consumption mark label provides component, and setting is for providing energy consumption mark label corresponding with the household electrical appliances model information；
Energy consumption mark label handgrip, setting is for grabbing and sticking the energy consumption mark label to the setting position of the household electrical appliances；
Six-joint robot is arranged for installing and controlling the energy consumption mark label handgrip；
Robot base, setting install the six-joint robot for being arranged；
Robot controller is arranged for controlling the six-joint robot；
Control assembly, setting provide component, energy consumption mark label handgrip and machine from the barcode scanning gun, energy consumption mark label for handling
The information of device people's controller simultaneously controls it.
2. household electric appliance energy consumption mark label according to claim 1 intelligently sticks system, which is characterized in that the energy consumption mark label
Handgrip includes:
Mounting bracket is integrally rectangle；
Connecting flange is vertically set on the middle part of the mounting bracket, and one end setting is connected with the mounting bracket, the other end
Setting with the six-joint robot for being connected；
Sucker is grabbed, surface is provided with multiple ports for being capable of forming negative pressure, and the crawl sucker is mounted on the installation branch
One end of frame, for grabbing the energy consumption mark label；
Industrial camera is vertically arranged and is fixed in the mounting bracket, for obtaining the image information of the household electrical appliances；
Light source assembly is arranged in the mounting bracket, provides light source for obtaining household electrical appliances image information for the industrial camera.
3. household electric appliance energy consumption mark label according to claim 2 intelligently sticks system, which is characterized in that the energy consumption mark is grabbed
Hand further includes displacement sensor, for detecting the location information of the household electrical appliances.
4. household electric appliance energy consumption mark label according to claim 2 intelligently sticks system, which is characterized in that the crawl sucker with
Pass through the movable connection of multiple linear guides between the mounting bracket.
5. household electric appliance energy consumption mark label according to claim 2 intelligently sticks system, which is characterized in that the crawl sucker with
Be provided with soft spring between the mounting bracket, the both ends of the soft spring respectively with the energy consumption mark label and the peace
Bracket is filled to be connected.
6. household electric appliance energy consumption mark label according to claim 2 intelligently sticks system, which is characterized in that on the crawl sucker
It is provided with fibre optical sensor, for detecting the energy consumption mark label being adsorbed on the crawl sucker.
7. household electric appliance energy consumption mark label according to claim 1 or 2 intelligently sticks system, which is characterized in that further include lateral
Positioning mechanism is arranged in household electrical appliances production line side, for limiting lateral position of the household electrical appliances in production line plane
It sets.
8. household electric appliance energy consumption mark label according to claim 7 intelligently sticks system, which is characterized in that the lateral register machine
Structure includes:
Pedestal, including horizontally disposed base platform and the base seat support being vertically arranged, the household electrical appliances production stream is fixed in setting
Waterline side, the base seat support are fixed on line floor by removable connector；
Fixed frame, it is horizontally disposed to be connected in the base platform；
Cylinder, it is horizontally disposed to be connected on the fixed frame；
Positioning element is connected with the cylinder, is arranged under the driving of the cylinder and transversely and horizontally moves along household electrical appliances detection assembly line
It is dynamic, to move the setting position on the household electrical appliances to assembly line.
9. household electric appliance energy consumption patch intelligence according to claim 1 or 2 sticks system, which is characterized in that further include vertically positioning
Mechanism, the vertical positioning mechanism include:
Movable beam is horizontally set on above production line and on two closed slides that production line is arranged in the same direction；
Vertical positioning baffle is vertically set on the movable beam, the vertical positioning baffle and the movable beam
Between pass through the movable connection of cylinder；
Servo motor, setting is connect with the movable beam, for driving it to move on closed slide.
10. a kind of household electric appliance energy consumption mark label intelligence applying method characterized by comprising
Obtain the type information of household electrical appliances；
According to the type information of the household electrical appliances, provide the household electrical appliances model corresponding energy consumption mark label；
The household electrical appliances are located in the setting position in production line；
Obtain family's electrical image comprising energy consumption mark label target position；
It identifies household electrical appliances image information, obtains the calibration position set in family's electrical image；
Position is sticked according to what the calibration position determined energy consumption mark label.
Corresponding energy consumption mark label is grabbed, and is sticked on and determining sticks position；
Obtain the image information of the household electrical appliances including energy consumption mark label；
Handle described image information, if it is determined that energy consumption mark label stick position and consumption information is correct, complete household electric appliance energy consumption mark
Know patch stick, if it is determined that energy consumption mark label stick position and/or consumption information is incorrect, alert.
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| CN201910679173.3A CN110395460A (en) | 2019-07-25 | 2019-07-25 | A kind of household electric appliance energy consumption mark label intelligently sticks system and intelligent applying method |
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| CN111907233A (en) * | 2020-06-30 | 2020-11-10 | 王赜煜 | Intelligent label printing system and method for laboratory |
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Application publication date: 20191101 |